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spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/__STD_LIB_sbrk.c +0052e02a3bfd97796c7fdeba92f51ac36da7cef6 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/portmacro.h +28674921a1938a393bdf825a1e33ab3432f25c99 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/port.c +39fd7db69b2763f7ffca8b4e772be0f8e05091b1 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/__STD_LIB_sbrk.c +897913bb5965ed76dfa76837dea50e8c518cbc1d - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/portmacro.h +416f992f889a9a4f38285bc4056d5964851da170 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/port.c +ac574e8cf9a307b99e17e9015d7dfeecd109a093 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/portmacro.h +0dd0fa6f660b7bfadaa820311e6635ff210fe36d - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/port.c +18959b903a9bb89203215456a4924b842312d2a0 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/portmacro.h +ee0d9931e038f9bd39a09c1deca8c817c64496f9 - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portcomn.c +ebd0312d051710389bf9eca3ddf5757200927c0b - spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portasm.h diff --git a/push_info.txt b/push_info.txt new file mode 100644 index 0000000..eefca6d --- /dev/null +++ b/push_info.txt @@ -0,0 +1 @@ +jetson_36.4.3 diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/GitHub-FreeRTOS-Kernel-Home.url b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/GitHub-FreeRTOS-Kernel-Home.url new file mode 100644 index 0000000..ee675d6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/GitHub-FreeRTOS-Kernel-Home.url @@ -0,0 +1,8 @@ +[{000214A0-0000-0000-C000-000000000046}] +Prop3=19,2 +[InternetShortcut] +URL=https://github.com/FreeRTOS/FreeRTOS-Kernel +IconIndex=0 +IDList= +HotKey=0 + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/History.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/History.txt new file mode 100644 index 0000000..6dcf3ce --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/History.txt @@ -0,0 +1,2831 @@ +Documentation and download available at https://www.FreeRTOS.org/ + +Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020 + + V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html + + See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html + + + Changes to improve robustness and consistency for buffer allocation in + the heap, queue and stream buffer. + + The following functions can no longer be called from unprivileged code. + - xTaskCreateRestricted + - xTaskCreateRestrictedStatic + - vTaskAllocateMPURegions + + +Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020 + + See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html + + + Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked + between the first task starting to execute and that task making + a FreeRTOS API call. + + Introduced xTaskDelayUntil(), which is functionally equivalent to + vTaskDelayUntil(), with the addition of returning a value to + indicating whether or not the function placed the calling task into + the Blocked state or not. + + Update WolfSSL to 4.5.0 and add the FIPS ready demo. + + Add support for ESP IDF 4.2 to ThirdParty Xtensa port. + + Re-introduce uxTopUsedPriority to support OpenOCD debugging. + + Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules. + + Various general maintenance and improvements to MISRA compliance. + + +Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020 + + See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html + + + Fixed an incorrectly named parameter that prevented the + ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the + test code that prevented this error causing test failures. + + +Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020 + + See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html + + Major enhancements: + + + Task notifications: Prior to FreeRTOS V10.4.0 each created task had a + single direct to task notification. From FreeRTOS V10.4.0 each task has + an array of notifications. The direct to task notification API has been + extended with API functions postfixed with "Indexed" to enable the API to + operate on a task notification at any array index. See + https://www.freertos.org/RTOS-task-notifications.html for more information. + + Kernel ports that support memory protection units (MPUs): The ARMv7-M and + ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M + MPU ports now support devices that have 16 MPU regions, have the ability + to override default memory attributes for privileged code and data + regions, and have the ability to place the FreeRTOS kernel code outside of + the Flash memory. The ARMv8-M MPU ports now support tickless idle mode. + See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html + for more information. + + Additional noteworthy updates: + + + Code formatting is now automated to facilitate the increase in + collaborative development in Git. The auto-formated code is not identical + to the original formatting conventions. Most notably spaces are now used + in place of tabs. + + The prototypes for callback functions (those that start with "Application", + such as vApplicationStackOverflowHook()) are now in the FreeRTOS header + files, removing the need for application writers to add prototypes into + the C files in which they define the functions. + + New Renesas RXv3 port layer. + + Updates to the Synopsys ARC code, including support for EM and HS cores, + and updated BSP. + + Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in + the same way the Windows port layer enables FreeRTOS to run on Windows + hosts. + + Many other minor optimisations and enhancements. For full details + see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/master + + +Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020 + + See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html + + + ./FreeRTOS-Labs directory was removed from this file. The libraries it + contained are now available as a separate download. + +Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020 + + See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html + + New and updated kernel ports: + + + Added RISC-V port for the IAR compiler. + + Update the Windows simulator port to use a synchronous object to prevent + a user reported error whereby a task continues to run for a short time + after being moved to the Blocked state. Note we were not able to + replicate the reported issue and it likely depends on your CPU model. + + Correct alignment of stack top in RISC-V port when + configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes + the interrupt stack to be statically allocated. + + The RISC-V machine timer compare register can now be for any HART, whereas + previously it was always assumed FreeRTOS was running on HART 0. + + Update the sequence used to update the 64-bit machine timer + compare register on 32-bit cores to match that suggested in RISC-V + documentation. + + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler + ports. + + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to + match that of the ARMv8-M ports whereby privilege escalations can only + originate from within the kernel's own memory segment. Added + configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant. + + Update existing MPU ports to correctly disable the MPU before it is + updated. + + Added contributed port and demo application for a T-Head (formally C-SKY) + microcontroller. + + New API functions: + + + Added the vPortGetHeapStats() API function which returns information on + the heap_4 and heap_5 state. + + Added xTaskCatchUpTicks(), which corrects the tick count value after the + application code has held interrupts disabled for an extended period. + + Added xTaskNotifyValueClear() API function. + + Added uxTimerGetReloadMode() API function. + + Other miscellaneous changes: + + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it + has the same type as variables with which it is compared to, and therefore + also renamed the variable xPendingTicks. + + Update Keil projects that use the MPU so memory regions come from linker + script (scatter file) variables instead of being hard coded. + + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR + compilers. + + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo. + + Added LPC54018 MPU demo. + + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter(). + + +Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019: + + + Added ARM Cortex-M23 port layer to complement the pre-existing ARM + Cortex-M33 port layer. + + The RISC-V port now automatically switches between 32-bit and 64-bit + cores. + + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering + when GCC link time optimisation is used. + + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and + prevent the secure side builds from removing symbols required by the + non secure side build. + + Introduced the portARCH_NAME to provide additional data to select semi- + automated build environments. + + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before + updating the MPU registers. + + + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo. + + Added LPC55S69 ARM Cortex-M33 demo. + + Added an STM32 dual core AMP stress test demo. + + +Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019: + + + Added GCC RISC-V MCU port with three separate demo applications. + + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports + with Keil simulator demo. + + Update the method used to detect if a timer is active. Previously the + timer was deemed to be inactive if it was not referenced from a list. + However, when a timer is updated it is temporarily removed from, then + re-added to a list, so now the timer's active status is stored separately. + + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and + xTaskGetApplicationTaskTagFromISR() API functions. + + Updated third party Xtensa port so it is MIT licensed. + + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas + compiler RX600v2 port to enable switching between platform.h and + iodefine.h includes within that port's port.c file. + + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged + anyway. + + Added uxTaskGetStackHighWaterMark2() function to enable the return type to + be changed without breaking backward compatibility. + uxTaskGetStackHighWaterMark() returns a UBaseType_t as always, + uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the + user to determine the return type. + + Fixed issues in memory protected ports related to different combinations + of static memory only and dynamic memory only builds. As a result the + definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more + complex and was moved to FreeRTOS.h with a table explaining its definition. + + Added a 'get task tag from ISR' function. + + Change the method used to determine if a timer is active or not from just + seeing if it is referenced from the active timer list to storing its + active state explicitly. The change prevents the timer reporting that it + is inactive while it is being moved from one list to another. + + The pcName parameter passed into the task create functions can be NULL, + previously a name had to be provided. + + When using tickless idle, prvResetNextTaskUnblockTime() is now only called + in xTaskRemoveFromEventList() if the scheduler is not suspended. + + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for + FreeRTOS ports that run on architectures that have stack limit registers. + + +Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018 + + + Reverted a few structure name changes that broke several kernel aware + debugger plug-ins. + + Updated to the latest trace recorder code. + + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code. + + Reverted moving some variables from file to function scope as doing so + broke debug scenarios that require the static qualifier to be removed. + +Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018 + + FreeRTOS Kernel Changes: + + + Update lint checked MISRA compliance to use the latest MISRA standard, was + previously using the original MISRA standard. + + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be + unique types instead of void pointers, improving type safety. (this was + attempted some years back but had to be backed out due to bugs in some + debuggers). Note this required the pvContainer member of a ListItem_t + struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if + this causes an issue. + + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno + functionality in a more user friendly way - previously the generic thread + local storage feature was used for this purpose. + + Added Xtensa port and demo application for the XCC compiler. + + Changed the implementation of vPortEndScheduler() for the Win32 port to + simply call exit( 0 ). + + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect + the read modify write access to an internal Microblaze register. + + Fix minor niggles when the MPU is used with regards to prototype + differences, static struct size differences, etc. + + The usStackHighWaterMark member of the TaskStatus_t structure now has type + configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been + made when the configSTACK_DEPTH_TYPE type (which gets around the previous + 16-bit limit on stack size specifications) was introduced. + + Added the xMessageBufferNextLengthBytes() API function and likewise stream + buffer equivalent. + + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes + used to hold the length of a message in the message buffer to be reduced. + configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example, + messages can never be more than 255 bytes it could be set to uint8_t, + saving 3 bytes each time a message is written into the message buffer + (assuming sizeof( size_t ) is 4). + + Updated the StaticTimer_t structure to ensure it matches the size of the + Timer_t structure when the size of TaskFunction_t does not equal the size + of void *. + + Update various Xilinx demos to use 2018.1 version of the SDK tools. + + Various updates to demo tasks to maintain test coverage. + + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by + FreeRTOS+TCP, which was brought into the main download in FreeRTOS + V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and + FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP. + + FreeRTOS+TCP Changes: + + + Multiple security improvements and fixes in packet parsing routines, DNS + caching, and TCP sequence number and ID generation. + + Disable NBNS and LLMNR by default. + + Add TCP hang protection by default. + + We thank Ori Karliner of Zimperium zLabs Team for reporting these issues. + + +Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017 + + + Fix position of "#if defined( __cplusplus )" in stream_buffer.h. + + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in + mpu_prototypes.h. + + Correct formatting in vTaskList() helper function when it prints the state + of the currently executing task. + + Introduce #error if stream_buffer.c is built without + configUSE_TASK_NOTIFICATIONS set to 1. + + Update FreeRTOS+TCP to V2.0.0 + - Improve the formatting of text that displays the available netword + interfaces when FreeRTOS+TCP is used on Windows with WinPCap. + - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user + definable callback to execute when data arrives on a socket. + +Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0: + + The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license + + New Features and components: + + + Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html + + Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html + + Move FreeRTOS+TCP into the main repository, along with the basic Win32 + TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator. + + New ports or demos: + + + Added demo for TI SimpleLink CC3220 MCU. + + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx + MCUs. + + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation + in the MPU port. + + Fixes or enhancements: + + + Cortex-M ports push additional register prior to calling + vTaskSwitchContext to ensure 8-byte alignment is maintained. Only + important if a user defined tick hook function performs an operation that + requires 8-byte alignment. + + Optimisations to the implementation of the standard tickless idle mode on + Cortex-M devices. + + Improvements to the Win32 port including using higher priority threads. + + Ensure interrupt stack alignment on PIC32 ports. + + Updated GCC TriCore port to build with later compiler versions. + + Update mpu_wrappers.c to support static allocation. + + The uxNumberOfItems member of List_t is now volatile - solving an issue + when the IAR compiler was used with maximum optimization. + + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start + address is saved into each task's TCB (assuming stack grows down). + + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined + functionality, and user defined initialisation, to be added to FreeRTOS's + tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is + set to 1 a user provided header file called freertos_task_c_additions.h + will be included at the bottom of tasks.c. Functions defined in that + header file can call freertos_tasks_c_additions_init(), which in turn + calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined. + FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h. + + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be + defined by a user in FreeRTOSConfig.h. The macro is called before + assessing whether to enter tickless idle mode or not. If the macro sets + x to zero then tickless idle mode will not be entered. This allows users + to abort tickless idle mode entry before the tickless idle function is + even called - previously it was only possible to abort from within the + tickless idle function itself. + + Added configPRINTF(), which can be defined by users to allow all libraries + to use the same print formatter. + + Introduced configMAX() and configMIN() macros which default to standard + max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the + application writer defines the same macros in FreeRTOSConfig.h. + + Corrected the definition of StaticTask_t in the case where + INCLUDE_xTaskAbortDelay is set to 1. + + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of + which can be defined to strings in FreeRTOSConfig.h to change the default + names of the timer service and idle tasks respectively. + + Only fill the stack of a newly created task with a known value if stack + checking, or high water mark checking/viewing, is in use - removing the + dependency on memset() in other cases. + + Introduced xTaskCreateRestrictedStatic() so static allocation can be used + with the MPU. + + Ensure suspended tasks cannot be unsuspended by a received task + notification. + + Fix race condition in vTaskSetTimeOutState(). + + Updated trace recorder files to the latest version. + +Changes since FreeRTOS V9.0.0: + + + Priority dis-inheritance behaviour has been enhanced in the case where a + task that attempted to take a mutex that was held by a lower priority task + timed out before it was able to obtain the mutex (causing the task that + holds the mutex to have its priority raised, then lowered again, in + accordance with the priority inheritance protocol). + + Split the overloaded xQueueGenericReceive() function into three separate + dedicated functions. + + Allow the default human readable text names given to the Idle and Timer + tasks to be overridden by defining the configIDLE_TASK_NAME and + configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h. + + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a + value of than than 0 when the system boots. This can be useful for + testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also + be used to test frequent tick overflows. + + Ensure the Cortex-M SysTick count is cleared to zero before starting the + first task. + + Add configASSERT() into ARM Cortex-M ports to check the number of priority + bit settings. + + Clear the 'control' register before starting ARM Cortex-M4F ports in case + the FPU is used before the scheduler is started. This just saves a few + bytes on the main stack as it prevents space being left for a later save + of FPU registers. + + Added xSemaphoreGetMutexHolderFromISR(). + + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. + + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used + to specify the stack size when using xTaskCreate(). For historic reasons, + when FreeRTOS was only used on small MCUs, the type was set to uint16_t, + but that can be too restrictive when FreeRTOS is used on larger + processors. configSTACK_DEPTH_TYPE defaults to uint16_t. + xTaskCreateStatic(), being a newer function, used a uint32_t. + + Increase the priority of the Windows threads used by the Win32 port. As + all the threads run on the same core, and the threads run with very high + priority, there is a risk that the host will become unresponsive, so also + prevent the Windows port executing on single core hosts. + +Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: + + See https://www.FreeRTOS.org/FreeRTOS-V9.html + + RTOS kernel updates: + + + The prototype of the new xTaskCreateStatic() API function was modified to + remove a parameter and improve compatibility with other new + "CreateStatic()" API functions. The stack size parameter in + xTaskCreateStatic() is now uint32_t, which changes the prototype of the + callback functions. See the following URL: + https://www.FreeRTOS.org/xTaskCreateStatic.html + + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT + constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is + automatically given a floating point (FPU) context. + + GCC ARM Cortex-A port: It is now possible to automatically save and + restore all floating point (FPU) registers on entry to each potentially + nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of + vApplicationIRQHandler(). + + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task + entry address placed onto the stack of a task when the task is created for + strict compliance with the ARM Cortex-M3/4/7 architecture documentation + (no noticeable effect unless using the QMEU emulator). + + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only + supported on ARM Cortex-M3. + + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 + API (other than static object creation) and added the + FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to + demonstrate how to use the updated MPU port. + + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the + default low power tickless implementation. + + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the + first task that executes. + + Win32 ports: Reduce the amount of stack used and change the way Windows + threads are deleted to increase the maximum execution time. + + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the + documentation page for this port before use. + + MPS430X IAR port: Update to be compatible with the latest EW430 tools + release. + + IAR32 GCC port: Correct vPortExitCritical() when + configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. + + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), + xTaskGetTaskHandle() now has the alias xTaskGetHandle() and + pcQueueGetQueueName() now has an alias pcQueueGetName(). + + Fix various errors in comments and compiler warnings. + + Demo application updates: + + + Update Atmel Studio projects to use Atmel Studio 7. + + Update Xilinx SDK projects to use the 2016.1 version of the SDK. + + Remove dependency on legacy IO libraries from the PIC32 demos. + + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. + + Update the MSP432 libraries to the latest version. + + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC + compilers. + + Move the Atmel SAMA5D2 demo into the main distribution. + +Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) +released March 30 2016: + + NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details + + + The functions that create RTOS objects using static memory allocation have + been simplified and will not revert to using dynamic allocation if a + buffer is passed into a function as NULL. + + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to + allow a FreeRTOS application to be built without a heap even being being + defined. The Win32 example located in the + /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as + a reference for projects that do not include a FreeRTOS heap. + + Minor run-time optimisations. + + Two new low power tickless implementations that target Silicon Labs EFM32 + microcontrollers. + + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. + +Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) +released February 19 2016: + + RTOS Kernel Updates: + + + Major new feature - tasks, semaphores, queues, timers and event groups can + now be created using statically allocated memory, so without any calls to + pvPortMalloc(). + + Major new features - Added the xTaskAbortDelay() API function which allows + one task to force another task to immediately leave the Blocked state, + even if the event the blocked task is waiting for has not occurred, or the + blocked task's timeout has not expired. + + Updates necessary to allow FreeRTOS to run on 64-bit architectures. + + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS + daemon task (which used to be called the timer service task) starts + running. This is useful if the application includes initialisation code + that would benefit from executing after the scheduler has been started. + + Added the xTaskGetTaskHandle() API function, which obtains a task handle + from the task's name. xTaskGetTaskHandle() uses multiple string compare + operations, so it is recommended that it is called only once per task. + The handle returned by xTaskGetTaskHandle() can then be stored locally for + later re-use. + + Added the pcQueueGetQueueName() API function, which obtains the name of + a queue from the queue's handle. + + Tickless idling (for low power applications) can now also be used when + configUSE_PREEMPTION is 0. + + If one task deletes another task, then the stack and TCB of the deleted + task is now freed immediately. If a task deletes itself, then the stack + and TCB of the deleted task are freed by the Idle task as before. + + If a task notification is used to unblock a task from an ISR, but the + xHigherPriorityTaskWoken parameter is not used, then pend a context switch + that will then occur during the next tick interrupt. + + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP + settings, which previously was only used by heap_4.c. + configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare + the array that will be used as the FreeRTOS heap, and in-so-doing, place + the heap at a specific memory location. + + TaskStatus_t structures are used to obtain details of a task. + TaskStatus_t now includes the bae address of the task's stack. + + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t + structure that contains information about a single task. Previously this + information could only be obtained for all the tasks at once, as an array + of TaskStatus_t structures. + + Added the uxSemaphoreGetCount() API function. + + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some + Cortex-M3 port layers. + + Demo Application Updates: + + Further demo applications will be added prior to the final FreeRTOS V9 + release. + + + Updated SAM4L Atmel Studio project to use Atmel Studio 7. + + Added ARM Cortex-A53 64-bit port. + + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx + Ultrascale MPSoC. + + Added Cortex-M7 SAME70 GCC demo. + + Added EFM32 Giant and Wonder Gecko demos. + + +Changes between V8.2.2 and V8.2.3 released October 16, 2015 + + RTOS kernel updates: + + + Fix bug identified in a modification made in V8.2.2 to the software timer + code that allows tickless low power applications to sleep indefinitely + when software timers are used. + + Simplify and improve efficiency of stack overflow checking. + + Add xTaskNotifyStateClear() API function. + + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM + generic interrupt controller (GIC). + + New PIC32MEC14xx port. + + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ + port. + + Zynq7000 port layer now declares the functions that setup and clear the + tick interrupt as weak symbols so they can be overridden by the + application, and uses a global XScuGic object so the same object can be + used by the application code. + + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is + currently the only port that uses it. + + Updates to RL78 and 78K0 IAR port layers to improve support for + combinations of memory models. + + Minor updates to heap_5.c to remove compiler warnings generated by some + compilers. + + License simplifications. See /FreeRTOS/License/license.txt in the + official distribution. + + FreeRTOS+ updates: + + + Update directory names to use WolfSSL instead of CyaSSL, inline with + WolfSSL's re-branding. + + Update to latest WolfSSL code. + + Update to latest FreeRTOS+Trace recorder code. + + Add in the FreeRTOS+Trace recorder library required for streaming trace. + + Demo application changes: + + + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with + floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. + + General tidy up of spelling and compiler warnings. + + +Changes between V8.2.1 and V8.2.2 released August 12, 2015 + + RTOS kernel updates: + + + Added Intel IA32/x86 32-bit port. + + General maintenance. + + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory + protected systems, have been added to the newer event group and software + timer functions. + + Add the errno definitions used by FreeRTOS+ components into projdefs.h. + + Remove the restriction that prevented tick-less idle implementations + waiting indefinitely when software timers were used in the same + application. + + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of + xTaskNotifyAndQuery(). + + Add additional NOPs to the MSP430X port layers to ensure strict compliance + with the hardware documentation. + + Microblaze port: Added option for port optimised task selection. + + Microblaze port: Previously tasks inherited the exception enable state + at the time the task was created. Now all tasks are created with + exceptions enabled if the Microblaze design supports exceptions. + + Windows port: Add additional safe guards to ensure the correct start up + sequence and thread switching timing. + + Windows port: Improve the implementation of the port optimised task + selection assembly code. + + Update heap_4 and heap_5 to allow use on 64-bit processors. + + Simplify the code that creates a queue. + + General improved tick-less idle behaviour. + + Ensure none of the variables in the common kernel files are initialised to + anything other than zero. + + Correct calculation of xHeapStructSize in heap_4 and heap_5. + + Demo application updates: + + + Added demo project for the new IA32/x86 port that targets the Galileo + hardware. + + Added MSP430FR5969 demos (previously provided as a separate download). + + Added FreeRTOS BSP repository for automatic creation of FreeRTOS + applications in the Xilinx SDK. + + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) + + Update Xilinx SDK projects to use version 2015.2 of the SDK. + + Remove Microblaze demos that were using obsolete tools. + + Add MSP43FR5969 IAR and CCS demos. + + FreeRTOS+ Updates: + + + Updated FreeRTOS+Trace recorder library, which requires an update to the + FreeRTOS+Trace application. + + Added Reliance Edge source code and demo application. Reliance edge is + a fail safe transactional file system ideal for applications that require + file storage, and especially when high reliability is essential. + + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI + users to place the output buffer at a fixed memory address. + + Improve the NetworkInterface.c file provided for the Windows port of + FreeRTOS+UDP. + +Changes between V8.2.0 and V8.2.1 released 24th March 2015. + + RTOS kernel updates: + + + Added user definable and flexible thread local storage facility. + + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() + function to allow the timer's ID to be used as timer local storage. + + Fixed a potential issue related to the use of queue sets from an ISR. + + Some updates to the Xilinx Microblaze GCC port. + + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. + + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a + minor errata work around. All other ARM Cortex-M7 core revisions should + use the ARM Cortex-M4F port. + + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. + + Change some data types from uint32_t to size_t in preparation for 64-bit + Windows port. + + Update the PIC32 port to remove deprecation warnings output by the latest + XC32 compilers. + + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to + overwrite items in two queues that are part of the same set. + + Demo application updates: + + + Added demo application for TI's ARM Cortex-M4F based MSP432 + microcontroller using IAR, Keil and CCS compilers. + + Added demo application for STM32F ARM Cortex-M7 based microcontroller + using IAR and Keil. + + Added demo application for Atmel SAMV71 ARM Cortex-M7 based + microcontroller using IAR and Keil. + + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and + runs on the KC705 evaluation board (Kintex FPGA). + +Changes between V8.1.2 and V8.2.0 released 16th January 2015 + + Changes between release candidate 1 and the official release are restricted + to maintenance only. + + Significant RTOS kernel updates: + + + MAJOR NEW FEATURE! Task notifications. Please see the following URL for + details: https://www.FreeRTOS.org/RTOS-task-notifications.html + + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into + a new header file called FreeRTOS/Source/include/deprecated_definitions.h. + This header file must be present to build. Note some of the obsolete + definitions are still used by very old demo application projects. + + Other RTOS kernel updates: + + + Made xSemaphoreGiveFromISR() a function rather than a macro that calls + xQueueGenericSendFromISR(). This allows for major performance + enhancements at the expense of some additional code size if both functions + are used in the same application. NOTE: In most uses cases such use of + a semaphore can now be replaced with a task notification which is smaller + and faster still. + + The TCB is now always allocated such that the task's stack grows away from + the TCB (improves debugging of stack overflows as the overflow will not + overwrite the task's name). + + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance + enhancements at the cost of a little additional code space). + + Queues are now allocated with a single call to pvPortMalloc() which + allocates both the queue structure and the queue storage area. + + Introduced a new critical section macro for reading the tick count that + defines away to nothing in cases where the width of the tick allows the + tick count to be read atomically (performance benefits - especially when + optimisation is on). + + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the + application writer to provide their own heap array - and in so doing + control the location of the heap. + + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will + include known values in both list and list item structures. The values + are intended to assist debugging. If the values get overwritten then it + is likely application code has written over RAM used by the kernel. + + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of + the interrupt control register to detect taskENTER_CRITICAL() being called + from an interrupt. This has been changed to test all 8 bits. + + Introduced uxTaskPriorityGetFromISR(). + + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 + rather than equality to 1, and 2 and 3 are also valid values. + + Cortex-A5 GIC-less port no longer passes the address of the interrupting + peripheral into the interrupt handler. + + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack + belonging to a task when the task was deleted, even when the stack was + allocated statically. + + Utility (helper) functions that format task statistic information into + human readable tables now pad task names with spaces to ensure columns + line up correctly even where task name lengths vary greatly. + + Update FreeRTOS+Trace recorder library to version 2.7.0. + + Demo application updates: + + + Added two new standard demo task sets: IntSemTest and TaskNotify. + + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. + + Added demo application for Altera Cyclone V Cortex-A9 MPU. + + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in + demo tasks for new RTOS features. + + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test + and demo tasks. + + Fixed a corner case issue in Atmel SAM4L low power tickless + implementation, and added button interrupt handling. + + Make the interrupt queue tests more tolerant to heave CPU loads. + + Updated MSVC FreeRTOS simulator demo to include the latest standard test + and demo tasks. + + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC + simulator demo. + + Updated all demos that use FreeRTOS+Trace to work with the latest trace + recorder code. + + +Changes between V8.1.1 and V8.1.2 released September 2nd 2014 + + Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the + individual port layers where necessary so it does not affect ports that do + not support the definition. + +Changes between V8.1.0 and V8.1.1 released August 29th 2014 + + By popular requests - a minor patch to V8.1.0 to re-instate the ability to + give a mutex type semaphore (with priority inheritance) from an interrupt + handler. + +Changes between V8.0.1 and V8.1.0 released August 26th 2014 + + FreeRTOS scheduler, kernel, demo and test updates: + + + Improved the priority inheritance algorithms to assist integration with + off the shelf middleware that may hold multiple mutexes simultaneously. + + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to + span multiple non-contiguous memory regions. + + Updated all Cortex-A9 ports to help trap a couple of common usage errors - + the first being when a task incorrectly attempts to exit its implementing + function and the second being when a non interrupt safe API function is + called from an interrupt. + + Update all Cortex-A9 ports to remove obsolete mode switches prior to + restoring a task context. + + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. + + Update all Cortex-M3/4F ports to trap a non interrupt safe API function + being called from an interrupt handler. + + Simplify the alignment checks in heap_4.c. + + Update the MSVC Windows simulator demo to use heap_5.c in place of + heap_4.c to ensure end users have an example to refer to. + + Updated standard demo test code to test the new priority inheritance + algorithms. + + Updated the standard demo tasks to make use of stdint and the FreeRTOS + specific typedefs that were introduced in FreeRTOS V8.0.0. + + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive + alternative to pdTICKS_PER_MS - both of which can be used to convert a + time specified in milliseconds to a time specified in RTOS ticks. + + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an + incorrect value being written to the basepri register. This only effects + users of the Tasking compiler. + + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP + example that demonstrates lwIP being used with both its raw and sockets + interfaces. + + Updated the CCS Cortex-R4 port to enable it to be built with the latest + CCS compiler. + + New ports and demo applications: + + + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC + compiler and one for the Renesas compiler. Both demos use e2 studio. + + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. + The new port is demonstrated on an Atmel SAMA5D3 XPlained board. + + FreeRTOS+ component updates: + + + Update CyaSSL to the latest version. + + Updated the FreeRTOS+ components supplied directly by Real Time Engineers + Ltd. to make use of stdint and the FreeRTOS specific typedefs that were + introduced in FreeRTOS V8.0.0. + + Rework and simplify the FreeRTOS+FAT SL RAM disk driver. + + Miscellaneous updates and maintenance: + + + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK + hardware in place of the previously targeted Renesas internal (not + publicly available) hardware. + + Various other maintenance tasks. + + +Changes between V8.0.0 and V8.0.1 released 2nd May 2014 + + + Minor fixes to the event group functionality that was released in V8.0.0. + The 'clear bits from ISR' functionality is now implemented using a + deferred interrupt callback instead of a function, and the 'wait bits' and + 'task sync' functions now correctly clear internal control bits before + returning a value in every possible path through the respective functions. + + Ensure the updating of internal control data is protected by a critical + section after a task is deleted or suspended. + + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file + when the offset was not a multiple of the sector size. + + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, + even when only the lest significant byte of the register is implemented. + + Other updates: + + + Updated the XMC4200 IAR project so it links with version 7.x of the IAR + tools. + + Add RL78L1C demo. + + Add pcTimerGetName() API function. + + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT + is defined. + +Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 + + https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html + + FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, + although a change to the type used to reference character strings may result + in application code generating a few (easily clearable) compiler warnings + after the upgrade, and an updated typedef naming convention means use of the + old typedef names is now discouraged. + See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full + information. + + New features and functionality: + + + Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html + + Centralised deferred interrupt processing - see + https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html + + Other updates: + + + Previously, when a task left the Blocked state, a context switch was + performed if the priority of the unblocked task was greater than or equal + to the priority of the Running task. Now a context switch is only + performed if the priority of the unblocked task is greater than the + priority of the Running task. + + New low power tickless demonstration project that targets the ST STM32L + microcontroller - see + https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html + + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. + + Small change to the tickless low power implementation on the SAM4L to + ensure the alarm value (compare match value) cannot be set to zero when a + tickless period is exited due to an interrupt originating from a source + other than the RTOS tick. + + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse + resource filters and match the functionality of the MSVC equivalent. + + xTaskIsTaskSuspended() is no longer a public function. Use + eTaskGetState() in its place. + + Improved trace macros, including tracing of heap usage. + + Remove one level of indirection when accepting interrupts on the PIC32MZ. + + Add Cortex-A9 GCC port layer. + + Add Xilinx Zynq demo application. + + +Changes between V7.5.3 and V7.6.0 released 18th November 2013 + + V7.6.0 changes some behaviour when the co-operative scheduler is used (when + configUSE_PREEMPTION is set to 0). It is important to note that the + behaviour of the pre-emptive scheduler is unchanged - the following + description only applies when configUSE_PREEMPTION is set to 0: + + WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of + cases) a context switch will now only occur when a task places itself into + the Blocked state, or explicitly calls taskYIELD(). This differs from + previous versions, where a context switch would also occur when implicitly + moving a higher priority task out of the Blocked state. For example, + previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by + writing to a queue, then the scheduler would switch to the higher priority + task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by + writing to a queue, task B will not start running until task A enters the + Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not + set to 0, so the normal pre-emptive scheduler is being used, then task B + will start running immediately that it is moved out of the Blocked state]. + + Other changes: + + + Added a port layer and a demo project for the new PIC32MZ architecture. + + Update the PIC32MX port layer to re-introduce some ehb instructions that + were previously removed, add the ability to catch interrupt stack + overflows (previously only task stack overflows were trapped), and also + add the ability to catch an application task incorrectly attempting to + return from its implementing function. + + Make dramatic improvements to the performance of the Win32 simulator port + layer. + + Ensure tasks that are blocked indefinitely report their state as Blocked + instead of Suspended. + + Slight improvement to the Cortex-M4F port layers where previously one + register was inadvertently being saved twice. + + Introduce the xSemaphoreCreateBinary() API function to ensure consistency + in the semantics of how each semaphore type is created. It is no longer + recommended to use vSemaphoreCreateBinary() (the version prefixed with a + 'v'), although it will remain in the code for backward compatibility. + + Update the Cortex-M0 port layers to allow the scheduler to be started + without using the SVC handler. + + Added a build configuration to the PIC32MX MPLAB X demo project that + targets the PIC32 USB II starter kit. Previously all the build + configurations required the Explorer 16 hardware. + + Some of the standard demo tasks have been updated to ensure they execute + correctly with the updated co-operative scheduling behaviour. + + Added comprehensive demo for the Atmel SAM4E, including use of + FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. + + FreeRTOS+ Changes: + + + Minor maintenance on FreeRTOS+UDP. + +Changes between V7.5.2 and V7.5.3 released October 14 2013 + + Kernel changes: + + + Prior to V7.5.x yields requested from the tick hook would occur in the + same tick interrupt - revert to that original behaviour. + + New API function uxQueueSpacesAvailable(). + + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 + and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that + attempt to return from their implementing functions (tasks should call + vTaskDelete( NULL ); if they want to exit). + + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and + portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. + + Improved behaviour and robustness of the default Cortex-M tickless idle + behaviour. + + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to + all Cortex-M4F ports. + + Add Cortex-M0 port for Keil. + + Updated Cortus port. + + Ensure _impure_ptr is initialised before the scheduler is started. + Previously it was not set until the first context switch. + + FreeRTOS+ changes: + + + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the + FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction + to the test that prevents the network event hook being called on the first + network down event. The FreeRTOS+UDP change history is maintained + separately. + + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files + provided in the NXP CMSIS library, then update the interrupts used by the + LPC18xx demos accordingly. + + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help + strings to ensure the strings can be used with the JSON descriptions used + in the FreeRTOS+Nabto demos. + + Demo and miscellaneous changes: + + + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes + FreeRTOS+CLI + + Added a demo for the Infineon Cortex-M0 that can be built with the IAR + Keil and GCC tools. + + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, + with additional build configurations to directly support the XMC4200 and + XMC4400 devices, in addition to the previously supported XMC4500. + + Updated the demo application. + + Added additional trace macros traceMALLOC and traceFREE to track heap + usage. + +Changes between V7.5.0 and V7.5.2 released July 24 2013 + + V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function + compatible with the STM32 standard peripheral driver library, and adds + an extra critical section to the default low power tickless mode + implementation. Only users of the STM32 peripheral library or the default + tickless implementation need update from version 7.5.0. + +Changes between V7.4.2 and V7.5.0 released July 19 2013 + + V7.5.0 is a major upgrade that includes multiple scheduling and efficiency + improvements, and some new API functions. + + Compatibility information for FreeRTOS users: + FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one + exception; the vTaskList() and vTaskGetRunTimeStats() functions are now + considered legacy, having been replaced by the single uxTaskGetSystemState() + function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in + FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be + available. + + Compatibility information for FreeRTOS port writers: + vTaskIncrementTick() is now called xTaskIncrementTick() (because it now + returns a value). + + Headline changes: + + + Multiple scheduling and efficiency improvements. + + Core kernel files now pass PC-Lint V8 static checking without outputting + any warnings (information on the test conditions will follow). + + New API functions: + + + uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html + + xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html + + xQueueOverwriteFromISR() + + xQueuePeekFromISR() + + The following ports and demos, which were previously available separately, + are now incorporated into the main FreeRTOS zip file download: + + + ARM Cortex-A9 IAR + + ARM Cortex-A9 ARM compiler + + Renesas RZ + + Microsemi SmartFusion2 + + New FreeRTOSConfig.h settings + https://freertos.org/a00110.html + + + configUSE_TIME_SLICING + + configUSE_NEWLIB_REENTRANT + + configUSE_STATS_FORMATTING_FUNCTIONS + + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS + + Other changes: + + + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS + options provides a mechanism that allows application writers to execute + certain functions in privileged mode even when a task is running in user + mode. + + Ports that support interrupt nesting now include a configASSERT() that + will trigger if an interrupt safe FreeRTOS function is called from an + interrupt that has a priority designated as above the maximum system/API + call interrupt priority. + + The included FreeRTOS+Trace recorder code has been updated to the latest + version, and the demo applications that use the trace recorder code have + been updated accordingly. + + The FreeRTOS Windows Simulator (MSVC version only) has been updated to + include a new basic 'blinky' build option in addition to the original + comprehensive build option. + + Improve RAM usage efficiency of heap_4.c and heap_2.c. + + Prevent heap_4.c from attempting to free memory blocks that were not + allocated by heap_4.c, or have already been freed. + + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs + files have been removed from FreeRTOS/Demo/Common. + + Fix build error when R4 port is build in co-operative mode. + + Multiple port and demo application maintenance activities. + +Changes between V7.4.1 and V7.4.2 released May 1 2013 + + NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 + + + Added FreeRTOS+FAT SL source code and demo project. The demo project + runs in the FreeRTOS Windows simulator for easy and hardware independent + experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl + +Changes between V7.4.0 and V7.4.1 released April 18 2013 + + + To ensure strict conformance with the spec and ensure compatibility with + future chips data and instruction barrier instructions have been added to + the yield macros of Cortex-M and Cortex-R port layers. For efficiency + the Cortex-M port layer "yield" and "yield" from ISR are now implemented + separately as the barrier instructions are not required in the ISR case. + + Added FreeRTOS+UDP into main download. + + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS + directory with Source and Demo subdirectories. + + Implemented the Berkeley sockets select() function in FreeRTOS+UDP. + + Changed (unsigned) casting in calls to standard library functions with + (size_t) casting. + + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the + tickless (tick suppression) low power FreeRTOS features. + + Add a new RL78 IAR demo that targets numerous new RL78 chips and + evaluation boards. + + Adjusted stack alignment on RX200 ports to ensure an assert was not + falsely triggered when configASSERT() is defined. + + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest + version of EWARM. + + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). + + +Changes between V7.3.0 and V7.4.0 released February 20 2013 + + + New feature: Queue sets. See: + https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html + + Overhauled the default tickless idle mode implementation provided with the + ARM Cortex-M3 port layers. + + Enhanced tickless support in the core kernel code with the introduction of + the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the + eTaskConfirmSleepModeStatus() function. + + Added the QueueSet.c common demo/test file. Several demo applications + have been updated to use the new demo/test tasks. + + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and + demo applications. + + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. + + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a + pre-processor macro for backward compatibility with the previous name. + + Updated functions implemented in the core queue.c source file to allow + queue.h to be included from the .c file directly (this prevents compiler + warnings that were generated by some compilers). + + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function + with the CLZ compiler intrinsic that is provided by the latest versions of + the CCS ARM compiler. + + Updated all heap_x.c implementations to replace the structure that was + used to ensure the start of the heap was aligned with a more portable + direct C code implementation. + + Added support for PIC24 devices that include EDS. + + Minor optimisations to the PIC32 port layer. + + Minor changes to tasks.c that allow the state viewer plug-ins to display + additional information. + + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an + issue that could occur if the priority of the timer daemon task was set + below the priority of tasks that used timer services. + + Update the FreeRTOS+Trace recorder code to the latest version. + +Changes between V7.2.0 and V7.3.0 released October 31 2012 + + + Added ability to override the default scheduler task selection mechanism + with implementations that make use of architecture specific instructions. + + Added ability to suppress tick interrupts during idle time, and in so + doing, provide the ability to make use of architecture specific low power + functionality. + + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper + function. + + Added the configSYSTICK_CLOCK_HZ configuration constant. + + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to + directly support basic power saving functionality. + + Added hooks to allow basic power saving to be augmented in the application + by making use of chip specific functionality. + + Minor change to allow mutex type semaphores to be used from interrupts + (which would not be a normal usage model for a mutex). + + Change the behaviour of the interrupt safe interrupt mask save and restore + macros in the Cortex-M ports. The save macro now returns the previous + mask value. The restore macro now uses the previous mask value. These + changes are not necessary for the kernel's own implementation, and are + made purely because the macros were being used by application writers. + + Added eTaskStateGet() API function. + + Added port specific optimisations to the PIC32 port layer, and updated the + PIC32 demo applications to make use of this new feature. + + Added port specific optimisations to the Win32 simulator port. + + Added new ports and demo applications for the TI Hercules RM48 and TMS570 + safety microcontrollers. + + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation + boards. + + Updated the PIC32 MPLAB X project to manually set the compiler include + paths instead of using the IDE entry box following reports that the + include paths were somehow being deleted. + + Improved character handling in FreeRTOS+CLI. + +Changes between V7.1.1 and V7.2.0 released 14 August 2012 + + FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. + + + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ + source code, and example projects that use the FreeRTOS Win32 simulator. + + Added a new example heap allocation implementation (heap_4.c) that + includes memory block coalescence. + + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. + The demo is preconfigured to build using the free Atmel Studio 6 IDE and + GCC compiler. + + Added xSemaphoreTakeFromISR() implementation. + + The last parameter in ISR safe FreeRTOS queue and semaphore functions + (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it + is not required. + + Update the IAR and MSP430X ports to clear all lower power mode bits before + exiting the tick interrupt [bug fix]. + + Allow xQueueReset() to be used, even when the queues event lists are not + empty. + + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was + previously missing). + + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to + ensure it compiles with the latest ARM GCC compilers from Linaro. + + Updated the prvReadGP() function in the NIOS II port to ensure the compiler + can choose any register for the functions parameter (required at high + compiler optimisation levels). + + Add #error macros into the Keil and IAR Cortex-M ports to ensure they + cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY + to 0. + + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and + Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY + parameter must not be set to 0. + + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant + (defaulted to 0). + + Added two new list handling macros - for internal use only in upcoming new + products. + + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace + macros. FreeRTOS+Trace supersedes the legacy trace. + + Added a configASSERT() into the vPortFree() function in heap_1.c as it is + invalid for the function to be called. + + Made the xRxLock and xTxLock members of the queue structure volatile. + This is probably not necessary, and is included as a precautionary + measure. + + Modify the assert() that checks to see if the priority passed into an + xTaskCreate() function is within valid bounds to permit the assert to be + used in the FreeRTOS MPU port. + + The software timer service (daemon) task is now created in a way that + to ensure compatibility with FreeRTOS MPU. + +Changes between V7.1.0 and V7.1.1 released May 1 2012 + + New ports: + + The following ports are brand new: + + Cortex-M3 Tasking + + The following ports have been available as separate downloads for a number + of months, but are now included in the main FreeRTOS download. + + Cortex-M0 IAR + + Cortex-M0 GCC + + Cortex-M4F GCC (with full floating point support) + + + New demos: + + The following demos are brand new: + + Renesas RX63N RDK (Renesas compiler) + + The following demos have been available as separate downloads for a number + of months, but are now included in the main FreeRTOS download. + + NXP LPC1114 GCC/LPCXpresso + + ST STM32F0518 IAR + + Infineon XMC4500 GCC/Atollic + + Infineon XMC4500 IAR + + Infineon XMC4500 Keil + + Infineon XMC4500 Tasking + + + Kernel miscellaneous / maintenance: + + + Introduced the portSETUP_TCB() macro to remove the requirement for the + Windows simulator to use the traceTASK_CREATE() macro, leaving the trace + macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace). + + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future + FreeRTOS+Trace versions to provide even more information to users. + + Updated the FreeRTOS MPU port to be correct for changes that were + introduced in FreeRTOS V7.1.0. + + Introduced the xQueueReset() API function. + + Introduced the xSemaphoreGetMutexHolder() API function. + + Tidy up various port implementations to add the static key word where + appropriate, and remove obsolete code. + + Slight change to the initial stack frame given to the RX600 ports to allow + them to be used in the Eclipse based E2Studio IDE without confusing GDB. + + Correct the alignment given to the initial stack of Cortex-M4F tasks. + + Added a NOP following each DINT instruction on MSP430 devices for strict + conformance with the instructions on using DINT. + + Changed the implementation of thread deletes in the Win32 port to prevent + the port making use of the traceTASK_DELETE() trace macros - leaving this + macro free for use by FreeRTOS+Trace. + + Made some benign changes to the RX600 Renesas compiler port layer to + ensure the code can be built to a library without essential code being + removed by the linker. + + Reverted the change in the name of the uxTaskNumber variable made in + V7.1.0 as it broke the IAR plug-in. + + + Demo miscellaneous / maintenance: + + + The command interpreter has now been formally released as FreeRTOS+CLI, + and been moved out of the main FreeRTOS download, to instead be available + from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus. + + flash_timer.c/h has been added to the list of standard demo tasks. This + performs the same functionality as the flash.c tasks, but using software + timers in place of tasks. + + Upgraded the PIC32 demo as follows: Changes to how the library functions + are called necessitated by the new compiler version, addition of MPLAB X + project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, + addition of simply blinky demo, updated FreeRTOSConfig.h to include more + parameters, addition of hook function stubs. + + The MSP430X IAR and CCS demos have been updated to ensure the power + settings are correct for the configured CPU frequency. + + Rowley CrossWorks projects have been updated to correct the "multiple + definition of ..." warnings introduced when the toolchain was updated. + + Updated various FreeRTOSConfig.h header files associated with projects + that build with Eclipse to include a #error statement informing the user + that the CreateProjectDirectoryStructure.bat batch file needs to be + executed before the projects can be opened. + + Renamed directories that included "CCS4" in their name to remove the '4' + and instead just be "CCS". This is because the demo was updated and + tested to also work with later Code Composer Studio versions. + + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be + 50ms instead of 500ms. + +Changes between V7.0.2 and V7.1.0 released December 13 2011 + + New ports: + + + Cortex-M4F IAR port. + + Cortex-M4F Keil/RVDS port. + + TriCore GCC port. + + New demos: + + + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development + board. + + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on + the IAR STM32F407ZG-SK starter kit. + + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the + TriBoard TC1782 evaluation board. + + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an + RX630 RSK (Renesas Starter Kit). + + Miscellaneous / maintenance: + + + Removed all calls to printf() from the K60/IAR Kinetis demo so the project + can execute stand alone - without being connected to the debugger. + + Completed the command interpreter framework. Command handlers now receive + the entire command string, giving them direct access to parameters. + Utility functions are provided to check the number of parameters, and + return parameter sub-strings. + + The previously documented fix for the bug in xTaskResumeFromISR() that + effected (only) ports supporting interrupt nesting has now been + incorporated into the main release. + + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow + specific ports to skip the second stack alignment check when a task is + created. This is because the second check is not appropriate for some + ports - including the new TriCore port where the checked pointer does not + actually point to a stack. + + The portCLEAN_UP_TCB() macro has been added to allow port specific clean + up when a task is deleted - again this is required by the TriCore port. + + Various other minor changes to ensure warning free builds on a growing + number of microcontroller and toolchain platforms. This includes a + (benign) correction to the prototype of the + vApplicationStackOverflowHook() definition found in lots of recent demos. + + Trace system: + + + The legacy trace mechanism has been completely removed - it has been + obsolete for the years since the trace macros were introduced. The + configuration constant configUSE_TRACE_FACILITY is now used to optionally + include additional queue and task information. The additional information + is intended to make the trace mechanism more generic, and allow the trace + output to provide more information. When configUSE_TRACE_FACILITY is set + to 1: + - the queue structure includes an additional member to hold the queue + type, which can be base, mutex, counting semaphore, binary semaphore + or recursive mutex. + - the queue structure includes an additional member to hold a queue + number. A trace tool can set and query the queue number for its own + purposes. The kernel does not use the queue number itself. + - the TCB structure includes an additional member to hold a task number + number. A trace tool can set and query the task number for its own + purposes. The kernel does not use the task number itself. + + Queues and all types of semaphores are now automatically allocated their + type as they are created. + + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and + traskTASK_PRIORITY_DISINHERIT(). + + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that + indicates the type of queue, mutex, or semaphore that failed to be + created. + + The position from which traceCREATE_MUTEX() is called has been moved from + after the call to xQueueGenericSend() [within the same function] to before + the call. This ensures the trace events occur in the correct order. + + The value passed into tracePRIORITY_SET() has been corrected for the case + where vTaskPrioritySet() is called with a null parameter. + +Changes between V7.0.1 and V7.0.2 released September 20 2011 + + New ports: + + + The official FreeRTOS Renesas RX200 port and demo application have been + incorporated into the main FreeRTOS zip file download. + + The official FreeRTOS Renesas RL78 port and demo application have been + incorporated into the main FreeRTOS zip file download. + + The official FreeRTOS Freescale Kinetis K60 tower demo application has + been incorporated into the main FreeRTOS zip file download. This includes + an embedded web server example. + + A new Microblaze V8 port layer has been created to replace the older, now + deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, + including exceptions, caches, and the floating point unit. A new + Microblaze demo has also been added to demonstrate the new Microblaze V8 + port layer. The demo application was created using V13.1 of the Xilinx + EDK, and includes a basic embedded web server that uses lwIP V1.4.0. + + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been + incorporated into the main FreeRTOS zip file download. Projects are + provided for both the IAR and Keil toolchains. + + + API additions: + + + xTaskGetIdleTaskHandle() has been added. + + xTaskGetTimerDaemonTaskHandle() has been added. + + pcTaskGetTaskName() has been added. + + vSemaphoreDelete() macro has been added to make it obvious how to delete + a semaphore. In previous versions vQueueDelete() had to be used. + + vTaskCleanUpResources() has been removed. It has been obsolete for a + while. + + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings + being generated when the size of a pointer does not match the size of + the stack type. This will (has already) be used in new ports, but will + not be retrofitted to existing ports until the existing port itself is + updated. + + Other updates and news: + + + The core files have all been modified to tighten the coding standard even + further. These are style, not functional changes. + + All ARM7 port layers have been slightly modified to prevent erroneous + assert() failures when tasks are created and configASSERT() is defined. + + All ARM IAR projects have been updated to build with the latest V6.2.x + versions of the IAR Embedded Workbench for ARM tools (EWARM). This was + necessary due to a change in the way EWARM uses the CMSIS libraries. + + The PIC32 port layer has been updated in preparation for V2 of the C32 + compiler. + + The old Virtex-4 Microblaze demo has been marked as deprecated. Please + use the brand new Spartan-6 port and demo in its place. + + The bones of a new generic command interpreter is located in + FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in + progress, and not documented. It is however already in use. It will be + documented in full when the projects that are already using it are + completed. + + A couple of new standard demos have been included. First, a version of + flop.c called sp_flop.c. This is similar to flop.c, but uses single + precision floats in place of double precision doubles. This allows the + for testing ports to processors that have only single precision floating + point units, and revert to using emulated calculations whenever a double + is used. Second, comtest_strings.c has been included to allow the test + of UART drivers when an entire string is transmitted at once. The + previous comtest.c only used single character transmission and reception. + + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and + used by a couple of new demos. + +Changes between V7.0.0 and V7.0.1 released May 13 2011 + + + Added a Fujitsu FM3 demo application for both the IAR and Keil tool + chains. + + Added a SmartFusion demo application for all of the IAR, Keil and + SoftConsole (GCC/Eclipse) tool chains. + + Updated the RX600 port and demo applications to take into account the + different semantics required when using the latest (V1.0.2.0) version of + the Renesas compiler. + + Modified the RX600 Ethernet driver slightly to make it more robust under + heavy load, and updated the uIP handling task to make use of the FreeRTOS + software timers. + + Slightly changed the PIC32 port layer to move an ehb instruction in line + with the recommendations of the MIPS core manual, and ensure 8 byte stack + alignment is truly always obtained. + + Changed the behaviour when tasks are suspended before the scheduler has + been started. Before, there needed to be at least one task that was not + in the suspended state. This is no longer the case. + +Changes between V6.1.1 and V7.0.0 released April 8 2011 + + FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x + + Main changes: + + + Introduced a new software timer implementation. + + Introduced a new common demo application file to exercise the new timer + implementation. + + Updated the Win32/MSVC simulator project to include the new software timer + demo tasks and software timer tick hook test. Much simpler software timer + demonstrations are included in the demo projects for both of the new ports + (MSP430X with CCS4 and STM32 with TrueStudio). + + Various enhancements to the kernel implementation in tasks.c. These are + transparent to users and do not effect the pre-existing API. + + Added calls to configASSERT() within the kernel code. configASSERT() is + functionally equivalent to the standard C assert() macro, but does not + rely on the compiler providing assert.h. + + Other changes: + + + Updated the MSP430X IAR port and demo project to include support for the + medium memory model. + + Added a demo project for the MSP430X that targets the MSP430X Discovery + board and uses the Code Composer Studio 4 tools. This demo includes use + of the new software timer implementation. + + Added an STM32F100RB demo project that targets the STM32 Discovery Board + and uses the TrueStudio Eclipse based IDE from Atollic. + + Removed some compiler warnings from the PSoC demo application. + + Updated the PIC32 port layer to ensure the + configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter + what its value is (within the valid range set by the microcontroller + kernel). + + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest + MPLAB compiler versions from Microchip. + + Various cosmetic changes to prepare for a standards compliance statement + that will be published after the software release. + + +Changes between V6.1.0 and V6.1.1 released January 14 2011 + + + Added two new Windows simulator ports. One uses the free Microsoft Visual + Studio 2010 express edition, and the other the free MingW/Eclipse + environment. Demo projects are provided for both. + + Added three demo projects for the PSoC 5 (CYAC5588). These are for the + GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. + + Added a demo for the low power STM32L152 microcontroller using the IAR + Embedded Workbench. + + Added a new port for the MSP430X core using the IAR Embedded Workbench. + + Updated all the RX62N demo projects that target the Renesas Demonstration + Kit (RDK) to take into account the revered LED wiring on later hardware + revisions, and the new J-Link debug interface DLL. + + Updated all the RX62N demo projects so the IO page served by the example + embedded web server works with all web browsers. + + Updated the Red Suite projects to work with the up coming Red Suite + release, and to use a more recent version of the CMSIS libraries. + + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. + + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() + trace macro. + + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment + the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for + more flexibility in how the time base for the run time statistics feature + can be implemented. + + Added a "cpsie i" instruction before the "svc 0" instruction used to start + the scheduler in each of the Cortex M3 ports. This is to ensure that + interrupts are globally enabled prior to the "svc 0" instruction being + executed in cases where interrupts are left disabled by the C start up + code. + + Slight optimisation in the run time stats calculation. + +Changes between V6.0.5 and V6.1.0 released October 6 2010 + + + Added xTaskGetTickCountFromISR() function. + + Modified vTaskSuspend() to allow tasks that have just been created to be + immediately suspended even when the kernel has not been started. This + allows them to effectively start in the Suspended state - a feature that + has been asked for on numerous occasions to assist with initialisation + procedures. + + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. + + Added a STM32F103 demo application that uses the Rowley tools. + + Under specific conditions xFreeBytesRemaining within heap_2.c could end up + with an incorrect value. This has been fixed. + + xTaskCreateGeneric() has a parameter that can be used to pass the handle + of the task just created out to the calling task. The assignment to this + parameter has been moved to ensure it is assigned prior to the newly + created having any possibility of executing. This takes into account the + case where the assignment is made to a global variable that is accessed by + the newly created task. + + Fixed some build time compiler warnings in various FreeTCPIP (based on + uIP) files. + + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. + +Changes between V6.0.4 and V6.0.5 released May 17 2010 + + + Added port and demo application for the Cortus APS3 processor. + +Changes between V6.0.3 and V6.0.4 released March 14 2010 + + + All the contributed files that were located in the Demo/Unsupported_Demos + directory have been removed. These files are instead now available in the + new Community Contributions section of the FreeRTOS website. See + https://www.FreeRTOS.org/RTOS-contributed-ports.html + + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory + has been upgraded to use V2.x of the Rowley Crossworks STM32 support + package. + + An initial Energy Micro EFM32 demo has been included. This will be + updated over the coming months to make better use of the low power modes + the EFM32 provides. + +Changes between V6.0.2 and V6.0.3 released February 26 2010 + + + SuperH SH7216 (SH2A-FPU) port and demo application added. + + Slight modification made to the default implementation of + pvPortMallocAligned() and vPortFreeAligned() macros so by default they + just call pvPortMalloc() and vPortFree(). The macros are only needed to + be defined when a memory protection unit (MPU) is being used - and then + only depending on other configuration settings. + +Changes between V6.0.1 and V6.0.2 released January 9th 2010 + + + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. + Previously the parameter was blank and therefore only an implicit 0 but + newer GCC releases do not permit this. + + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. + + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. + + Updated prvListTaskWithinSingleList() is it works on processors where the + stack grows up from low memory. + + Corrected some comments. + + Updated the startup file for the RVDS LPC21xx demo. + +Changes between V6.0.0 and V6.0.1 released November 15th 2009 + + + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the + stack pointer is where the compiler expects it to be when a task first + starts executing. + + The following minor changes only effect the Cortex-M3 MPU port: + + + portRESET_PRIVILEGE() assembly macro updated to include a clobber list. + + Added prototypes for all the privileged function wrappers to ensure no + compile time warnings are generated no matter what the warning level + setting. + + Corrected the name of portSVC_prvRaisePrivilege to + portSVC_RAISE_PRIVILEGE. + + Added conditional compilation into xTaskGenericCreate() to prevent some + compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. + + +Changes between V5.4.2 and V6.0.0 released October 16th 2009 + + FreeRTOS V6 is backward compatible with FreeRTOS V5.x. + + Main changes: + + + FreeRTOS V6 is the first version to include memory protection unit (MPU) + support. Two ports now exist for the Cortex M3, the standard FreeRTOS + which does not include MPU support, and FreeRTOS-MPU which does. + + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added + in support of FreeRTOS-MPU. + + Wording for the GPL exception has been (hopefully) clarified. Also the + license.txt file included in the download has been fixed (the previous + version contained some corruption). + + Other changes: + + + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. + + ARM7 GCC demo interrupt service routines wrappers have been modified to + call the C portion using an __asm statement. This prevents the function + call being inlined at higher optimisation levels. + + ARM7 ports now automatically set the THUMB bit if necessary when + setting up the initial stack of a task - removing the need for + THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode + tasks to be mixed more easily. + + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. + + Various demo application project files have been updated to be up to date + with the latest IDE versions. + + The linker scripts used with command line GCC demos have been updated to + include an eh_frame section to allow their use with the latest Yagarto + release. Likewise the demo makefiles have been updated to include + command line options to reduce or eliminate the eh_frame section all + together. + + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the + various memory allocation files and into the common portable.h header + file. + + Removed unnecessary use of portLONG, portSHORT and portCHAR. + + Added LM3Sxxxx demo for Rowley CrossWorks. + + Posix simulator has been upgraded - see the corresponding WEB page on the + FreeRTOS.org site. + + +Changes between V5.4.1 and V5.4.2 released August 9th 2009 + + + Added a new port and demo app for the Altera Nios2 soft core. + + Added LPC1768 demo for IAR. + + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). + + Changed clock frequency of LPC1768 demos to 99MHz. + +Changes between V5.4.0 and V5.4.1 released July 25th 2009 + + + New hook function added. vApplicationMallocFailedHook() is (optionally) + called if pvPortMalloc() returns NULL. + + Additional casting added to xTaskCheckForTimeOut(). This prevents + problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a + 32 bit architecture (which would probably be a mistake, anyway). + + Corrected the parameter passed to NVIC_SetPriority() to set the MAC + interrupt priority in both LPC1768 demos. + + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 + demo application to ensure the heap space was not completely consumed + before the scheduler was started. + +Changes between V5.3.1 and V5.4.0 released July 13th 2009 + + + Added Virtex5 / PPC440 port and demos. + + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The + original demo was configured to use engineering samples of the CPU. The + new demo has an improved Ethernet driver. + + Added LPC1768 Rowley demo with zero copy Ethernet driver. + + Reworked byte alignment code to ensure 8 byte alignment works correctly. + + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. + + Changed the initial stack setup for the PPC405 to ensure the small data + area pointers are setup correctly. + +Changes between V5.3.0 and V5.3.1 released June 21st 2009 + + + Added ColdFire V1 MCF51CN128 port and WEB server demo. + + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. + + Changed the Cortex M3 port.c asm statements to __asm so it can be + compiled using Rowley CrossWorks V2 in its default configuration. + + Updated the Posix/Linux simulator contributed port. + +Changes between V5.2.0 and V5.3.0 released June 1st 2009 + + Main changes: + + + Added new (optional) feature that gathers statistics on the amount of CPU + time used by each task. + + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based + microcontroller. + + Added a new demo application for the NXP LPC1766 Cortex-M3 based + microcontroller. + + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a + Linux environment. + + Minor changes: + + Updated the Stellaris uIP WEB server demos to include the new run time + statistics gathering feature - and include a served WEB page that + presents the information in a tabular format. + + Added in the lwIP port layer for the Coldfire MCF52259. + + Updated the CrossWorks LPC2368 WEB server to include an image in the + served content. + + Changed some of the timing in the initialisation of the LPC2368 MAC to + permit its use on all part revisions. + + Minor modifications to the core uIP code to remove some compiler warnings. + + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom + demo to make use of the new function. + + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using + Rowley Crossworks. + + Heap_1.c and Heap_2.c used to define structures for the purpose of data + alignment. These have been converted to unions to save a few bytes of + RAM that would otherwise be wasted. + + Remove the call to strncpy() used to copy the task name into the TCB when + the maximum task name is configured to be 1 byte long. + +Changes between V5.1.2 and V5.2.0 released March 14th 2009 + + + Optimised the queue send and receive functions (also used by semaphores). + + Replaced the standard critical sections used to protect BIOS calls in the + PC port to instead use scheduler locks. This is because the BIOS calls + always return with interrupts enabled. + + Corrected unclosed comments in boot.s. + +Changes between V5.1.1 and V5.1.2 released February 9th 2009 + + + Added NEC V850ES port and demo. + + Added NEC 78K0R port and demo. + + Added MCF52259 port and demo. + + Added the AT91SAM9XE port and demo. + + Updated the MCF52233 FEC driver to work around a silicon bug that + prevents the part auto negotiating some network parameters. + + Minor modifications to the MCF52233 makefile to permit it to be used + on Linux hosts. + + Updated the STM32 primer files to allow them to be built with the latest + version of the RIDE tools. + + Updated the threads.js Java script used for kernel aware debugging in + the Rowley CrossWorks IDE. + + +Changes between V5.1.0 and V5.1.1 released November 20, 2008 + + + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse. + + Added IAR MSP430 port and demo. + + Corrected several compiler time issues that had crept in as tool versions + change. + + Included FreeRTOS-uIP - a faster uIP. This is not yet complete. + +Changes between V5.0.4 and V5.1.0 released October 24, 2008 + + + Added a new port and demo application for the ColdFire V2 core using the + CodeWarrior development tools. + + Replaced the ARM7 demo that used the old (and now no longer supported) + Keil compiler with a new port that uses the new Keil/RVDS combo. + + Stack overflow checking now works for stacks that grow up from low + memory (PIC24 and dsPIC). + + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct + value of -1. + + MSP430 port layers have been updated to permit tasks to place the + microcontroller into power down modes 1 to 3. The demo applications have + likewise been updated to demonstrate the new feature. + + Replaced the two separate MSP430/Rowley port layers with a single and more + flexible version. + + Added more contributed ports, including ports for NEC and SAM9 + microcontrollers. + + Changed the linker script used in the LPC2368 Eclipse demo. + +Changes between V5.0.3 and V5.0.4 released September 22, 2008 + + + Completely re-written port for ColdFire GCC. + + Bug fix: All Cortex M3 ports have a minor change to the code that sets + the pending interrupt. + + Some header files require that FreeRTOS.h be included prior to their + inclusion. #error message have been added to all such header file + informing users to the cause of the compilation error should the headers + not be included in the correct order. + +Changes between V5.0.2 and V5.0.3 released July 31, 2008 + + Changes relating to the Cortex M3: + + + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3 + ports and demos. See the port documentation pages on the FreeRTOS.org + WEB site for full usage information. + + Improved efficiency of Cortex M3 port even further. + + Ensure the Cortex M3 port works no matter where the vector table is + located. + + Added the IntQTimer demo/test tasks to a demo project for each CM3 port + (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY + functionality. + + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil + projects to allow the WEB server to be conditionally excluded from the + build and therefore allow use of the KickStart (code size limited) + compiler version. + + Other changes: + + + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to + an assembly file to allow use with all MPLAB compiler versions. This also + allows the omit-frame-pointer optimisation to be turned off. + +Changes between V5.0.0 and V5.0.2 released May 30, 2008 + + + Updated the PIC32 port to allow queue API calls to be used from + interrupts above the kernel interrupt priority, and to allow full + interrupt nesting. Task stack usages has also been reduced. + + Added a new PowerPC port that demonstrates how the trace macros can be + used to allow the use of a floating point co-processor. The + traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to + save and restore the floating point context respectively for those tasks + that actually use floating point operations. + + BUG FIX: The first PPC405 port contained a bug in that it did not leave + adequate space above the stack for the backchain to be saved when a task + started to execute for the first time. + + Updated queue.c to add in the means to allow interrupt nesting and for + queue API functions to be called from interrupts that have a priority + above the kernel priority. This is only supported on PIC32 ports thus + far. + + Fixed the compiler warnings that were generated when the latest version + of WinAVR was used. + + Remove all inline usage of 'inline' from the core kernel code. + + Added the queue registry feature. The queue registry is provided as a + means for kernel aware debuggers to locate queue definitions. It has no + purpose unless you are using a kernel aware debugger. The queue registry + will only be used when configQUEUE_REGISTRY_SIZE is greater than zero. + + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to + prevent them from having to be included in multiple demos. + + Added a Keil STM32 demo application. + + Changed the blocktim.c test files as it is no longer legitimate for all + ports to call queue API functions from within a critical section. + + Added the IntQueue.c test file to test the calling of queue API functions + from different interrupt priority levels, and test interrupt nesting. + +Changes between V5.0.0 and V5.0.1 + + + V5.0.1 was a customer specific release. + +Changes between V4.8.0 and V5.0.0 released April 15, 2008 + + *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 *** + + The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(), + xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must + update all calls to these functions to use the new calling convention! Your + compiler might not issue any type mismatch warnings! + + + Other changes: + + + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3 + microcontrollers. + + New task hook feature added. + + PowerPC demo updated to use version 10.1 of the Xilinx EDK. + + Efficiency gains within the PIC32 port layer. + +Changes between V4.7.2 and V4.8.0 released March 26 2008 + + + Added a Virtex4 PowerPC 405 port and demo application. + + Added optional stack overflow checking and new + uxTaskGetStackHighWaterMark() function. + + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and + uxQueueMessagesWaitingFromISR() API functions. + + Efficiency improvements to the Cortex-M3 port layer. NOTE: This + requires that an SVC handler be installed in the application. + + Efficiency improvements to the queue send and receive functions. + + Added new trace macros. These are application definable to provide + a flexible trace facility. + + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex + M3 port layer (bringing it up to the same standard as the IAR and GCC + versions). + + Ports that used the arm-stellaris-eabi-gcc tools have been converted to + use the arm-non-eabi-gcc tools. + +Changes between V4.7.1 and V4.7.2 released February 21, 2008 + + + Added Fujitsu MB91460 port and demo. + + Added Fujitsu MB96340 port and demo. + + Tidied up the capitalisation of include files to facilitate builds on + Linux hosts. + + Removed some redundant casting that was generating warnings - but was + included to remove warnings on other compilers. + +Changes between V4.7.0 and V4.7.1 released February 3, 2008 + + + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench + for ARM. + + Introduced recursive semaphore feature. + + Updated LPC2368 demos to take into account silicon bugs in old chip + revisions. + + Updated STR9 uIP port to manually set the net mask and gateway addresses. + + Updating demos to allow more to run with the co-operative scheduler. + + Fixed co-operative scheduler behaviour upon the occurrence of a tick + interrupt while the scheduler was suspended. + + Updated documentation contained within semphr.h. + + ARM7 GCC ports no longer use the IRQ attribute. + +Changes between V4.6.1 and V4.7.0 released December 6, 2007 + + + Introduced the counting semaphore macros and demo source files. The + Open Watcom PC project has been updated to include the new demo. See + the online documentation for more information. + + Introduced the 'alternative' queue handling API and demo source files. + The Open Watcom PC project has been updated to include the new demo + source files. See the online documentation for more information. + + Added AT91SAM7X Eclipse demo project. + + Added the STM32 primer demo project for the GCC compiler and Ride IDE. + + Removed the .lock files that were mistakenly included in the V4.6.1 + eclipse workspaces. + +Changes between V4.6.0 and V4.6.1 released November 5 2007 + + + Added support for the MIPS M4K based PIC32. + + Added 'extern "C"' to all the header files to facilitate use with C++. + +Changes between V4.5.0 and V4.6.0 released October 28 2007 + + + Changed the method used to force a context switch within an ISR for the + ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and + portEXIT_SWITCHING_ISR() macros are no longer supported. This is to + ensure correct behaviour no matter which GCC version is used, with or + without the -fomit-frame-pointer option, and at all optimisation levels. + + Corrected the prototype for xQueueGenericSend() within queue.h. + +Changes between V4.4.0 and V4.5.0 released September 17 2007 + + + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek() + functionality. These should now be used in preference to the old + xQueueSend() function - which is maintained for backward compatibility. + + Added Mutex functionality. The behaviour of mutexes is subtly different + to the already existing binary semaphores as mutexes automatically + include a priority inheritance mechanism. + + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour + of the new functionality. + + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and + QPeek.c files. + + Updated the GCC port for the Cortex M3 to include the + configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only + included in the IAR port. + + Optimised the GCC and IAR port layer code - specifically the context + switch code. + + Consolidated the LM3Sxxxx EK demos for all development tools into a + single project that automatically detects which version of the EK the + application is executing on. + + Added Eclipse support for LM3Sxxxx evaluation kits. + + Added Eclipse support for the Keil LPC2368 evaluation kit. + + Added the Demo/Drivers directory to hold code that is common to multiple + demo application projects. + + Included some minor bug fixes in the uIP 1.0 code. + + Added an lwIP demo for the STR9 - thanks ST for assistance. + + Updated the AVR32 port to ensure correct behaviour with full compiler + optimisation. + + Included binaries for OpenOCD FTDI and parallel port interfaces. + +Changes between V4.4.0 and V4.3.1 released July 31, 2007 + + + Added AVR32 UC3B demo application. + + Updated AVR32 UC3A port and demo applications. + + Added IAR lwIP demo for AVR32 UC3A. + + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation + (thanks Niu Yong for making the suggestion). + + Added xTaskGetSchedulerState() API function. + + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely + have their block time adjusted (within xQueueSend() and xQueueReceive()), + and are the subject of a call the vTaskResume() when they are not + actually in the Suspended state (thanks Dan Searles for reporting the + issues). + + +Changes between V4.3.0 and V4.3.1 released June 11, 2007 + + + Added STMicroelectronics STM32 Cortex-M3 demo application. + + Updated ustdlib.c for the GCC LM3S6965 demo. + +Changes between V4.2.1 and V4.3.0 released June 5, 2007 + + + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24 + and dsPIC ports. See the LM3S6965 and PIC24 demo application + documentation pages for more information. + + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC + tools, and changed the demo applications. + + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris + microcontrollers. + + Corrected bug in uIP the demos that prevented frames of approximately 1480 + bytes and over from being transmitted. + + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org + download. + + Update to WizC PIC18 port to permit its use with version 14 of the + compiler. Thanks Marcel! + +Changes between V4.2.1 and V4.2.0 released April 2, 2007 + + + Added AVR32 AT32UC3A ports for GCC and IAR. + + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile. + + Moved location of call to LCD_Init() in STR9 demo to ensure it is only + called after the scheduler has been started. + +Changes between V4.1.3 and V4.2.0 released February 8, 2007 + + + Changes to both task.c and queue.c as a result of testing performed on + the SafeRTOS code base. + + Added Cortex-M3 LM3S811 demos for GCC and IAR tools. + +Changes between V4.1.2 and V4.1.3 released November 19, 2006 + + + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools. + + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around + to GCC bug at some optimisation levels. + + Altered the way the heap is defined in the LM3S811 Keil demo to prevent + the RAM usage from counting toward the code size limit calculation. + + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within + xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz. + + Tasks that block on events with a timeout of portMAX_DELAY are now + blocked indefinitely if configINCLUDE_vTaskSuspend is defined. + Previously portMAX_DELAY was just the longest block time possible. This + is still the case if configINCLUDE_vTaskSuspend is not defined. + + Minor changes to some demo application files. + +Changes between V4.1.1 and V4.1.2 released October 21, 2006 + + + Added 16bit PIC ports and demos. + + Added STR750 port and demo. + + +Changes between V4.1.0 and V4.1.1 released September 24, 2006 + + + Added the Luminary Micro Stellaris LM3S811 demo application. + +Changes between V4.0.5 and V4.1.0 released August 28, 2006 + + + Prior to V4.1.0, under certain documented circumstances, it was possible + for xQueueSend() and xQueueReceive() to return without having completed + and without their block time expiring. The block time effectively + stated a maximum block time, and the return value of the function needed + to be checked to determine the reason for returning. This is no longer + the case as the functions will only return once the block time has + expired or they are able to complete their operation. It is therefore no + longer necessary to wrap calls within loops. + + Changed the critical section handling in the IAR AVR port to correct the + behaviour when used with later compiler versions. + + Added the LPC2138 CrossWorks demo into the zip file. Previously this was + only available as a separate download. + + Modified the AVR demo applications to demonstrate the use of co-routines. + +Changes between V4.0.4 and V4.0.5 released August 13, 2006 + + + Introduced API function xTaskResumeFromISR(). Same functionality as + xTaskResume(), but can be called from within an interrupt service routine. + + Optimised vListInsert() in the case when the wake time is the maximum + tick count value. + + Bug fix: The 'value' of the event list item is updated when the priority + of a task is changed. Previously only the priority of the TCB itself was + changed. + + vTaskPrioritySet() and vTaskResume() no longer use the event list item. + This has not been necessary since V4.0.1 when the xMissedYield handling + was added. + + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz. + + When ending the scheduler - do not try to attempt a context switch when + deleting the current task. + + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining + the length from the rx descriptor. + + +Changes between V4.0.3 and V4.0.4 released June 22, 2006 + + + Added a port and demo application for the STR9 ARM9 based processors from + ST. + + Slight optimisation to the vTaskPrioritySet() function. + + Included the latest uIP version (1.0) in the demo/common/ethernet + directory. + +Changes between V4.0.2 and V4.0.3 released June 7, 2006 + + + Added a port and demo application for the Cortex-M3 target using the IAR + development tools. + + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the + CrossStudio tools. + + The heap size defined for the lwIP Rowley demo has been reduced so that + the project will link correctly when using the command line GCC tools + also. The makefile has also been modified to allow debugging. + + The lwIP Rowley demo not includes a 'kernel aware' debug window. + + The uIP Rowley project has been updated to build with V1.6 of CrossWorks. + + The second set of tasks in the blockQ demo were created the wrong way + around (inconsistent to the description in the file). This has been + corrected. + +Changes between V4.0.1 and V4.0.2 released May 28, 2006 + + + Port and demo application added for the Tern Ethernet Engine controller. + + Port and demo application added for MC9S12 using GCC, thanks to + Jefferson "imajeff" Smith. + + The function vTaskList() now suspends the scheduler rather than disabling + interrupts during the creation of the task list. + + Allow a task to delete itself by passing in its own handle. Previously + this could only be done by passing in NULL. + + Corrected the value passed to the WDG_PeriodValueConfig() library + function in the STR71x demo. + + The tick hook function is now called only within a tick isr. Previously + it was also called when the tick function was called during the scheduler + unlocking process. + + The EMAC driver in the SAM7X lwIP demo has been made more robust as per + the thread: https://sourceforge.net/forum/message.php?msg_id=3714405 + + In the PC ports: Add function prvSetTickFrequencyDefault() to set the + DOS tick back to its proper value when the scheduler exits. Thanks + Raynald! + + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT + macro where the BP register was not popped from the stack correctly. The + BP value would never get used so this did not cause a problem, but it has + been corrected all the same. + + +Changes between V4.0.0 and V4.0.1 released April 7 2006 + + + Improved the ARM CORTEX M3 ports so they now only have to service + pendSV interrupts. + + Added a Luminary Micro port and demo for use with Rowley CrossWorks. + + Added the xMissedYield handling to tasks.c. + +Changes between V3.2.4 and V4.0.0 + + Major changes: + + + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers. + + Added new co-routine functionality. + + Other kernel changes: + + + An optional tick hook call is now included in the tick function. + + Introduced the xMiniListItem structure and removed the list pxHead + member in order to reduce RAM usage. + + Added the following definitions to the FreeRTOSConfig.h file included + with every port: + configUSE_TICK_HOOK + configUSE_CO_ROUTINES + configMAX_CO_ROUTINE_PRIORITIES + + The volatile qualification has been changed on the list members to allow + the task.c code to be tidied up a bit. + + The scheduler can now be started even if no tasks have been created! + This is to allow co-routines to run when there are no tasks. + + A task being woken by an event will now preempt the currently running task + even if its priority is only equal to the currently running task. + + Port and demo application changes: + + + Updated the WinAVR demo to compile with the latest version of WinAVR + with no warnings generated. + + Changed the WinAVR makefile to make chars signed - needed for the + co-routine code if BaseType_t is set to char. + + Added new demo application file crflash.c. This demonstrates co-routine + functionality including passing data between co-routines. + + Added new demo application file crhook.c. This demonstrates co-routine + and tick hook functionality including passing data between and ISR and + a co-routine. + + Some NOP's were missing following stmdb{}^ instructions in various ARM7 + ports. These have been added. + + Updated the Open Watcom PC demo project to include the crflash and crhook + demo co-routines as an example of their use. + + Updated the H8S demo to compile with the latest version of GCC. + + Updated the SAM7X EMAC drivers to take into account the hardware errata + regarding lost packets. + + Changed the default MAC address used by some WEB server demos as the + original addresses used was not liked by some routers. + + Modified the SAM7X/IAR startup code slightly to prevent it hanging on + some systems when the code is executed using a j-link debugger. The + j-link macro file configures the PLL before the code executes so + attempting to configure it again in the startup code was causing a + problem for some user. Now a check is performed first to see if the + PLL is already set up. + + GCC port now contain all assembler code in a single asm block rather than + individual blocks as before. + + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler + choose the register to use as a temporary register during the context + switch. + + Added portNOP() macro. + + The compare match load value on LPC2000 ports now has 1 added to correct + the value used. + + The minimal stack depth has been increased slightly on the WIZC PIC18 + port. + +Changes between V3.2.3 and V3.2.4 + + + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above. + Many thanks to Glen Biagioni for the provided update. + + Added a new Microblaze port and demo application. + + Modified the SAM7X EMAC demo to default to use the MII interface rather + than the RMII interface. + + Modified the startup sequence of the SAM7X demo slightly to allow the + EMAC longer to auto negotiate. + +Changes between V3.2.2 and V3.2.3 + + + Added MII interface support to the SAM7X EMAC peripheral driver. + Previously versions worked with the RMII interface only. + + Added command line GCC support to the SAM7X lwIP demo. Previously the + project could only be built using the CrossWorks IDE. Modifications to + this end include the addition of a standard makefile and linker script to + the download, and some adjustments to the stacks allocated to each task. + + Changed the page returned by the lwIP WEB server demo to display the + task status table rather than the TCP/IP statistics. + + Corrected the capitalisation of some header file includes and makefile + dependencies to facilitate use on Linux host computers. + + The various LPC2000 ports had a mistake in the timer setup where the + prescale value was written to T0_PC instead of T0_PR. This would have + no effect unless a prescale value was actually required. This has been + corrected. + +Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005 + + + Added an IAR port for the Philips LPC2129 + + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded + Workbench V4.30a format. + + Updated the J-Link macro file included with the SAM7X uIP demo project + to allow the demo board to be reset over the J-Link. + +Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005 + + + Added lwIP demo for AT91SAM7X using Rowley tools. + + Added uIP demo for AT91SAM7X using IAR tools. + + Added function xTaskGetCurrentTaskHandle(). + + Renamed events.h to mevents.h to prevent it conflicting with the events.h + generated automatically by the HCS12 processor expert utility. events.h + is only used by the PC demo application. + + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value + expected by the compiler, and the compilers do not write to this + register. + + The HCS12 banked model demo now creates the 'suicide' tasks immediately + prior to starting the scheduler. These tasks should be the last tasks to + get started in order for the test to function correctly. + +Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005 + + V3.2.0 introduces two new MSP430 ports and corrects a minor kernel + issues. Thanks to Ares.qi for his input. + + + Added two MSP430 ports that use the Rowley CrossWorks development tools. + One port just mirrors the existing GCC port. The other port was provided + by Milos Prokic. Thanks! + + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume() + are called while the scheduler is locked (by a call to + vTaskSuspendAll()). When this is done the subject task now starts to + execute immediately when the scheduler is unlocked if it has the highest + priority that is ready to run. Previously there was a possibility that + the task would not run until the next RTOS tick or call to portYIELD(). + + Another similar small correction ensures that in the case where more than + one task is blocked on a semaphore or queue, the task with the highest + priority is guaranteed to be unblocked first. + + Added a couple of more test tasks to the PC demo which cover the points + above. + +Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005 + + This release updates the HCS12 port. The common kernel code + remains unchanged. + + + Updated the HCS12 port to support banking and introduced a demo + application for the MC9S12DP256. The new demo application is + located in the Demo/HCS12_CodeWarrior_banked directory. + + The name of the directory containing the MC9S12F32 demo application + has been changed to Demo/HCS12_CodeWarrior_small (as in 'small' + memory model). + + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the + demo application is now 24MHz. Previously it was 8MHz. + + The demo application file Demo/Common/Minimal/death.c has a slight + alteration to prevent it using floating point variables. + + +Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005 + + + Added new ports for ST Microsystems STR71x, and Freescale HCS12 + microcontrollers. Currently the HCS12 port is limited to the small + memory model. Large memory models will be supported in the next + release. + + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his + continuing contribution. + + The accuracy of the AVR port timer setup has been improved. Thanks to + Thomas Krutmann for this contribution. + + Added a new conditional compilation macro configIDLE_SHOULD_YIELD. + See the WEB documentation for details. + + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks. + + Slight modification to the SAM7 release build configuration to correct + an include path definition. + + Updated the MPLAB PIC18 documentation to provide extra details on linker + file configuration. + +Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005 + + V3.0.0 includes many enhancements, so this history list is broken into + subsections as follows: + + API changes + New ports + Directory name changes + Kernel and miscellaneous changes changes + + - API changes + + + Each port now defines BaseType_t as the data type that is most + efficient for that architecture. The type BaseType_t is used + extensively in API calls necessitating the following changes to the + FreeRTOS API function prototypes. + + See the "New for V3.0.0" section of the FreeRTOS online + documentation for full details of API changes. + + - New ports + + + The AT91FR40008 ARM7 port contributed by John Feller is now included + in the download (thanks John!). + + The PIC18 port for the wizC/fedC compiler contributed by Marcel van + Lieshout is now included in the download (thanks Marcel!). + + The IAR port for the AVR microcontroller has been upgraded to V3.0.0 + and is now a supported port. + + - Directory name changes + + For consistency, and to allow integration of the new ports, the + following directory names have been changed. + + + The source/portable/GCC/ARM7 directory has been renamed + source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming + of other GCC ARM7 ports. + + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to + accommodate the wizC/fedC PIC port. + + The demo applications for the two AVR ports no longer share the same + directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR + directory and the IAR port in the Demo/AVR_ATMega323_IAR directory. + + + - Kernel and miscellaneous changes changes + + See the "New for V3.0.0" section of the FreeRTOS online + documentation for more information. + + + Previously 'portmacro.h' contained some user editable definitions + relating to the user application, and some fixed definitions relating + specifically to the port being used. The application specific + definitions have been removed from 'portmacro.h' and placed inside a + new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now + never be modified by the user. A 'FreeRTOSConfig.h' is now included + in each of FreeRTOS/Demo subdirectories - as it's settings relate to + the demo application rather than being specific to the port. + + Introduced configUSE_IDLE_HOOK in idle task. + + The idle task will yield when another idle priority task is ready to + run. Previously the idle task would run to the end of its time slice + regardless. + + The idle task is now created when the scheduler is started. This + requires less stack than the previous scheme where it was created upon + creation of the first application task. + + The function usPortCheckFreeStackSpace() has been renamed + usTaskCheckFreeStackSpace() and moved from the portable layer to + tasks.c. + + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE. + + The portheap.c file included with the AVR port has been deleted. The + AVR demo now uses the standard heap1 sample memory allocator. + + The GCC AVR port is now build using the standard make utility. The + batch files used previously have been deleted. This means a recent + version of WinAVR is required in order to create a binary suitable for + source level debugging. + + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION + constant as a parameter. Instead the constant is used directly within + tasks.c and no parameter is required. + + The header file 'FreeRTOS.h' has been created and is used to include + 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary + order. FreeRTOS.h can now be included in place of these other + headers. + + The header file 'errors.h' has been deleted. The definitions it + contained are now located within 'projdefs.h'. + + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc(). + Previously an unsigned short was used. + + When resuming the scheduler a yield is performed if either a tick has + been missed, or a task is moved from the pending ready list into a + ready list. Previously a yield was not performed on this second + condition. + + In heap1.c an overflow check has been added to ensure the next free + byte variable does not wrap around. + + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO() + macros. + + The MPLAB PIC port now saved the TABLAT register in interrupt service + routines. + +Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005 + + This version adds support for the H8 processor. + + Other changes: + + + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each + individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM + limited ports to allocate fewer characters to the task name. + + AVR port - Replaced the inb() and outb() functions with direct memory + access. This allows the port to be built with the 20050414 build of + WinAVR. + + GCC LPC2106 port - removed the 'static' from the definition of + vNonPreemptiveTick() to allow the demo to link when using the cooperative + scheduler. + + GCC LPC2106 port - Corrected the optimisation options in the batch files + ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case + -o is replaced by an uppercase -O. + + Tasks.c - The strcpy call has been removed when copying across the task + name into the TCB. + + Updated the trace visualisation to always be 4 byte aligned so it can be + used on ARM architectures. + + There are now two tracecon executables (that convert the trace file binary + into an ASCII file). One for big endian targets and one for little endian + targets. + + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called + too often in the idle task. + + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt + mask with the RX_DATA_BK1. + + +Changes between V2.5.5 and V2.6.0 - Released January 16, 2005 + + + Added the API function vTaskDelayUntil(). The demo app file + Demo/Common/Minimal/flash.c has been updated to demonstrate its use. + + Added INCLUDE_vTaskDelay conditional compilation. + + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to + Demo/ARM7_AT91SAM7S64_IAR for consistency. + + Modified the AT91SAM7S USB driver to allow descriptors that have + a length that is an exact multiple of the FIFO to be transmitted. + +Changes between V2.5.4 and V2.5.5 - Released January 3, 2005 + + This version adds support for the Atmel SAM7 ARM7 microcontrollers + along with the IAR development tools. + + Other changes: + + + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC. + + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil. + + Modified the Philips ARM7 serial interrupt service routines to only + process one interrupt per call. This seems to enable the ISR to + operate more quickly. + + Removed the 'far' keyword from the Open Watcom portable layer source + files. This allows their use with V1.3 of Open Watcom. + + Minor modifications to the SDCC build files to allow their use under + Linux. Thanks to Frieder Ferlemann for this contribution. + + Small change to sTaskCreate() to allow a context switch even when + pxCreatedTask is NULL. Thanks to Kamil for this contribution. + + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick() + definitions. + +Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004 + + This is an important maintenance release. + + The function cTaskResumeAll() has been modified so it can be used safely + prior to the kernel being initialised. This was an issue as + cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun + for highlighting this issue. + +Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004 + + The critical section handling functions have been changed for the GCC ARM7 + port. Some optimisation levels use the stack differently to others. This + means the interrupt flags cannot always be stored on the stack and are + instead now stored in a variable, which is then saved as part of the + tasks context. This allows the GCC ARM7 port to be used at all + optimisation levels - including -Os. + + Other minor changes: + + + MSP430 definition of usCriticalNesting now uses the volatile qualifier. + This is probably not required but added just in case. + +Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004 + + + Added the Keil ARM7 port. + + Slight modification to comtest.c to make the delay periods more random. + This creates a better test condition. + +Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004 + + + Added the MSP430 port. + + Extra comments added to the GCC ARM7 port.c and portISR.c files. + + The memory pool allocated within heap_1.c has been placed within a + structure to ensure correct memory alignment on 32bit systems. + + Within the GCC ARM7 serial drivers an extra check is made to ensure + the post to the queue was successful if then attempting immediately + retrieve the posted character. + + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS + as the old name was misleading. + + +Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004 + + The RTOS source code download now includes three separate memory allocation + schemes - so you can choose the most appropriate for your application. + These are found in the Source/Portable/MemMang directory. The demo + application projects have also been updated to demonstrate the new schemes. + See the "Memory Management" page of the API documentation for more details. + + + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang + directory. + + Replaced the portheap.c files for each demo application with one of the + new memory allocation files. + + Updated the portmacro.h file for each demo application to include the + constants required for the new memory allocators: portTOTAL_HEAP_SIZE and + portBYTE_ALIGNMENT. + + Added a new test to the ARM7 demo application that tests the operation + of the heap_2 memory allocator. + + +Changes between V2.4.1 and V2.4.2 - Released July 14, 2004 + + + The ARM7 port now supports THUMB mode. + + Modification to the ARM7 demo application serial port driver. + +Changes between V2.4.0 and V2.4.1 - Released July 2, 2004 + + + Rationalised the ARM7 port version of portEXIT_CRITICAL() - + improvements provided by Bill Knight. + + Made demo serial driver more complete and robust. + + +Changes between V2.4.0 and V2.3.1 - Released June 30, 2004 + + + Added the first ARM7 port - thanks to Bill Knight for the assistance + provided. + + Added extra files to the Demo/Common/Minimal directory. These are + equivalent to their Demo/Common/Full counterparts but with the + calls to the functions defined in print.c removed. + + Added TABLAT to the list of registers saved as part of a PIC18 context. + +Changes between V2.3.0 and V2.3.1 - Released June 25, 2004 + + + Changed the way the vector table is defined to be more portable. + + Corrected the definitions of SPH and SPL in portmacro.s90. + The previous definitions prevented V2.3.0 operating if the iom323.h + header file was included in portmacro.s90. + +Changes between V2.2.0 and V2.3.0 - Released June 19, 2004 + + + Added an AVR port that uses the IAR compiler. + + Explicit use of 'signed' qualifier on plain char types. + + Modified the Open Watcom project files to use 'signed' as the + default char type. + + Changed odd calculation of initial pxTopOfStack value when + portSTACK_GROWTH < 0. + + Added inline qualifier to context switch functions within task.c. + Ports that do not support the (non ANSI) inline keyword have the + inline #define'd away in their respective portmacro.h files. + +Changes between V2.1.1 and V2.2.0 - Released May 18, 2004 + + + Added Cygnal 8051 port. + + PCLATU and PCLATH are now saved as part of the PIC18 context. This + allows function pointers to be used within tasks. Thanks to Javier + Espeche for the enhancement. + + Minor changes to demo application files to reduce stack usage. + + Minor changes to prevent compiler warnings when compiling the new port. + +Changes between V2.1.0 and V2.1.1 - Released March 12, 2004 + + + Bug fix - pxCurrentTCB is now initialised before the call to + prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed + while null during the initialisation sequence. Thanks to Giuseppe + Franco for the correction. + +Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004 + + V2.1.0 has significant reworks that greatly reduce the amount of time + the kernel has interrupts disabled. The first section of modifications + listed here must be taken into account by users. The second section + are related to the kernel implementation and as such are transparent. + + Section1 : + + + The typedef TickType_t has been introduced. All delay times should + now use a variable of type TickType_t in place of the unsigned long's + used previously. API function prototypes have been updated + appropriately. + + The configuration macro USE_16_BIT_TICKS has been introduced. If set + to 1 TickType_t is defined as an unsigned short. If set to 0 + TickType_t is defined as an unsigned long. See the configuration + section of the API documentation for more details. + + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete. + + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a + value (see the API documentation). + + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type + it returns now depends on the USE_16_BIT_TICKS definition. + + cQueueReceive() must now >never< be used from within an ISR. Use the new + cQueueReceiveFromISR() function instead. + + Section 2: + + + A mechanism has been introduced that allows a queue to be accessed by + a task and ISR simultaneously. + + A "pending ready" queue has been introduced that enables interrupts to + be processed when the scheduler is suspended. + + The list implementation has been improved to provide faster item + removal. + + The scheduler now makes use of the scheduler suspend mechanism in places + where previously interrupts were disabled. + +Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004 + + + Introduced new API functions: + vTaskPriorityGet () + vTaskPrioritySet () + vTaskSuspend () + vTaskResume () + vTaskSuspendAll () + vTaskResumeAll () + + Added conditional compilation options that allow the components of the + kernel that are unused by an application to be excluded from the build. + See the Configuration section on the WEB site for more information (on + the API pages). The macros have been added to each portmacro.h file ( + sometimes called prtmacro.h). + + Rearranged tasks.c. + + Added demo application file dynamic.c. + + Updated the PC demo application to make use of dynamic.c. + + Updated the documentation contained in the kernel header files. + + Creating a task now causes a context switch if the task being created + has a higher priority than the calling task - assuming the kernel is + running. + + vTaskDelete() now only causes a context switch if the calling task is + the task being deleted. + +Changes between V1.2.5 and V1.2.6 - Released December 31, 2003 + + Barring the change to the interrupt vector (PIC port) these are minor + enhancements. + + + The interrupt vector used for the PIC master ISR has been changed from + 0x18 to 0x08 - where it should have always been. The incorrect address + still works but probably executes a number of NOP's before getting to the + ISR. + + Changed the baud rate used by the AVR demo application to 38400. This + has an error percentage of less than one percent with an 8MHz clock. + + Raised the priority of the Rx task in demo\full\comtest.c. This only + affects the Flashlite and PC ports. This was done to prevent the Rx + buffer becoming full. + + Reverted the Flashlite COM port driver back so it does not use the DMA. + The DMA appears to miss characters under stress. The Borland Flashlite + port was also calculating a register value incorrectly resulting in the + wrong DMA source address being used. The same code worked fine when + compiling with Open Watcom. Other minor enhancements were made to the + interrupt handling. + + Modified the PIC serial Rx ISR to check for and clear overrun errors. + Overrun errors seem to prevent any further characters being received. + + The PIC demo projects now have some optimisation switched on. + + +Changes between V1.2.4 and V1.2.5 + + Small fix made to the PIC specific port.c file described below. + + + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global + interrupt flag setting. Using the two bits defined within + portINITAL_INTERRUPT_STATE was causing the w register to get clobbered + before the test was performed. + +Changes between V1.2.3 and V1.2.4 + + V1.2.4 contains a release version of the PIC18 port. + An optional exception has been included with the GPL. See the licensing + section of www.FreeRTOS.org for details. + + + The function xPortInitMinimal() has been renamed to + xSerialPortInitMinimal() and the function xPortInit() has been renamed + to xSerialPortInit(). + + The function sSerialPutChar() has been renamed cSerialPutChar() and + the function return type chaned to portCHAR. + + The integer and flop tasks now include calls to tskYIELD(), allowing + them to be used with the cooperative scheduler. + + All the demo applications now use the integer and comtest tasks when the + cooperative scheduler is being used. Previously they were only used with + the preemptive scheduler. + + Minor changes made to operation of minimal versions of comtest.c and + integer.c. + + The ATMega port definition of portCPU_CLOSK_HZ definition changed to + 8MHz base 10, previously it base 16. + + + +Changes between V1.2.2a and V1.2.3 + + The only change of any significance is to the license, which has changed + from the Open Software License to the GNU GPL. + + The zip file also contains a pre-release version of the PIC18 port. This + has not yet completed testing and as such does not constitute part of the + V1.2.3 release. It is still however covered by the GNU GPL. + + There are minor source code changes to accommodate the PIC C compiler. + These mainly involve more explicit casting. + + + sTaskCreate() has been modified slightly to make use of the + portSTACK_GROWTH macro. This is required for the PIC port where the + stack grows in the opposite direction to the other existing ports. + + prvCheckTasksWaitingTermination() has been modified slightly to bring + the decrementing of usCurrentNumberOfTasks within the critical section, + where it should have been since the creation of an eight bit port. + +Changes between V1.2.2 and V1.2.2a + + The makefile and buildcoff.bat files included with the AVR demo application + have been modified for use with the September 2003 build of WinAVR. No + source files have changed. + +Changes between V1.2.1 and V1.2.2 + + There are only minor changes here to allow the PC and Flashlite 186 ports + to use the Borland V4.52 compiler, as supplied with the Flashlite 186 + development kit. + + + Introduced a BCC directory under source\portable. This contains all the + files specific to the Borland compiler port. + + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS. + + Modified comtest.c to increase the rate at which the string is + transmitted and received on the serial port. The Flashlite 186 demo + app baud rate has also been increased. + + The values of the constants used in both integer.c files have been + increased to force the Borland compiler to use 32 bit values. The + Borland optimiser placed the previous values in 16 bit registers, and in + So doing invalidated the test. + +Changes between V1.2.0 and V1.2.1 + + This version includes some minor changes to the list implementation aimed + at improving the context switch time - with is now approximately 10% faster. + Changes include the removal of some null pointer assignment checks. These + were redundant where the scheduler uses the list functions, but means any + user application choosing to use the same list functions must now check + that no NULL pointers are passed as a parameter. + + The Flashlite 186 serial port driver has also been modified to use a DMA + channel for transmissions. The serial driver is fully functional but still + under development. Flashlite users may prefer to use V1.2.0 for now. + + Details: + + + Changed the baud rate for the ATMega323 serial test from 19200 to 57600. + + Use vSerialPutString() instead of single character puts in + Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial + driver. Also the check variable only stops incrementing after two + consecutive failures. + + semtest.c creates four tasks, two of which operate at the idle priority. + The tasks that operate at the idle priority now use a lower expected + count than those running at a higher priority. This prevents the low + priority tasks from signalling an error because they have not been + scheduled enough time for each of them to count the shared variable to + the higher original value. + + The flashlite 186 serial driver now uses a DMA channel for transmissions. + + Removed the volatile modifier from the list function parameters. This was + only ever included to prevent compiler warnings. Now warnings are + removed by casting parameters where the calls are made. + + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been + removed from list.c and added as macros in list.h. + + usNumberOfItems has been added to the list structure. This removes the + need for a pointer comparison when checking if a list is empty, and so + is slightly faster. + + Removed the NULL check in vListRemove(). This makes the call faster but + necessitates any application code utilising the list implementation to + ensure NULL pointers are not passed. + + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds + per tick). This is what it always should have been. + +Changes between V1.01 and V1.2.0 + + The majority of these changes were made to accommodate the 8bit AVR port. + The scheduler workings have not changed, but some of the data types used + have been made more friendly to an eight bit environment. + + Details: + + + Changed the version numbering format. + + Added AVR port. + + Split the directory demo\common into demo\common\minimal and + demo\common\full. The files in the full directory are for systems with + a display (currently PC and Flashlite 186 demo's). The files in the + minimal directory are for systems with limited RAM and no display + (currently MegaAVR). + + Minor changes to demo application function prototypes to make more use + of 8bit data types. + + Within the scheduler itself the following functions have slightly + modified declarations to make use of 8bit data types where possible: + xQueueCreate(), + sQueueReceive(), + sQUeueReceive(), + usQueueMessageWaiting(), + sQueueSendFromISR(), + sSemaphoreTake(), + sSemaphoreGive(), + sSemaphoreGiveFromISR(), + sTaskCreate(), + sTaskMoveFromEventList(). + + Where the return type has changed the function name has also changed in + accordance with the naming convention. For example + usQueueMessageWaiting() has become ucQueueMessageWaiting(). + + The definition tskMAX_PRIORITIES has been moved from task.h to + portmacro.h and renamed portMAX_PRIORITIES. This allows different + ports to allocate a different maximum number of priorities. + + By default the trace facility is off, previously USE_TRACE_FACILITY + was defined. + + comtest.c now uses a psuedo random delay between sends. This allows for + better testing as the interrupts do not arrive at regular intervals. + + Minor change to the Flashlite serial port driver. The driver is written + to demonstrate the scheduler and is not written to be efficient. + + + +Changes between V1.00 and V1.01 + + These changes improve the ports. The scheduler itself has not changed. + + Improved context switch mechanism used when performing a context + switch from an ISR (both the tick ISR and the serial comms ISR's within + the demo application). The new mechanism is faster and uses less stack. + + The assembler file portasm.asm has been replaced by a header file + portasm.h. This includes a few assembler macro definitions. + + All saving and restoring of registers onto/off of the stack is now handled + by the compiler. This means the initial stack setup for a task has to + mimic the stack used by the compiler, which is different for debug and + release builds. + + Slightly changed the operation of the demo application, details below. + + Details: + + + portSWITCH_CONTEXT() replaced by vPortFirstContext(). + + pxPortInitialiseStack() modified to replicate the stack used by the + compiler. + + portasm.asm file removed. + + portasm.h introduced. This contains macro definitions for + portSWITCH_CONTEXT() and portFIRST_CONTEXT(). + + Context switch from ISR now uses the compiler generated interrupt + mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving + the save/restore to compiler generated code. + + Calls to taskYIELD() during ISR's have been replaced by calling the + simpler and faster portSWITCH_CONTEXT(). + + The Flashlite 186 port now uses 186 instruction set (used to use 80x86 + instructions only). + + The blocking queue tasks within the demo application did not operate + quite as described. This has been corrected. + + The priority of the comtest Rx task within the demo application has been + lowered. Received characters are now processed (read from the queue) at + the idle priority, allowing low priority tasks to run evenly at times of + a high communications overhead. + + Prevent the call to kbhit() in main.c for debug builds as the debugger + seems to have problems stepping over the call. This if for the PC port + only. + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/LICENSE.md b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/LICENSE.md new file mode 100644 index 0000000..9cf1062 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/LICENSE.md @@ -0,0 +1,19 @@ +MIT License + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/Quick_Start_Guide.url b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/Quick_Start_Guide.url new file mode 100644 index 0000000..0aa68ed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/Quick_Start_Guide.url @@ -0,0 +1,5 @@ +[InternetShortcut] +URL=https://www.FreeRTOS.org/FreeRTOS-quick-start-guide.html +IDList= +[{000214A0-0000-0000-C000-000000000046}] +Prop3=19,2 diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/README.md b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/README.md new file mode 100644 index 0000000..1cc1b84 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/README.md @@ -0,0 +1,39 @@ +## Getting started +This repository contains FreeRTOS kernel source/header files and kernel ports only. This repository is referenced as a submodule in [FreeRTOS/FreeRTOS](https://github.com/FreeRTOS/FreeRTOS) repository, which contains pre-configured demo application projects under ```FreeRTOS/Demo``` directory. + +The easiest way to use FreeRTOS is to start with one of the pre-configured demo application projects. That way you will have the correct FreeRTOS source files included, and the correct include paths configured. Once a demo application is building and executing you can remove the demo application files, and start to add in your own application source files. See the [FreeRTOS Kernel Quick Start Guide](https://www.FreeRTOS.org/FreeRTOS-quick-start-guide.html) for detailed instructions and other useful links. + +Additionally, for FreeRTOS kernel feature information refer to the [Developer Documentation](https://www.FreeRTOS.org/features.html), and [API Reference](https://www.FreeRTOS.org/a00106.html). + +### Getting help +If you have any questions or need assistance troubleshooting your FreeRTOS project, we have an active community that can help on the [FreeRTOS Community Support Forum](https://forums.freertos.org). + +## Cloning this repository + +To clone using HTTPS: +``` +git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git +``` +Using SSH: +``` +git clone git@github.com:FreeRTOS/FreeRTOS-Kernel.git +``` + +## Repository structure +- The root of this repository contains the three files that are common to +every port - list.c, queue.c and tasks.c. The kernel is contained within these +three files. croutine.c implements the optional co-routine functionality - which +is normally only used on very memory limited systems. + +- The ```./portable``` directory contains the files that are specific to a particular microcontroller and/or compiler. +See the readme file in the ```./portable``` directory for more information. + +- The ```./include``` directory contains the real time kernel header files. + +### Code Formatting +FreeRTOS files are formatted using the "uncrustify" tool. The configuration file used by uncrustify can be found in the [FreeRTOS/FreeRTOS repository](https://github.com/FreeRTOS/FreeRTOS/blob/master/tools/uncrustify.cfg). + +### Spelling +*lexicon.txt* contains words that are not traditionally found in an English dictionary. It is used by the spellchecker to verify the various jargon, variable names, and other odd words used in the FreeRTOS code base. If your pull request fails to pass the spelling and you believe this is a mistake, then add the word to *lexicon.txt*. +Note that only the FreeRTOS Kernel source files are checked for proper spelling, the portable section is ignored. + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/croutine.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/croutine.c new file mode 100644 index 0000000..64574e3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/croutine.c @@ -0,0 +1,361 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#include "FreeRTOS.h" +#include "task.h" +#include "croutine.h" + +/* Remove the whole file is co-routines are not being used. */ +#if ( configUSE_CO_ROUTINES != 0 ) + +/* + * Some kernel aware debuggers require data to be viewed to be global, rather + * than file scope. + */ + #ifdef portREMOVE_STATIC_QUALIFIER + #define static + #endif + + +/* Lists for ready and blocked co-routines. --------------------*/ + static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ + static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */ + static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ + static List_t * pxDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used. */ + static List_t * pxOverflowDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ + static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ + +/* Other file private variables. --------------------------------*/ + CRCB_t * pxCurrentCoRoutine = NULL; + static UBaseType_t uxTopCoRoutineReadyPriority = 0; + static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; + +/* The initial state of the co-routine when it is created. */ + #define corINITIAL_STATE ( 0 ) + +/* + * Place the co-routine represented by pxCRCB into the appropriate ready queue + * for the priority. It is inserted at the end of the list. + * + * This macro accesses the co-routine ready lists and therefore must not be + * used from within an ISR. + */ + #define prvAddCoRoutineToReadyQueue( pxCRCB ) \ + { \ + if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ + { \ + uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ + } \ + vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ + } + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first co-routine. + */ + static void prvInitialiseCoRoutineLists( void ); + +/* + * Co-routines that are readied by an interrupt cannot be placed directly into + * the ready lists (there is no mutual exclusion). Instead they are placed in + * in the pending ready list in order that they can later be moved to the ready + * list by the co-routine scheduler. + */ + static void prvCheckPendingReadyList( void ); + +/* + * Macro that looks at the list of co-routines that are currently delayed to + * see if any require waking. + * + * Co-routines are stored in the queue in the order of their wake time - + * meaning once one co-routine has been found whose timer has not expired + * we need not look any further down the list. + */ + static void prvCheckDelayedList( void ); + +/*-----------------------------------------------------------*/ + + BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, + UBaseType_t uxPriority, + UBaseType_t uxIndex ) + { + BaseType_t xReturn; + CRCB_t * pxCoRoutine; + + /* Allocate the memory that will store the co-routine control block. */ + pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); + + if( pxCoRoutine ) + { + /* If pxCurrentCoRoutine is NULL then this is the first co-routine to + * be created and the co-routine data structures need initialising. */ + if( pxCurrentCoRoutine == NULL ) + { + pxCurrentCoRoutine = pxCoRoutine; + prvInitialiseCoRoutineLists(); + } + + /* Check the priority is within limits. */ + if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) + { + uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; + } + + /* Fill out the co-routine control block from the function parameters. */ + pxCoRoutine->uxState = corINITIAL_STATE; + pxCoRoutine->uxPriority = uxPriority; + pxCoRoutine->uxIndex = uxIndex; + pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; + + /* Initialise all the other co-routine control block parameters. */ + vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); + vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); + + /* Set the co-routine control block as a link back from the ListItem_t. + * This is so we can get back to the containing CRCB from a generic item + * in a list. */ + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); + + /* Now the co-routine has been initialised it can be added to the ready + * list at the correct priority. */ + prvAddCoRoutineToReadyQueue( pxCoRoutine ); + + xReturn = pdPASS; + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + return xReturn; + } +/*-----------------------------------------------------------*/ + + void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, + List_t * pxEventList ) + { + TickType_t xTimeToWake; + + /* Calculate the time to wake - this may overflow but this is + * not a problem. */ + xTimeToWake = xCoRoutineTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + * ourselves to the blocked list as the same list item is used for + * both lists. */ + ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xCoRoutineTickCount ) + { + /* Wake time has overflowed. Place this item in the + * overflow list. */ + vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + * current block list. */ + vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + + if( pxEventList ) + { + /* Also add the co-routine to an event list. If this is done then the + * function must be called with interrupts disabled. */ + vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); + } + } +/*-----------------------------------------------------------*/ + + static void prvCheckPendingReadyList( void ) + { + /* Are there any co-routines waiting to get moved to the ready list? These + * are co-routines that have been readied by an ISR. The ISR cannot access + * the ready lists itself. */ + while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) + { + CRCB_t * pxUnblockedCRCB; + + /* The pending ready list can be accessed by an ISR. */ + portDISABLE_INTERRUPTS(); + { + pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + } + portENABLE_INTERRUPTS(); + + ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); + prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); + } + } +/*-----------------------------------------------------------*/ + + static void prvCheckDelayedList( void ) + { + CRCB_t * pxCRCB; + + xPassedTicks = xTaskGetTickCount() - xLastTickCount; + + while( xPassedTicks ) + { + xCoRoutineTickCount++; + xPassedTicks--; + + /* If the tick count has overflowed we need to swap the ready lists. */ + if( xCoRoutineTickCount == 0 ) + { + List_t * pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. If there are + * any items in pxDelayedCoRoutineList here then there is an error! */ + pxTemp = pxDelayedCoRoutineList; + pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; + pxOverflowDelayedCoRoutineList = pxTemp; + } + + /* See if this tick has made a timeout expire. */ + while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) + { + pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); + + if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) + { + /* Timeout not yet expired. */ + break; + } + + portDISABLE_INTERRUPTS(); + { + /* The event could have occurred just before this critical + * section. If this is the case then the generic list item will + * have been moved to the pending ready list and the following + * line is still valid. Also the pvContainer parameter will have + * been set to NULL so the following lines are also valid. */ + ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); + + /* Is the co-routine waiting on an event also? */ + if( pxCRCB->xEventListItem.pxContainer ) + { + ( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); + } + } + portENABLE_INTERRUPTS(); + + prvAddCoRoutineToReadyQueue( pxCRCB ); + } + } + + xLastTickCount = xCoRoutineTickCount; + } +/*-----------------------------------------------------------*/ + + void vCoRoutineSchedule( void ) + { + /* Only run a co-routine after prvInitialiseCoRoutineLists() has been + * called. prvInitialiseCoRoutineLists() is called automatically when a + * co-routine is created. */ + if( pxDelayedCoRoutineList != NULL ) + { + /* See if any co-routines readied by events need moving to the ready lists. */ + prvCheckPendingReadyList(); + + /* See if any delayed co-routines have timed out. */ + prvCheckDelayedList(); + + /* Find the highest priority queue that contains ready co-routines. */ + while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) + { + if( uxTopCoRoutineReadyPriority == 0 ) + { + /* No more co-routines to check. */ + return; + } + + --uxTopCoRoutineReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines + * of the same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); + + /* Call the co-routine. */ + ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); + } + } +/*-----------------------------------------------------------*/ + + static void prvInitialiseCoRoutineLists( void ) + { + UBaseType_t uxPriority; + + for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); + } + + vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 ); + vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); + vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); + + /* Start with pxDelayedCoRoutineList using list1 and the + * pxOverflowDelayedCoRoutineList using list2. */ + pxDelayedCoRoutineList = &xDelayedCoRoutineList1; + pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; + } +/*-----------------------------------------------------------*/ + + BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList ) + { + CRCB_t * pxUnblockedCRCB; + BaseType_t xReturn; + + /* This function is called from within an interrupt. It can only access + * event lists and the pending ready list. This function assumes that a + * check has already been made to ensure pxEventList is not empty. */ + pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); + + if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; + } + +#endif /* configUSE_CO_ROUTINES == 0 */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/event_groups.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/event_groups.c new file mode 100644 index 0000000..0ee7990 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/event_groups.c @@ -0,0 +1,771 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "timers.h" +#include "event_groups.h" + +/* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined + * for the header files above, but not in this file, in order to generate the + * correct privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021 See comment above. */ + +/* The following bit fields convey control information in a task's event list + * item value. It is important they don't clash with the + * taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */ +#if configUSE_16_BIT_TICKS == 1 + #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100U + #define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200U + #define eventWAIT_FOR_ALL_BITS 0x0400U + #define eventEVENT_BITS_CONTROL_BYTES 0xff00U +#else + #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x01000000UL + #define eventUNBLOCKED_DUE_TO_BIT_SET 0x02000000UL + #define eventWAIT_FOR_ALL_BITS 0x04000000UL + #define eventEVENT_BITS_CONTROL_BYTES 0xff000000UL +#endif + +typedef struct EventGroupDef_t +{ + EventBits_t uxEventBits; + List_t xTasksWaitingForBits; /*< List of tasks waiting for a bit to be set. */ + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxEventGroupNumber; + #endif + + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */ + #endif +} EventGroup_t; + +/*-----------------------------------------------------------*/ + +/* + * Test the bits set in uxCurrentEventBits to see if the wait condition is met. + * The wait condition is defined by xWaitForAllBits. If xWaitForAllBits is + * pdTRUE then the wait condition is met if all the bits set in uxBitsToWaitFor + * are also set in uxCurrentEventBits. If xWaitForAllBits is pdFALSE then the + * wait condition is met if any of the bits set in uxBitsToWait for are also set + * in uxCurrentEventBits. + */ +static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION; + +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + + EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) + { + EventGroup_t * pxEventBits; + + /* A StaticEventGroup_t object must be provided. */ + configASSERT( pxEventGroupBuffer ); + + #if ( configASSERT_DEFINED == 1 ) + { + /* Sanity check that the size of the structure used to declare a + * variable of type StaticEventGroup_t equals the size of the real + * event group structure. */ + volatile size_t xSize = sizeof( StaticEventGroup_t ); + configASSERT( xSize == sizeof( EventGroup_t ) ); + } /*lint !e529 xSize is referenced if configASSERT() is defined. */ + #endif /* configASSERT_DEFINED */ + + /* The user has provided a statically allocated event group - use it. */ + pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */ + + if( pxEventBits != NULL ) + { + pxEventBits->uxEventBits = 0; + vListInitialise( &( pxEventBits->xTasksWaitingForBits ) ); + + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* Both static and dynamic allocation can be used, so note that + * this event group was created statically in case the event group + * is later deleted. */ + pxEventBits->ucStaticallyAllocated = pdTRUE; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + + traceEVENT_GROUP_CREATE( pxEventBits ); + } + else + { + /* xEventGroupCreateStatic should only ever be called with + * pxEventGroupBuffer pointing to a pre-allocated (compile time + * allocated) StaticEventGroup_t variable. */ + traceEVENT_GROUP_CREATE_FAILED(); + } + + return pxEventBits; + } + +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + EventGroupHandle_t xEventGroupCreate( void ) + { + EventGroup_t * pxEventBits; + + /* Allocate the event group. Justification for MISRA deviation as + * follows: pvPortMalloc() always ensures returned memory blocks are + * aligned per the requirements of the MCU stack. In this case + * pvPortMalloc() must return a pointer that is guaranteed to meet the + * alignment requirements of the EventGroup_t structure - which (if you + * follow it through) is the alignment requirements of the TickType_t type + * (EventBits_t being of TickType_t itself). Therefore, whenever the + * stack alignment requirements are greater than or equal to the + * TickType_t alignment requirements the cast is safe. In other cases, + * where the natural word size of the architecture is less than + * sizeof( TickType_t ), the TickType_t variables will be accessed in two + * or more reads operations, and the alignment requirements is only that + * of each individual read. */ + pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); /*lint !e9087 !e9079 see comment above. */ + + if( pxEventBits != NULL ) + { + pxEventBits->uxEventBits = 0; + vListInitialise( &( pxEventBits->xTasksWaitingForBits ) ); + + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + /* Both static and dynamic allocation can be used, so note this + * event group was allocated statically in case the event group is + * later deleted. */ + pxEventBits->ucStaticallyAllocated = pdFALSE; + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + + traceEVENT_GROUP_CREATE( pxEventBits ); + } + else + { + traceEVENT_GROUP_CREATE_FAILED(); /*lint !e9063 Else branch only exists to allow tracing and does not generate code if trace macros are not defined. */ + } + + return pxEventBits; + } + +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) +{ + EventBits_t uxOriginalBitValue, uxReturn; + EventGroup_t * pxEventBits = xEventGroup; + BaseType_t xAlreadyYielded; + BaseType_t xTimeoutOccurred = pdFALSE; + + configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + configASSERT( uxBitsToWaitFor != 0 ); + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif + + vTaskSuspendAll(); + { + uxOriginalBitValue = pxEventBits->uxEventBits; + + ( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet ); + + if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor ) + { + /* All the rendezvous bits are now set - no need to block. */ + uxReturn = ( uxOriginalBitValue | uxBitsToSet ); + + /* Rendezvous always clear the bits. They will have been cleared + * already unless this is the only task in the rendezvous. */ + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + + xTicksToWait = 0; + } + else + { + if( xTicksToWait != ( TickType_t ) 0 ) + { + traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ); + + /* Store the bits that the calling task is waiting for in the + * task's event list item so the kernel knows when a match is + * found. Then enter the blocked state. */ + vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait ); + + /* This assignment is obsolete as uxReturn will get set after + * the task unblocks, but some compilers mistakenly generate a + * warning about uxReturn being returned without being set if the + * assignment is omitted. */ + uxReturn = 0; + } + else + { + /* The rendezvous bits were not set, but no block time was + * specified - just return the current event bit value. */ + uxReturn = pxEventBits->uxEventBits; + xTimeoutOccurred = pdTRUE; + } + } + } + xAlreadyYielded = xTaskResumeAll(); + + if( xTicksToWait != ( TickType_t ) 0 ) + { + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The task blocked to wait for its required bits to be set - at this + * point either the required bits were set or the block time expired. If + * the required bits were set they will have been stored in the task's + * event list item, and they should now be retrieved then cleared. */ + uxReturn = uxTaskResetEventItemValue(); + + if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 ) + { + /* The task timed out, just return the current event bit value. */ + taskENTER_CRITICAL(); + { + uxReturn = pxEventBits->uxEventBits; + + /* Although the task got here because it timed out before the + * bits it was waiting for were set, it is possible that since it + * unblocked another task has set the bits. If this is the case + * then it needs to clear the bits before exiting. */ + if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor ) + { + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + xTimeoutOccurred = pdTRUE; + } + else + { + /* The task unblocked because the bits were set. */ + } + + /* Control bits might be set as the task had blocked should not be + * returned. */ + uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; + } + + traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ); + + /* Prevent compiler warnings when trace macros are not used. */ + ( void ) xTimeoutOccurred; + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) +{ + EventGroup_t * pxEventBits = xEventGroup; + EventBits_t uxReturn, uxControlBits = 0; + BaseType_t xWaitConditionMet, xAlreadyYielded; + BaseType_t xTimeoutOccurred = pdFALSE; + + /* Check the user is not attempting to wait on the bits used by the kernel + * itself, and that at least one bit is being requested. */ + configASSERT( xEventGroup ); + configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + configASSERT( uxBitsToWaitFor != 0 ); + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif + + vTaskSuspendAll(); + { + const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits; + + /* Check to see if the wait condition is already met or not. */ + xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits ); + + if( xWaitConditionMet != pdFALSE ) + { + /* The wait condition has already been met so there is no need to + * block. */ + uxReturn = uxCurrentEventBits; + xTicksToWait = ( TickType_t ) 0; + + /* Clear the wait bits if requested to do so. */ + if( xClearOnExit != pdFALSE ) + { + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else if( xTicksToWait == ( TickType_t ) 0 ) + { + /* The wait condition has not been met, but no block time was + * specified, so just return the current value. */ + uxReturn = uxCurrentEventBits; + xTimeoutOccurred = pdTRUE; + } + else + { + /* The task is going to block to wait for its required bits to be + * set. uxControlBits are used to remember the specified behaviour of + * this call to xEventGroupWaitBits() - for use when the event bits + * unblock the task. */ + if( xClearOnExit != pdFALSE ) + { + uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( xWaitForAllBits != pdFALSE ) + { + uxControlBits |= eventWAIT_FOR_ALL_BITS; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Store the bits that the calling task is waiting for in the + * task's event list item so the kernel knows when a match is + * found. Then enter the blocked state. */ + vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait ); + + /* This is obsolete as it will get set after the task unblocks, but + * some compilers mistakenly generate a warning about the variable + * being returned without being set if it is not done. */ + uxReturn = 0; + + traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ); + } + } + xAlreadyYielded = xTaskResumeAll(); + + if( xTicksToWait != ( TickType_t ) 0 ) + { + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The task blocked to wait for its required bits to be set - at this + * point either the required bits were set or the block time expired. If + * the required bits were set they will have been stored in the task's + * event list item, and they should now be retrieved then cleared. */ + uxReturn = uxTaskResetEventItemValue(); + + if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 ) + { + taskENTER_CRITICAL(); + { + /* The task timed out, just return the current event bit value. */ + uxReturn = pxEventBits->uxEventBits; + + /* It is possible that the event bits were updated between this + * task leaving the Blocked state and running again. */ + if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE ) + { + if( xClearOnExit != pdFALSE ) + { + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xTimeoutOccurred = pdTRUE; + } + taskEXIT_CRITICAL(); + } + else + { + /* The task unblocked because the bits were set. */ + } + + /* The task blocked so control bits may have been set. */ + uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; + } + + traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ); + + /* Prevent compiler warnings when trace macros are not used. */ + ( void ) xTimeoutOccurred; + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) +{ + EventGroup_t * pxEventBits = xEventGroup; + EventBits_t uxReturn; + + /* Check the user is not attempting to clear the bits used by the kernel + * itself. */ + configASSERT( xEventGroup ); + configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + + taskENTER_CRITICAL(); + { + traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ); + + /* The value returned is the event group value prior to the bits being + * cleared. */ + uxReturn = pxEventBits->uxEventBits; + + /* Clear the bits. */ + pxEventBits->uxEventBits &= ~uxBitsToClear; + } + taskEXIT_CRITICAL(); + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) + + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) + { + BaseType_t xReturn; + + traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ); + xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */ + + return xReturn; + } + +#endif /* if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) +{ + UBaseType_t uxSavedInterruptStatus; + EventGroup_t const * const pxEventBits = xEventGroup; + EventBits_t uxReturn; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + uxReturn = pxEventBits->uxEventBits; + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return uxReturn; +} /*lint !e818 EventGroupHandle_t is a typedef used in other functions to so can't be pointer to const. */ +/*-----------------------------------------------------------*/ + +EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) +{ + ListItem_t * pxListItem, * pxNext; + ListItem_t const * pxListEnd; + List_t const * pxList; + EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits; + EventGroup_t * pxEventBits = xEventGroup; + BaseType_t xMatchFound = pdFALSE; + + /* Check the user is not attempting to set the bits used by the kernel + * itself. */ + configASSERT( xEventGroup ); + configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + + pxList = &( pxEventBits->xTasksWaitingForBits ); + pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ + vTaskSuspendAll(); + { + traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ); + + pxListItem = listGET_HEAD_ENTRY( pxList ); + + /* Set the bits. */ + pxEventBits->uxEventBits |= uxBitsToSet; + + /* See if the new bit value should unblock any tasks. */ + while( pxListItem != pxListEnd ) + { + pxNext = listGET_NEXT( pxListItem ); + uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem ); + xMatchFound = pdFALSE; + + /* Split the bits waited for from the control bits. */ + uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES; + uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES; + + if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 ) + { + /* Just looking for single bit being set. */ + if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 ) + { + xMatchFound = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor ) + { + /* All bits are set. */ + xMatchFound = pdTRUE; + } + else + { + /* Need all bits to be set, but not all the bits were set. */ + } + + if( xMatchFound != pdFALSE ) + { + /* The bits match. Should the bits be cleared on exit? */ + if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 ) + { + uxBitsToClear |= uxBitsWaitedFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Store the actual event flag value in the task's event list + * item before removing the task from the event list. The + * eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows + * that is was unblocked due to its required bits matching, rather + * than because it timed out. */ + vTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET ); + } + + /* Move onto the next list item. Note pxListItem->pxNext is not + * used here as the list item may have been removed from the event list + * and inserted into the ready/pending reading list. */ + pxListItem = pxNext; + } + + /* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT + * bit was set in the control word. */ + pxEventBits->uxEventBits &= ~uxBitsToClear; + } + ( void ) xTaskResumeAll(); + + return pxEventBits->uxEventBits; +} +/*-----------------------------------------------------------*/ + +void vEventGroupDelete( EventGroupHandle_t xEventGroup ) +{ + EventGroup_t * pxEventBits = xEventGroup; + const List_t * pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits ); + + vTaskSuspendAll(); + { + traceEVENT_GROUP_DELETE( xEventGroup ); + + while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 ) + { + /* Unblock the task, returning 0 as the event list is being deleted + * and cannot therefore have any bits set. */ + configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) ); + vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET ); + } + + #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) + { + /* The event group can only have been allocated dynamically - free + * it again. */ + vPortFree( pxEventBits ); + } + #elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + { + /* The event group could have been allocated statically or + * dynamically, so check before attempting to free the memory. */ + if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE ) + { + vPortFree( pxEventBits ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + } + ( void ) xTaskResumeAll(); +} +/*-----------------------------------------------------------*/ + +/* For internal use only - execute a 'set bits' command that was pended from + * an interrupt. */ +void vEventGroupSetBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToSet ) +{ + ( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */ +} +/*-----------------------------------------------------------*/ + +/* For internal use only - execute a 'clear bits' command that was pended from + * an interrupt. */ +void vEventGroupClearBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToClear ) +{ + ( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */ +} +/*-----------------------------------------------------------*/ + +static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xWaitForAllBits ) +{ + BaseType_t xWaitConditionMet = pdFALSE; + + if( xWaitForAllBits == pdFALSE ) + { + /* Task only has to wait for one bit within uxBitsToWaitFor to be + * set. Is one already set? */ + if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 ) + { + xWaitConditionMet = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* Task has to wait for all the bits in uxBitsToWaitFor to be set. + * Are they set already? */ + if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor ) + { + xWaitConditionMet = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + return xWaitConditionMet; +} +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) + + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + BaseType_t * pxHigherPriorityTaskWoken ) + { + BaseType_t xReturn; + + traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ); + xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */ + + return xReturn; + } + +#endif /* if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) + { + UBaseType_t xReturn; + EventGroup_t const * pxEventBits = ( EventGroup_t * ) xEventGroup; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */ + + if( xEventGroup == NULL ) + { + xReturn = 0; + } + else + { + xReturn = pxEventBits->uxEventGroupNumber; + } + + return xReturn; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vEventGroupSetNumber( void * xEventGroup, + UBaseType_t uxEventGroupNumber ) + { + ( ( EventGroup_t * ) xEventGroup )->uxEventGroupNumber = uxEventGroupNumber; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */ + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/FreeRTOS.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/FreeRTOS.h new file mode 100644 index 0000000..5e443a6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/FreeRTOS.h @@ -0,0 +1,1345 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef INC_FREERTOS_H +#define INC_FREERTOS_H + +/* + * Include the generic headers required for the FreeRTOS port being used. + */ +#include + +/* + * If stdint.h cannot be located then: + * + If using GCC ensure the -nostdint options is *not* being used. + * + Ensure the project's include path includes the directory in which your + * compiler stores stdint.h. + * + Set any compiler options necessary for it to support C99, as technically + * stdint.h is only mandatory with C99 (FreeRTOS does not require C99 in any + * other way). + * + The FreeRTOS download includes a simple stdint.h definition that can be + * used in cases where none is provided by the compiler. The files only + * contains the typedefs required to build FreeRTOS. Read the instructions + * in FreeRTOS/source/stdint.readme for more information. + */ +#include /* READ COMMENT ABOVE. */ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/* Application specific configuration options. */ +#include "FreeRTOSConfig.h" + +/* Basic FreeRTOS definitions. */ +#include "projdefs.h" + +/* Definitions specific to the port being used. */ +#include "portable.h" + +/* Must be defaulted before configUSE_NEWLIB_REENTRANT is used below. */ +#ifndef configUSE_NEWLIB_REENTRANT + #define configUSE_NEWLIB_REENTRANT 0 +#endif + +/* Required if struct _reent is used. */ +#if ( configUSE_NEWLIB_REENTRANT == 1 ) + #include +#endif + +/* + * Check all the required application specific macros have been defined. + * These macros are application specific and (as downloaded) are defined + * within FreeRTOSConfig.h. + */ + +#ifndef configMINIMAL_STACK_SIZE + #error Missing definition: configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h. configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task. Refer to the demo project provided for your port for a suitable value. +#endif + +#ifndef configMAX_PRIORITIES + #error Missing definition: configMAX_PRIORITIES must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#if configMAX_PRIORITIES < 1 + #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. +#endif + +#ifndef configUSE_PREEMPTION + #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_IDLE_HOOK + #error Missing definition: configUSE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_TICK_HOOK + #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_16_BIT_TICKS + #error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_CO_ROUTINES + #define configUSE_CO_ROUTINES 0 +#endif + +#ifndef INCLUDE_vTaskPrioritySet + #define INCLUDE_vTaskPrioritySet 0 +#endif + +#ifndef INCLUDE_uxTaskPriorityGet + #define INCLUDE_uxTaskPriorityGet 0 +#endif + +#ifndef INCLUDE_vTaskDelete + #define INCLUDE_vTaskDelete 0 +#endif + +#ifndef INCLUDE_vTaskSuspend + #define INCLUDE_vTaskSuspend 0 +#endif + +#ifdef INCLUDE_xTaskDelayUntil + #ifdef INCLUDE_vTaskDelayUntil + /* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil. Backward + * compatibility is maintained if only one or the other is defined, but + * there is a conflict if both are defined. */ + #error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined. INCLUDE_vTaskDelayUntil is no longer required and should be removed + #endif +#endif + +#ifndef INCLUDE_xTaskDelayUntil + #ifdef INCLUDE_vTaskDelayUntil + /* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then + * the project's FreeRTOSConfig.h probably pre-dates the introduction of + * xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever + * INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility. + */ + #define INCLUDE_xTaskDelayUntil INCLUDE_vTaskDelayUntil + #endif +#endif + +#ifndef INCLUDE_xTaskDelayUntil + #define INCLUDE_xTaskDelayUntil 0 +#endif + +#ifndef INCLUDE_vTaskDelay + #define INCLUDE_vTaskDelay 0 +#endif + +#ifndef INCLUDE_xTaskGetIdleTaskHandle + #define INCLUDE_xTaskGetIdleTaskHandle 0 +#endif + +#ifndef INCLUDE_xTaskAbortDelay + #define INCLUDE_xTaskAbortDelay 0 +#endif + +#ifndef INCLUDE_xQueueGetMutexHolder + #define INCLUDE_xQueueGetMutexHolder 0 +#endif + +#ifndef INCLUDE_xSemaphoreGetMutexHolder + #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder +#endif + +#ifndef INCLUDE_xTaskGetHandle + #define INCLUDE_xTaskGetHandle 0 +#endif + +#ifndef INCLUDE_uxTaskGetStackHighWaterMark + #define INCLUDE_uxTaskGetStackHighWaterMark 0 +#endif + +#ifndef INCLUDE_uxTaskGetStackHighWaterMark2 + #define INCLUDE_uxTaskGetStackHighWaterMark2 0 +#endif + +#ifndef INCLUDE_eTaskGetState + #define INCLUDE_eTaskGetState 0 +#endif + +#ifndef INCLUDE_xTaskResumeFromISR + #define INCLUDE_xTaskResumeFromISR 1 +#endif + +#ifndef INCLUDE_xTimerPendFunctionCall + #define INCLUDE_xTimerPendFunctionCall 0 +#endif + +#ifndef INCLUDE_xTaskGetSchedulerState + #define INCLUDE_xTaskGetSchedulerState 0 +#endif + +#ifndef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 0 +#endif + +#if configUSE_CO_ROUTINES != 0 + #ifndef configMAX_CO_ROUTINE_PRIORITIES + #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1. + #endif +#endif + +#ifndef configUSE_DAEMON_TASK_STARTUP_HOOK + #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 +#endif + +#ifndef configUSE_APPLICATION_TASK_TAG + #define configUSE_APPLICATION_TASK_TAG 0 +#endif + +#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS + #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 +#endif + +#ifndef configUSE_RECURSIVE_MUTEXES + #define configUSE_RECURSIVE_MUTEXES 0 +#endif + +#ifndef configUSE_MUTEXES + #define configUSE_MUTEXES 0 +#endif + +#ifndef configUSE_TIMERS + #define configUSE_TIMERS 0 +#endif + +#ifndef configUSE_COUNTING_SEMAPHORES + #define configUSE_COUNTING_SEMAPHORES 0 +#endif + +#ifndef configUSE_ALTERNATIVE_API + #define configUSE_ALTERNATIVE_API 0 +#endif + +#ifndef portCRITICAL_NESTING_IN_TCB + #define portCRITICAL_NESTING_IN_TCB 0 +#endif + +#ifndef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 16 +#endif + +#ifndef configIDLE_SHOULD_YIELD + #define configIDLE_SHOULD_YIELD 1 +#endif + +#if configMAX_TASK_NAME_LEN < 1 + #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h +#endif + +#ifndef configASSERT + #define configASSERT( x ) + #define configASSERT_DEFINED 0 +#else + #define configASSERT_DEFINED 1 +#endif + +/* configPRECONDITION should be defined as configASSERT. + * The CBMC proofs need a way to track assumptions and assertions. + * A configPRECONDITION statement should express an implicit invariant or + * assumption made. A configASSERT statement should express an invariant that must + * hold explicit before calling the code. */ +#ifndef configPRECONDITION + #define configPRECONDITION( X ) configASSERT( X ) + #define configPRECONDITION_DEFINED 0 +#else + #define configPRECONDITION_DEFINED 1 +#endif + +#ifndef portMEMORY_BARRIER + #define portMEMORY_BARRIER() +#endif + +#ifndef portSOFTWARE_BARRIER + #define portSOFTWARE_BARRIER() +#endif + +/* The timers module relies on xTaskGetSchedulerState(). */ +#if configUSE_TIMERS == 1 + + #ifndef configTIMER_TASK_PRIORITY + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. + #endif /* configTIMER_TASK_PRIORITY */ + + #ifndef configTIMER_QUEUE_LENGTH + #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. + #endif /* configTIMER_QUEUE_LENGTH */ + + #ifndef configTIMER_TASK_STACK_DEPTH + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. + #endif /* configTIMER_TASK_STACK_DEPTH */ + +#endif /* configUSE_TIMERS */ + +#ifndef portSET_INTERRUPT_MASK_FROM_ISR + #define portSET_INTERRUPT_MASK_FROM_ISR() 0 +#endif + +#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue +#endif + +#ifndef portCLEAN_UP_TCB + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB +#endif + +#ifndef portPRE_TASK_DELETE_HOOK + #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) +#endif + +#ifndef portSETUP_TCB + #define portSETUP_TCB( pxTCB ) ( void ) pxTCB +#endif + +#ifndef configQUEUE_REGISTRY_SIZE + #define configQUEUE_REGISTRY_SIZE 0U +#endif + +#if ( configQUEUE_REGISTRY_SIZE < 1 ) + #define vQueueAddToRegistry( xQueue, pcName ) + #define vQueueUnregisterQueue( xQueue ) + #define pcQueueGetName( xQueue ) +#endif + +#ifndef portPOINTER_SIZE_TYPE + #define portPOINTER_SIZE_TYPE uint32_t +#endif + +/* Remove any unused trace macros. */ +#ifndef traceSTART + +/* Used to perform any necessary initialisation - for example, open a file + * into which trace is to be written. */ + #define traceSTART() +#endif + +#ifndef traceEND + +/* Use to close a trace, for example close a file into which trace has been + * written. */ + #define traceEND() +#endif + +#ifndef traceTASK_SWITCHED_IN + +/* Called after a task has been selected to run. pxCurrentTCB holds a pointer + * to the task control block of the selected task. */ + #define traceTASK_SWITCHED_IN() +#endif + +#ifndef traceINCREASE_TICK_COUNT + +/* Called before stepping the tick count after waking from tickless idle + * sleep. */ + #define traceINCREASE_TICK_COUNT( x ) +#endif + +#ifndef traceLOW_POWER_IDLE_BEGIN + /* Called immediately before entering tickless idle. */ + #define traceLOW_POWER_IDLE_BEGIN() +#endif + +#ifndef traceLOW_POWER_IDLE_END + /* Called when returning to the Idle task after a tickless idle. */ + #define traceLOW_POWER_IDLE_END() +#endif + +#ifndef traceTASK_SWITCHED_OUT + +/* Called before a task has been selected to run. pxCurrentTCB holds a pointer + * to the task control block of the task being switched out. */ + #define traceTASK_SWITCHED_OUT() +#endif + +#ifndef traceTASK_PRIORITY_INHERIT + +/* Called when a task attempts to take a mutex that is already held by a + * lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task + * that holds the mutex. uxInheritedPriority is the priority the mutex holder + * will inherit (the priority of the task that is attempting to obtain the + * muted. */ + #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) +#endif + +#ifndef traceTASK_PRIORITY_DISINHERIT + +/* Called when a task releases a mutex, the holding of which had resulted in + * the task inheriting the priority of a higher priority task. + * pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the + * mutex. uxOriginalPriority is the task's configured (base) priority. */ + #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) +#endif + +#ifndef traceBLOCKING_ON_QUEUE_RECEIVE + +/* Task is about to block because it cannot read from a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the read was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) +#endif + +#ifndef traceBLOCKING_ON_QUEUE_PEEK + +/* Task is about to block because it cannot read from a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the read was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue ) +#endif + +#ifndef traceBLOCKING_ON_QUEUE_SEND + +/* Task is about to block because it cannot write to a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the write was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the write. */ + #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) +#endif + +#ifndef configCHECK_FOR_STACK_OVERFLOW + #define configCHECK_FOR_STACK_OVERFLOW 0 +#endif + +#ifndef configRECORD_STACK_HIGH_ADDRESS + #define configRECORD_STACK_HIGH_ADDRESS 0 +#endif + +#ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H + #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0 +#endif + +/* The following event macros are embedded in the kernel API calls. */ + +#ifndef traceMOVED_TASK_TO_READY_STATE + #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) +#endif + +#ifndef tracePOST_MOVED_TASK_TO_READY_STATE + #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) +#endif + +#ifndef traceQUEUE_CREATE + #define traceQUEUE_CREATE( pxNewQueue ) +#endif + +#ifndef traceQUEUE_CREATE_FAILED + #define traceQUEUE_CREATE_FAILED( ucQueueType ) +#endif + +#ifndef traceCREATE_MUTEX + #define traceCREATE_MUTEX( pxNewQueue ) +#endif + +#ifndef traceCREATE_MUTEX_FAILED + #define traceCREATE_MUTEX_FAILED() +#endif + +#ifndef traceGIVE_MUTEX_RECURSIVE + #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) +#endif + +#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED + #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif + +#ifndef traceTAKE_MUTEX_RECURSIVE + #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) +#endif + +#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED + #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif + +#ifndef traceCREATE_COUNTING_SEMAPHORE + #define traceCREATE_COUNTING_SEMAPHORE() +#endif + +#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED + #define traceCREATE_COUNTING_SEMAPHORE_FAILED() +#endif + +#ifndef traceQUEUE_SET_SEND + #define traceQUEUE_SET_SEND traceQUEUE_SEND +#endif + +#ifndef traceQUEUE_SEND + #define traceQUEUE_SEND( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FAILED + #define traceQUEUE_SEND_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE + #define traceQUEUE_RECEIVE( pxQueue ) +#endif + +#ifndef traceQUEUE_PEEK + #define traceQUEUE_PEEK( pxQueue ) +#endif + +#ifndef traceQUEUE_PEEK_FAILED + #define traceQUEUE_PEEK_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_PEEK_FROM_ISR + #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FAILED + #define traceQUEUE_RECEIVE_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FROM_ISR + #define traceQUEUE_SEND_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FROM_ISR_FAILED + #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FROM_ISR + #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED + #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_PEEK_FROM_ISR_FAILED + #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_DELETE + #define traceQUEUE_DELETE( pxQueue ) +#endif + +#ifndef traceTASK_CREATE + #define traceTASK_CREATE( pxNewTCB ) +#endif + +#ifndef traceTASK_CREATE_FAILED + #define traceTASK_CREATE_FAILED() +#endif + +#ifndef traceTASK_DELETE + #define traceTASK_DELETE( pxTaskToDelete ) +#endif + +#ifndef traceTASK_DELAY_UNTIL + #define traceTASK_DELAY_UNTIL( x ) +#endif + +#ifndef traceTASK_DELAY + #define traceTASK_DELAY() +#endif + +#ifndef traceTASK_PRIORITY_SET + #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) +#endif + +#ifndef traceTASK_SUSPEND + #define traceTASK_SUSPEND( pxTaskToSuspend ) +#endif + +#ifndef traceTASK_RESUME + #define traceTASK_RESUME( pxTaskToResume ) +#endif + +#ifndef traceTASK_RESUME_FROM_ISR + #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) +#endif + +#ifndef traceTASK_INCREMENT_TICK + #define traceTASK_INCREMENT_TICK( xTickCount ) +#endif + +#ifndef traceTIMER_CREATE + #define traceTIMER_CREATE( pxNewTimer ) +#endif + +#ifndef traceTIMER_CREATE_FAILED + #define traceTIMER_CREATE_FAILED() +#endif + +#ifndef traceTIMER_COMMAND_SEND + #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) +#endif + +#ifndef traceTIMER_EXPIRED + #define traceTIMER_EXPIRED( pxTimer ) +#endif + +#ifndef traceTIMER_COMMAND_RECEIVED + #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) +#endif + +#ifndef traceMALLOC + #define traceMALLOC( pvAddress, uiSize ) +#endif + +#ifndef traceFREE + #define traceFREE( pvAddress, uiSize ) +#endif + +#ifndef traceEVENT_GROUP_CREATE + #define traceEVENT_GROUP_CREATE( xEventGroup ) +#endif + +#ifndef traceEVENT_GROUP_CREATE_FAILED + #define traceEVENT_GROUP_CREATE_FAILED() +#endif + +#ifndef traceEVENT_GROUP_SYNC_BLOCK + #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ) +#endif + +#ifndef traceEVENT_GROUP_SYNC_END + #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred +#endif + +#ifndef traceEVENT_GROUP_WAIT_BITS_BLOCK + #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ) +#endif + +#ifndef traceEVENT_GROUP_WAIT_BITS_END + #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred +#endif + +#ifndef traceEVENT_GROUP_CLEAR_BITS + #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) +#endif + +#ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR + #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) +#endif + +#ifndef traceEVENT_GROUP_SET_BITS + #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) +#endif + +#ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR + #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) +#endif + +#ifndef traceEVENT_GROUP_DELETE + #define traceEVENT_GROUP_DELETE( xEventGroup ) +#endif + +#ifndef tracePEND_FUNC_CALL + #define tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, ret ) +#endif + +#ifndef tracePEND_FUNC_CALL_FROM_ISR + #define tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, ret ) +#endif + +#ifndef traceQUEUE_REGISTRY_ADD + #define traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ) +#endif + +#ifndef traceTASK_NOTIFY_TAKE_BLOCK + #define traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait ) +#endif + +#ifndef traceTASK_NOTIFY_TAKE + #define traceTASK_NOTIFY_TAKE( uxIndexToWait ) +#endif + +#ifndef traceTASK_NOTIFY_WAIT_BLOCK + #define traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait ) +#endif + +#ifndef traceTASK_NOTIFY_WAIT + #define traceTASK_NOTIFY_WAIT( uxIndexToWait ) +#endif + +#ifndef traceTASK_NOTIFY + #define traceTASK_NOTIFY( uxIndexToNotify ) +#endif + +#ifndef traceTASK_NOTIFY_FROM_ISR + #define traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify ) +#endif + +#ifndef traceTASK_NOTIFY_GIVE_FROM_ISR + #define traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify ) +#endif + +#ifndef traceSTREAM_BUFFER_CREATE_FAILED + #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED + #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_CREATE + #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_DELETE + #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_RESET + #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) +#endif + +#ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND + #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_SEND + #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) +#endif + +#ifndef traceSTREAM_BUFFER_SEND_FAILED + #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_SEND_FROM_ISR + #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) +#endif + +#ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE + #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_RECEIVE + #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) +#endif + +#ifndef traceSTREAM_BUFFER_RECEIVE_FAILED + #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) +#endif + +#ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR + #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) +#endif + +#ifndef configGENERATE_RUN_TIME_STATS + #define configGENERATE_RUN_TIME_STATS 0 +#endif + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base. + #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ + + #ifndef portGET_RUN_TIME_COUNTER_VALUE + #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE + #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information. + #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ + #endif /* portGET_RUN_TIME_COUNTER_VALUE */ + +#endif /* configGENERATE_RUN_TIME_STATS */ + +#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() +#endif + +#ifndef configUSE_MALLOC_FAILED_HOOK + #define configUSE_MALLOC_FAILED_HOOK 0 +#endif + +#ifndef portPRIVILEGE_BIT + #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) +#endif + +#ifndef portYIELD_WITHIN_API + #define portYIELD_WITHIN_API portYIELD +#endif + +#ifndef portSUPPRESS_TICKS_AND_SLEEP + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) +#endif + +#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP + #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 +#endif + +#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2 + #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 +#endif + +#ifndef configUSE_TICKLESS_IDLE + #define configUSE_TICKLESS_IDLE 0 +#endif + +#ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING + #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) +#endif + +#ifndef configPRE_SLEEP_PROCESSING + #define configPRE_SLEEP_PROCESSING( x ) +#endif + +#ifndef configPOST_SLEEP_PROCESSING + #define configPOST_SLEEP_PROCESSING( x ) +#endif + +#ifndef configUSE_QUEUE_SETS + #define configUSE_QUEUE_SETS 0 +#endif + +#ifndef portTASK_USES_FLOATING_POINT + #define portTASK_USES_FLOATING_POINT() +#endif + +#ifndef portALLOCATE_SECURE_CONTEXT + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) +#endif + +#ifndef portDONT_DISCARD + #define portDONT_DISCARD +#endif + +#ifndef configUSE_TIME_SLICING + #define configUSE_TIME_SLICING 1 +#endif + +#ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS + #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 +#endif + +#ifndef configUSE_STATS_FORMATTING_FUNCTIONS + #define configUSE_STATS_FORMATTING_FUNCTIONS 0 +#endif + +#ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() +#endif + +#ifndef configUSE_TRACE_FACILITY + #define configUSE_TRACE_FACILITY 0 +#endif + +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif + +#ifndef mtCOVERAGE_TEST_DELAY + #define mtCOVERAGE_TEST_DELAY() +#endif + +#ifndef portASSERT_IF_IN_ISR + #define portASSERT_IF_IN_ISR() +#endif + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#endif + +#ifndef configAPPLICATION_ALLOCATED_HEAP + #define configAPPLICATION_ALLOCATED_HEAP 0 +#endif + +#ifndef configUSE_TASK_NOTIFICATIONS + #define configUSE_TASK_NOTIFICATIONS 1 +#endif + +#ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES + #define configTASK_NOTIFICATION_ARRAY_ENTRIES 1 +#endif + +#if configTASK_NOTIFICATION_ARRAY_ENTRIES < 1 + #error configTASK_NOTIFICATION_ARRAY_ENTRIES must be at least 1 +#endif + +#ifndef configUSE_POSIX_ERRNO + #define configUSE_POSIX_ERRNO 0 +#endif + +#ifndef portTICK_TYPE_IS_ATOMIC + #define portTICK_TYPE_IS_ATOMIC 0 +#endif + +#ifndef configSUPPORT_STATIC_ALLOCATION + /* Defaults to 0 for backward compatibility. */ + #define configSUPPORT_STATIC_ALLOCATION 0 +#endif + +#ifndef configSUPPORT_DYNAMIC_ALLOCATION + /* Defaults to 1 for backward compatibility. */ + #define configSUPPORT_DYNAMIC_ALLOCATION 1 +#endif + +#ifndef configSTACK_DEPTH_TYPE + +/* Defaults to uint16_t for backward compatibility, but can be overridden + * in FreeRTOSConfig.h if uint16_t is too restrictive. */ + #define configSTACK_DEPTH_TYPE uint16_t +#endif + +#ifndef configMESSAGE_BUFFER_LENGTH_TYPE + +/* Defaults to size_t for backward compatibility, but can be overridden + * in FreeRTOSConfig.h if lengths will always be less than the number of bytes + * in a size_t. */ + #define configMESSAGE_BUFFER_LENGTH_TYPE size_t +#endif + +/* Sanity check the configuration. */ +#if ( configUSE_TICKLESS_IDLE != 0 ) + #if ( INCLUDE_vTaskSuspend != 1 ) + #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 + #endif /* INCLUDE_vTaskSuspend */ +#endif /* configUSE_TICKLESS_IDLE */ + +#if ( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) + #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1. +#endif + +#if ( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) ) + #error configUSE_MUTEXES must be set to 1 to use recursive mutexes +#endif + +#ifndef configINITIAL_TICK_COUNT + #define configINITIAL_TICK_COUNT 0 +#endif + +#if ( portTICK_TYPE_IS_ATOMIC == 0 ) + +/* Either variables of tick type cannot be read atomically, or + * portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when + * the tick count is returned to the standard critical section macros. */ + #define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) ) +#else + +/* The tick type can be read atomically, so critical sections used when the + * tick count is returned can be defined away. */ + #define portTICK_TYPE_ENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0 + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) x +#endif /* if ( portTICK_TYPE_IS_ATOMIC == 0 ) */ + +/* Definitions to allow backward compatibility with FreeRTOS versions prior to + * V8 if desired. */ +#ifndef configENABLE_BACKWARD_COMPATIBILITY + #define configENABLE_BACKWARD_COMPATIBILITY 1 +#endif + +#ifndef configPRINTF + +/* configPRINTF() was not defined, so define it away to nothing. To use + * configPRINTF() then define it as follows (where MyPrintFunction() is + * provided by the application writer): + * + * void MyPrintFunction(const char *pcFormat, ... ); + #define configPRINTF( X ) MyPrintFunction X + * + * Then call like a standard printf() function, but placing brackets around + * all parameters so they are passed as a single parameter. For example: + * configPRINTF( ("Value = %d", MyVariable) ); */ + #define configPRINTF( X ) +#endif + +#ifndef configMAX + +/* The application writer has not provided their own MAX macro, so define + * the following generic implementation. */ + #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) ) +#endif + +#ifndef configMIN + +/* The application writer has not provided their own MAX macro, so define + * the following generic implementation. */ + #define configMIN( a, b ) ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) ) +#endif + +#if configENABLE_BACKWARD_COMPATIBILITY == 1 + #define eTaskStateGet eTaskGetState + #define portTickType TickType_t + #define xTaskHandle TaskHandle_t + #define xQueueHandle QueueHandle_t + #define xSemaphoreHandle SemaphoreHandle_t + #define xQueueSetHandle QueueSetHandle_t + #define xQueueSetMemberHandle QueueSetMemberHandle_t + #define xTimeOutType TimeOut_t + #define xMemoryRegion MemoryRegion_t + #define xTaskParameters TaskParameters_t + #define xTaskStatusType TaskStatus_t + #define xTimerHandle TimerHandle_t + #define xCoRoutineHandle CoRoutineHandle_t + #define pdTASK_HOOK_CODE TaskHookFunction_t + #define portTICK_RATE_MS portTICK_PERIOD_MS + #define pcTaskGetTaskName pcTaskGetName + #define pcTimerGetTimerName pcTimerGetName + #define pcQueueGetQueueName pcQueueGetName + #define vTaskGetTaskInfo vTaskGetInfo + #define xTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter + +/* Backward compatibility within the scheduler code only - these definitions + * are not really required but are included for completeness. */ + #define tmrTIMER_CALLBACK TimerCallbackFunction_t + #define pdTASK_CODE TaskFunction_t + #define xListItem ListItem_t + #define xList List_t + +/* For libraries that break the list data hiding, and access list structure + * members directly (which is not supposed to be done). */ + #define pxContainer pvContainer +#endif /* configENABLE_BACKWARD_COMPATIBILITY */ + +#if ( configUSE_ALTERNATIVE_API != 0 ) + #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0 +#endif + +/* Set configUSE_TASK_FPU_SUPPORT to 0 to omit floating point support even + * if floating point hardware is otherwise supported by the FreeRTOS port in use. + * This constant is not supported by all FreeRTOS ports that include floating + * point support. */ +#ifndef configUSE_TASK_FPU_SUPPORT + #define configUSE_TASK_FPU_SUPPORT 1 +#endif + +/* Set configENABLE_MPU to 1 to enable MPU support and 0 to disable it. This is + * currently used in ARMv8M ports. */ +#ifndef configENABLE_MPU + #define configENABLE_MPU 0 +#endif + +/* Set configENABLE_FPU to 1 to enable FPU support and 0 to disable it. This is + * currently used in ARMv8M ports. */ +#ifndef configENABLE_FPU + #define configENABLE_FPU 1 +#endif + +/* Set configENABLE_TRUSTZONE to 1 enable TrustZone support and 0 to disable it. + * This is currently used in ARMv8M ports. */ +#ifndef configENABLE_TRUSTZONE + #define configENABLE_TRUSTZONE 1 +#endif + +/* Set configRUN_FREERTOS_SECURE_ONLY to 1 to run the FreeRTOS ARMv8M port on + * the Secure Side only. */ +#ifndef configRUN_FREERTOS_SECURE_ONLY + #define configRUN_FREERTOS_SECURE_ONLY 0 +#endif + +/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using + * dynamically allocated RAM, in which case when any task is deleted it is known + * that both the task's stack and TCB need to be freed. Sometimes the + * FreeRTOSConfig.h settings only allow a task to be created using statically + * allocated RAM, in which case when any task is deleted it is known that neither + * the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h + * settings allow a task to be created using either statically or dynamically + * allocated RAM, in which case a member of the TCB is used to record whether the + * stack and/or TCB were allocated statically or dynamically, so when a task is + * deleted the RAM that was allocated dynamically is freed again and no attempt is + * made to free the RAM that was allocated statically. + * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a + * task to be created using either statically or dynamically allocated RAM. Note + * that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with + * a statically allocated stack and a dynamically allocated TCB. + * + * The following table lists various combinations of portUSING_MPU_WRAPPERS, + * configSUPPORT_DYNAMIC_ALLOCATION and configSUPPORT_STATIC_ALLOCATION and + * when it is possible to have both static and dynamic allocation: + * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+ + * | MPU | Dynamic | Static | Available Functions | Possible Allocations | Both Dynamic and | Need Free | + * | | | | | | Static Possible | | + * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+ + * | 0 | 0 | 1 | xTaskCreateStatic | TCB - Static, Stack - Static | No | No | + * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------| + * | 0 | 1 | 0 | xTaskCreate | TCB - Dynamic, Stack - Dynamic | No | Yes | + * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------| + * | 0 | 1 | 1 | xTaskCreate, | 1. TCB - Dynamic, Stack - Dynamic | Yes | Yes | + * | | | | xTaskCreateStatic | 2. TCB - Static, Stack - Static | | | + * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------| + * | 1 | 0 | 1 | xTaskCreateStatic, | TCB - Static, Stack - Static | No | No | + * | | | | xTaskCreateRestrictedStatic | | | | + * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------| + * | 1 | 1 | 0 | xTaskCreate, | 1. TCB - Dynamic, Stack - Dynamic | Yes | Yes | + * | | | | xTaskCreateRestricted | 2. TCB - Dynamic, Stack - Static | | | + * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------| + * | 1 | 1 | 1 | xTaskCreate, | 1. TCB - Dynamic, Stack - Dynamic | Yes | Yes | + * | | | | xTaskCreateStatic, | 2. TCB - Dynamic, Stack - Static | | | + * | | | | xTaskCreateRestricted, | 3. TCB - Static, Stack - Static | | | + * | | | | xTaskCreateRestrictedStatic | | | | + * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+ + */ +#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE \ + ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \ + ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) ) + +/* + * In line with software engineering best practice, FreeRTOS implements a strict + * data hiding policy, so the real structures used by FreeRTOS to maintain the + * state of tasks, queues, semaphores, etc. are not accessible to the application + * code. However, if the application writer wants to statically allocate such + * an object then the size of the object needs to be know. Dummy structures + * that are guaranteed to have the same size and alignment requirements of the + * real objects are used for this purpose. The dummy list and list item + * structures below are used for inclusion in such a dummy structure. + */ +struct xSTATIC_LIST_ITEM +{ + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + TickType_t xDummy2; + void * pvDummy3[ 4 ]; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy4; + #endif +}; +typedef struct xSTATIC_LIST_ITEM StaticListItem_t; + +/* See the comments above the struct xSTATIC_LIST_ITEM definition. */ +struct xSTATIC_MINI_LIST_ITEM +{ + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + TickType_t xDummy2; + void * pvDummy3[ 2 ]; +}; +typedef struct xSTATIC_MINI_LIST_ITEM StaticMiniListItem_t; + +/* See the comments above the struct xSTATIC_LIST_ITEM definition. */ +typedef struct xSTATIC_LIST +{ + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + UBaseType_t uxDummy2; + void * pvDummy3; + StaticMiniListItem_t xDummy4; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy5; + #endif +} StaticList_t; + +/* + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the Task structure used internally by + * FreeRTOS is not accessible to application code. However, if the application + * writer wants to statically allocate the memory required to create a task then + * the size of the task object needs to be know. The StaticTask_t structure + * below is provided for this purpose. Its sizes and alignment requirements are + * guaranteed to match those of the genuine structure, no matter which + * architecture is being used, and no matter how the values in FreeRTOSConfig.h + * are set. Its contents are somewhat obfuscated in the hope users will + * recognise that it would be unwise to make direct use of the structure members. + */ +typedef struct xSTATIC_TCB +{ + void * pxDummy1; + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xDummy2; + #endif + StaticListItem_t xDummy3[ 2 ]; + UBaseType_t uxDummy5; + void * pxDummy6; + uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ]; + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + void * pxDummy8; + #endif + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxDummy9; + #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy10[ 2 ]; + #endif + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxDummy12[ 2 ]; + #endif + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + void * pxDummy14; + #endif + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void * pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + uint32_t ulDummy16; + #endif + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + struct _reent xDummy17; + #endif + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + uint32_t ulDummy18[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; + uint8_t ucDummy19[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; + #endif + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + uint8_t uxDummy20; + #endif + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDummy21; + #endif + #if ( configUSE_POSIX_ERRNO == 1 ) + int iDummy22; + #endif +} StaticTask_t; + +/* + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the Queue structure used internally by + * FreeRTOS is not accessible to application code. However, if the application + * writer wants to statically allocate the memory required to create a queue + * then the size of the queue object needs to be know. The StaticQueue_t + * structure below is provided for this purpose. Its sizes and alignment + * requirements are guaranteed to match those of the genuine structure, no + * matter which architecture is being used, and no matter how the values in + * FreeRTOSConfig.h are set. Its contents are somewhat obfuscated in the hope + * users will recognise that it would be unwise to make direct use of the + * structure members. + */ +typedef struct xSTATIC_QUEUE +{ + void * pvDummy1[ 3 ]; + + union + { + void * pvDummy2; + UBaseType_t uxDummy2; + } u; + + StaticList_t xDummy3[ 2 ]; + UBaseType_t uxDummy4[ 3 ]; + uint8_t ucDummy5[ 2 ]; + + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy6; + #endif + + #if ( configUSE_QUEUE_SETS == 1 ) + void * pvDummy7; + #endif + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy8; + uint8_t ucDummy9; + #endif +} StaticQueue_t; +typedef StaticQueue_t StaticSemaphore_t; + +/* + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the event group structure used + * internally by FreeRTOS is not accessible to application code. However, if + * the application writer wants to statically allocate the memory required to + * create an event group then the size of the event group object needs to be + * know. The StaticEventGroup_t structure below is provided for this purpose. + * Its sizes and alignment requirements are guaranteed to match those of the + * genuine structure, no matter which architecture is being used, and no matter + * how the values in FreeRTOSConfig.h are set. Its contents are somewhat + * obfuscated in the hope users will recognise that it would be unwise to make + * direct use of the structure members. + */ +typedef struct xSTATIC_EVENT_GROUP +{ + TickType_t xDummy1; + StaticList_t xDummy2; + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy3; + #endif + + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy4; + #endif +} StaticEventGroup_t; + +/* + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the software timer structure used + * internally by FreeRTOS is not accessible to application code. However, if + * the application writer wants to statically allocate the memory required to + * create a software timer then the size of the queue object needs to be know. + * The StaticTimer_t structure below is provided for this purpose. Its sizes + * and alignment requirements are guaranteed to match those of the genuine + * structure, no matter which architecture is being used, and no matter how the + * values in FreeRTOSConfig.h are set. Its contents are somewhat obfuscated in + * the hope users will recognise that it would be unwise to make direct use of + * the structure members. + */ +typedef struct xSTATIC_TIMER +{ + void * pvDummy1; + StaticListItem_t xDummy2; + TickType_t xDummy3; + void * pvDummy5; + TaskFunction_t pvDummy6; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy7; + #endif + uint8_t ucDummy8; +} StaticTimer_t; + +/* + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the stream buffer structure used + * internally by FreeRTOS is not accessible to application code. However, if + * the application writer wants to statically allocate the memory required to + * create a stream buffer then the size of the stream buffer object needs to be + * know. The StaticStreamBuffer_t structure below is provided for this purpose. + * Its size and alignment requirements are guaranteed to match those of the + * genuine structure, no matter which architecture is being used, and no matter + * how the values in FreeRTOSConfig.h are set. Its contents are somewhat + * obfuscated in the hope users will recognise that it would be unwise to make + * direct use of the structure members. + */ +typedef struct xSTATIC_STREAM_BUFFER +{ + size_t uxDummy1[ 4 ]; + void * pvDummy2[ 3 ]; + uint8_t ucDummy3; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy4; + #endif +} StaticStreamBuffer_t; + +/* Message buffers are built on stream buffers. */ +typedef StaticStreamBuffer_t StaticMessageBuffer_t; + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* INC_FREERTOS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/StackMacros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/StackMacros.h new file mode 100644 index 0000000..dde8136 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/StackMacros.h @@ -0,0 +1,32 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */ + #warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in future released. +#endif + +#include "stack_macros.h" diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/atomic.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/atomic.h new file mode 100644 index 0000000..cd1fd1b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/atomic.h @@ -0,0 +1,417 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/** + * @file atomic.h + * @brief FreeRTOS atomic operation support. + * + * This file implements atomic functions by disabling interrupts globally. + * Implementations with architecture specific atomic instructions can be + * provided under each compiler directory. + */ + +#ifndef ATOMIC_H +#define ATOMIC_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include atomic.h" +#endif + +/* Standard includes. */ +#include + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/* + * Port specific definitions -- entering/exiting critical section. + * Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h + * + * Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with + * ATOMIC_ENTER_CRITICAL(). + * + */ +#if defined( portSET_INTERRUPT_MASK_FROM_ISR ) + +/* Nested interrupt scheme is supported in this port. */ + #define ATOMIC_ENTER_CRITICAL() \ + UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() + + #define ATOMIC_EXIT_CRITICAL() \ + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) + +#else + +/* Nested interrupt scheme is NOT supported in this port. */ + #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() + #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() + +#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */ + +/* + * Port specific definition -- "always inline". + * Inline is compiler specific, and may not always get inlined depending on your + * optimization level. Also, inline is considered as performance optimization + * for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h, + * instead of resulting error, simply define it away. + */ +#ifndef portFORCE_INLINE + #define portFORCE_INLINE +#endif + +#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */ +#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */ + +/*----------------------------- Swap && CAS ------------------------------*/ + +/** + * Atomic compare-and-swap + * + * @brief Performs an atomic compare-and-swap operation on the specified values. + * + * @param[in, out] pulDestination Pointer to memory location from where value is + * to be loaded and checked. + * @param[in] ulExchange If condition meets, write this value to memory. + * @param[in] ulComparand Swap condition. + * + * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped. + * + * @note This function only swaps *pulDestination with ulExchange, if previous + * *pulDestination value equals ulComparand. + */ +static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination, + uint32_t ulExchange, + uint32_t ulComparand ) +{ + uint32_t ulReturnValue; + + ATOMIC_ENTER_CRITICAL(); + { + if( *pulDestination == ulComparand ) + { + *pulDestination = ulExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } + else + { + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + } + } + ATOMIC_EXIT_CRITICAL(); + + return ulReturnValue; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic swap (pointers) + * + * @brief Atomically sets the address pointed to by *ppvDestination to the value + * of *pvExchange. + * + * @param[in, out] ppvDestination Pointer to memory location from where a pointer + * value is to be loaded and written back to. + * @param[in] pvExchange Pointer value to be written to *ppvDestination. + * + * @return The initial value of *ppvDestination. + */ +static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination, + void * pvExchange ) +{ + void * pReturnValue; + + ATOMIC_ENTER_CRITICAL(); + { + pReturnValue = *ppvDestination; + *ppvDestination = pvExchange; + } + ATOMIC_EXIT_CRITICAL(); + + return pReturnValue; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic compare-and-swap (pointers) + * + * @brief Performs an atomic compare-and-swap operation on the specified pointer + * values. + * + * @param[in, out] ppvDestination Pointer to memory location from where a pointer + * value is to be loaded and checked. + * @param[in] pvExchange If condition meets, write this value to memory. + * @param[in] pvComparand Swap condition. + * + * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped. + * + * @note This function only swaps *ppvDestination with pvExchange, if previous + * *ppvDestination value equals pvComparand. + */ +static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination, + void * pvExchange, + void * pvComparand ) +{ + uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + + ATOMIC_ENTER_CRITICAL(); + { + if( *ppvDestination == pvComparand ) + { + *ppvDestination = pvExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } + } + ATOMIC_EXIT_CRITICAL(); + + return ulReturnValue; +} + + +/*----------------------------- Arithmetic ------------------------------*/ + +/** + * Atomic add + * + * @brief Atomically adds count to the value of the specified pointer points to. + * + * @param[in,out] pulAddend Pointer to memory location from where value is to be + * loaded and written back to. + * @param[in] ulCount Value to be added to *pulAddend. + * + * @return previous *pulAddend value. + */ +static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, + uint32_t ulCount ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend += ulCount; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic subtract + * + * @brief Atomically subtracts count from the value of the specified pointer + * pointers to. + * + * @param[in,out] pulAddend Pointer to memory location from where value is to be + * loaded and written back to. + * @param[in] ulCount Value to be subtract from *pulAddend. + * + * @return previous *pulAddend value. + */ +static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend, + uint32_t ulCount ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend -= ulCount; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic increment + * + * @brief Atomically increments the value of the specified pointer points to. + * + * @param[in,out] pulAddend Pointer to memory location from where value is to be + * loaded and written back to. + * + * @return *pulAddend value before increment. + */ +static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend += 1; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic decrement + * + * @brief Atomically decrements the value of the specified pointer points to + * + * @param[in,out] pulAddend Pointer to memory location from where value is to be + * loaded and written back to. + * + * @return *pulAddend value before decrement. + */ +static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend -= 1; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} + +/*----------------------------- Bitwise Logical ------------------------------*/ + +/** + * Atomic OR + * + * @brief Performs an atomic OR operation on the specified values. + * + * @param [in, out] pulDestination Pointer to memory location from where value is + * to be loaded and written back to. + * @param [in] ulValue Value to be ORed with *pulDestination. + * + * @return The original value of *pulDestination. + */ +static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination |= ulValue; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic AND + * + * @brief Performs an atomic AND operation on the specified values. + * + * @param [in, out] pulDestination Pointer to memory location from where value is + * to be loaded and written back to. + * @param [in] ulValue Value to be ANDed with *pulDestination. + * + * @return The original value of *pulDestination. + */ +static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination &= ulValue; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic NAND + * + * @brief Performs an atomic NAND operation on the specified values. + * + * @param [in, out] pulDestination Pointer to memory location from where value is + * to be loaded and written back to. + * @param [in] ulValue Value to be NANDed with *pulDestination. + * + * @return The original value of *pulDestination. + */ +static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination = ~( ulCurrent & ulValue ); + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} +/*-----------------------------------------------------------*/ + +/** + * Atomic XOR + * + * @brief Performs an atomic XOR operation on the specified values. + * + * @param [in, out] pulDestination Pointer to memory location from where value is + * to be loaded and written back to. + * @param [in] ulValue Value to be XORed with *pulDestination. + * + * @return The original value of *pulDestination. + */ +static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination ^= ulValue; + } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* ATOMIC_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/croutine.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/croutine.h new file mode 100644 index 0000000..4e7b534 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/croutine.h @@ -0,0 +1,751 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef CO_ROUTINE_H +#define CO_ROUTINE_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include croutine.h" +#endif + +#include "list.h" + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/* Used to hide the implementation of the co-routine control block. The + * control block structure however has to be included in the header due to + * the macro implementation of the co-routine functionality. */ +typedef void * CoRoutineHandle_t; + +/* Defines the prototype to which co-routine functions must conform. */ +typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t, + UBaseType_t ); + +typedef struct corCoRoutineControlBlock +{ + crCOROUTINE_CODE pxCoRoutineFunction; + ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ + ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */ + UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ + UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ + uint16_t uxState; /*< Used internally by the co-routine implementation. */ +} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */ + +/** + * croutine. h + *
+ * BaseType_t xCoRoutineCreate(
+ *                               crCOROUTINE_CODE pxCoRoutineCode,
+ *                               UBaseType_t uxPriority,
+ *                               UBaseType_t uxIndex
+ *                             ); 
+ * 
+ * + * Create a new co-routine and add it to the list of co-routines that are + * ready to run. + * + * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine + * functions require special syntax - see the co-routine section of the WEB + * documentation for more information. + * + * @param uxPriority The priority with respect to other co-routines at which + * the co-routine will run. + * + * @param uxIndex Used to distinguish between different co-routines that + * execute the same function. See the example below and the co-routine section + * of the WEB documentation for further information. + * + * @return pdPASS if the co-routine was successfully created and added to a ready + * list, otherwise an error code defined with ProjDefs.h. + * + * Example usage: + *
+ * // Co-routine to be created.
+ * void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ * // This may not be necessary for const variables.
+ * static const char cLedToFlash[ 2 ] = { 5, 6 };
+ * static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
+ *
+ *   // Must start every co-routine with a call to crSTART();
+ *   crSTART( xHandle );
+ *
+ *   for( ;; )
+ *   {
+ *       // This co-routine just delays for a fixed period, then toggles
+ *       // an LED.  Two co-routines are created using this function, so
+ *       // the uxIndex parameter is used to tell the co-routine which
+ *       // LED to flash and how int32_t to delay.  This assumes xQueue has
+ *       // already been created.
+ *       vParTestToggleLED( cLedToFlash[ uxIndex ] );
+ *       crDELAY( xHandle, uxFlashRates[ uxIndex ] );
+ *   }
+ *
+ *   // Must end every co-routine with a call to crEND();
+ *   crEND();
+ * }
+ *
+ * // Function that creates two co-routines.
+ * void vOtherFunction( void )
+ * {
+ * uint8_t ucParameterToPass;
+ * TaskHandle_t xHandle;
+ *
+ *   // Create two co-routines at priority 0.  The first is given index 0
+ *   // so (from the code above) toggles LED 5 every 200 ticks.  The second
+ *   // is given index 1 so toggles LED 6 every 400 ticks.
+ *   for( uxIndex = 0; uxIndex < 2; uxIndex++ )
+ *   {
+ *       xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
+ *   }
+ * }
+ * 
+ * \defgroup xCoRoutineCreate xCoRoutineCreate + * \ingroup Tasks + */ +BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, + UBaseType_t uxPriority, + UBaseType_t uxIndex ); + + +/** + * croutine. h + *
+ * void vCoRoutineSchedule( void );
+ * 
+ * + * Run a co-routine. + * + * vCoRoutineSchedule() executes the highest priority co-routine that is able + * to run. The co-routine will execute until it either blocks, yields or is + * preempted by a task. Co-routines execute cooperatively so one + * co-routine cannot be preempted by another, but can be preempted by a task. + * + * If an application comprises of both tasks and co-routines then + * vCoRoutineSchedule should be called from the idle task (in an idle task + * hook). + * + * Example usage: + *
+ * // This idle task hook will schedule a co-routine each time it is called.
+ * // The rest of the idle task will execute between co-routine calls.
+ * void vApplicationIdleHook( void )
+ * {
+ *  vCoRoutineSchedule();
+ * }
+ *
+ * // Alternatively, if you do not require any other part of the idle task to
+ * // execute, the idle task hook can call vCoRoutineSchedule() within an
+ * // infinite loop.
+ * void vApplicationIdleHook( void )
+ * {
+ *  for( ;; )
+ *  {
+ *      vCoRoutineSchedule();
+ *  }
+ * }
+ * 
+ * \defgroup vCoRoutineSchedule vCoRoutineSchedule + * \ingroup Tasks + */ +void vCoRoutineSchedule( void ); + +/** + * croutine. h + *
+ * crSTART( CoRoutineHandle_t xHandle );
+ * 
+ * + * This macro MUST always be called at the start of a co-routine function. + * + * Example usage: + *
+ * // Co-routine to be created.
+ * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ * static int32_t ulAVariable;
+ *
+ *   // Must start every co-routine with a call to crSTART();
+ *   crSTART( xHandle );
+ *
+ *   for( ;; )
+ *   {
+ *        // Co-routine functionality goes here.
+ *   }
+ *
+ *   // Must end every co-routine with a call to crEND();
+ *   crEND();
+ * }
+ * 
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crSTART( pxCRCB ) \ + switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \ + case 0: + +/** + * croutine. h + *
+ * crEND();
+ * 
+ * + * This macro MUST always be called at the end of a co-routine function. + * + * Example usage: + *
+ * // Co-routine to be created.
+ * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ * static int32_t ulAVariable;
+ *
+ *   // Must start every co-routine with a call to crSTART();
+ *   crSTART( xHandle );
+ *
+ *   for( ;; )
+ *   {
+ *        // Co-routine functionality goes here.
+ *   }
+ *
+ *   // Must end every co-routine with a call to crEND();
+ *   crEND();
+ * }
+ * 
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crEND() } + +/* + * These macros are intended for internal use by the co-routine implementation + * only. The macros should not be used directly by application writers. + */ +#define crSET_STATE0( xHandle ) \ + ( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \ + case ( __LINE__ * 2 ): +#define crSET_STATE1( xHandle ) \ + ( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \ + case ( ( __LINE__ * 2 ) + 1 ): + +/** + * croutine. h + *
+ * crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
+ * 
+ * + * Delay a co-routine for a fixed period of time. + * + * crDELAY can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * @param xHandle The handle of the co-routine to delay. This is the xHandle + * parameter of the co-routine function. + * + * @param xTickToDelay The number of ticks that the co-routine should delay + * for. The actual amount of time this equates to is defined by + * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS + * can be used to convert ticks to milliseconds. + * + * Example usage: + *
+ * // Co-routine to be created.
+ * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ * // This may not be necessary for const variables.
+ * // We are to delay for 200ms.
+ * static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
+ *
+ *   // Must start every co-routine with a call to crSTART();
+ *   crSTART( xHandle );
+ *
+ *   for( ;; )
+ *   {
+ *      // Delay for 200ms.
+ *      crDELAY( xHandle, xDelayTime );
+ *
+ *      // Do something here.
+ *   }
+ *
+ *   // Must end every co-routine with a call to crEND();
+ *   crEND();
+ * }
+ * 
+ * \defgroup crDELAY crDELAY + * \ingroup Tasks + */ +#define crDELAY( xHandle, xTicksToDelay ) \ + if( ( xTicksToDelay ) > 0 ) \ + { \ + vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ + } \ + crSET_STATE0( ( xHandle ) ); + +/** + *
+ * crQUEUE_SEND(
+ *                CoRoutineHandle_t xHandle,
+ *                QueueHandle_t pxQueue,
+ *                void *pvItemToQueue,
+ *                TickType_t xTicksToWait,
+ *                BaseType_t *pxResult
+ *           )
+ * 
+ * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_SEND can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue on which the data will be posted. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvItemToQueue A pointer to the data being posted onto the queue. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied from pvItemToQueue into the queue + * itself. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for space to become available on the queue, should space not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example + * below). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully posted onto the queue, otherwise it will be set to an + * error defined within ProjDefs.h. + * + * Example usage: + *
+ * // Co-routine function that blocks for a fixed period then posts a number onto
+ * // a queue.
+ * static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ * static BaseType_t xNumberToPost = 0;
+ * static BaseType_t xResult;
+ *
+ *  // Co-routines must begin with a call to crSTART().
+ *  crSTART( xHandle );
+ *
+ *  for( ;; )
+ *  {
+ *      // This assumes the queue has already been created.
+ *      crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
+ *
+ *      if( xResult != pdPASS )
+ *      {
+ *          // The message was not posted!
+ *      }
+ *
+ *      // Increment the number to be posted onto the queue.
+ *      xNumberToPost++;
+ *
+ *      // Delay for 100 ticks.
+ *      crDELAY( xHandle, 100 );
+ *  }
+ *
+ *  // Co-routines must end with a call to crEND().
+ *  crEND();
+ * }
+ * 
+ * \defgroup crQUEUE_SEND crQUEUE_SEND + * \ingroup Tasks + */ +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ + { \ + *( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \ + if( *( pxResult ) == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( ( xHandle ) ); \ + *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( ( xHandle ) ); \ + *pxResult = pdPASS; \ + } \ + } + +/** + * croutine. h + *
+ * crQUEUE_RECEIVE(
+ *                   CoRoutineHandle_t xHandle,
+ *                   QueueHandle_t pxQueue,
+ *                   void *pvBuffer,
+ *                   TickType_t xTicksToWait,
+ *                   BaseType_t *pxResult
+ *               )
+ * 
+ * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_RECEIVE can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue from which the data will be received. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvBuffer The buffer into which the received item is to be copied. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied into pvBuffer. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for data to become available from the queue, should data not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the + * crQUEUE_SEND example). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully retrieved from the queue, otherwise it will be set to + * an error code as defined within ProjDefs.h. + * + * Example usage: + *
+ * // A co-routine receives the number of an LED to flash from a queue.  It
+ * // blocks on the queue until the number is received.
+ * static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ * static BaseType_t xResult;
+ * static UBaseType_t uxLEDToFlash;
+ *
+ *  // All co-routines must start with a call to crSTART().
+ *  crSTART( xHandle );
+ *
+ *  for( ;; )
+ *  {
+ *      // Wait for data to become available on the queue.
+ *      crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+ *
+ *      if( xResult == pdPASS )
+ *      {
+ *          // We received the LED to flash - flash it!
+ *          vParTestToggleLED( uxLEDToFlash );
+ *      }
+ *  }
+ *
+ *  crEND();
+ * }
+ * 
+ * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ + { \ + *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \ + if( *( pxResult ) == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( ( xHandle ) ); \ + *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \ + } \ + if( *( pxResult ) == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( ( xHandle ) ); \ + *( pxResult ) = pdPASS; \ + } \ + } + +/** + * croutine. h + *
+ * crQUEUE_SEND_FROM_ISR(
+ *                          QueueHandle_t pxQueue,
+ *                          void *pvItemToQueue,
+ *                          BaseType_t xCoRoutinePreviouslyWoken
+ *                     )
+ * 
+ * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue + * that is being used from within a co-routine. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. + * + * @return pdTRUE if a co-routine was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage: + *
+ * // A co-routine that blocks on a queue waiting for characters to be received.
+ * static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * char cRxedChar;
+ * BaseType_t xResult;
+ *
+ *   // All co-routines must start with a call to crSTART().
+ *   crSTART( xHandle );
+ *
+ *   for( ;; )
+ *   {
+ *       // Wait for data to become available on the queue.  This assumes the
+ *       // queue xCommsRxQueue has already been created!
+ *       crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+ *
+ *       // Was a character received?
+ *       if( xResult == pdPASS )
+ *       {
+ *           // Process the character here.
+ *       }
+ *   }
+ *
+ *   // All co-routines must end with a call to crEND().
+ *   crEND();
+ * }
+ *
+ * // An ISR that uses a queue to send characters received on a serial port to
+ * // a co-routine.
+ * void vUART_ISR( void )
+ * {
+ * char cRxedChar;
+ * BaseType_t xCRWokenByPost = pdFALSE;
+ *
+ *   // We loop around reading characters until there are none left in the UART.
+ *   while( UART_RX_REG_NOT_EMPTY() )
+ *   {
+ *       // Obtain the character from the UART.
+ *       cRxedChar = UART_RX_REG;
+ *
+ *       // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
+ *       // the first time around the loop.  If the post causes a co-routine
+ *       // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
+ *       // In this manner we can ensure that if more than one co-routine is
+ *       // blocked on the queue only one is woken by this ISR no matter how
+ *       // many characters are posted to the queue.
+ *       xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
+ *   }
+ * }
+ * 
+ * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) \ + xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) ) + + +/** + * croutine. h + *
+ * crQUEUE_SEND_FROM_ISR(
+ *                          QueueHandle_t pxQueue,
+ *                          void *pvBuffer,
+ *                          BaseType_t * pxCoRoutineWoken
+ *                     )
+ * 
+ * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data + * from a queue that is being used from within a co-routine (a co-routine + * posted to the queue). + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvBuffer A pointer to a buffer into which the received item will be + * placed. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from the queue into + * pvBuffer. + * + * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become + * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a + * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise + * *pxCoRoutineWoken will remain unchanged. + * + * @return pdTRUE an item was successfully received from the queue, otherwise + * pdFALSE. + * + * Example usage: + *
+ * // A co-routine that posts a character to a queue then blocks for a fixed
+ * // period.  The character is incremented each time.
+ * static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ * {
+ * // cChar holds its value while this co-routine is blocked and must therefore
+ * // be declared static.
+ * static char cCharToTx = 'a';
+ * BaseType_t xResult;
+ *
+ *   // All co-routines must start with a call to crSTART().
+ *   crSTART( xHandle );
+ *
+ *   for( ;; )
+ *   {
+ *       // Send the next character to the queue.
+ *       crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
+ *
+ *       if( xResult == pdPASS )
+ *       {
+ *           // The character was successfully posted to the queue.
+ *       }
+ *       else
+ *       {
+ *          // Could not post the character to the queue.
+ *       }
+ *
+ *       // Enable the UART Tx interrupt to cause an interrupt in this
+ *       // hypothetical UART.  The interrupt will obtain the character
+ *       // from the queue and send it.
+ *       ENABLE_RX_INTERRUPT();
+ *
+ *       // Increment to the next character then block for a fixed period.
+ *       // cCharToTx will maintain its value across the delay as it is
+ *       // declared static.
+ *       cCharToTx++;
+ *       if( cCharToTx > 'x' )
+ *       {
+ *          cCharToTx = 'a';
+ *       }
+ *       crDELAY( 100 );
+ *   }
+ *
+ *   // All co-routines must end with a call to crEND().
+ *   crEND();
+ * }
+ *
+ * // An ISR that uses a queue to receive characters to send on a UART.
+ * void vUART_ISR( void )
+ * {
+ * char cCharToTx;
+ * BaseType_t xCRWokenByPost = pdFALSE;
+ *
+ *   while( UART_TX_REG_EMPTY() )
+ *   {
+ *       // Are there any characters in the queue waiting to be sent?
+ *       // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
+ *       // is woken by the post - ensuring that only a single co-routine is
+ *       // woken no matter how many times we go around this loop.
+ *       if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
+ *       {
+ *           SEND_CHARACTER( cCharToTx );
+ *       }
+ *   }
+ * }
+ * 
+ * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) \ + xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) ) + +/* + * This function is intended for internal use by the co-routine macros only. + * The macro nature of the co-routine implementation requires that the + * prototype appears here. The function should not be used by application + * writers. + * + * Removes the current co-routine from its ready list and places it in the + * appropriate delayed list. + */ +void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, + List_t * pxEventList ); + +/* + * This function is intended for internal use by the queue implementation only. + * The function should not be used by application writers. + * + * Removes the highest priority co-routine from the event list and places it in + * the pending ready list. + */ +BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList ); + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* CO_ROUTINE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/deprecated_definitions.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/deprecated_definitions.h new file mode 100644 index 0000000..efa8a87 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/deprecated_definitions.h @@ -0,0 +1,279 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef DEPRECATED_DEFINITIONS_H +#define DEPRECATED_DEFINITIONS_H + + +/* Each FreeRTOS port has a unique portmacro.h header file. Originally a + * pre-processor definition was used to ensure the pre-processor found the correct + * portmacro.h file for the port being used. That scheme was deprecated in favour + * of setting the compiler's include path such that it found the correct + * portmacro.h file - removing the need for the constant and allowing the + * portmacro.h file to be located anywhere in relation to the port being used. The + * definitions below remain in the code for backward compatibility only. New + * projects should not use them. */ + +#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT + #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" + typedef void ( __interrupt __far * pxISR )(); +#endif + +#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT + #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" + typedef void ( __interrupt __far * pxISR )(); +#endif + +#ifdef GCC_MEGA_AVR + #include "../portable/GCC/ATMega323/portmacro.h" +#endif + +#ifdef IAR_MEGA_AVR + #include "../portable/IAR/ATMega323/portmacro.h" +#endif + +#ifdef MPLAB_PIC24_PORT + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" +#endif + +#ifdef MPLAB_DSPIC_PORT + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" +#endif + +#ifdef MPLAB_PIC18F_PORT + #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" +#endif + +#ifdef MPLAB_PIC32MX_PORT + #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" +#endif + +#ifdef _FEDPICC + #include "libFreeRTOS/Include/portmacro.h" +#endif + +#ifdef SDCC_CYGNAL + #include "../../Source/portable/SDCC/Cygnal/portmacro.h" +#endif + +#ifdef GCC_ARM7 + #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" +#endif + +#ifdef GCC_ARM7_ECLIPSE + #include "portmacro.h" +#endif + +#ifdef ROWLEY_LPC23xx + #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" +#endif + +#ifdef IAR_MSP430 + #include "..\..\Source\portable\IAR\MSP430\portmacro.h" +#endif + +#ifdef GCC_MSP430 + #include "../../Source/portable/GCC/MSP430F449/portmacro.h" +#endif + +#ifdef ROWLEY_MSP430 + #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" +#endif + +#ifdef ARM7_LPC21xx_KEIL_RVDS + #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" +#endif + +#ifdef SAM7_GCC + #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" +#endif + +#ifdef SAM7_IAR + #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" +#endif + +#ifdef SAM9XE_IAR + #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" +#endif + +#ifdef LPC2000_IAR + #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" +#endif + +#ifdef STR71X_IAR + #include "..\..\Source\portable\IAR\STR71x\portmacro.h" +#endif + +#ifdef STR75X_IAR + #include "..\..\Source\portable\IAR\STR75x\portmacro.h" +#endif + +#ifdef STR75X_GCC + #include "..\..\Source\portable\GCC\STR75x\portmacro.h" +#endif + +#ifdef STR91X_IAR + #include "..\..\Source\portable\IAR\STR91x\portmacro.h" +#endif + +#ifdef GCC_H8S + #include "../../Source/portable/GCC/H8S2329/portmacro.h" +#endif + +#ifdef GCC_AT91FR40008 + #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" +#endif + +#ifdef RVDS_ARMCM3_LM3S102 + #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3_LM3S102 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARM_CM3 + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARMCM3_LM + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef HCS12_CODE_WARRIOR + #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" +#endif + +#ifdef MICROBLAZE_GCC + #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" +#endif + +#ifdef TERN_EE + #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" +#endif + +#ifdef GCC_HCS12 + #include "../../Source/portable/GCC/HCS12/portmacro.h" +#endif + +#ifdef GCC_MCF5235 + #include "../../Source/portable/GCC/MCF5235/portmacro.h" +#endif + +#ifdef COLDFIRE_V2_GCC + #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" +#endif + +#ifdef COLDFIRE_V2_CODEWARRIOR + #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" +#endif + +#ifdef GCC_PPC405 + #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" +#endif + +#ifdef GCC_PPC440 + #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" +#endif + +#ifdef _16FX_SOFTUNE + #include "..\..\Source\portable\Softune\MB96340\portmacro.h" +#endif + +#ifdef BCC_INDUSTRIAL_PC_PORT + +/* A short file name has to be used in place of the normal + * FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" + typedef void ( __interrupt __far * pxISR )(); +#endif + +#ifdef BCC_FLASH_LITE_186_PORT + +/* A short file name has to be used in place of the normal + * FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" + typedef void ( __interrupt __far * pxISR )(); +#endif + +#ifdef __GNUC__ + #ifdef __AVR32_AVR32A__ + #include "portmacro.h" + #endif +#endif + +#ifdef __ICCAVR32__ + #ifdef __CORE__ + #if __CORE__ == __AVR32A__ + #include "portmacro.h" + #endif + #endif +#endif + +#ifdef __91467D + #include "portmacro.h" +#endif + +#ifdef __96340 + #include "portmacro.h" +#endif + + +#ifdef __IAR_V850ES_Fx3__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx3__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx3_L__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx2__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Hx2__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_78K0R_Kx3__ + #include "../../Source/portable/IAR/78K0R/portmacro.h" +#endif + +#ifdef __IAR_78K0R_Kx3L__ + #include "../../Source/portable/IAR/78K0R/portmacro.h" +#endif + +#endif /* DEPRECATED_DEFINITIONS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/event_groups.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/event_groups.h new file mode 100644 index 0000000..70ba8d1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/event_groups.h @@ -0,0 +1,775 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef EVENT_GROUPS_H +#define EVENT_GROUPS_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h" must appear in source files before "include event_groups.h" +#endif + +/* FreeRTOS includes. */ +#include "timers.h" + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/** + * An event group is a collection of bits to which an application can assign a + * meaning. For example, an application may create an event group to convey + * the status of various CAN bus related events in which bit 0 might mean "A CAN + * message has been received and is ready for processing", bit 1 might mean "The + * application has queued a message that is ready for sending onto the CAN + * network", and bit 2 might mean "It is time to send a SYNC message onto the + * CAN network" etc. A task can then test the bit values to see which events + * are active, and optionally enter the Blocked state to wait for a specified + * bit or a group of specified bits to be active. To continue the CAN bus + * example, a CAN controlling task can enter the Blocked state (and therefore + * not consume any processing time) until either bit 0, bit 1 or bit 2 are + * active, at which time the bit that was actually active would inform the task + * which action it had to take (process a received message, send a message, or + * send a SYNC). + * + * The event groups implementation contains intelligence to avoid race + * conditions that would otherwise occur were an application to use a simple + * variable for the same purpose. This is particularly important with respect + * to when a bit within an event group is to be cleared, and when bits have to + * be set and then tested atomically - as is the case where event groups are + * used to create a synchronisation point between multiple tasks (a + * 'rendezvous'). + * + * \defgroup EventGroup + */ + + + +/** + * event_groups.h + * + * Type by which event groups are referenced. For example, a call to + * xEventGroupCreate() returns an EventGroupHandle_t variable that can then + * be used as a parameter to other event group functions. + * + * \defgroup EventGroupHandle_t EventGroupHandle_t + * \ingroup EventGroup + */ +struct EventGroupDef_t; +typedef struct EventGroupDef_t * EventGroupHandle_t; + +/* + * The type that holds event bits always matches TickType_t - therefore the + * number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1, + * 32 bits if set to 0. + * + * \defgroup EventBits_t EventBits_t + * \ingroup EventGroup + */ +typedef TickType_t EventBits_t; + +/** + * event_groups.h + *
+ * EventGroupHandle_t xEventGroupCreate( void );
+ * 
+ * + * Create a new event group. + * + * Internally, within the FreeRTOS implementation, event groups use a [small] + * block of memory, in which the event group's structure is stored. If an event + * groups is created using xEventGropuCreate() then the required memory is + * automatically dynamically allocated inside the xEventGroupCreate() function. + * (see https://www.FreeRTOS.org/a00111.html). If an event group is created + * using xEventGropuCreateStatic() then the application writer must instead + * provide the memory that will get used by the event group. + * xEventGroupCreateStatic() therefore allows an event group to be created + * without using any dynamic memory allocation. + * + * Although event groups are not related to ticks, for internal implementation + * reasons the number of bits available for use in an event group is dependent + * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If + * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit + * 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has + * 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store + * event bits within an event group. + * + * @return If the event group was created then a handle to the event group is + * returned. If there was insufficient FreeRTOS heap available to create the + * event group then NULL is returned. See https://www.FreeRTOS.org/a00111.html + * + * Example usage: + *
+ *  // Declare a variable to hold the created event group.
+ *  EventGroupHandle_t xCreatedEventGroup;
+ *
+ *  // Attempt to create the event group.
+ *  xCreatedEventGroup = xEventGroupCreate();
+ *
+ *  // Was the event group created successfully?
+ *  if( xCreatedEventGroup == NULL )
+ *  {
+ *      // The event group was not created because there was insufficient
+ *      // FreeRTOS heap available.
+ *  }
+ *  else
+ *  {
+ *      // The event group was created.
+ *  }
+ * 
+ * \defgroup xEventGroupCreate xEventGroupCreate + * \ingroup EventGroup + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; +#endif + +/** + * event_groups.h + *
+ * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
+ * 
+ * + * Create a new event group. + * + * Internally, within the FreeRTOS implementation, event groups use a [small] + * block of memory, in which the event group's structure is stored. If an event + * groups is created using xEventGropuCreate() then the required memory is + * automatically dynamically allocated inside the xEventGroupCreate() function. + * (see https://www.FreeRTOS.org/a00111.html). If an event group is created + * using xEventGropuCreateStatic() then the application writer must instead + * provide the memory that will get used by the event group. + * xEventGroupCreateStatic() therefore allows an event group to be created + * without using any dynamic memory allocation. + * + * Although event groups are not related to ticks, for internal implementation + * reasons the number of bits available for use in an event group is dependent + * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If + * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit + * 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has + * 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store + * event bits within an event group. + * + * @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type + * StaticEventGroup_t, which will be then be used to hold the event group's data + * structures, removing the need for the memory to be allocated dynamically. + * + * @return If the event group was created then a handle to the event group is + * returned. If pxEventGroupBuffer was NULL then NULL is returned. + * + * Example usage: + *
+ *  // StaticEventGroup_t is a publicly accessible structure that has the same
+ *  // size and alignment requirements as the real event group structure.  It is
+ *  // provided as a mechanism for applications to know the size of the event
+ *  // group (which is dependent on the architecture and configuration file
+ *  // settings) without breaking the strict data hiding policy by exposing the
+ *  // real event group internals.  This StaticEventGroup_t variable is passed
+ *  // into the xSemaphoreCreateEventGroupStatic() function and is used to store
+ *  // the event group's data structures
+ *  StaticEventGroup_t xEventGroupBuffer;
+ *
+ *  // Create the event group without dynamically allocating any memory.
+ *  xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
+ * 
+ */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION; +#endif + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupWaitBits(    EventGroupHandle_t xEventGroup,
+ *                                      const EventBits_t uxBitsToWaitFor,
+ *                                      const BaseType_t xClearOnExit,
+ *                                      const BaseType_t xWaitForAllBits,
+ *                                      const TickType_t xTicksToWait );
+ * 
+ * + * [Potentially] block to wait for one or more bits to be set within a + * previously created event group. + * + * This function cannot be called from an interrupt. + * + * @param xEventGroup The event group in which the bits are being tested. The + * event group must have previously been created using a call to + * xEventGroupCreate(). + * + * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test + * inside the event group. For example, to wait for bit 0 and/or bit 2 set + * uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set + * uxBitsToWaitFor to 0x07. Etc. + * + * @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within + * uxBitsToWaitFor that are set within the event group will be cleared before + * xEventGroupWaitBits() returns if the wait condition was met (if the function + * returns for a reason other than a timeout). If xClearOnExit is set to + * pdFALSE then the bits set in the event group are not altered when the call to + * xEventGroupWaitBits() returns. + * + * @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then + * xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor + * are set or the specified block time expires. If xWaitForAllBits is set to + * pdFALSE then xEventGroupWaitBits() will return when any one of the bits set + * in uxBitsToWaitFor is set or the specified block time expires. The block + * time is specified by the xTicksToWait parameter. + * + * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait + * for one/all (depending on the xWaitForAllBits value) of the bits specified by + * uxBitsToWaitFor to become set. + * + * @return The value of the event group at the time either the bits being waited + * for became set, or the block time expired. Test the return value to know + * which bits were set. If xEventGroupWaitBits() returned because its timeout + * expired then not all the bits being waited for will be set. If + * xEventGroupWaitBits() returned because the bits it was waiting for were set + * then the returned value is the event group value before any bits were + * automatically cleared in the case that xClearOnExit parameter was set to + * pdTRUE. + * + * Example usage: + *
+ #define BIT_0 ( 1 << 0 )
+ #define BIT_4 ( 1 << 4 )
+ *
+ * void aFunction( EventGroupHandle_t xEventGroup )
+ * {
+ * EventBits_t uxBits;
+ * const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
+ *
+ *      // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
+ *      // the event group.  Clear the bits before exiting.
+ *      uxBits = xEventGroupWaitBits(
+ *                  xEventGroup,    // The event group being tested.
+ *                  BIT_0 | BIT_4,  // The bits within the event group to wait for.
+ *                  pdTRUE,         // BIT_0 and BIT_4 should be cleared before returning.
+ *                  pdFALSE,        // Don't wait for both bits, either bit will do.
+ *                  xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
+ *
+ *      if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
+ *      {
+ *          // xEventGroupWaitBits() returned because both bits were set.
+ *      }
+ *      else if( ( uxBits & BIT_0 ) != 0 )
+ *      {
+ *          // xEventGroupWaitBits() returned because just BIT_0 was set.
+ *      }
+ *      else if( ( uxBits & BIT_4 ) != 0 )
+ *      {
+ *          // xEventGroupWaitBits() returned because just BIT_4 was set.
+ *      }
+ *      else
+ *      {
+ *          // xEventGroupWaitBits() returned because xTicksToWait ticks passed
+ *          // without either BIT_0 or BIT_4 becoming set.
+ *      }
+ * }
+ * 
+ * \defgroup xEventGroupWaitBits xEventGroupWaitBits + * \ingroup EventGroup + */ +EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
+ * 
+ * + * Clear bits within an event group. This function cannot be called from an + * interrupt. + * + * @param xEventGroup The event group in which the bits are to be cleared. + * + * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear + * in the event group. For example, to clear bit 3 only, set uxBitsToClear to + * 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09. + * + * @return The value of the event group before the specified bits were cleared. + * + * Example usage: + *
+ #define BIT_0 ( 1 << 0 )
+ #define BIT_4 ( 1 << 4 )
+ *
+ * void aFunction( EventGroupHandle_t xEventGroup )
+ * {
+ * EventBits_t uxBits;
+ *
+ *      // Clear bit 0 and bit 4 in xEventGroup.
+ *      uxBits = xEventGroupClearBits(
+ *                              xEventGroup,    // The event group being updated.
+ *                              BIT_0 | BIT_4 );// The bits being cleared.
+ *
+ *      if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
+ *      {
+ *          // Both bit 0 and bit 4 were set before xEventGroupClearBits() was
+ *          // called.  Both will now be clear (not set).
+ *      }
+ *      else if( ( uxBits & BIT_0 ) != 0 )
+ *      {
+ *          // Bit 0 was set before xEventGroupClearBits() was called.  It will
+ *          // now be clear.
+ *      }
+ *      else if( ( uxBits & BIT_4 ) != 0 )
+ *      {
+ *          // Bit 4 was set before xEventGroupClearBits() was called.  It will
+ *          // now be clear.
+ *      }
+ *      else
+ *      {
+ *          // Neither bit 0 nor bit 4 were set in the first place.
+ *      }
+ * }
+ * 
+ * \defgroup xEventGroupClearBits xEventGroupClearBits + * \ingroup EventGroup + */ +EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; + +/** + * event_groups.h + *
+ *  BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ * 
+ * + * A version of xEventGroupClearBits() that can be called from an interrupt. + * + * Setting bits in an event group is not a deterministic operation because there + * are an unknown number of tasks that may be waiting for the bit or bits being + * set. FreeRTOS does not allow nondeterministic operations to be performed + * while interrupts are disabled, so protects event groups that are accessed + * from tasks by suspending the scheduler rather than disabling interrupts. As + * a result event groups cannot be accessed directly from an interrupt service + * routine. Therefore xEventGroupClearBitsFromISR() sends a message to the + * timer task to have the clear operation performed in the context of the timer + * task. + * + * @param xEventGroup The event group in which the bits are to be cleared. + * + * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear. + * For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3 + * and bit 0 set uxBitsToClear to 0x09. + * + * @return If the request to execute the function was posted successfully then + * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned + * if the timer service queue was full. + * + * Example usage: + *
+ #define BIT_0 ( 1 << 0 )
+ #define BIT_4 ( 1 << 4 )
+ *
+ * // An event group which it is assumed has already been created by a call to
+ * // xEventGroupCreate().
+ * EventGroupHandle_t xEventGroup;
+ *
+ * void anInterruptHandler( void )
+ * {
+ *      // Clear bit 0 and bit 4 in xEventGroup.
+ *      xResult = xEventGroupClearBitsFromISR(
+ *                          xEventGroup,     // The event group being updated.
+ *                          BIT_0 | BIT_4 ); // The bits being set.
+ *
+ *      if( xResult == pdPASS )
+ *      {
+ *          // The message was posted successfully.
+ *      }
+ * }
+ * 
+ * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR + * \ingroup EventGroup + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; +#else + #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) \ + xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ) +#endif + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ * 
+ * + * Set bits within an event group. + * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR() + * is a version that can be called from an interrupt. + * + * Setting bits in an event group will automatically unblock tasks that are + * blocked waiting for the bits. + * + * @param xEventGroup The event group in which the bits are to be set. + * + * @param uxBitsToSet A bitwise value that indicates the bit or bits to set. + * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3 + * and bit 0 set uxBitsToSet to 0x09. + * + * @return The value of the event group at the time the call to + * xEventGroupSetBits() returns. There are two reasons why the returned value + * might have the bits specified by the uxBitsToSet parameter cleared. First, + * if setting a bit results in a task that was waiting for the bit leaving the + * blocked state then it is possible the bit will be cleared automatically + * (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any + * unblocked (or otherwise Ready state) task that has a priority above that of + * the task that called xEventGroupSetBits() will execute and may change the + * event group value before the call to xEventGroupSetBits() returns. + * + * Example usage: + *
+ #define BIT_0 ( 1 << 0 )
+ #define BIT_4 ( 1 << 4 )
+ *
+ * void aFunction( EventGroupHandle_t xEventGroup )
+ * {
+ * EventBits_t uxBits;
+ *
+ *      // Set bit 0 and bit 4 in xEventGroup.
+ *      uxBits = xEventGroupSetBits(
+ *                          xEventGroup,    // The event group being updated.
+ *                          BIT_0 | BIT_4 );// The bits being set.
+ *
+ *      if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
+ *      {
+ *          // Both bit 0 and bit 4 remained set when the function returned.
+ *      }
+ *      else if( ( uxBits & BIT_0 ) != 0 )
+ *      {
+ *          // Bit 0 remained set when the function returned, but bit 4 was
+ *          // cleared.  It might be that bit 4 was cleared automatically as a
+ *          // task that was waiting for bit 4 was removed from the Blocked
+ *          // state.
+ *      }
+ *      else if( ( uxBits & BIT_4 ) != 0 )
+ *      {
+ *          // Bit 4 remained set when the function returned, but bit 0 was
+ *          // cleared.  It might be that bit 0 was cleared automatically as a
+ *          // task that was waiting for bit 0 was removed from the Blocked
+ *          // state.
+ *      }
+ *      else
+ *      {
+ *          // Neither bit 0 nor bit 4 remained set.  It might be that a task
+ *          // was waiting for both of the bits to be set, and the bits were
+ *          // cleared as the task left the Blocked state.
+ *      }
+ * }
+ * 
+ * \defgroup xEventGroupSetBits xEventGroupSetBits + * \ingroup EventGroup + */ +EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; + +/** + * event_groups.h + *
+ *  BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * A version of xEventGroupSetBits() that can be called from an interrupt. + * + * Setting bits in an event group is not a deterministic operation because there + * are an unknown number of tasks that may be waiting for the bit or bits being + * set. FreeRTOS does not allow nondeterministic operations to be performed in + * interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR() + * sends a message to the timer task to have the set operation performed in the + * context of the timer task - where a scheduler lock is used in place of a + * critical section. + * + * @param xEventGroup The event group in which the bits are to be set. + * + * @param uxBitsToSet A bitwise value that indicates the bit or bits to set. + * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3 + * and bit 0 set uxBitsToSet to 0x09. + * + * @param pxHigherPriorityTaskWoken As mentioned above, calling this function + * will result in a message being sent to the timer daemon task. If the + * priority of the timer daemon task is higher than the priority of the + * currently running task (the task the interrupt interrupted) then + * *pxHigherPriorityTaskWoken will be set to pdTRUE by + * xEventGroupSetBitsFromISR(), indicating that a context switch should be + * requested before the interrupt exits. For that reason + * *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the + * example code below. + * + * @return If the request to execute the function was posted successfully then + * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned + * if the timer service queue was full. + * + * Example usage: + *
+ #define BIT_0 ( 1 << 0 )
+ #define BIT_4 ( 1 << 4 )
+ *
+ * // An event group which it is assumed has already been created by a call to
+ * // xEventGroupCreate().
+ * EventGroupHandle_t xEventGroup;
+ *
+ * void anInterruptHandler( void )
+ * {
+ * BaseType_t xHigherPriorityTaskWoken, xResult;
+ *
+ *      // xHigherPriorityTaskWoken must be initialised to pdFALSE.
+ *      xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *      // Set bit 0 and bit 4 in xEventGroup.
+ *      xResult = xEventGroupSetBitsFromISR(
+ *                          xEventGroup,    // The event group being updated.
+ *                          BIT_0 | BIT_4   // The bits being set.
+ *                          &xHigherPriorityTaskWoken );
+ *
+ *      // Was the message posted successfully?
+ *      if( xResult == pdPASS )
+ *      {
+ *          // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
+ *          // switch should be requested.  The macro used is port specific and
+ *          // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
+ *          // refer to the documentation page for the port being used.
+ *          portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ *      }
+ * }
+ * 
+ * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR + * \ingroup EventGroup + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +#else + #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) \ + xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ) +#endif + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupSync(    EventGroupHandle_t xEventGroup,
+ *                                  const EventBits_t uxBitsToSet,
+ *                                  const EventBits_t uxBitsToWaitFor,
+ *                                  TickType_t xTicksToWait );
+ * 
+ * + * Atomically set bits within an event group, then wait for a combination of + * bits to be set within the same event group. This functionality is typically + * used to synchronise multiple tasks, where each task has to wait for the other + * tasks to reach a synchronisation point before proceeding. + * + * This function cannot be used from an interrupt. + * + * The function will return before its block time expires if the bits specified + * by the uxBitsToWait parameter are set, or become set within that time. In + * this case all the bits specified by uxBitsToWait will be automatically + * cleared before the function returns. + * + * @param xEventGroup The event group in which the bits are being tested. The + * event group must have previously been created using a call to + * xEventGroupCreate(). + * + * @param uxBitsToSet The bits to set in the event group before determining + * if, and possibly waiting for, all the bits specified by the uxBitsToWait + * parameter are set. + * + * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test + * inside the event group. For example, to wait for bit 0 and bit 2 set + * uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set + * uxBitsToWaitFor to 0x07. Etc. + * + * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait + * for all of the bits specified by uxBitsToWaitFor to become set. + * + * @return The value of the event group at the time either the bits being waited + * for became set, or the block time expired. Test the return value to know + * which bits were set. If xEventGroupSync() returned because its timeout + * expired then not all the bits being waited for will be set. If + * xEventGroupSync() returned because all the bits it was waiting for were + * set then the returned value is the event group value before any bits were + * automatically cleared. + * + * Example usage: + *
+ * // Bits used by the three tasks.
+ #define TASK_0_BIT     ( 1 << 0 )
+ #define TASK_1_BIT     ( 1 << 1 )
+ #define TASK_2_BIT     ( 1 << 2 )
+ *
+ #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
+ *
+ * // Use an event group to synchronise three tasks.  It is assumed this event
+ * // group has already been created elsewhere.
+ * EventGroupHandle_t xEventBits;
+ *
+ * void vTask0( void *pvParameters )
+ * {
+ * EventBits_t uxReturn;
+ * TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
+ *
+ *   for( ;; )
+ *   {
+ *      // Perform task functionality here.
+ *
+ *      // Set bit 0 in the event flag to note this task has reached the
+ *      // sync point.  The other two tasks will set the other two bits defined
+ *      // by ALL_SYNC_BITS.  All three tasks have reached the synchronisation
+ *      // point when all the ALL_SYNC_BITS are set.  Wait a maximum of 100ms
+ *      // for this to happen.
+ *      uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
+ *
+ *      if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
+ *      {
+ *          // All three tasks reached the synchronisation point before the call
+ *          // to xEventGroupSync() timed out.
+ *      }
+ *  }
+ * }
+ *
+ * void vTask1( void *pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *      // Perform task functionality here.
+ *
+ *      // Set bit 1 in the event flag to note this task has reached the
+ *      // synchronisation point.  The other two tasks will set the other two
+ *      // bits defined by ALL_SYNC_BITS.  All three tasks have reached the
+ *      // synchronisation point when all the ALL_SYNC_BITS are set.  Wait
+ *      // indefinitely for this to happen.
+ *      xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
+ *
+ *      // xEventGroupSync() was called with an indefinite block time, so
+ *      // this task will only reach here if the synchronisation was made by all
+ *      // three tasks, so there is no need to test the return value.
+ *   }
+ * }
+ *
+ * void vTask2( void *pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *      // Perform task functionality here.
+ *
+ *      // Set bit 2 in the event flag to note this task has reached the
+ *      // synchronisation point.  The other two tasks will set the other two
+ *      // bits defined by ALL_SYNC_BITS.  All three tasks have reached the
+ *      // synchronisation point when all the ALL_SYNC_BITS are set.  Wait
+ *      // indefinitely for this to happen.
+ *      xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
+ *
+ *      // xEventGroupSync() was called with an indefinite block time, so
+ *      // this task will only reach here if the synchronisation was made by all
+ *      // three tasks, so there is no need to test the return value.
+ *  }
+ * }
+ *
+ * 
+ * \defgroup xEventGroupSync xEventGroupSync + * \ingroup EventGroup + */ +EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
+ * 
+ * + * Returns the current value of the bits in an event group. This function + * cannot be used from an interrupt. + * + * @param xEventGroup The event group being queried. + * + * @return The event group bits at the time xEventGroupGetBits() was called. + * + * \defgroup xEventGroupGetBits xEventGroupGetBits + * \ingroup EventGroup + */ +#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
+ * 
+ * + * A version of xEventGroupGetBits() that can be called from an ISR. + * + * @param xEventGroup The event group being queried. + * + * @return The event group bits at the time xEventGroupGetBitsFromISR() was called. + * + * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR + * \ingroup EventGroup + */ +EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; + +/** + * event_groups.h + *
+ *  void xEventGroupDelete( EventGroupHandle_t xEventGroup );
+ * 
+ * + * Delete an event group that was previously created by a call to + * xEventGroupCreate(). Tasks that are blocked on the event group will be + * unblocked and obtain 0 as the event group's value. + * + * @param xEventGroup The event group being deleted. + */ +void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; + +/* For internal use only. */ +void vEventGroupSetBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; +void vEventGroupClearBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; + + +#if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) PRIVILEGED_FUNCTION; + void vEventGroupSetNumber( void * xEventGroup, + UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION; +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* EVENT_GROUPS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/list.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/list.h new file mode 100644 index 0000000..d8a4988 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/list.h @@ -0,0 +1,417 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * This is the list implementation used by the scheduler. While it is tailored + * heavily for the schedulers needs, it is also available for use by + * application code. + * + * list_ts can only store pointers to list_item_ts. Each ListItem_t contains a + * numeric value (xItemValue). Most of the time the lists are sorted in + * descending item value order. + * + * Lists are created already containing one list item. The value of this + * item is the maximum possible that can be stored, it is therefore always at + * the end of the list and acts as a marker. The list member pxHead always + * points to this marker - even though it is at the tail of the list. This + * is because the tail contains a wrap back pointer to the true head of + * the list. + * + * In addition to it's value, each list item contains a pointer to the next + * item in the list (pxNext), a pointer to the list it is in (pxContainer) + * and a pointer to back to the object that contains it. These later two + * pointers are included for efficiency of list manipulation. There is + * effectively a two way link between the object containing the list item and + * the list item itself. + * + * + * \page ListIntroduction List Implementation + * \ingroup FreeRTOSIntro + */ + + +#ifndef LIST_H +#define LIST_H + +#ifndef INC_FREERTOS_H + #error "FreeRTOS.h must be included before list.h" +#endif + +/* + * The list structure members are modified from within interrupts, and therefore + * by rights should be declared volatile. However, they are only modified in a + * functionally atomic way (within critical sections of with the scheduler + * suspended) and are either passed by reference into a function or indexed via + * a volatile variable. Therefore, in all use cases tested so far, the volatile + * qualifier can be omitted in order to provide a moderate performance + * improvement without adversely affecting functional behaviour. The assembly + * instructions generated by the IAR, ARM and GCC compilers when the respective + * compiler's options were set for maximum optimisation has been inspected and + * deemed to be as intended. That said, as compiler technology advances, and + * especially if aggressive cross module optimisation is used (a use case that + * has not been exercised to any great extend) then it is feasible that the + * volatile qualifier will be needed for correct optimisation. It is expected + * that a compiler removing essential code because, without the volatile + * qualifier on the list structure members and with aggressive cross module + * optimisation, the compiler deemed the code unnecessary will result in + * complete and obvious failure of the scheduler. If this is ever experienced + * then the volatile qualifier can be inserted in the relevant places within the + * list structures by simply defining configLIST_VOLATILE to volatile in + * FreeRTOSConfig.h (as per the example at the bottom of this comment block). + * If configLIST_VOLATILE is not defined then the preprocessor directives below + * will simply #define configLIST_VOLATILE away completely. + * + * To use volatile list structure members then add the following line to + * FreeRTOSConfig.h (without the quotes): + * "#define configLIST_VOLATILE volatile" + */ +#ifndef configLIST_VOLATILE + #define configLIST_VOLATILE +#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/* Macros that can be used to place known values within the list structures, + * then check that the known values do not get corrupted during the execution of + * the application. These may catch the list data structures being overwritten in + * memory. They will not catch data errors caused by incorrect configuration or + * use of FreeRTOS.*/ +#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) + /* Define the macros to do nothing. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) + #define listTEST_LIST_INTEGRITY( pxList ) +#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */ + /* Define macros that add new members into the list structures. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; + +/* Define macros that set the new structure members to known values. */ + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE + +/* Define macros that will assert if one of the structure members does not + * contain its expected value. */ + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) + #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) +#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ + + +/* + * Definition of the only type of object that a list can contain. + */ +struct xLIST; +struct xLIST_ITEM +{ + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ + struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */ + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */ + void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */ + listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ +}; +typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ + +struct xMINI_LIST_ITEM +{ + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + configLIST_VOLATILE TickType_t xItemValue; + struct xLIST_ITEM * configLIST_VOLATILE pxNext; + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; +}; +typedef struct xMINI_LIST_ITEM MiniListItem_t; + +/* + * Definition of the type of queue used by the scheduler. + */ +typedef struct xLIST +{ + listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + volatile UBaseType_t uxNumberOfItems; + ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ + MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ + listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ +} List_t; + +/* + * Access macro to set the owner of a list item. The owner of a list item + * is the object (usually a TCB) that contains the list item. + * + * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) + +/* + * Access macro to get the owner of a list item. The owner of a list item + * is the object (usually a TCB) that contains the list item. + * + * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER + * \ingroup LinkedList + */ +#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) + +/* + * Access macro to set the value of the list item. In most cases the value is + * used to sort the list in descending order. + * + * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) ) + +/* + * Access macro to retrieve the value of the list item. The value can + * represent anything - for example the priority of a task, or the time at + * which a task should be unblocked. + * + * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) + +/* + * Access macro to retrieve the value of the list item at the head of a given + * list. + * + * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) + +/* + * Return the list item at the head of the list. + * + * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY + * \ingroup LinkedList + */ +#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) + +/* + * Return the next list item. + * + * \page listGET_NEXT listGET_NEXT + * \ingroup LinkedList + */ +#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) + +/* + * Return the list item that marks the end of the list + * + * \page listGET_END_MARKER listGET_END_MARKER + * \ingroup LinkedList + */ +#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) + +/* + * Access macro to determine if a list contains any items. The macro will + * only have the value true if the list is empty. + * + * \page listLIST_IS_EMPTY listLIST_IS_EMPTY + * \ingroup LinkedList + */ +#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) + +/* + * Access macro to return the number of items in the list. + */ +#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) + +/* + * Access function to obtain the owner of the next entry in a list. + * + * The list member pxIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list + * and returns that entry's pxOwner parameter. Using multiple calls to this + * function it is therefore possible to move through every item contained in + * a list. + * + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxTCB pxTCB is set to the address of the owner of the next list item. + * @param pxList The list from which the next item owner is to be returned. + * + * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ + { \ + List_t * const pxConstList = ( pxList ); \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ + { \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + } \ + ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ + } + + +/* + * Access function to obtain the owner of the first entry in a list. Lists + * are normally sorted in ascending item value order. + * + * This function returns the pxOwner member of the first item in the list. + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the owner of the head item is to be + * returned. + * + * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner ) + +/* + * Check to see if a list item is within a list. The list item maintains a + * "container" pointer that points to the list it is in. All this macro does + * is check to see if the container and the list match. + * + * @param pxList The list we want to know if the list item is within. + * @param pxListItem The list item we want to know if is in the list. + * @return pdTRUE if the list item is in the list, otherwise pdFALSE. + */ +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) + +/* + * Return the list a list item is contained within (referenced from). + * + * @param pxListItem The list item being queried. + * @return A pointer to the List_t object that references the pxListItem + */ +#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) + +/* + * This provides a crude means of knowing if a list has been initialised, as + * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() + * function. + */ +#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) + +/* + * Must be called before a list is used! This initialises all the members + * of the list structure and inserts the xListEnd item into the list as a + * marker to the back of the list. + * + * @param pxList Pointer to the list being initialised. + * + * \page vListInitialise vListInitialise + * \ingroup LinkedList + */ +void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION; + +/* + * Must be called before a list item is used. This sets the list container to + * null so the item does not think that it is already contained in a list. + * + * @param pxItem Pointer to the list item being initialised. + * + * \page vListInitialiseItem vListInitialiseItem + * \ingroup LinkedList + */ +void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; + +/* + * Insert a list item into a list. The item will be inserted into the list in + * a position determined by its item value (descending item value order). + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The item that is to be placed in the list. + * + * \page vListInsert vListInsert + * \ingroup LinkedList + */ +void vListInsert( List_t * const pxList, + ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; + +/* + * Insert a list item into a list. The item will be inserted in a position + * such that it will be the last item within the list returned by multiple + * calls to listGET_OWNER_OF_NEXT_ENTRY. + * + * The list member pxIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list. + * Placing an item in a list using vListInsertEnd effectively places the item + * in the list position pointed to by pxIndex. This means that every other + * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before + * the pxIndex parameter again points to the item being inserted. + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The list item to be inserted into the list. + * + * \page vListInsertEnd vListInsertEnd + * \ingroup LinkedList + */ +void vListInsertEnd( List_t * const pxList, + ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; + +/* + * Remove an item from a list. The list item has a pointer to the list that + * it is in, so only the list item need be passed into the function. + * + * @param uxListRemove The item to be removed. The item will remove itself from + * the list pointed to by it's pxContainer parameter. + * + * @return The number of items that remain in the list after the list item has + * been removed. + * + * \page uxListRemove uxListRemove + * \ingroup LinkedList + */ +UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* ifndef LIST_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/message_buffer.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/message_buffer.h new file mode 100644 index 0000000..a9d21ce --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/message_buffer.h @@ -0,0 +1,821 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +/* + * Message buffers build functionality on top of FreeRTOS stream buffers. + * Whereas stream buffers are used to send a continuous stream of data from one + * task or interrupt to another, message buffers are used to send variable + * length discrete messages from one task or interrupt to another. Their + * implementation is light weight, making them particularly suited for interrupt + * to task and core to core communication scenarios. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xMessageBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xMessageBufferRead()) inside a critical section and set the receive + * timeout to 0. + * + * Message buffers hold variable length messages. To enable that, when a + * message is written to the message buffer an additional sizeof( size_t ) bytes + * are also written to store the message's length (that happens internally, with + * the API function). sizeof( size_t ) is typically 4 bytes on a 32-bit + * architecture, so writing a 10 byte message to a message buffer on a 32-bit + * architecture will actually reduce the available space in the message buffer + * by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length + * of the message). + */ + +#ifndef FREERTOS_MESSAGE_BUFFER_H +#define FREERTOS_MESSAGE_BUFFER_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include message_buffer.h" +#endif + +/* Message buffers are built onto of stream buffers. */ +#include "stream_buffer.h" + +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + extern "C" { +#endif +/* *INDENT-ON* */ + +/** + * Type by which message buffers are referenced. For example, a call to + * xMessageBufferCreate() returns an MessageBufferHandle_t variable that can + * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(), + * etc. + */ +typedef void * MessageBufferHandle_t; + +/*-----------------------------------------------------------*/ + +/** + * message_buffer.h + * + *
+ * MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
+ * 
+ * + * Creates a new message buffer using dynamically allocated memory. See + * xMessageBufferCreateStatic() for a version that uses statically allocated + * memory (memory that is allocated at compile time). + * + * configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in + * FreeRTOSConfig.h for xMessageBufferCreate() to be available. + * + * @param xBufferSizeBytes The total number of bytes (not messages) the message + * buffer will be able to hold at any one time. When a message is written to + * the message buffer an additional sizeof( size_t ) bytes are also written to + * store the message's length. sizeof( size_t ) is typically 4 bytes on a + * 32-bit architecture, so on most 32-bit architectures a 10 byte message will + * take up 14 bytes of message buffer space. + * + * @return If NULL is returned, then the message buffer cannot be created + * because there is insufficient heap memory available for FreeRTOS to allocate + * the message buffer data structures and storage area. A non-NULL value being + * returned indicates that the message buffer has been created successfully - + * the returned value should be stored as the handle to the created message + * buffer. + * + * Example use: + *
+ *
+ * void vAFunction( void )
+ * {
+ * MessageBufferHandle_t xMessageBuffer;
+ * const size_t xMessageBufferSizeBytes = 100;
+ *
+ *  // Create a message buffer that can hold 100 bytes.  The memory used to hold
+ *  // both the message buffer structure and the messages themselves is allocated
+ *  // dynamically.  Each message added to the buffer consumes an additional 4
+ *  // bytes which are used to hold the lengh of the message.
+ *  xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
+ *
+ *  if( xMessageBuffer == NULL )
+ *  {
+ *      // There was not enough heap memory space available to create the
+ *      // message buffer.
+ *  }
+ *  else
+ *  {
+ *      // The message buffer was created successfully and can now be used.
+ *  }
+ *
+ * 
+ * \defgroup xMessageBufferCreate xMessageBufferCreate + * \ingroup MessageBufferManagement + */ +#define xMessageBufferCreate( xBufferSizeBytes ) \ + ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) + +/** + * message_buffer.h + * + *
+ * MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
+ *                                                uint8_t *pucMessageBufferStorageArea,
+ *                                                StaticMessageBuffer_t *pxStaticMessageBuffer );
+ * 
+ * Creates a new message buffer using statically allocated memory. See + * xMessageBufferCreate() for a version that uses dynamically allocated memory. + * + * @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the + * pucMessageBufferStorageArea parameter. When a message is written to the + * message buffer an additional sizeof( size_t ) bytes are also written to store + * the message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit + * architecture, so on most 32-bit architecture a 10 byte message will take up + * 14 bytes of message buffer space. The maximum number of bytes that can be + * stored in the message buffer is actually (xBufferSizeBytes - 1). + * + * @param pucMessageBufferStorageArea Must point to a uint8_t array that is at + * least xBufferSizeBytes + 1 big. This is the array to which messages are + * copied when they are written to the message buffer. + * + * @param pxStaticMessageBuffer Must point to a variable of type + * StaticMessageBuffer_t, which will be used to hold the message buffer's data + * structure. + * + * @return If the message buffer is created successfully then a handle to the + * created message buffer is returned. If either pucMessageBufferStorageArea or + * pxStaticmessageBuffer are NULL then NULL is returned. + * + * Example use: + *
+ *
+ * // Used to dimension the array used to hold the messages.  The available space
+ * // will actually be one less than this, so 999.
+ #define STORAGE_SIZE_BYTES 1000
+ *
+ * // Defines the memory that will actually hold the messages within the message
+ * // buffer.
+ * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
+ *
+ * // The variable used to hold the message buffer structure.
+ * StaticMessageBuffer_t xMessageBufferStruct;
+ *
+ * void MyFunction( void )
+ * {
+ * MessageBufferHandle_t xMessageBuffer;
+ *
+ *  xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ),
+ *                                               ucBufferStorage,
+ *                                               &xMessageBufferStruct );
+ *
+ *  // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
+ *  // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
+ *  // reference the created message buffer in other message buffer API calls.
+ *
+ *  // Other code that uses the message buffer can go here.
+ * }
+ *
+ * 
+ * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic + * \ingroup MessageBufferManagement + */ +#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \ + ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) + +/** + * message_buffer.h + * + *
+ * size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
+ *                         const void *pvTxData,
+ *                         size_t xDataLengthBytes,
+ *                         TickType_t xTicksToWait );
+ * 
+ * + * Sends a discrete message to the message buffer. The message can be any + * length that fits within the buffer's free space, and is copied into the + * buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xMessageBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xMessageBufferRead()) inside a critical section and set the receive + * block time to 0. + * + * Use xMessageBufferSend() to write to a message buffer from a task. Use + * xMessageBufferSendFromISR() to write to a message buffer from an interrupt + * service routine (ISR). + * + * @param xMessageBuffer The handle of the message buffer to which a message is + * being sent. + * + * @param pvTxData A pointer to the message that is to be copied into the + * message buffer. + * + * @param xDataLengthBytes The length of the message. That is, the number of + * bytes to copy from pvTxData into the message buffer. When a message is + * written to the message buffer an additional sizeof( size_t ) bytes are also + * written to store the message's length. sizeof( size_t ) is typically 4 bytes + * on a 32-bit architecture, so on most 32-bit architecture setting + * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24 + * bytes (20 bytes of message data and 4 bytes to hold the message length). + * + * @param xTicksToWait The maximum amount of time the calling task should remain + * in the Blocked state to wait for enough space to become available in the + * message buffer, should the message buffer have insufficient space when + * xMessageBufferSend() is called. The calling task will never block if + * xTicksToWait is zero. The block time is specified in tick periods, so the + * absolute time it represents is dependent on the tick frequency. The macro + * pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into + * a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will cause + * the task to wait indefinitely (without timing out), provided + * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any + * CPU time when they are in the Blocked state. + * + * @return The number of bytes written to the message buffer. If the call to + * xMessageBufferSend() times out before there was enough space to write the + * message into the message buffer then zero is returned. If the call did not + * time out then xDataLengthBytes is returned. + * + * Example use: + *
+ * void vAFunction( MessageBufferHandle_t xMessageBuffer )
+ * {
+ * size_t xBytesSent;
+ * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+ * char *pcStringToSend = "String to send";
+ * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+ *
+ *  // Send an array to the message buffer, blocking for a maximum of 100ms to
+ *  // wait for enough space to be available in the message buffer.
+ *  xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+ *
+ *  if( xBytesSent != sizeof( ucArrayToSend ) )
+ *  {
+ *      // The call to xMessageBufferSend() times out before there was enough
+ *      // space in the buffer for the data to be written.
+ *  }
+ *
+ *  // Send the string to the message buffer.  Return immediately if there is
+ *  // not enough space in the buffer.
+ *  xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The string could not be added to the message buffer because there was
+ *      // not enough free space in the buffer.
+ *  }
+ * }
+ * 
+ * \defgroup xMessageBufferSend xMessageBufferSend + * \ingroup MessageBufferManagement + */ +#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \ + xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) + +/** + * message_buffer.h + * + *
+ * size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                const void *pvTxData,
+ *                                size_t xDataLengthBytes,
+ *                                BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * Interrupt safe version of the API function that sends a discrete message to + * the message buffer. The message can be any length that fits within the + * buffer's free space, and is copied into the buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xMessageBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xMessageBufferRead()) inside a critical section and set the receive + * block time to 0. + * + * Use xMessageBufferSend() to write to a message buffer from a task. Use + * xMessageBufferSendFromISR() to write to a message buffer from an interrupt + * service routine (ISR). + * + * @param xMessageBuffer The handle of the message buffer to which a message is + * being sent. + * + * @param pvTxData A pointer to the message that is to be copied into the + * message buffer. + * + * @param xDataLengthBytes The length of the message. That is, the number of + * bytes to copy from pvTxData into the message buffer. When a message is + * written to the message buffer an additional sizeof( size_t ) bytes are also + * written to store the message's length. sizeof( size_t ) is typically 4 bytes + * on a 32-bit architecture, so on most 32-bit architecture setting + * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24 + * bytes (20 bytes of message data and 4 bytes to hold the message length). + * + * @param pxHigherPriorityTaskWoken It is possible that a message buffer will + * have a task blocked on it waiting for data. Calling + * xMessageBufferSendFromISR() can make data available, and so cause a task that + * was waiting for data to leave the Blocked state. If calling + * xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the + * unblocked task has a priority higher than the currently executing task (the + * task that was interrupted), then, internally, xMessageBufferSendFromISR() + * will set *pxHigherPriorityTaskWoken to pdTRUE. If + * xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a + * context switch should be performed before the interrupt is exited. This will + * ensure that the interrupt returns directly to the highest priority Ready + * state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it + * is passed into the function. See the code example below for an example. + * + * @return The number of bytes actually written to the message buffer. If the + * message buffer didn't have enough free space for the message to be stored + * then 0 is returned, otherwise xDataLengthBytes is returned. + * + * Example use: + *
+ * // A message buffer that has already been created.
+ * MessageBufferHandle_t xMessageBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * size_t xBytesSent;
+ * char *pcStringToSend = "String to send";
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+ *
+ *  // Attempt to send the string to the message buffer.
+ *  xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
+ *                                          ( void * ) pcStringToSend,
+ *                                          strlen( pcStringToSend ),
+ *                                          &xHigherPriorityTaskWoken );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The string could not be added to the message buffer because there was
+ *      // not enough free space in the buffer.
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xMessageBufferSendFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * 
+ * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR + * \ingroup MessageBufferManagement + */ +#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \ + xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) + +/** + * message_buffer.h + * + *
+ * size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
+ *                            void *pvRxData,
+ *                            size_t xBufferLengthBytes,
+ *                            TickType_t xTicksToWait );
+ * 
+ * + * Receives a discrete message from a message buffer. Messages can be of + * variable length and are copied out of the buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xMessageBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xMessageBufferRead()) inside a critical section and set the receive + * block time to 0. + * + * Use xMessageBufferReceive() to read from a message buffer from a task. Use + * xMessageBufferReceiveFromISR() to read from a message buffer from an + * interrupt service routine (ISR). + * + * @param xMessageBuffer The handle of the message buffer from which a message + * is being received. + * + * @param pvRxData A pointer to the buffer into which the received message is + * to be copied. + * + * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData + * parameter. This sets the maximum length of the message that can be received. + * If xBufferLengthBytes is too small to hold the next message then the message + * will be left in the message buffer and 0 will be returned. + * + * @param xTicksToWait The maximum amount of time the task should remain in the + * Blocked state to wait for a message, should the message buffer be empty. + * xMessageBufferReceive() will return immediately if xTicksToWait is zero and + * the message buffer is empty. The block time is specified in tick periods, so + * the absolute time it represents is dependent on the tick frequency. The + * macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds + * into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will + * cause the task to wait indefinitely (without timing out), provided + * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any + * CPU time when they are in the Blocked state. + * + * @return The length, in bytes, of the message read from the message buffer, if + * any. If xMessageBufferReceive() times out before a message became available + * then zero is returned. If the length of the message is greater than + * xBufferLengthBytes then the message will be left in the message buffer and + * zero is returned. + * + * Example use: + *
+ * void vAFunction( MessageBuffer_t xMessageBuffer )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+ *
+ *  // Receive the next message from the message buffer.  Wait in the Blocked
+ *  // state (so not using any CPU processing time) for a maximum of 100ms for
+ *  // a message to become available.
+ *  xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
+ *                                          ( void * ) ucRxData,
+ *                                          sizeof( ucRxData ),
+ *                                          xBlockTime );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains a message that is xReceivedBytes long.  Process
+ *      // the message here....
+ *  }
+ * }
+ * 
+ * \defgroup xMessageBufferReceive xMessageBufferReceive + * \ingroup MessageBufferManagement + */ +#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \ + xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) + + +/** + * message_buffer.h + * + *
+ * size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                   void *pvRxData,
+ *                                   size_t xBufferLengthBytes,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * An interrupt safe version of the API function that receives a discrete + * message from a message buffer. Messages can be of variable length and are + * copied out of the buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xMessageBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xMessageBufferRead()) inside a critical section and set the receive + * block time to 0. + * + * Use xMessageBufferReceive() to read from a message buffer from a task. Use + * xMessageBufferReceiveFromISR() to read from a message buffer from an + * interrupt service routine (ISR). + * + * @param xMessageBuffer The handle of the message buffer from which a message + * is being received. + * + * @param pvRxData A pointer to the buffer into which the received message is + * to be copied. + * + * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData + * parameter. This sets the maximum length of the message that can be received. + * If xBufferLengthBytes is too small to hold the next message then the message + * will be left in the message buffer and 0 will be returned. + * + * @param pxHigherPriorityTaskWoken It is possible that a message buffer will + * have a task blocked on it waiting for space to become available. Calling + * xMessageBufferReceiveFromISR() can make space available, and so cause a task + * that is waiting for space to leave the Blocked state. If calling + * xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and + * the unblocked task has a priority higher than the currently executing task + * (the task that was interrupted), then, internally, + * xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE. + * If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a + * context switch should be performed before the interrupt is exited. That will + * ensure the interrupt returns directly to the highest priority Ready state + * task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is + * passed into the function. See the code example below for an example. + * + * @return The length, in bytes, of the message read from the message buffer, if + * any. + * + * Example use: + *
+ * // A message buffer that has already been created.
+ * MessageBuffer_t xMessageBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+ *
+ *  // Receive the next message from the message buffer.
+ *  xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
+ *                                                ( void * ) ucRxData,
+ *                                                sizeof( ucRxData ),
+ *                                                &xHigherPriorityTaskWoken );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains a message that is xReceivedBytes long.  Process
+ *      // the message here....
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xMessageBufferReceiveFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * 
+ * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR + * \ingroup MessageBufferManagement + */ +#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \ + xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) + +/** + * message_buffer.h + * + *
+ * void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
+ * 
+ * + * Deletes a message buffer that was previously created using a call to + * xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message + * buffer was created using dynamic memory (that is, by xMessageBufferCreate()), + * then the allocated memory is freed. + * + * A message buffer handle must not be used after the message buffer has been + * deleted. + * + * @param xMessageBuffer The handle of the message buffer to be deleted. + * + */ +#define vMessageBufferDelete( xMessageBuffer ) \ + vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer ) + +/** + * message_buffer.h + *
+ * BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
+ * 
+ * + * Tests to see if a message buffer is full. A message buffer is full if it + * cannot accept any more messages, of any size, until space is made available + * by a message being removed from the message buffer. + * + * @param xMessageBuffer The handle of the message buffer being queried. + * + * @return If the message buffer referenced by xMessageBuffer is full then + * pdTRUE is returned. Otherwise pdFALSE is returned. + */ +#define xMessageBufferIsFull( xMessageBuffer ) \ + xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer ) + +/** + * message_buffer.h + *
+ * BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
+ * 
+ * + * Tests to see if a message buffer is empty (does not contain any messages). + * + * @param xMessageBuffer The handle of the message buffer being queried. + * + * @return If the message buffer referenced by xMessageBuffer is empty then + * pdTRUE is returned. Otherwise pdFALSE is returned. + * + */ +#define xMessageBufferIsEmpty( xMessageBuffer ) \ + xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer ) + +/** + * message_buffer.h + *
+ * BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
+ * 
+ * + * Resets a message buffer to its initial empty state, discarding any message it + * contained. + * + * A message buffer can only be reset if there are no tasks blocked on it. + * + * @param xMessageBuffer The handle of the message buffer being reset. + * + * @return If the message buffer was reset then pdPASS is returned. If the + * message buffer could not be reset because either there was a task blocked on + * the message queue to wait for space to become available, or to wait for a + * a message to be available, then pdFAIL is returned. + * + * \defgroup xMessageBufferReset xMessageBufferReset + * \ingroup MessageBufferManagement + */ +#define xMessageBufferReset( xMessageBuffer ) \ + xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer ) + + +/** + * message_buffer.h + *
+ * size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
+ * 
+ * Returns the number of bytes of free space in the message buffer. + * + * @param xMessageBuffer The handle of the message buffer being queried. + * + * @return The number of bytes that can be written to the message buffer before + * the message buffer would be full. When a message is written to the message + * buffer an additional sizeof( size_t ) bytes are also written to store the + * message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit + * architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size + * of the largest message that can be written to the message buffer is 6 bytes. + * + * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable + * \ingroup MessageBufferManagement + */ +#define xMessageBufferSpaceAvailable( xMessageBuffer ) \ + xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferSpacesAvailable( xMessageBuffer ) \ + xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */ + +/** + * message_buffer.h + *
+ * size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
+ * 
+ * Returns the length (in bytes) of the next message in a message buffer. + * Useful if xMessageBufferReceive() returned 0 because the size of the buffer + * passed into xMessageBufferReceive() was too small to hold the next message. + * + * @param xMessageBuffer The handle of the message buffer being queried. + * + * @return The length (in bytes) of the next message in the message buffer, or 0 + * if the message buffer is empty. + * + * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes + * \ingroup MessageBufferManagement + */ +#define xMessageBufferNextLengthBytes( xMessageBuffer ) \ + xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION; + +/** + * message_buffer.h + * + *
+ * BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * For advanced users only. + * + * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when + * data is sent to a message buffer or stream buffer. If there was a task that + * was blocked on the message or stream buffer waiting for data to arrive then + * the sbSEND_COMPLETED() macro sends a notification to the task to remove it + * from the Blocked state. xMessageBufferSendCompletedFromISR() does the same + * thing. It is provided to enable application writers to implement their own + * version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME. + * + * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for + * additional information. + * + * @param xStreamBuffer The handle of the stream buffer to which data was + * written. + * + * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be + * initialised to pdFALSE before it is passed into + * xMessageBufferSendCompletedFromISR(). If calling + * xMessageBufferSendCompletedFromISR() removes a task from the Blocked state, + * and the task has a priority above the priority of the currently running task, + * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a + * context switch should be performed before exiting the ISR. + * + * @return If a task was removed from the Blocked state then pdTRUE is returned. + * Otherwise pdFALSE is returned. + * + * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR + * \ingroup StreamBufferManagement + */ +#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \ + xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) + +/** + * message_buffer.h + * + *
+ * BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * For advanced users only. + * + * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when + * data is read out of a message buffer or stream buffer. If there was a task + * that was blocked on the message or stream buffer waiting for data to arrive + * then the sbRECEIVE_COMPLETED() macro sends a notification to the task to + * remove it from the Blocked state. xMessageBufferReceiveCompletedFromISR() + * does the same thing. It is provided to enable application writers to + * implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT + * ANY OTHER TIME. + * + * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for + * additional information. + * + * @param xStreamBuffer The handle of the stream buffer from which data was + * read. + * + * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be + * initialised to pdFALSE before it is passed into + * xMessageBufferReceiveCompletedFromISR(). If calling + * xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state, + * and the task has a priority above the priority of the currently running task, + * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a + * context switch should be performed before exiting the ISR. + * + * @return If a task was removed from the Blocked state then pdTRUE is returned. + * Otherwise pdFALSE is returned. + * + * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR + * \ingroup StreamBufferManagement + */ +#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \ + xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) + +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + } /* extern "C" */ +#endif +/* *INDENT-ON* */ + +#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/mpu_prototypes.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/mpu_prototypes.h new file mode 100644 index 0000000..61f885d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/mpu_prototypes.h @@ -0,0 +1,257 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * When the MPU is used the standard (non MPU) API functions are mapped to + * equivalents that start "MPU_", the prototypes for which are defined in this + * header files. This will cause the application code to call the MPU_ version + * which wraps the non-MPU version with privilege promoting then demoting code, + * so the kernel code always runs will full privileges. + */ + + +#ifndef MPU_PROTOTYPES_H +#define MPU_PROTOTYPES_H + +/* MPU versions of tasks.h API functions. */ +BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint16_t usStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL; +TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime, + const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; +eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskGetInfo( TaskHandle_t xTask, + TaskStatus_t * pxTaskStatus, + BaseType_t xGetFreeStackSpace, + eTaskState eState ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskPrioritySet( TaskHandle_t xTask, + UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL; +TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL; +char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL; +TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; +configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, + TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL; +TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, + BaseType_t xIndex, + void * pvValue ) FREERTOS_SYSTEM_CALL; +void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, + BaseType_t xIndex ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, + void * pvParameter ) FREERTOS_SYSTEM_CALL; +TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, + const UBaseType_t uxArraySize, + uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL; +uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskGetRunTimeStats( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + uint32_t ulValue, + eNotifyAction eAction, + uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn, + uint32_t ulBitsToClearOnEntry, + uint32_t ulBitsToClearOnExit, + uint32_t * pulNotificationValue, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn, + BaseType_t xClearCountOnExit, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL; +uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear, + uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL; +TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, + TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL; +void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL; + +/* MPU versions of queue.h API functions. */ +BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, + const void * const pvItemToQueue, + TickType_t xTicksToWait, + const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; +void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; +QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL; +QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, + StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL; +QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL; +QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount, + StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL; +TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL; +void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, + const char * pcName ) FREERTOS_SYSTEM_CALL; +void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; +const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; +QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL; +QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + uint8_t * pucQueueStorage, + StaticQueue_t * pxStaticQueue, + const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL; +QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL; +QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, + const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, + BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL; +void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, + UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; +uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; + +/* MPU versions of timers.h API functions. */ +TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL; +TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t * pxTimerBuffer ) FREERTOS_SYSTEM_CALL; +void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; +void MPU_vTimerSetTimerID( TimerHandle_t xTimer, + void * pvNewID ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; +TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, + void * pvParameter1, + uint32_t ulParameter2, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; +void MPU_vTimerSetReloadMode( TimerHandle_t xTimer, + const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; +TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; +TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, + const BaseType_t xCommandID, + const TickType_t xOptionalValue, + BaseType_t * const pxHigherPriorityTaskWoken, + const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; + +/* MPU versions of event_group.h API functions. */ +EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL; +EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL; +EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL; +EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL; +EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL; +UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL; + +/* MPU versions of message/stream_buffer.h API functions. */ +size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; +size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; +BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, + size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL; +StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer ) FREERTOS_SYSTEM_CALL; +StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer, + uint8_t * const pucStreamBufferStorageArea, + StaticStreamBuffer_t * const pxStaticStreamBuffer ) FREERTOS_SYSTEM_CALL; + + + +#endif /* MPU_PROTOTYPES_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/mpu_wrappers.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/mpu_wrappers.h new file mode 100644 index 0000000..a5c081f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/mpu_wrappers.h @@ -0,0 +1,185 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef MPU_WRAPPERS_H +#define MPU_WRAPPERS_H + +/* This file redefines API functions to be called through a wrapper macro, but + * only for ports that are using the MPU. */ +#ifdef portUSING_MPU_WRAPPERS + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is + * included from queue.c or task.c to prevent it from having an effect within + * those files. */ + #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* + * Map standard (non MPU) API functions to equivalents that start + * "MPU_". This will cause the application code to call the MPU_ + * version, which wraps the non-MPU version with privilege promoting + * then demoting code, so the kernel code always runs will full + * privileges. + */ + +/* Map standard tasks.h API functions to the MPU equivalents. */ + #define xTaskCreate MPU_xTaskCreate + #define xTaskCreateStatic MPU_xTaskCreateStatic + #define vTaskDelete MPU_vTaskDelete + #define vTaskDelay MPU_vTaskDelay + #define xTaskDelayUntil MPU_xTaskDelayUntil + #define xTaskAbortDelay MPU_xTaskAbortDelay + #define uxTaskPriorityGet MPU_uxTaskPriorityGet + #define eTaskGetState MPU_eTaskGetState + #define vTaskGetInfo MPU_vTaskGetInfo + #define vTaskPrioritySet MPU_vTaskPrioritySet + #define vTaskSuspend MPU_vTaskSuspend + #define vTaskResume MPU_vTaskResume + #define vTaskSuspendAll MPU_vTaskSuspendAll + #define xTaskResumeAll MPU_xTaskResumeAll + #define xTaskGetTickCount MPU_xTaskGetTickCount + #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks + #define pcTaskGetName MPU_pcTaskGetName + #define xTaskGetHandle MPU_xTaskGetHandle + #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark + #define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2 + #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag + #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag + #define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer + #define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer + #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook + #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle + #define uxTaskGetSystemState MPU_uxTaskGetSystemState + #define vTaskList MPU_vTaskList + #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats + #define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter + #define xTaskGenericNotify MPU_xTaskGenericNotify + #define xTaskGenericNotifyWait MPU_xTaskGenericNotifyWait + #define ulTaskGenericNotifyTake MPU_ulTaskGenericNotifyTake + #define xTaskGenericNotifyStateClear MPU_xTaskGenericNotifyStateClear + #define ulTaskGenericNotifyValueClear MPU_ulTaskGenericNotifyValueClear + #define xTaskCatchUpTicks MPU_xTaskCatchUpTicks + + #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle + #define vTaskSetTimeOutState MPU_vTaskSetTimeOutState + #define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut + #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState + +/* Map standard queue.h API functions to the MPU equivalents. */ + #define xQueueGenericSend MPU_xQueueGenericSend + #define xQueueReceive MPU_xQueueReceive + #define xQueuePeek MPU_xQueuePeek + #define xQueueSemaphoreTake MPU_xQueueSemaphoreTake + #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting + #define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable + #define vQueueDelete MPU_vQueueDelete + #define xQueueCreateMutex MPU_xQueueCreateMutex + #define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic + #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore + #define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic + #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder + #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive + #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive + #define xQueueGenericCreate MPU_xQueueGenericCreate + #define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic + #define xQueueCreateSet MPU_xQueueCreateSet + #define xQueueAddToSet MPU_xQueueAddToSet + #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet + #define xQueueSelectFromSet MPU_xQueueSelectFromSet + #define xQueueGenericReset MPU_xQueueGenericReset + + #if ( configQUEUE_REGISTRY_SIZE > 0 ) + #define vQueueAddToRegistry MPU_vQueueAddToRegistry + #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue + #define pcQueueGetName MPU_pcQueueGetName + #endif + +/* Map standard timer.h API functions to the MPU equivalents. */ + #define xTimerCreate MPU_xTimerCreate + #define xTimerCreateStatic MPU_xTimerCreateStatic + #define pvTimerGetTimerID MPU_pvTimerGetTimerID + #define vTimerSetTimerID MPU_vTimerSetTimerID + #define xTimerIsTimerActive MPU_xTimerIsTimerActive + #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle + #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall + #define pcTimerGetName MPU_pcTimerGetName + #define vTimerSetReloadMode MPU_vTimerSetReloadMode + #define uxTimerGetReloadMode MPU_uxTimerGetReloadMode + #define xTimerGetPeriod MPU_xTimerGetPeriod + #define xTimerGetExpiryTime MPU_xTimerGetExpiryTime + #define xTimerGenericCommand MPU_xTimerGenericCommand + +/* Map standard event_group.h API functions to the MPU equivalents. */ + #define xEventGroupCreate MPU_xEventGroupCreate + #define xEventGroupCreateStatic MPU_xEventGroupCreateStatic + #define xEventGroupWaitBits MPU_xEventGroupWaitBits + #define xEventGroupClearBits MPU_xEventGroupClearBits + #define xEventGroupSetBits MPU_xEventGroupSetBits + #define xEventGroupSync MPU_xEventGroupSync + #define vEventGroupDelete MPU_vEventGroupDelete + +/* Map standard message/stream_buffer.h API functions to the MPU + * equivalents. */ + #define xStreamBufferSend MPU_xStreamBufferSend + #define xStreamBufferReceive MPU_xStreamBufferReceive + #define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes + #define vStreamBufferDelete MPU_vStreamBufferDelete + #define xStreamBufferIsFull MPU_xStreamBufferIsFull + #define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty + #define xStreamBufferReset MPU_xStreamBufferReset + #define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable + #define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable + #define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel + #define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate + #define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic + + +/* Remove the privileged function macro, but keep the PRIVILEGED_DATA + * macro so applications can place data in privileged access sections + * (useful when using statically allocated objects). */ + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) ) + #define FREERTOS_SYSTEM_CALL + + #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ + +/* Ensure API functions go in the privileged execution section. */ + #define PRIVILEGED_FUNCTION __attribute__( ( section( "privileged_functions" ) ) ) + #define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) ) + #define FREERTOS_SYSTEM_CALL __attribute__( ( section( "freertos_system_calls" ) ) ) + + #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ + +#else /* portUSING_MPU_WRAPPERS */ + + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA + #define FREERTOS_SYSTEM_CALL + #define portUSING_MPU_WRAPPERS 0 + +#endif /* portUSING_MPU_WRAPPERS */ + + +#endif /* MPU_WRAPPERS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/portable.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/portable.h new file mode 100644 index 0000000..4f4c1d5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/portable.h @@ -0,0 +1,216 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Portable layer API. Each function must be defined for each port. +*----------------------------------------------------------*/ + +#ifndef PORTABLE_H +#define PORTABLE_H + +/* Each FreeRTOS port has a unique portmacro.h header file. Originally a + * pre-processor definition was used to ensure the pre-processor found the correct + * portmacro.h file for the port being used. That scheme was deprecated in favour + * of setting the compiler's include path such that it found the correct + * portmacro.h file - removing the need for the constant and allowing the + * portmacro.h file to be located anywhere in relation to the port being used. + * Purely for reasons of backward compatibility the old method is still valid, but + * to make it clear that new projects should not use it, support for the port + * specific constants has been moved into the deprecated_definitions.h header + * file. */ +#include "deprecated_definitions.h" + +/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h + * did not result in a portmacro.h header file being included - and it should be + * included here. In this case the path to the correct portmacro.h header file + * must be set in the compiler's include path. */ +#ifndef portENTER_CRITICAL + #include "portmacro.h" +#endif + +#if portBYTE_ALIGNMENT == 32 + #define portBYTE_ALIGNMENT_MASK ( 0x001f ) +#endif + +#if portBYTE_ALIGNMENT == 16 + #define portBYTE_ALIGNMENT_MASK ( 0x000f ) +#endif + +#if portBYTE_ALIGNMENT == 8 + #define portBYTE_ALIGNMENT_MASK ( 0x0007 ) +#endif + +#if portBYTE_ALIGNMENT == 4 + #define portBYTE_ALIGNMENT_MASK ( 0x0003 ) +#endif + +#if portBYTE_ALIGNMENT == 2 + #define portBYTE_ALIGNMENT_MASK ( 0x0001 ) +#endif + +#if portBYTE_ALIGNMENT == 1 + #define portBYTE_ALIGNMENT_MASK ( 0x0000 ) +#endif + +#ifndef portBYTE_ALIGNMENT_MASK + #error "Invalid portBYTE_ALIGNMENT definition" +#endif + +#ifndef portNUM_CONFIGURABLE_REGIONS + #define portNUM_CONFIGURABLE_REGIONS 1 +#endif + +#ifndef portHAS_STACK_OVERFLOW_CHECKING + #define portHAS_STACK_OVERFLOW_CHECKING 0 +#endif + +#ifndef portARCH_NAME + #define portARCH_NAME NULL +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +#include "mpu_wrappers.h" + +/* + * Setup the stack of a new task so it is ready to be placed under the + * scheduler control. The registers have to be placed on the stack in + * the order that the port expects to find them. + * + */ +#if ( portUSING_MPU_WRAPPERS == 1 ) + #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; + #else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; + #endif +#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */ + #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) PRIVILEGED_FUNCTION; + #else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) PRIVILEGED_FUNCTION; + #endif +#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */ + +/* Used by heap_5.c to define the start address and size of each memory region + * that together comprise the total FreeRTOS heap space. */ +typedef struct HeapRegion +{ + uint8_t * pucStartAddress; + size_t xSizeInBytes; +} HeapRegion_t; + +/* Used to pass information about the heap out of vPortGetHeapStats(). */ +typedef struct xHeapStats +{ + size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */ + size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ + size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ + size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */ + size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */ + size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */ + size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */ +} HeapStats_t; + +/* + * Used to define multiple heap regions for use by heap_5.c. This function + * must be called before any calls to pvPortMalloc() - not creating a task, + * queue, semaphore, mutex, software timer, event group, etc. will result in + * pvPortMalloc being called. + * + * pxHeapRegions passes in an array of HeapRegion_t structures - each of which + * defines a region of memory that can be used as the heap. The array is + * terminated by a HeapRegions_t structure that has a size of 0. The region + * with the lowest start address must appear first in the array. + */ +void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION; + +/* + * Returns a HeapStats_t structure filled with information about the current + * heap state. + */ +void vPortGetHeapStats( HeapStats_t * pxHeapStats ); + +/* + * Map to the memory management routines required for the port. + */ +void * pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION; +void vPortFree( void * pv ) PRIVILEGED_FUNCTION; +void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; +size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; +size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION; + +/* + * Setup the hardware ready for the scheduler to take control. This generally + * sets up a tick interrupt and sets timers for the correct tick frequency. + */ +BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION; + +/* + * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so + * the hardware is left in its original condition after the scheduler stops + * executing. + */ +void vPortEndScheduler( void ) PRIVILEGED_FUNCTION; + +/* + * The structures and methods of manipulating the MPU are contained within the + * port layer. + * + * Fills the xMPUSettings structure with the memory region information + * contained in xRegions. + */ +#if ( portUSING_MPU_WRAPPERS == 1 ) + struct xMEMORY_REGION; + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) PRIVILEGED_FUNCTION; +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTABLE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/projdefs.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/projdefs.h new file mode 100644 index 0000000..fd9072c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/projdefs.h @@ -0,0 +1,120 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PROJDEFS_H +#define PROJDEFS_H + +/* + * Defines the prototype to which task functions must conform. Defined in this + * file to ensure the type is known before portable.h is included. + */ +typedef void (* TaskFunction_t)( void * ); + +/* Converts a time in milliseconds to a time in ticks. This macro can be + * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the + * definition here is not suitable for your application. */ +#ifndef pdMS_TO_TICKS + #define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000U ) ) +#endif + +#define pdFALSE ( ( BaseType_t ) 0 ) +#define pdTRUE ( ( BaseType_t ) 1 ) + +#define pdPASS ( pdTRUE ) +#define pdFAIL ( pdFALSE ) +#define errQUEUE_EMPTY ( ( BaseType_t ) 0 ) +#define errQUEUE_FULL ( ( BaseType_t ) 0 ) + +/* FreeRTOS error definitions. */ +#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) +#define errQUEUE_BLOCKED ( -4 ) +#define errQUEUE_YIELD ( -5 ) + +/* Macros used for basic data corruption checks. */ +#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES + #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0 +#endif + +#if ( configUSE_16_BIT_TICKS == 1 ) + #define pdINTEGRITY_CHECK_VALUE 0x5a5a +#else + #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL +#endif + +/* The following errno values are used by FreeRTOS+ components, not FreeRTOS + * itself. */ +#define pdFREERTOS_ERRNO_NONE 0 /* No errors */ +#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */ +#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */ +#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */ +#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */ +#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */ +#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */ +#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */ +#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */ +#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */ +#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */ +#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */ +#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */ +#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */ +#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */ +#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */ +#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */ +#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */ +#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */ +#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */ +#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */ +#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */ +#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */ +#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */ +#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */ +#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */ +#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */ +#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */ +#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */ +#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */ +#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */ +#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */ +#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */ +#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */ +#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */ +#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */ +#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */ +#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */ +#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */ +#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */ + +/* The following endian values are used by FreeRTOS+ components, not FreeRTOS + * itself. */ +#define pdFREERTOS_LITTLE_ENDIAN 0 +#define pdFREERTOS_BIG_ENDIAN 1 + +/* Re-defining endian values for generic naming. */ +#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN +#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN + + +#endif /* PROJDEFS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/queue.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/queue.h new file mode 100644 index 0000000..37ad23c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/queue.h @@ -0,0 +1,1716 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef QUEUE_H +#define QUEUE_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h" must appear in source files before "include queue.h" +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +#include "task.h" + +/** + * Type by which queues are referenced. For example, a call to xQueueCreate() + * returns an QueueHandle_t variable that can then be used as a parameter to + * xQueueSend(), xQueueReceive(), etc. + */ +struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */ +typedef struct QueueDefinition * QueueHandle_t; + +/** + * Type by which queue sets are referenced. For example, a call to + * xQueueCreateSet() returns an xQueueSet variable that can then be used as a + * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc. + */ +typedef struct QueueDefinition * QueueSetHandle_t; + +/** + * Queue sets can contain both queues and semaphores, so the + * QueueSetMemberHandle_t is defined as a type to be used where a parameter or + * return value can be either an QueueHandle_t or an SemaphoreHandle_t. + */ +typedef struct QueueDefinition * QueueSetMemberHandle_t; + +/* For internal use only. */ +#define queueSEND_TO_BACK ( ( BaseType_t ) 0 ) +#define queueSEND_TO_FRONT ( ( BaseType_t ) 1 ) +#define queueOVERWRITE ( ( BaseType_t ) 2 ) + +/* For internal use only. These definitions *must* match those in queue.c. */ +#define queueQUEUE_TYPE_BASE ( ( uint8_t ) 0U ) +#define queueQUEUE_TYPE_SET ( ( uint8_t ) 0U ) +#define queueQUEUE_TYPE_MUTEX ( ( uint8_t ) 1U ) +#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( uint8_t ) 2U ) +#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( uint8_t ) 3U ) +#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( uint8_t ) 4U ) + +/** + * queue. h + *
+ * QueueHandle_t xQueueCreate(
+ *                            UBaseType_t uxQueueLength,
+ *                            UBaseType_t uxItemSize
+ *                        );
+ * 
+ * + * Creates a new queue instance, and returns a handle by which the new queue + * can be referenced. + * + * Internally, within the FreeRTOS implementation, queues use two blocks of + * memory. The first block is used to hold the queue's data structures. The + * second block is used to hold items placed into the queue. If a queue is + * created using xQueueCreate() then both blocks of memory are automatically + * dynamically allocated inside the xQueueCreate() function. (see + * https://www.FreeRTOS.org/a00111.html). If a queue is created using + * xQueueCreateStatic() then the application writer must provide the memory that + * will get used by the queue. xQueueCreateStatic() therefore allows a queue to + * be created without using any dynamic memory allocation. + * + * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @return If the queue is successfully create then a handle to the newly + * created queue is returned. If the queue cannot be created then 0 is + * returned. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * };
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *  if( xQueue1 == 0 )
+ *  {
+ *      // Queue was not created and must not be used.
+ *  }
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue2 == 0 )
+ *  {
+ *      // Queue was not created and must not be used.
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueCreate xQueueCreate + * \ingroup QueueManagement + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) ) +#endif + +/** + * queue. h + *
+ * QueueHandle_t xQueueCreateStatic(
+ *                            UBaseType_t uxQueueLength,
+ *                            UBaseType_t uxItemSize,
+ *                            uint8_t *pucQueueStorageBuffer,
+ *                            StaticQueue_t *pxQueueBuffer
+ *                        );
+ * 
+ * + * Creates a new queue instance, and returns a handle by which the new queue + * can be referenced. + * + * Internally, within the FreeRTOS implementation, queues use two blocks of + * memory. The first block is used to hold the queue's data structures. The + * second block is used to hold items placed into the queue. If a queue is + * created using xQueueCreate() then both blocks of memory are automatically + * dynamically allocated inside the xQueueCreate() function. (see + * https://www.FreeRTOS.org/a00111.html). If a queue is created using + * xQueueCreateStatic() then the application writer must provide the memory that + * will get used by the queue. xQueueCreateStatic() therefore allows a queue to + * be created without using any dynamic memory allocation. + * + * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @param pucQueueStorageBuffer If uxItemSize is not zero then + * pucQueueStorageBuffer must point to a uint8_t array that is at least large + * enough to hold the maximum number of items that can be in the queue at any + * one time - which is ( uxQueueLength * uxItemsSize ) bytes. If uxItemSize is + * zero then pucQueueStorageBuffer can be NULL. + * + * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which + * will be used to hold the queue's data structure. + * + * @return If the queue is created then a handle to the created queue is + * returned. If pxQueueBuffer is NULL then NULL is returned. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * };
+ *
+ #define QUEUE_LENGTH 10
+ #define ITEM_SIZE sizeof( uint32_t )
+ *
+ * // xQueueBuffer will hold the queue structure.
+ * StaticQueue_t xQueueBuffer;
+ *
+ * // ucQueueStorage will hold the items posted to the queue.  Must be at least
+ * // [(queue length) * ( queue item size)] bytes long.
+ * uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ];
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold.
+ *                          ITEM_SIZE     // The size of each item in the queue
+ *                          &( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue.
+ *                          &xQueueBuffer ); // The buffer that will hold the queue structure.
+ *
+ *  // The queue is guaranteed to be created successfully as no dynamic memory
+ *  // allocation is used.  Therefore xQueue1 is now a handle to a valid queue.
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueCreateStatic xQueueCreateStatic + * \ingroup QueueManagement + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) ) +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * queue. h + *
+ * BaseType_t xQueueSendToToFront(
+ *                                 QueueHandle_t    xQueue,
+ *                                 const void       *pvItemToQueue,
+ *                                 TickType_t       xTicksToWait
+ *                             );
+ * 
+ * + * Post an item to the front of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_PERIOD_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) \ + xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) + +/** + * queue. h + *
+ * BaseType_t xQueueSendToBack(
+ *                                 QueueHandle_t    xQueue,
+ *                                 const void       *pvItemToQueue,
+ *                                 TickType_t       xTicksToWait
+ *                             );
+ * 
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the back of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the queue + * is full. The time is defined in tick periods so the constant + * portTICK_PERIOD_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) \ + xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) + +/** + * queue. h + *
+ * BaseType_t xQueueSend(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue,
+ *                            TickType_t xTicksToWait
+ *                       );
+ * 
+ * + * This is a macro that calls xQueueGenericSend(). It is included for + * backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToFront() and xQueueSendToBack() macros. It is + * equivalent to xQueueSendToBack(). + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_PERIOD_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) \ + xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) + +/** + * queue. h + *
+ * BaseType_t xQueueOverwrite(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue
+ *                       );
+ * 
+ * + * Only for use with queues that have a length of one - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * This function must not be called from an interrupt service routine. + * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle of the queue to which the data is being sent. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and + * therefore has the same return values as xQueueSendToFront(). However, pdPASS + * is the only value that can be returned because xQueueOverwrite() will write + * to the queue even when the queue is already full. + * + * Example usage: + *
+ *
+ * void vFunction( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue;
+ * uint32_t ulVarToSend, ulValReceived;
+ *
+ *  // Create a queue to hold one uint32_t value.  It is strongly
+ *  // recommended *not* to use xQueueOverwrite() on queues that can
+ *  // contain more than one value, and doing so will trigger an assertion
+ *  // if configASSERT() is defined.
+ *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+ *
+ *  // Write the value 10 to the queue using xQueueOverwrite().
+ *  ulVarToSend = 10;
+ *  xQueueOverwrite( xQueue, &ulVarToSend );
+ *
+ *  // Peeking the queue should now return 10, but leave the value 10 in
+ *  // the queue.  A block time of zero is used as it is known that the
+ *  // queue holds a value.
+ *  ulValReceived = 0;
+ *  xQueuePeek( xQueue, &ulValReceived, 0 );
+ *
+ *  if( ulValReceived != 10 )
+ *  {
+ *      // Error unless the item was removed by a different task.
+ *  }
+ *
+ *  // The queue is still full.  Use xQueueOverwrite() to overwrite the
+ *  // value held in the queue with 100.
+ *  ulVarToSend = 100;
+ *  xQueueOverwrite( xQueue, &ulVarToSend );
+ *
+ *  // This time read from the queue, leaving the queue empty once more.
+ *  // A block time of 0 is used again.
+ *  xQueueReceive( xQueue, &ulValReceived, 0 );
+ *
+ *  // The value read should be the last value written, even though the
+ *  // queue was already full when the value was written.
+ *  if( ulValReceived != 100 )
+ *  {
+ *      // Error!
+ *  }
+ *
+ *  // ...
+ * }
+ * 
+ * \defgroup xQueueOverwrite xQueueOverwrite + * \ingroup QueueManagement + */ +#define xQueueOverwrite( xQueue, pvItemToQueue ) \ + xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE ) + + +/** + * queue. h + *
+ * BaseType_t xQueueGenericSend(
+ *                                  QueueHandle_t xQueue,
+ *                                  const void * pvItemToQueue,
+ *                                  TickType_t xTicksToWait
+ *                                  BaseType_t xCopyPosition
+ *                              );
+ * 
+ * + * It is preferred that the macros xQueueSend(), xQueueSendToFront() and + * xQueueSendToBack() are used in place of calling this function directly. + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_PERIOD_MS should be used to convert to real time if this is required. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10, queueSEND_TO_BACK ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0, queueSEND_TO_BACK );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +BaseType_t xQueueGenericSend( QueueHandle_t xQueue, + const void * const pvItemToQueue, + TickType_t xTicksToWait, + const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * BaseType_t xQueuePeek(
+ *                           QueueHandle_t xQueue,
+ *                           void * const pvBuffer,
+ *                           TickType_t xTicksToWait
+ *                       );
+ * 
+ * + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * This macro must not be used in an interrupt service routine. See + * xQueuePeekFromISR() for an alternative that can be called from an interrupt + * service routine. + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_PERIOD_MS should be used to convert to real time if this is required. + * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue + * is empty. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Task to create a queue and post a value.
+ * void vATask( void *pvParameters )
+ * {
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue == 0 )
+ *  {
+ *      // Failed to create the queue.
+ *  }
+ *
+ *  // ...
+ *
+ *  // Send a pointer to a struct AMessage object.  Don't block if the
+ *  // queue is already full.
+ *  pxMessage = & xMessage;
+ *  xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *
+ *  // ... Rest of task code.
+ * }
+ *
+ * // Task to peek the data from the queue.
+ * void vADifferentTask( void *pvParameters )
+ * {
+ * struct AMessage *pxRxedMessage;
+ *
+ *  if( xQueue != 0 )
+ *  {
+ *      // Peek a message on the created queue.  Block for 10 ticks if a
+ *      // message is not immediately available.
+ *      if( xQueuePeek( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
+ *      {
+ *          // pcRxedMessage now points to the struct AMessage variable posted
+ *          // by vATask, but the item still remains on the queue.
+ *      }
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueuePeek xQueuePeek + * \ingroup QueueManagement + */ +BaseType_t xQueuePeek( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * BaseType_t xQueuePeekFromISR(
+ *                                  QueueHandle_t xQueue,
+ *                                  void *pvBuffer,
+ *                              );
+ * 
+ * + * A version of xQueuePeek() that can be called from an interrupt service + * routine (ISR). + * + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * \defgroup xQueuePeekFromISR xQueuePeekFromISR + * \ingroup QueueManagement + */ +BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, + void * const pvBuffer ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * BaseType_t xQueueReceive(
+ *                               QueueHandle_t xQueue,
+ *                               void *pvBuffer,
+ *                               TickType_t xTicksToWait
+ *                          );
+ * 
+ * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * Successfully received items are removed from the queue. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. xQueueReceive() will return immediately if xTicksToWait + * is zero and the queue is empty. The time is defined in tick periods so the + * constant portTICK_PERIOD_MS should be used to convert to real time if this is + * required. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + *
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Task to create a queue and post a value.
+ * void vATask( void *pvParameters )
+ * {
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue == 0 )
+ *  {
+ *      // Failed to create the queue.
+ *  }
+ *
+ *  // ...
+ *
+ *  // Send a pointer to a struct AMessage object.  Don't block if the
+ *  // queue is already full.
+ *  pxMessage = & xMessage;
+ *  xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *
+ *  // ... Rest of task code.
+ * }
+ *
+ * // Task to receive from the queue.
+ * void vADifferentTask( void *pvParameters )
+ * {
+ * struct AMessage *pxRxedMessage;
+ *
+ *  if( xQueue != 0 )
+ *  {
+ *      // Receive a message on the created queue.  Block for 10 ticks if a
+ *      // message is not immediately available.
+ *      if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
+ *      {
+ *          // pcRxedMessage now points to the struct AMessage variable posted
+ *          // by vATask.
+ *      }
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * 
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +BaseType_t xQueueReceive( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
+ * 
+ * + * Return the number of messages stored in a queue. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of messages available in the queue. + * + * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
+ * 
+ * + * Return the number of free spaces available in a queue. This is equal to the + * number of items that can be sent to the queue before the queue becomes full + * if no items are removed. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of spaces available in the queue. + * + * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * void vQueueDelete( QueueHandle_t xQueue );
+ * 
+ * + * Delete a queue - freeing all the memory allocated for storing of items + * placed on the queue. + * + * @param xQueue A handle to the queue to be deleted. + * + * \defgroup vQueueDelete vQueueDelete + * \ingroup QueueManagement + */ +void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * BaseType_t xQueueSendToFrontFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ * 
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the front of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + *
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPrioritTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post the byte.
+ *      xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
+ * 
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ + xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT ) + + +/** + * queue. h + *
+ * BaseType_t xQueueSendToBackFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ * 
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the back of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + *
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post the byte.
+ *      xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
+ * 
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ + xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) + +/** + * queue. h + *
+ * BaseType_t xQueueOverwriteFromISR(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue,
+ *                            BaseType_t *pxHigherPriorityTaskWoken
+ *                       );
+ * 
+ * + * A version of xQueueOverwrite() that can be used in an interrupt service + * routine (ISR). + * + * Only for use with queues that can hold a single item - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return xQueueOverwriteFromISR() is a macro that calls + * xQueueGenericSendFromISR(), and therefore has the same return values as + * xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be + * returned because xQueueOverwriteFromISR() will write to the queue even when + * the queue is already full. + * + * Example usage: + *
+ *
+ * QueueHandle_t xQueue;
+ *
+ * void vFunction( void *pvParameters )
+ * {
+ *  // Create a queue to hold one uint32_t value.  It is strongly
+ *  // recommended *not* to use xQueueOverwriteFromISR() on queues that can
+ *  // contain more than one value, and doing so will trigger an assertion
+ *  // if configASSERT() is defined.
+ *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+ * }
+ *
+ * void vAnInterruptHandler( void )
+ * {
+ * // xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+ * uint32_t ulVarToSend, ulValReceived;
+ *
+ *  // Write the value 10 to the queue using xQueueOverwriteFromISR().
+ *  ulVarToSend = 10;
+ *  xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+ *
+ *  // The queue is full, but calling xQueueOverwriteFromISR() again will still
+ *  // pass because the value held in the queue will be overwritten with the
+ *  // new value.
+ *  ulVarToSend = 100;
+ *  xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+ *
+ *  // Reading from the queue will now return 100.
+ *
+ *  // ...
+ *
+ *  if( xHigherPrioritytaskWoken == pdTRUE )
+ *  {
+ *      // Writing to the queue caused a task to unblock and the unblocked task
+ *      // has a priority higher than or equal to the priority of the currently
+ *      // executing task (the task this interrupt interrupted).  Perform a context
+ *      // switch so this interrupt returns directly to the unblocked task.
+ *      portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
+ *  }
+ * }
+ * 
+ * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR + * \ingroup QueueManagement + */ +#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ + xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE ) + +/** + * queue. h + *
+ * BaseType_t xQueueSendFromISR(
+ *                                   QueueHandle_t xQueue,
+ *                                   const void *pvItemToQueue,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken
+ *                              );
+ * 
+ * + * This is a macro that calls xQueueGenericSendFromISR(). It is included + * for backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() + * macros. + * + * Post an item to the back of a queue. It is safe to use this function from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + *
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post the byte.
+ *      xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      // Actual macro used here is port specific.
+ *      portYIELD_FROM_ISR ();
+ *  }
+ * }
+ * 
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ + xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) + +/** + * queue. h + *
+ * BaseType_t xQueueGenericSendFromISR(
+ *                                         QueueHandle_t    xQueue,
+ *                                         const    void    *pvItemToQueue,
+ *                                         BaseType_t  *pxHigherPriorityTaskWoken,
+ *                                         BaseType_t  xCopyPosition
+ *                                     );
+ * 
+ * + * It is preferred that the macros xQueueSendFromISR(), + * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place + * of calling this function directly. xQueueGiveFromISR() is an + * equivalent for use by semaphores that don't actually copy any data. + * + * Post an item on a queue. It is safe to use this function from within an + * interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + *
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWokenByPost;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWokenByPost = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post each byte.
+ *      xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.  Note that the
+ *  // name of the yield function required is port specific.
+ *  if( xHigherPriorityTaskWokenByPost )
+ *  {
+ *      portYIELD_FROM_ISR();
+ *  }
+ * }
+ * 
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, + const void * const pvItemToQueue, + BaseType_t * const pxHigherPriorityTaskWoken, + const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, + BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/** + * queue. h + *
+ * BaseType_t xQueueReceiveFromISR(
+ *                                     QueueHandle_t    xQueue,
+ *                                     void             *pvBuffer,
+ *                                     BaseType_t       *pxTaskWoken
+ *                                 );
+ * 
+ * + * Receive an item from a queue. It is safe to use this function from within an + * interrupt service routine. + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param pxTaskWoken A task may be blocked waiting for space to become + * available on the queue. If xQueueReceiveFromISR causes such a task to + * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will + * remain unchanged. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + *
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Function to create a queue and post some values.
+ * void vAFunction( void *pvParameters )
+ * {
+ * char cValueToPost;
+ * const TickType_t xTicksToWait = ( TickType_t )0xff;
+ *
+ *  // Create a queue capable of containing 10 characters.
+ *  xQueue = xQueueCreate( 10, sizeof( char ) );
+ *  if( xQueue == 0 )
+ *  {
+ *      // Failed to create the queue.
+ *  }
+ *
+ *  // ...
+ *
+ *  // Post some characters that will be used within an ISR.  If the queue
+ *  // is full then this task will block for xTicksToWait ticks.
+ *  cValueToPost = 'a';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *  cValueToPost = 'b';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *
+ *  // ... keep posting characters ... this task may block when the queue
+ *  // becomes full.
+ *
+ *  cValueToPost = 'c';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ * }
+ *
+ * // ISR that outputs all the characters received on the queue.
+ * void vISR_Routine( void )
+ * {
+ * BaseType_t xTaskWokenByReceive = pdFALSE;
+ * char cRxedChar;
+ *
+ *  while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
+ *  {
+ *      // A character was received.  Output the character now.
+ *      vOutputCharacter( cRxedChar );
+ *
+ *      // If removing the character from the queue woke the task that was
+ *      // posting onto the queue cTaskWokenByReceive will have been set to
+ *      // pdTRUE.  No matter how many times this loop iterates only one
+ *      // task will be woken.
+ *  }
+ *
+ *  if( cTaskWokenByPost != ( char ) pdFALSE;
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
+ * 
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR + * \ingroup QueueManagement + */ +BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, + void * const pvBuffer, + BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/* + * Utilities to query queues that are safe to use from an ISR. These utilities + * should be used only from witin an ISR, or within a critical section. + */ +BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/* + * The functions defined above are for passing data to and from tasks. The + * functions below are the equivalents for passing data to and from + * co-routines. + * + * These functions are called from the co-routine macro implementation and + * should not be called directly from application code. Instead use the macro + * wrappers defined within croutine.h. + */ +BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, + const void * pvItemToQueue, + BaseType_t xCoRoutinePreviouslyWoken ); +BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, + void * pvBuffer, + BaseType_t * pxTaskWoken ); +BaseType_t xQueueCRSend( QueueHandle_t xQueue, + const void * pvItemToQueue, + TickType_t xTicksToWait ); +BaseType_t xQueueCRReceive( QueueHandle_t xQueue, + void * pvBuffer, + TickType_t xTicksToWait ); + +/* + * For internal use only. Use xSemaphoreCreateMutex(), + * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling + * these functions directly. + */ +QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; +QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, + StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION; +QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION; +QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount, + StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION; +BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; +TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; + +/* + * For internal use only. Use xSemaphoreTakeMutexRecursive() or + * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. + */ +BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION; + +/* + * Reset a queue back to its original empty state. The return value is now + * obsolete and is always set to pdPASS. + */ +#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE ) + +/* + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger. If you are not using a kernel + * aware debugger then this function can be ignored. + * + * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the + * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0 + * within FreeRTOSConfig.h for the registry to be available. Its value + * does not effect the number of queues, semaphores and mutexes that can be + * created - just the number that the registry can hold. + * + * @param xQueue The handle of the queue being added to the registry. This + * is the handle returned by a call to xQueueCreate(). Semaphore and mutex + * handles can also be passed in here. + * + * @param pcName The name to be associated with the handle. This is the + * name that the kernel aware debugger will display. The queue registry only + * stores a pointer to the string - so the string must be persistent (global or + * preferably in ROM/Flash), not on the stack. + */ +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + void vQueueAddToRegistry( QueueHandle_t xQueue, + const char * pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +#endif + +/* + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to + * remove the queue, semaphore or mutex from the register. If you are not using + * a kernel aware debugger then this function can be ignored. + * + * @param xQueue The handle of the queue being removed from the registry. + */ +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +#endif + +/* + * The queue registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call pcQueueGetName() to look + * up and return the name of a queue in the queue registry from the queue's + * handle. + * + * @param xQueue The handle of the queue the name of which will be returned. + * @return If the queue is in the registry then a pointer to the name of the + * queue is returned. If the queue is not in the registry then NULL is + * returned. + */ +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + const char * pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +#endif + +/* + * Generic version of the function used to create a queue using dynamic memory + * allocation. This is called by other functions and macros that create other + * RTOS objects that use the queue structure as their base. + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; +#endif + +/* + * Generic version of the function used to create a queue using dynamic memory + * allocation. This is called by other functions and macros that create other + * RTOS objects that use the queue structure as their base. + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + uint8_t * pucQueueStorage, + StaticQueue_t * pxStaticQueue, + const uint8_t ucQueueType ) PRIVILEGED_FUNCTION; +#endif + +/* + * Queue sets provide a mechanism to allow a task to block (pend) on a read + * operation from multiple queues or semaphores simultaneously. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * A queue set must be explicitly created using a call to xQueueCreateSet() + * before it can be used. Once created, standard FreeRTOS queues and semaphores + * can be added to the set using calls to xQueueAddToSet(). + * xQueueSelectFromSet() is then used to determine which, if any, of the queues + * or semaphores contained in the set is in a state where a queue read or + * semaphore take operation would be successful. + * + * Note 1: See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html + * for reasons why queue sets are very rarely needed in practice as there are + * simpler methods of blocking on multiple objects. + * + * Note 2: Blocking on a queue set that contains a mutex will not cause the + * mutex holder to inherit the priority of the blocked task. + * + * Note 3: An additional 4 bytes of RAM is required for each space in a every + * queue added to a queue set. Therefore counting semaphores that have a high + * maximum count value should not be added to a queue set. + * + * Note 4: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param uxEventQueueLength Queue sets store events that occur on + * the queues and semaphores contained in the set. uxEventQueueLength specifies + * the maximum number of events that can be queued at once. To be absolutely + * certain that events are not lost uxEventQueueLength should be set to the + * total sum of the length of the queues added to the set, where binary + * semaphores and mutexes have a length of 1, and counting semaphores have a + * length set by their maximum count value. Examples: + * + If a queue set is to hold a queue of length 5, another queue of length 12, + * and a binary semaphore, then uxEventQueueLength should be set to + * (5 + 12 + 1), or 18. + * + If a queue set is to hold three binary semaphores then uxEventQueueLength + * should be set to (1 + 1 + 1 ), or 3. + * + If a queue set is to hold a counting semaphore that has a maximum count of + * 5, and a counting semaphore that has a maximum count of 3, then + * uxEventQueueLength should be set to (5 + 3), or 8. + * + * @return If the queue set is created successfully then a handle to the created + * queue set is returned. Otherwise NULL is returned. + */ +QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION; + +/* + * Adds a queue or semaphore to a queue set that was previously created by a + * call to xQueueCreateSet(). + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * Note 1: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param xQueueOrSemaphore The handle of the queue or semaphore being added to + * the queue set (cast to an QueueSetMemberHandle_t type). + * + * @param xQueueSet The handle of the queue set to which the queue or semaphore + * is being added. + * + * @return If the queue or semaphore was successfully added to the queue set + * then pdPASS is returned. If the queue could not be successfully added to the + * queue set because it is already a member of a different queue set then pdFAIL + * is returned. + */ +BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; + +/* + * Removes a queue or semaphore from a queue set. A queue or semaphore can only + * be removed from a set if the queue or semaphore is empty. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * @param xQueueOrSemaphore The handle of the queue or semaphore being removed + * from the queue set (cast to an QueueSetMemberHandle_t type). + * + * @param xQueueSet The handle of the queue set in which the queue or semaphore + * is included. + * + * @return If the queue or semaphore was successfully removed from the queue set + * then pdPASS is returned. If the queue was not in the queue set, or the + * queue (or semaphore) was not empty, then pdFAIL is returned. + */ +BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; + +/* + * xQueueSelectFromSet() selects from the members of a queue set a queue or + * semaphore that either contains data (in the case of a queue) or is available + * to take (in the case of a semaphore). xQueueSelectFromSet() effectively + * allows a task to block (pend) on a read operation on all the queues and + * semaphores in a queue set simultaneously. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * Note 1: See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html + * for reasons why queue sets are very rarely needed in practice as there are + * simpler methods of blocking on multiple objects. + * + * Note 2: Blocking on a queue set that contains a mutex will not cause the + * mutex holder to inherit the priority of the blocked task. + * + * Note 3: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param xQueueSet The queue set on which the task will (potentially) block. + * + * @param xTicksToWait The maximum time, in ticks, that the calling task will + * remain in the Blocked state (with other tasks executing) to wait for a member + * of the queue set to be ready for a successful queue read or semaphore take + * operation. + * + * @return xQueueSelectFromSet() will return the handle of a queue (cast to + * a QueueSetMemberHandle_t type) contained in the queue set that contains data, + * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained + * in the queue set that is available, or NULL if no such queue or semaphore + * exists before before the specified block time expires. + */ +QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, + const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * A version of xQueueSelectFromSet() that can be used from an ISR. + */ +QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; + +/* Not public API functions. */ +void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, + TickType_t xTicksToWait, + const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGenericReset( QueueHandle_t xQueue, + BaseType_t xNewQueue ) PRIVILEGED_FUNCTION; +void vQueueSetQueueNumber( QueueHandle_t xQueue, + UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION; +UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* QUEUE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/semphr.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/semphr.h new file mode 100644 index 0000000..525a8ec --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/semphr.h @@ -0,0 +1,1173 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef SEMAPHORE_H +#define SEMAPHORE_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h" must appear in source files before "include semphr.h" +#endif + +#include "queue.h" + +typedef QueueHandle_t SemaphoreHandle_t; + +#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( uint8_t ) 1U ) +#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( uint8_t ) 0U ) +#define semGIVE_BLOCK_TIME ( ( TickType_t ) 0U ) + + +/** + * semphr. h + *
+ * vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore );
+ * 
+ * + * In many usage scenarios it is faster and more memory efficient to use a + * direct to task notification in place of a binary semaphore! + * https://www.FreeRTOS.org/RTOS-task-notifications.html + * + * This old vSemaphoreCreateBinary() macro is now deprecated in favour of the + * xSemaphoreCreateBinary() function. Note that binary semaphores created using + * the vSemaphoreCreateBinary() macro are created in a state such that the + * first call to 'take' the semaphore would pass, whereas binary semaphores + * created using xSemaphoreCreateBinary() are created in a state such that the + * the semaphore must first be 'given' before it can be 'taken'. + * + * Macro that implements a semaphore by using the existing queue mechanism. + * The queue length is 1 as this is a binary semaphore. The data size is 0 + * as we don't want to actually store any data - we just want to know if the + * queue is empty or full. + * + * This type of semaphore can be used for pure synchronisation between tasks or + * between an interrupt and a task. The semaphore need not be given back once + * obtained, so one task/interrupt can continuously 'give' the semaphore while + * another continuously 'takes' the semaphore. For this reason this type of + * semaphore does not use a priority inheritance mechanism. For an alternative + * that does use priority inheritance see xSemaphoreCreateMutex(). + * + * @param xSemaphore Handle to the created semaphore. Should be of type SemaphoreHandle_t. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+ *  // This is a macro so pass the variable in directly.
+ *  vSemaphoreCreateBinary( xSemaphore );
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * 
+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary + * \ingroup Semaphores + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define vSemaphoreCreateBinary( xSemaphore ) \ + { \ + ( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \ + if( ( xSemaphore ) != NULL ) \ + { \ + ( void ) xSemaphoreGive( ( xSemaphore ) ); \ + } \ + } +#endif + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateBinary( void );
+ * 
+ * + * Creates a new binary semaphore instance, and returns a handle by which the + * new semaphore can be referenced. + * + * In many usage scenarios it is faster and more memory efficient to use a + * direct to task notification in place of a binary semaphore! + * https://www.FreeRTOS.org/RTOS-task-notifications.html + * + * Internally, within the FreeRTOS implementation, binary semaphores use a block + * of memory, in which the semaphore structure is stored. If a binary semaphore + * is created using xSemaphoreCreateBinary() then the required memory is + * automatically dynamically allocated inside the xSemaphoreCreateBinary() + * function. (see https://www.FreeRTOS.org/a00111.html). If a binary semaphore + * is created using xSemaphoreCreateBinaryStatic() then the application writer + * must provide the memory. xSemaphoreCreateBinaryStatic() therefore allows a + * binary semaphore to be created without using any dynamic memory allocation. + * + * The old vSemaphoreCreateBinary() macro is now deprecated in favour of this + * xSemaphoreCreateBinary() function. Note that binary semaphores created using + * the vSemaphoreCreateBinary() macro are created in a state such that the + * first call to 'take' the semaphore would pass, whereas binary semaphores + * created using xSemaphoreCreateBinary() are created in a state such that the + * the semaphore must first be 'given' before it can be 'taken'. + * + * This type of semaphore can be used for pure synchronisation between tasks or + * between an interrupt and a task. The semaphore need not be given back once + * obtained, so one task/interrupt can continuously 'give' the semaphore while + * another continuously 'takes' the semaphore. For this reason this type of + * semaphore does not use a priority inheritance mechanism. For an alternative + * that does use priority inheritance see xSemaphoreCreateMutex(). + * + * @return Handle to the created semaphore, or NULL if the memory required to + * hold the semaphore's data structures could not be allocated. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateBinary();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreCreateBinary xSemaphoreCreateBinary + * \ingroup Semaphores + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ) +#endif + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer );
+ * 
+ * + * Creates a new binary semaphore instance, and returns a handle by which the + * new semaphore can be referenced. + * + * NOTE: In many usage scenarios it is faster and more memory efficient to use a + * direct to task notification in place of a binary semaphore! + * https://www.FreeRTOS.org/RTOS-task-notifications.html + * + * Internally, within the FreeRTOS implementation, binary semaphores use a block + * of memory, in which the semaphore structure is stored. If a binary semaphore + * is created using xSemaphoreCreateBinary() then the required memory is + * automatically dynamically allocated inside the xSemaphoreCreateBinary() + * function. (see https://www.FreeRTOS.org/a00111.html). If a binary semaphore + * is created using xSemaphoreCreateBinaryStatic() then the application writer + * must provide the memory. xSemaphoreCreateBinaryStatic() therefore allows a + * binary semaphore to be created without using any dynamic memory allocation. + * + * This type of semaphore can be used for pure synchronisation between tasks or + * between an interrupt and a task. The semaphore need not be given back once + * obtained, so one task/interrupt can continuously 'give' the semaphore while + * another continuously 'takes' the semaphore. For this reason this type of + * semaphore does not use a priority inheritance mechanism. For an alternative + * that does use priority inheritance see xSemaphoreCreateMutex(). + * + * @param pxSemaphoreBuffer Must point to a variable of type StaticSemaphore_t, + * which will then be used to hold the semaphore's data structure, removing the + * need for the memory to be allocated dynamically. + * + * @return If the semaphore is created then a handle to the created semaphore is + * returned. If pxSemaphoreBuffer is NULL then NULL is returned. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore = NULL;
+ * StaticSemaphore_t xSemaphoreBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
+ *  // The semaphore's data structures will be placed in the xSemaphoreBuffer
+ *  // variable, the address of which is passed into the function.  The
+ *  // function's parameter is not NULL, so the function will not attempt any
+ *  // dynamic memory allocation, and therefore the function will not return
+ *  // return NULL.
+ *  xSemaphore = xSemaphoreCreateBinary( &xSemaphoreBuffer );
+ *
+ *  // Rest of task code goes here.
+ * }
+ * 
+ * \defgroup xSemaphoreCreateBinaryStatic xSemaphoreCreateBinaryStatic + * \ingroup Semaphores + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + #define xSemaphoreCreateBinaryStatic( pxStaticSemaphore ) xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticSemaphore, queueQUEUE_TYPE_BINARY_SEMAPHORE ) +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * semphr. h + *
+ * xSemaphoreTake(
+ *                   SemaphoreHandle_t xSemaphore,
+ *                   TickType_t xBlockTime
+ *               );
+ * 
+ * + * Macro to obtain a semaphore. The semaphore must have previously been + * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting(). + * + * @param xSemaphore A handle to the semaphore being taken - obtained when + * the semaphore was created. + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_PERIOD_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. A block + * time of portMAX_DELAY can be used to block indefinitely (provided + * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h). + * + * @return pdTRUE if the semaphore was obtained. pdFALSE + * if xBlockTime expired without the semaphore becoming available. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * // A task that creates a semaphore.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the semaphore to guard a shared resource.
+ *  xSemaphore = xSemaphoreCreateBinary();
+ * }
+ *
+ * // A task that uses the semaphore.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // See if we can obtain the semaphore.  If the semaphore is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the semaphore and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *
+ *          // We have finished accessing the shared resource.  Release the
+ *          // semaphore.
+ *          xSemaphoreGive( xSemaphore );
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the semaphore and can therefore not access
+ *          // the shared resource safely.
+ *      }
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreTake xSemaphoreTake + * \ingroup Semaphores + */ +#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) ) + +/** + * semphr. h + *
+ * xSemaphoreTakeRecursive(
+ *                          SemaphoreHandle_t xMutex,
+ *                          TickType_t xBlockTime
+ *                        );
+ * 
+ * + * Macro to recursively obtain, or 'take', a mutex type semaphore. + * The mutex must have previously been created using a call to + * xSemaphoreCreateRecursiveMutex(); + * + * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this + * macro to be available. + * + * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * @param xMutex A handle to the mutex being obtained. This is the + * handle returned by xSemaphoreCreateRecursiveMutex(); + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_PERIOD_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. If + * the task already owns the semaphore then xSemaphoreTakeRecursive() will + * return immediately no matter what the value of xBlockTime. + * + * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime + * expired without the semaphore becoming available. + * + * Example usage: + *
+ * SemaphoreHandle_t xMutex = NULL;
+ *
+ * // A task that creates a mutex.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the mutex to guard a shared resource.
+ *  xMutex = xSemaphoreCreateRecursiveMutex();
+ * }
+ *
+ * // A task that uses the mutex.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xMutex != NULL )
+ *  {
+ *      // See if we can obtain the mutex.  If the mutex is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the mutex and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *          // For some reason due to the nature of the code further calls to
+ *          // xSemaphoreTakeRecursive() are made on the same mutex.  In real
+ *          // code these would not be just sequential calls as this would make
+ *          // no sense.  Instead the calls are likely to be buried inside
+ *          // a more complex call structure.
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *
+ *          // The mutex has now been 'taken' three times, so will not be
+ *          // available to another task until it has also been given back
+ *          // three times.  Again it is unlikely that real code would have
+ *          // these calls sequentially, but instead buried in a more complex
+ *          // call structure.  This is just for illustrative purposes.
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *
+ *          // Now the mutex can be taken by other tasks.
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the mutex and can therefore not access
+ *          // the shared resource safely.
+ *      }
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive + * \ingroup Semaphores + */ +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + #define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) ) +#endif + +/** + * semphr. h + *
+ * xSemaphoreGive( SemaphoreHandle_t xSemaphore );
+ * 
+ * + * Macro to release a semaphore. The semaphore must have previously been + * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake(). + * + * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for + * an alternative which can be used from an ISR. + * + * This macro must also not be used on semaphores created using + * xSemaphoreCreateRecursiveMutex(). + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned when the semaphore was created. + * + * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred. + * Semaphores are implemented using queues. An error can occur if there is + * no space on the queue to post a message - indicating that the + * semaphore was not first obtained correctly. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the semaphore to guard a shared resource.
+ *  xSemaphore = vSemaphoreCreateBinary();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+ *      {
+ *          // We would expect this call to fail because we cannot give
+ *          // a semaphore without first "taking" it!
+ *      }
+ *
+ *      // Obtain the semaphore - don't block if the semaphore is not
+ *      // immediately available.
+ *      if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
+ *      {
+ *          // We now have the semaphore and can access the shared resource.
+ *
+ *          // ...
+ *
+ *          // We have finished accessing the shared resource so can free the
+ *          // semaphore.
+ *          if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+ *          {
+ *              // We would not expect this call to fail because we must have
+ *              // obtained the semaphore to get here.
+ *          }
+ *      }
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreGive xSemaphoreGive + * \ingroup Semaphores + */ +#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) + +/** + * semphr. h + *
+ * xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex );
+ * 
+ * + * Macro to recursively release, or 'give', a mutex type semaphore. + * The mutex must have previously been created using a call to + * xSemaphoreCreateRecursiveMutex(); + * + * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this + * macro to be available. + * + * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * @param xMutex A handle to the mutex being released, or 'given'. This is the + * handle returned by xSemaphoreCreateMutex(); + * + * @return pdTRUE if the semaphore was given. + * + * Example usage: + *
+ * SemaphoreHandle_t xMutex = NULL;
+ *
+ * // A task that creates a mutex.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the mutex to guard a shared resource.
+ *  xMutex = xSemaphoreCreateRecursiveMutex();
+ * }
+ *
+ * // A task that uses the mutex.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xMutex != NULL )
+ *  {
+ *      // See if we can obtain the mutex.  If the mutex is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the mutex and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *          // For some reason due to the nature of the code further calls to
+ *          // xSemaphoreTakeRecursive() are made on the same mutex.  In real
+ *          // code these would not be just sequential calls as this would make
+ *          // no sense.  Instead the calls are likely to be buried inside
+ *          // a more complex call structure.
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *
+ *          // The mutex has now been 'taken' three times, so will not be
+ *          // available to another task until it has also been given back
+ *          // three times.  Again it is unlikely that real code would have
+ *          // these calls sequentially, it would be more likely that the calls
+ *          // to xSemaphoreGiveRecursive() would be called as a call stack
+ *          // unwound.  This is just for demonstrative purposes.
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *
+ *          // Now the mutex can be taken by other tasks.
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the mutex and can therefore not access
+ *          // the shared resource safely.
+ *      }
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive + * \ingroup Semaphores + */ +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + #define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) ) +#endif + +/** + * semphr. h + *
+ * xSemaphoreGiveFromISR(
+ *                        SemaphoreHandle_t xSemaphore,
+ *                        BaseType_t *pxHigherPriorityTaskWoken
+ *                    );
+ * 
+ * + * Macro to release a semaphore. The semaphore must have previously been + * created with a call to xSemaphoreCreateBinary() or xSemaphoreCreateCounting(). + * + * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex()) + * must not be used with this macro. + * + * This macro can be used from an ISR. + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned when the semaphore was created. + * + * @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL. + * + * Example usage: + *
+ \#define LONG_TIME 0xffff
+ \#define TICKS_TO_WAIT 10
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * // Repetitive task.
+ * void vATask( void * pvParameters )
+ * {
+ *  for( ;; )
+ *  {
+ *      // We want this task to run every 10 ticks of a timer.  The semaphore
+ *      // was created before this task was started.
+ *
+ *      // Block waiting for the semaphore to become available.
+ *      if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
+ *      {
+ *          // It is time to execute.
+ *
+ *          // ...
+ *
+ *          // We have finished our task.  Return to the top of the loop where
+ *          // we will block on the semaphore until it is time to execute
+ *          // again.  Note when using the semaphore for synchronisation with an
+ *          // ISR in this manner there is no need to 'give' the semaphore back.
+ *      }
+ *  }
+ * }
+ *
+ * // Timer ISR
+ * void vTimerISR( void * pvParameters )
+ * {
+ * static uint8_t ucLocalTickCount = 0;
+ * static BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // A timer tick has occurred.
+ *
+ *  // ... Do other time functions.
+ *
+ *  // Is it time for vATask () to run?
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *  ucLocalTickCount++;
+ *  if( ucLocalTickCount >= TICKS_TO_WAIT )
+ *  {
+ *      // Unblock the task by releasing the semaphore.
+ *      xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
+ *
+ *      // Reset the count so we release the semaphore again in 10 ticks time.
+ *      ucLocalTickCount = 0;
+ *  }
+ *
+ *  if( xHigherPriorityTaskWoken != pdFALSE )
+ *  {
+ *      // We can force a context switch here.  Context switching from an
+ *      // ISR uses port specific syntax.  Check the demo task for your port
+ *      // to find the syntax required.
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR + * \ingroup Semaphores + */ +#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) ) + +/** + * semphr. h + *
+ * xSemaphoreTakeFromISR(
+ *                        SemaphoreHandle_t xSemaphore,
+ *                        BaseType_t *pxHigherPriorityTaskWoken
+ *                    );
+ * 
+ * + * Macro to take a semaphore from an ISR. The semaphore must have + * previously been created with a call to xSemaphoreCreateBinary() or + * xSemaphoreCreateCounting(). + * + * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex()) + * must not be used with this macro. + * + * This macro can be used from an ISR, however taking a semaphore from an ISR + * is not a common operation. It is likely to only be useful when taking a + * counting semaphore when an interrupt is obtaining an object from a resource + * pool (when the semaphore count indicates the number of resources available). + * + * @param xSemaphore A handle to the semaphore being taken. This is the + * handle returned when the semaphore was created. + * + * @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xSemaphoreTakeFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the semaphore was successfully taken, otherwise + * pdFALSE + */ +#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) ) + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateMutex( void );
+ * 
+ * + * Creates a new mutex type semaphore instance, and returns a handle by which + * the new mutex can be referenced. + * + * Internally, within the FreeRTOS implementation, mutex semaphores use a block + * of memory, in which the mutex structure is stored. If a mutex is created + * using xSemaphoreCreateMutex() then the required memory is automatically + * dynamically allocated inside the xSemaphoreCreateMutex() function. (see + * https://www.FreeRTOS.org/a00111.html). If a mutex is created using + * xSemaphoreCreateMutexStatic() then the application writer must provided the + * memory. xSemaphoreCreateMutexStatic() therefore allows a mutex to be created + * without using any dynamic memory allocation. + * + * Mutexes created using this function can be accessed using the xSemaphoreTake() + * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and + * xSemaphoreGiveRecursive() macros must not be used. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See xSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @return If the mutex was successfully created then a handle to the created + * semaphore is returned. If there was not enough heap to allocate the mutex + * data structures then NULL is returned. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateMutex();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex + * \ingroup Semaphores + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX ) +#endif + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer );
+ * 
+ * + * Creates a new mutex type semaphore instance, and returns a handle by which + * the new mutex can be referenced. + * + * Internally, within the FreeRTOS implementation, mutex semaphores use a block + * of memory, in which the mutex structure is stored. If a mutex is created + * using xSemaphoreCreateMutex() then the required memory is automatically + * dynamically allocated inside the xSemaphoreCreateMutex() function. (see + * https://www.FreeRTOS.org/a00111.html). If a mutex is created using + * xSemaphoreCreateMutexStatic() then the application writer must provided the + * memory. xSemaphoreCreateMutexStatic() therefore allows a mutex to be created + * without using any dynamic memory allocation. + * + * Mutexes created using this function can be accessed using the xSemaphoreTake() + * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and + * xSemaphoreGiveRecursive() macros must not be used. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See xSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @param pxMutexBuffer Must point to a variable of type StaticSemaphore_t, + * which will be used to hold the mutex's data structure, removing the need for + * the memory to be allocated dynamically. + * + * @return If the mutex was successfully created then a handle to the created + * mutex is returned. If pxMutexBuffer was NULL then NULL is returned. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xMutexBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // A mutex cannot be used before it has been created.  xMutexBuffer is
+ *  // into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
+ *  // attempted.
+ *  xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );
+ *
+ *  // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
+ *  // so there is no need to check it.
+ * }
+ * 
+ * \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic + * \ingroup Semaphores + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + #define xSemaphoreCreateMutexStatic( pxMutexBuffer ) xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) ) +#endif /* configSUPPORT_STATIC_ALLOCATION */ + + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void );
+ * 
+ * + * Creates a new recursive mutex type semaphore instance, and returns a handle + * by which the new recursive mutex can be referenced. + * + * Internally, within the FreeRTOS implementation, recursive mutexs use a block + * of memory, in which the mutex structure is stored. If a recursive mutex is + * created using xSemaphoreCreateRecursiveMutex() then the required memory is + * automatically dynamically allocated inside the + * xSemaphoreCreateRecursiveMutex() function. (see + * https://www.FreeRTOS.org/a00111.html). If a recursive mutex is created using + * xSemaphoreCreateRecursiveMutexStatic() then the application writer must + * provide the memory that will get used by the mutex. + * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to + * be created without using any dynamic memory allocation. + * + * Mutexes created using this macro can be accessed using the + * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The + * xSemaphoreTake() and xSemaphoreGive() macros must not be used. + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See xSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @return xSemaphore Handle to the created mutex semaphore. Should be of type + * SemaphoreHandle_t. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateRecursiveMutex();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreCreateRecursiveMutex xSemaphoreCreateRecursiveMutex + * \ingroup Semaphores + */ +#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) ) + #define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX ) +#endif + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic( StaticSemaphore_t *pxMutexBuffer );
+ * 
+ * + * Creates a new recursive mutex type semaphore instance, and returns a handle + * by which the new recursive mutex can be referenced. + * + * Internally, within the FreeRTOS implementation, recursive mutexs use a block + * of memory, in which the mutex structure is stored. If a recursive mutex is + * created using xSemaphoreCreateRecursiveMutex() then the required memory is + * automatically dynamically allocated inside the + * xSemaphoreCreateRecursiveMutex() function. (see + * https://www.FreeRTOS.org/a00111.html). If a recursive mutex is created using + * xSemaphoreCreateRecursiveMutexStatic() then the application writer must + * provide the memory that will get used by the mutex. + * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to + * be created without using any dynamic memory allocation. + * + * Mutexes created using this macro can be accessed using the + * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The + * xSemaphoreTake() and xSemaphoreGive() macros must not be used. + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See xSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @param pxMutexBuffer Must point to a variable of type StaticSemaphore_t, + * which will then be used to hold the recursive mutex's data structure, + * removing the need for the memory to be allocated dynamically. + * + * @return If the recursive mutex was successfully created then a handle to the + * created recursive mutex is returned. If pxMutexBuffer was NULL then NULL is + * returned. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xMutexBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // A recursive semaphore cannot be used before it is created.  Here a
+ *  // recursive mutex is created using xSemaphoreCreateRecursiveMutexStatic().
+ *  // The address of xMutexBuffer is passed into the function, and will hold
+ *  // the mutexes data structures - so no dynamic memory allocation will be
+ *  // attempted.
+ *  xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xMutexBuffer );
+ *
+ *  // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
+ *  // so there is no need to check it.
+ * }
+ * 
+ * \defgroup xSemaphoreCreateRecursiveMutexStatic xSemaphoreCreateRecursiveMutexStatic + * \ingroup Semaphores + */ +#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) ) + #define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore ) +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount );
+ * 
+ * + * Creates a new counting semaphore instance, and returns a handle by which the + * new counting semaphore can be referenced. + * + * In many usage scenarios it is faster and more memory efficient to use a + * direct to task notification in place of a counting semaphore! + * https://www.FreeRTOS.org/RTOS-task-notifications.html + * + * Internally, within the FreeRTOS implementation, counting semaphores use a + * block of memory, in which the counting semaphore structure is stored. If a + * counting semaphore is created using xSemaphoreCreateCounting() then the + * required memory is automatically dynamically allocated inside the + * xSemaphoreCreateCounting() function. (see + * https://www.FreeRTOS.org/a00111.html). If a counting semaphore is created + * using xSemaphoreCreateCountingStatic() then the application writer can + * instead optionally provide the memory that will get used by the counting + * semaphore. xSemaphoreCreateCountingStatic() therefore allows a counting + * semaphore to be created without using any dynamic memory allocation. + * + * Counting semaphores are typically used for two things: + * + * 1) Counting events. + * + * In this usage scenario an event handler will 'give' a semaphore each time + * an event occurs (incrementing the semaphore count value), and a handler + * task will 'take' a semaphore each time it processes an event + * (decrementing the semaphore count value). The count value is therefore + * the difference between the number of events that have occurred and the + * number that have been processed. In this case it is desirable for the + * initial count value to be zero. + * + * 2) Resource management. + * + * In this usage scenario the count value indicates the number of resources + * available. To obtain control of a resource a task must first obtain a + * semaphore - decrementing the semaphore count value. When the count value + * reaches zero there are no free resources. When a task finishes with the + * resource it 'gives' the semaphore back - incrementing the semaphore count + * value. In this case it is desirable for the initial count value to be + * equal to the maximum count value, indicating that all resources are free. + * + * @param uxMaxCount The maximum count value that can be reached. When the + * semaphore reaches this value it can no longer be 'given'. + * + * @param uxInitialCount The count value assigned to the semaphore when it is + * created. + * + * @return Handle to the created semaphore. Null if the semaphore could not be + * created. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
+ *  // The max value to which the semaphore can count should be 10, and the
+ *  // initial value assigned to the count should be 0.
+ *  xSemaphore = xSemaphoreCreateCounting( 10, 0 );
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * 
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting + * \ingroup Semaphores + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) ) +#endif + +/** + * semphr. h + *
+ * SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer );
+ * 
+ * + * Creates a new counting semaphore instance, and returns a handle by which the + * new counting semaphore can be referenced. + * + * In many usage scenarios it is faster and more memory efficient to use a + * direct to task notification in place of a counting semaphore! + * https://www.FreeRTOS.org/RTOS-task-notifications.html + * + * Internally, within the FreeRTOS implementation, counting semaphores use a + * block of memory, in which the counting semaphore structure is stored. If a + * counting semaphore is created using xSemaphoreCreateCounting() then the + * required memory is automatically dynamically allocated inside the + * xSemaphoreCreateCounting() function. (see + * https://www.FreeRTOS.org/a00111.html). If a counting semaphore is created + * using xSemaphoreCreateCountingStatic() then the application writer must + * provide the memory. xSemaphoreCreateCountingStatic() therefore allows a + * counting semaphore to be created without using any dynamic memory allocation. + * + * Counting semaphores are typically used for two things: + * + * 1) Counting events. + * + * In this usage scenario an event handler will 'give' a semaphore each time + * an event occurs (incrementing the semaphore count value), and a handler + * task will 'take' a semaphore each time it processes an event + * (decrementing the semaphore count value). The count value is therefore + * the difference between the number of events that have occurred and the + * number that have been processed. In this case it is desirable for the + * initial count value to be zero. + * + * 2) Resource management. + * + * In this usage scenario the count value indicates the number of resources + * available. To obtain control of a resource a task must first obtain a + * semaphore - decrementing the semaphore count value. When the count value + * reaches zero there are no free resources. When a task finishes with the + * resource it 'gives' the semaphore back - incrementing the semaphore count + * value. In this case it is desirable for the initial count value to be + * equal to the maximum count value, indicating that all resources are free. + * + * @param uxMaxCount The maximum count value that can be reached. When the + * semaphore reaches this value it can no longer be 'given'. + * + * @param uxInitialCount The count value assigned to the semaphore when it is + * created. + * + * @param pxSemaphoreBuffer Must point to a variable of type StaticSemaphore_t, + * which will then be used to hold the semaphore's data structure, removing the + * need for the memory to be allocated dynamically. + * + * @return If the counting semaphore was successfully created then a handle to + * the created counting semaphore is returned. If pxSemaphoreBuffer was NULL + * then NULL is returned. + * + * Example usage: + *
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xSemaphoreBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ *  // Counting semaphore cannot be used before they have been created.  Create
+ *  // a counting semaphore using xSemaphoreCreateCountingStatic().  The max
+ *  // value to which the semaphore can count is 10, and the initial value
+ *  // assigned to the count will be 0.  The address of xSemaphoreBuffer is
+ *  // passed in and will be used to hold the semaphore structure, so no dynamic
+ *  // memory allocation will be used.
+ *  xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );
+ *
+ *  // No memory allocation was attempted so xSemaphore cannot be NULL, so there
+ *  // is no need to check its value.
+ * }
+ * 
+ * \defgroup xSemaphoreCreateCountingStatic xSemaphoreCreateCountingStatic + * \ingroup Semaphores + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + #define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer ) xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) ) +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * semphr. h + *
+ * void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );
+ * 
+ * + * Delete a semaphore. This function must be used with care. For example, + * do not delete a mutex type semaphore if the mutex is held by a task. + * + * @param xSemaphore A handle to the semaphore to be deleted. + * + * \defgroup vSemaphoreDelete vSemaphoreDelete + * \ingroup Semaphores + */ +#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) ) + +/** + * semphr.h + *
+ * TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );
+ * 
+ * + * If xMutex is indeed a mutex type semaphore, return the current mutex holder. + * If xMutex is not a mutex type semaphore, or the mutex is available (not held + * by a task), return NULL. + * + * Note: This is a good way of determining if the calling task is the mutex + * holder, but not a good way of determining the identity of the mutex holder as + * the holder may change between the function exiting and the returned value + * being tested. + */ +#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) ) + +/** + * semphr.h + *
+ * TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );
+ * 
+ * + * If xMutex is indeed a mutex type semaphore, return the current mutex holder. + * If xMutex is not a mutex type semaphore, or the mutex is available (not held + * by a task), return NULL. + * + */ +#define xSemaphoreGetMutexHolderFromISR( xSemaphore ) xQueueGetMutexHolderFromISR( ( xSemaphore ) ) + +/** + * semphr.h + *
+ * UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );
+ * 
+ * + * If the semaphore is a counting semaphore then uxSemaphoreGetCount() returns + * its current count value. If the semaphore is a binary semaphore then + * uxSemaphoreGetCount() returns 1 if the semaphore is available, and 0 if the + * semaphore is not available. + * + */ +#define uxSemaphoreGetCount( xSemaphore ) uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) ) + +#endif /* SEMAPHORE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stack_macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stack_macros.h new file mode 100644 index 0000000..c8ef4bd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stack_macros.h @@ -0,0 +1,127 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef STACK_MACROS_H +#define STACK_MACROS_H + +/* + * Call the stack overflow hook function if the stack of the task being swapped + * out is currently overflowed, or looks like it might have overflowed in the + * past. + * + * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check + * the current stack state only - comparing the current top of stack value to + * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1 + * will also cause the last few stack bytes to be checked to ensure the value + * to which the bytes were set when the task was created have not been + * overwritten. Note this second test does not guarantee that an overflowed + * stack will always be recognised. + */ + +/*-----------------------------------------------------------*/ + +#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) ) + +/* Only the current stack state is to be checked. */ + #define taskCHECK_FOR_STACK_OVERFLOW() \ + { \ + /* Is the currently saved stack pointer within the stack limit? */ \ + if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ + { \ + vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ +/*-----------------------------------------------------------*/ + +#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) ) + +/* Only the current stack state is to be checked. */ + #define taskCHECK_FOR_STACK_OVERFLOW() \ + { \ + \ + /* Is the currently saved stack pointer within the stack limit? */ \ + if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \ + { \ + vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ +/*-----------------------------------------------------------*/ + +#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) + + #define taskCHECK_FOR_STACK_OVERFLOW() \ + { \ + const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \ + const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \ + \ + if( ( pulStack[ 0 ] != ulCheckValue ) || \ + ( pulStack[ 1 ] != ulCheckValue ) || \ + ( pulStack[ 2 ] != ulCheckValue ) || \ + ( pulStack[ 3 ] != ulCheckValue ) ) \ + { \ + vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) + + #define taskCHECK_FOR_STACK_OVERFLOW() \ + { \ + int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \ + static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ + tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ + tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ + tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ + tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \ + \ + \ + pcEndOfStack -= sizeof( ucExpectedStackBytes ); \ + \ + /* Has the extremity of the task stack ever been written over? */ \ + if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ + { \ + vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ +/*-----------------------------------------------------------*/ + +/* Remove stack overflow macro if not being used. */ +#ifndef taskCHECK_FOR_STACK_OVERFLOW + #define taskCHECK_FOR_STACK_OVERFLOW() +#endif + + + +#endif /* STACK_MACROS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stdint.readme b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stdint.readme new file mode 100644 index 0000000..b1bb60e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stdint.readme @@ -0,0 +1,52 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef FREERTOS_STDINT +#define FREERTOS_STDINT + +/******************************************************************************* + * THIS IS NOT A FULL stdint.h IMPLEMENTATION - It only contains the definitions + * necessary to build the FreeRTOS code. It is provided to allow FreeRTOS to be + * built using compilers that do not provide their own stdint.h definition. + * + * To use this file: + * + * 1) Copy this file into the directory that contains your FreeRTOSConfig.h + * header file, as that directory will already be in the compiler's include + * path. + * + * 2) Rename the copied file stdint.h. + * + */ + +typedef signed char int8_t; +typedef unsigned char uint8_t; +typedef short int16_t; +typedef unsigned short uint16_t; +typedef long int32_t; +typedef unsigned long uint32_t; + +#endif /* FREERTOS_STDINT */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stream_buffer.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stream_buffer.h new file mode 100644 index 0000000..89f6dfb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/stream_buffer.h @@ -0,0 +1,867 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * Stream buffers are used to send a continuous stream of data from one task or + * interrupt to another. Their implementation is light weight, making them + * particularly suited for interrupt to task and core to core communication + * scenarios. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xStreamBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xStreamBufferReceive()) inside a critical section section and set the + * receive block time to 0. + * + */ + +#ifndef STREAM_BUFFER_H +#define STREAM_BUFFER_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include stream_buffer.h" +#endif + +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + extern "C" { +#endif +/* *INDENT-ON* */ + +/** + * Type by which stream buffers are referenced. For example, a call to + * xStreamBufferCreate() returns an StreamBufferHandle_t variable that can + * then be used as a parameter to xStreamBufferSend(), xStreamBufferReceive(), + * etc. + */ +struct StreamBufferDef_t; +typedef struct StreamBufferDef_t * StreamBufferHandle_t; + + +/** + * message_buffer.h + * + *
+ * StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
+ * 
+ * + * Creates a new stream buffer using dynamically allocated memory. See + * xStreamBufferCreateStatic() for a version that uses statically allocated + * memory (memory that is allocated at compile time). + * + * configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in + * FreeRTOSConfig.h for xStreamBufferCreate() to be available. + * + * @param xBufferSizeBytes The total number of bytes the stream buffer will be + * able to hold at any one time. + * + * @param xTriggerLevelBytes The number of bytes that must be in the stream + * buffer before a task that is blocked on the stream buffer to wait for data is + * moved out of the blocked state. For example, if a task is blocked on a read + * of an empty stream buffer that has a trigger level of 1 then the task will be + * unblocked when a single byte is written to the buffer or the task's block + * time expires. As another example, if a task is blocked on a read of an empty + * stream buffer that has a trigger level of 10 then the task will not be + * unblocked until the stream buffer contains at least 10 bytes or the task's + * block time expires. If a reading task's block time expires before the + * trigger level is reached then the task will still receive however many bytes + * are actually available. Setting a trigger level of 0 will result in a + * trigger level of 1 being used. It is not valid to specify a trigger level + * that is greater than the buffer size. + * + * @return If NULL is returned, then the stream buffer cannot be created + * because there is insufficient heap memory available for FreeRTOS to allocate + * the stream buffer data structures and storage area. A non-NULL value being + * returned indicates that the stream buffer has been created successfully - + * the returned value should be stored as the handle to the created stream + * buffer. + * + * Example use: + *
+ *
+ * void vAFunction( void )
+ * {
+ * StreamBufferHandle_t xStreamBuffer;
+ * const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
+ *
+ *  // Create a stream buffer that can hold 100 bytes.  The memory used to hold
+ *  // both the stream buffer structure and the data in the stream buffer is
+ *  // allocated dynamically.
+ *  xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
+ *
+ *  if( xStreamBuffer == NULL )
+ *  {
+ *      // There was not enough heap memory space available to create the
+ *      // stream buffer.
+ *  }
+ *  else
+ *  {
+ *      // The stream buffer was created successfully and can now be used.
+ *  }
+ * }
+ * 
+ * \defgroup xStreamBufferCreate xStreamBufferCreate + * \ingroup StreamBufferManagement + */ +#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE ) + +/** + * stream_buffer.h + * + *
+ * StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
+ *                                              size_t xTriggerLevelBytes,
+ *                                              uint8_t *pucStreamBufferStorageArea,
+ *                                              StaticStreamBuffer_t *pxStaticStreamBuffer );
+ * 
+ * Creates a new stream buffer using statically allocated memory. See + * xStreamBufferCreate() for a version that uses dynamically allocated memory. + * + * configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h for + * xStreamBufferCreateStatic() to be available. + * + * @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the + * pucStreamBufferStorageArea parameter. + * + * @param xTriggerLevelBytes The number of bytes that must be in the stream + * buffer before a task that is blocked on the stream buffer to wait for data is + * moved out of the blocked state. For example, if a task is blocked on a read + * of an empty stream buffer that has a trigger level of 1 then the task will be + * unblocked when a single byte is written to the buffer or the task's block + * time expires. As another example, if a task is blocked on a read of an empty + * stream buffer that has a trigger level of 10 then the task will not be + * unblocked until the stream buffer contains at least 10 bytes or the task's + * block time expires. If a reading task's block time expires before the + * trigger level is reached then the task will still receive however many bytes + * are actually available. Setting a trigger level of 0 will result in a + * trigger level of 1 being used. It is not valid to specify a trigger level + * that is greater than the buffer size. + * + * @param pucStreamBufferStorageArea Must point to a uint8_t array that is at + * least xBufferSizeBytes + 1 big. This is the array to which streams are + * copied when they are written to the stream buffer. + * + * @param pxStaticStreamBuffer Must point to a variable of type + * StaticStreamBuffer_t, which will be used to hold the stream buffer's data + * structure. + * + * @return If the stream buffer is created successfully then a handle to the + * created stream buffer is returned. If either pucStreamBufferStorageArea or + * pxStaticstreamBuffer are NULL then NULL is returned. + * + * Example use: + *
+ *
+ * // Used to dimension the array used to hold the streams.  The available space
+ * // will actually be one less than this, so 999.
+ #define STORAGE_SIZE_BYTES 1000
+ *
+ * // Defines the memory that will actually hold the streams within the stream
+ * // buffer.
+ * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
+ *
+ * // The variable used to hold the stream buffer structure.
+ * StaticStreamBuffer_t xStreamBufferStruct;
+ *
+ * void MyFunction( void )
+ * {
+ * StreamBufferHandle_t xStreamBuffer;
+ * const size_t xTriggerLevel = 1;
+ *
+ *  xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ),
+ *                                             xTriggerLevel,
+ *                                             ucBufferStorage,
+ *                                             &xStreamBufferStruct );
+ *
+ *  // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
+ *  // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
+ *  // reference the created stream buffer in other stream buffer API calls.
+ *
+ *  // Other code that uses the stream buffer can go here.
+ * }
+ *
+ * 
+ * \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic + * \ingroup StreamBufferManagement + */ +#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) \ + xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer ) + +/** + * stream_buffer.h + * + *
+ * size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
+ *                        const void *pvTxData,
+ *                        size_t xDataLengthBytes,
+ *                        TickType_t xTicksToWait );
+ * 
+ * + * Sends bytes to a stream buffer. The bytes are copied into the stream buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xStreamBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xStreamBufferReceive()) inside a critical section and set the receive + * block time to 0. + * + * Use xStreamBufferSend() to write to a stream buffer from a task. Use + * xStreamBufferSendFromISR() to write to a stream buffer from an interrupt + * service routine (ISR). + * + * @param xStreamBuffer The handle of the stream buffer to which a stream is + * being sent. + * + * @param pvTxData A pointer to the buffer that holds the bytes to be copied + * into the stream buffer. + * + * @param xDataLengthBytes The maximum number of bytes to copy from pvTxData + * into the stream buffer. + * + * @param xTicksToWait The maximum amount of time the task should remain in the + * Blocked state to wait for enough space to become available in the stream + * buffer, should the stream buffer contain too little space to hold the + * another xDataLengthBytes bytes. The block time is specified in tick periods, + * so the absolute time it represents is dependent on the tick frequency. The + * macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds + * into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will + * cause the task to wait indefinitely (without timing out), provided + * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. If a task times out + * before it can write all xDataLengthBytes into the buffer it will still write + * as many bytes as possible. A task does not use any CPU time when it is in + * the blocked state. + * + * @return The number of bytes written to the stream buffer. If a task times + * out before it can write all xDataLengthBytes into the buffer it will still + * write as many bytes as possible. + * + * Example use: + *
+ * void vAFunction( StreamBufferHandle_t xStreamBuffer )
+ * {
+ * size_t xBytesSent;
+ * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+ * char *pcStringToSend = "String to send";
+ * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+ *
+ *  // Send an array to the stream buffer, blocking for a maximum of 100ms to
+ *  // wait for enough space to be available in the stream buffer.
+ *  xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+ *
+ *  if( xBytesSent != sizeof( ucArrayToSend ) )
+ *  {
+ *      // The call to xStreamBufferSend() times out before there was enough
+ *      // space in the buffer for the data to be written, but it did
+ *      // successfully write xBytesSent bytes.
+ *  }
+ *
+ *  // Send the string to the stream buffer.  Return immediately if there is not
+ *  // enough space in the buffer.
+ *  xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The entire string could not be added to the stream buffer because
+ *      // there was not enough free space in the buffer, but xBytesSent bytes
+ *      // were sent.  Could try again to send the remaining bytes.
+ *  }
+ * }
+ * 
+ * \defgroup xStreamBufferSend xStreamBufferSend + * \ingroup StreamBufferManagement + */ +size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
+ *                               const void *pvTxData,
+ *                               size_t xDataLengthBytes,
+ *                               BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * Interrupt safe version of the API function that sends a stream of bytes to + * the stream buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xStreamBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xStreamBufferReceive()) inside a critical section and set the receive + * block time to 0. + * + * Use xStreamBufferSend() to write to a stream buffer from a task. Use + * xStreamBufferSendFromISR() to write to a stream buffer from an interrupt + * service routine (ISR). + * + * @param xStreamBuffer The handle of the stream buffer to which a stream is + * being sent. + * + * @param pvTxData A pointer to the data that is to be copied into the stream + * buffer. + * + * @param xDataLengthBytes The maximum number of bytes to copy from pvTxData + * into the stream buffer. + * + * @param pxHigherPriorityTaskWoken It is possible that a stream buffer will + * have a task blocked on it waiting for data. Calling + * xStreamBufferSendFromISR() can make data available, and so cause a task that + * was waiting for data to leave the Blocked state. If calling + * xStreamBufferSendFromISR() causes a task to leave the Blocked state, and the + * unblocked task has a priority higher than the currently executing task (the + * task that was interrupted), then, internally, xStreamBufferSendFromISR() + * will set *pxHigherPriorityTaskWoken to pdTRUE. If + * xStreamBufferSendFromISR() sets this value to pdTRUE, then normally a + * context switch should be performed before the interrupt is exited. This will + * ensure that the interrupt returns directly to the highest priority Ready + * state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it + * is passed into the function. See the example code below for an example. + * + * @return The number of bytes actually written to the stream buffer, which will + * be less than xDataLengthBytes if the stream buffer didn't have enough free + * space for all the bytes to be written. + * + * Example use: + *
+ * // A stream buffer that has already been created.
+ * StreamBufferHandle_t xStreamBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * size_t xBytesSent;
+ * char *pcStringToSend = "String to send";
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+ *
+ *  // Attempt to send the string to the stream buffer.
+ *  xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
+ *                                         ( void * ) pcStringToSend,
+ *                                         strlen( pcStringToSend ),
+ *                                         &xHigherPriorityTaskWoken );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // There was not enough free space in the stream buffer for the entire
+ *      // string to be written, ut xBytesSent bytes were written.
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xStreamBufferSendFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * 
+ * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR + * \ingroup StreamBufferManagement + */ +size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
+ *                           void *pvRxData,
+ *                           size_t xBufferLengthBytes,
+ *                           TickType_t xTicksToWait );
+ * 
+ * + * Receives bytes from a stream buffer. + * + * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer + * implementation (so also the message buffer implementation, as message buffers + * are built on top of stream buffers) assumes there is only one task or + * interrupt that will write to the buffer (the writer), and only one task or + * interrupt that will read from the buffer (the reader). It is safe for the + * writer and reader to be different tasks or interrupts, but, unlike other + * FreeRTOS objects, it is not safe to have multiple different writers or + * multiple different readers. If there are to be multiple different writers + * then the application writer must place each call to a writing API function + * (such as xStreamBufferSend()) inside a critical section and set the send + * block time to 0. Likewise, if there are to be multiple different readers + * then the application writer must place each call to a reading API function + * (such as xStreamBufferReceive()) inside a critical section and set the receive + * block time to 0. + * + * Use xStreamBufferReceive() to read from a stream buffer from a task. Use + * xStreamBufferReceiveFromISR() to read from a stream buffer from an + * interrupt service routine (ISR). + * + * @param xStreamBuffer The handle of the stream buffer from which bytes are to + * be received. + * + * @param pvRxData A pointer to the buffer into which the received bytes will be + * copied. + * + * @param xBufferLengthBytes The length of the buffer pointed to by the + * pvRxData parameter. This sets the maximum number of bytes to receive in one + * call. xStreamBufferReceive will return as many bytes as possible up to a + * maximum set by xBufferLengthBytes. + * + * @param xTicksToWait The maximum amount of time the task should remain in the + * Blocked state to wait for data to become available if the stream buffer is + * empty. xStreamBufferReceive() will return immediately if xTicksToWait is + * zero. The block time is specified in tick periods, so the absolute time it + * represents is dependent on the tick frequency. The macro pdMS_TO_TICKS() can + * be used to convert a time specified in milliseconds into a time specified in + * ticks. Setting xTicksToWait to portMAX_DELAY will cause the task to wait + * indefinitely (without timing out), provided INCLUDE_vTaskSuspend is set to 1 + * in FreeRTOSConfig.h. A task does not use any CPU time when it is in the + * Blocked state. + * + * @return The number of bytes actually read from the stream buffer, which will + * be less than xBufferLengthBytes if the call to xStreamBufferReceive() timed + * out before xBufferLengthBytes were available. + * + * Example use: + *
+ * void vAFunction( StreamBuffer_t xStreamBuffer )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+ *
+ *  // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
+ *  // Wait in the Blocked state (so not using any CPU processing time) for a
+ *  // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
+ *  // available.
+ *  xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
+ *                                         ( void * ) ucRxData,
+ *                                         sizeof( ucRxData ),
+ *                                         xBlockTime );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains another xRecievedBytes bytes of data, which can
+ *      // be processed here....
+ *  }
+ * }
+ * 
+ * \defgroup xStreamBufferReceive xStreamBufferReceive + * \ingroup StreamBufferManagement + */ +size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
+ *                                  void *pvRxData,
+ *                                  size_t xBufferLengthBytes,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * An interrupt safe version of the API function that receives bytes from a + * stream buffer. + * + * Use xStreamBufferReceive() to read bytes from a stream buffer from a task. + * Use xStreamBufferReceiveFromISR() to read bytes from a stream buffer from an + * interrupt service routine (ISR). + * + * @param xStreamBuffer The handle of the stream buffer from which a stream + * is being received. + * + * @param pvRxData A pointer to the buffer into which the received bytes are + * copied. + * + * @param xBufferLengthBytes The length of the buffer pointed to by the + * pvRxData parameter. This sets the maximum number of bytes to receive in one + * call. xStreamBufferReceive will return as many bytes as possible up to a + * maximum set by xBufferLengthBytes. + * + * @param pxHigherPriorityTaskWoken It is possible that a stream buffer will + * have a task blocked on it waiting for space to become available. Calling + * xStreamBufferReceiveFromISR() can make space available, and so cause a task + * that is waiting for space to leave the Blocked state. If calling + * xStreamBufferReceiveFromISR() causes a task to leave the Blocked state, and + * the unblocked task has a priority higher than the currently executing task + * (the task that was interrupted), then, internally, + * xStreamBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE. + * If xStreamBufferReceiveFromISR() sets this value to pdTRUE, then normally a + * context switch should be performed before the interrupt is exited. That will + * ensure the interrupt returns directly to the highest priority Ready state + * task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is + * passed into the function. See the code example below for an example. + * + * @return The number of bytes read from the stream buffer, if any. + * + * Example use: + *
+ * // A stream buffer that has already been created.
+ * StreamBuffer_t xStreamBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+ *
+ *  // Receive the next stream from the stream buffer.
+ *  xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
+ *                                                ( void * ) ucRxData,
+ *                                                sizeof( ucRxData ),
+ *                                                &xHigherPriorityTaskWoken );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // ucRxData contains xReceivedBytes read from the stream buffer.
+ *      // Process the stream here....
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xStreamBufferReceiveFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * 
+ * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR + * \ingroup StreamBufferManagement + */ +size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
+ * 
+ * + * Deletes a stream buffer that was previously created using a call to + * xStreamBufferCreate() or xStreamBufferCreateStatic(). If the stream + * buffer was created using dynamic memory (that is, by xStreamBufferCreate()), + * then the allocated memory is freed. + * + * A stream buffer handle must not be used after the stream buffer has been + * deleted. + * + * @param xStreamBuffer The handle of the stream buffer to be deleted. + * + * \defgroup vStreamBufferDelete vStreamBufferDelete + * \ingroup StreamBufferManagement + */ +void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
+ * 
+ * + * Queries a stream buffer to see if it is full. A stream buffer is full if it + * does not have any free space, and therefore cannot accept any more data. + * + * @param xStreamBuffer The handle of the stream buffer being queried. + * + * @return If the stream buffer is full then pdTRUE is returned. Otherwise + * pdFALSE is returned. + * + * \defgroup xStreamBufferIsFull xStreamBufferIsFull + * \ingroup StreamBufferManagement + */ +BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
+ * 
+ * + * Queries a stream buffer to see if it is empty. A stream buffer is empty if + * it does not contain any data. + * + * @param xStreamBuffer The handle of the stream buffer being queried. + * + * @return If the stream buffer is empty then pdTRUE is returned. Otherwise + * pdFALSE is returned. + * + * \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty + * \ingroup StreamBufferManagement + */ +BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
+ * 
+ * + * Resets a stream buffer to its initial, empty, state. Any data that was in + * the stream buffer is discarded. A stream buffer can only be reset if there + * are no tasks blocked waiting to either send to or receive from the stream + * buffer. + * + * @param xStreamBuffer The handle of the stream buffer being reset. + * + * @return If the stream buffer is reset then pdPASS is returned. If there was + * a task blocked waiting to send to or read from the stream buffer then the + * stream buffer is not reset and pdFAIL is returned. + * + * \defgroup xStreamBufferReset xStreamBufferReset + * \ingroup StreamBufferManagement + */ +BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
+ * 
+ * + * Queries a stream buffer to see how much free space it contains, which is + * equal to the amount of data that can be sent to the stream buffer before it + * is full. + * + * @param xStreamBuffer The handle of the stream buffer being queried. + * + * @return The number of bytes that can be written to the stream buffer before + * the stream buffer would be full. + * + * \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable + * \ingroup StreamBufferManagement + */ +size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
+ * 
+ * + * Queries a stream buffer to see how much data it contains, which is equal to + * the number of bytes that can be read from the stream buffer before the stream + * buffer would be empty. + * + * @param xStreamBuffer The handle of the stream buffer being queried. + * + * @return The number of bytes that can be read from the stream buffer before + * the stream buffer would be empty. + * + * \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable + * \ingroup StreamBufferManagement + */ +size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
+ * 
+ * + * A stream buffer's trigger level is the number of bytes that must be in the + * stream buffer before a task that is blocked on the stream buffer to + * wait for data is moved out of the blocked state. For example, if a task is + * blocked on a read of an empty stream buffer that has a trigger level of 1 + * then the task will be unblocked when a single byte is written to the buffer + * or the task's block time expires. As another example, if a task is blocked + * on a read of an empty stream buffer that has a trigger level of 10 then the + * task will not be unblocked until the stream buffer contains at least 10 bytes + * or the task's block time expires. If a reading task's block time expires + * before the trigger level is reached then the task will still receive however + * many bytes are actually available. Setting a trigger level of 0 will result + * in a trigger level of 1 being used. It is not valid to specify a trigger + * level that is greater than the buffer size. + * + * A trigger level is set when the stream buffer is created, and can be modified + * using xStreamBufferSetTriggerLevel(). + * + * @param xStreamBuffer The handle of the stream buffer being updated. + * + * @param xTriggerLevel The new trigger level for the stream buffer. + * + * @return If xTriggerLevel was less than or equal to the stream buffer's length + * then the trigger level will be updated and pdTRUE is returned. Otherwise + * pdFALSE is returned. + * + * \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel + * \ingroup StreamBufferManagement + */ +BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, + size_t xTriggerLevel ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * For advanced users only. + * + * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when + * data is sent to a message buffer or stream buffer. If there was a task that + * was blocked on the message or stream buffer waiting for data to arrive then + * the sbSEND_COMPLETED() macro sends a notification to the task to remove it + * from the Blocked state. xStreamBufferSendCompletedFromISR() does the same + * thing. It is provided to enable application writers to implement their own + * version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME. + * + * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for + * additional information. + * + * @param xStreamBuffer The handle of the stream buffer to which data was + * written. + * + * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be + * initialised to pdFALSE before it is passed into + * xStreamBufferSendCompletedFromISR(). If calling + * xStreamBufferSendCompletedFromISR() removes a task from the Blocked state, + * and the task has a priority above the priority of the currently running task, + * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a + * context switch should be performed before exiting the ISR. + * + * @return If a task was removed from the Blocked state then pdTRUE is returned. + * Otherwise pdFALSE is returned. + * + * \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR + * \ingroup StreamBufferManagement + */ +BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/** + * stream_buffer.h + * + *
+ * BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * 
+ * + * For advanced users only. + * + * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when + * data is read out of a message buffer or stream buffer. If there was a task + * that was blocked on the message or stream buffer waiting for data to arrive + * then the sbRECEIVE_COMPLETED() macro sends a notification to the task to + * remove it from the Blocked state. xStreamBufferReceiveCompletedFromISR() + * does the same thing. It is provided to enable application writers to + * implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT + * ANY OTHER TIME. + * + * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for + * additional information. + * + * @param xStreamBuffer The handle of the stream buffer from which data was + * read. + * + * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be + * initialised to pdFALSE before it is passed into + * xStreamBufferReceiveCompletedFromISR(). If calling + * xStreamBufferReceiveCompletedFromISR() removes a task from the Blocked state, + * and the task has a priority above the priority of the currently running task, + * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a + * context switch should be performed before exiting the ISR. + * + * @return If a task was removed from the Blocked state then pdTRUE is returned. + * Otherwise pdFALSE is returned. + * + * \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR + * \ingroup StreamBufferManagement + */ +BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/* Functions below here are not part of the public API. */ +StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION; + +StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer, + uint8_t * const pucStreamBufferStorageArea, + StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION; + +size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + +#if ( configUSE_TRACE_FACILITY == 1 ) + void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, + UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION; + UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; + uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +#endif + +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + } +#endif +/* *INDENT-ON* */ + +#endif /* !defined( STREAM_BUFFER_H ) */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/task.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/task.h new file mode 100644 index 0000000..66c99c5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/task.h @@ -0,0 +1,3053 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef INC_TASK_H +#define INC_TASK_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include task.h" +#endif + +#include "list.h" + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- +* MACROS AND DEFINITIONS +*----------------------------------------------------------*/ + +#define tskKERNEL_VERSION_NUMBER "V10.4.3" +#define tskKERNEL_VERSION_MAJOR 10 +#define tskKERNEL_VERSION_MINOR 4 +#define tskKERNEL_VERSION_BUILD 3 + +/* MPU region parameters passed in ulParameters + * of MemoryRegion_t struct. */ +#define tskMPU_REGION_READ_ONLY ( 1UL << 0UL ) +#define tskMPU_REGION_READ_WRITE ( 1UL << 1UL ) +#define tskMPU_REGION_EXECUTE_NEVER ( 1UL << 2UL ) +#define tskMPU_REGION_NORMAL_MEMORY ( 1UL << 3UL ) +#define tskMPU_REGION_DEVICE_MEMORY ( 1UL << 4UL ) + +/* The direct to task notification feature used to have only a single notification + * per task. Now there is an array of notifications per task that is dimensioned by + * configTASK_NOTIFICATION_ARRAY_ENTRIES. For backward compatibility, any use of the + * original direct to task notification defaults to using the first index in the + * array. */ +#define tskDEFAULT_INDEX_TO_NOTIFY ( 0 ) + +/** + * task. h + * + * Type by which tasks are referenced. For example, a call to xTaskCreate + * returns (via a pointer parameter) an TaskHandle_t variable that can then + * be used as a parameter to vTaskDelete to delete the task. + * + * \defgroup TaskHandle_t TaskHandle_t + * \ingroup Tasks + */ +struct tskTaskControlBlock; /* The old naming convention is used to prevent breaking kernel aware debuggers. */ +typedef struct tskTaskControlBlock * TaskHandle_t; + +/* + * Defines the prototype to which the application task hook function must + * conform. + */ +typedef BaseType_t (* TaskHookFunction_t)( void * ); + +/* Task states returned by eTaskGetState. */ +typedef enum +{ + eRunning = 0, /* A task is querying the state of itself, so must be running. */ + eReady, /* The task being queried is in a read or pending ready list. */ + eBlocked, /* The task being queried is in the Blocked state. */ + eSuspended, /* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */ + eDeleted, /* The task being queried has been deleted, but its TCB has not yet been freed. */ + eInvalid /* Used as an 'invalid state' value. */ +} eTaskState; + +/* Actions that can be performed when vTaskNotify() is called. */ +typedef enum +{ + eNoAction = 0, /* Notify the task without updating its notify value. */ + eSetBits, /* Set bits in the task's notification value. */ + eIncrement, /* Increment the task's notification value. */ + eSetValueWithOverwrite, /* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */ + eSetValueWithoutOverwrite /* Set the task's notification value if the previous value has been read by the task. */ +} eNotifyAction; + +/* + * Used internally only. + */ +typedef struct xTIME_OUT +{ + BaseType_t xOverflowCount; + TickType_t xTimeOnEntering; +} TimeOut_t; + +/* + * Defines the memory ranges allocated to the task when an MPU is used. + */ +typedef struct xMEMORY_REGION +{ + void * pvBaseAddress; + uint32_t ulLengthInBytes; + uint32_t ulParameters; +} MemoryRegion_t; + +/* + * Parameters required to create an MPU protected task. + */ +typedef struct xTASK_PARAMETERS +{ + TaskFunction_t pvTaskCode; + const char * pcName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + configSTACK_DEPTH_TYPE usStackDepth; + void * pvParameters; + UBaseType_t uxPriority; + StackType_t * puxStackBuffer; + MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ]; + #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + StaticTask_t * const pxTaskBuffer; + #endif +} TaskParameters_t; + +/* Used with the uxTaskGetSystemState() function to return the state of each task + * in the system. */ +typedef struct xTASK_STATUS +{ + TaskHandle_t xHandle; /* The handle of the task to which the rest of the information in the structure relates. */ + const char * pcTaskName; /* A pointer to the task's name. This value will be invalid if the task was deleted since the structure was populated! */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + UBaseType_t xTaskNumber; /* A number unique to the task. */ + eTaskState eCurrentState; /* The state in which the task existed when the structure was populated. */ + UBaseType_t uxCurrentPriority; /* The priority at which the task was running (may be inherited) when the structure was populated. */ + UBaseType_t uxBasePriority; /* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex. Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */ + uint32_t ulRunTimeCounter; /* The total run time allocated to the task so far, as defined by the run time stats clock. See https://www.FreeRTOS.org/rtos-run-time-stats.html. Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */ + StackType_t * pxStackBase; /* Points to the lowest address of the task's stack area. */ + configSTACK_DEPTH_TYPE usStackHighWaterMark; /* The minimum amount of stack space that has remained for the task since the task was created. The closer this value is to zero the closer the task has come to overflowing its stack. */ +} TaskStatus_t; + +/* Possible return values for eTaskConfirmSleepModeStatus(). */ +typedef enum +{ + eAbortSleep = 0, /* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */ + eStandardSleep, /* Enter a sleep mode that will not last any longer than the expected idle time. */ + eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */ +} eSleepModeStatus; + +/** + * Defines the priority used by the idle task. This must not be modified. + * + * \ingroup TaskUtils + */ +#define tskIDLE_PRIORITY ( ( UBaseType_t ) 0U ) + +/** + * task. h + * + * Macro for forcing a context switch. + * + * \defgroup taskYIELD taskYIELD + * \ingroup SchedulerControl + */ +#define taskYIELD() portYIELD() + +/** + * task. h + * + * Macro to mark the start of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL + * \ingroup SchedulerControl + */ +#define taskENTER_CRITICAL() portENTER_CRITICAL() +#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() + +/** + * task. h + * + * Macro to mark the end of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL + * \ingroup SchedulerControl + */ +#define taskEXIT_CRITICAL() portEXIT_CRITICAL() +#define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) + +/** + * task. h + * + * Macro to disable all maskable interrupts. + * + * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() + +/** + * task. h + * + * Macro to enable microcontroller interrupts. + * + * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() + +/* Definitions returned by xTaskGetSchedulerState(). taskSCHEDULER_SUSPENDED is + * 0 to generate more optimal code when configASSERT() is defined as the constant + * is used in assert() statements. */ +#define taskSCHEDULER_SUSPENDED ( ( BaseType_t ) 0 ) +#define taskSCHEDULER_NOT_STARTED ( ( BaseType_t ) 1 ) +#define taskSCHEDULER_RUNNING ( ( BaseType_t ) 2 ) + + +/*----------------------------------------------------------- +* TASK CREATION API +*----------------------------------------------------------*/ + +/** + * task. h + *
+ * BaseType_t xTaskCreate(
+ *                            TaskFunction_t pvTaskCode,
+ *                            const char * const pcName,
+ *                            configSTACK_DEPTH_TYPE usStackDepth,
+ *                            void *pvParameters,
+ *                            UBaseType_t uxPriority,
+ *                            TaskHandle_t *pvCreatedTask
+ *                        );
+ * 
+ * + * Create a new task and add it to the list of tasks that are ready to run. + * + * Internally, within the FreeRTOS implementation, tasks use two blocks of + * memory. The first block is used to hold the task's data structures. The + * second block is used by the task as its stack. If a task is created using + * xTaskCreate() then both blocks of memory are automatically dynamically + * allocated inside the xTaskCreate() function. (see + * https://www.FreeRTOS.org/a00111.html). If a task is created using + * xTaskCreateStatic() then the application writer must provide the required + * memory. xTaskCreateStatic() therefore allows a task to be created without + * using any dynamic memory allocation. + * + * See xTaskCreateStatic() for a version that does not use any dynamic memory + * allocation. + * + * xTaskCreate() can only be used to create a task that has unrestricted + * access to the entire microcontroller memory map. Systems that include MPU + * support can alternatively create an MPU constrained task using + * xTaskCreateRestricted(). + * + * @param pvTaskCode Pointer to the task entry function. Tasks + * must be implemented to never return (i.e. continuous loop). + * + * @param pcName A descriptive name for the task. This is mainly used to + * facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN - default + * is 16. + * + * @param usStackDepth The size of the task stack specified as the number of + * variables the stack can hold - not the number of bytes. For example, if + * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes + * will be allocated for stack storage. + * + * @param pvParameters Pointer that will be used as the parameter for the task + * being created. + * + * @param uxPriority The priority at which the task should run. Systems that + * include MPU support can optionally create tasks in a privileged (system) + * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For + * example, to create a privileged task at priority 2 the uxPriority parameter + * should be set to ( 2 | portPRIVILEGE_BIT ). + * + * @param pvCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file projdefs.h + * + * Example usage: + *
+ * // Task to be created.
+ * void vTaskCode( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *   }
+ * }
+ *
+ * // Function that creates a task.
+ * void vOtherFunction( void )
+ * {
+ * static uint8_t ucParameterToPass;
+ * TaskHandle_t xHandle = NULL;
+ *
+ *   // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
+ *   // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
+ *   // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
+ *   // the new task attempts to access it.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+ *   configASSERT( xHandle );
+ *
+ *   // Use the handle to delete the task.
+ *   if( xHandle != NULL )
+ *   {
+ *      vTaskDelete( xHandle );
+ *   }
+ * }
+ * 
+ * \defgroup xTaskCreate xTaskCreate + * \ingroup Tasks + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, + const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const configSTACK_DEPTH_TYPE usStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION; +#endif + +/** + * task. h + *
+ * TaskHandle_t xTaskCreateStatic( TaskFunction_t pvTaskCode,
+ *                               const char * const pcName,
+ *                               uint32_t ulStackDepth,
+ *                               void *pvParameters,
+ *                               UBaseType_t uxPriority,
+ *                               StackType_t *pxStackBuffer,
+ *                               StaticTask_t *pxTaskBuffer );
+ * 
+ * + * Create a new task and add it to the list of tasks that are ready to run. + * + * Internally, within the FreeRTOS implementation, tasks use two blocks of + * memory. The first block is used to hold the task's data structures. The + * second block is used by the task as its stack. If a task is created using + * xTaskCreate() then both blocks of memory are automatically dynamically + * allocated inside the xTaskCreate() function. (see + * https://www.FreeRTOS.org/a00111.html). If a task is created using + * xTaskCreateStatic() then the application writer must provide the required + * memory. xTaskCreateStatic() therefore allows a task to be created without + * using any dynamic memory allocation. + * + * @param pvTaskCode Pointer to the task entry function. Tasks + * must be implemented to never return (i.e. continuous loop). + * + * @param pcName A descriptive name for the task. This is mainly used to + * facilitate debugging. The maximum length of the string is defined by + * configMAX_TASK_NAME_LEN in FreeRTOSConfig.h. + * + * @param ulStackDepth The size of the task stack specified as the number of + * variables the stack can hold - not the number of bytes. For example, if + * the stack is 32-bits wide and ulStackDepth is defined as 100 then 400 bytes + * will be allocated for stack storage. + * + * @param pvParameters Pointer that will be used as the parameter for the task + * being created. + * + * @param uxPriority The priority at which the task will run. + * + * @param pxStackBuffer Must point to a StackType_t array that has at least + * ulStackDepth indexes - the array will then be used as the task's stack, + * removing the need for the stack to be allocated dynamically. + * + * @param pxTaskBuffer Must point to a variable of type StaticTask_t, which will + * then be used to hold the task's data structures, removing the need for the + * memory to be allocated dynamically. + * + * @return If neither pxStackBuffer or pxTaskBuffer are NULL, then the task will + * be created and a handle to the created task is returned. If either + * pxStackBuffer or pxTaskBuffer are NULL then the task will not be created and + * NULL is returned. + * + * Example usage: + *
+ *
+ *  // Dimensions the buffer that the task being created will use as its stack.
+ *  // NOTE:  This is the number of words the stack will hold, not the number of
+ *  // bytes.  For example, if each stack item is 32-bits, and this is set to 100,
+ *  // then 400 bytes (100 * 32-bits) will be allocated.
+ #define STACK_SIZE 200
+ *
+ *  // Structure that will hold the TCB of the task being created.
+ *  StaticTask_t xTaskBuffer;
+ *
+ *  // Buffer that the task being created will use as its stack.  Note this is
+ *  // an array of StackType_t variables.  The size of StackType_t is dependent on
+ *  // the RTOS port.
+ *  StackType_t xStack[ STACK_SIZE ];
+ *
+ *  // Function that implements the task being created.
+ *  void vTaskCode( void * pvParameters )
+ *  {
+ *      // The parameter value is expected to be 1 as 1 is passed in the
+ *      // pvParameters value in the call to xTaskCreateStatic().
+ *      configASSERT( ( uint32_t ) pvParameters == 1UL );
+ *
+ *      for( ;; )
+ *      {
+ *          // Task code goes here.
+ *      }
+ *  }
+ *
+ *  // Function that creates a task.
+ *  void vOtherFunction( void )
+ *  {
+ *      TaskHandle_t xHandle = NULL;
+ *
+ *      // Create the task without using any dynamic memory allocation.
+ *      xHandle = xTaskCreateStatic(
+ *                    vTaskCode,       // Function that implements the task.
+ *                    "NAME",          // Text name for the task.
+ *                    STACK_SIZE,      // Stack size in words, not bytes.
+ *                    ( void * ) 1,    // Parameter passed into the task.
+ *                    tskIDLE_PRIORITY,// Priority at which the task is created.
+ *                    xStack,          // Array to use as the task's stack.
+ *                    &xTaskBuffer );  // Variable to hold the task's data structure.
+ *
+ *      // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
+ *      // been created, and xHandle will be the task's handle.  Use the handle
+ *      // to suspend the task.
+ *      vTaskSuspend( xHandle );
+ *  }
+ * 
+ * \defgroup xTaskCreateStatic xTaskCreateStatic + * \ingroup Tasks + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION; +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * task. h + *
+ * BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
+ * 
+ * + * Only available when configSUPPORT_DYNAMIC_ALLOCATION is set to 1. + * + * xTaskCreateRestricted() should only be used in systems that include an MPU + * implementation. + * + * Create a new task and add it to the list of tasks that are ready to run. + * The function parameters define the memory regions and associated access + * permissions allocated to the task. + * + * See xTaskCreateRestrictedStatic() for a version that does not use any + * dynamic memory allocation. + * + * @param pxTaskDefinition Pointer to a structure that contains a member + * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API + * documentation) plus an optional stack buffer and the memory region + * definitions. + * + * @param pxCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file projdefs.h + * + * Example usage: + *
+ * // Create an TaskParameters_t structure that defines the task to be created.
+ * static const TaskParameters_t xCheckTaskParameters =
+ * {
+ *  vATask,     // pvTaskCode - the function that implements the task.
+ *  "ATask",    // pcName - just a text name for the task to assist debugging.
+ *  100,        // usStackDepth - the stack size DEFINED IN WORDS.
+ *  NULL,       // pvParameters - passed into the task function as the function parameters.
+ *  ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ *  cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+ *
+ *  // xRegions - Allocate up to three separate memory regions for access by
+ *  // the task, with appropriate access permissions.  Different processors have
+ *  // different memory alignment requirements - refer to the FreeRTOS documentation
+ *  // for full information.
+ *  {
+ *      // Base address                 Length  Parameters
+ *      { cReadWriteArray,              32,     portMPU_REGION_READ_WRITE },
+ *      { cReadOnlyArray,               32,     portMPU_REGION_READ_ONLY },
+ *      { cPrivilegedOnlyAccessArray,   128,    portMPU_REGION_PRIVILEGED_READ_WRITE }
+ *  }
+ * };
+ *
+ * int main( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *  // Create a task from the const structure defined above.  The task handle
+ *  // is requested (the second parameter is not NULL) but in this case just for
+ *  // demonstration purposes as its not actually used.
+ *  xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+ *
+ *  // Start the scheduler.
+ *  vTaskStartScheduler();
+ *
+ *  // Will only get here if there was insufficient memory to create the idle
+ *  // and/or timer task.
+ *  for( ;; );
+ * }
+ * 
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +#if ( portUSING_MPU_WRAPPERS == 1 ) + BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, + TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION; +#endif + +/** + * task. h + *
+ * BaseType_t xTaskCreateRestrictedStatic( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
+ * 
+ * + * Only available when configSUPPORT_STATIC_ALLOCATION is set to 1. + * + * xTaskCreateRestrictedStatic() should only be used in systems that include an + * MPU implementation. + * + * Internally, within the FreeRTOS implementation, tasks use two blocks of + * memory. The first block is used to hold the task's data structures. The + * second block is used by the task as its stack. If a task is created using + * xTaskCreateRestricted() then the stack is provided by the application writer, + * and the memory used to hold the task's data structure is automatically + * dynamically allocated inside the xTaskCreateRestricted() function. If a task + * is created using xTaskCreateRestrictedStatic() then the application writer + * must provide the memory used to hold the task's data structures too. + * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be + * created without using any dynamic memory allocation. + * + * @param pxTaskDefinition Pointer to a structure that contains a member + * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API + * documentation) plus an optional stack buffer and the memory region + * definitions. If configSUPPORT_STATIC_ALLOCATION is set to 1 the structure + * contains an additional member, which is used to point to a variable of type + * StaticTask_t - which is then used to hold the task's data structure. + * + * @param pxCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file projdefs.h + * + * Example usage: + *
+ * // Create an TaskParameters_t structure that defines the task to be created.
+ * // The StaticTask_t variable is only included in the structure when
+ * // configSUPPORT_STATIC_ALLOCATION is set to 1.  The PRIVILEGED_DATA macro can
+ * // be used to force the variable into the RTOS kernel's privileged data area.
+ * static PRIVILEGED_DATA StaticTask_t xTaskBuffer;
+ * static const TaskParameters_t xCheckTaskParameters =
+ * {
+ *  vATask,     // pvTaskCode - the function that implements the task.
+ *  "ATask",    // pcName - just a text name for the task to assist debugging.
+ *  100,        // usStackDepth - the stack size DEFINED IN WORDS.
+ *  NULL,       // pvParameters - passed into the task function as the function parameters.
+ *  ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ *  cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+ *
+ *  // xRegions - Allocate up to three separate memory regions for access by
+ *  // the task, with appropriate access permissions.  Different processors have
+ *  // different memory alignment requirements - refer to the FreeRTOS documentation
+ *  // for full information.
+ *  {
+ *      // Base address                 Length  Parameters
+ *      { cReadWriteArray,              32,     portMPU_REGION_READ_WRITE },
+ *      { cReadOnlyArray,               32,     portMPU_REGION_READ_ONLY },
+ *      { cPrivilegedOnlyAccessArray,   128,    portMPU_REGION_PRIVILEGED_READ_WRITE }
+ *  }
+ *
+ *  &xTaskBuffer; // Holds the task's data structure.
+ * };
+ *
+ * int main( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *  // Create a task from the const structure defined above.  The task handle
+ *  // is requested (the second parameter is not NULL) but in this case just for
+ *  // demonstration purposes as its not actually used.
+ *  xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+ *
+ *  // Start the scheduler.
+ *  vTaskStartScheduler();
+ *
+ *  // Will only get here if there was insufficient memory to create the idle
+ *  // and/or timer task.
+ *  for( ;; );
+ * }
+ * 
+ * \defgroup xTaskCreateRestrictedStatic xTaskCreateRestrictedStatic + * \ingroup Tasks + */ +#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, + TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION; +#endif + +/** + * task. h + *
+ * void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
+ * 
+ * + * Memory regions are assigned to a restricted task when the task is created by + * a call to xTaskCreateRestricted(). These regions can be redefined using + * vTaskAllocateMPURegions(). + * + * @param xTask The handle of the task being updated. + * + * @param xRegions A pointer to an MemoryRegion_t structure that contains the + * new memory region definitions. + * + * Example usage: + *
+ * // Define an array of MemoryRegion_t structures that configures an MPU region
+ * // allowing read/write access for 1024 bytes starting at the beginning of the
+ * // ucOneKByte array.  The other two of the maximum 3 definable regions are
+ * // unused so set to zero.
+ * static const MemoryRegion_t xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+ * {
+ *  // Base address     Length      Parameters
+ *  { ucOneKByte,       1024,       portMPU_REGION_READ_WRITE },
+ *  { 0,                0,          0 },
+ *  { 0,                0,          0 }
+ * };
+ *
+ * void vATask( void *pvParameters )
+ * {
+ *  // This task was created such that it has access to certain regions of
+ *  // memory as defined by the MPU configuration.  At some point it is
+ *  // desired that these MPU regions are replaced with that defined in the
+ *  // xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
+ *  // for this purpose.  NULL is used as the task handle to indicate that this
+ *  // function should modify the MPU regions of the calling task.
+ *  vTaskAllocateMPURegions( NULL, xAltRegions );
+ *
+ *  // Now the task can continue its function, but from this point on can only
+ *  // access its stack and the ucOneKByte array (unless any other statically
+ *  // defined or shared regions have been declared elsewhere).
+ * }
+ * 
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +void vTaskAllocateMPURegions( TaskHandle_t xTask, + const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskDelete( TaskHandle_t xTask );
+ * 
+ * + * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Remove a task from the RTOS real time kernel's management. The task being + * deleted will be removed from all ready, blocked, suspended and event lists. + * + * NOTE: The idle task is responsible for freeing the kernel allocated + * memory from tasks that have been deleted. It is therefore important that + * the idle task is not starved of microcontroller processing time if your + * application makes any calls to vTaskDelete (). Memory allocated by the + * task code is not automatically freed, and should be freed before the task + * is deleted. + * + * See the demo application file death.c for sample code that utilises + * vTaskDelete (). + * + * @param xTask The handle of the task to be deleted. Passing NULL will + * cause the calling task to be deleted. + * + * Example usage: + *
+ * void vOtherFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create the task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // Use the handle to delete the task.
+ *   vTaskDelete( xHandle );
+ * }
+ * 
+ * \defgroup vTaskDelete vTaskDelete + * \ingroup Tasks + */ +void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- +* TASK CONTROL API +*----------------------------------------------------------*/ + +/** + * task. h + *
+ * void vTaskDelay( const TickType_t xTicksToDelay );
+ * 
+ * + * Delay a task for a given number of ticks. The actual time that the + * task remains blocked depends on the tick rate. The constant + * portTICK_PERIOD_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * + * vTaskDelay() specifies a time at which the task wishes to unblock relative to + * the time at which vTaskDelay() is called. For example, specifying a block + * period of 100 ticks will cause the task to unblock 100 ticks after + * vTaskDelay() is called. vTaskDelay() does not therefore provide a good method + * of controlling the frequency of a periodic task as the path taken through the + * code, as well as other task and interrupt activity, will effect the frequency + * at which vTaskDelay() gets called and therefore the time at which the task + * next executes. See xTaskDelayUntil() for an alternative API function designed + * to facilitate fixed frequency execution. It does this by specifying an + * absolute time (rather than a relative time) at which the calling task should + * unblock. + * + * @param xTicksToDelay The amount of time, in tick periods, that + * the calling task should block. + * + * Example usage: + * + * void vTaskFunction( void * pvParameters ) + * { + * // Block for 500ms. + * const TickType_t xDelay = 500 / portTICK_PERIOD_MS; + * + * for( ;; ) + * { + * // Simply toggle the LED every 500ms, blocking between each toggle. + * vToggleLED(); + * vTaskDelay( xDelay ); + * } + * } + * + * \defgroup vTaskDelay vTaskDelay + * \ingroup TaskCtrl + */ +void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
+ * 
+ * + * INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Delay a task until a specified time. This function can be used by periodic + * tasks to ensure a constant execution frequency. + * + * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will + * cause a task to block for the specified number of ticks from the time vTaskDelay () is + * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed + * execution frequency as the time between a task starting to execute and that task + * calling vTaskDelay () may not be fixed [the task may take a different path though the + * code between calls, or may get interrupted or preempted a different number of times + * each time it executes]. + * + * Whereas vTaskDelay () specifies a wake time relative to the time at which the function + * is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to + * unblock. + * + * The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a + * time specified in milliseconds with a resolution of one tick period. + * + * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the + * task was last unblocked. The variable must be initialised with the current time + * prior to its first use (see the example below). Following this the variable is + * automatically updated within xTaskDelayUntil (). + * + * @param xTimeIncrement The cycle time period. The task will be unblocked at + * time *pxPreviousWakeTime + xTimeIncrement. Calling xTaskDelayUntil with the + * same xTimeIncrement parameter value will cause the task to execute with + * a fixed interface period. + * + * @return Value which can be used to check whether the task was actually delayed. + * Will be pdTRUE if the task way delayed and pdFALSE otherwise. A task will not + * be delayed if the next expected wake time is in the past. + * + * Example usage: + *
+ * // Perform an action every 10 ticks.
+ * void vTaskFunction( void * pvParameters )
+ * {
+ * TickType_t xLastWakeTime;
+ * const TickType_t xFrequency = 10;
+ * BaseType_t xWasDelayed;
+ *
+ *     // Initialise the xLastWakeTime variable with the current time.
+ *     xLastWakeTime = xTaskGetTickCount ();
+ *     for( ;; )
+ *     {
+ *         // Wait for the next cycle.
+ *         xWasDelayed = xTaskDelayUntil( &xLastWakeTime, xFrequency );
+ *
+ *         // Perform action here. xWasDelayed value can be used to determine
+ *         // whether a deadline was missed if the code here took too long.
+ *     }
+ * }
+ * 
+ * \defgroup xTaskDelayUntil xTaskDelayUntil + * \ingroup TaskCtrl + */ +BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime, + const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION; + +/* + * vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not + * return a value. + */ +#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ) \ +{ \ + ( void ) xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ); \ +} + + +/** + * task. h + *
+ * BaseType_t xTaskAbortDelay( TaskHandle_t xTask );
+ * 
+ * + * INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this + * function to be available. + * + * A task will enter the Blocked state when it is waiting for an event. The + * event it is waiting for can be a temporal event (waiting for a time), such + * as when vTaskDelay() is called, or an event on an object, such as when + * xQueueReceive() or ulTaskNotifyTake() is called. If the handle of a task + * that is in the Blocked state is used in a call to xTaskAbortDelay() then the + * task will leave the Blocked state, and return from whichever function call + * placed the task into the Blocked state. + * + * There is no 'FromISR' version of this function as an interrupt would need to + * know which object a task was blocked on in order to know which actions to + * take. For example, if the task was blocked on a queue the interrupt handler + * would then need to know if the queue was locked. + * + * @param xTask The handle of the task to remove from the Blocked state. + * + * @return If the task referenced by xTask was not in the Blocked state then + * pdFAIL is returned. Otherwise pdPASS is returned. + * + * \defgroup xTaskAbortDelay xTaskAbortDelay + * \ingroup TaskCtrl + */ +BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );
+ * 
+ * + * INCLUDE_uxTaskPriorityGet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Obtain the priority of any task. + * + * @param xTask Handle of the task to be queried. Passing a NULL + * handle results in the priority of the calling task being returned. + * + * @return The priority of xTask. + * + * Example usage: + *
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to obtain the priority of the created task.
+ *   // It was created with tskIDLE_PRIORITY, but may have changed
+ *   // it itself.
+ *   if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
+ *   {
+ *       // The task has changed it's priority.
+ *   }
+ *
+ *   // ...
+ *
+ *   // Is our priority higher than the created task?
+ *   if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
+ *   {
+ *       // Our priority (obtained using NULL handle) is higher.
+ *   }
+ * }
+ * 
+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet + * \ingroup TaskCtrl + */ +UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );
+ * 
+ * + * A version of uxTaskPriorityGet() that can be used from an ISR. + */ +UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * eTaskState eTaskGetState( TaskHandle_t xTask );
+ * 
+ * + * INCLUDE_eTaskGetState must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Obtain the state of any task. States are encoded by the eTaskState + * enumerated type. + * + * @param xTask Handle of the task to be queried. + * + * @return The state of xTask at the time the function was called. Note the + * state of the task might change between the function being called, and the + * functions return value being tested by the calling task. + */ +eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
+ * 
+ * + * configUSE_TRACE_FACILITY must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * Populates a TaskStatus_t structure with information about a task. + * + * @param xTask Handle of the task being queried. If xTask is NULL then + * information will be returned about the calling task. + * + * @param pxTaskStatus A pointer to the TaskStatus_t structure that will be + * filled with information about the task referenced by the handle passed using + * the xTask parameter. + * + * @xGetFreeStackSpace The TaskStatus_t structure contains a member to report + * the stack high water mark of the task being queried. Calculating the stack + * high water mark takes a relatively long time, and can make the system + * temporarily unresponsive - so the xGetFreeStackSpace parameter is provided to + * allow the high water mark checking to be skipped. The high watermark value + * will only be written to the TaskStatus_t structure if xGetFreeStackSpace is + * not set to pdFALSE; + * + * @param eState The TaskStatus_t structure contains a member to report the + * state of the task being queried. Obtaining the task state is not as fast as + * a simple assignment - so the eState parameter is provided to allow the state + * information to be omitted from the TaskStatus_t structure. To obtain state + * information then set eState to eInvalid - otherwise the value passed in + * eState will be reported as the task state in the TaskStatus_t structure. + * + * Example usage: + *
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ * TaskStatus_t xTaskDetails;
+ *
+ *  // Obtain the handle of a task from its name.
+ *  xHandle = xTaskGetHandle( "Task_Name" );
+ *
+ *  // Check the handle is not NULL.
+ *  configASSERT( xHandle );
+ *
+ *  // Use the handle to obtain further information about the task.
+ *  vTaskGetInfo( xHandle,
+ *                &xTaskDetails,
+ *                pdTRUE, // Include the high water mark in xTaskDetails.
+ *                eInvalid ); // Include the task state in xTaskDetails.
+ * }
+ * 
+ * \defgroup vTaskGetInfo vTaskGetInfo + * \ingroup TaskCtrl + */ +void vTaskGetInfo( TaskHandle_t xTask, + TaskStatus_t * pxTaskStatus, + BaseType_t xGetFreeStackSpace, + eTaskState eState ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );
+ * 
+ * + * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Set the priority of any task. + * + * A context switch will occur before the function returns if the priority + * being set is higher than the currently executing task. + * + * @param xTask Handle to the task for which the priority is being set. + * Passing a NULL handle results in the priority of the calling task being set. + * + * @param uxNewPriority The priority to which the task will be set. + * + * Example usage: + *
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to raise the priority of the created task.
+ *   vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
+ *
+ *   // ...
+ *
+ *   // Use a NULL handle to raise our priority to the same value.
+ *   vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
+ * }
+ * 
+ * \defgroup vTaskPrioritySet vTaskPrioritySet + * \ingroup TaskCtrl + */ +void vTaskPrioritySet( TaskHandle_t xTask, + UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskSuspend( TaskHandle_t xTaskToSuspend );
+ * 
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Suspend any task. When suspended a task will never get any microcontroller + * processing time, no matter what its priority. + * + * Calls to vTaskSuspend are not accumulative - + * i.e. calling vTaskSuspend () twice on the same task still only requires one + * call to vTaskResume () to ready the suspended task. + * + * @param xTaskToSuspend Handle to the task being suspended. Passing a NULL + * handle will cause the calling task to be suspended. + * + * Example usage: + *
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to suspend the created task.
+ *   vTaskSuspend( xHandle );
+ *
+ *   // ...
+ *
+ *   // The created task will not run during this period, unless
+ *   // another task calls vTaskResume( xHandle ).
+ *
+ *   //...
+ *
+ *
+ *   // Suspend ourselves.
+ *   vTaskSuspend( NULL );
+ *
+ *   // We cannot get here unless another task calls vTaskResume
+ *   // with our handle as the parameter.
+ * }
+ * 
+ * \defgroup vTaskSuspend vTaskSuspend + * \ingroup TaskCtrl + */ +void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskResume( TaskHandle_t xTaskToResume );
+ * 
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Resumes a suspended task. + * + * A task that has been suspended by one or more calls to vTaskSuspend () + * will be made available for running again by a single call to + * vTaskResume (). + * + * @param xTaskToResume Handle to the task being readied. + * + * Example usage: + *
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to suspend the created task.
+ *   vTaskSuspend( xHandle );
+ *
+ *   // ...
+ *
+ *   // The created task will not run during this period, unless
+ *   // another task calls vTaskResume( xHandle ).
+ *
+ *   //...
+ *
+ *
+ *   // Resume the suspended task ourselves.
+ *   vTaskResume( xHandle );
+ *
+ *   // The created task will once again get microcontroller processing
+ *   // time in accordance with its priority within the system.
+ * }
+ * 
+ * \defgroup vTaskResume vTaskResume + * \ingroup TaskCtrl + */ +void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void xTaskResumeFromISR( TaskHandle_t xTaskToResume );
+ * 
+ * + * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * An implementation of vTaskResume() that can be called from within an ISR. + * + * A task that has been suspended by one or more calls to vTaskSuspend () + * will be made available for running again by a single call to + * xTaskResumeFromISR (). + * + * xTaskResumeFromISR() should not be used to synchronise a task with an + * interrupt if there is a chance that the interrupt could arrive prior to the + * task being suspended - as this can lead to interrupts being missed. Use of a + * semaphore as a synchronisation mechanism would avoid this eventuality. + * + * @param xTaskToResume Handle to the task being readied. + * + * @return pdTRUE if resuming the task should result in a context switch, + * otherwise pdFALSE. This is used by the ISR to determine if a context switch + * may be required following the ISR. + * + * \defgroup vTaskResumeFromISR vTaskResumeFromISR + * \ingroup TaskCtrl + */ +BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- +* SCHEDULER CONTROL +*----------------------------------------------------------*/ + +/** + * task. h + *
+ * void vTaskStartScheduler( void );
+ * 
+ * + * Starts the real time kernel tick processing. After calling the kernel + * has control over which tasks are executed and when. + * + * See the demo application file main.c for an example of creating + * tasks and starting the kernel. + * + * Example usage: + *
+ * void vAFunction( void )
+ * {
+ *   // Create at least one task before starting the kernel.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+ *
+ *   // Start the real time kernel with preemption.
+ *   vTaskStartScheduler ();
+ *
+ *   // Will not get here unless a task calls vTaskEndScheduler ()
+ * }
+ * 
+ * + * \defgroup vTaskStartScheduler vTaskStartScheduler + * \ingroup SchedulerControl + */ +void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskEndScheduler( void );
+ * 
+ * + * NOTE: At the time of writing only the x86 real mode port, which runs on a PC + * in place of DOS, implements this function. + * + * Stops the real time kernel tick. All created tasks will be automatically + * deleted and multitasking (either preemptive or cooperative) will + * stop. Execution then resumes from the point where vTaskStartScheduler () + * was called, as if vTaskStartScheduler () had just returned. + * + * See the demo application file main. c in the demo/PC directory for an + * example that uses vTaskEndScheduler (). + * + * vTaskEndScheduler () requires an exit function to be defined within the + * portable layer (see vPortEndScheduler () in port. c for the PC port). This + * performs hardware specific operations such as stopping the kernel tick. + * + * vTaskEndScheduler () will cause all of the resources allocated by the + * kernel to be freed - but will not free resources allocated by application + * tasks. + * + * Example usage: + *
+ * void vTaskCode( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *
+ *       // At some point we want to end the real time kernel processing
+ *       // so call ...
+ *       vTaskEndScheduler ();
+ *   }
+ * }
+ *
+ * void vAFunction( void )
+ * {
+ *   // Create at least one task before starting the kernel.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+ *
+ *   // Start the real time kernel with preemption.
+ *   vTaskStartScheduler ();
+ *
+ *   // Will only get here when the vTaskCode () task has called
+ *   // vTaskEndScheduler ().  When we get here we are back to single task
+ *   // execution.
+ * }
+ * 
+ * + * \defgroup vTaskEndScheduler vTaskEndScheduler + * \ingroup SchedulerControl + */ +void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * void vTaskSuspendAll( void );
+ * 
+ * + * Suspends the scheduler without disabling interrupts. Context switches will + * not occur while the scheduler is suspended. + * + * After calling vTaskSuspendAll () the calling task will continue to execute + * without risk of being swapped out until a call to xTaskResumeAll () has been + * made. + * + * API functions that have the potential to cause a context switch (for example, + * xTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler + * is suspended. + * + * Example usage: + *
+ * void vTask1( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *
+ *       // ...
+ *
+ *       // At some point the task wants to perform a long operation during
+ *       // which it does not want to get swapped out.  It cannot use
+ *       // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+ *       // operation may cause interrupts to be missed - including the
+ *       // ticks.
+ *
+ *       // Prevent the real time kernel swapping out the task.
+ *       vTaskSuspendAll ();
+ *
+ *       // Perform the operation here.  There is no need to use critical
+ *       // sections as we have all the microcontroller processing time.
+ *       // During this time interrupts will still operate and the kernel
+ *       // tick count will be maintained.
+ *
+ *       // ...
+ *
+ *       // The operation is complete.  Restart the kernel.
+ *       xTaskResumeAll ();
+ *   }
+ * }
+ * 
+ * \defgroup vTaskSuspendAll vTaskSuspendAll + * \ingroup SchedulerControl + */ +void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
+ * BaseType_t xTaskResumeAll( void );
+ * 
+ * + * Resumes scheduler activity after it was suspended by a call to + * vTaskSuspendAll(). + * + * xTaskResumeAll() only resumes the scheduler. It does not unsuspend tasks + * that were previously suspended by a call to vTaskSuspend(). + * + * @return If resuming the scheduler caused a context switch then pdTRUE is + * returned, otherwise pdFALSE is returned. + * + * Example usage: + *
+ * void vTask1( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *
+ *       // ...
+ *
+ *       // At some point the task wants to perform a long operation during
+ *       // which it does not want to get swapped out.  It cannot use
+ *       // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+ *       // operation may cause interrupts to be missed - including the
+ *       // ticks.
+ *
+ *       // Prevent the real time kernel swapping out the task.
+ *       vTaskSuspendAll ();
+ *
+ *       // Perform the operation here.  There is no need to use critical
+ *       // sections as we have all the microcontroller processing time.
+ *       // During this time interrupts will still operate and the real
+ *       // time kernel tick count will be maintained.
+ *
+ *       // ...
+ *
+ *       // The operation is complete.  Restart the kernel.  We want to force
+ *       // a context switch - but there is no point if resuming the scheduler
+ *       // caused a context switch already.
+ *       if( !xTaskResumeAll () )
+ *       {
+ *            taskYIELD ();
+ *       }
+ *   }
+ * }
+ * 
+ * \defgroup xTaskResumeAll xTaskResumeAll + * \ingroup SchedulerControl + */ +BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- +* TASK UTILITIES +*----------------------------------------------------------*/ + +/** + * task. h + *
TickType_t xTaskGetTickCount( void );
+ * + * @return The count of ticks since vTaskStartScheduler was called. + * + * \defgroup xTaskGetTickCount xTaskGetTickCount + * \ingroup TaskUtils + */ +TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
TickType_t xTaskGetTickCountFromISR( void );
+ * + * @return The count of ticks since vTaskStartScheduler was called. + * + * This is a version of xTaskGetTickCount() that is safe to be called from an + * ISR - provided that TickType_t is the natural word size of the + * microcontroller being used or interrupt nesting is either not supported or + * not being used. + * + * \defgroup xTaskGetTickCountFromISR xTaskGetTickCountFromISR + * \ingroup TaskUtils + */ +TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
uint16_t uxTaskGetNumberOfTasks( void );
+ * + * @return The number of tasks that the real time kernel is currently managing. + * This includes all ready, blocked and suspended tasks. A task that + * has been deleted but not yet freed by the idle task will also be + * included in the count. + * + * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks + * \ingroup TaskUtils + */ +UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
char *pcTaskGetName( TaskHandle_t xTaskToQuery );
+ * + * @return The text (human readable) name of the task referenced by the handle + * xTaskToQuery. A task can query its own name by either passing in its own + * handle, or by setting xTaskToQuery to NULL. + * + * \defgroup pcTaskGetName pcTaskGetName + * \ingroup TaskUtils + */ +char * pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + +/** + * task. h + *
TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );
+ * + * NOTE: This function takes a relatively long time to complete and should be + * used sparingly. + * + * @return The handle of the task that has the human readable name pcNameToQuery. + * NULL is returned if no matching name is found. INCLUDE_xTaskGetHandle + * must be set to 1 in FreeRTOSConfig.h for pcTaskGetHandle() to be available. + * + * \defgroup pcTaskGetHandle pcTaskGetHandle + * \ingroup TaskUtils + */ +TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + +/** + * task.h + *
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );
+ * + * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for + * this function to be available. + * + * Returns the high water mark of the stack associated with xTask. That is, + * the minimum free stack space there has been (in words, so on a 32 bit machine + * a value of 1 means 4 bytes) since the task started. The smaller the returned + * number the closer the task has come to overflowing its stack. + * + * uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the + * same except for their return type. Using configSTACK_DEPTH_TYPE allows the + * user to determine the return type. It gets around the problem of the value + * overflowing on 8-bit types without breaking backward compatibility for + * applications that expect an 8-bit return type. + * + * @param xTask Handle of the task associated with the stack to be checked. + * Set xTask to NULL to check the stack of the calling task. + * + * @return The smallest amount of free stack space there has been (in words, so + * actual spaces on the stack rather than bytes) since the task referenced by + * xTask was created. + */ +UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task.h + *
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask );
+ * + * INCLUDE_uxTaskGetStackHighWaterMark2 must be set to 1 in FreeRTOSConfig.h for + * this function to be available. + * + * Returns the high water mark of the stack associated with xTask. That is, + * the minimum free stack space there has been (in words, so on a 32 bit machine + * a value of 1 means 4 bytes) since the task started. The smaller the returned + * number the closer the task has come to overflowing its stack. + * + * uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the + * same except for their return type. Using configSTACK_DEPTH_TYPE allows the + * user to determine the return type. It gets around the problem of the value + * overflowing on 8-bit types without breaking backward compatibility for + * applications that expect an 8-bit return type. + * + * @param xTask Handle of the task associated with the stack to be checked. + * Set xTask to NULL to check the stack of the calling task. + * + * @return The smallest amount of free stack space there has been (in words, so + * actual spaces on the stack rather than bytes) since the task referenced by + * xTask was created. + */ +configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/* When using trace macros it is sometimes necessary to include task.h before + * FreeRTOS.h. When this is done TaskHookFunction_t will not yet have been defined, + * so the following two prototypes will cause a compilation error. This can be + * fixed by simply guarding against the inclusion of these two prototypes unless + * they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration + * constant. */ +#ifdef configUSE_APPLICATION_TASK_TAG + #if configUSE_APPLICATION_TASK_TAG == 1 + +/** + * task.h + *
+ * void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );
+ * 
+ * + * Sets pxHookFunction to be the task hook function used by the task xTask. + * Passing xTask as NULL has the effect of setting the calling tasks hook + * function. + */ + void vTaskSetApplicationTaskTag( TaskHandle_t xTask, + TaskHookFunction_t pxHookFunction ) PRIVILEGED_FUNCTION; + +/** + * task.h + *
+ * void xTaskGetApplicationTaskTag( TaskHandle_t xTask );
+ * 
+ * + * Returns the pxHookFunction value assigned to the task xTask. Do not + * call from an interrupt service routine - call + * xTaskGetApplicationTaskTagFromISR() instead. + */ + TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task.h + *
+ * void xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask );
+ * 
+ * + * Returns the pxHookFunction value assigned to the task xTask. Can + * be called from an interrupt service routine. + */ + TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + #endif /* configUSE_APPLICATION_TASK_TAG ==1 */ +#endif /* ifdef configUSE_APPLICATION_TASK_TAG */ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + +/* Each task contains an array of pointers that is dimensioned by the + * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h. The + * kernel does not use the pointers itself, so the application writer can use + * the pointers for any purpose they wish. The following two functions are + * used to set and query a pointer respectively. */ + void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, + BaseType_t xIndex, + void * pvValue ) PRIVILEGED_FUNCTION; + void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, + BaseType_t xIndex ) PRIVILEGED_FUNCTION; + +#endif + +#if ( configCHECK_FOR_STACK_OVERFLOW > 0 ) + + /** + * task.h + *
void vApplicationStackOverflowHook( TaskHandle_t xTask char *pcTaskName); 
+ * + * The application stack overflow hook is called when a stack overflow is detected for a task. + * + * Details on stack overflow detection can be found here: https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html + * + * @param xTask the task that just exceeded its stack boundaries. + * @param pcTaskName A character string containing the name of the offending task. + */ + void vApplicationStackOverflowHook( TaskHandle_t xTask, + char * pcTaskName ); + +#endif + +#if ( configUSE_TICK_HOOK > 0 ) + /** + * task.h + *
void vApplicationTickHook( void ); 
+ * + * This hook function is called in the system tick handler after any OS work is completed. + */ + void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */ + +#endif + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + /** + * task.h + *
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, StackType_t ** ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ) 
+ * + * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Idle Task TCB. This function is required when + * configSUPPORT_STATIC_ALLOCATION is set. For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION + * + * @param ppxIdleTaskTCBBuffer A handle to a statically allocated TCB buffer + * @param ppxIdleTaskStackBuffer A handle to a statically allocated Stack buffer for thie idle task + * @param pulIdleTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer + */ + void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, + StackType_t ** ppxIdleTaskStackBuffer, + uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */ +#endif + +/** + * task.h + *
+ * BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
+ * 
+ * + * Calls the hook function associated with xTask. Passing xTask as NULL has + * the effect of calling the Running tasks (the calling task) hook function. + * + * pvParameter is passed to the hook function for the task to interpret as it + * wants. The return value is the value returned by the task hook function + * registered by the user. + */ +BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, + void * pvParameter ) PRIVILEGED_FUNCTION; + +/** + * xTaskGetIdleTaskHandle() is only available if + * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h. + * + * Simply returns the handle of the idle task. It is not valid to call + * xTaskGetIdleTaskHandle() before the scheduler has been started. + */ +TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION; + +/** + * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for + * uxTaskGetSystemState() to be available. + * + * uxTaskGetSystemState() populates an TaskStatus_t structure for each task in + * the system. TaskStatus_t structures contain, among other things, members + * for the task handle, task name, task priority, task state, and total amount + * of run time consumed by the task. See the TaskStatus_t structure + * definition in this file for the full member list. + * + * NOTE: This function is intended for debugging use only as its use results in + * the scheduler remaining suspended for an extended period. + * + * @param pxTaskStatusArray A pointer to an array of TaskStatus_t structures. + * The array must contain at least one TaskStatus_t structure for each task + * that is under the control of the RTOS. The number of tasks under the control + * of the RTOS can be determined using the uxTaskGetNumberOfTasks() API function. + * + * @param uxArraySize The size of the array pointed to by the pxTaskStatusArray + * parameter. The size is specified as the number of indexes in the array, or + * the number of TaskStatus_t structures contained in the array, not by the + * number of bytes in the array. + * + * @param pulTotalRunTime If configGENERATE_RUN_TIME_STATS is set to 1 in + * FreeRTOSConfig.h then *pulTotalRunTime is set by uxTaskGetSystemState() to the + * total run time (as defined by the run time stats clock, see + * https://www.FreeRTOS.org/rtos-run-time-stats.html) since the target booted. + * pulTotalRunTime can be set to NULL to omit the total run time information. + * + * @return The number of TaskStatus_t structures that were populated by + * uxTaskGetSystemState(). This should equal the number returned by the + * uxTaskGetNumberOfTasks() API function, but will be zero if the value passed + * in the uxArraySize parameter was too small. + * + * Example usage: + *
+ *  // This example demonstrates how a human readable table of run time stats
+ *  // information is generated from raw data provided by uxTaskGetSystemState().
+ *  // The human readable table is written to pcWriteBuffer
+ *  void vTaskGetRunTimeStats( char *pcWriteBuffer )
+ *  {
+ *  TaskStatus_t *pxTaskStatusArray;
+ *  volatile UBaseType_t uxArraySize, x;
+ *  uint32_t ulTotalRunTime, ulStatsAsPercentage;
+ *
+ *      // Make sure the write buffer does not contain a string.
+ * pcWriteBuffer = 0x00;
+ *
+ *      // Take a snapshot of the number of tasks in case it changes while this
+ *      // function is executing.
+ *      uxArraySize = uxTaskGetNumberOfTasks();
+ *
+ *      // Allocate a TaskStatus_t structure for each task.  An array could be
+ *      // allocated statically at compile time.
+ *      pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
+ *
+ *      if( pxTaskStatusArray != NULL )
+ *      {
+ *          // Generate raw status information about each task.
+ *          uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
+ *
+ *          // For percentage calculations.
+ *          ulTotalRunTime /= 100UL;
+ *
+ *          // Avoid divide by zero errors.
+ *          if( ulTotalRunTime > 0 )
+ *          {
+ *              // For each populated position in the pxTaskStatusArray array,
+ *              // format the raw data as human readable ASCII data
+ *              for( x = 0; x < uxArraySize; x++ )
+ *              {
+ *                  // What percentage of the total run time has the task used?
+ *                  // This will always be rounded down to the nearest integer.
+ *                  // ulTotalRunTimeDiv100 has already been divided by 100.
+ *                  ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
+ *
+ *                  if( ulStatsAsPercentage > 0UL )
+ *                  {
+ *                      sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+ *                  }
+ *                  else
+ *                  {
+ *                      // If the percentage is zero here then the task has
+ *                      // consumed less than 1% of the total run time.
+ *                      sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+ *                  }
+ *
+ *                  pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+ *              }
+ *          }
+ *
+ *          // The array is no longer needed, free the memory it consumes.
+ *          vPortFree( pxTaskStatusArray );
+ *      }
+ *  }
+ *  
+ */ +UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, + const UBaseType_t uxArraySize, + uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
void vTaskList( char *pcWriteBuffer );
+ * + * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must + * both be defined as 1 for this function to be available. See the + * configuration section of the FreeRTOS.org website for more information. + * + * NOTE 1: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Lists all the current tasks, along with their current state and stack + * usage high water mark. + * + * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or + * suspended ('S'). + * + * PLEASE NOTE: + * + * This function is provided for convenience only, and is used by many of the + * demo applications. Do not consider it to be part of the scheduler. + * + * vTaskList() calls uxTaskGetSystemState(), then formats part of the + * uxTaskGetSystemState() output into a human readable table that displays task + * names, states and stack usage. + * + * vTaskList() has a dependency on the sprintf() C library function that might + * bloat the code size, use a lot of stack, and provide different results on + * different platforms. An alternative, tiny, third party, and limited + * functionality implementation of sprintf() is provided in many of the + * FreeRTOS/Demo sub-directories in a file called printf-stdarg.c (note + * printf-stdarg.c does not provide a full snprintf() implementation!). + * + * It is recommended that production systems call uxTaskGetSystemState() + * directly to get access to raw stats data, rather than indirectly through a + * call to vTaskList(). + * + * @param pcWriteBuffer A buffer into which the above mentioned details + * will be written, in ASCII form. This buffer is assumed to be large + * enough to contain the generated report. Approximately 40 bytes per + * task should be sufficient. + * + * \defgroup vTaskList vTaskList + * \ingroup TaskUtils + */ +void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + +/** + * task. h + *
void vTaskGetRunTimeStats( char *pcWriteBuffer );
+ * + * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS + * must both be defined as 1 for this function to be available. The application + * must also then provide definitions for + * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE() + * to configure a peripheral timer/counter and return the timers current count + * value respectively. The counter should be at least 10 times the frequency of + * the tick count. + * + * NOTE 1: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total + * accumulated execution time being stored for each task. The resolution + * of the accumulated time value depends on the frequency of the timer + * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro. + * Calling vTaskGetRunTimeStats() writes the total execution time of each + * task into a buffer, both as an absolute count value and as a percentage + * of the total system execution time. + * + * NOTE 2: + * + * This function is provided for convenience only, and is used by many of the + * demo applications. Do not consider it to be part of the scheduler. + * + * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part of the + * uxTaskGetSystemState() output into a human readable table that displays the + * amount of time each task has spent in the Running state in both absolute and + * percentage terms. + * + * vTaskGetRunTimeStats() has a dependency on the sprintf() C library function + * that might bloat the code size, use a lot of stack, and provide different + * results on different platforms. An alternative, tiny, third party, and + * limited functionality implementation of sprintf() is provided in many of the + * FreeRTOS/Demo sub-directories in a file called printf-stdarg.c (note + * printf-stdarg.c does not provide a full snprintf() implementation!). + * + * It is recommended that production systems call uxTaskGetSystemState() directly + * to get access to raw stats data, rather than indirectly through a call to + * vTaskGetRunTimeStats(). + * + * @param pcWriteBuffer A buffer into which the execution times will be + * written, in ASCII form. This buffer is assumed to be large enough to + * contain the generated report. Approximately 40 bytes per task should + * be sufficient. + * + * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats + * \ingroup TaskUtils + */ +void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + +/** + * task. h + *
uint32_t ulTaskGetIdleRunTimeCounter( void );
+ * + * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS + * must both be defined as 1 for this function to be available. The application + * must also then provide definitions for + * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE() + * to configure a peripheral timer/counter and return the timers current count + * value respectively. The counter should be at least 10 times the frequency of + * the tick count. + * + * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total + * accumulated execution time being stored for each task. The resolution + * of the accumulated time value depends on the frequency of the timer + * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro. + * While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total + * execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter() + * returns the total execution time of just the idle task. + * + * @return The total run time of the idle task. This is the amount of time the + * idle task has actually been executing. The unit of time is dependent on the + * frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and + * portGET_RUN_TIME_COUNTER_VALUE() macros. + * + * \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter + * \ingroup TaskUtils + */ +uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + *
BaseType_t xTaskNotifyIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction );
+ *
BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );
+ * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these + * functions to be available. + * + * Sends a direct to task notification to a task, with an optional value and + * action. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment one of the task's notification values. In + * that way task notifications can be used to send data to a task, or be used as + * light weight and fast binary or counting semaphores. + * + * A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a + * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block + * to wait for a notification value to have a non-zero value. The task does + * not consume any CPU time while it is in the Blocked state. + * + * A notification sent to a task will remain pending until it is cleared by the + * task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their + * un-indexed equivalents). If the task was already in the Blocked state to + * wait for a notification when the notification arrives then the task will + * automatically be removed from the Blocked state (unblocked) and the + * notification cleared. + * + * **NOTE** Each notification within the array operates independently - a task + * can only block on one notification within the array at a time and will not be + * unblocked by a notification sent to any other array index. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. xTaskNotify() is the original API function, and remains backward + * compatible by always operating on the notification value at index 0 in the + * array. Calling xTaskNotify() is equivalent to calling xTaskNotifyIndexed() + * with the uxIndexToNotify parameter set to 0. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param uxIndexToNotify The index within the target task's array of + * notification values to which the notification is to be sent. uxIndexToNotify + * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotify() does + * not have this parameter and always sends notifications to index 0. + * + * @param ulValue Data that can be sent with the notification. How the data is + * used depends on the value of the eAction parameter. + * + * @param eAction Specifies how the notification updates the task's notification + * value, if at all. Valid values for eAction are as follows: + * + * eSetBits - + * The target notification value is bitwise ORed with ulValue. + * xTaskNofifyIndexed() always returns pdPASS in this case. + * + * eIncrement - + * The target notification value is incremented. ulValue is not used and + * xTaskNotifyIndexed() always returns pdPASS in this case. + * + * eSetValueWithOverwrite - + * The target notification value is set to the value of ulValue, even if the + * task being notified had not yet processed the previous notification at the + * same array index (the task already had a notification pending at that index). + * xTaskNotifyIndexed() always returns pdPASS in this case. + * + * eSetValueWithoutOverwrite - + * If the task being notified did not already have a notification pending at the + * same array index then the target notification value is set to ulValue and + * xTaskNotifyIndexed() will return pdPASS. If the task being notified already + * had a notification pending at the same array index then no action is + * performed and pdFAIL is returned. + * + * eNoAction - + * The task receives a notification at the specified array index without the + * notification value at that index being updated. ulValue is not used and + * xTaskNotifyIndexed() always returns pdPASS in this case. + * + * pulPreviousNotificationValue - + * Can be used to pass out the subject task's notification value before any + * bits are modified by the notify function. + * + * @return Dependent on the value of eAction. See the description of the + * eAction parameter. + * + * \defgroup xTaskNotifyIndexed xTaskNotifyIndexed + * \ingroup TaskNotifications + */ +BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + uint32_t ulValue, + eNotifyAction eAction, + uint32_t * pulPreviousNotificationValue ) PRIVILEGED_FUNCTION; +#define xTaskNotify( xTaskToNotify, ulValue, eAction ) \ + xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), NULL ) +#define xTaskNotifyIndexed( xTaskToNotify, uxIndexToNotify, ulValue, eAction ) \ + xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL ) + +/** + * task. h + *
BaseType_t xTaskNotifyAndQueryIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );
+ *
BaseType_t xTaskNotifyAndQuery( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );
+ * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * xTaskNotifyAndQueryIndexed() performs the same operation as + * xTaskNotifyIndexed() with the addition that it also returns the subject + * task's prior notification value (the notification value at the time the + * function is called rather than when the function returns) in the additional + * pulPreviousNotifyValue parameter. + * + * xTaskNotifyAndQuery() performs the same operation as xTaskNotify() with the + * addition that it also returns the subject task's prior notification value + * (the notification value as it was at the time the function is called, rather + * than when the function returns) in the additional pulPreviousNotifyValue + * parameter. + * + * \defgroup xTaskNotifyAndQueryIndexed xTaskNotifyAndQueryIndexed + * \ingroup TaskNotifications + */ +#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) \ + xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) ) +#define xTaskNotifyAndQueryIndexed( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotifyValue ) \ + xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) ) + +/** + * task. h + *
BaseType_t xTaskNotifyIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
+ *
BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
+ * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these + * functions to be available. + * + * A version of xTaskNotifyIndexed() that can be used from an interrupt service + * routine (ISR). + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment one of the task's notification values. In + * that way task notifications can be used to send data to a task, or be used as + * light weight and fast binary or counting semaphores. + * + * A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a + * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block + * to wait for a notification value to have a non-zero value. The task does + * not consume any CPU time while it is in the Blocked state. + * + * A notification sent to a task will remain pending until it is cleared by the + * task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their + * un-indexed equivalents). If the task was already in the Blocked state to + * wait for a notification when the notification arrives then the task will + * automatically be removed from the Blocked state (unblocked) and the + * notification cleared. + * + * **NOTE** Each notification within the array operates independently - a task + * can only block on one notification within the array at a time and will not be + * unblocked by a notification sent to any other array index. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. xTaskNotifyFromISR() is the original API function, and remains + * backward compatible by always operating on the notification value at index 0 + * within the array. Calling xTaskNotifyFromISR() is equivalent to calling + * xTaskNotifyIndexedFromISR() with the uxIndexToNotify parameter set to 0. + * + * @param uxIndexToNotify The index within the target task's array of + * notification values to which the notification is to be sent. uxIndexToNotify + * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyFromISR() + * does not have this parameter and always sends notifications to index 0. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param ulValue Data that can be sent with the notification. How the data is + * used depends on the value of the eAction parameter. + * + * @param eAction Specifies how the notification updates the task's notification + * value, if at all. Valid values for eAction are as follows: + * + * eSetBits - + * The task's notification value is bitwise ORed with ulValue. xTaskNofify() + * always returns pdPASS in this case. + * + * eIncrement - + * The task's notification value is incremented. ulValue is not used and + * xTaskNotify() always returns pdPASS in this case. + * + * eSetValueWithOverwrite - + * The task's notification value is set to the value of ulValue, even if the + * task being notified had not yet processed the previous notification (the + * task already had a notification pending). xTaskNotify() always returns + * pdPASS in this case. + * + * eSetValueWithoutOverwrite - + * If the task being notified did not already have a notification pending then + * the task's notification value is set to ulValue and xTaskNotify() will + * return pdPASS. If the task being notified already had a notification + * pending then no action is performed and pdFAIL is returned. + * + * eNoAction - + * The task receives a notification without its notification value being + * updated. ulValue is not used and xTaskNotify() always returns pdPASS in + * this case. + * + * @param pxHigherPriorityTaskWoken xTaskNotifyFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the + * task to which the notification was sent to leave the Blocked state, and the + * unblocked task has a priority higher than the currently running task. If + * xTaskNotifyFromISR() sets this value to pdTRUE then a context switch should + * be requested before the interrupt is exited. How a context switch is + * requested from an ISR is dependent on the port - see the documentation page + * for the port in use. + * + * @return Dependent on the value of eAction. See the description of the + * eAction parameter. + * + * \defgroup xTaskNotifyIndexedFromISR xTaskNotifyIndexedFromISR + * \ingroup TaskNotifications + */ +BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + uint32_t ulValue, + eNotifyAction eAction, + uint32_t * pulPreviousNotificationValue, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) \ + xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) ) +#define xTaskNotifyIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) \ + xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) ) + +/** + * task. h + *
BaseType_t xTaskNotifyAndQueryIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );
+ *
BaseType_t xTaskNotifyAndQueryFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );
+ * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * xTaskNotifyAndQueryIndexedFromISR() performs the same operation as + * xTaskNotifyIndexedFromISR() with the addition that it also returns the + * subject task's prior notification value (the notification value at the time + * the function is called rather than at the time the function returns) in the + * additional pulPreviousNotifyValue parameter. + * + * xTaskNotifyAndQueryFromISR() performs the same operation as + * xTaskNotifyFromISR() with the addition that it also returns the subject + * task's prior notification value (the notification value at the time the + * function is called rather than at the time the function returns) in the + * additional pulPreviousNotifyValue parameter. + * + * \defgroup xTaskNotifyAndQueryIndexedFromISR xTaskNotifyAndQueryIndexedFromISR + * \ingroup TaskNotifications + */ +#define xTaskNotifyAndQueryIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \ + xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) ) +#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \ + xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) ) + +/** + * task. h + *
+ * BaseType_t xTaskNotifyWaitIndexed( UBaseType_t uxIndexToWaitOn, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
+ *
+ * BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
+ * 
+ * + * Waits for a direct to task notification to be pending at a given index within + * an array of direct to task notifications. + * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this + * function to be available. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment one of the task's notification values. In + * that way task notifications can be used to send data to a task, or be used as + * light weight and fast binary or counting semaphores. + * + * A notification sent to a task will remain pending until it is cleared by the + * task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their + * un-indexed equivalents). If the task was already in the Blocked state to + * wait for a notification when the notification arrives then the task will + * automatically be removed from the Blocked state (unblocked) and the + * notification cleared. + * + * A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a + * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block + * to wait for a notification value to have a non-zero value. The task does + * not consume any CPU time while it is in the Blocked state. + * + * **NOTE** Each notification within the array operates independently - a task + * can only block on one notification within the array at a time and will not be + * unblocked by a notification sent to any other array index. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. xTaskNotifyWait() is the original API function, and remains backward + * compatible by always operating on the notification value at index 0 in the + * array. Calling xTaskNotifyWait() is equivalent to calling + * xTaskNotifyWaitIndexed() with the uxIndexToWaitOn parameter set to 0. + * + * @param uxIndexToWaitOn The index within the calling task's array of + * notification values on which the calling task will wait for a notification to + * be received. uxIndexToWaitOn must be less than + * configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyWait() does + * not have this parameter and always waits for notifications on index 0. + * + * @param ulBitsToClearOnEntry Bits that are set in ulBitsToClearOnEntry value + * will be cleared in the calling task's notification value before the task + * checks to see if any notifications are pending, and optionally blocks if no + * notifications are pending. Setting ulBitsToClearOnEntry to ULONG_MAX (if + * limits.h is included) or 0xffffffffUL (if limits.h is not included) will have + * the effect of resetting the task's notification value to 0. Setting + * ulBitsToClearOnEntry to 0 will leave the task's notification value unchanged. + * + * @param ulBitsToClearOnExit If a notification is pending or received before + * the calling task exits the xTaskNotifyWait() function then the task's + * notification value (see the xTaskNotify() API function) is passed out using + * the pulNotificationValue parameter. Then any bits that are set in + * ulBitsToClearOnExit will be cleared in the task's notification value (note + * *pulNotificationValue is set before any bits are cleared). Setting + * ulBitsToClearOnExit to ULONG_MAX (if limits.h is included) or 0xffffffffUL + * (if limits.h is not included) will have the effect of resetting the task's + * notification value to 0 before the function exits. Setting + * ulBitsToClearOnExit to 0 will leave the task's notification value unchanged + * when the function exits (in which case the value passed out in + * pulNotificationValue will match the task's notification value). + * + * @param pulNotificationValue Used to pass the task's notification value out + * of the function. Note the value passed out will not be effected by the + * clearing of any bits caused by ulBitsToClearOnExit being non-zero. + * + * @param xTicksToWait The maximum amount of time that the task should wait in + * the Blocked state for a notification to be received, should a notification + * not already be pending when xTaskNotifyWait() was called. The task + * will not consume any processing time while it is in the Blocked state. This + * is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be + * used to convert a time specified in milliseconds to a time specified in + * ticks. + * + * @return If a notification was received (including notifications that were + * already pending when xTaskNotifyWait was called) then pdPASS is + * returned. Otherwise pdFAIL is returned. + * + * \defgroup xTaskNotifyWaitIndexed xTaskNotifyWaitIndexed + * \ingroup TaskNotifications + */ +BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn, + uint32_t ulBitsToClearOnEntry, + uint32_t ulBitsToClearOnExit, + uint32_t * pulNotificationValue, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +#define xTaskNotifyWait( ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ) \ + xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) ) +#define xTaskNotifyWaitIndexed( uxIndexToWaitOn, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ) \ + xTaskGenericNotifyWait( ( uxIndexToWaitOn ), ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) ) + +/** + * task. h + *
BaseType_t xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify );
+ *
BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );
+ * + * Sends a direct to task notification to a particular index in the target + * task's notification array in a manner similar to giving a counting semaphore. + * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for more details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these + * macros to be available. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment one of the task's notification values. In + * that way task notifications can be used to send data to a task, or be used as + * light weight and fast binary or counting semaphores. + * + * xTaskNotifyGiveIndexed() is a helper macro intended for use when task + * notifications are used as light weight and faster binary or counting + * semaphore equivalents. Actual FreeRTOS semaphores are given using the + * xSemaphoreGive() API function, the equivalent action that instead uses a task + * notification is xTaskNotifyGiveIndexed(). + * + * When task notifications are being used as a binary or counting semaphore + * equivalent then the task being notified should wait for the notification + * using the ulTaskNotificationTakeIndexed() API function rather than the + * xTaskNotifyWaitIndexed() API function. + * + * **NOTE** Each notification within the array operates independently - a task + * can only block on one notification within the array at a time and will not be + * unblocked by a notification sent to any other array index. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. xTaskNotifyGive() is the original API function, and remains backward + * compatible by always operating on the notification value at index 0 in the + * array. Calling xTaskNotifyGive() is equivalent to calling + * xTaskNotifyGiveIndexed() with the uxIndexToNotify parameter set to 0. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param uxIndexToNotify The index within the target task's array of + * notification values to which the notification is to be sent. uxIndexToNotify + * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyGive() + * does not have this parameter and always sends notifications to index 0. + * + * @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the + * eAction parameter set to eIncrement - so pdPASS is always returned. + * + * \defgroup xTaskNotifyGiveIndexed xTaskNotifyGiveIndexed + * \ingroup TaskNotifications + */ +#define xTaskNotifyGive( xTaskToNotify ) \ + xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( 0 ), eIncrement, NULL ) +#define xTaskNotifyGiveIndexed( xTaskToNotify, uxIndexToNotify ) \ + xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( 0 ), eIncrement, NULL ) + +/** + * task. h + *
void vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken );
+ *
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
+ * + * A version of xTaskNotifyGiveIndexed() that can be called from an interrupt + * service routine (ISR). + * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for more details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro + * to be available. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment one of the task's notification values. In + * that way task notifications can be used to send data to a task, or be used as + * light weight and fast binary or counting semaphores. + * + * vTaskNotifyGiveIndexedFromISR() is intended for use when task notifications + * are used as light weight and faster binary or counting semaphore equivalents. + * Actual FreeRTOS semaphores are given from an ISR using the + * xSemaphoreGiveFromISR() API function, the equivalent action that instead uses + * a task notification is vTaskNotifyGiveIndexedFromISR(). + * + * When task notifications are being used as a binary or counting semaphore + * equivalent then the task being notified should wait for the notification + * using the ulTaskNotificationTakeIndexed() API function rather than the + * xTaskNotifyWaitIndexed() API function. + * + * **NOTE** Each notification within the array operates independently - a task + * can only block on one notification within the array at a time and will not be + * unblocked by a notification sent to any other array index. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. xTaskNotifyFromISR() is the original API function, and remains + * backward compatible by always operating on the notification value at index 0 + * within the array. Calling xTaskNotifyGiveFromISR() is equivalent to calling + * xTaskNotifyGiveIndexedFromISR() with the uxIndexToNotify parameter set to 0. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param uxIndexToNotify The index within the target task's array of + * notification values to which the notification is to be sent. uxIndexToNotify + * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. + * xTaskNotifyGiveFromISR() does not have this parameter and always sends + * notifications to index 0. + * + * @param pxHigherPriorityTaskWoken vTaskNotifyGiveFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the + * task to which the notification was sent to leave the Blocked state, and the + * unblocked task has a priority higher than the currently running task. If + * vTaskNotifyGiveFromISR() sets this value to pdTRUE then a context switch + * should be requested before the interrupt is exited. How a context switch is + * requested from an ISR is dependent on the port - see the documentation page + * for the port in use. + * + * \defgroup vTaskNotifyGiveIndexedFromISR vTaskNotifyGiveIndexedFromISR + * \ingroup TaskNotifications + */ +void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +#define vTaskNotifyGiveFromISR( xTaskToNotify, pxHigherPriorityTaskWoken ) \ + vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( pxHigherPriorityTaskWoken ) ); +#define vTaskNotifyGiveIndexedFromISR( xTaskToNotify, uxIndexToNotify, pxHigherPriorityTaskWoken ) \ + vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( pxHigherPriorityTaskWoken ) ); + +/** + * task. h + *
+ * uint32_t ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
+ *
+ * uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
+ * 
+ * + * Waits for a direct to task notification on a particular index in the calling + * task's notification array in a manner similar to taking a counting semaphore. + * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this + * function to be available. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment one of the task's notification values. In + * that way task notifications can be used to send data to a task, or be used as + * light weight and fast binary or counting semaphores. + * + * ulTaskNotifyTakeIndexed() is intended for use when a task notification is + * used as a faster and lighter weight binary or counting semaphore alternative. + * Actual FreeRTOS semaphores are taken using the xSemaphoreTake() API function, + * the equivalent action that instead uses a task notification is + * ulTaskNotifyTakeIndexed(). + * + * When a task is using its notification value as a binary or counting semaphore + * other tasks should send notifications to it using the xTaskNotifyGiveIndexed() + * macro, or xTaskNotifyIndex() function with the eAction parameter set to + * eIncrement. + * + * ulTaskNotifyTakeIndexed() can either clear the task's notification value at + * the array index specified by the uxIndexToWaitOn parameter to zero on exit, + * in which case the notification value acts like a binary semaphore, or + * decrement the notification value on exit, in which case the notification + * value acts like a counting semaphore. + * + * A task can use ulTaskNotifyTakeIndexed() to [optionally] block to wait for + * the task's notification value to be non-zero. The task does not consume any + * CPU time while it is in the Blocked state. + * + * Where as xTaskNotifyWaitIndexed() will return when a notification is pending, + * ulTaskNotifyTakeIndexed() will return when the task's notification value is + * not zero. + * + * **NOTE** Each notification within the array operates independently - a task + * can only block on one notification within the array at a time and will not be + * unblocked by a notification sent to any other array index. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. ulTaskNotifyTake() is the original API function, and remains backward + * compatible by always operating on the notification value at index 0 in the + * array. Calling ulTaskNotifyTake() is equivalent to calling + * ulTaskNotifyTakeIndexed() with the uxIndexToWaitOn parameter set to 0. + * + * @param uxIndexToWaitOn The index within the calling task's array of + * notification values on which the calling task will wait for a notification to + * be non-zero. uxIndexToWaitOn must be less than + * configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyTake() does + * not have this parameter and always waits for notifications on index 0. + * + * @param xClearCountOnExit if xClearCountOnExit is pdFALSE then the task's + * notification value is decremented when the function exits. In this way the + * notification value acts like a counting semaphore. If xClearCountOnExit is + * not pdFALSE then the task's notification value is cleared to zero when the + * function exits. In this way the notification value acts like a binary + * semaphore. + * + * @param xTicksToWait The maximum amount of time that the task should wait in + * the Blocked state for the task's notification value to be greater than zero, + * should the count not already be greater than zero when + * ulTaskNotifyTake() was called. The task will not consume any processing + * time while it is in the Blocked state. This is specified in kernel ticks, + * the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time + * specified in milliseconds to a time specified in ticks. + * + * @return The task's notification count before it is either cleared to zero or + * decremented (see the xClearCountOnExit parameter). + * + * \defgroup ulTaskNotifyTakeIndexed ulTaskNotifyTakeIndexed + * \ingroup TaskNotifications + */ +uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn, + BaseType_t xClearCountOnExit, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +#define ulTaskNotifyTake( xClearCountOnExit, xTicksToWait ) \ + ulTaskGenericNotifyTake( ( tskDEFAULT_INDEX_TO_NOTIFY ), ( xClearCountOnExit ), ( xTicksToWait ) ) +#define ulTaskNotifyTakeIndexed( uxIndexToWaitOn, xClearCountOnExit, xTicksToWait ) \ + ulTaskGenericNotifyTake( ( uxIndexToWaitOn ), ( xClearCountOnExit ), ( xTicksToWait ) ) + +/** + * task. h + *
+ * BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );
+ *
+ * BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
+ * 
+ * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these + * functions to be available. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * If a notification is sent to an index within the array of notifications then + * the notification at that index is said to be 'pending' until it is read or + * explicitly cleared by the receiving task. xTaskNotifyStateClearIndexed() + * is the function that clears a pending notification without reading the + * notification value. The notification value at the same array index is not + * altered. Set xTask to NULL to clear the notification state of the calling + * task. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. xTaskNotifyStateClear() is the original API function, and remains + * backward compatible by always operating on the notification value at index 0 + * within the array. Calling xTaskNotifyStateClear() is equivalent to calling + * xTaskNotifyStateClearIndexed() with the uxIndexToNotify parameter set to 0. + * + * @param xTask The handle of the RTOS task that will have a notification state + * cleared. Set xTask to NULL to clear a notification state in the calling + * task. To obtain a task's handle create the task using xTaskCreate() and + * make use of the pxCreatedTask parameter, or create the task using + * xTaskCreateStatic() and store the returned value, or use the task's name in + * a call to xTaskGetHandle(). + * + * @param uxIndexToClear The index within the target task's array of + * notification values to act upon. For example, setting uxIndexToClear to 1 + * will clear the state of the notification at index 1 within the array. + * uxIndexToClear must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. + * ulTaskNotifyStateClear() does not have this parameter and always acts on the + * notification at index 0. + * + * @return pdTRUE if the task's notification state was set to + * eNotWaitingNotification, otherwise pdFALSE. + * + * \defgroup xTaskNotifyStateClearIndexed xTaskNotifyStateClearIndexed + * \ingroup TaskNotifications + */ +BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear ) PRIVILEGED_FUNCTION; +#define xTaskNotifyStateClear( xTask ) \ + xTaskGenericNotifyStateClear( ( xTask ), ( tskDEFAULT_INDEX_TO_NOTIFY ) ) +#define xTaskNotifyStateClearIndexed( xTask, uxIndexToClear ) \ + xTaskGenericNotifyStateClear( ( xTask ), ( uxIndexToClear ) ) + +/** + * task. h + *
+ * uint32_t ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );
+ *
+ * uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );
+ * 
+ * + * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these + * functions to be available. + * + * Each task has a private array of "notification values" (or 'notifications'), + * each of which is a 32-bit unsigned integer (uint32_t). The constant + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array, and (for backward compatibility) defaults to 1 if left undefined. + * Prior to FreeRTOS V10.4.0 there was only one notification value per task. + * + * ulTaskNotifyValueClearIndexed() clears the bits specified by the + * ulBitsToClear bit mask in the notification value at array index uxIndexToClear + * of the task referenced by xTask. + * + * Backward compatibility information: + * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and + * all task notification API functions operated on that value. Replacing the + * single notification value with an array of notification values necessitated a + * new set of API functions that could address specific notifications within the + * array. ulTaskNotifyValueClear() is the original API function, and remains + * backward compatible by always operating on the notification value at index 0 + * within the array. Calling ulTaskNotifyValueClear() is equivalent to calling + * ulTaskNotifyValueClearIndexed() with the uxIndexToClear parameter set to 0. + * + * @param xTask The handle of the RTOS task that will have bits in one of its + * notification values cleared. Set xTask to NULL to clear bits in a + * notification value of the calling task. To obtain a task's handle create the + * task using xTaskCreate() and make use of the pxCreatedTask parameter, or + * create the task using xTaskCreateStatic() and store the returned value, or + * use the task's name in a call to xTaskGetHandle(). + * + * @param uxIndexToClear The index within the target task's array of + * notification values in which to clear the bits. uxIndexToClear + * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. + * ulTaskNotifyValueClear() does not have this parameter and always clears bits + * in the notification value at index 0. + * + * @param ulBitsToClear Bit mask of the bits to clear in the notification value of + * xTask. Set a bit to 1 to clear the corresponding bits in the task's notification + * value. Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear + * the notification value to 0. Set ulBitsToClear to 0 to query the task's + * notification value without clearing any bits. + * + * + * @return The value of the target task's notification value before the bits + * specified by ulBitsToClear were cleared. + * \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear + * \ingroup TaskNotifications + */ +uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear, + uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; +#define ulTaskNotifyValueClear( xTask, ulBitsToClear ) \ + ulTaskGenericNotifyValueClear( ( xTask ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulBitsToClear ) ) +#define ulTaskNotifyValueClearIndexed( xTask, uxIndexToClear, ulBitsToClear ) \ + ulTaskGenericNotifyValueClear( ( xTask ), ( uxIndexToClear ), ( ulBitsToClear ) ) + +/** + * task.h + *
+ * void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut );
+ * 
+ * + * Capture the current time for future use with xTaskCheckForTimeOut(). + * + * @param pxTimeOut Pointer to a timeout object into which the current time + * is to be captured. The captured time includes the tick count and the number + * of times the tick count has overflowed since the system first booted. + * \defgroup vTaskSetTimeOutState vTaskSetTimeOutState + * \ingroup TaskCtrl + */ +void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION; + +/** + * task.h + *
+ * BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );
+ * 
+ * + * Determines if pxTicksToWait ticks has passed since a time was captured + * using a call to vTaskSetTimeOutState(). The captured time includes the tick + * count and the number of times the tick count has overflowed. + * + * @param pxTimeOut The time status as captured previously using + * vTaskSetTimeOutState. If the timeout has not yet occurred, it is updated + * to reflect the current time status. + * @param pxTicksToWait The number of ticks to check for timeout i.e. if + * pxTicksToWait ticks have passed since pxTimeOut was last updated (either by + * vTaskSetTimeOutState() or xTaskCheckForTimeOut()), the timeout has occurred. + * If the timeout has not occurred, pxTIcksToWait is updated to reflect the + * number of remaining ticks. + * + * @return If timeout has occurred, pdTRUE is returned. Otherwise pdFALSE is + * returned and pxTicksToWait is updated to reflect the number of remaining + * ticks. + * + * @see https://www.FreeRTOS.org/xTaskCheckForTimeOut.html + * + * Example Usage: + *
+ *  // Driver library function used to receive uxWantedBytes from an Rx buffer
+ *  // that is filled by a UART interrupt. If there are not enough bytes in the
+ *  // Rx buffer then the task enters the Blocked state until it is notified that
+ *  // more data has been placed into the buffer. If there is still not enough
+ *  // data then the task re-enters the Blocked state, and xTaskCheckForTimeOut()
+ *  // is used to re-calculate the Block time to ensure the total amount of time
+ *  // spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. This
+ *  // continues until either the buffer contains at least uxWantedBytes bytes,
+ *  // or the total amount of time spent in the Blocked state reaches
+ *  // MAX_TIME_TO_WAIT – at which point the task reads however many bytes are
+ *  // available up to a maximum of uxWantedBytes.
+ *
+ *  size_t xUART_Receive( uint8_t *pucBuffer, size_t uxWantedBytes )
+ *  {
+ *  size_t uxReceived = 0;
+ *  TickType_t xTicksToWait = MAX_TIME_TO_WAIT;
+ *  TimeOut_t xTimeOut;
+ *
+ *      // Initialize xTimeOut.  This records the time at which this function
+ *      // was entered.
+ *      vTaskSetTimeOutState( &xTimeOut );
+ *
+ *      // Loop until the buffer contains the wanted number of bytes, or a
+ *      // timeout occurs.
+ *      while( UART_bytes_in_rx_buffer( pxUARTInstance ) < uxWantedBytes )
+ *      {
+ *          // The buffer didn't contain enough data so this task is going to
+ *          // enter the Blocked state. Adjusting xTicksToWait to account for
+ *          // any time that has been spent in the Blocked state within this
+ *          // function so far to ensure the total amount of time spent in the
+ *          // Blocked state does not exceed MAX_TIME_TO_WAIT.
+ *          if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) != pdFALSE )
+ *          {
+ *              //Timed out before the wanted number of bytes were available,
+ *              // exit the loop.
+ *              break;
+ *          }
+ *
+ *          // Wait for a maximum of xTicksToWait ticks to be notified that the
+ *          // receive interrupt has placed more data into the buffer.
+ *          ulTaskNotifyTake( pdTRUE, xTicksToWait );
+ *      }
+ *
+ *      // Attempt to read uxWantedBytes from the receive buffer into pucBuffer.
+ *      // The actual number of bytes read (which might be less than
+ *      // uxWantedBytes) is returned.
+ *      uxReceived = UART_read_from_receive_buffer( pxUARTInstance,
+ *                                                  pucBuffer,
+ *                                                  uxWantedBytes );
+ *
+ *      return uxReceived;
+ *  }
+ * 
+ * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut + * \ingroup TaskCtrl + */ +BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, + TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * task.h + *
+ * BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp );
+ * 
+ * + * This function corrects the tick count value after the application code has held + * interrupts disabled for an extended period resulting in tick interrupts having + * been missed. + * + * This function is similar to vTaskStepTick(), however, unlike + * vTaskStepTick(), xTaskCatchUpTicks() may move the tick count forward past a + * time at which a task should be removed from the blocked state. That means + * tasks may have to be removed from the blocked state as the tick count is + * moved. + * + * @param xTicksToCatchUp The number of tick interrupts that have been missed due to + * interrupts being disabled. Its value is not computed automatically, so must be + * computed by the application writer. + * + * @return pdTRUE if moving the tick count forward resulted in a task leaving the + * blocked state and a context switch being performed. Otherwise pdFALSE. + * + * \defgroup xTaskCatchUpTicks xTaskCatchUpTicks + * \ingroup TaskCtrl + */ +BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION; + + +/*----------------------------------------------------------- +* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES +*----------------------------------------------------------*/ + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Called from the real time kernel tick (either preemptive or cooperative), + * this increments the tick count and checks if any tasks that are blocked + * for a finite period required removing from a blocked list and placing on + * a ready list. If a non-zero value is returned then a context switch is + * required because either: + * + A task was removed from a blocked list because its timeout had expired, + * or + * + Time slicing is in use and there is a task of equal priority to the + * currently running task. + */ +BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes the calling task from the ready list and places it both + * on the list of tasks waiting for a particular event, and the + * list of delayed tasks. The task will be removed from both lists + * and replaced on the ready list should either the event occur (and + * there be no higher priority tasks waiting on the same event) or + * the delay period expires. + * + * The 'unordered' version replaces the event list item value with the + * xItemValue value, and inserts the list item at the end of the list. + * + * The 'ordered' version uses the existing event list item value (which is the + * owning tasks priority) to insert the list item into the event list is task + * priority order. + * + * @param pxEventList The list containing tasks that are blocked waiting + * for the event to occur. + * + * @param xItemValue The item value to use for the event list item when the + * event list is not ordered by task priority. + * + * @param xTicksToWait The maximum amount of time that the task should wait + * for the event to occur. This is specified in kernel ticks,the constant + * portTICK_PERIOD_MS can be used to convert kernel ticks into a real time + * period. + */ +void vTaskPlaceOnEventList( List_t * const pxEventList, + const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, + const TickType_t xItemValue, + const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * This function performs nearly the same function as vTaskPlaceOnEventList(). + * The difference being that this function does not permit tasks to block + * indefinitely, whereas vTaskPlaceOnEventList() does. + * + */ +void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, + TickType_t xTicksToWait, + const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes a task from both the specified event list and the list of blocked + * tasks, and places it on a ready queue. + * + * xTaskRemoveFromEventList()/vTaskRemoveFromUnorderedEventList() will be called + * if either an event occurs to unblock a task, or the block timeout period + * expires. + * + * xTaskRemoveFromEventList() is used when the event list is in task priority + * order. It removes the list item from the head of the event list as that will + * have the highest priority owning task of all the tasks on the event list. + * vTaskRemoveFromUnorderedEventList() is used when the event list is not + * ordered and the event list items hold something other than the owning tasks + * priority. In this case the event list item value is updated to the value + * passed in the xItemValue parameter. + * + * @return pdTRUE if the task being removed has a higher priority than the task + * making the call, otherwise pdFALSE. + */ +BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION; +void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, + const TickType_t xItemValue ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Sets the pointer to the current TCB to the TCB of the highest priority task + * that is ready to run. + */ +portDONT_DISCARD void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION; + +/* + * THESE FUNCTIONS MUST NOT BE USED FROM APPLICATION CODE. THEY ARE USED BY + * THE EVENT BITS MODULE. + */ +TickType_t uxTaskResetEventItemValue( void ) PRIVILEGED_FUNCTION; + +/* + * Return the handle of the calling task. + */ +TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION; + +/* + * Shortcut used by the queue implementation to prevent unnecessary call to + * taskYIELD(); + */ +void vTaskMissedYield( void ) PRIVILEGED_FUNCTION; + +/* + * Returns the scheduler state as taskSCHEDULER_RUNNING, + * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. + */ +BaseType_t xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION; + +/* + * Raises the priority of the mutex holder to that of the calling task should + * the mutex holder have a priority less than the calling task. + */ +BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * Set the priority of a task back to its proper priority in the case that it + * inherited a higher priority while it was holding a semaphore. + */ +BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * If a higher priority task attempting to obtain a mutex caused a lower + * priority task to inherit the higher priority task's priority - but the higher + * priority task then timed out without obtaining the mutex, then the lower + * priority task will disinherit the priority again - but only down as far as + * the highest priority task that is still waiting for the mutex (if there were + * more than one task waiting for the mutex). + */ +void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, + UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION; + +/* + * Get the uxTCBNumber assigned to the task referenced by the xTask parameter. + */ +UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/* + * Set the uxTaskNumber of the task referenced by the xTask parameter to + * uxHandle. + */ +void vTaskSetTaskNumber( TaskHandle_t xTask, + const UBaseType_t uxHandle ) PRIVILEGED_FUNCTION; + +/* + * Only available when configUSE_TICKLESS_IDLE is set to 1. + * If tickless mode is being used, or a low power mode is implemented, then + * the tick interrupt will not execute during idle periods. When this is the + * case, the tick count value maintained by the scheduler needs to be kept up + * to date with the actual execution time by being skipped forward by a time + * equal to the idle period. + */ +void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION; + +/* + * Only available when configUSE_TICKLESS_IDLE is set to 1. + * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port + * specific sleep function to determine if it is ok to proceed with the sleep, + * and if it is ok to proceed, if it is ok to sleep indefinitely. + * + * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only + * called with the scheduler suspended, not from within a critical section. It + * is therefore possible for an interrupt to request a context switch between + * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being + * entered. eTaskConfirmSleepModeStatus() should be called from a short + * critical section between the timer being stopped and the sleep mode being + * entered to ensure it is ok to proceed into the sleep mode. + */ +eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION; + +/* + * For internal use only. Increment the mutex held count when a mutex is + * taken and return the handle of the task that has taken the mutex. + */ +TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION; + +/* + * For internal use only. Same as vTaskSetTimeOutState(), but without a critical + * section. + */ +void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION; + + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ +#endif /* INC_TASK_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/timers.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/timers.h new file mode 100644 index 0000000..f767d5c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/include/timers.h @@ -0,0 +1,1351 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef TIMERS_H +#define TIMERS_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include timers.h" +#endif + +/*lint -save -e537 This headers are only multiply included if the application code + * happens to also be including task.h. */ +#include "task.h" +/*lint -restore */ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- +* MACROS AND DEFINITIONS +*----------------------------------------------------------*/ + +/* IDs for commands that can be sent/received on the timer queue. These are to + * be used solely through the macros that make up the public software timer API, + * as defined below. The commands that are sent from interrupts must use the + * highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task + * or interrupt version of the queue send function should be used. */ +#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR ( ( BaseType_t ) -2 ) +#define tmrCOMMAND_EXECUTE_CALLBACK ( ( BaseType_t ) -1 ) +#define tmrCOMMAND_START_DONT_TRACE ( ( BaseType_t ) 0 ) +#define tmrCOMMAND_START ( ( BaseType_t ) 1 ) +#define tmrCOMMAND_RESET ( ( BaseType_t ) 2 ) +#define tmrCOMMAND_STOP ( ( BaseType_t ) 3 ) +#define tmrCOMMAND_CHANGE_PERIOD ( ( BaseType_t ) 4 ) +#define tmrCOMMAND_DELETE ( ( BaseType_t ) 5 ) + +#define tmrFIRST_FROM_ISR_COMMAND ( ( BaseType_t ) 6 ) +#define tmrCOMMAND_START_FROM_ISR ( ( BaseType_t ) 6 ) +#define tmrCOMMAND_RESET_FROM_ISR ( ( BaseType_t ) 7 ) +#define tmrCOMMAND_STOP_FROM_ISR ( ( BaseType_t ) 8 ) +#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR ( ( BaseType_t ) 9 ) + + +/** + * Type by which software timers are referenced. For example, a call to + * xTimerCreate() returns an TimerHandle_t variable that can then be used to + * reference the subject timer in calls to other software timer API functions + * (for example, xTimerStart(), xTimerReset(), etc.). + */ +struct tmrTimerControl; /* The old naming convention is used to prevent breaking kernel aware debuggers. */ +typedef struct tmrTimerControl * TimerHandle_t; + +/* + * Defines the prototype to which timer callback functions must conform. + */ +typedef void (* TimerCallbackFunction_t)( TimerHandle_t xTimer ); + +/* + * Defines the prototype to which functions used with the + * xTimerPendFunctionCallFromISR() function must conform. + */ +typedef void (* PendedFunction_t)( void *, + uint32_t ); + +/** + * TimerHandle_t xTimerCreate( const char * const pcTimerName, + * TickType_t xTimerPeriodInTicks, + * UBaseType_t uxAutoReload, + * void * pvTimerID, + * TimerCallbackFunction_t pxCallbackFunction ); + * + * Creates a new software timer instance, and returns a handle by which the + * created software timer can be referenced. + * + * Internally, within the FreeRTOS implementation, software timers use a block + * of memory, in which the timer data structure is stored. If a software timer + * is created using xTimerCreate() then the required memory is automatically + * dynamically allocated inside the xTimerCreate() function. (see + * https://www.FreeRTOS.org/a00111.html). If a software timer is created using + * xTimerCreateStatic() then the application writer must provide the memory that + * will get used by the software timer. xTimerCreateStatic() therefore allows a + * software timer to be created without using any dynamic memory allocation. + * + * Timers are created in the dormant state. The xTimerStart(), xTimerReset(), + * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and + * xTimerChangePeriodFromISR() API functions can all be used to transition a + * timer into the active state. + * + * @param pcTimerName A text name that is assigned to the timer. This is done + * purely to assist debugging. The kernel itself only ever references a timer + * by its handle, and never by its name. + * + * @param xTimerPeriodInTicks The timer period. The time is defined in tick + * periods so the constant portTICK_PERIOD_MS can be used to convert a time that + * has been specified in milliseconds. For example, if the timer must expire + * after 100 ticks, then xTimerPeriodInTicks should be set to 100. + * Alternatively, if the timer must expire after 500ms, then xPeriod can be set + * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or + * equal to 1000. Time timer period must be greater than 0. + * + * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will + * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter. + * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and + * enter the dormant state after it expires. + * + * @param pvTimerID An identifier that is assigned to the timer being created. + * Typically this would be used in the timer callback function to identify which + * timer expired when the same callback function is assigned to more than one + * timer. + * + * @param pxCallbackFunction The function to call when the timer expires. + * Callback functions must have the prototype defined by TimerCallbackFunction_t, + * which is "void vCallbackFunction( TimerHandle_t xTimer );". + * + * @return If the timer is successfully created then a handle to the newly + * created timer is returned. If the timer cannot be created because there is + * insufficient FreeRTOS heap remaining to allocate the timer + * structures then NULL is returned. + * + * Example usage: + * @verbatim + * #define NUM_TIMERS 5 + * + * // An array to hold handles to the created timers. + * TimerHandle_t xTimers[ NUM_TIMERS ]; + * + * // An array to hold a count of the number of times each timer expires. + * int32_t lExpireCounters[ NUM_TIMERS ] = { 0 }; + * + * // Define a callback function that will be used by multiple timer instances. + * // The callback function does nothing but count the number of times the + * // associated timer expires, and stop the timer once the timer has expired + * // 10 times. + * void vTimerCallback( TimerHandle_t pxTimer ) + * { + * int32_t lArrayIndex; + * const int32_t xMaxExpiryCountBeforeStopping = 10; + * + * // Optionally do something if the pxTimer parameter is NULL. + * configASSERT( pxTimer ); + * + * // Which timer expired? + * lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer ); + * + * // Increment the number of times that pxTimer has expired. + * lExpireCounters[ lArrayIndex ] += 1; + * + * // If the timer has expired 10 times then stop it from running. + * if( lExpireCounters[ lArrayIndex ] == xMaxExpiryCountBeforeStopping ) + * { + * // Do not use a block time if calling a timer API function from a + * // timer callback function, as doing so could cause a deadlock! + * xTimerStop( pxTimer, 0 ); + * } + * } + * + * void main( void ) + * { + * int32_t x; + * + * // Create then start some timers. Starting the timers before the scheduler + * // has been started means the timers will start running immediately that + * // the scheduler starts. + * for( x = 0; x < NUM_TIMERS; x++ ) + * { + * xTimers[ x ] = xTimerCreate( "Timer", // Just a text name, not used by the kernel. + * ( 100 * x ), // The timer period in ticks. + * pdTRUE, // The timers will auto-reload themselves when they expire. + * ( void * ) x, // Assign each timer a unique id equal to its array index. + * vTimerCallback // Each timer calls the same callback when it expires. + * ); + * + * if( xTimers[ x ] == NULL ) + * { + * // The timer was not created. + * } + * else + * { + * // Start the timer. No block time is specified, and even if one was + * // it would be ignored because the scheduler has not yet been + * // started. + * if( xTimerStart( xTimers[ x ], 0 ) != pdPASS ) + * { + * // The timer could not be set into the Active state. + * } + * } + * } + * + * // ... + * // Create tasks here. + * // ... + * + * // Starting the scheduler will start the timers running as they have already + * // been set into the active state. + * vTaskStartScheduler(); + * + * // Should not reach here. + * for( ;; ); + * } + * @endverbatim + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION; +#endif + +/** + * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName, + * TickType_t xTimerPeriodInTicks, + * UBaseType_t uxAutoReload, + * void * pvTimerID, + * TimerCallbackFunction_t pxCallbackFunction, + * StaticTimer_t *pxTimerBuffer ); + * + * Creates a new software timer instance, and returns a handle by which the + * created software timer can be referenced. + * + * Internally, within the FreeRTOS implementation, software timers use a block + * of memory, in which the timer data structure is stored. If a software timer + * is created using xTimerCreate() then the required memory is automatically + * dynamically allocated inside the xTimerCreate() function. (see + * https://www.FreeRTOS.org/a00111.html). If a software timer is created using + * xTimerCreateStatic() then the application writer must provide the memory that + * will get used by the software timer. xTimerCreateStatic() therefore allows a + * software timer to be created without using any dynamic memory allocation. + * + * Timers are created in the dormant state. The xTimerStart(), xTimerReset(), + * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and + * xTimerChangePeriodFromISR() API functions can all be used to transition a + * timer into the active state. + * + * @param pcTimerName A text name that is assigned to the timer. This is done + * purely to assist debugging. The kernel itself only ever references a timer + * by its handle, and never by its name. + * + * @param xTimerPeriodInTicks The timer period. The time is defined in tick + * periods so the constant portTICK_PERIOD_MS can be used to convert a time that + * has been specified in milliseconds. For example, if the timer must expire + * after 100 ticks, then xTimerPeriodInTicks should be set to 100. + * Alternatively, if the timer must expire after 500ms, then xPeriod can be set + * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or + * equal to 1000. The timer period must be greater than 0. + * + * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will + * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter. + * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and + * enter the dormant state after it expires. + * + * @param pvTimerID An identifier that is assigned to the timer being created. + * Typically this would be used in the timer callback function to identify which + * timer expired when the same callback function is assigned to more than one + * timer. + * + * @param pxCallbackFunction The function to call when the timer expires. + * Callback functions must have the prototype defined by TimerCallbackFunction_t, + * which is "void vCallbackFunction( TimerHandle_t xTimer );". + * + * @param pxTimerBuffer Must point to a variable of type StaticTimer_t, which + * will be then be used to hold the software timer's data structures, removing + * the need for the memory to be allocated dynamically. + * + * @return If the timer is created then a handle to the created timer is + * returned. If pxTimerBuffer was NULL then NULL is returned. + * + * Example usage: + * @verbatim + * + * // The buffer used to hold the software timer's data structure. + * static StaticTimer_t xTimerBuffer; + * + * // A variable that will be incremented by the software timer's callback + * // function. + * UBaseType_t uxVariableToIncrement = 0; + * + * // A software timer callback function that increments a variable passed to + * // it when the software timer was created. After the 5th increment the + * // callback function stops the software timer. + * static void prvTimerCallback( TimerHandle_t xExpiredTimer ) + * { + * UBaseType_t *puxVariableToIncrement; + * BaseType_t xReturned; + * + * // Obtain the address of the variable to increment from the timer ID. + * puxVariableToIncrement = ( UBaseType_t * ) pvTimerGetTimerID( xExpiredTimer ); + * + * // Increment the variable to show the timer callback has executed. + * ( *puxVariableToIncrement )++; + * + * // If this callback has executed the required number of times, stop the + * // timer. + * if( *puxVariableToIncrement == 5 ) + * { + * // This is called from a timer callback so must not block. + * xTimerStop( xExpiredTimer, staticDONT_BLOCK ); + * } + * } + * + * + * void main( void ) + * { + * // Create the software time. xTimerCreateStatic() has an extra parameter + * // than the normal xTimerCreate() API function. The parameter is a pointer + * // to the StaticTimer_t structure that will hold the software timer + * // structure. If the parameter is passed as NULL then the structure will be + * // allocated dynamically, just as if xTimerCreate() had been called. + * xTimer = xTimerCreateStatic( "T1", // Text name for the task. Helps debugging only. Not used by FreeRTOS. + * xTimerPeriod, // The period of the timer in ticks. + * pdTRUE, // This is an auto-reload timer. + * ( void * ) &uxVariableToIncrement, // A variable incremented by the software timer's callback function + * prvTimerCallback, // The function to execute when the timer expires. + * &xTimerBuffer ); // The buffer that will hold the software timer structure. + * + * // The scheduler has not started yet so a block time is not used. + * xReturned = xTimerStart( xTimer, 0 ); + * + * // ... + * // Create tasks here. + * // ... + * + * // Starting the scheduler will start the timers running as they have already + * // been set into the active state. + * vTaskStartScheduler(); + * + * // Should not reach here. + * for( ;; ); + * } + * @endverbatim + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION; +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/** + * void *pvTimerGetTimerID( TimerHandle_t xTimer ); + * + * Returns the ID assigned to the timer. + * + * IDs are assigned to timers using the pvTimerID parameter of the call to + * xTimerCreated() that was used to create the timer, and by calling the + * vTimerSetTimerID() API function. + * + * If the same callback function is assigned to multiple timers then the timer + * ID can be used as time specific (timer local) storage. + * + * @param xTimer The timer being queried. + * + * @return The ID assigned to the timer being queried. + * + * Example usage: + * + * See the xTimerCreate() API function example usage scenario. + */ +void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; + +/** + * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ); + * + * Sets the ID assigned to the timer. + * + * IDs are assigned to timers using the pvTimerID parameter of the call to + * xTimerCreated() that was used to create the timer. + * + * If the same callback function is assigned to multiple timers then the timer + * ID can be used as time specific (timer local) storage. + * + * @param xTimer The timer being updated. + * + * @param pvNewID The ID to assign to the timer. + * + * Example usage: + * + * See the xTimerCreate() API function example usage scenario. + */ +void vTimerSetTimerID( TimerHandle_t xTimer, + void * pvNewID ) PRIVILEGED_FUNCTION; + +/** + * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ); + * + * Queries a timer to see if it is active or dormant. + * + * A timer will be dormant if: + * 1) It has been created but not started, or + * 2) It is an expired one-shot timer that has not been restarted. + * + * Timers are created in the dormant state. The xTimerStart(), xTimerReset(), + * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and + * xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the + * active state. + * + * @param xTimer The timer being queried. + * + * @return pdFALSE will be returned if the timer is dormant. A value other than + * pdFALSE will be returned if the timer is active. + * + * Example usage: + * @verbatim + * // This function assumes xTimer has already been created. + * void vAFunction( TimerHandle_t xTimer ) + * { + * if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )" + * { + * // xTimer is active, do something. + * } + * else + * { + * // xTimer is not active, do something else. + * } + * } + * @endverbatim + */ +BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; + +/** + * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ); + * + * Simply returns the handle of the timer service/daemon task. It it not valid + * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started. + */ +TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION; + +/** + * BaseType_t xTimerStart( TimerHandle_t xTimer, TickType_t xTicksToWait ); + * + * Timer functionality is provided by a timer service/daemon task. Many of the + * public FreeRTOS timer API functions send commands to the timer service task + * through a queue called the timer command queue. The timer command queue is + * private to the kernel itself and is not directly accessible to application + * code. The length of the timer command queue is set by the + * configTIMER_QUEUE_LENGTH configuration constant. + * + * xTimerStart() starts a timer that was previously created using the + * xTimerCreate() API function. If the timer had already been started and was + * already in the active state, then xTimerStart() has equivalent functionality + * to the xTimerReset() API function. + * + * Starting a timer ensures the timer is in the active state. If the timer + * is not stopped, deleted, or reset in the mean time, the callback function + * associated with the timer will get called 'n' ticks after xTimerStart() was + * called, where 'n' is the timers defined period. + * + * It is valid to call xTimerStart() before the scheduler has been started, but + * when this is done the timer will not actually start until the scheduler is + * started, and the timers expiry time will be relative to when the scheduler is + * started, not relative to when xTimerStart() was called. + * + * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStart() + * to be available. + * + * @param xTimer The handle of the timer being started/restarted. + * + * @param xTicksToWait Specifies the time, in ticks, that the calling task should + * be held in the Blocked state to wait for the start command to be successfully + * sent to the timer command queue, should the queue already be full when + * xTimerStart() was called. xTicksToWait is ignored if xTimerStart() is called + * before the scheduler is started. + * + * @return pdFAIL will be returned if the start command could not be sent to + * the timer command queue even after xTicksToWait ticks had passed. pdPASS will + * be returned if the command was successfully sent to the timer command queue. + * When the command is actually processed will depend on the priority of the + * timer service/daemon task relative to other tasks in the system, although the + * timers expiry time is relative to when xTimerStart() is actually called. The + * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY + * configuration constant. + * + * Example usage: + * + * See the xTimerCreate() API function example usage scenario. + * + */ +#define xTimerStart( xTimer, xTicksToWait ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) ) + +/** + * BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait ); + * + * Timer functionality is provided by a timer service/daemon task. Many of the + * public FreeRTOS timer API functions send commands to the timer service task + * through a queue called the timer command queue. The timer command queue is + * private to the kernel itself and is not directly accessible to application + * code. The length of the timer command queue is set by the + * configTIMER_QUEUE_LENGTH configuration constant. + * + * xTimerStop() stops a timer that was previously started using either of the + * The xTimerStart(), xTimerReset(), xTimerStartFromISR(), xTimerResetFromISR(), + * xTimerChangePeriod() or xTimerChangePeriodFromISR() API functions. + * + * Stopping a timer ensures the timer is not in the active state. + * + * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStop() + * to be available. + * + * @param xTimer The handle of the timer being stopped. + * + * @param xTicksToWait Specifies the time, in ticks, that the calling task should + * be held in the Blocked state to wait for the stop command to be successfully + * sent to the timer command queue, should the queue already be full when + * xTimerStop() was called. xTicksToWait is ignored if xTimerStop() is called + * before the scheduler is started. + * + * @return pdFAIL will be returned if the stop command could not be sent to + * the timer command queue even after xTicksToWait ticks had passed. pdPASS will + * be returned if the command was successfully sent to the timer command queue. + * When the command is actually processed will depend on the priority of the + * timer service/daemon task relative to other tasks in the system. The timer + * service/daemon task priority is set by the configTIMER_TASK_PRIORITY + * configuration constant. + * + * Example usage: + * + * See the xTimerCreate() API function example usage scenario. + * + */ +#define xTimerStop( xTimer, xTicksToWait ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) ) + +/** + * BaseType_t xTimerChangePeriod( TimerHandle_t xTimer, + * TickType_t xNewPeriod, + * TickType_t xTicksToWait ); + * + * Timer functionality is provided by a timer service/daemon task. Many of the + * public FreeRTOS timer API functions send commands to the timer service task + * through a queue called the timer command queue. The timer command queue is + * private to the kernel itself and is not directly accessible to application + * code. The length of the timer command queue is set by the + * configTIMER_QUEUE_LENGTH configuration constant. + * + * xTimerChangePeriod() changes the period of a timer that was previously + * created using the xTimerCreate() API function. + * + * xTimerChangePeriod() can be called to change the period of an active or + * dormant state timer. + * + * The configUSE_TIMERS configuration constant must be set to 1 for + * xTimerChangePeriod() to be available. + * + * @param xTimer The handle of the timer that is having its period changed. + * + * @param xNewPeriod The new period for xTimer. Timer periods are specified in + * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time + * that has been specified in milliseconds. For example, if the timer must + * expire after 100 ticks, then xNewPeriod should be set to 100. Alternatively, + * if the timer must expire after 500ms, then xNewPeriod can be set to + * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than + * or equal to 1000. + * + * @param xTicksToWait Specifies the time, in ticks, that the calling task should + * be held in the Blocked state to wait for the change period command to be + * successfully sent to the timer command queue, should the queue already be + * full when xTimerChangePeriod() was called. xTicksToWait is ignored if + * xTimerChangePeriod() is called before the scheduler is started. + * + * @return pdFAIL will be returned if the change period command could not be + * sent to the timer command queue even after xTicksToWait ticks had passed. + * pdPASS will be returned if the command was successfully sent to the timer + * command queue. When the command is actually processed will depend on the + * priority of the timer service/daemon task relative to other tasks in the + * system. The timer service/daemon task priority is set by the + * configTIMER_TASK_PRIORITY configuration constant. + * + * Example usage: + * @verbatim + * // This function assumes xTimer has already been created. If the timer + * // referenced by xTimer is already active when it is called, then the timer + * // is deleted. If the timer referenced by xTimer is not active when it is + * // called, then the period of the timer is set to 500ms and the timer is + * // started. + * void vAFunction( TimerHandle_t xTimer ) + * { + * if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )" + * { + * // xTimer is already active - delete it. + * xTimerDelete( xTimer ); + * } + * else + * { + * // xTimer is not active, change its period to 500ms. This will also + * // cause the timer to start. Block for a maximum of 100 ticks if the + * // change period command cannot immediately be sent to the timer + * // command queue. + * if( xTimerChangePeriod( xTimer, 500 / portTICK_PERIOD_MS, 100 ) == pdPASS ) + * { + * // The command was successfully sent. + * } + * else + * { + * // The command could not be sent, even after waiting for 100 ticks + * // to pass. Take appropriate action here. + * } + * } + * } + * @endverbatim + */ +#define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) ) + +/** + * BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait ); + * + * Timer functionality is provided by a timer service/daemon task. Many of the + * public FreeRTOS timer API functions send commands to the timer service task + * through a queue called the timer command queue. The timer command queue is + * private to the kernel itself and is not directly accessible to application + * code. The length of the timer command queue is set by the + * configTIMER_QUEUE_LENGTH configuration constant. + * + * xTimerDelete() deletes a timer that was previously created using the + * xTimerCreate() API function. + * + * The configUSE_TIMERS configuration constant must be set to 1 for + * xTimerDelete() to be available. + * + * @param xTimer The handle of the timer being deleted. + * + * @param xTicksToWait Specifies the time, in ticks, that the calling task should + * be held in the Blocked state to wait for the delete command to be + * successfully sent to the timer command queue, should the queue already be + * full when xTimerDelete() was called. xTicksToWait is ignored if xTimerDelete() + * is called before the scheduler is started. + * + * @return pdFAIL will be returned if the delete command could not be sent to + * the timer command queue even after xTicksToWait ticks had passed. pdPASS will + * be returned if the command was successfully sent to the timer command queue. + * When the command is actually processed will depend on the priority of the + * timer service/daemon task relative to other tasks in the system. The timer + * service/daemon task priority is set by the configTIMER_TASK_PRIORITY + * configuration constant. + * + * Example usage: + * + * See the xTimerChangePeriod() API function example usage scenario. + */ +#define xTimerDelete( xTimer, xTicksToWait ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) ) + +/** + * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait ); + * + * Timer functionality is provided by a timer service/daemon task. Many of the + * public FreeRTOS timer API functions send commands to the timer service task + * through a queue called the timer command queue. The timer command queue is + * private to the kernel itself and is not directly accessible to application + * code. The length of the timer command queue is set by the + * configTIMER_QUEUE_LENGTH configuration constant. + * + * xTimerReset() re-starts a timer that was previously created using the + * xTimerCreate() API function. If the timer had already been started and was + * already in the active state, then xTimerReset() will cause the timer to + * re-evaluate its expiry time so that it is relative to when xTimerReset() was + * called. If the timer was in the dormant state then xTimerReset() has + * equivalent functionality to the xTimerStart() API function. + * + * Resetting a timer ensures the timer is in the active state. If the timer + * is not stopped, deleted, or reset in the mean time, the callback function + * associated with the timer will get called 'n' ticks after xTimerReset() was + * called, where 'n' is the timers defined period. + * + * It is valid to call xTimerReset() before the scheduler has been started, but + * when this is done the timer will not actually start until the scheduler is + * started, and the timers expiry time will be relative to when the scheduler is + * started, not relative to when xTimerReset() was called. + * + * The configUSE_TIMERS configuration constant must be set to 1 for xTimerReset() + * to be available. + * + * @param xTimer The handle of the timer being reset/started/restarted. + * + * @param xTicksToWait Specifies the time, in ticks, that the calling task should + * be held in the Blocked state to wait for the reset command to be successfully + * sent to the timer command queue, should the queue already be full when + * xTimerReset() was called. xTicksToWait is ignored if xTimerReset() is called + * before the scheduler is started. + * + * @return pdFAIL will be returned if the reset command could not be sent to + * the timer command queue even after xTicksToWait ticks had passed. pdPASS will + * be returned if the command was successfully sent to the timer command queue. + * When the command is actually processed will depend on the priority of the + * timer service/daemon task relative to other tasks in the system, although the + * timers expiry time is relative to when xTimerStart() is actually called. The + * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY + * configuration constant. + * + * Example usage: + * @verbatim + * // When a key is pressed, an LCD back-light is switched on. If 5 seconds pass + * // without a key being pressed, then the LCD back-light is switched off. In + * // this case, the timer is a one-shot timer. + * + * TimerHandle_t xBacklightTimer = NULL; + * + * // The callback function assigned to the one-shot timer. In this case the + * // parameter is not used. + * void vBacklightTimerCallback( TimerHandle_t pxTimer ) + * { + * // The timer expired, therefore 5 seconds must have passed since a key + * // was pressed. Switch off the LCD back-light. + * vSetBacklightState( BACKLIGHT_OFF ); + * } + * + * // The key press event handler. + * void vKeyPressEventHandler( char cKey ) + * { + * // Ensure the LCD back-light is on, then reset the timer that is + * // responsible for turning the back-light off after 5 seconds of + * // key inactivity. Wait 10 ticks for the command to be successfully sent + * // if it cannot be sent immediately. + * vSetBacklightState( BACKLIGHT_ON ); + * if( xTimerReset( xBacklightTimer, 100 ) != pdPASS ) + * { + * // The reset command was not executed successfully. Take appropriate + * // action here. + * } + * + * // Perform the rest of the key processing here. + * } + * + * void main( void ) + * { + * int32_t x; + * + * // Create then start the one-shot timer that is responsible for turning + * // the back-light off if no keys are pressed within a 5 second period. + * xBacklightTimer = xTimerCreate( "BacklightTimer", // Just a text name, not used by the kernel. + * ( 5000 / portTICK_PERIOD_MS), // The timer period in ticks. + * pdFALSE, // The timer is a one-shot timer. + * 0, // The id is not used by the callback so can take any value. + * vBacklightTimerCallback // The callback function that switches the LCD back-light off. + * ); + * + * if( xBacklightTimer == NULL ) + * { + * // The timer was not created. + * } + * else + * { + * // Start the timer. No block time is specified, and even if one was + * // it would be ignored because the scheduler has not yet been + * // started. + * if( xTimerStart( xBacklightTimer, 0 ) != pdPASS ) + * { + * // The timer could not be set into the Active state. + * } + * } + * + * // ... + * // Create tasks here. + * // ... + * + * // Starting the scheduler will start the timer running as it has already + * // been set into the active state. + * vTaskStartScheduler(); + * + * // Should not reach here. + * for( ;; ); + * } + * @endverbatim + */ +#define xTimerReset( xTimer, xTicksToWait ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) ) + +/** + * BaseType_t xTimerStartFromISR( TimerHandle_t xTimer, + * BaseType_t *pxHigherPriorityTaskWoken ); + * + * A version of xTimerStart() that can be called from an interrupt service + * routine. + * + * @param xTimer The handle of the timer being started/restarted. + * + * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most + * of its time in the Blocked state, waiting for messages to arrive on the timer + * command queue. Calling xTimerStartFromISR() writes a message to the timer + * command queue, so has the potential to transition the timer service/daemon + * task out of the Blocked state. If calling xTimerStartFromISR() causes the + * timer service/daemon task to leave the Blocked state, and the timer service/ + * daemon task has a priority equal to or greater than the currently executing + * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will + * get set to pdTRUE internally within the xTimerStartFromISR() function. If + * xTimerStartFromISR() sets this value to pdTRUE then a context switch should + * be performed before the interrupt exits. + * + * @return pdFAIL will be returned if the start command could not be sent to + * the timer command queue. pdPASS will be returned if the command was + * successfully sent to the timer command queue. When the command is actually + * processed will depend on the priority of the timer service/daemon task + * relative to other tasks in the system, although the timers expiry time is + * relative to when xTimerStartFromISR() is actually called. The timer + * service/daemon task priority is set by the configTIMER_TASK_PRIORITY + * configuration constant. + * + * Example usage: + * @verbatim + * // This scenario assumes xBacklightTimer has already been created. When a + * // key is pressed, an LCD back-light is switched on. If 5 seconds pass + * // without a key being pressed, then the LCD back-light is switched off. In + * // this case, the timer is a one-shot timer, and unlike the example given for + * // the xTimerReset() function, the key press event handler is an interrupt + * // service routine. + * + * // The callback function assigned to the one-shot timer. In this case the + * // parameter is not used. + * void vBacklightTimerCallback( TimerHandle_t pxTimer ) + * { + * // The timer expired, therefore 5 seconds must have passed since a key + * // was pressed. Switch off the LCD back-light. + * vSetBacklightState( BACKLIGHT_OFF ); + * } + * + * // The key press interrupt service routine. + * void vKeyPressEventInterruptHandler( void ) + * { + * BaseType_t xHigherPriorityTaskWoken = pdFALSE; + * + * // Ensure the LCD back-light is on, then restart the timer that is + * // responsible for turning the back-light off after 5 seconds of + * // key inactivity. This is an interrupt service routine so can only + * // call FreeRTOS API functions that end in "FromISR". + * vSetBacklightState( BACKLIGHT_ON ); + * + * // xTimerStartFromISR() or xTimerResetFromISR() could be called here + * // as both cause the timer to re-calculate its expiry time. + * // xHigherPriorityTaskWoken was initialised to pdFALSE when it was + * // declared (in this function). + * if( xTimerStartFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS ) + * { + * // The start command was not executed successfully. Take appropriate + * // action here. + * } + * + * // Perform the rest of the key processing here. + * + * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch + * // should be performed. The syntax required to perform a context switch + * // from inside an ISR varies from port to port, and from compiler to + * // compiler. Inspect the demos for the port you are using to find the + * // actual syntax required. + * if( xHigherPriorityTaskWoken != pdFALSE ) + * { + * // Call the interrupt safe yield function here (actual function + * // depends on the FreeRTOS port being used). + * } + * } + * @endverbatim + */ +#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U ) + +/** + * BaseType_t xTimerStopFromISR( TimerHandle_t xTimer, + * BaseType_t *pxHigherPriorityTaskWoken ); + * + * A version of xTimerStop() that can be called from an interrupt service + * routine. + * + * @param xTimer The handle of the timer being stopped. + * + * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most + * of its time in the Blocked state, waiting for messages to arrive on the timer + * command queue. Calling xTimerStopFromISR() writes a message to the timer + * command queue, so has the potential to transition the timer service/daemon + * task out of the Blocked state. If calling xTimerStopFromISR() causes the + * timer service/daemon task to leave the Blocked state, and the timer service/ + * daemon task has a priority equal to or greater than the currently executing + * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will + * get set to pdTRUE internally within the xTimerStopFromISR() function. If + * xTimerStopFromISR() sets this value to pdTRUE then a context switch should + * be performed before the interrupt exits. + * + * @return pdFAIL will be returned if the stop command could not be sent to + * the timer command queue. pdPASS will be returned if the command was + * successfully sent to the timer command queue. When the command is actually + * processed will depend on the priority of the timer service/daemon task + * relative to other tasks in the system. The timer service/daemon task + * priority is set by the configTIMER_TASK_PRIORITY configuration constant. + * + * Example usage: + * @verbatim + * // This scenario assumes xTimer has already been created and started. When + * // an interrupt occurs, the timer should be simply stopped. + * + * // The interrupt service routine that stops the timer. + * void vAnExampleInterruptServiceRoutine( void ) + * { + * BaseType_t xHigherPriorityTaskWoken = pdFALSE; + * + * // The interrupt has occurred - simply stop the timer. + * // xHigherPriorityTaskWoken was set to pdFALSE where it was defined + * // (within this function). As this is an interrupt service routine, only + * // FreeRTOS API functions that end in "FromISR" can be used. + * if( xTimerStopFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS ) + * { + * // The stop command was not executed successfully. Take appropriate + * // action here. + * } + * + * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch + * // should be performed. The syntax required to perform a context switch + * // from inside an ISR varies from port to port, and from compiler to + * // compiler. Inspect the demos for the port you are using to find the + * // actual syntax required. + * if( xHigherPriorityTaskWoken != pdFALSE ) + * { + * // Call the interrupt safe yield function here (actual function + * // depends on the FreeRTOS port being used). + * } + * } + * @endverbatim + */ +#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U ) + +/** + * BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer, + * TickType_t xNewPeriod, + * BaseType_t *pxHigherPriorityTaskWoken ); + * + * A version of xTimerChangePeriod() that can be called from an interrupt + * service routine. + * + * @param xTimer The handle of the timer that is having its period changed. + * + * @param xNewPeriod The new period for xTimer. Timer periods are specified in + * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time + * that has been specified in milliseconds. For example, if the timer must + * expire after 100 ticks, then xNewPeriod should be set to 100. Alternatively, + * if the timer must expire after 500ms, then xNewPeriod can be set to + * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than + * or equal to 1000. + * + * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most + * of its time in the Blocked state, waiting for messages to arrive on the timer + * command queue. Calling xTimerChangePeriodFromISR() writes a message to the + * timer command queue, so has the potential to transition the timer service/ + * daemon task out of the Blocked state. If calling xTimerChangePeriodFromISR() + * causes the timer service/daemon task to leave the Blocked state, and the + * timer service/daemon task has a priority equal to or greater than the + * currently executing task (the task that was interrupted), then + * *pxHigherPriorityTaskWoken will get set to pdTRUE internally within the + * xTimerChangePeriodFromISR() function. If xTimerChangePeriodFromISR() sets + * this value to pdTRUE then a context switch should be performed before the + * interrupt exits. + * + * @return pdFAIL will be returned if the command to change the timers period + * could not be sent to the timer command queue. pdPASS will be returned if the + * command was successfully sent to the timer command queue. When the command + * is actually processed will depend on the priority of the timer service/daemon + * task relative to other tasks in the system. The timer service/daemon task + * priority is set by the configTIMER_TASK_PRIORITY configuration constant. + * + * Example usage: + * @verbatim + * // This scenario assumes xTimer has already been created and started. When + * // an interrupt occurs, the period of xTimer should be changed to 500ms. + * + * // The interrupt service routine that changes the period of xTimer. + * void vAnExampleInterruptServiceRoutine( void ) + * { + * BaseType_t xHigherPriorityTaskWoken = pdFALSE; + * + * // The interrupt has occurred - change the period of xTimer to 500ms. + * // xHigherPriorityTaskWoken was set to pdFALSE where it was defined + * // (within this function). As this is an interrupt service routine, only + * // FreeRTOS API functions that end in "FromISR" can be used. + * if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS ) + * { + * // The command to change the timers period was not executed + * // successfully. Take appropriate action here. + * } + * + * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch + * // should be performed. The syntax required to perform a context switch + * // from inside an ISR varies from port to port, and from compiler to + * // compiler. Inspect the demos for the port you are using to find the + * // actual syntax required. + * if( xHigherPriorityTaskWoken != pdFALSE ) + * { + * // Call the interrupt safe yield function here (actual function + * // depends on the FreeRTOS port being used). + * } + * } + * @endverbatim + */ +#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U ) + +/** + * BaseType_t xTimerResetFromISR( TimerHandle_t xTimer, + * BaseType_t *pxHigherPriorityTaskWoken ); + * + * A version of xTimerReset() that can be called from an interrupt service + * routine. + * + * @param xTimer The handle of the timer that is to be started, reset, or + * restarted. + * + * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most + * of its time in the Blocked state, waiting for messages to arrive on the timer + * command queue. Calling xTimerResetFromISR() writes a message to the timer + * command queue, so has the potential to transition the timer service/daemon + * task out of the Blocked state. If calling xTimerResetFromISR() causes the + * timer service/daemon task to leave the Blocked state, and the timer service/ + * daemon task has a priority equal to or greater than the currently executing + * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will + * get set to pdTRUE internally within the xTimerResetFromISR() function. If + * xTimerResetFromISR() sets this value to pdTRUE then a context switch should + * be performed before the interrupt exits. + * + * @return pdFAIL will be returned if the reset command could not be sent to + * the timer command queue. pdPASS will be returned if the command was + * successfully sent to the timer command queue. When the command is actually + * processed will depend on the priority of the timer service/daemon task + * relative to other tasks in the system, although the timers expiry time is + * relative to when xTimerResetFromISR() is actually called. The timer service/daemon + * task priority is set by the configTIMER_TASK_PRIORITY configuration constant. + * + * Example usage: + * @verbatim + * // This scenario assumes xBacklightTimer has already been created. When a + * // key is pressed, an LCD back-light is switched on. If 5 seconds pass + * // without a key being pressed, then the LCD back-light is switched off. In + * // this case, the timer is a one-shot timer, and unlike the example given for + * // the xTimerReset() function, the key press event handler is an interrupt + * // service routine. + * + * // The callback function assigned to the one-shot timer. In this case the + * // parameter is not used. + * void vBacklightTimerCallback( TimerHandle_t pxTimer ) + * { + * // The timer expired, therefore 5 seconds must have passed since a key + * // was pressed. Switch off the LCD back-light. + * vSetBacklightState( BACKLIGHT_OFF ); + * } + * + * // The key press interrupt service routine. + * void vKeyPressEventInterruptHandler( void ) + * { + * BaseType_t xHigherPriorityTaskWoken = pdFALSE; + * + * // Ensure the LCD back-light is on, then reset the timer that is + * // responsible for turning the back-light off after 5 seconds of + * // key inactivity. This is an interrupt service routine so can only + * // call FreeRTOS API functions that end in "FromISR". + * vSetBacklightState( BACKLIGHT_ON ); + * + * // xTimerStartFromISR() or xTimerResetFromISR() could be called here + * // as both cause the timer to re-calculate its expiry time. + * // xHigherPriorityTaskWoken was initialised to pdFALSE when it was + * // declared (in this function). + * if( xTimerResetFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS ) + * { + * // The reset command was not executed successfully. Take appropriate + * // action here. + * } + * + * // Perform the rest of the key processing here. + * + * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch + * // should be performed. The syntax required to perform a context switch + * // from inside an ISR varies from port to port, and from compiler to + * // compiler. Inspect the demos for the port you are using to find the + * // actual syntax required. + * if( xHigherPriorityTaskWoken != pdFALSE ) + * { + * // Call the interrupt safe yield function here (actual function + * // depends on the FreeRTOS port being used). + * } + * } + * @endverbatim + */ +#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) \ + xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U ) + + +/** + * BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, + * void *pvParameter1, + * uint32_t ulParameter2, + * BaseType_t *pxHigherPriorityTaskWoken ); + * + * + * Used from application interrupt service routines to defer the execution of a + * function to the RTOS daemon task (the timer service task, hence this function + * is implemented in timers.c and is prefixed with 'Timer'). + * + * Ideally an interrupt service routine (ISR) is kept as short as possible, but + * sometimes an ISR either has a lot of processing to do, or needs to perform + * processing that is not deterministic. In these cases + * xTimerPendFunctionCallFromISR() can be used to defer processing of a function + * to the RTOS daemon task. + * + * A mechanism is provided that allows the interrupt to return directly to the + * task that will subsequently execute the pended callback function. This + * allows the callback function to execute contiguously in time with the + * interrupt - just as if the callback had executed in the interrupt itself. + * + * @param xFunctionToPend The function to execute from the timer service/ + * daemon task. The function must conform to the PendedFunction_t + * prototype. + * + * @param pvParameter1 The value of the callback function's first parameter. + * The parameter has a void * type to allow it to be used to pass any type. + * For example, unsigned longs can be cast to a void *, or the void * can be + * used to point to a structure. + * + * @param ulParameter2 The value of the callback function's second parameter. + * + * @param pxHigherPriorityTaskWoken As mentioned above, calling this function + * will result in a message being sent to the timer daemon task. If the + * priority of the timer daemon task (which is set using + * configTIMER_TASK_PRIORITY in FreeRTOSConfig.h) is higher than the priority of + * the currently running task (the task the interrupt interrupted) then + * *pxHigherPriorityTaskWoken will be set to pdTRUE within + * xTimerPendFunctionCallFromISR(), indicating that a context switch should be + * requested before the interrupt exits. For that reason + * *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the + * example code below. + * + * @return pdPASS is returned if the message was successfully sent to the + * timer daemon task, otherwise pdFALSE is returned. + * + * Example usage: + * @verbatim + * + * // The callback function that will execute in the context of the daemon task. + * // Note callback functions must all use this same prototype. + * void vProcessInterface( void *pvParameter1, uint32_t ulParameter2 ) + * { + * BaseType_t xInterfaceToService; + * + * // The interface that requires servicing is passed in the second + * // parameter. The first parameter is not used in this case. + * xInterfaceToService = ( BaseType_t ) ulParameter2; + * + * // ...Perform the processing here... + * } + * + * // An ISR that receives data packets from multiple interfaces + * void vAnISR( void ) + * { + * BaseType_t xInterfaceToService, xHigherPriorityTaskWoken; + * + * // Query the hardware to determine which interface needs processing. + * xInterfaceToService = prvCheckInterfaces(); + * + * // The actual processing is to be deferred to a task. Request the + * // vProcessInterface() callback function is executed, passing in the + * // number of the interface that needs processing. The interface to + * // service is passed in the second parameter. The first parameter is + * // not used in this case. + * xHigherPriorityTaskWoken = pdFALSE; + * xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken ); + * + * // If xHigherPriorityTaskWoken is now set to pdTRUE then a context + * // switch should be requested. The macro used is port specific and will + * // be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to + * // the documentation page for the port being used. + * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); + * + * } + * @endverbatim + */ +BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, + void * pvParameter1, + uint32_t ulParameter2, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/** + * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, + * void *pvParameter1, + * uint32_t ulParameter2, + * TickType_t xTicksToWait ); + * + * + * Used to defer the execution of a function to the RTOS daemon task (the timer + * service task, hence this function is implemented in timers.c and is prefixed + * with 'Timer'). + * + * @param xFunctionToPend The function to execute from the timer service/ + * daemon task. The function must conform to the PendedFunction_t + * prototype. + * + * @param pvParameter1 The value of the callback function's first parameter. + * The parameter has a void * type to allow it to be used to pass any type. + * For example, unsigned longs can be cast to a void *, or the void * can be + * used to point to a structure. + * + * @param ulParameter2 The value of the callback function's second parameter. + * + * @param xTicksToWait Calling this function will result in a message being + * sent to the timer daemon task on a queue. xTicksToWait is the amount of + * time the calling task should remain in the Blocked state (so not using any + * processing time) for space to become available on the timer queue if the + * queue is found to be full. + * + * @return pdPASS is returned if the message was successfully sent to the + * timer daemon task, otherwise pdFALSE is returned. + * + */ +BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, + void * pvParameter1, + uint32_t ulParameter2, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * const char * const pcTimerGetName( TimerHandle_t xTimer ); + * + * Returns the name that was assigned to a timer when the timer was created. + * + * @param xTimer The handle of the timer being queried. + * + * @return The name assigned to the timer specified by the xTimer parameter. + */ +const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + +/** + * void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ); + * + * Updates a timer to be either an auto-reload timer, in which case the timer + * automatically resets itself each time it expires, or a one-shot timer, in + * which case the timer will only expire once unless it is manually restarted. + * + * @param xTimer The handle of the timer being updated. + * + * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will + * expire repeatedly with a frequency set by the timer's period (see the + * xTimerPeriodInTicks parameter of the xTimerCreate() API function). If + * uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and + * enter the dormant state after it expires. + */ +void vTimerSetReloadMode( TimerHandle_t xTimer, + const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION; + +/** + * UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ); + * + * Queries a timer to determine if it is an auto-reload timer, in which case the timer + * automatically resets itself each time it expires, or a one-shot timer, in + * which case the timer will only expire once unless it is manually restarted. + * + * @param xTimer The handle of the timer being queried. + * + * @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise + * pdFALSE is returned. + */ +UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; + +/** + * TickType_t xTimerGetPeriod( TimerHandle_t xTimer ); + * + * Returns the period of a timer. + * + * @param xTimer The handle of the timer being queried. + * + * @return The period of the timer in ticks. + */ +TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; + +/** + * TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ); + * + * Returns the time in ticks at which the timer will expire. If this is less + * than the current tick count then the expiry time has overflowed from the + * current time. + * + * @param xTimer The handle of the timer being queried. + * + * @return If the timer is running then the time in ticks at which the timer + * will next expire is returned. If the timer is not running then the return + * value is undefined. + */ +TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; + +/* + * Functions beyond this part are not part of the public API and are intended + * for use by the kernel only. + */ +BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION; +BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, + const BaseType_t xCommandID, + const TickType_t xOptionalValue, + BaseType_t * const pxHigherPriorityTaskWoken, + const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +#if ( configUSE_TRACE_FACILITY == 1 ) + void vTimerSetTimerNumber( TimerHandle_t xTimer, + UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION; + UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; +#endif + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + + /** + * task.h + *
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, StackType_t ** ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ) 
+ * + * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Timer Task TCB. This function is required when + * configSUPPORT_STATIC_ALLOCATION is set. For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION + * + * @param ppxTimerTaskTCBBuffer A handle to a statically allocated TCB buffer + * @param ppxTimerTaskStackBuffer A handle to a statically allocated Stack buffer for thie idle task + * @param pulTimerTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer + */ + void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, + StackType_t ** ppxTimerTaskStackBuffer, + uint32_t * pulTimerTaskStackSize ); + +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ +#endif /* TIMERS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/list.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/list.c new file mode 100644 index 0000000..17a4e90 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/list.c @@ -0,0 +1,210 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "list.h" + +/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be + * defined for the header files above, but not in this file, in order to + * generate the correct privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */ + +/*----------------------------------------------------------- +* PUBLIC LIST API documented in list.h +*----------------------------------------------------------*/ + +void vListInitialise( List_t * const pxList ) +{ + /* The list structure contains a list item which is used to mark the + * end of the list. To initialise the list the list end is inserted + * as the only list entry. */ + pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ + + /* The list end value is the highest possible value in the list to + * ensure it remains at the end of the list. */ + pxList->xListEnd.xItemValue = portMAX_DELAY; + + /* The list end next and previous pointers point to itself so we know + * when the list is empty. */ + pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ + pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ + + pxList->uxNumberOfItems = ( UBaseType_t ) 0U; + + /* Write known values into the list if + * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ); + listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ); +} +/*-----------------------------------------------------------*/ + +void vListInitialiseItem( ListItem_t * const pxItem ) +{ + /* Make sure the list item is not recorded as being on a list. */ + pxItem->pxContainer = NULL; + + /* Write known values into the list item if + * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); + listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); +} +/*-----------------------------------------------------------*/ + +void vListInsertEnd( List_t * const pxList, + ListItem_t * const pxNewListItem ) +{ + ListItem_t * const pxIndex = pxList->pxIndex; + + /* Only effective when configASSERT() is also defined, these tests may catch + * the list data structures being overwritten in memory. They will not catch + * data errors caused by incorrect configuration or use of FreeRTOS. */ + listTEST_LIST_INTEGRITY( pxList ); + listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); + + /* Insert a new list item into pxList, but rather than sort the list, + * makes the new list item the last item to be removed by a call to + * listGET_OWNER_OF_NEXT_ENTRY(). */ + pxNewListItem->pxNext = pxIndex; + pxNewListItem->pxPrevious = pxIndex->pxPrevious; + + /* Only used during decision coverage testing. */ + mtCOVERAGE_TEST_DELAY(); + + pxIndex->pxPrevious->pxNext = pxNewListItem; + pxIndex->pxPrevious = pxNewListItem; + + /* Remember which list the item is in. */ + pxNewListItem->pxContainer = pxList; + + ( pxList->uxNumberOfItems )++; +} +/*-----------------------------------------------------------*/ + +void vListInsert( List_t * const pxList, + ListItem_t * const pxNewListItem ) +{ + ListItem_t * pxIterator; + const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; + + /* Only effective when configASSERT() is also defined, these tests may catch + * the list data structures being overwritten in memory. They will not catch + * data errors caused by incorrect configuration or use of FreeRTOS. */ + listTEST_LIST_INTEGRITY( pxList ); + listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); + + /* Insert the new list item into the list, sorted in xItemValue order. + * + * If the list already contains a list item with the same item value then the + * new list item should be placed after it. This ensures that TCBs which are + * stored in ready lists (all of which have the same xItemValue value) get a + * share of the CPU. However, if the xItemValue is the same as the back marker + * the iteration loop below will not end. Therefore the value is checked + * first, and the algorithm slightly modified if necessary. */ + if( xValueOfInsertion == portMAX_DELAY ) + { + pxIterator = pxList->xListEnd.pxPrevious; + } + else + { + /* *** NOTE *********************************************************** + * If you find your application is crashing here then likely causes are + * listed below. In addition see https://www.FreeRTOS.org/FAQHelp.html for + * more tips, and ensure configASSERT() is defined! + * https://www.FreeRTOS.org/a00110.html#configASSERT + * + * 1) Stack overflow - + * see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html + * 2) Incorrect interrupt priority assignment, especially on Cortex-M + * parts where numerically high priority values denote low actual + * interrupt priorities, which can seem counter intuitive. See + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition + * of configMAX_SYSCALL_INTERRUPT_PRIORITY on + * https://www.FreeRTOS.org/a00110.html + * 3) Calling an API function from within a critical section or when + * the scheduler is suspended, or calling an API function that does + * not end in "FromISR" from an interrupt. + * 4) Using a queue or semaphore before it has been initialised or + * before the scheduler has been started (are interrupts firing + * before vTaskStartScheduler() has been called?). + **********************************************************************/ + + for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */ + { + /* There is nothing to do here, just iterating to the wanted + * insertion position. */ + } + } + + pxNewListItem->pxNext = pxIterator->pxNext; + pxNewListItem->pxNext->pxPrevious = pxNewListItem; + pxNewListItem->pxPrevious = pxIterator; + pxIterator->pxNext = pxNewListItem; + + /* Remember which list the item is in. This allows fast removal of the + * item later. */ + pxNewListItem->pxContainer = pxList; + + ( pxList->uxNumberOfItems )++; +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) +{ +/* The list item knows which list it is in. Obtain the list from the list + * item. */ + List_t * const pxList = pxItemToRemove->pxContainer; + + pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; + pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; + + /* Only used during decision coverage testing. */ + mtCOVERAGE_TEST_DELAY(); + + /* Make sure the index is left pointing to a valid item. */ + if( pxList->pxIndex == pxItemToRemove ) + { + pxList->pxIndex = pxItemToRemove->pxPrevious; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxItemToRemove->pxContainer = NULL; + ( pxList->uxNumberOfItems )--; + + return pxList->uxNumberOfItems; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMClang/Use-the-GCC-ports.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMClang/Use-the-GCC-ports.txt new file mode 100644 index 0000000..4a23ecd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMClang/Use-the-GCC-ports.txt @@ -0,0 +1,2 @@ +The FreeRTOS GCC port layer also builds and works with the ARMClang compiler. +To use the ARMClang compiler build the port files from FreeRTOS/Source/portable/GCC. \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/ReadMe.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/ReadMe.txt new file mode 100644 index 0000000..0bb046a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/ReadMe.txt @@ -0,0 +1,10 @@ +This directory tree contains the master copy of the FreeeRTOS Cortex-M33 port. +Do not use the files located here! These file are copied into separate +FreeRTOS/Source/portable/[compiler]/ARM_CM33_NNN directories prior to each +FreeRTOS release. + +If your Cortex-M33 application uses TrustZone then use the files from the +FreeRTOS/Source/portable/[compiler]/ARM_CM33 directories. + +If your Cortex-M33 application does not use TrustZone then use the files from +the FreeRTOS/Source/portable/[compiler]/ARM_CM33_NTZ directories. diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/copy_files.py b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/copy_files.py new file mode 100644 index 0000000..73252e8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/copy_files.py @@ -0,0 +1,103 @@ +#/* +# * FreeRTOS Kernel V10.4.3 +# * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +# * +# * Permission is hereby granted, free of charge, to any person obtaining a copy of +# * this software and associated documentation files (the "Software"), to deal in +# * the Software without restriction, including without limitation the rights to +# * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +# * the Software, and to permit persons to whom the Software is furnished to do so, +# * subject to the following conditions: +# * +# * The above copyright notice and this permission notice shall be included in all +# * copies or substantial portions of the Software. +# * +# * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +# * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +# * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +# * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +# * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +# * +# * https://www.FreeRTOS.org +# * https://github.com/FreeRTOS +# * +# * 1 tab == 4 spaces! +# */ + +import os +import shutil + +_THIS_FILE_DIRECTORY_ = os.path.dirname(os.path.realpath(__file__)) +_FREERTOS_PORTABLE_DIRECTORY_ = os.path.dirname(_THIS_FILE_DIRECTORY_) + +_COMPILERS_ = ['GCC', 'IAR'] +_ARCH_NS_ = ['ARM_CM33', 'ARM_CM33_NTZ', 'ARM_CM23', 'ARM_CM23_NTZ'] +_ARCH_S_ = ['ARM_CM33', 'ARM_CM23'] + +_SUPPORTED_CONFIGS_ = { + 'GCC' : ['ARM_CM33', 'ARM_CM33_NTZ', 'ARM_CM23', 'ARM_CM23_NTZ'], + 'IAR' : ['ARM_CM33', 'ARM_CM33_NTZ', 'ARM_CM23', 'ARM_CM23_NTZ'] + } + +# Files to be complied in the Secure Project +_SECURE_FILE_PATHS_ = [ + os.path.join('secure', 'context'), + os.path.join('secure', 'context', 'portable', '_COMPILER_ARCH_'), + os.path.join('secure', 'heap'), + os.path.join('secure', 'init'), + os.path.join('secure', 'macros') +] + +# Files to be complied in the Non-Secure Project +_NONSECURE_FILE_PATHS_ = [ + 'non_secure', + os.path.join('non_secure', 'portable', '_COMPILER_ARCH_') +] + + +def is_supported_config(compiler, arch): + return arch in _SUPPORTED_CONFIGS_[compiler] + + +def copy_files_in_dir(src_abs_path, dst_abs_path): + for src_file in os.listdir(src_abs_path): + src_file_abs_path = os.path.join(src_abs_path, src_file) + if os.path.isfile(src_file_abs_path) and src_file != 'ReadMe.txt': + if not os.path.exists(dst_abs_path): + os.makedirs(dst_abs_path) + print('Copying {}...'.format(os.path.basename(src_file_abs_path))) + shutil.copy2(src_file_abs_path, dst_abs_path) + + +def copy_files_for_compiler_and_arch(compiler, arch, src_paths, dst_path): + _COMPILER_ARCH_ = os.path.join(compiler, arch) + for src_path in src_paths: + src_path_sanitized = src_path.replace('_COMPILER_ARCH_', _COMPILER_ARCH_ ) + + src_abs_path = os.path.join(_THIS_FILE_DIRECTORY_, src_path_sanitized) + dst_abs_path = os.path.join(_FREERTOS_PORTABLE_DIRECTORY_, _COMPILER_ARCH_, dst_path) + + copy_files_in_dir(src_abs_path, dst_abs_path) + + +def copy_files(): + # Copy Secure Files + for compiler in _COMPILERS_: + for arch in _ARCH_S_: + if is_supported_config(compiler, arch): + copy_files_for_compiler_and_arch(compiler, arch, _SECURE_FILE_PATHS_, 'secure') + + # Copy Non-Secure Files + for compiler in _COMPILERS_: + for arch in _ARCH_NS_: + if is_supported_config(compiler, arch): + copy_files_for_compiler_and_arch(compiler, arch, _NONSECURE_FILE_PATHS_, 'non_secure') + + +def main(): + copy_files() + + +if __name__ == '__main__': + main() diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/ReadMe.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/ReadMe.txt new file mode 100644 index 0000000..994d937 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/ReadMe.txt @@ -0,0 +1,11 @@ +This directory tree contains the master copy of the FreeeRTOS Cortex-M33 port. +Do not use the files located here! These file are copied into separate +FreeRTOS/Source/portable/[compiler]/ARM_CM33_NNN directories prior to each +FreeRTOS release. + +If your Cortex-M33 application uses TrustZone then use the files from the +FreeRTOS/Source/portable/[compiler]/ARM_CM33 directories. + +If your Cortex-M33 application does not use TrustZone then use the files from +the FreeRTOS/Source/portable/[compiler]/ARM_CM33_NTZ directories. + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/port.c new file mode 100644 index 0000000..b4639df --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c new file mode 100644 index 0000000..5276d8f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c @@ -0,0 +1,453 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " movs r5, #4 \n"/* r5 = 4. */ + " str r5, [r2] \n"/* Program RNR = 4. */ + " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r5, #5 \n"/* r5 = 5. */ + " str r5, [r2] \n"/* Program RNR = 5. */ + " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r5, #6 \n"/* r5 = 6. */ + " str r5, [r2] \n"/* Program RNR = 6. */ + " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r5, #7 \n"/* r5 = 7. */ + " str r5, [r2] \n"/* Program RNR = 7. */ + " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + " ldr r5, xSecureContextConst2 \n" + " str r1, [r5] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " msr control, r3 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r4 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + " ldr r4, xSecureContextConst2 \n" + " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + "xSecureContextConst2: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " tst r0, r1 \n"/* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + " beq running_privileged \n"/* If the result of previous AND operation was 0, branch. */ + " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " bx lr \n"/* Return. */ + " running_privileged: \n" + " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " movs r1, #1 \n"/* r1 = 1. */ + " bics r0, r1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " orrs r0, r1 \n"/* r0 = r0 | r1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, PRIMASK \n" + " cpsid i \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr PRIMASK, r0 \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " .extern SecureContext_SaveContext \n" + " .extern SecureContext_LoadContext \n" + " \n" + " mrs r1, psp \n"/* Read PSP in r1. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + " \n" + " cbz r0, save_ns_context \n"/* No secure context to save. */ + " push {r0-r2, r14} \n" + " bl SecureContext_SaveContext \n" + " pop {r0-r3} \n"/* LR is now in r3. */ + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl save_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #16 \n"/* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #12 \n"/* Make space for xSecureContext, PSPLIM and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + " b select_next_task \n" + " \n" + " save_ns_context: \n" + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #48 \n"/* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " adds r1, r1, #16 \n"/* r1 = r1 + 16. */ + " stmia r1!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " subs r1, r1, #48 \n"/* r1 = r1 - 48. */ + " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #44 \n"/* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r7} \n"/* Store xSecureContext, PSPLIM, LR and the low registers that are not saved automatically. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + #endif /* configENABLE_MPU */ + " \n" + " select_next_task: \n" + " cpsid i \n" + " bl vTaskSwitchContext \n" + " cpsie i \n" + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " movs r5, #4 \n"/* r5 = 4. */ + " str r5, [r2] \n"/* Program RNR = 4. */ + " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r5, #5 \n"/* r5 = 5. */ + " str r5, [r2] \n"/* Program RNR = 5. */ + " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r5, #6 \n"/* r5 = 6. */ + " str r5, [r2] \n"/* Program RNR = 6. */ + " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r5, #7 \n"/* r5 = 7. */ + " str r5, [r2] \n"/* Program RNR = 7. */ + " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r0, r2-r4} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r3 \n"/* Restore the CONTROL register value for the task. */ + " mov lr, r4 \n"/* LR = r4. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r4} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r4} \n" + " mov lr, r4 \n"/* LR = r4. */ + " lsls r2, r4, #25 \n"/* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #else /* configENABLE_MPU */ + " ldmia r1!, {r0, r2-r3} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " mov lr, r3 \n"/* LR = r3. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r3} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r3} \n" + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #endif /* configENABLE_MPU */ + " \n" + " restore_ns_context: \n" + " adds r1, r1, #16 \n"/* Move to the high registers. */ + " ldmia r1!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */ + " mov r8, r4 \n"/* r8 = r4. */ + " mov r9, r5 \n"/* r9 = r5. */ + " mov r10, r6 \n"/* r10 = r6. */ + " mov r11, r7 \n"/* r11 = r7. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " subs r1, r1, #32 \n"/* Go back to the low registers. */ + " ldmia r1!, {r4-r7} \n"/* Restore the low registers that are not automatically restored. */ + " bx lr \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + "xSecureContextConst: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " movs r0, #4 \n" + " mov r1, lr \n" + " tst r0, r1 \n" + " beq stacking_used_msp \n" + " mrs r0, psp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " stacking_used_msp: \n" + " mrs r0, msp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ + +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " svc %0 \n"/* Secure context is allocated in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r1, [r0] \n"/* The first item in the TCB is the top of the stack. */ + " ldr r0, [r1] \n"/* The first item on the stack is the task's xSecureContext. */ + " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */ + " beq free_secure_context \n" + " bx lr \n"/* There is no secure context (xSecureContext is NULL). */ + " free_secure_context: \n" + " svc %0 \n"/* Secure context is freed in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portmacro.h new file mode 100644 index 0000000..61cd152 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portasm.c new file mode 100644 index 0000000..ef8f3e4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portasm.c @@ -0,0 +1,366 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " bics r3, r4 \n"/* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r4, [r1] \n"/* r4 = *r1 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " ldmia r1!, {r5,r6} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r4, #5 \n"/* r4 = 5. */ + " str r4, [r2] \n"/* Program RNR = 5. */ + " ldmia r1!, {r5,r6} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r4, #6 \n"/* r4 = 6. */ + " str r4, [r2] \n"/* Program RNR = 6. */ + " ldmia r1!, {r5,r6} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r4, #7 \n"/* r4 = 7. */ + " str r4, [r2] \n"/* Program RNR = 7. */ + " ldmia r1!, {r5,r6} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " orrs r3, r4 \n"/* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " msr control, r2 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r2} \n"/* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r2 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " tst r0, r1 \n"/* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + " beq running_privileged \n"/* If the result of previous AND operation was 0, branch. */ + " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " bx lr \n"/* Return. */ + " running_privileged: \n" + " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " movs r1, #1 \n"/* r1 = 1. */ + " bics r0, r1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " orrs r0, r1 \n"/* r0 = r0 | r1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, PRIMASK \n" + " cpsid i \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr PRIMASK, r0 \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r0, psp \n"/* Read PSP in r0. */ + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r0, r0, #44 \n"/* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + " str r0, [r1] \n"/* Save the new top of stack in TCB. */ + " mrs r1, psplim \n"/* r1 = PSPLIM. */ + " mrs r2, control \n"/* r2 = CONTROL. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r0!, {r1-r7} \n"/* Store on the stack - PSPLIM, CONTROL, LR and low registers that are not automatically saved. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r0!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + #else /* configENABLE_MPU */ + " subs r0, r0, #40 \n"/* Make space for PSPLIM, LR and the remaining registers on the stack. */ + " str r0, [r1] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r0!, {r2-r7} \n"/* Store on the stack - PSPLIM, LR and low registers that are not automatically saved. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r0!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + #endif /* configENABLE_MPU */ + " \n" + " cpsid i \n" + " bl vTaskSwitchContext \n" + " cpsie i \n" + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " bics r3, r4 \n"/* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r4, [r1] \n"/* r4 = *r1 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " ldmia r1!, {r5,r6} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r4, #5 \n"/* r4 = 5. */ + " str r4, [r2] \n"/* Program RNR = 5. */ + " ldmia r1!, {r5,r6} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r4, #6 \n"/* r4 = 6. */ + " str r4, [r2] \n"/* Program RNR = 6. */ + " ldmia r1!, {r5,r6} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r4, #7 \n"/* r4 = 7. */ + " str r4, [r2] \n"/* Program RNR = 7. */ + " ldmia r1!, {r5,r6} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " orrs r3, r4 \n"/* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " adds r0, r0, #28 \n"/* Move to the high registers. */ + " ldmia r0!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */ + " mov r8, r4 \n"/* r8 = r4. */ + " mov r9, r5 \n"/* r9 = r5. */ + " mov r10, r6 \n"/* r10 = r6. */ + " mov r11, r7 \n"/* r11 = r7. */ + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " subs r0, r0, #44 \n"/* Move to the starting of the saved context. */ + " ldmia r0!, {r1-r7} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r7 restored. */ + " msr psplim, r1 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r2 \n"/* Restore the CONTROL register value for the task. */ + " bx r3 \n" + #else /* configENABLE_MPU */ + " adds r0, r0, #24 \n"/* Move to the high registers. */ + " ldmia r0!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */ + " mov r8, r4 \n"/* r8 = r4. */ + " mov r9, r5 \n"/* r9 = r5. */ + " mov r10, r6 \n"/* r10 = r6. */ + " mov r11, r7 \n"/* r11 = r7. */ + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " subs r0, r0, #40 \n"/* Move to the starting of the saved context. */ + " ldmia r0!, {r2-r7} \n"/* Read from stack - r2 = PSPLIM, r3 = LR and r4-r7 restored. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " bx r3 \n" + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " movs r0, #4 \n" + " mov r1, lr \n" + " tst r0, r1 \n" + " beq stacking_used_msp \n" + " mrs r0, psp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " stacking_used_msp: \n" + " mrs r0, msp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portmacro.h new file mode 100644 index 0000000..61cd152 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c new file mode 100644 index 0000000..aaab4cf --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c @@ -0,0 +1,414 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst2 \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r3!, {r4-r11} \n"/* Read 4 set of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + " ldr r5, xSecureContextConst2 \n" + " str r1, [r5] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " msr control, r3 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r4 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + " ldr r4, xSecureContextConst2 \n" + " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + "xSecureContextConst2: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + " ite ne \n" + " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " bic r0, #1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " orr r0, #1 \n"/* r0 = r0 | 1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, basepri \n"/* r0 = basepri. Return original basepri value. */ + " mov r1, %0 \n"/* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " msr basepri, r1 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr basepri, r0 \n"/* basepri = ulMask. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " .extern SecureContext_SaveContext \n" + " .extern SecureContext_LoadContext \n" + " \n" + " mrs r1, psp \n"/* Read PSP in r1. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + " \n" + " cbz r0, save_ns_context \n"/* No secure context to save. */ + " push {r0-r2, r14} \n" + " bl SecureContext_SaveContext \n" + " pop {r0-r3} \n"/* LR is now in r3. */ + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl save_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #16 \n"/* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #12 \n"/* Make space for xSecureContext, PSPLIM and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + " b select_next_task \n" + " \n" + " save_ns_context: \n" + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_FPU == 1 ) + " tst lr, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vstmdbeq r1!, {s16-s31} \n"/* Store the FPU registers which are not saved automatically. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #48 \n"/* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " adds r1, r1, #16 \n"/* r1 = r1 + 16. */ + " stm r1, {r4-r11} \n"/* Store the registers that are not saved automatically. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " subs r1, r1, #16 \n"/* r1 = r1 - 16. */ + " stm r1, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #44 \n"/* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " adds r1, r1, #12 \n"/* r1 = r1 + 12. */ + " stm r1, {r4-r11} \n"/* Store the registers that are not saved automatically. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " subs r1, r1, #12 \n"/* r1 = r1 - 12. */ + " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + " \n" + " select_next_task: \n" + " mov r0, %0 \n"/* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */ + " msr basepri, r0 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n"/* r0 = 0. */ + " msr basepri, r0 \n"/* Enable interrupts. */ + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r3!, {r4-r11} \n"/* Read 4 sets of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r0, r2-r4} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r3 \n"/* Restore the CONTROL register value for the task. */ + " mov lr, r4 \n"/* LR = r4. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r4} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r4} \n" + " mov lr, r4 \n"/* LR = r4. */ + " lsls r2, r4, #25 \n"/* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #else /* configENABLE_MPU */ + " ldmia r1!, {r0, r2-r3} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " mov lr, r3 \n"/* LR = r3. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r3} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r3} \n" + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #endif /* configENABLE_MPU */ + " \n" + " restore_ns_context: \n" + " ldmia r1!, {r4-r11} \n"/* Restore the registers that are not automatically restored. */ + #if ( configENABLE_FPU == 1 ) + " tst lr, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vldmiaeq r1!, {s16-s31} \n"/* Restore the FPU registers which are not restored automatically. */ + #endif /* configENABLE_FPU */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + "xSecureContextConst: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " ldr r1, svchandler_address_const \n" + " bx r1 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ + +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " svc %0 \n"/* Secure context is allocated in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r1, [r0] \n"/* The first item in the TCB is the top of the stack. */ + " ldr r0, [r1] \n"/* The first item on the stack is the task's xSecureContext. */ + " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */ + " it ne \n" + " svcne %0 \n"/* Secure context is freed in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portmacro.h new file mode 100644 index 0000000..8e3b0b3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portasm.c new file mode 100644 index 0000000..98927a7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portasm.c @@ -0,0 +1,320 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r3, [r1] \n"/* r3 = *r1 i.e. r3 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r3, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r3, #4 \n"/* r3 = 4. */ + " str r3, [r2] \n"/* Program RNR = 4. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst2 \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 set of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " msr control, r2 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r2} \n"/* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r2 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + " ite ne \n" + " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " bic r0, #1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " orr r0, #1 \n"/* r0 = r0 | 1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, basepri \n"/* r0 = basepri. Return original basepri value. */ + " mov r1, %0 \n"/* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " msr basepri, r1 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr basepri, r0 \n"/* basepri = ulMask. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r0, psp \n"/* Read PSP in r0. */ + #if ( configENABLE_FPU == 1 ) + " tst lr, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vstmdbeq r0!, {s16-s31} \n"/* Store the FPU registers which are not saved automatically. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + " mrs r1, psplim \n"/* r1 = PSPLIM. */ + " mrs r2, control \n"/* r2 = CONTROL. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmdb r0!, {r1-r11} \n"/* Store on the stack - PSPLIM, CONTROL, LR and registers that are not automatically saved. */ + #else /* configENABLE_MPU */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmdb r0!, {r2-r11} \n"/* Store on the stack - PSPLIM, LR and registers that are not automatically saved. */ + #endif /* configENABLE_MPU */ + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " str r0, [r1] \n"/* Save the new top of stack in TCB. */ + " \n" + " mov r0, %0 \n"/* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */ + " msr basepri, r0 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n"/* r0 = 0. */ + " msr basepri, r0 \n"/* Enable interrupts. */ + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r3, [r1] \n"/* r3 = *r1 i.e. r3 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r3, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r3, #4 \n"/* r3 = 4. */ + " str r3, [r2] \n"/* Program RNR = 4. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldmia r0!, {r1-r11} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */ + #else /* configENABLE_MPU */ + " ldmia r0!, {r2-r11} \n"/* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_FPU == 1 ) + " tst r3, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vldmiaeq r0!, {s16-s31} \n"/* Restore the FPU registers which are not restored automatically. */ + #endif /* configENABLE_FPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " msr psplim, r1 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r2 \n"/* Restore the CONTROL register value for the task. */ + #else /* configENABLE_MPU */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + #endif /* configENABLE_MPU */ + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " bx r3 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " ldr r1, svchandler_address_const \n" + " bx r1 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portmacro.h new file mode 100644 index 0000000..8e3b0b3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s new file mode 100644 index 0000000..8003b45 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s @@ -0,0 +1,377 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + EXTERN pxCurrentTCB + EXTERN xSecureContext + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + EXTERN SecureContext_SaveContext + EXTERN SecureContext_LoadContext + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vPortAllocateSecureContext + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler + PUBLIC vPortFreeSecureContext + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + tst r0, r1 /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + beq running_privileged /* If the result of previous AND operation was 0, branch. */ + movs r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + bx lr /* Return. */ + running_privileged: + movs r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + orrs r0, r1 /* r0 = r0 | r1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vPortAllocateSecureContext: + svc 0 /* Secure context is allocated in the supervisor call. portSVC_ALLOCATE_SECURE_CONTEXT = 0. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r3] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + bics r4, r5 /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + movs r5, #4 /* r5 = 4. */ + str r5, [r2] /* Program RNR = 4. */ + ldmia r3!, {r6,r7} /* Read first set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write first set of RBAR/RLAR registers. */ + movs r5, #5 /* r5 = 5. */ + str r5, [r2] /* Program RNR = 5. */ + ldmia r3!, {r6,r7} /* Read second set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write second set of RBAR/RLAR registers. */ + movs r5, #6 /* r5 = 6. */ + str r5, [r2] /* Program RNR = 6. */ + ldmia r3!, {r6,r7} /* Read third set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write third set of RBAR/RLAR registers. */ + movs r5, #7 /* r5 = 7. */ + str r5, [r2] /* Program RNR = 7. */ + ldmia r3!, {r6,r7} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + orrs r4, r5 /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r4} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + ldr r5, =xSecureContext + str r1, [r5] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + msr control, r3 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r4 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r3} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + ldr r4, =xSecureContext + str r1, [r4] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r3 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + movs r1, #1 /* r1 = 1. */ + bics r0, r1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, PRIMASK + cpsid i + bx lr +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr PRIMASK, r0 + bx lr +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r1, psp /* Read PSP in r1. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + ldr r0, [r2] /* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + + cbz r0, save_ns_context /* No secure context to save. */ + push {r0-r2, r14} + bl SecureContext_SaveContext + pop {r0-r3} /* LR is now in r3. */ + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl save_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ +#if ( configENABLE_MPU == 1 ) + subs r1, r1, #16 /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ +#else /* configENABLE_MPU */ + subs r1, r1, #12 /* Make space for xSecureContext, PSPLIM and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r3} /* Store xSecureContext, PSPLIM and LR on the stack. */ +#endif /* configENABLE_MPU */ + b select_next_task + + save_ns_context: + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + subs r1, r1, #48 /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + adds r1, r1, #16 /* r1 = r1 + 16. */ + stmia r1!, {r4-r7} /* Store the low registers that are not saved automatically. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r1!, {r4-r7} /* Store the high registers that are not saved automatically. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + subs r1, r1, #48 /* r1 = r1 - 48. */ + stmia r1!, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + subs r1, r1, #44 /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r7} /* Store xSecureContext, PSPLIM, LR and the low registers that are not saved automatically. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r1!, {r4-r7} /* Store the high registers that are not saved automatically. */ + #endif /* configENABLE_MPU */ + + select_next_task: + cpsid i + bl vTaskSwitchContext + cpsie i + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r1, [r3] /* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + + #if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + bics r4, r5 /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + movs r5, #4 /* r5 = 4. */ + str r5, [r2] /* Program RNR = 4. */ + ldmia r3!, {r6,r7} /* Read first set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write first set of RBAR/RLAR registers. */ + movs r5, #5 /* r5 = 5. */ + str r5, [r2] /* Program RNR = 5. */ + ldmia r3!, {r6,r7} /* Read second set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write second set of RBAR/RLAR registers. */ + movs r5, #6 /* r5 = 6. */ + str r5, [r2] /* Program RNR = 6. */ + ldmia r3!, {r6,r7} /* Read third set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write third set of RBAR/RLAR registers. */ + movs r5, #7 /* r5 = 7. */ + str r5, [r2] /* Program RNR = 7. */ + ldmia r3!, {r6,r7} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + orrs r4, r5 /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + + #if ( configENABLE_MPU == 1 ) + ldmia r1!, {r0, r2-r4} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + msr control, r3 /* Restore the CONTROL register value for the task. */ + mov lr, r4 /* LR = r4. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r4} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r4} + mov lr, r4 /* LR = r4. */ + lsls r2, r4, #25 /* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #else /* configENABLE_MPU */ + ldmia r1!, {r0, r2-r3} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + mov lr, r3 /* LR = r3. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r3} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r3} + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #endif /* configENABLE_MPU */ + + restore_ns_context: + adds r1, r1, #16 /* Move to the high registers. */ + ldmia r1!, {r4-r7} /* Restore the high registers that are not automatically restored. */ + mov r8, r4 /* r8 = r4. */ + mov r9, r5 /* r9 = r5. */ + mov r10, r6 /* r10 = r6. */ + mov r11, r7 /* r11 = r7. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + subs r1, r1, #32 /* Go back to the low registers. */ + ldmia r1!, {r4-r7} /* Restore the low registers that are not automatically restored. */ + bx lr +/*-----------------------------------------------------------*/ + +SVC_Handler: + movs r0, #4 + mov r1, lr + tst r0, r1 + beq stacking_used_msp + mrs r0, psp + b vPortSVCHandler_C + stacking_used_msp: + mrs r0, msp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + +vPortFreeSecureContext: + ldr r1, [r0] /* The first item in the TCB is the top of the stack. */ + ldr r0, [r1] /* The first item on the stack is the task's xSecureContext. */ + cmp r0, #0 /* Raise svc if task's xSecureContext is not NULL. */ + beq free_secure_context + bx lr /* There is no secure context (xSecureContext is NULL). */ + free_secure_context: + svc 1 /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 1. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portmacro.h new file mode 100644 index 0000000..b36dc1f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portasm.s new file mode 100644 index 0000000..6e911bd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portasm.s @@ -0,0 +1,303 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + tst r0, r1 /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + beq running_privileged /* If the result of previous AND operation was 0, branch. */ + movs r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + bx lr /* Return. */ + running_privileged: + movs r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + bx lr /* Return. */ + +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + orrs r0, r1 /* r0 = r0 | r1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + bics r3, r4 /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + str r3, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r4, [r1] /* r4 = *r1 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + ldmia r1!, {r5,r6} /* Read first set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write first set of RBAR/RLAR registers. */ + movs r4, #5 /* r4 = 5. */ + str r4, [r2] /* Program RNR = 5. */ + ldmia r1!, {r5,r6} /* Read second set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write second set of RBAR/RLAR registers. */ + movs r4, #6 /* r4 = 6. */ + str r4, [r2] /* Program RNR = 6. */ + ldmia r1!, {r5,r6} /* Read third set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write third set of RBAR/RLAR registers. */ + movs r4, #7 /* r4 = 7. */ + str r4, [r2] /* Program RNR = 7. */ + ldmia r1!, {r5,r6} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + orrs r3, r4 /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + str r3, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r3} /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + msr control, r2 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r3 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r2} /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r2 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + movs r1, #1 /* r1 = 1. */ + bics r0, r1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ + nop +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, PRIMASK + cpsid i + bx lr +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr PRIMASK, r0 + bx lr +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r0, psp /* Read PSP in r0. */ + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ +#if ( configENABLE_MPU == 1 ) + subs r0, r0, #44 /* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + str r0, [r1] /* Save the new top of stack in TCB. */ + mrs r1, psplim /* r1 = PSPLIM. */ + mrs r2, control /* r2 = CONTROL. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r0!, {r1-r7} /* Store on the stack - PSPLIM, CONTROL, LR and low registers that are not automatically saved. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r0!, {r4-r7} /* Store the high registers that are not saved automatically. */ +#else /* configENABLE_MPU */ + subs r0, r0, #40 /* Make space for PSPLIM, LR and the remaining registers on the stack. */ + str r0, [r1] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r0!, {r2-r7} /* Store on the stack - PSPLIM, LR and low registers that are not automatically saved. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r0!, {r4-r7} /* Store the high registers that are not saved automatically. */ +#endif /* configENABLE_MPU */ + + cpsid i + bl vTaskSwitchContext + cpsie i + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + bics r3, r4 /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + str r3, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r4, [r1] /* r4 = *r1 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + ldmia r1!, {r5,r6} /* Read first set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write first set of RBAR/RLAR registers. */ + movs r4, #5 /* r4 = 5. */ + str r4, [r2] /* Program RNR = 5. */ + ldmia r1!, {r5,r6} /* Read second set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write second set of RBAR/RLAR registers. */ + movs r4, #6 /* r4 = 6. */ + str r4, [r2] /* Program RNR = 6. */ + ldmia r1!, {r5,r6} /* Read third set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write third set of RBAR/RLAR registers. */ + movs r4, #7 /* r4 = 7. */ + str r4, [r2] /* Program RNR = 7. */ + ldmia r1!, {r5,r6} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + orrs r3, r4 /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + str r3, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + adds r0, r0, #28 /* Move to the high registers. */ + ldmia r0!, {r4-r7} /* Restore the high registers that are not automatically restored. */ + mov r8, r4 /* r8 = r4. */ + mov r9, r5 /* r9 = r5. */ + mov r10, r6 /* r10 = r6. */ + mov r11, r7 /* r11 = r7. */ + msr psp, r0 /* Remember the new top of stack for the task. */ + subs r0, r0, #44 /* Move to the starting of the saved context. */ + ldmia r0!, {r1-r7} /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r7 restored. */ + msr psplim, r1 /* Restore the PSPLIM register value for the task. */ + msr control, r2 /* Restore the CONTROL register value for the task. */ + bx r3 +#else /* configENABLE_MPU */ + adds r0, r0, #24 /* Move to the high registers. */ + ldmia r0!, {r4-r7} /* Restore the high registers that are not automatically restored. */ + mov r8, r4 /* r8 = r4. */ + mov r9, r5 /* r9 = r5. */ + mov r10, r6 /* r10 = r6. */ + mov r11, r7 /* r11 = r7. */ + msr psp, r0 /* Remember the new top of stack for the task. */ + subs r0, r0, #40 /* Move to the starting of the saved context. */ + ldmia r0!, {r2-r7} /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r7 restored. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + bx r3 +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +SVC_Handler: + movs r0, #4 + mov r1, lr + tst r0, r1 + beq stacking_used_msp + mrs r0, psp + b vPortSVCHandler_C + stacking_used_msp: + mrs r0, msp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portmacro.h new file mode 100644 index 0000000..315e712 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s new file mode 100644 index 0000000..6b125b2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s @@ -0,0 +1,345 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +/* Including FreeRTOSConfig.h here will cause build errors if the header file +contains code not understood by the assembler - for example the 'extern' keyword. +To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so +the code is included in C files but excluded by the preprocessor in assembly +files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler. */ +#include "FreeRTOSConfig.h" + + EXTERN pxCurrentTCB + EXTERN xSecureContext + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + EXTERN SecureContext_SaveContext + EXTERN SecureContext_LoadContext + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vPortAllocateSecureContext + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler + PUBLIC vPortFreeSecureContext +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + ite ne + movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is not privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + orr r0, r0, #1 /* r0 = r0 | 1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vPortAllocateSecureContext: + svc 0 /* Secure context is allocated in the supervisor call. portSVC_ALLOCATE_SECURE_CONTEXT = 0. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r3] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r3!, {r4-r11} /* Read 4 set of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r4} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + ldr r5, =xSecureContext + str r1, [r5] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + msr control, r3 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r4 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r3} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + ldr r4, =xSecureContext + str r1, [r4] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r3 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + bic r0, r0, #1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + cpsie f + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, basepri /* r0 = basepri. Return original basepri value. */ + mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r1 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr basepri, r0 /* basepri = ulMask. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r1, psp /* Read PSP in r1. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + ldr r0, [r2] /* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + + cbz r0, save_ns_context /* No secure context to save. */ + push {r0-r2, r14} + bl SecureContext_SaveContext + pop {r0-r3} /* LR is now in r3. */ + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl save_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ +#if ( configENABLE_MPU == 1 ) + subs r1, r1, #16 /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ +#else /* configENABLE_MPU */ + subs r1, r1, #12 /* Make space for xSecureContext, PSPLIM and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r3} /* Store xSecureContext, PSPLIM and LR on the stack. */ +#endif /* configENABLE_MPU */ + b select_next_task + + save_ns_context: + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ + #if ( configENABLE_FPU == 1 ) + tst lr, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vstmdbeq r1!, {s16-s31} /* Store the FPU registers which are not saved automatically. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + subs r1, r1, #48 /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + adds r1, r1, #16 /* r1 = r1 + 16. */ + stm r1, {r4-r11} /* Store the registers that are not saved automatically. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + subs r1, r1, #16 /* r1 = r1 - 16. */ + stm r1, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + subs r1, r1, #44 /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + adds r1, r1, #12 /* r1 = r1 + 12. */ + stm r1, {r4-r11} /* Store the registers that are not saved automatically. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + subs r1, r1, #12 /* r1 = r1 - 12. */ + stmia r1!, {r0, r2-r3} /* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + + select_next_task: + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bl vTaskSwitchContext + mov r0, #0 /* r0 = 0. */ + msr basepri, r0 /* Enable interrupts. */ + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r1, [r3] /* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + + #if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r3!, {r4-r11} /* Read 4 sets of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + + #if ( configENABLE_MPU == 1 ) + ldmia r1!, {r0, r2-r4} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + msr control, r3 /* Restore the CONTROL register value for the task. */ + mov lr, r4 /* LR = r4. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r4} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r4} + mov lr, r4 /* LR = r4. */ + lsls r2, r4, #25 /* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #else /* configENABLE_MPU */ + ldmia r1!, {r0, r2-r3} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + mov lr, r3 /* LR = r3. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r3} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r3} + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #endif /* configENABLE_MPU */ + + restore_ns_context: + ldmia r1!, {r4-r11} /* Restore the registers that are not automatically restored. */ + #if ( configENABLE_FPU == 1 ) + tst lr, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vldmiaeq r1!, {s16-s31} /* Restore the FPU registers which are not restored automatically. */ + #endif /* configENABLE_FPU */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr +/*-----------------------------------------------------------*/ + +SVC_Handler: + tst lr, #4 + ite eq + mrseq r0, msp + mrsne r0, psp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + +vPortFreeSecureContext: + /* r0 = uint32_t *pulTCB. */ + ldr r1, [r0] /* The first item in the TCB is the top of the stack. */ + ldr r0, [r1] /* The first item on the stack is the task's xSecureContext. */ + cmp r0, #0 /* Raise svc if task's xSecureContext is not NULL. */ + it ne + svcne 1 /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 1. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portmacro.h new file mode 100644 index 0000000..e3fa10a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portasm.s new file mode 100644 index 0000000..b65f0f4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portasm.s @@ -0,0 +1,261 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +/* Including FreeRTOSConfig.h here will cause build errors if the header file +contains code not understood by the assembler - for example the 'extern' keyword. +To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so +the code is included in C files but excluded by the preprocessor in assembly +files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler. */ +#include "FreeRTOSConfig.h" + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + ite ne + movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is not privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + orr r0, r0, #1 /* r0 = r0 | 1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r3, [r1] /* r3 = *r1 i.e. r3 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r3, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r3, #4 /* r3 = 4. */ + str r3, [r2] /* Program RNR = 4. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r1!, {r4-r11} /* Read 4 sets of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r3} /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + msr control, r2 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r3 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r2} /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r2 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + bic r0, r0, #1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + cpsie f + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, basepri /* r0 = basepri. Return original basepri value. */ + mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r1 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr basepri, r0 /* basepri = ulMask. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r0, psp /* Read PSP in r0. */ +#if ( configENABLE_FPU == 1 ) + tst lr, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vstmdbeq r0!, {s16-s31} /* Store the FPU registers which are not saved automatically. */ +#endif /* configENABLE_FPU */ +#if ( configENABLE_MPU == 1 ) + mrs r1, psplim /* r1 = PSPLIM. */ + mrs r2, control /* r2 = CONTROL. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmdb r0!, {r1-r11} /* Store on the stack - PSPLIM, CONTROL, LR and registers that are not automatically saved. */ +#else /* configENABLE_MPU */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmdb r0!, {r2-r11} /* Store on the stack - PSPLIM, LR and registers that are not automatically. */ +#endif /* configENABLE_MPU */ + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + str r0, [r1] /* Save the new top of stack in TCB. */ + + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bl vTaskSwitchContext + mov r0, #0 /* r0 = 0. */ + msr basepri, r0 /* Enable interrupts. */ + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r3, [r1] /* r3 = *r1 i.e. r3 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r3, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r3, #4 /* r3 = 4. */ + str r3, [r2] /* Program RNR = 4. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r1!, {r4-r11} /* Read 4 sets of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldmia r0!, {r1-r11} /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */ +#else /* configENABLE_MPU */ + ldmia r0!, {r2-r11} /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + tst r3, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vldmiaeq r0!, {s16-s31} /* Restore the FPU registers which are not restored automatically. */ +#endif /* configENABLE_FPU */ + + #if ( configENABLE_MPU == 1 ) + msr psplim, r1 /* Restore the PSPLIM register value for the task. */ + msr control, r2 /* Restore the CONTROL register value for the task. */ +#else /* configENABLE_MPU */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ +#endif /* configENABLE_MPU */ + msr psp, r0 /* Remember the new top of stack for the task. */ + bx r3 +/*-----------------------------------------------------------*/ + +SVC_Handler: + tst lr, #4 + ite eq + mrseq r0, msp + mrsne r0, psp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portmacro.h new file mode 100644 index 0000000..e3fa10a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/ReadMe.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/ReadMe.txt new file mode 100644 index 0000000..0bb046a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/ReadMe.txt @@ -0,0 +1,10 @@ +This directory tree contains the master copy of the FreeeRTOS Cortex-M33 port. +Do not use the files located here! These file are copied into separate +FreeRTOS/Source/portable/[compiler]/ARM_CM33_NNN directories prior to each +FreeRTOS release. + +If your Cortex-M33 application uses TrustZone then use the files from the +FreeRTOS/Source/portable/[compiler]/ARM_CM33 directories. + +If your Cortex-M33 application does not use TrustZone then use the files from +the FreeRTOS/Source/portable/[compiler]/ARM_CM33_NTZ directories. diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/GCC/ARM_CM23/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/GCC/ARM_CM23/secure_context_port.c new file mode 100644 index 0000000..ade0abf --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/GCC/ARM_CM23/secure_context_port.c @@ -0,0 +1,91 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, load_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */ + " msr control, r3 \n"/* CONTROL = r3. */ + #endif /* configENABLE_MPU */ + " msr psplim, r2 \n"/* PSPLIM = r2. */ + " msr psp, r1 \n"/* PSP = r1. */ + " \n" + " load_ctx_therad_mode: \n" + " nop \n" + " \n" + ::: "r0", "r1", "r2" + ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " mrs r1, psp \n"/* r1 = PSP. */ + #if ( configENABLE_MPU == 1 ) + " mrs r2, control \n"/* r2 = CONTROL. */ + " subs r1, r1, #4 \n"/* Make space for the CONTROL value on the stack. */ + " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + " stmia r1!, {r2} \n"/* Store CONTROL value on the stack. */ + #else /* configENABLE_MPU */ + " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + #endif /* configENABLE_MPU */ + " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */ + " msr psplim, r1 \n"/* PSPLIM = securecontextNO_STACK. */ + " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + " \n" + " save_ctx_therad_mode: \n" + " nop \n" + " \n" + ::"i" ( securecontextNO_STACK ) : "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/GCC/ARM_CM33/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/GCC/ARM_CM33/secure_context_port.c new file mode 100644 index 0000000..64b2e7a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/GCC/ARM_CM33/secure_context_port.c @@ -0,0 +1,88 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, load_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */ + " msr control, r3 \n"/* CONTROL = r3. */ + #endif /* configENABLE_MPU */ + " msr psplim, r2 \n"/* PSPLIM = r2. */ + " msr psp, r1 \n"/* PSP = r1. */ + " \n" + " load_ctx_therad_mode: \n" + " nop \n" + " \n" + ::: "r0", "r1", "r2" + ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " mrs r1, psp \n"/* r1 = PSP. */ + #if ( configENABLE_FPU == 1 ) + " vstmdb r1!, {s0} \n"/* Trigger the defferred stacking of FPU registers. */ + " vldmia r1!, {s0} \n"/* Nullify the effect of the pervious statement. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + " mrs r2, control \n"/* r2 = CONTROL. */ + " stmdb r1!, {r2} \n"/* Store CONTROL value on the stack. */ + #endif /* configENABLE_MPU */ + " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */ + " msr psplim, r1 \n"/* PSPLIM = securecontextNO_STACK. */ + " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + " \n" + " save_ctx_therad_mode: \n" + " nop \n" + " \n" + ::"i" ( securecontextNO_STACK ) : "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port.c new file mode 100644 index 0000000..455b90c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port.c @@ -0,0 +1,48 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/* Functions implemented in assembler file. */ +extern void SecureContext_LoadContextAsm( SecureContextHandle_t xSecureContextHandle ); +extern void SecureContext_SaveContextAsm( SecureContextHandle_t xSecureContextHandle ); + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_LoadContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_SaveContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port_asm.s new file mode 100644 index 0000000..1f793f2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port_asm.s @@ -0,0 +1,76 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + SECTION .text:CODE:NOROOT(2) + THUMB + + PUBLIC SecureContext_LoadContextAsm + PUBLIC SecureContext_SaveContextAsm + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif +/*-----------------------------------------------------------*/ + +SecureContext_LoadContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, load_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + ldmia r0!, {r1, r2} /* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ +#if ( configENABLE_MPU == 1 ) + ldmia r1!, {r3} /* Read CONTROL register value from task's stack. r3 = CONTROL. */ + msr control, r3 /* CONTROL = r3. */ +#endif /* configENABLE_MPU */ + msr psplim, r2 /* PSPLIM = r2. */ + msr psp, r1 /* PSP = r1. */ + + load_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + +SecureContext_SaveContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, save_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + mrs r1, psp /* r1 = PSP. */ +#if ( configENABLE_MPU == 1 ) + mrs r2, control /* r2 = CONTROL. */ + subs r1, r1, #4 /* Make space for the CONTROL value on the stack. */ + str r1, [r0] /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + stmia r1!, {r2} /* Store CONTROL value on the stack. */ +#else /* configENABLE_MPU */ + str r1, [r0] /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ +#endif /* configENABLE_MPU */ + movs r1, #0 /* r1 = securecontextNO_STACK. */ + msr psplim, r1 /* PSPLIM = securecontextNO_STACK. */ + msr psp, r1 /* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + + save_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port.c new file mode 100644 index 0000000..455b90c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port.c @@ -0,0 +1,48 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/* Functions implemented in assembler file. */ +extern void SecureContext_LoadContextAsm( SecureContextHandle_t xSecureContextHandle ); +extern void SecureContext_SaveContextAsm( SecureContextHandle_t xSecureContextHandle ); + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_LoadContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_SaveContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port_asm.s new file mode 100644 index 0000000..d2c599d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port_asm.s @@ -0,0 +1,73 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + SECTION .text:CODE:NOROOT(2) + THUMB + + PUBLIC SecureContext_LoadContextAsm + PUBLIC SecureContext_SaveContextAsm +/*-----------------------------------------------------------*/ + +SecureContext_LoadContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, load_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + ldmia r0!, {r1, r2} /* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ +#if ( configENABLE_MPU == 1 ) + ldmia r1!, {r3} /* Read CONTROL register value from task's stack. r3 = CONTROL. */ + msr control, r3 /* CONTROL = r3. */ +#endif /* configENABLE_MPU */ + msr psplim, r2 /* PSPLIM = r2. */ + msr psp, r1 /* PSP = r1. */ + + load_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + +SecureContext_SaveContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, save_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + mrs r1, psp /* r1 = PSP. */ +#if ( configENABLE_FPU == 1 ) + vstmdb r1!, {s0} /* Trigger the defferred stacking of FPU registers. */ + vldmia r1!, {s0} /* Nullify the effect of the pervious statement. */ +#endif /* configENABLE_FPU */ +#if ( configENABLE_MPU == 1 ) + mrs r2, control /* r2 = CONTROL. */ + stmdb r1!, {r2} /* Store CONTROL value on the stack. */ +#endif /* configENABLE_MPU */ + str r1, [r0] /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + movs r1, #0 /* r1 = securecontextNO_STACK. */ + msr psplim, r1 /* PSPLIM = securecontextNO_STACK. */ + msr psp, r1 /* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + + save_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/secure_context.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/secure_context.c new file mode 100644 index 0000000..046bf4e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/secure_context.c @@ -0,0 +1,206 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief CONTROL value for privileged tasks. + * + * Bit[0] - 0 --> Thread mode is privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 + +/** + * @brief CONTROL value for un-privileged tasks. + * + * Bit[0] - 1 --> Thread mode is un-privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 +/*-----------------------------------------------------------*/ + +/** + * @brief Structure to represent secure context. + * + * @note Since stack grows down, pucStackStart is the highest address while + * pucStackLimit is the first addess of the allocated memory. + */ +typedef struct SecureContext +{ + uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ + uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ + uint8_t * pucStackStart; /**< First location of the stack memory. */ +} SecureContext_t; +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* No stack for thread mode until a task's context is loaded. */ + secureportSET_PSPLIM( securecontextNO_STACK ); + secureportSET_PSP( securecontextNO_STACK ); + + #if ( configENABLE_MPU == 1 ) + { + /* Configure thread mode to use PSP and to be unprivileged. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); + } + #else /* configENABLE_MPU */ + { + /* Configure thread mode to use PSP and to be privileged.. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); + } + #endif /* configENABLE_MPU */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ) +#else /* configENABLE_MPU */ + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) +#endif /* configENABLE_MPU */ +{ + uint8_t * pucStackMemory = NULL; + uint32_t ulIPSR; + SecureContextHandle_t xSecureContextHandle = NULL; + + #if ( configENABLE_MPU == 1 ) + uint32_t * pulCurrentStackPointer = NULL; + #endif /* configENABLE_MPU */ + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Allocate the context structure. */ + xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) ); + + if( xSecureContextHandle != NULL ) + { + /* Allocate the stack space. */ + pucStackMemory = pvPortMalloc( ulSecureStackSize ); + + if( pucStackMemory != NULL ) + { + /* Since stack grows down, the starting point will be the last + * location. Note that this location is next to the last + * allocated byte because the hardware decrements the stack + * pointer before writing i.e. if stack pointer is 0x2, a push + * operation will decrement the stack pointer to 0x1 and then + * write at 0x1. */ + xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize; + + /* The stack cannot go beyond this location. This value is + * programmed in the PSPLIM register on context switch.*/ + xSecureContextHandle->pucStackLimit = pucStackMemory; + + #if ( configENABLE_MPU == 1 ) + { + /* Store the correct CONTROL value for the task on the stack. + * This value is programmed in the CONTROL register on + * context switch. */ + pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart; + pulCurrentStackPointer--; + + if( ulIsTaskPrivileged ) + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED; + } + else + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED; + } + + /* Store the current stack pointer. This value is programmed in + * the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; + } + #else /* configENABLE_MPU */ + { + /* Current SP is set to the starting of the stack. This + * value programmed in the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart; + } + #endif /* configENABLE_MPU */ + } + else + { + /* Free the context to avoid memory leak and make sure to return + * NULL to indicate failure. */ + vPortFree( xSecureContextHandle ); + xSecureContextHandle = NULL; + } + } + } + + return xSecureContextHandle; +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Ensure that valid parameters are passed. */ + secureportASSERT( xSecureContextHandle != NULL ); + + /* Free the stack space. */ + vPortFree( xSecureContextHandle->pucStackLimit ); + + /* Free the context itself. */ + vPortFree( xSecureContextHandle ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/secure_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/secure_context.h new file mode 100644 index 0000000..532a407 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/context/secure_context.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_CONTEXT_H__ +#define __SECURE_CONTEXT_H__ + +/* Standard includes. */ +#include + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/** + * @brief PSP value when no task's context is loaded. + */ +#define securecontextNO_STACK 0x0 + +/** + * @brief Opaque handle. + */ +struct SecureContext; +typedef struct SecureContext * SecureContextHandle_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Initializes the secure context management system. + * + * PSP is set to NULL and therefore a task must allocate and load a context + * before calling any secure side function in the thread mode. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureContext_Init( void ); + +/** + * @brief Allocates a context on the secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] ulSecureStackSize Size of the stack to allocate on secure side. + * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise. + * + * @return Opaque context handle if context is successfully allocated, NULL + * otherwise. + */ +#if ( configENABLE_MPU == 1 ) + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ); +#else /* configENABLE_MPU */ + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); +#endif /* configENABLE_MPU */ + +/** + * @brief Frees the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the + * context to be freed. + */ +void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Loads the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be loaded. + */ +void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Saves the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be saved. + */ +void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ); + +#endif /* __SECURE_CONTEXT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/heap/secure_heap.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/heap/secure_heap.c new file mode 100644 index 0000000..82dbd9e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/heap/secure_heap.c @@ -0,0 +1,454 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure context heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Total heap size. + */ +#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) + +/* No test marker by default. */ +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif + +/* No tracing by default. */ +#ifndef traceMALLOC + #define traceMALLOC( pvReturn, xWantedSize ) +#endif + +/* No tracing by default. */ +#ifndef traceFREE + #define traceFREE( pv, xBlockSize ) +#endif + +/* Block sizes must not get too small. */ +#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) +/*-----------------------------------------------------------*/ + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#else /* configAPPLICATION_ALLOCATED_HEAP */ + static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/** + * @brief The linked list structure. + * + * This is used to link free blocks in order of their memory address. + */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */ + size_t xBlockSize; /**< The size of the free block. */ +} BlockLink_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Called automatically to setup the required heap structures the first + * time pvPortMalloc() is called. + */ +static void prvHeapInit( void ); + +/** + * @brief Inserts a block of memory that is being freed into the correct + * position in the list of free memory blocks. + * + * The block being freed will be merged with the block in front it and/or the + * block behind it if the memory blocks are adjacent to each other. + * + * @param[in] pxBlockToInsert The block being freed. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ); +/*-----------------------------------------------------------*/ + +/** + * @brief The size of the structure placed at the beginning of each allocated + * memory block must by correctly byte aligned. + */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + +/** + * @brief Create a couple of list links to mark the start and end of the list. + */ +static BlockLink_t xStart, * pxEnd = NULL; + +/** + * @brief Keeps track of the number of free bytes remaining, but says nothing + * about fragmentation. + */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; + +/** + * @brief Gets set to the top bit of an size_t type. + * + * When this bit in the xBlockSize member of an BlockLink_t structure is set + * then the block belongs to the application. When the bit is free the block is + * still part of the free heap space. + */ +static size_t xBlockAllocatedBit = 0; +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + size_t uxAddress; + size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; + + /* Ensure the heap starts on a correctly aligned boundary. */ + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* pxEnd is used to mark the end of the list of free blocks and is inserted + * at the end of the heap space. */ + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space, minus the space taken by pxEnd. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; + pxFirstFreeBlock->pxNextFreeBlock = pxEnd; + + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( pxEnd == NULL ) + { + prvHeapInit(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Check the requested block size is not so large that the top bit is set. + * The top bit of the block size member of the BlockLink_t structure is used + * to determine who owns the block - the application or the kernel, so it + * must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned to the required number of + * bytes. */ + if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. */ + xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); + secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size was + * not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + + /* Calculate the sizes of two blocks split from the single + * block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( pxNewBlockLink ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned by + * the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + + #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */ + + secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + secureportASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + secureportDISABLE_NON_SECURE_INTERRUPTS(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + } + secureportENABLE_NON_SECURE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/heap/secure_heap.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/heap/secure_heap.h new file mode 100644 index 0000000..fa78046 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/heap/secure_heap.h @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_HEAP_H__ +#define __SECURE_HEAP_H__ + +/* Standard includes. */ +#include + +/** + * @brief Allocates memory from heap. + * + * @param[in] xWantedSize The size of the memory to be allocated. + * + * @return Pointer to the memory region if the allocation is successful, NULL + * otherwise. + */ +void * pvPortMalloc( size_t xWantedSize ); + +/** + * @brief Frees the previously allocated memory. + * + * @param[in] pv Pointer to the memory to be freed. + */ +void vPortFree( void * pv ); + +#endif /* __SECURE_HEAP_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/init/secure_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/init/secure_init.c new file mode 100644 index 0000000..4e6018d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/init/secure_init.c @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure init includes. */ +#include "secure_init.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Constants required to manipulate the SCB. + */ +#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ +#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) +#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) +#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) +#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) + +/** + * @brief Constants required to manipulate the FPU. + */ +#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define secureinitFPCCR_LSPENS_POS ( 29UL ) +#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) +#define secureinitFPCCR_TS_POS ( 26UL ) +#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) + +#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ +#define secureinitNSACR_CP10_POS ( 10UL ) +#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) +#define secureinitNSACR_CP11_POS ( 11UL ) +#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | + ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | + ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); + } +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is + * permitted. CP11 should be programmed to the same value as CP10. */ + *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); + + /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures + * that we can enable/disable lazy stacking in port.c file. */ + *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK ); + + /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP + * registers (S16-S31) are also pushed to stack on exception entry and + * restored on exception return. */ + *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/init/secure_init.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/init/secure_init.h new file mode 100644 index 0000000..39deb36 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/init/secure_init.h @@ -0,0 +1,53 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_INIT_H__ +#define __SECURE_INIT_H__ + +/** + * @brief De-prioritizes the non-secure exceptions. + * + * This is needed to ensure that the non-secure PendSV runs at the lowest + * priority. Context switch is done in the non-secure PendSV handler. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_DePrioritizeNSExceptions( void ); + +/** + * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access. + * + * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point + * Registers are not leaked to the non-secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_EnableNSFPUAccess( void ); + +#endif /* __SECURE_INIT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/macros/secure_port_macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/macros/secure_port_macros.h new file mode 100644 index 0000000..7b8dbed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ARMv8M/secure/macros/secure_port_macros.h @@ -0,0 +1,133 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_PORT_MACROS_H__ +#define __SECURE_PORT_MACROS_H__ + +/** + * @brief Byte alignment requirements. + */ +#define secureportBYTE_ALIGNMENT 8 +#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) + +/** + * @brief Macro to declare a function as non-secure callable. + */ +#if defined( __IAR_SYSTEMS_ICC__ ) + #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root +#else + #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) ) +#endif + +/** + * @brief Set the secure PRIMASK value. + */ +#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Set the non-secure PRIMASK value. + */ +#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Read the PSP value in the given variable. + */ +#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ + __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) + +/** + * @brief Set the PSP to the given value. + */ +#define secureportSET_PSP( pucCurrentStackPointer ) \ + __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) + +/** + * @brief Set the PSPLIM to the given value. + */ +#define secureportSET_PSPLIM( pucStackLimit ) \ + __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) + +/** + * @brief Set the NonSecure MSP to the given value. + */ +#define secureportSET_MSP_NS( pucMainStackPointer ) \ + __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) + +/** + * @brief Set the CONTROL register to the given value. + */ +#define secureportSET_CONTROL( ulControl ) \ + __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) + +/** + * @brief Read the Interrupt Program Status Register (IPSR) value in the given + * variable. + */ +#define secureportREAD_IPSR( ulIPSR ) \ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) + +/** + * @brief PRIMASK value to enable interrupts. + */ +#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 + +/** + * @brief PRIMASK value to disable interrupts. + */ +#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 + +/** + * @brief Disable secure interrupts. + */ +#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Disable non-secure interrupts. + * + * This effectively disables context switches. + */ +#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Enable non-secure interrupts. + */ +#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) + +/** + * @brief Assert definition. + */ +#define secureportASSERT( x ) \ + if( ( x ) == 0 ) \ + { \ + secureportDISABLE_SECURE_INTERRUPTS(); \ + secureportDISABLE_NON_SECURE_INTERRUPTS(); \ + for( ; ; ) {; } \ + } + +#endif /* __SECURE_PORT_MACROS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/Flsh186/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/Flsh186/port.c new file mode 100644 index 0000000..dba83d2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/Flsh186/port.c @@ -0,0 +1,244 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.00: + + + Call to taskYIELD() from within tick ISR has been replaced by the more + efficient portSWITCH_CONTEXT(). + + ISR function definitions renamed to include the prv prefix. + +Changes from V2.6.1 + + + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION + macro to be consistent with the later ports. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Flashlite 186 + * port. + *----------------------------------------------------------*/ + +#include +#include +#include + +#include "FreeRTOS.h" +#include "task.h" +#include "portasm.h" + +/*lint -e950 Non ANSI reserved words okay in this file only. */ + +#define portTIMER_EOI_TYPE ( 8 ) +#define portRESET_PIC() portOUTPUT_WORD( ( uint16_t ) 0xff22, portTIMER_EOI_TYPE ) +#define portTIMER_INT_NUMBER 0x12 + +#define portTIMER_1_CONTROL_REGISTER ( ( uint16_t ) 0xff5e ) +#define portTIMER_0_CONTROL_REGISTER ( ( uint16_t ) 0xff56 ) +#define portTIMER_INTERRUPT_ENABLE ( ( uint16_t ) 0x2000 ) + +/* Setup the hardware to generate the required tick frequency. */ +static void prvSetTickFrequency( uint32_t ulTickRateHz ); + +/* Set the hardware back to the state as per before the scheduler started. */ +static void prvExitFunction( void ); + +/* The ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if( configUSE_PREEMPTION == 1 ) + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ); +#else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + static void __interrupt __far prvNonPreemptiveTick( void ); +#endif + +/* Trap routine used by taskYIELD() to manually cause a context switch. */ +static void __interrupt __far prvYieldProcessor( void ); + +/*lint -e956 File scopes necessary here. */ + +/* Set true when the vectors are set so the scheduler will service the tick. */ +static BaseType_t xSchedulerRunning = pdFALSE; + +/* Points to the original routine installed on the vector we use for manual +context switches. This is then used to restore the original routine during +prvExitFunction(). */ +static void ( __interrupt __far *pxOldSwitchISR )(); + +/* Used to restore the original DOS context when the scheduler is ended. */ +static jmp_buf xJumpBuf; + +/*lint +e956 */ + +/*-----------------------------------------------------------*/ +BaseType_t xPortStartScheduler( void ) +{ + /* This is called with interrupts already disabled. */ + + /* Remember what was on the interrupts we are going to use + so we can put them back later if required. */ + pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER ); + + /* Put our manual switch (yield) function on a known + vector. */ + _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); + + #if( configUSE_PREEMPTION == 1 ) + { + /* Put our tick switch function on the timer interrupt. */ + _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick ); + } + #else + { + /* We want the timer interrupt to just increment the tick count. */ + _dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick ); + } + #endif + + prvSetTickFrequency( configTICK_RATE_HZ ); + + /* Clean up function if we want to return to DOS. */ + if( setjmp( xJumpBuf ) != 0 ) + { + prvExitFunction(); + xSchedulerRunning = pdFALSE; + } + else + { + xSchedulerRunning = pdTRUE; + + /* Kick off the scheduler by setting up the context of the first task. */ + portFIRST_CONTEXT(); + } + + return xSchedulerRunning; +} +/*-----------------------------------------------------------*/ + +/* The ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if( configUSE_PREEMPTION == 1 ) + static void __interrupt __far prvPreemptiveTick( void ) + { + /* Get the scheduler to update the task states following the tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); + } + + /* Reset the PIC ready for the next time. */ + portRESET_PIC(); + } +#else + static void __interrupt __far prvNonPreemptiveTick( void ) + { + /* Same as preemptive tick, but the cooperative scheduler is being used + so we don't have to switch in the context of the next task. */ + xTaskIncrementTick(); + portRESET_PIC(); + } +#endif +/*-----------------------------------------------------------*/ + +static void __interrupt __far prvYieldProcessor( void ) +{ + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Jump back to the processor state prior to starting the + scheduler. This means we are not going to be using a + task stack frame so the task can be deleted. */ + longjmp( xJumpBuf, 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvExitFunction( void ) +{ +const uint16_t usTimerDisable = 0x0000; +uint16_t usTimer0Control; + + /* Interrupts should be disabled here anyway - but no + harm in making sure. */ + portDISABLE_INTERRUPTS(); + if( xSchedulerRunning == pdTRUE ) + { + /* Put back the switch interrupt routines that was in place + before the scheduler started. */ + _dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR ); + } + + /* Disable the timer used for the tick to ensure the scheduler is + not called before restoring interrupts. There was previously nothing + on this timer so there is no old ISR to restore. */ + portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerDisable ); + + /* Restart the DOS tick. */ + usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER ); + usTimer0Control |= portTIMER_INTERRUPT_ENABLE; + portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control ); + + + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +static void prvSetTickFrequency( uint32_t ulTickRateHz ) +{ +const uint16_t usMaxCountRegister = 0xff5a; +const uint16_t usTimerPriorityRegister = 0xff32; +const uint16_t usTimerEnable = 0xC000; +const uint16_t usRetrigger = 0x0001; +const uint16_t usTimerHighPriority = 0x0000; +uint16_t usTimer0Control; + +/* ( CPU frequency / 4 ) / clock 2 max count [inpw( 0xff62 ) = 7] */ + +const uint32_t ulClockFrequency = ( uint32_t ) 0x7f31a0UL; + +uint32_t ulTimerCount = ulClockFrequency / ulTickRateHz; + + portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerEnable | portTIMER_INTERRUPT_ENABLE | usRetrigger ); + portOUTPUT_WORD( usMaxCountRegister, ( uint16_t ) ulTimerCount ); + portOUTPUT_WORD( usTimerPriorityRegister, usTimerHighPriority ); + + /* Stop the DOS tick - don't do this if you want to maintain a TOD clock. */ + usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER ); + usTimer0Control &= ~portTIMER_INTERRUPT_ENABLE; + portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control ); +} + + +/*lint +e950 */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/Flsh186/prtmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/Flsh186/prtmacro.h new file mode 100644 index 0000000..57ae421 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/Flsh186/prtmacro.h @@ -0,0 +1,97 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE long +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE portSHORT + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#define portENTER_CRITICAL() __asm{ pushf } \ + __asm{ cli } \ + +#define portEXIT_CRITICAL() __asm{ popf } + +#define portDISABLE_INTERRUPTS() __asm{ cli } + +#define portENABLE_INTERRUPTS() __asm{ sti } +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portNOP() __asm{ nop } +#define portSTACK_GROWTH ( -1 ) +#define portSWITCH_INT_NUMBER 0x80 +#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 2 +#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define portINPUT_BYTE( xAddr ) inp( xAddr ) +#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) +#define portINPUT_WORD( xAddr ) inpw( xAddr ) +#define portOUTPUT_WORD( xAddr, usValue ) outpw( xAddr, usValue ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) +#define portTASK_FUNCTION( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/PC/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/PC/port.c new file mode 100644 index 0000000..c837ad7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/PC/port.c @@ -0,0 +1,288 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V2.6.1 + + + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION + macro to be consistent with the later ports. + +Changes from V4.0.1 + + + Add function prvSetTickFrequencyDefault() to set the DOS tick back to + its proper value when the scheduler exits. +*/ + +#include +#include +#include + +#include "FreeRTOS.h" +#include "task.h" +#include "portasm.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the industrial + * PC port. + *----------------------------------------------------------*/ + +/*lint -e950 Non ANSI reserved words okay in this file only. */ + +#define portTIMER_INT_NUMBER 0x08 + +/* Setup hardware for required tick interrupt rate. */ +static void prvSetTickFrequency( uint32_t ulTickRateHz ); + +/* Restore hardware to as it was prior to starting the scheduler. */ +static void prvExitFunction( void ); + +/* Either chain to the DOS tick (which itself clears the PIC) or clear the PIC +directly. We chain to the DOS tick as close as possible to the standard DOS +tick rate. */ +static void prvPortResetPIC( void ); + +/* The ISR used depends on whether the preemptive or cooperative +scheduler is being used. */ +#if( configUSE_PREEMPTION == 1 ) + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ); +#else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + static void __interrupt __far prvNonPreemptiveTick( void ); +#endif + +/* Trap routine used by taskYIELD() to manually cause a context switch. */ +static void __interrupt __far prvYieldProcessor( void ); + +/* Set the tick frequency back so the floppy drive works correctly when the +scheduler exits. */ +static void prvSetTickFrequencyDefault( void ); + +/*lint -e956 File scopes necessary here. */ + +/* Used to signal when to chain to the DOS tick, and when to just clear the PIC ourselves. */ +static int16_t sDOSTickCounter; + +/* Set true when the vectors are set so the scheduler will service the tick. */ +static BaseType_t xSchedulerRunning = pdFALSE; + +/* Points to the original routine installed on the vector we use for manual context switches. This is then used to restore the original routine during prvExitFunction(). */ +static void ( __interrupt __far *pxOldSwitchISR )(); + +/* Points to the original routine installed on the vector we use to chain to the DOS tick. This is then used to restore the original routine during prvExitFunction(). */ +static void ( __interrupt __far *pxOldSwitchISRPlus1 )(); + +/* Used to restore the original DOS context when the scheduler is ended. */ +static jmp_buf xJumpBuf; + +/*lint +e956 */ + +/*-----------------------------------------------------------*/ +BaseType_t xPortStartScheduler( void ) +{ +pxISR pxOriginalTickISR; + + /* This is called with interrupts already disabled. */ + + /* Remember what was on the interrupts we are going to use + so we can put them back later if required. */ + pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER ); + pxOriginalTickISR = _dos_getvect( portTIMER_INT_NUMBER ); + pxOldSwitchISRPlus1 = _dos_getvect( portSWITCH_INT_NUMBER + 1 ); + + prvSetTickFrequency( configTICK_RATE_HZ ); + + /* Put our manual switch (yield) function on a known + vector. */ + _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); + + /* Put the old tick on a different interrupt number so we can + call it when we want. */ + _dos_setvect( portSWITCH_INT_NUMBER + 1, pxOriginalTickISR ); + + /* The ISR used depends on whether the preemptive or cooperative + scheduler is being used. */ + #if( configUSE_PREEMPTION == 1 ) + { + /* Put our tick switch function on the timer interrupt. */ + _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick ); + } + #else + { + /* We want the timer interrupt to just increment the tick count. */ + _dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick ); + } + #endif + + /* Setup a counter that is used to call the DOS interrupt as close + to it's original frequency as can be achieved given our chosen tick + frequency. */ + sDOSTickCounter = portTICKS_PER_DOS_TICK; + + /* Clean up function if we want to return to DOS. */ + if( setjmp( xJumpBuf ) != 0 ) + { + prvExitFunction(); + xSchedulerRunning = pdFALSE; + } + else + { + xSchedulerRunning = pdTRUE; + + /* Kick off the scheduler by setting up the context of the first task. */ + portFIRST_CONTEXT(); + } + + return xSchedulerRunning; +} +/*-----------------------------------------------------------*/ + +/* The ISR used depends on whether the preemptive or cooperative +scheduler is being used. */ +#if( configUSE_PREEMPTION == 1 ) + static void __interrupt __far prvPreemptiveTick( void ) + { + /* Get the scheduler to update the task states following the tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); + } + + /* Reset the PIC ready for the next time. */ + prvPortResetPIC(); + } +#else + static void __interrupt __far prvNonPreemptiveTick( void ) + { + /* Same as preemptive tick, but the cooperative scheduler is being used + so we don't have to switch in the context of the next task. */ + xTaskIncrementTick(); + prvPortResetPIC(); + } +#endif +/*-----------------------------------------------------------*/ + +static void __interrupt __far prvYieldProcessor( void ) +{ + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +static void prvPortResetPIC( void ) +{ + /* We are going to call the DOS tick interrupt at as close a + frequency to the normal DOS tick as possible. */ + + /* WE SHOULD NOT DO THIS IF YIELD WAS CALLED. */ + --sDOSTickCounter; + if( sDOSTickCounter <= 0 ) + { + sDOSTickCounter = ( int16_t ) portTICKS_PER_DOS_TICK; + __asm{ int portSWITCH_INT_NUMBER + 1 }; + } + else + { + /* Reset the PIC as the DOS tick is not being called to + do it. */ + __asm + { + mov al, 20H + out 20H, al + }; + } +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Jump back to the processor state prior to starting the + scheduler. This means we are not going to be using a + task stack frame so the task can be deleted. */ + longjmp( xJumpBuf, 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvExitFunction( void ) +{ +void ( __interrupt __far *pxOriginalTickISR )(); + + /* Interrupts should be disabled here anyway - but no + harm in making sure. */ + portDISABLE_INTERRUPTS(); + if( xSchedulerRunning == pdTRUE ) + { + /* Set the DOS tick back onto the timer ticker. */ + pxOriginalTickISR = _dos_getvect( portSWITCH_INT_NUMBER + 1 ); + _dos_setvect( portTIMER_INT_NUMBER, pxOriginalTickISR ); + prvSetTickFrequencyDefault(); + + /* Put back the switch interrupt routines that was in place + before the scheduler started. */ + _dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR ); + _dos_setvect( portSWITCH_INT_NUMBER + 1, pxOldSwitchISRPlus1 ); + } + /* The tick timer is back how DOS wants it. We can re-enable + interrupts without the scheduler being called. */ + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +static void prvSetTickFrequency( uint32_t ulTickRateHz ) +{ +const uint16_t usPIT_MODE = ( uint16_t ) 0x43; +const uint16_t usPIT0 = ( uint16_t ) 0x40; +const uint32_t ulPIT_CONST = ( uint32_t ) 1193180UL; +const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36; +uint32_t ulOutput; + + /* Setup the 8245 to tick at the wanted frequency. */ + portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 ); + ulOutput = ulPIT_CONST / ulTickRateHz; + portOUTPUT_BYTE( usPIT0, ( uint16_t )( ulOutput & ( uint32_t ) 0xff ) ); + ulOutput >>= 8; + portOUTPUT_BYTE( usPIT0, ( uint16_t ) ( ulOutput & ( uint32_t ) 0xff ) ); +} +/*-----------------------------------------------------------*/ + +static void prvSetTickFrequencyDefault( void ) +{ +const uint16_t usPIT_MODE = ( uint16_t ) 0x43; +const uint16_t usPIT0 = ( uint16_t ) 0x40; +const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36; + + portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 ); + portOUTPUT_BYTE( usPIT0,0 ); + portOUTPUT_BYTE( usPIT0,0 ); +} + + +/*lint +e950 */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/PC/prtmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/PC/prtmacro.h new file mode 100644 index 0000000..0daf400 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/PC/prtmacro.h @@ -0,0 +1,97 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT long +#define portDOUBLE long +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE portSHORT + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portENTER_CRITICAL() __asm{ pushf } \ + __asm{ cli } \ + +#define portEXIT_CRITICAL() __asm{ popf } + +#define portDISABLE_INTERRUPTS() __asm{ cli } + +#define portENABLE_INTERRUPTS() __asm{ sti } +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portNOP() __asm{ nop } +#define portSTACK_GROWTH ( -1 ) +#define portSWITCH_INT_NUMBER 0x80 +#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } +#define portDOS_TICK_RATE ( 18.20648 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portTICKS_PER_DOS_TICK ( ( uint16_t ) ( ( ( portDOUBLE ) configTICK_RATE_HZ / portDOS_TICK_RATE ) + 0.5 ) ) +#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ +#define portBYTE_ALIGNMENT ( 2 ) +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define portINPUT_BYTE( xAddr ) inp( xAddr ) +#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vTaskFunction, pvParameters ) void vTaskFunction( void *pvParameters ) +#define portTASK_FUNCTION( vTaskFunction, pvParameters ) void vTaskFunction( void *pvParameters ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/common/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/common/portasm.h new file mode 100644 index 0000000..83193de --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/common/portasm.h @@ -0,0 +1,87 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORT_ASM_H +#define PORT_ASM_H + +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/* + * Saves the stack pointer for one task into its TCB, calls + * vTaskSwitchContext() to update the TCB being used, then restores the stack + * from the new TCB read to run the task. + */ +void portSWITCH_CONTEXT( void ); + +/* + * Load the stack pointer from the TCB of the task which is going to be first + * to execute. Then force an IRET so the registers and IP are popped off the + * stack. + */ +void portFIRST_CONTEXT( void ); + +/* There are slightly different versions depending on whether you are building +to include debugger information. If debugger information is used then there +are a couple of extra bytes left of the ISR stack (presumably for use by the +debugger). The true stack pointer is then stored in the bp register. We add +2 to the stack pointer to remove the extra bytes before we restore our context. */ + +#define portSWITCH_CONTEXT() \ + asm { mov ax, seg pxCurrentTCB } \ + asm { mov ds, ax } \ + asm { les bx, pxCurrentTCB } /* Save the stack pointer into the TCB. */ \ + asm { mov es:0x2[ bx ], ss } \ + asm { mov es:[ bx ], sp } \ + asm { call far ptr vTaskSwitchContext } /* Perform the switch. */ \ + asm { mov ax, seg pxCurrentTCB } /* Restore the stack pointer from the TCB. */ \ + asm { mov ds, ax } \ + asm { les bx, dword ptr pxCurrentTCB } \ + asm { mov ss, es:[ bx + 2 ] } \ + asm { mov sp, es:[ bx ] } + +#define portFIRST_CONTEXT() \ + __asm { mov ax, seg pxCurrentTCB } \ + __asm { mov ds, ax } \ + __asm { les bx, dword ptr pxCurrentTCB } \ + __asm { mov ss, es:[ bx + 2 ] } \ + __asm { mov sp, es:[ bx ] } \ + __asm { pop bp } \ + __asm { pop di } \ + __asm { pop si } \ + __asm { pop ds } \ + __asm { pop es } \ + __asm { pop dx } \ + __asm { pop cx } \ + __asm { pop bx } \ + __asm { pop ax } \ + __asm { iret } + + +#endif + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/common/portcomn.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/common/portcomn.c new file mode 100644 index 0000000..be7e2e1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/BCC/16BitDOS/common/portcomn.c @@ -0,0 +1,120 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.00: + + + pxPortInitialiseStack() now initialises the stack of new tasks to the + same format used by the compiler. This allows the compiler generated + interrupt mechanism to be used for context switches. + +Changes from V2.6.1 + + + Move usPortCheckFreeStackSpace() to tasks.c. +*/ + + +#include +#include +#include "FreeRTOS.h" + +/*-----------------------------------------------------------*/ + +/* See header file for description. */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t DS_Reg = 0; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x1111; + pxTopOfStack--; + *pxTopOfStack = 0x2222; + pxTopOfStack--; + *pxTopOfStack = 0x3333; + pxTopOfStack--; + *pxTopOfStack = 0x4444; + pxTopOfStack--; + *pxTopOfStack = 0x5555; + pxTopOfStack--; + + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* We are going to start the scheduler using a return from interrupt + instruction to load the program counter, so first there would be the + function call with parameters preamble. */ + + *pxTopOfStack = FP_SEG( pvParameters ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pvParameters ); + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pxCode ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* Next the status register and interrupt return address. */ + *pxTopOfStack = portINITIAL_SW; + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pxCode ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* The remaining registers would be pushed on the stack by our context + switch function. These are loaded with values simply to make debugging + easier. */ + *pxTopOfStack = ( StackType_t ) 0xAAAA; /* AX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xCCCC; /* CX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xEEEE; /* ES */ + pxTopOfStack--; + + /* We need the true data segment. */ + __asm{ MOV DS_Reg, DS }; + + *pxTopOfStack = DS_Reg; /* DS */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0123; /* SI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BP */ + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/port.c new file mode 100644 index 0000000..790b262 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/port.c @@ -0,0 +1,607 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM3 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY + * setting. */ +const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY; + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + ( void ) portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + #pragma WEAK( vPortSuppressTicksAndSleep ) + void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm( " cpsid i"); + __asm( " dsb"); + __asm( " isb"); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_interrupt() + * call above. */ + __asm( " cpsie i"); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm( " dsb"); + __asm( " wfi"); + __asm( " isb"); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm( " cpsie i"); + __asm( " dsb"); + __asm( " isb"); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm( " cpsid i"); + __asm( " dsb"); + __asm( " isb"); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm( " cpsie i"); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +#pragma WEAK( vPortSetupTimerInterrupt ) +void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + extern uint32_t ulPortGetIPSR( void ); + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + ulCurrentInterrupt = ulPortGetIPSR(); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/portasm.asm b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/portasm.asm new file mode 100644 index 0000000..940e1b0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/portasm.asm @@ -0,0 +1,144 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + .thumb + + .ref pxCurrentTCB + .ref vTaskSwitchContext + .ref ulMaxSyscallInterruptPriority + + .def xPortPendSVHandler + .def ulPortGetIPSR + .def vPortSVCHandler + .def vPortStartFirstTask + +NVICOffsetConst: .word 0xE000ED08 +CPACRConst: .word 0xE000ED88 +pxCurrentTCBConst: .word pxCurrentTCB +ulMaxSyscallInterruptPriorityConst: .word ulMaxSyscallInterruptPriority + +; ----------------------------------------------------------- + + .align 4 +ulPortGetIPSR: .asmfunc + mrs r0, ipsr + bx r14 + .endasmfunc + ; ----------------------------------------------------------- + + .align 4 +vPortSetInterruptMask: .asmfunc + push {r0} + ldr r0, ulMaxSyscallInterruptPriorityConst + msr basepri, r0 + pop {r0} + bx r14 + .endasmfunc +; ----------------------------------------------------------- + + .align 4 +xPortPendSVHandler: .asmfunc + mrs r0, psp + isb + + ;/* Get the location of the current TCB. */ + ldr r3, pxCurrentTCBConst + ldr r2, [r3] + + ;/* Save the core registers. */ + stmdb r0!, {r4-r11} + + ;/* Save the new top of stack into the first member of the TCB. */ + str r0, [r2] + + stmdb sp!, {r3, r14} + ldr r0, ulMaxSyscallInterruptPriorityConst + ldr r1, [r0] + msr basepri, r1 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r3, r14} + + ;/* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [r3] + ldr r0, [r1] + + ;/* Pop the core registers. */ + ldmia r0!, {r4-r11} + + msr psp, r0 + isb + bx r14 + .endasmfunc + +; ----------------------------------------------------------- + + .align 4 +vPortSVCHandler: .asmfunc + ;/* Get the location of the current TCB. */ + ldr r3, pxCurrentTCBConst + ldr r1, [r3] + ldr r0, [r1] + ;/* Pop the core registers. */ + ldmia r0!, {r4-r11} + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + orr r14, #0xd + bx r14 + .endasmfunc + +; ----------------------------------------------------------- + + .align 4 +vPortStartFirstTask: .asmfunc + ;/* Use the NVIC offset register to locate the stack. */ + ldr r0, NVICOffsetConst + ldr r0, [r0] + ldr r0, [r0] + ;/* Set the msp back to the start of the stack. */ + msr msp, r0 + ;/* Clear the bit that indicates the FPU is in use in case the FPU was used + ;before the scheduler was started - which would otherwise result in the + ;unnecessary leaving of space in the SVC stack for lazy saving of FPU + ;registers. */ + mov r0, #0 + msr control, r0 + ;/* Call SVC to start the first task. */ + cpsie i + cpsie f + dsb + isb + svc #0 + .endasmfunc + +; ----------------------------------------------------------- + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/portmacro.h new file mode 100644 index 0000000..3bbf3ce --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM3/portmacro.h @@ -0,0 +1,170 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + +/*-----------------------------------------------------------*/ + +/* Compiler directives. */ + #define portWEAK_SYMBOL __attribute__( ( weak ) ) + +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + __asm( " dsb"); \ + __asm( " isb"); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() \ + { \ + _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ + __asm( " dsb"); \ + __asm( " isb"); \ + } + + #define portENABLE_INTERRUPTS() _set_interrupt_priority( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm( " dsb" ); __asm( " isb") + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) _set_interrupt_priority( x ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/port.c new file mode 100644 index 0000000..15fcdc5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/port.c @@ -0,0 +1,632 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __TI_VFP_SUPPORT__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ); + +/* + * Turn the VFP on. + */ +extern void vPortEnableVFP( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY + * setting. */ +const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY; + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + ( void ) portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + #pragma WEAK( vPortSuppressTicksAndSleep ) + void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm( " cpsid i"); + __asm( " dsb"); + __asm( " isb"); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_interrupt() + * call above. */ + __asm( " cpsie i"); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm( " dsb"); + __asm( " wfi"); + __asm( " isb"); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm( " cpsie i"); + __asm( " dsb"); + __asm( " isb"); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm( " cpsid i"); + __asm( " dsb"); + __asm( " isb"); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm( " cpsie i"); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +#pragma WEAK( vPortSetupTimerInterrupt ) +void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + extern uint32_t ulPortGetIPSR( void ); + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + ulCurrentInterrupt = ulPortGetIPSR(); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/portasm.asm b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/portasm.asm new file mode 100644 index 0000000..20cbdd4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/portasm.asm @@ -0,0 +1,171 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + .thumb + + .ref pxCurrentTCB + .ref vTaskSwitchContext + .ref ulMaxSyscallInterruptPriority + + .def xPortPendSVHandler + .def ulPortGetIPSR + .def vPortSVCHandler + .def vPortStartFirstTask + .def vPortEnableVFP + +NVICOffsetConst: .word 0xE000ED08 +CPACRConst: .word 0xE000ED88 +pxCurrentTCBConst: .word pxCurrentTCB +ulMaxSyscallInterruptPriorityConst: .word ulMaxSyscallInterruptPriority + +; ----------------------------------------------------------- + + .align 4 +ulPortGetIPSR: .asmfunc + mrs r0, ipsr + bx r14 + .endasmfunc + ; ----------------------------------------------------------- + + .align 4 +vPortSetInterruptMask: .asmfunc + push {r0} + ldr r0, ulMaxSyscallInterruptPriorityConst + msr basepri, r0 + pop {r0} + bx r14 + .endasmfunc +; ----------------------------------------------------------- + + .align 4 +xPortPendSVHandler: .asmfunc + mrs r0, psp + isb + + ;/* Get the location of the current TCB. */ + ldr r3, pxCurrentTCBConst + ldr r2, [r3] + + ;/* Is the task using the FPU context? If so, push high vfp registers. */ + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + ;/* Save the core registers. */ + stmdb r0!, {r4-r11, r14} + + ;/* Save the new top of stack into the first member of the TCB. */ + str r0, [r2] + + stmdb sp!, {r0, r3} + ldr r0, ulMaxSyscallInterruptPriorityConst + ldr r1, [r0] + msr basepri, r1 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r0, r3} + + ;/* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [r3] + ldr r0, [r1] + + ;/* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + + ;/* Is the task using the FPU context? If so, pop the high vfp registers + ;too. */ + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + bx r14 + .endasmfunc + +; ----------------------------------------------------------- + + .align 4 +vPortSVCHandler: .asmfunc + ;/* Get the location of the current TCB. */ + ldr r3, pxCurrentTCBConst + ldr r1, [r3] + ldr r0, [r1] + ;/* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + bx r14 + .endasmfunc + +; ----------------------------------------------------------- + + .align 4 +vPortStartFirstTask: .asmfunc + ;/* Use the NVIC offset register to locate the stack. */ + ldr r0, NVICOffsetConst + ldr r0, [r0] + ldr r0, [r0] + ;/* Set the msp back to the start of the stack. */ + msr msp, r0 + ;/* Clear the bit that indicates the FPU is in use in case the FPU was used + ;before the scheduler was started - which would otherwise result in the + ;unnecessary leaving of space in the SVC stack for lazy saving of FPU + ;registers. */ + mov r0, #0 + msr control, r0 + ;/* Call SVC to start the first task. */ + cpsie i + cpsie f + dsb + isb + svc #0 + .endasmfunc + +; ----------------------------------------------------------- + + .align 4 +vPortEnableVFP: .asmfunc + ;/* The FPU enable bits are in the CPACR. */ + ldr.w r0, CPACRConst + ldr r1, [r0] + + ;/* Enable CP10 and CP11 coprocessors, then save back. */ + orr r1, r1, #( 0xf << 20 ) + str r1, [r0] + bx r14 + .endasmfunc + + .end + +; ----------------------------------------------------------- + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..f13537d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_CM4F/portmacro.h @@ -0,0 +1,164 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + __asm( " dsb"); \ + __asm( " isb"); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() \ + { \ + _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ + __asm( " dsb"); \ + __asm( " isb"); \ + } + + #define portENABLE_INTERRUPTS() _set_interrupt_priority( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm( " dsb" ); __asm( " isb") + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) _set_interrupt_priority( x ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/port.c new file mode 100644 index 0000000..698f1c8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/port.c @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*-----------------------------------------------------------*/ + +/* Count of the critical section nesting depth. */ +uint32_t ulCriticalNesting = 9999; + +/*-----------------------------------------------------------*/ + +/* Registers required to configure the RTI. */ +#define portRTI_GCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC00 ) ) +#define portRTI_TBCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC04 ) ) +#define portRTI_COMPCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC0C ) ) +#define portRTI_CNT0_FRC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC10 ) ) +#define portRTI_CNT0_UC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC14 ) ) +#define portRTI_CNT0_CPUC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC18 ) ) +#define portRTI_CNT0_COMP0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC50 ) ) +#define portRTI_CNT0_UDCP0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC54 ) ) +#define portRTI_SETINTENA_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC80 ) ) +#define portRTI_CLEARINTENA_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC84 ) ) +#define portRTI_INTFLAG_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC88 ) ) + + +/* Constants required to set up the initial stack of each task. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1F ) +#define portINITIAL_FPSCR ( ( StackType_t ) 0x00 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 0x04 ) +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) + +/* The number of words on the stack frame between the saved Top Of Stack and +R0 (in which the parameters are passed. */ +#define portSPACE_BETWEEN_TOS_AND_PARAMETERS ( 12 ) + +/*-----------------------------------------------------------*/ + +/* vPortStartFirstSTask() is defined in portASM.asm */ +extern void vPortStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* Saved as part of the task context. Set to pdFALSE if the task does not +require an FPU context. */ +uint32_t ulTaskHasFPUContext = 0; + +/*-----------------------------------------------------------*/ + + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + #if __TI_VFP_SUPPORT__ + { + /* Ensure the stack is correctly aligned on exit. */ + pxTopOfStack--; + } + #endif + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which is the start of the as + the task has not executed yet. The offset is added to make the return + address appear as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + + #ifdef portPRELOAD_TASK_REGISTERS + { + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + } + #else + { + pxTopOfStack -= portSPACE_BETWEEN_TOS_AND_PARAMETERS; + } + #endif + + /* Function parameters are passed in R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* Set the status register for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR ); + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) + { + /* The task will start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + #ifdef __TI_VFP_SUPPORT__ + { + pxTopOfStack--; + + /* The last thing on the stack is the tasks ulUsingFPU value, which by + default is set to indicate that the stack frame does not include FPU + registers. */ + *pxTopOfStack = pdFALSE; + } + #endif + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt(void) +{ + /* Disable timer 0. */ + portRTI_GCTRL_REG &= 0xFFFFFFFEUL; + + /* Use the internal counter. */ + portRTI_TBCTRL_REG = 0x00000000U; + + /* COMPSEL0 will use the RTIFRC0 counter. */ + portRTI_COMPCTRL_REG = 0x00000000U; + + /* Initialise the counter and the prescale counter registers. */ + portRTI_CNT0_UC0_REG = 0x00000000U; + portRTI_CNT0_FRC0_REG = 0x00000000U; + + /* Set Prescalar for RTI clock. */ + portRTI_CNT0_CPUC0_REG = 0x00000001U; + portRTI_CNT0_COMP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ; + portRTI_CNT0_UDCP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ; + + /* Clear interrupts. */ + portRTI_INTFLAG_REG = 0x0007000FU; + portRTI_CLEARINTENA_REG = 0x00070F0FU; + + /* Enable the compare 0 interrupt. */ + portRTI_SETINTENA_REG = 0x00000001U; + portRTI_GCTRL_REG |= 0x00000001U; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler(void) +{ + /* Start the timer that generates the tick ISR. */ + prvSetupTimerInterrupt(); + + /* Reset the critical section nesting count read to execute the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. This is done from portASM.asm as ARM mode must be + used. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +void vPortEndScheduler(void) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 0 + + /* The cooperative scheduler requires a normal IRQ service routine to + * simply increment the system tick. */ + __interrupt void vPortNonPreemptiveTick( void ) + { + /* clear clock interrupt flag */ + portRTI_INTFLAG_REG = 0x00000001; + + /* Increment the tick count - this may make a delaying task ready + to run - but a context switch is not performed. */ + xTaskIncrementTick(); + } + + #else + + /* + ************************************************************************** + * The preemptive scheduler ISR is written in assembler and can be found + * in the portASM.asm file. This will only get used if portUSE_PREEMPTION + * is set to 1 in portmacro.h + ************************************************************************** + */ + void vPortPreemptiveTick( void ); + +#endif +/*-----------------------------------------------------------*/ + + +/* + * Disable interrupts, and keep a count of the nesting depth. + */ +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +/* + * Decrement the critical nesting count, and if it has reached zero, re-enable + * interrupts. + */ +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > 0 ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == 0 ) + { + /* Enable interrupts as per portENABLE_INTERRUPTS(). */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +#if __TI_VFP_SUPPORT__ + + void vPortTaskUsesFPU( void ) + { + extern void vPortInitialiseFPSCR( void ); + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (saved as part of the task context. */ + ulTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + vPortInitialiseFPSCR(); + } + +#endif /* __TI_VFP_SUPPORT__ */ + +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm new file mode 100644 index 0000000..76e2b71 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm @@ -0,0 +1,229 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + .text + .arm + .ref vTaskSwitchContext + .ref xTaskIncrementTick + .ref ulTaskHasFPUContext + .ref pxCurrentTCB + +;/*-----------------------------------------------------------*/ +; +; Save Task Context +; +portSAVE_CONTEXT .macro + DSB + + ; Push R0 as we are going to use it + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP,{SP}^ + SUB SP, SP, #4 + LDMIA SP!,{R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now LR has been saved, it can be used instead of R0. + MOV LR, R0 + + ; Pop R0 so it can be saved onto the task stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR,{R0-LR}^ + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + .if (__TI_VFP_SUPPORT__) + ;Determine if the task maintains an FPU context. + LDR R0, ulFPUContextConst + LDR R0, [R0] + + ; Test the flag + CMP R0, #0 + + ; If the task is not using a floating point context then skip the + ; saving of the FPU registers. + BEQ $+16 + FSTMDBD LR!, {D0-D15} + FMRX R1, FPSCR + STMFD LR!, {R1} + + ; Save the flag + STMDB LR!, {R0} + .endif + + ; Store the new top of stack for the task. + LDR R0, pxCurrentTCBConst + LDR R0, [R0] + STR LR, [R0] + + .endm + +;/*-----------------------------------------------------------*/ +; +; Restore Task Context +; +portRESTORE_CONTEXT .macro + LDR R0, pxCurrentTCBConst + LDR R0, [R0] + LDR LR, [R0] + + .if (__TI_VFP_SUPPORT__) + ; The floating point context flag is the first thing on the stack. + LDR R0, ulFPUContextConst + LDMFD LR!, {R1} + STR R1, [R0] + + ; Test the flag + CMP R1, #0 + + ; If the task is not using a floating point context then skip the + ; VFP register loads. + BEQ $+16 + + ; Restore the floating point context. + LDMFD LR!, {R0} + FLDMIAD LR!, {D0-D15} + FMXR FPSCR, R0 + .endif + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_CSXF, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + .endm + +;/*-----------------------------------------------------------*/ +; Start the first task by restoring its context. + + .def vPortStartFirstTask + +vPortStartFirstTask: + portRESTORE_CONTEXT + +;/*-----------------------------------------------------------*/ +; Yield to another task. + + .def vPortYieldProcessor + +vPortYieldProcessor: + ; Within an IRQ ISR the link register has an offset from the true return + ; address. SWI doesn't do this. Add the offset manually so the ISR + ; return code can be used. + ADD LR, LR, #4 + + ; First save the context of the current task. + portSAVE_CONTEXT + + ; Select the next task to execute. */ + BL vTaskSwitchContext + + ; Restore the context of the task selected to execute. + portRESTORE_CONTEXT + +;/*-----------------------------------------------------------*/ +; Yield to another task from within the FreeRTOS API + + .def vPortYeildWithinAPI + +vPortYeildWithinAPI: + ; Save the context of the current task. + + portSAVE_CONTEXT + ; Clear SSI flag. + MOVW R0, #0xFFF4 + MOVT R0, #0xFFFF + LDR R0, [R0] + + ; Select the next task to execute. */ + BL vTaskSwitchContext + + ; Restore the context of the task selected to execute. + portRESTORE_CONTEXT + +;/*-----------------------------------------------------------*/ +; Preemptive Tick + + .def vPortPreemptiveTick + +vPortPreemptiveTick: + + ; Save the context of the current task. + portSAVE_CONTEXT + + ; Clear interrupt flag + MOVW R0, #0xFC88 + MOVT R0, #0xFFFF + MOV R1, #1 + STR R1, [R0] + + ; Increment the tick count, making any adjustments to the blocked lists + ; that may be necessary. + BL xTaskIncrementTick + + ; Select the next task to execute. + CMP R0, #0 + BLNE vTaskSwitchContext + + ; Restore the context of the task selected to execute. + portRESTORE_CONTEXT + +;------------------------------------------------------------------------------- + + .if (__TI_VFP_SUPPORT__) + + .def vPortInitialiseFPSCR + +vPortInitialiseFPSCR: + + MOV R0, #0 + FMXR FPSCR, R0 + BX LR + + .endif ;__TI_VFP_SUPPORT__ + + +pxCurrentTCBConst .word pxCurrentTCB +ulFPUContextConst .word ulTaskHasFPUContext +;------------------------------------------------------------------------------- + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portmacro.h new file mode 100644 index 0000000..7989f18 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portmacro.h @@ -0,0 +1,117 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORTMACRO_H__ +#define __PORTMACRO_H__ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if (configUSE_16_BIT_TICKS == 1) + typedef uint16_t TickType_t; + #define portMAX_DELAY (TickType_t) 0xFFFF +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY (TickType_t) 0xFFFFFFFFF + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif + + +/* Architecture specifics. */ +#define portSTACK_GROWTH (-1) +#define portTICK_PERIOD_MS ((TickType_t) 1000 / configTICK_RATE_HZ) +#define portBYTE_ALIGNMENT 8 + +/* Critical section handling. */ +extern void vPortEnterCritical(void); +extern void vPortExitCritical(void); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +#define portDISABLE_INTERRUPTS() asm( " CPSID I" ) +#define portENABLE_INTERRUPTS() asm( " CPSIE I" ) + +/* Scheduler utilities. */ +#pragma SWI_ALIAS( vPortYield, 0 ) +extern void vPortYield( void ); +#define portYIELD() vPortYield() +#define portSYS_SSIR1_REG ( * ( ( volatile uint32_t * ) 0xFFFFFFB0 ) ) +#define portSYS_SSIR1_SSKEY ( 0x7500UL ) +#define portYIELD_WITHIN_API() { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; asm( " DSB " ); asm( " ISB " ); } +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ){ portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; ( void ) portSYS_SSIR1_REG; } + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +/* Architecture specific optimisations. */ +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION(vFunction, pvParameters) void vFunction(void *pvParameters) +#define portTASK_FUNCTION_PROTO(vFunction, pvParameters) void vFunction(void *pvParameters) + +#endif /* __PORTMACRO_H__ */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/data_model.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/data_model.h new file mode 100644 index 0000000..400705c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/data_model.h @@ -0,0 +1,53 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + .if $DEFINED( __LARGE_DATA_MODEL__ ) + .define "pushm.a", pushm_x + .define "popm.a", popm_x + .define "push.a", push_x + .define "pop.a", pop_x + .define "mov.a", mov_x + .else + .define "pushm.w", pushm_x + .define "popm.w", popm_x + .define "push.w", push_x + .define "pop.w", pop_x + .define "mov.w", mov_x + .endif + + .if $DEFINED( __LARGE_CODE_MODEL__ ) + .define "calla", call_x + .define "reta", ret_x + .else + .define "call", call_x + .define "ret", ret_x + .endif + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/port.c new file mode 100644 index 0000000..5536c4e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/port.c @@ -0,0 +1,187 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MSP430X port. + *----------------------------------------------------------*/ + +/* Constants required for hardware setup. The tick ISR runs off the ACLK, +not the MCLK. */ +#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Each task maintains a count of the critical section nesting depth. Each +time a critical section is entered the count is incremented. Each time a +critical section is exited the count is decremented - with interrupts only +being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +void vPortSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint16_t *pusTopOfStack; +uint32_t *pulTopOfStack, ulTemp; + + /* + Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be included if required. + + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x3333; + pxTopOfStack--; + */ + + /* Data types are need either 16 bits or 32 bits depending on the data + and code model used. */ + if( sizeof( pxCode ) == sizeof( uint16_t ) ) + { + pusTopOfStack = ( uint16_t * ) pxTopOfStack; + ulTemp = ( uint32_t ) pxCode; + *pusTopOfStack = ( uint16_t ) ulTemp; + } + else + { + /* Make room for a 20 bit value stored as a 32 bit value. */ + pusTopOfStack = ( uint16_t * ) pxTopOfStack; + pusTopOfStack--; + pulTopOfStack = ( uint32_t * ) pusTopOfStack; + *pulTopOfStack = ( uint32_t ) pxCode; + } + + pusTopOfStack--; + *pusTopOfStack = portFLAGS_INT_ENABLED; + pusTopOfStack -= ( sizeof( StackType_t ) / 2 ); + + /* From here on the size of stacked items depends on the memory model. */ + pxTopOfStack = ( StackType_t * ) pusTopOfStack; + + /* Next the general purpose registers. */ + #ifdef PRELOAD_REGISTER_VALUES + *pxTopOfStack = ( StackType_t ) 0xffff; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xeeee; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xdddd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xbbbb; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xaaaa; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x9999; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x8888; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x6666; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x4444; + pxTopOfStack--; + #else + pxTopOfStack -= 3; + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack -= 9; + #endif + + /* A variable is used to keep track of the critical section nesting. + This variable has to be stored as part of the task context and is + initially set to zero. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the MSP430 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. + */ +void vPortSetupTimerInterrupt( void ) +{ + vApplicationSetupTimerInterrupt(); +} +/*-----------------------------------------------------------*/ + +#pragma vector=configTICK_VECTOR +interrupt void vTickISREntry( void ) +{ +extern void vPortTickISR( void ); + + __bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF ); + #if configUSE_PREEMPTION == 1 + extern void vPortPreemptiveTickISR( void ); + vPortPreemptiveTickISR(); + #else + extern void vPortCooperativeTickISR( void ); + vPortCooperativeTickISR(); + #endif +} + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/portext.asm b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/portext.asm new file mode 100644 index 0000000..81de6ea --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/portext.asm @@ -0,0 +1,159 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +; * The definition of the "register test" tasks, as described at the top of +; * main.c + + .include data_model.h + + .global xTaskIncrementTick + .global vTaskSwitchContext + .global vPortSetupTimerInterrupt + .global pxCurrentTCB + .global usCriticalNesting + + .def vPortPreemptiveTickISR + .def vPortCooperativeTickISR + .def vPortYield + .def xPortStartScheduler + +;----------------------------------------------------------- + +portSAVE_CONTEXT .macro + + ;Save the remaining registers. + pushm_x #12, r15 + mov.w &usCriticalNesting, r14 + push_x r14 + mov_x &pxCurrentTCB, r12 + mov_x sp, 0( r12 ) + .endm +;----------------------------------------------------------- + +portRESTORE_CONTEXT .macro + + mov_x &pxCurrentTCB, r12 + mov_x @r12, sp + pop_x r15 + mov.w r15, &usCriticalNesting + popm_x #12, r15 + nop + pop.w sr + nop + ret_x + .endm +;----------------------------------------------------------- + +;* +;* The RTOS tick ISR. +;* +;* If the cooperative scheduler is in use this simply increments the tick +;* count. +;* +;* If the preemptive scheduler is in use a context switch can also occur. +;*/ + + .text + .align 2 + +vPortPreemptiveTickISR: .asmfunc + + ; The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs + ;to save it manually before it gets modified (interrupts get disabled). + push.w sr + portSAVE_CONTEXT + + call_x #xTaskIncrementTick + call_x #vTaskSwitchContext + + portRESTORE_CONTEXT + .endasmfunc +;----------------------------------------------------------- + + .align 2 + +vPortCooperativeTickISR: .asmfunc + + ; The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs + ;to save it manually before it gets modified (interrupts get disabled). + push.w sr + portSAVE_CONTEXT + + call_x #xTaskIncrementTick + + portRESTORE_CONTEXT + + .endasmfunc +;----------------------------------------------------------- + +; +; Manual context switch called by the portYIELD() macro. +; + + .align 2 + +vPortYield: .asmfunc + + ; The sr needs saving before it is modified. + push.w sr + + ; Now the SR is stacked we can disable interrupts. + dint + nop + + ; Save the context of the current task. + portSAVE_CONTEXT + + ; Select the next task to run. + call_x #vTaskSwitchContext + + ; Restore the context of the new task. + portRESTORE_CONTEXT + .endasmfunc +;----------------------------------------------------------- + + +; +; Start off the scheduler by initialising the RTOS tick timer, then restoring +; the context of the first task. +; + + .align 2 + +xPortStartScheduler: .asmfunc + + ; Setup the hardware to generate the tick. Interrupts are disabled + ; when this function is called. + call_x #vPortSetupTimerInterrupt + + ; Restore the context of the first task that is going to run. + portRESTORE_CONTEXT + .endasmfunc +;----------------------------------------------------------- + + .end + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/portmacro.h new file mode 100644 index 0000000..83daecf --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CCS/MSP430X/portmacro.h @@ -0,0 +1,143 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Hardware includes. */ +#include "msp430.h" + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portBASE_TYPE portSHORT + +/* The stack type changes depending on the data model. */ +#ifdef __LARGE_DATA_MODEL__ + #define portSTACK_TYPE uint32_t +#else + #define portSTACK_TYPE uint16_t + #define portPOINTER_SIZE_TYPE uint16_t +#endif + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() _disable_interrupt(); _nop() +#define portENABLE_INTERRUPTS() _enable_interrupt(); _nop() +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled usCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __no_operation() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR( x ) if( x ) vPortYield() + +void vApplicationSetupTimerInterrupt( void ); + +/* sizeof( int ) != sizeof( long ) so a full printf() library is required if +run time stats information is to be displayed. */ +#define portLU_PRINTF_SPECIFIER_REQUIRED + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/port.c new file mode 100644 index 0000000..502ccb2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/port.c @@ -0,0 +1,183 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" + + +#define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 ) + +/* Supervisor mode set. */ +#define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000) + +/* The clock prescale into the timer peripheral. */ +#define portPRESCALE_VALUE ( ( uint8_t ) 10 ) + +/* The clock frequency into the RTC. */ +#define portRTC_CLOCK_HZ ( ( uint32_t ) 1000 ) + +asm void interrupt VectorNumber_VL1swi vPortYieldISR( void ); +static void prvSetupTimerInterrupt( void ); + +/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This +will be set to 0 prior to the first task being started. */ +static uint32_t ulCriticalNesting = 0x9999UL; + +/*-----------------------------------------------------------*/ + +StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + +uint32_t ulOriginalA5; + + __asm{ MOVE.L A5, ulOriginalA5 }; + + + *pxTopOfStack = (StackType_t) 0xDEADBEEF; + pxTopOfStack--; + + /* Exception stack frame starts with the return address. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/ + pxTopOfStack -= 14; /* A5 to D0. */ + + /* Parameter in A0. */ + *( pxTopOfStack + 8 ) = ( StackType_t ) pvParameters; + + /* A5 must be maintained as it is resurved by the compiler. */ + *( pxTopOfStack + 13 ) = ulOriginalA5; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + ulCriticalNesting = 0UL; + + /* Configure a timer to generate the tick interrupt. */ + prvSetupTimerInterrupt(); + + /* Start the first task executing. */ + vPortStartFirstTask(); + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Prescale by 1 - ie no prescale. */ + RTCSC |= 8; + + /* Compare match value. */ + RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ; + + /* Enable the RTC to generate interrupts - interrupts are already disabled + when this code executes. */ + RTCSC_RTIE = 1; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented as there is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + if( ulCriticalNesting == 0UL ) + { + /* Guard against context switches being pended simultaneously with a + critical section being entered. */ + do + { + portDISABLE_INTERRUPTS(); + if( INTC_FRC == 0UL ) + { + break; + } + + portENABLE_INTERRUPTS(); + + } while( 1 ); + } + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + ulCriticalNesting--; + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void vPortYieldHandler( void ) +{ +uint32_t ulSavedInterruptMask; + + ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Note this will clear all forced interrupts - this is done for speed. */ + INTC_CFRC = 0x3E; + vTaskSwitchContext(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); +} +/*-----------------------------------------------------------*/ + +void interrupt VectorNumber_Vrtc vPortTickISR( void ) +{ +uint32_t ulSavedInterruptMask; + + /* Clear the interrupt. */ + RTCSC |= RTCSC_RTIF_MASK; + + /* Increment the RTOS tick. */ + ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); +} + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portasm.S new file mode 100644 index 0000000..b722b31 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portasm.S @@ -0,0 +1,130 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * Purpose: Lowest level routines for all ColdFire processors. + * + * Notes: + * + * ulPortSetIPL() and mcf5xxx_wr_cacr() copied with permission from FreeScale + * supplied source files. + */ + + .global ulPortSetIPL + .global _ulPortSetIPL + .global mcf5xxx_wr_cacrx + .global _mcf5xxx_wr_cacrx + .global vPortYieldISR + .global _vPortYieldISR + .global vPortStartFirstTask + .global _vPortStartFirstTask + .extern _pxCurrentTCB + .extern _vPortYieldHandler + + .text + +.macro portSAVE_CONTEXT + + lea.l (-60, sp), sp + movem.l d0-a6, (sp) + move.l _pxCurrentTCB, a0 + move.l sp, (a0) + + .endm + +.macro portRESTORE_CONTEXT + + move.l _pxCurrentTCB, a0 + move.l (a0), sp + movem.l (sp), d0-a6 + lea.l (60, sp), sp + rte + + .endm + +/********************************************************************/ +/* + * This routines changes the IPL to the value passed into the routine. + * It also returns the old IPL value back. + * Calling convention from C: + * old_ipl = asm_set_ipl(new_ipl); + * For the Diab Data C compiler, it passes return value thru D0. + * Note that only the least significant three bits of the passed + * value are used. + */ + +ulPortSetIPL: +_ulPortSetIPL: + link A6,#-8 + movem.l D6-D7,(SP) + + move.w SR,D7 /* current sr */ + + move.l D7,D6 /* prepare return value */ + andi.l #0x0700,D6 /* mask out IPL */ + lsr.l #8,D6 /* IPL */ + + andi.l #0x07,D0 /* least significant three bits */ + lsl.l #8,D0 /* move over to make mask */ + + andi.l #0x0000F8FF,D7 /* zero out current IPL */ + or.l D0,D7 /* place new IPL in sr */ + move.w D7,SR + + move.l D6, D0 /* Return value in D0. */ + movem.l (SP),D6-D7 + lea 8(SP),SP + unlk A6 + rts +/********************************************************************/ + +mcf5xxx_wr_cacrx: +_mcf5xxx_wr_cacrx: + move.l 4(sp),d0 + .long 0x4e7b0002 /* movec d0,cacr */ + nop + rts + +/********************************************************************/ + +/* Yield interrupt. */ +_vPortYieldISR: +vPortYieldISR: + portSAVE_CONTEXT + jsr _vPortYieldHandler + portRESTORE_CONTEXT + +/********************************************************************/ + + +vPortStartFirstTask: +_vPortStartFirstTask: + portRESTORE_CONTEXT + + .end + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portmacro.h new file mode 100644 index 0000000..0edd3a1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portmacro.h @@ -0,0 +1,115 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +uint32_t ulPortSetIPL( uint32_t ); +#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 ) + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +extern UBaseType_t uxPortSetInterruptMaskFromISR( void ); +extern void vPortClearInterruptMaskFromISR( UBaseType_t ); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister ) + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portNOP() asm volatile ( "nop" ) + +/* Context switches are requested using the force register. */ +#define portYIELD() INTC_SFRC = 0x3E; portNOP(); portNOP(); portNOP(); portNOP(); portNOP() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \ + { \ + portYIELD(); \ + } + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/port.c new file mode 100644 index 0000000..28692f4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/port.c @@ -0,0 +1,147 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" + + +#define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 ) + +/* Supervisor mode set. */ +#define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000) + +/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This +will be set to 0 prior to the first task being started. */ +static uint32_t ulCriticalNesting = 0x9999UL; + + +#define portSAVE_CONTEXT() \ + lea.l (-60, %sp), %sp; \ + movem.l %d0-%fp, (%sp); \ + move.l pxCurrentTCB, %a0; \ + move.l %sp, (%a0); + +#define portRESTORE_CONTEXT() \ + move.l pxCurrentTCB, %a0; \ + move.l (%a0), %sp; \ + movem.l (%sp), %d0-%fp; \ + lea.l %sp@(60), %sp; \ + rte + + + +/*-----------------------------------------------------------*/ + +StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0xDEADBEEF; + pxTopOfStack--; + + /* Exception stack frame starts with the return address. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/ + pxTopOfStack -= 14; /* A5 to D0. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + ulCriticalNesting = 0UL; + + /* Configure the interrupts used by this port. */ + vApplicationSetupInterrupts(); + + /* Start the first task executing. */ + vPortStartFirstTask(); + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented as there is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + if( ulCriticalNesting == 0UL ) + { + /* Guard against context switches being pended simultaneously with a + critical section being entered. */ + do + { + portDISABLE_INTERRUPTS(); + if( MCF_INTC0_INTFRCH == 0UL ) + { + break; + } + + portENABLE_INTERRUPTS(); + + } while( 1 ); + } + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + ulCriticalNesting--; + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void vPortYieldHandler( void ) +{ +uint32_t ulSavedInterruptMask; + + ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + /* Note this will clear all forced interrupts - this is done for speed. */ + MCF_INTC0_INTFRCL = 0; + vTaskSwitchContext(); + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portasm.S new file mode 100644 index 0000000..0e7e581 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portasm.S @@ -0,0 +1,130 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * Purpose: Lowest level routines for all ColdFire processors. + * + * Notes: + * + * ulPortSetIPL() and mcf5xxx_wr_cacr() copied with permission from FreeScale + * supplied source files. + */ + + .global ulPortSetIPL + .global _ulPortSetIPL + .global mcf5xxx_wr_cacrx + .global _mcf5xxx_wr_cacrx + .global vPortYieldISR + .global _vPortYieldISR + .global vPortStartFirstTask + .global _vPortStartFirstTask + .extern _pxCurrentTCB + .extern _vPortYieldHandler + + .text + +.macro portSAVE_CONTEXT + + lea.l (-60, sp), sp + movem.l d0-a6, (sp) + move.l _pxCurrentTCB, a0 + move.l sp, (a0) + + .endm + +.macro portRESTORE_CONTEXT + + move.l _pxCurrentTCB, a0 + move.l (a0), sp + movem.l (sp), d0-a6 + lea.l (60, sp), sp + rte + + .endm + +/********************************************************************/ +/* + * This routines changes the IPL to the value passed into the routine. + * It also returns the old IPL value back. + * Calling convention from C: + * old_ipl = asm_set_ipl(new_ipl); + * For the Diab Data C compiler, it passes return value thru D0. + * Note that only the least significant three bits of the passed + * value are used. + */ + +ulPortSetIPL: +_ulPortSetIPL: + link A6,#-8 + movem.l D6-D7,(SP) + + move.w SR,D7 /* current sr */ + + move.l D7,D0 /* prepare return value */ + andi.l #0x0700,D0 /* mask out IPL */ + lsr.l #8,D0 /* IPL */ + + move.l 8(A6),D6 /* get argument */ + andi.l #0x07,D6 /* least significant three bits */ + lsl.l #8,D6 /* move over to make mask */ + + andi.l #0x0000F8FF,D7 /* zero out current IPL */ + or.l D6,D7 /* place new IPL in sr */ + move.w D7,SR + + movem.l (SP),D6-D7 + lea 8(SP),SP + unlk A6 + rts +/********************************************************************/ + +mcf5xxx_wr_cacrx: +_mcf5xxx_wr_cacrx: + move.l 4(sp),d0 + .long 0x4e7b0002 /* movec d0,cacr */ + nop + rts + +/********************************************************************/ + +/* Yield interrupt. */ +_vPortYieldISR: +vPortYieldISR: + portSAVE_CONTEXT + jsr _vPortYieldHandler + portRESTORE_CONTEXT + +/********************************************************************/ + + +vPortStartFirstTask: +_vPortStartFirstTask: + portRESTORE_CONTEXT + + .end + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portmacro.h new file mode 100644 index 0000000..6afa38d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portmacro.h @@ -0,0 +1,114 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ +uint32_t ulPortSetIPL( uint32_t ); +#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 ) + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +extern UBaseType_t uxPortSetInterruptMaskFromISR( void ); +extern void vPortClearInterruptMaskFromISR( UBaseType_t ); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister ) + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +#define portNOP() asm volatile ( "nop" ) + +/* Note this will overwrite all other bits in the force register, it is done this way for speed. */ +#define portYIELD() MCF_INTC0_INTFRCL = ( 1UL << configYIELD_INTERRUPT_VECTOR ); portNOP(); portNOP() /* -32 as we are using the high word of the 64bit mask. */ + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \ + { \ + portYIELD(); \ + } + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/HCS12/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/HCS12/port.c new file mode 100644 index 0000000..94caaae --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/HCS12/port.c @@ -0,0 +1,237 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the HCS12 port. + *----------------------------------------------------------*/ + + +/* + * Configure a timer to generate the RTOS tick at the frequency specified + * within FreeRTOSConfig.h. + */ +static void prvSetupTimerInterrupt( void ); + +/* Interrupt service routines have to be in non-banked memory - as does the +scheduler startup function. */ +#pragma CODE_SEG __NEAR_SEG NON_BANKED + + /* Manual context switch function. This is the SWI ISR. */ + void interrupt vPortYield( void ); + + /* Tick context switch function. This is the timer ISR. */ + void interrupt vPortTickInterrupt( void ); + + /* Simply called by xPortStartScheduler(). xPortStartScheduler() does not + start the scheduler directly because the header file containing the + xPortStartScheduler() prototype is part of the common kernel code, and + therefore cannot use the CODE_SEG pragma. */ + static BaseType_t xBankedStartScheduler( void ); + +#pragma CODE_SEG DEFAULT + +/* Calls to portENTER_CRITICAL() can be nested. When they are nested the +critical section should not be left (i.e. interrupts should not be re-enabled) +until the nesting depth reaches 0. This variable simply tracks the nesting +depth. Each task maintains it's own critical nesting depth variable so +uxCriticalNesting is saved and restored from the task stack during a context +switch. */ +volatile UBaseType_t uxCriticalNesting = 0xff; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* + Place a few bytes of known values on the bottom of the stack. + This can be uncommented to provide useful stack markers when debugging. + + *pxTopOfStack = ( StackType_t ) 0x11; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x33; + pxTopOfStack--; + */ + + + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. In this case the stack as + expected by the HCS12 RTI instruction. */ + + + /* The address of the task function is placed in the stack byte at a time. */ + *pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 1 ); + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 0 ); + pxTopOfStack--; + + /* Next are all the registers that form part of the task context. */ + + /* Y register */ + *pxTopOfStack = ( StackType_t ) 0xff; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xee; + pxTopOfStack--; + + /* X register */ + *pxTopOfStack = ( StackType_t ) 0xdd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xcc; + pxTopOfStack--; + + /* A register contains parameter high byte. */ + *pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 0 ); + pxTopOfStack--; + + /* B register contains parameter low byte. */ + *pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 1 ); + pxTopOfStack--; + + /* CCR: Note that when the task starts interrupts will be enabled since + "I" bit of CCR is cleared */ + *pxTopOfStack = ( StackType_t ) 0x00; + pxTopOfStack--; + + #ifdef BANKED_MODEL + /* The page of the task. */ + *pxTopOfStack = ( StackType_t ) ( ( int ) pxCode ); + pxTopOfStack--; + #endif + + /* Finally the critical nesting depth is initialised with 0 (not within + a critical section). */ + *pxTopOfStack = ( StackType_t ) 0x00; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the HCS12 port will get stopped. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + TickTimer_SetFreqHz( configTICK_RATE_HZ ); + TickTimer_Enable(); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* xPortStartScheduler() does not start the scheduler directly because + the header file containing the xPortStartScheduler() prototype is part + of the common kernel code, and therefore cannot use the CODE_SEG pragma. + Instead it simply calls the locally defined xBankedStartScheduler() - + which does use the CODE_SEG pragma. */ + + return xBankedStartScheduler(); +} +/*-----------------------------------------------------------*/ + +#pragma CODE_SEG __NEAR_SEG NON_BANKED + +static BaseType_t xBankedStartScheduler( void ) +{ + /* Configure the timer that will generate the RTOS tick. Interrupts are + disabled when this function is called. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task. */ + portRESTORE_CONTEXT(); + + /* Simulate the end of an interrupt to start the scheduler off. */ + __asm( "rti" ); + + /* Should not get here! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +/* + * Context switch functions. These are both interrupt service routines. + */ + +/* + * Manual context switch forced by calling portYIELD(). This is the SWI + * handler. + */ +void interrupt vPortYield( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * RTOS tick interrupt service routine. If the cooperative scheduler is + * being used then this simply increments the tick count. If the + * preemptive scheduler is being used a context switch can occur. + */ +void interrupt vPortTickInterrupt( void ) +{ + #if configUSE_PREEMPTION == 1 + { + /* A context switch might happen so save the context. */ + portSAVE_CONTEXT(); + + /* Increment the tick ... */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + TFLG1 = 1; + + /* Restore the context of a task - which may be a different task + to that interrupted. */ + portRESTORE_CONTEXT(); + } + #else + { + xTaskIncrementTick(); + TFLG1 = 1; + } + #endif +} + +#pragma CODE_SEG DEFAULT + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/HCS12/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/HCS12/portmacro.h new file mode 100644 index 0000000..f231d77 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/CodeWarrior/HCS12/portmacro.h @@ -0,0 +1,202 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 1 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portYIELD() __asm( "swi" ); +#define portNOP() __asm( "nop" ); +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#define portENABLE_INTERRUPTS() __asm( "cli" ) +#define portDISABLE_INTERRUPTS() __asm( "sei" ) + +/* + * Disable interrupts before incrementing the count of critical section nesting. + * The nesting count is maintained so we know when interrupts should be + * re-enabled. Once interrupts are disabled the nesting count can be accessed + * directly. Each task maintains its own nesting count. + */ +#define portENTER_CRITICAL() \ +{ \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + uxCriticalNesting++; \ +} + +/* + * Interrupts are disabled so we can access the nesting count directly. If the + * nesting is found to be 0 (no nesting) then we are leaving the critical + * section and interrupts can be re-enabled. + */ +#define portEXIT_CRITICAL() \ +{ \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + uxCriticalNesting--; \ + if( uxCriticalNesting == 0 ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * These macros are very simple as the processor automatically saves and + * restores its registers as interrupts are entered and exited. In + * addition to the (automatically stacked) registers we also stack the + * critical nesting count. Each task maintains its own critical nesting + * count as it is legitimate for a task to yield from within a critical + * section. If the banked memory model is being used then the PPAGE + * register is also stored as part of the tasks context. + */ + +#ifdef BANKED_MODEL + /* + * Load the stack pointer for the task, then pull the critical nesting + * count and PPAGE register from the stack. The remains of the + * context are restored by the RTI instruction. + */ + #define portRESTORE_CONTEXT() \ + { \ + extern volatile void * pxCurrentTCB; \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + __asm( "ldx pxCurrentTCB" ); \ + __asm( "lds 0, x" ); \ + __asm( "pula" ); \ + __asm( "staa uxCriticalNesting" ); \ + __asm( "pula" ); \ + __asm( "staa 0x30" ); /* 0x30 = PPAGE */ \ + } + + /* + * By the time this macro is called the processor has already stacked the + * registers. Simply stack the nesting count and PPAGE value, then save + * the task stack pointer. + */ + #define portSAVE_CONTEXT() \ + { \ + extern volatile void * pxCurrentTCB; \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + __asm( "ldaa 0x30" ); /* 0x30 = PPAGE */ \ + __asm( "psha" ); \ + __asm( "ldaa uxCriticalNesting" ); \ + __asm( "psha" ); \ + __asm( "ldx pxCurrentTCB" ); \ + __asm( "sts 0, x" ); \ + } +#else + + /* + * These macros are as per the BANKED versions above, but without saving + * and restoring the PPAGE register. + */ + + #define portRESTORE_CONTEXT() \ + { \ + extern volatile void * pxCurrentTCB; \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + __asm( "ldx pxCurrentTCB" ); \ + __asm( "lds 0, x" ); \ + __asm( "pula" ); \ + __asm( "staa uxCriticalNesting" ); \ + } + + #define portSAVE_CONTEXT() \ + { \ + extern volatile void * pxCurrentTCB; \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + __asm( "ldaa uxCriticalNesting" ); \ + __asm( "psha" ); \ + __asm( "ldx pxCurrentTCB" ); \ + __asm( "sts 0, x" ); \ + } +#endif + +/* + * Utility macro to call macros above in correct order in order to perform a + * task switch from within a standard ISR. This macro can only be used if + * the ISR does not use any local (stack) variables. If the ISR uses stack + * variables portYIELD() should be used in it's place. + */ +#define portTASK_SWITCH_FROM_ISR() \ + portSAVE_CONTEXT(); \ + vTaskSwitchContext(); \ + portRESTORE_CONTEXT(); + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Common/mpu_wrappers.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Common/mpu_wrappers.c new file mode 100644 index 0000000..ec82c67 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Common/mpu_wrappers.c @@ -0,0 +1,1414 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * Implementation of the wrapper functions used to raise the processor privilege + * before calling a standard FreeRTOS API function. + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "timers.h" +#include "event_groups.h" +#include "stream_buffer.h" +#include "mpu_prototypes.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * @brief Calls the port specific code to raise the privilege. + * + * @return pdFALSE if privilege was raised, pdTRUE otherwise. + */ +BaseType_t xPortRaisePrivilege( void ) FREERTOS_SYSTEM_CALL; + +/** + * @brief If xRunningPrivileged is not pdTRUE, calls the port specific + * code to reset the privilege, otherwise does nothing. + */ +void vPortResetPrivilege( BaseType_t xRunningPrivileged ); +/*-----------------------------------------------------------*/ + +BaseType_t xPortRaisePrivilege( void ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged; + + /* Check whether the processor is already privileged. */ + xRunningPrivileged = portIS_PRIVILEGED(); + + /* If the processor is not already privileged, raise privilege. */ + if( xRunningPrivileged == pdFALSE ) + { + portRAISE_PRIVILEGE(); + } + + return xRunningPrivileged; +} +/*-----------------------------------------------------------*/ + +void vPortResetPrivilege( BaseType_t xRunningPrivileged ) +{ + if( xRunningPrivileged == pdFALSE ) + { + portRESET_PRIVILEGE(); + } +} +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + BaseType_t MPU_xTaskCreate( TaskFunction_t pvTaskCode, + const char * const pcName, + uint16_t usStackDepth, + void * pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * pxCreatedTask ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + TaskHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskCreateStatic( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + void MPU_vTaskDelete( TaskHandle_t pxTaskToDelete ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskDelete( pxTaskToDelete ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskDelayUntil == 1 ) + BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime, + TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + BaseType_t xReturn; + + xReturn = xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskAbortDelay == 1 ) + BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskAbortDelay( xTask ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + void MPU_vTaskDelay( TickType_t xTicksToDelay ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskDelay( xTicksToDelay ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t pxTask ) /* FREERTOS_SYSTEM_CALL */ + { + UBaseType_t uxReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + uxReturn = uxTaskPriorityGet( pxTask ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + void MPU_vTaskPrioritySet( TaskHandle_t pxTask, + UBaseType_t uxNewPriority ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskPrioritySet( pxTask, uxNewPriority ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_eTaskGetState == 1 ) + eTaskState MPU_eTaskGetState( TaskHandle_t pxTask ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + eTaskState eReturn; + + eReturn = eTaskGetState( pxTask ); + vPortResetPrivilege( xRunningPrivileged ); + return eReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + void MPU_vTaskGetInfo( TaskHandle_t xTask, + TaskStatus_t * pxTaskStatus, + BaseType_t xGetFreeStackSpace, + eTaskState eState ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskGetInfo( xTask, pxTaskStatus, xGetFreeStackSpace, eState ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif /* if ( configUSE_TRACE_FACILITY == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) /* FREERTOS_SYSTEM_CALL */ + { + TaskHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGetIdleTaskHandle(); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + void MPU_vTaskSuspend( TaskHandle_t pxTaskToSuspend ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskSuspend( pxTaskToSuspend ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + void MPU_vTaskResume( TaskHandle_t pxTaskToResume ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskResume( pxTaskToResume ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +void MPU_vTaskSuspendAll( void ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskSuspendAll(); + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xTaskResumeAll( void ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskResumeAll(); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +TickType_t MPU_xTaskGetTickCount( void ) /* FREERTOS_SYSTEM_CALL */ +{ + TickType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGetTickCount(); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) /* FREERTOS_SYSTEM_CALL */ +{ + UBaseType_t uxReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + uxReturn = uxTaskGetNumberOfTasks(); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; +} +/*-----------------------------------------------------------*/ + +char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) /* FREERTOS_SYSTEM_CALL */ +{ + char * pcReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + pcReturn = pcTaskGetName( xTaskToQuery ); + vPortResetPrivilege( xRunningPrivileged ); + return pcReturn; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetHandle == 1 ) + TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) /* FREERTOS_SYSTEM_CALL */ + { + TaskHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGetHandle( pcNameToQuery ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + void MPU_vTaskList( char * pcWriteBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskList( pcWriteBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + void MPU_vTaskGetRunTimeStats( char * pcWriteBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskGetRunTimeStats( pcWriteBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) + uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) /* FREERTOS_SYSTEM_CALL */ + { + uint32_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = ulTaskGetIdleRunTimeCounter(); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, + TaskHookFunction_t pxTagValue ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskSetApplicationTaskTag( xTask, pxTagValue ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) /* FREERTOS_SYSTEM_CALL */ + { + TaskHookFunction_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGetApplicationTaskTag( xTask ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, + BaseType_t xIndex, + void * pvValue ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, + BaseType_t xIndex ) /* FREERTOS_SYSTEM_CALL */ + { + void * pvReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + pvReturn = pvTaskGetThreadLocalStoragePointer( xTaskToQuery, xIndex ); + vPortResetPrivilege( xRunningPrivileged ); + return pvReturn; + } +#endif /* if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, + void * pvParameter ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskCallApplicationTaskHook( xTask, pvParameter ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_APPLICATION_TASK_TAG == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * pxTaskStatusArray, + UBaseType_t uxArraySize, + uint32_t * pulTotalRunTime ) /* FREERTOS_SYSTEM_CALL */ + { + UBaseType_t uxReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + uxReturn = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, pulTotalRunTime ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; + } +#endif /* if ( configUSE_TRACE_FACILITY == 1 ) */ +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskCatchUpTicks( xTicksToCatchUp ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) + UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) /* FREERTOS_SYSTEM_CALL */ + { + UBaseType_t uxReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + uxReturn = uxTaskGetStackHighWaterMark( xTask ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) + configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) /* FREERTOS_SYSTEM_CALL */ + { + configSTACK_DEPTH_TYPE uxReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + uxReturn = uxTaskGetStackHighWaterMark2( xTask ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 )) + TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) /* FREERTOS_SYSTEM_CALL */ + { + TaskHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGetCurrentTaskHandle(); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetSchedulerState == 1 ) + BaseType_t MPU_xTaskGetSchedulerState( void ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGetSchedulerState(); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTaskSetTimeOutState( pxTimeOut ); + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, + TickType_t * const pxTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskCheckForTimeOut( pxTimeOut, pxTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + uint32_t ulValue, + eNotifyAction eAction, + uint32_t * pulPreviousNotificationValue ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGenericNotify( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn, + uint32_t ulBitsToClearOnEntry, + uint32_t ulBitsToClearOnExit, + uint32_t * pulNotificationValue, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGenericNotifyWait( uxIndexToWaitOn, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn, + BaseType_t xClearCountOnExit, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ + { + uint32_t ulReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + ulReturn = ulTaskGenericNotifyTake( uxIndexToWaitOn, xClearCountOnExit, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + return ulReturn; + } +#endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTaskGenericNotifyStateClear( xTask, uxIndexToClear ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear, + uint32_t ulBitsToClear ) /* FREERTOS_SYSTEM_CALL */ + { + uint32_t ulReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + ulReturn = ulTaskGenericNotifyValueClear( xTask, uxIndexToClear, ulBitsToClear ); + vPortResetPrivilege( xRunningPrivileged ); + return ulReturn; + } +#endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + QueueHandle_t MPU_xQueueGenericCreate( UBaseType_t uxQueueLength, + UBaseType_t uxItemSize, + uint8_t ucQueueType ) /* FREERTOS_SYSTEM_CALL */ + { + QueueHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueGenericCreate( uxQueueLength, uxItemSize, ucQueueType ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + uint8_t * pucQueueStorage, + StaticQueue_t * pxStaticQueue, + const uint8_t ucQueueType ) /* FREERTOS_SYSTEM_CALL */ + { + QueueHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueGenericCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxStaticQueue, ucQueueType ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xQueueGenericReset( QueueHandle_t pxQueue, + BaseType_t xNewQueue ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueGenericReset( pxQueue, xNewQueue ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, + const void * const pvItemToQueue, + TickType_t xTicksToWait, + BaseType_t xCopyPosition ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, xCopyPosition ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t pxQueue ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + UBaseType_t uxReturn; + + uxReturn = uxQueueMessagesWaiting( pxQueue ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; +} +/*-----------------------------------------------------------*/ + +UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + UBaseType_t uxReturn; + + uxReturn = uxQueueSpacesAvailable( xQueue ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xQueueReceive( QueueHandle_t pxQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + BaseType_t xReturn; + + xReturn = xQueueReceive( pxQueue, pvBuffer, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + BaseType_t xReturn; + + xReturn = xQueuePeek( xQueue, pvBuffer, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + BaseType_t xReturn; + + xReturn = xQueueSemaphoreTake( xQueue, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) + TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + void * xReturn; + + xReturn = xQueueGetMutexHolder( xSemaphore ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) /* FREERTOS_SYSTEM_CALL */ + { + QueueHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueCreateMutex( ucQueueType ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, + StaticQueue_t * pxStaticQueue ) /* FREERTOS_SYSTEM_CALL */ + { + QueueHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueCreateMutexStatic( ucQueueType, pxStaticQueue ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + QueueHandle_t MPU_xQueueCreateCountingSemaphore( UBaseType_t uxCountValue, + UBaseType_t uxInitialCount ) /* FREERTOS_SYSTEM_CALL */ + { + QueueHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueCreateCountingSemaphore( uxCountValue, uxInitialCount ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + + QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount, + StaticQueue_t * pxStaticQueue ) /* FREERTOS_SYSTEM_CALL */ + { + QueueHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueCreateCountingSemaphoreStatic( uxMaxCount, uxInitialCount, pxStaticQueue ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, + TickType_t xBlockTime ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueTakeMutexRecursive( xMutex, xBlockTime ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_RECURSIVE_MUTEXES == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t xMutex ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueGiveMutexRecursive( xMutex ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + QueueSetHandle_t MPU_xQueueCreateSet( UBaseType_t uxEventQueueLength ) /* FREERTOS_SYSTEM_CALL */ + { + QueueSetHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueCreateSet( uxEventQueueLength ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, + TickType_t xBlockTimeTicks ) /* FREERTOS_SYSTEM_CALL */ + { + QueueSetMemberHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueSelectFromSet( xQueueSet, xBlockTimeTicks ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_QUEUE_SETS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueAddToSet( xQueueOrSemaphore, xQueueSet ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_QUEUE_SETS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xQueueRemoveFromSet( xQueueOrSemaphore, xQueueSet ); + vPortResetPrivilege( xRunningPrivileged ); + return xReturn; + } +#endif /* if ( configUSE_QUEUE_SETS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, + const char * pcName ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vQueueAddToRegistry( xQueue, pcName ); + + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vQueueUnregisterQueue( xQueue ); + + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + const char * pcReturn; + + pcReturn = pcQueueGetName( xQueue ); + + vPortResetPrivilege( xRunningPrivileged ); + return pcReturn; + } +#endif /* if configQUEUE_REGISTRY_SIZE > 0 */ +/*-----------------------------------------------------------*/ + +void MPU_vQueueDelete( QueueHandle_t xQueue ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vQueueDelete( xQueue ); + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + void MPU_vPortInitialiseBlocks( void ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vPortInitialiseBlocks(); + + vPortResetPrivilege( xRunningPrivileged ); + } +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + size_t MPU_xPortGetFreeHeapSize( void ) /* FREERTOS_SYSTEM_CALL */ + { + size_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xPortGetFreeHeapSize(); + + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) ) + TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) /* FREERTOS_SYSTEM_CALL */ + { + TimerHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerCreate( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) ) + TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t * pxTimerBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + TimerHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerCreateStatic( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxTimerBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) /* FREERTOS_SYSTEM_CALL */ + { + void * pvReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + pvReturn = pvTimerGetTimerID( xTimer ); + vPortResetPrivilege( xRunningPrivileged ); + + return pvReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + void MPU_vTimerSetTimerID( TimerHandle_t xTimer, + void * pvNewID ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTimerSetTimerID( xTimer, pvNewID ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerIsTimerActive( xTimer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) /* FREERTOS_SYSTEM_CALL */ + { + TaskHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerGetTimerDaemonTaskHandle(); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) + BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, + void * pvParameter1, + uint32_t ulParameter2, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerPendFunctionCall( xFunctionToPend, pvParameter1, ulParameter2, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + void MPU_vTimerSetReloadMode( TimerHandle_t xTimer, + const UBaseType_t uxAutoReload ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vTimerSetReloadMode( xTimer, uxAutoReload ); + vPortResetPrivilege( xRunningPrivileged ); + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) + { + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + UBaseType_t uxReturn; + + uxReturn = uxTimerGetReloadMode( xTimer ); + vPortResetPrivilege( xRunningPrivileged ); + return uxReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) /* FREERTOS_SYSTEM_CALL */ + { + const char * pcReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + pcReturn = pcTimerGetName( xTimer ); + vPortResetPrivilege( xRunningPrivileged ); + + return pcReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) /* FREERTOS_SYSTEM_CALL */ + { + TickType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerGetPeriod( xTimer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) /* FREERTOS_SYSTEM_CALL */ + { + TickType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerGetExpiryTime( xTimer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, + const BaseType_t xCommandID, + const TickType_t xOptionalValue, + BaseType_t * const pxHigherPriorityTaskWoken, + const TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ + { + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xTimerGenericCommand( xTimer, xCommandID, xOptionalValue, pxHigherPriorityTaskWoken, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configUSE_TIMERS == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + EventGroupHandle_t MPU_xEventGroupCreate( void ) /* FREERTOS_SYSTEM_CALL */ + { + EventGroupHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xEventGroupCreate(); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + EventGroupHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xEventGroupCreateStatic( pxEventGroupBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ +/*-----------------------------------------------------------*/ + +EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + EventBits_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xEventGroupWaitBits( xEventGroup, uxBitsToWaitFor, xClearOnExit, xWaitForAllBits, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) /* FREERTOS_SYSTEM_CALL */ +{ + EventBits_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xEventGroupClearBits( xEventGroup, uxBitsToClear ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) /* FREERTOS_SYSTEM_CALL */ +{ + EventBits_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xEventGroupSetBits( xEventGroup, uxBitsToSet ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + EventBits_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xEventGroupSync( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vEventGroupDelete( xEventGroup ); + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + size_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferSend( xStreamBuffer, pvTxData, xDataLengthBytes, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + size_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferNextMessageLengthBytes( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */ +{ + size_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferReceive( xStreamBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + vStreamBufferDelete( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferIsFull( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferIsEmpty( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferReset( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + size_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferSpacesAvailable( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ +{ + size_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferBytesAvailable( xStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, + size_t xTriggerLevel ) /* FREERTOS_SYSTEM_CALL */ +{ + BaseType_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferSetTriggerLevel( xStreamBuffer, xTriggerLevel ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + StreamBufferHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, xIsMessageBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer, + uint8_t * const pucStreamBufferStorageArea, + StaticStreamBuffer_t * const pxStaticStreamBuffer ) /* FREERTOS_SYSTEM_CALL */ + { + StreamBufferHandle_t xReturn; + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + xReturn = xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, xIsMessageBuffer, pucStreamBufferStorageArea, pxStaticStreamBuffer ); + vPortResetPrivilege( xRunningPrivileged ); + + return xReturn; + } +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + + +/* Functions that the application writer wants to execute in privileged mode + * can be defined in application_defined_privileged_functions.h. The functions + * must take the same format as those above whereby the privilege state on exit + * equals the privilege state on entry. For example: + * + * void MPU_FunctionName( [parameters ] ) + * { + * BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + * + * FunctionName( [parameters ] ); + * + * vPortResetPrivilege( xRunningPrivileged ); + * } + */ + +#if configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS == 1 + #include "application_defined_privileged_functions.h" +#endif diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/port.c new file mode 100644 index 0000000..4b71df5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/port.c @@ -0,0 +1,238 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Atmel AT91R40008 + * port. + * + * Components that can be compiled to either ARM or THUMB mode are + * contained in this file. The ISR routines, which can only be compiled + * to ARM mode are contained in portISR.c. + *----------------------------------------------------------*/ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware specific definitions. */ +#include "AT91R40008.h" +#include "pio.h" +#include "aic.h" +#include "tc.h" + +/* Constants required to setup the task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) +#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) +#define portTICK_PRIORITY_6 ( 6 ) +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* + * The scheduler can only be started from ARM mode, so + * vPortISRStartFirstSTask() is defined in portISR.c. + */ +extern void vPortISRStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The last thing onto the stack is the status register, which is set for + system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + #ifdef THUMB_INTERWORK + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + #endif + + pxTopOfStack--; + + /* Some optimisation levels use the stack differently to others. This + means the interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortISRStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* + * Setup the tick timer to generate the tick interrupts at the required frequency. + */ +static void prvSetupTimerInterrupt( void ) +{ +volatile uint32_t ulDummy; + + /* Enable clock to the tick timer... */ + AT91C_BASE_PS->PS_PCER = portTIMER_CLK_ENABLE_BIT; + + /* Stop the tick timer... */ + portTIMER_REG_BASE_PTR->TC_CCR = TC_CLKDIS; + + /* Start with tick timer interrupts disabled... */ + portTIMER_REG_BASE_PTR->TC_IDR = 0xFFFFFFFF; + + /* Clear any pending tick timer interrupts... */ + ulDummy = portTIMER_REG_BASE_PTR->TC_SR; + + /* Store interrupt handler function address in tick timer vector register... + The ISR installed depends on whether the preemptive or cooperative + scheduler is being used. */ + #if configUSE_PREEMPTION == 1 + { + extern void ( vPreemptiveTick )( void ); + AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vPreemptiveTick; + } + #else // else use cooperative scheduler + { + extern void ( vNonPreemptiveTick )( void ); + AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vNonPreemptiveTick; + } + #endif + + /* Tick timer interrupt level-sensitive, priority 6... */ + AT91C_BASE_AIC->AIC_SMR[ portTIMER_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | portTICK_PRIORITY_6; + + /* Enable the tick timer interrupt... + + First at timer level */ + portTIMER_REG_BASE_PTR->TC_IER = TC_CPCS; + + /* Then at the AIC level. */ + AT91C_BASE_AIC->AIC_IECR = (1 << portTIMER_AIC_CHANNEL); + + /* Calculate timer compare value to achieve the desired tick rate... */ + if( (configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2) ) <= 0xFFFF ) + { + /* The tick rate is fast enough for us to use the faster timer input + clock (main clock / 2). */ + portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK2 | TC_BURST_NONE | TC_CPCTRG; + portTIMER_REG_BASE_PTR->TC_RC = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2); + } + else + { + /* We must use a slower timer input clock (main clock / 8) because the + tick rate is too slow for the faster input clock. */ + portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK8 | TC_BURST_NONE | TC_CPCTRG; + portTIMER_REG_BASE_PTR->TC_RC = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 8); + } + + /* Start tick timer... */ + portTIMER_REG_BASE_PTR->TC_CCR = TC_SWTRG | TC_CLKEN; +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/portISR.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/portISR.c new file mode 100644 index 0000000..32498c6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/portISR.c @@ -0,0 +1,233 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Components that can be compiled to either ARM or THUMB mode are + * contained in port.c The ISR routines, which can only be compiled + * to ARM mode, are contained in this file. + *----------------------------------------------------------*/ + +/* + Changes from V3.2.4 + + + The assembler statements are now included in a single asm block rather + than each line having its own asm block. +*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to handle interrupts. */ +#define portCLEAR_AIC_INTERRUPT ( ( uint32_t ) 0 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +/*-----------------------------------------------------------*/ + +/* ISR to handle manual context switches (from a call to taskYIELD()). */ +void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); + +/* + * The scheduler can only be started from ARM mode, hence the inclusion of this + * function here. + */ +void vPortISRStartFirstTask( void ); +/*-----------------------------------------------------------*/ + +void vPortISRStartFirstTask( void ) +{ + /* Simply start the scheduler. This is included here as it can only be + called from ARM mode. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Called by portYIELD() or taskYIELD() to manually force a context switch. + * + * When a context switch is performed from the task level the saved task + * context is made to look as if it occurred from within the tick ISR. This + * way the same restore context function can be used when restoring the context + * saved from the ISR or that saved from a call to vPortYieldProcessor. + */ +void vPortYieldProcessor( void ) +{ + /* Within an IRQ ISR the link register has an offset from the true return + address, but an SWI ISR does not. Add the offset manually so the same + ISR return code can be used in both cases. */ + asm volatile ( "ADD LR, LR, #4" ); + + /* Perform the context switch. First save the context of the current task. */ + portSAVE_CONTEXT(); + + /* Find the highest priority task that is ready to run. */ + vTaskSwitchContext(); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * The ISR used for the scheduler tick depends on whether the cooperative or + * the preemptive scheduler is being used. + */ + +#if configUSE_PREEMPTION == 0 + + /* The cooperative scheduler requires a normal IRQ service routine to + simply increment the system tick. */ + void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); + void vNonPreemptiveTick( void ) + { + static volatile uint32_t ulDummy; + + /* Clear tick timer interrupt indication. */ + ulDummy = portTIMER_REG_BASE_PTR->TC_SR; + + xTaskIncrementTick(); + + /* Acknowledge the interrupt at AIC level... */ + AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT; + } + +#else /* else preemption is turned on */ + + /* The preemptive scheduler is defined as "naked" as the full context is + saved on entry as part of the context switch. */ + void vPreemptiveTick( void ) __attribute__((naked)); + void vPreemptiveTick( void ) + { + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* WARNING - Do not use local (stack) variables here. Use globals + if you must! */ + static volatile uint32_t ulDummy; + + /* Clear tick timer interrupt indication. */ + ulDummy = portTIMER_REG_BASE_PTR->TC_SR; + + /* Increment the RTOS tick count, then look for the highest priority + task that is ready to run. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Acknowledge the interrupt at AIC level... */ + AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT; + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); + } + +#endif +/*-----------------------------------------------------------*/ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions here to + * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then + * the utilities are defined as macros in portmacro.h - as per other ports. + */ +#ifdef THUMB_INTERWORK + + void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + void vPortDisableInterruptsFromThumb( void ) + { + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + + void vPortEnableInterruptsFromThumb( void ) + { + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + +#endif /* THUMB_INTERWORK */ + +/* The code generated by the GCC compiler uses the stack in different ways at +different optimisation levels. The interrupt flags can therefore not always +be saved to the stack. Instead the critical section nesting level is stored +in a variable, which is then saved as part of the stack context. */ +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable interrupts as per portEXIT_CRITICAL(). */ + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + } + } +} + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h new file mode 100644 index 0000000..a72538f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h @@ -0,0 +1,255 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + Changes from V3.2.3 + + + Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. + + Changes from V3.2.4 + + + Removed the use of the %0 parameter within the assembler macros and + replaced them with hard coded registers. This will ensure the + assembler does not select the link register as the temp register as + was occasionally happening previously. + + + The assembler statements are now included in a single asm block rather + than each line having its own asm block. + + Changes from V4.5.0 + + + Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros + and replaced them with portYIELD_FROM_ISR() macro. Application code + should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() + macros as per the V4.5.1 demo code. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm volatile ( "SWI 0" ) +#define portNOP() asm volatile ( "NOP" ) + +/* + * These define the timer to use for generating the tick interrupt. + * They are put in this file so they can be shared between "port.c" + * and "portisr.c". + */ +#define portTIMER_REG_BASE_PTR AT91C_BASE_TC0 +#define portTIMER_CLK_ENABLE_BIT AT91C_PS_TC0 +#define portTIMER_AIC_CHANNEL ( ( uint32_t ) 4 ) +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR + * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but + * are included here for efficiency. An attempt to call one from + * THUMB mode code will result in a compile time error. + */ + +#define portRESTORE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Set the LR to the task stack. */ \ + asm volatile ( \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "LDR LR, [R0] \n\t" \ + \ + /* The critical nesting depth is the first item on the stack. */ \ + /* Load it into the ulCriticalNesting variable. */ \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDMFD LR!, {R1} \n\t" \ + "STR R1, [R0] \n\t" \ + \ + /* Get the SPSR from the stack. */ \ + "LDMFD LR!, {R0} \n\t" \ + "MSR SPSR, R0 \n\t" \ + \ + /* Restore all system mode registers for the task. */ \ + "LDMFD LR, {R0-R14}^ \n\t" \ + "NOP \n\t" \ + \ + /* Restore the return address. */ \ + "LDR LR, [LR, #+60] \n\t" \ + \ + /* And return - correcting the offset in the LR to obtain the */ \ + /* correct address. */ \ + "SUBS PC, LR, #4 \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} +/*-----------------------------------------------------------*/ + +#define portSAVE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Push R0 as we are going to use the register. */ \ + asm volatile ( \ + "STMDB SP!, {R0} \n\t" \ + \ + /* Set R0 to point to the task stack pointer. */ \ + "STMDB SP,{SP}^ \n\t" \ + "NOP \n\t" \ + "SUB SP, SP, #4 \n\t" \ + "LDMIA SP!,{R0} \n\t" \ + \ + /* Push the return address onto the stack. */ \ + "STMDB R0!, {LR} \n\t" \ + \ + /* Now we have saved LR we can use it instead of R0. */ \ + "MOV LR, R0 \n\t" \ + \ + /* Pop R0 so we can save it onto the system mode stack. */ \ + "LDMIA SP!, {R0} \n\t" \ + \ + /* Push all the system mode registers onto the task stack. */ \ + "STMDB LR,{R0-LR}^ \n\t" \ + "NOP \n\t" \ + "SUB LR, LR, #60 \n\t" \ + \ + /* Push the SPSR onto the task stack. */ \ + "MRS R0, SPSR \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDR R0, [R0] \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + /* Store the new top of stack for the task. */ \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "STR LR, [R0] \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} + +#define portYIELD_FROM_ISR() vTaskSwitchContext() + +/* Critical section handling. */ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions in + * portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not + * defined then the utilities are defined as macros here - as per other ports. + */ + +#ifdef THUMB_INTERWORK + + extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() + #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() + +#else + + #define portDISABLE_INTERRUPTS() \ + asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + + #define portENABLE_INTERRUPTS() \ + asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + +#endif /* THUMB_INTERWORK */ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/AT91SAM7X256.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/AT91SAM7X256.h new file mode 100644 index 0000000..a14279e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/AT91SAM7X256.h @@ -0,0 +1,2731 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +// DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +// OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7X256.h +// Object : AT91SAM7X256 definitions +// Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +// +// CVS Reference : /AT91SAM7X256.pl/1.11/Tue May 10 12:15:32 2005// +// CVS Reference : /SYS_SAM7X.pl/1.3/Tue Feb 1 17:01:43 2005// +// CVS Reference : /MC_SAM7X.pl/1.2/Fri May 20 14:13:04 2005// +// CVS Reference : /PMC_SAM7X.pl/1.4/Tue Feb 8 13:58:10 2005// +// CVS Reference : /RSTC_SAM7X.pl/1.1/Tue Feb 1 16:16:26 2005// +// CVS Reference : /UDP_SAM7X.pl/1.1/Tue May 10 11:35:35 2005// +// CVS Reference : /PWM_SAM7X.pl/1.1/Tue May 10 11:53:07 2005// +// CVS Reference : /AIC_6075B.pl/1.3/Fri May 20 14:01:30 2005// +// CVS Reference : /PIO_6057A.pl/1.2/Thu Feb 3 10:18:28 2005// +// CVS Reference : /RTTC_6081A.pl/1.2/Tue Nov 9 14:43:58 2004// +// CVS Reference : /PITC_6079A.pl/1.2/Tue Nov 9 14:43:56 2004// +// CVS Reference : /WDTC_6080A.pl/1.3/Tue Nov 9 14:44:00 2004// +// CVS Reference : /VREG_6085B.pl/1.1/Tue Feb 1 16:05:48 2005// +// CVS Reference : /PDC_6074C.pl/1.2/Thu Feb 3 08:48:54 2005// +// CVS Reference : /DBGU_6059D.pl/1.1/Mon Jan 31 13:15:32 2005// +// CVS Reference : /SPI_6088D.pl/1.3/Fri May 20 14:08:59 2005// +// CVS Reference : /US_6089C.pl/1.1/Mon Jul 12 18:23:26 2004// +// CVS Reference : /SSC_6078A.pl/1.1/Tue Jul 13 07:45:40 2004// +// CVS Reference : /TWI_6061A.pl/1.1/Tue Jul 13 07:38:06 2004// +// CVS Reference : /TC_6082A.pl/1.7/Fri Mar 11 12:52:17 2005// +// CVS Reference : /CAN_6019B.pl/1.1/Tue Mar 8 12:42:22 2005// +// CVS Reference : /EMACB_6119A.pl/1.5/Thu Feb 3 15:52:04 2005// +// CVS Reference : /ADC_6051C.pl/1.1/Fri Oct 17 09:12:38 2003// +// CVS Reference : /AES_6149A.pl/1.10/Mon Feb 7 09:44:25 2005// +// CVS Reference : /DES3_6150A.pl/1.1/Mon Jan 17 08:34:31 2005// +// ---------------------------------------------------------------------------- + +#ifndef AT91SAM7X256_H +#define AT91SAM7X256_H + +typedef volatile unsigned int AT91_REG;// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** +typedef struct _AT91S_SYS { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register + AT91_REG Reserved2[45]; // + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved3[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved4[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register + AT91_REG Reserved5[54]; // + AT91_REG PIOA_PER; // PIO Enable Register + AT91_REG PIOA_PDR; // PIO Disable Register + AT91_REG PIOA_PSR; // PIO Status Register + AT91_REG Reserved6[1]; // + AT91_REG PIOA_OER; // Output Enable Register + AT91_REG PIOA_ODR; // Output Disable Registerr + AT91_REG PIOA_OSR; // Output Status Register + AT91_REG Reserved7[1]; // + AT91_REG PIOA_IFER; // Input Filter Enable Register + AT91_REG PIOA_IFDR; // Input Filter Disable Register + AT91_REG PIOA_IFSR; // Input Filter Status Register + AT91_REG Reserved8[1]; // + AT91_REG PIOA_SODR; // Set Output Data Register + AT91_REG PIOA_CODR; // Clear Output Data Register + AT91_REG PIOA_ODSR; // Output Data Status Register + AT91_REG PIOA_PDSR; // Pin Data Status Register + AT91_REG PIOA_IER; // Interrupt Enable Register + AT91_REG PIOA_IDR; // Interrupt Disable Register + AT91_REG PIOA_IMR; // Interrupt Mask Register + AT91_REG PIOA_ISR; // Interrupt Status Register + AT91_REG PIOA_MDER; // Multi-driver Enable Register + AT91_REG PIOA_MDDR; // Multi-driver Disable Register + AT91_REG PIOA_MDSR; // Multi-driver Status Register + AT91_REG Reserved9[1]; // + AT91_REG PIOA_PPUDR; // Pull-up Disable Register + AT91_REG PIOA_PPUER; // Pull-up Enable Register + AT91_REG PIOA_PPUSR; // Pull-up Status Register + AT91_REG Reserved10[1]; // + AT91_REG PIOA_ASR; // Select A Register + AT91_REG PIOA_BSR; // Select B Register + AT91_REG PIOA_ABSR; // AB Select Status Register + AT91_REG Reserved11[9]; // + AT91_REG PIOA_OWER; // Output Write Enable Register + AT91_REG PIOA_OWDR; // Output Write Disable Register + AT91_REG PIOA_OWSR; // Output Write Status Register + AT91_REG Reserved12[85]; // + AT91_REG PIOB_PER; // PIO Enable Register + AT91_REG PIOB_PDR; // PIO Disable Register + AT91_REG PIOB_PSR; // PIO Status Register + AT91_REG Reserved13[1]; // + AT91_REG PIOB_OER; // Output Enable Register + AT91_REG PIOB_ODR; // Output Disable Registerr + AT91_REG PIOB_OSR; // Output Status Register + AT91_REG Reserved14[1]; // + AT91_REG PIOB_IFER; // Input Filter Enable Register + AT91_REG PIOB_IFDR; // Input Filter Disable Register + AT91_REG PIOB_IFSR; // Input Filter Status Register + AT91_REG Reserved15[1]; // + AT91_REG PIOB_SODR; // Set Output Data Register + AT91_REG PIOB_CODR; // Clear Output Data Register + AT91_REG PIOB_ODSR; // Output Data Status Register + AT91_REG PIOB_PDSR; // Pin Data Status Register + AT91_REG PIOB_IER; // Interrupt Enable Register + AT91_REG PIOB_IDR; // Interrupt Disable Register + AT91_REG PIOB_IMR; // Interrupt Mask Register + AT91_REG PIOB_ISR; // Interrupt Status Register + AT91_REG PIOB_MDER; // Multi-driver Enable Register + AT91_REG PIOB_MDDR; // Multi-driver Disable Register + AT91_REG PIOB_MDSR; // Multi-driver Status Register + AT91_REG Reserved16[1]; // + AT91_REG PIOB_PPUDR; // Pull-up Disable Register + AT91_REG PIOB_PPUER; // Pull-up Enable Register + AT91_REG PIOB_PPUSR; // Pull-up Status Register + AT91_REG Reserved17[1]; // + AT91_REG PIOB_ASR; // Select A Register + AT91_REG PIOB_BSR; // Select B Register + AT91_REG PIOB_ABSR; // AB Select Status Register + AT91_REG Reserved18[9]; // + AT91_REG PIOB_OWER; // Output Write Enable Register + AT91_REG PIOB_OWDR; // Output Write Disable Register + AT91_REG PIOB_OWSR; // Output Write Status Register + AT91_REG Reserved19[341]; // + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved20[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved21[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved22[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved23[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved24[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register + AT91_REG Reserved25[36]; // + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register + AT91_REG Reserved26[5]; // + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register + AT91_REG Reserved27[5]; // + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_SYS, *AT91PS_SYS; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +typedef struct _AT91S_AIC { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register +} AT91S_AIC, *AT91PS_AIC; + +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR ((unsigned int) 0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST ((unsigned int) 0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST ((unsigned int) 0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE ((unsigned int) 0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL ((unsigned int) 0x0 << 5) // (AIC) Internal Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL ((unsigned int) 0x0 << 5) // (AIC) External Sources Code Label Low-level Sensitive +#define AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) Internal Sources Code Label Positive Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) External Sources Code Label Negative Edge triggered +#define AT91C_AIC_SRCTYPE_HIGH_LEVEL ((unsigned int) 0x2 << 5) // (AIC) Internal Or External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_POSITIVE_EDGE ((unsigned int) 0x3 << 5) // (AIC) Internal Or External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ ((unsigned int) 0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ ((unsigned int) 0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT ((unsigned int) 0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK ((unsigned int) 0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// ***************************************************************************** +typedef struct _AT91S_PDC { + AT91_REG PDC_RPR; // Receive Pointer Register + AT91_REG PDC_RCR; // Receive Counter Register + AT91_REG PDC_TPR; // Transmit Pointer Register + AT91_REG PDC_TCR; // Transmit Counter Register + AT91_REG PDC_RNPR; // Receive Next Pointer Register + AT91_REG PDC_RNCR; // Receive Next Counter Register + AT91_REG PDC_TNPR; // Transmit Next Pointer Register + AT91_REG PDC_TNCR; // Transmit Next Counter Register + AT91_REG PDC_PTCR; // PDC Transfer Control Register + AT91_REG PDC_PTSR; // PDC Transfer Status Register +} AT91S_PDC, *AT91PS_PDC; + +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN ((unsigned int) 0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS ((unsigned int) 0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN ((unsigned int) 0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS ((unsigned int) 0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +typedef struct _AT91S_DBGU { + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved0[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved1[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register +} AT91S_DBGU, *AT91PS_DBGU; + +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX ((unsigned int) 0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX ((unsigned int) 0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN ((unsigned int) 0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS ((unsigned int) 0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN ((unsigned int) 0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS ((unsigned int) 0x1 << 7) // (DBGU) Transmitter Disable +#define AT91C_US_RSTSTA ((unsigned int) 0x1 << 8) // (DBGU) Reset Status Bits +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR ((unsigned int) 0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN ((unsigned int) 0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD ((unsigned int) 0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE ((unsigned int) 0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK ((unsigned int) 0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE ((unsigned int) 0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP ((unsigned int) 0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE ((unsigned int) 0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL ((unsigned int) 0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO ((unsigned int) 0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL ((unsigned int) 0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE ((unsigned int) 0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY ((unsigned int) 0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY ((unsigned int) 0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX ((unsigned int) 0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX ((unsigned int) 0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE ((unsigned int) 0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME ((unsigned int) 0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE ((unsigned int) 0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY ((unsigned int) 0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE ((unsigned int) 0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF ((unsigned int) 0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX ((unsigned int) 0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX ((unsigned int) 0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST ((unsigned int) 0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +typedef struct _AT91S_PIO { + AT91_REG PIO_PER; // PIO Enable Register + AT91_REG PIO_PDR; // PIO Disable Register + AT91_REG PIO_PSR; // PIO Status Register + AT91_REG Reserved0[1]; // + AT91_REG PIO_OER; // Output Enable Register + AT91_REG PIO_ODR; // Output Disable Registerr + AT91_REG PIO_OSR; // Output Status Register + AT91_REG Reserved1[1]; // + AT91_REG PIO_IFER; // Input Filter Enable Register + AT91_REG PIO_IFDR; // Input Filter Disable Register + AT91_REG PIO_IFSR; // Input Filter Status Register + AT91_REG Reserved2[1]; // + AT91_REG PIO_SODR; // Set Output Data Register + AT91_REG PIO_CODR; // Clear Output Data Register + AT91_REG PIO_ODSR; // Output Data Status Register + AT91_REG PIO_PDSR; // Pin Data Status Register + AT91_REG PIO_IER; // Interrupt Enable Register + AT91_REG PIO_IDR; // Interrupt Disable Register + AT91_REG PIO_IMR; // Interrupt Mask Register + AT91_REG PIO_ISR; // Interrupt Status Register + AT91_REG PIO_MDER; // Multi-driver Enable Register + AT91_REG PIO_MDDR; // Multi-driver Disable Register + AT91_REG PIO_MDSR; // Multi-driver Status Register + AT91_REG Reserved3[1]; // + AT91_REG PIO_PPUDR; // Pull-up Disable Register + AT91_REG PIO_PPUER; // Pull-up Enable Register + AT91_REG PIO_PPUSR; // Pull-up Status Register + AT91_REG Reserved4[1]; // + AT91_REG PIO_ASR; // Select A Register + AT91_REG PIO_BSR; // Select B Register + AT91_REG PIO_ABSR; // AB Select Status Register + AT91_REG Reserved5[9]; // + AT91_REG PIO_OWER; // Output Write Enable Register + AT91_REG PIO_OWDR; // Output Write Disable Register + AT91_REG PIO_OWSR; // Output Write Status Register +} AT91S_PIO, *AT91PS_PIO; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +typedef struct _AT91S_CKGR { + AT91_REG CKGR_MOR; // Main Oscillator Register + AT91_REG CKGR_MCFR; // Main Clock Frequency Register + AT91_REG Reserved0[1]; // + AT91_REG CKGR_PLLR; // PLL Register +} AT91S_CKGR, *AT91PS_CKGR; + +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN ((unsigned int) 0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS ((unsigned int) 0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT ((unsigned int) 0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF ((unsigned int) 0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY ((unsigned int) 0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV ((unsigned int) 0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 ((unsigned int) 0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS ((unsigned int) 0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT ((unsigned int) 0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT ((unsigned int) 0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 ((unsigned int) 0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 ((unsigned int) 0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 ((unsigned int) 0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 ((unsigned int) 0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL ((unsigned int) 0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV ((unsigned int) 0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 ((unsigned int) 0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 ((unsigned int) 0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 ((unsigned int) 0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +typedef struct _AT91S_PMC { + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved0[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved1[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved2[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved3[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved4[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register +} AT91S_PMC, *AT91PS_PMC; + +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK ((unsigned int) 0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP ((unsigned int) 0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 ((unsigned int) 0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 ((unsigned int) 0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 ((unsigned int) 0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 ((unsigned int) 0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS ((unsigned int) 0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK ((unsigned int) 0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK ((unsigned int) 0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK ((unsigned int) 0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES ((unsigned int) 0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK ((unsigned int) 0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 ((unsigned int) 0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 ((unsigned int) 0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 ((unsigned int) 0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 ((unsigned int) 0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 ((unsigned int) 0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 ((unsigned int) 0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS ((unsigned int) 0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK ((unsigned int) 0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY ((unsigned int) 0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY ((unsigned int) 0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY ((unsigned int) 0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY ((unsigned int) 0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY ((unsigned int) 0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RSTC { + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register +} AT91S_RSTC, *AT91PS_RSTC; + +// -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_RSTC_PROCRST ((unsigned int) 0x1 << 0) // (RSTC) Processor Reset +#define AT91C_RSTC_PERRST ((unsigned int) 0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_RSTC_EXTRST ((unsigned int) 0x1 << 3) // (RSTC) External Reset +#define AT91C_RSTC_KEY ((unsigned int) 0xFF << 24) // (RSTC) Password +// -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_RSTC_URSTS ((unsigned int) 0x1 << 0) // (RSTC) User Reset Status +#define AT91C_RSTC_BODSTS ((unsigned int) 0x1 << 1) // (RSTC) Brownout Detection Status +#define AT91C_RSTC_RSTTYP ((unsigned int) 0x7 << 8) // (RSTC) Reset Type +#define AT91C_RSTC_RSTTYP_POWERUP ((unsigned int) 0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WAKEUP ((unsigned int) 0x1 << 8) // (RSTC) WakeUp Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WATCHDOG ((unsigned int) 0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_RSTC_RSTTYP_SOFTWARE ((unsigned int) 0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_RSTC_RSTTYP_USER ((unsigned int) 0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_RSTC_RSTTYP_BROWNOUT ((unsigned int) 0x5 << 8) // (RSTC) Brownout Reset occured. +#define AT91C_RSTC_NRSTL ((unsigned int) 0x1 << 16) // (RSTC) NRST pin level +#define AT91C_RSTC_SRCMP ((unsigned int) 0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_RSTC_URSTEN ((unsigned int) 0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_RSTC_URSTIEN ((unsigned int) 0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_RSTC_ERSTL ((unsigned int) 0xF << 8) // (RSTC) User Reset Enable +#define AT91C_RSTC_BODIEN ((unsigned int) 0x1 << 16) // (RSTC) Brownout Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RTTC { + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register +} AT91S_RTTC, *AT91PS_RTTC; + +// -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_RTTC_RTPRES ((unsigned int) 0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_RTTC_ALMIEN ((unsigned int) 0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_RTTC_RTTINCIEN ((unsigned int) 0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_RTTC_RTTRST ((unsigned int) 0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_RTTC_ALMV ((unsigned int) 0x0 << 0) // (RTTC) Alarm Value +// -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_RTTC_CRTV ((unsigned int) 0x0 << 0) // (RTTC) Current Real-time Value +// -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_RTTC_ALMS ((unsigned int) 0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_RTTC_RTTINC ((unsigned int) 0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PITC { + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register +} AT91S_PITC, *AT91PS_PITC; + +// -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_PITC_PIV ((unsigned int) 0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_PITC_PITEN ((unsigned int) 0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_PITC_PITIEN ((unsigned int) 0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_PITC_PITS ((unsigned int) 0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_PITC_CPIV ((unsigned int) 0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_PITC_PICNT ((unsigned int) 0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_WDTC { + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register +} AT91S_WDTC, *AT91PS_WDTC; + +// -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_WDTC_WDRSTT ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Restart +#define AT91C_WDTC_KEY ((unsigned int) 0xFF << 24) // (WDTC) Watchdog KEY Password +// -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_WDTC_WDV ((unsigned int) 0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDFIEN ((unsigned int) 0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_WDTC_WDRSTEN ((unsigned int) 0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_WDTC_WDRPROC ((unsigned int) 0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDDIS ((unsigned int) 0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_WDTC_WDD ((unsigned int) 0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_WDTC_WDDBGHLT ((unsigned int) 0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_WDTC_WDIDLEHLT ((unsigned int) 0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_WDTC_WDUNF ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_WDTC_WDERR ((unsigned int) 0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// ***************************************************************************** +typedef struct _AT91S_VREG { + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_VREG, *AT91PS_VREG; + +// -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +#define AT91C_VREG_PSTDBY ((unsigned int) 0x1 << 0) // (VREG) Voltage Regulator Power Standby Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +typedef struct _AT91S_MC { + AT91_REG MC_RCR; // MC Remap Control Register + AT91_REG MC_ASR; // MC Abort Status Register + AT91_REG MC_AASR; // MC Abort Address Status Register + AT91_REG Reserved0[21]; // + AT91_REG MC_FMR; // MC Flash Mode Register + AT91_REG MC_FCR; // MC Flash Command Register + AT91_REG MC_FSR; // MC Flash Status Register +} AT91S_MC, *AT91PS_MC; + +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB ((unsigned int) 0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD ((unsigned int) 0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD ((unsigned int) 0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ ((unsigned int) 0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE ((unsigned int) 0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD ((unsigned int) 0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD ((unsigned int) 0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP ((unsigned int) 0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR ((unsigned int) 0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW ((unsigned int) 0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH ((unsigned int) 0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 ((unsigned int) 0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 ((unsigned int) 0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 ((unsigned int) 0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 ((unsigned int) 0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY ((unsigned int) 0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE ((unsigned int) 0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE ((unsigned int) 0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP ((unsigned int) 0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS ((unsigned int) 0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS ((unsigned int) 0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS ((unsigned int) 0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS ((unsigned int) 0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS ((unsigned int) 0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN ((unsigned int) 0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD ((unsigned int) 0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG ((unsigned int) 0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK ((unsigned int) 0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK ((unsigned int) 0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK ((unsigned int) 0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL ((unsigned int) 0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM ((unsigned int) 0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM ((unsigned int) 0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY ((unsigned int) 0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN ((unsigned int) 0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY ((unsigned int) 0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY ((unsigned int) 0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 ((unsigned int) 0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 ((unsigned int) 0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 ((unsigned int) 0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 ((unsigned int) 0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 ((unsigned int) 0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 ((unsigned int) 0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 ((unsigned int) 0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 ((unsigned int) 0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 ((unsigned int) 0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 ((unsigned int) 0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 ((unsigned int) 0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 ((unsigned int) 0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 ((unsigned int) 0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 ((unsigned int) 0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 ((unsigned int) 0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 ((unsigned int) 0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 ((unsigned int) 0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 ((unsigned int) 0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 ((unsigned int) 0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 ((unsigned int) 0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 ((unsigned int) 0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 ((unsigned int) 0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 ((unsigned int) 0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 ((unsigned int) 0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +typedef struct _AT91S_SPI { + AT91_REG SPI_CR; // Control Register + AT91_REG SPI_MR; // Mode Register + AT91_REG SPI_RDR; // Receive Data Register + AT91_REG SPI_TDR; // Transmit Data Register + AT91_REG SPI_SR; // Status Register + AT91_REG SPI_IER; // Interrupt Enable Register + AT91_REG SPI_IDR; // Interrupt Disable Register + AT91_REG SPI_IMR; // Interrupt Mask Register + AT91_REG Reserved0[4]; // + AT91_REG SPI_CSR[4]; // Chip Select Register + AT91_REG Reserved1[48]; // + AT91_REG SPI_RPR; // Receive Pointer Register + AT91_REG SPI_RCR; // Receive Counter Register + AT91_REG SPI_TPR; // Transmit Pointer Register + AT91_REG SPI_TCR; // Transmit Counter Register + AT91_REG SPI_RNPR; // Receive Next Pointer Register + AT91_REG SPI_RNCR; // Receive Next Counter Register + AT91_REG SPI_TNPR; // Transmit Next Pointer Register + AT91_REG SPI_TNCR; // Transmit Next Counter Register + AT91_REG SPI_PTCR; // PDC Transfer Control Register + AT91_REG SPI_PTSR; // PDC Transfer Status Register +} AT91S_SPI, *AT91PS_SPI; + +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN ((unsigned int) 0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS ((unsigned int) 0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST ((unsigned int) 0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER ((unsigned int) 0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR ((unsigned int) 0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS ((unsigned int) 0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED ((unsigned int) 0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE ((unsigned int) 0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC ((unsigned int) 0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV ((unsigned int) 0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS ((unsigned int) 0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB ((unsigned int) 0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS ((unsigned int) 0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD ((unsigned int) 0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD ((unsigned int) 0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF ((unsigned int) 0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE ((unsigned int) 0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF ((unsigned int) 0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES ((unsigned int) 0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX ((unsigned int) 0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX ((unsigned int) 0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF ((unsigned int) 0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE ((unsigned int) 0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR ((unsigned int) 0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY ((unsigned int) 0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS ((unsigned int) 0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL ((unsigned int) 0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA ((unsigned int) 0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT ((unsigned int) 0x1 << 3) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS ((unsigned int) 0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 ((unsigned int) 0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 ((unsigned int) 0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 ((unsigned int) 0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 ((unsigned int) 0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 ((unsigned int) 0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 ((unsigned int) 0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 ((unsigned int) 0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 ((unsigned int) 0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 ((unsigned int) 0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR ((unsigned int) 0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS ((unsigned int) 0xFF << 16) // (SPI) Delay Before SPCK +#define AT91C_SPI_DLYBCT ((unsigned int) 0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +typedef struct _AT91S_USART { + AT91_REG US_CR; // Control Register + AT91_REG US_MR; // Mode Register + AT91_REG US_IER; // Interrupt Enable Register + AT91_REG US_IDR; // Interrupt Disable Register + AT91_REG US_IMR; // Interrupt Mask Register + AT91_REG US_CSR; // Channel Status Register + AT91_REG US_RHR; // Receiver Holding Register + AT91_REG US_THR; // Transmitter Holding Register + AT91_REG US_BRGR; // Baud Rate Generator Register + AT91_REG US_RTOR; // Receiver Time-out Register + AT91_REG US_TTGR; // Transmitter Time-guard Register + AT91_REG Reserved0[5]; // + AT91_REG US_FIDI; // FI_DI_Ratio Register + AT91_REG US_NER; // Nb Errors Register + AT91_REG Reserved1[1]; // + AT91_REG US_IF; // IRDA_FILTER Register + AT91_REG Reserved2[44]; // + AT91_REG US_RPR; // Receive Pointer Register + AT91_REG US_RCR; // Receive Counter Register + AT91_REG US_TPR; // Transmit Pointer Register + AT91_REG US_TCR; // Transmit Counter Register + AT91_REG US_RNPR; // Receive Next Pointer Register + AT91_REG US_RNCR; // Receive Next Counter Register + AT91_REG US_TNPR; // Transmit Next Pointer Register + AT91_REG US_TNCR; // Transmit Next Counter Register + AT91_REG US_PTCR; // PDC Transfer Control Register + AT91_REG US_PTSR; // PDC Transfer Status Register +} AT91S_USART, *AT91PS_USART; + +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_STTBRK ((unsigned int) 0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK ((unsigned int) 0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO ((unsigned int) 0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA ((unsigned int) 0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT ((unsigned int) 0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK ((unsigned int) 0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO ((unsigned int) 0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN ((unsigned int) 0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS ((unsigned int) 0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN ((unsigned int) 0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS ((unsigned int) 0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE ((unsigned int) 0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL ((unsigned int) 0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 ((unsigned int) 0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH ((unsigned int) 0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM ((unsigned int) 0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 ((unsigned int) 0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 ((unsigned int) 0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA ((unsigned int) 0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH ((unsigned int) 0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS ((unsigned int) 0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK ((unsigned int) 0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 ((unsigned int) 0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW ((unsigned int) 0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT ((unsigned int) 0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL ((unsigned int) 0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS ((unsigned int) 0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS ((unsigned int) 0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS ((unsigned int) 0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS ((unsigned int) 0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC ((unsigned int) 0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP ((unsigned int) 0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT ((unsigned int) 0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT ((unsigned int) 0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT ((unsigned int) 0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF ((unsigned int) 0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 ((unsigned int) 0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO ((unsigned int) 0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER ((unsigned int) 0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK ((unsigned int) 0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK ((unsigned int) 0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER ((unsigned int) 0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER ((unsigned int) 0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK ((unsigned int) 0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT ((unsigned int) 0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION ((unsigned int) 0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK ((unsigned int) 0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC ((unsigned int) 0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC ((unsigned int) 0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC ((unsigned int) 0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC ((unsigned int) 0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI ((unsigned int) 0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR ((unsigned int) 0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD ((unsigned int) 0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS ((unsigned int) 0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +typedef struct _AT91S_SSC { + AT91_REG SSC_CR; // Control Register + AT91_REG SSC_CMR; // Clock Mode Register + AT91_REG Reserved0[2]; // + AT91_REG SSC_RCMR; // Receive Clock ModeRegister + AT91_REG SSC_RFMR; // Receive Frame Mode Register + AT91_REG SSC_TCMR; // Transmit Clock Mode Register + AT91_REG SSC_TFMR; // Transmit Frame Mode Register + AT91_REG SSC_RHR; // Receive Holding Register + AT91_REG SSC_THR; // Transmit Holding Register + AT91_REG Reserved1[2]; // + AT91_REG SSC_RSHR; // Receive Sync Holding Register + AT91_REG SSC_TSHR; // Transmit Sync Holding Register + AT91_REG Reserved2[2]; // + AT91_REG SSC_SR; // Status Register + AT91_REG SSC_IER; // Interrupt Enable Register + AT91_REG SSC_IDR; // Interrupt Disable Register + AT91_REG SSC_IMR; // Interrupt Mask Register + AT91_REG Reserved3[44]; // + AT91_REG SSC_RPR; // Receive Pointer Register + AT91_REG SSC_RCR; // Receive Counter Register + AT91_REG SSC_TPR; // Transmit Pointer Register + AT91_REG SSC_TCR; // Transmit Counter Register + AT91_REG SSC_RNPR; // Receive Next Pointer Register + AT91_REG SSC_RNCR; // Receive Next Counter Register + AT91_REG SSC_TNPR; // Transmit Next Pointer Register + AT91_REG SSC_TNCR; // Transmit Next Counter Register + AT91_REG SSC_PTCR; // PDC Transfer Control Register + AT91_REG SSC_PTSR; // PDC Transfer Status Register +} AT91S_SSC, *AT91PS_SSC; + +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN ((unsigned int) 0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS ((unsigned int) 0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN ((unsigned int) 0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS ((unsigned int) 0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST ((unsigned int) 0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS ((unsigned int) 0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV ((unsigned int) 0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK ((unsigned int) 0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK ((unsigned int) 0x2) // (SSC) RK pin +#define AT91C_SSC_CKO ((unsigned int) 0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE ((unsigned int) 0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS ((unsigned int) 0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX ((unsigned int) 0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI ((unsigned int) 0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_START ((unsigned int) 0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS ((unsigned int) 0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX ((unsigned int) 0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF ((unsigned int) 0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF ((unsigned int) 0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF ((unsigned int) 0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF ((unsigned int) 0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF ((unsigned int) 0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF ((unsigned int) 0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 ((unsigned int) 0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STTDLY ((unsigned int) 0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD ((unsigned int) 0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN ((unsigned int) 0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP ((unsigned int) 0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF ((unsigned int) 0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB ((unsigned int) 0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN ((unsigned int) 0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS ((unsigned int) 0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE ((unsigned int) 0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE ((unsigned int) 0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE ((unsigned int) 0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW ((unsigned int) 0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH ((unsigned int) 0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE ((unsigned int) 0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE ((unsigned int) 0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF ((unsigned int) 0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN ((unsigned int) 0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY ((unsigned int) 0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY ((unsigned int) 0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX ((unsigned int) 0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE ((unsigned int) 0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY ((unsigned int) 0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN ((unsigned int) 0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX ((unsigned int) 0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF ((unsigned int) 0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_TXSYN ((unsigned int) 0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN ((unsigned int) 0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA ((unsigned int) 0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA ((unsigned int) 0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +typedef struct _AT91S_TWI { + AT91_REG TWI_CR; // Control Register + AT91_REG TWI_MMR; // Master Mode Register + AT91_REG Reserved0[1]; // + AT91_REG TWI_IADR; // Internal Address Register + AT91_REG TWI_CWGR; // Clock Waveform Generator Register + AT91_REG Reserved1[3]; // + AT91_REG TWI_SR; // Status Register + AT91_REG TWI_IER; // Interrupt Enable Register + AT91_REG TWI_IDR; // Interrupt Disable Register + AT91_REG TWI_IMR; // Interrupt Mask Register + AT91_REG TWI_RHR; // Receive Holding Register + AT91_REG TWI_THR; // Transmit Holding Register +} AT91S_TWI, *AT91PS_TWI; + +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START ((unsigned int) 0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP ((unsigned int) 0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN ((unsigned int) 0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS ((unsigned int) 0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SWRST ((unsigned int) 0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ ((unsigned int) 0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO ((unsigned int) 0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE ((unsigned int) 0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE ((unsigned int) 0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE ((unsigned int) 0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD ((unsigned int) 0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR ((unsigned int) 0x7F << 16) // (TWI) Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV ((unsigned int) 0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV ((unsigned int) 0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV ((unsigned int) 0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP ((unsigned int) 0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY ((unsigned int) 0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY ((unsigned int) 0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_OVRE ((unsigned int) 0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE ((unsigned int) 0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK ((unsigned int) 0x1 << 8) // (TWI) Not Acknowledged +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC_CH { + AT91_REG PWMC_CMR; // Channel Mode Register + AT91_REG PWMC_CDTYR; // Channel Duty Cycle Register + AT91_REG PWMC_CPRDR; // Channel Period Register + AT91_REG PWMC_CCNTR; // Channel Counter Register + AT91_REG PWMC_CUPDR; // Channel Update Register + AT91_REG PWMC_Reserved[3]; // Reserved +} AT91S_PWMC_CH, *AT91PS_PWMC_CH; + +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE ((unsigned int) 0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK ((unsigned int) 0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA ((unsigned int) 0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB ((unsigned int) 0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG ((unsigned int) 0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL ((unsigned int) 0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD ((unsigned int) 0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC { + AT91_REG PWMC_MR; // PWMC Mode Register + AT91_REG PWMC_ENA; // PWMC Enable Register + AT91_REG PWMC_DIS; // PWMC Disable Register + AT91_REG PWMC_SR; // PWMC Status Register + AT91_REG PWMC_IER; // PWMC Interrupt Enable Register + AT91_REG PWMC_IDR; // PWMC Interrupt Disable Register + AT91_REG PWMC_IMR; // PWMC Interrupt Mask Register + AT91_REG PWMC_ISR; // PWMC Interrupt Status Register + AT91_REG Reserved0[55]; // + AT91_REG PWMC_VR; // PWMC Version Register + AT91_REG Reserved1[64]; // + AT91S_PWMC_CH PWMC_CH[4]; // PWMC Channel +} AT91S_PWMC, *AT91PS_PWMC; + +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA ((unsigned int) 0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA ((unsigned int) 0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK ((unsigned int) 0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB ((unsigned int) 0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB ((unsigned int) 0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK ((unsigned int) 0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 ((unsigned int) 0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 ((unsigned int) 0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 ((unsigned int) 0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 ((unsigned int) 0x1 << 3) // (PWMC) Channel ID 3 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +typedef struct _AT91S_UDP { + AT91_REG UDP_NUM; // Frame Number Register + AT91_REG UDP_GLBSTATE; // Global State Register + AT91_REG UDP_FADDR; // Function Address Register + AT91_REG Reserved0[1]; // + AT91_REG UDP_IER; // Interrupt Enable Register + AT91_REG UDP_IDR; // Interrupt Disable Register + AT91_REG UDP_IMR; // Interrupt Mask Register + AT91_REG UDP_ISR; // Interrupt Status Register + AT91_REG UDP_ICR; // Interrupt Clear Register + AT91_REG Reserved1[1]; // + AT91_REG UDP_RSTEP; // Reset Endpoint Register + AT91_REG Reserved2[1]; // + AT91_REG UDP_CSR[6]; // Endpoint Control and Status Register + AT91_REG Reserved3[2]; // + AT91_REG UDP_FDR[6]; // Endpoint FIFO Data Register + AT91_REG Reserved4[3]; // + AT91_REG UDP_TXVC; // Transceiver Control Register +} AT91S_UDP, *AT91PS_UDP; + +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM ((unsigned int) 0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR ((unsigned int) 0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK ((unsigned int) 0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN ((unsigned int) 0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG ((unsigned int) 0x1 << 1) // (UDP) Configured +#define AT91C_UDP_ESR ((unsigned int) 0x1 << 2) // (UDP) Enable Send Resume +#define AT91C_UDP_RSMINPR ((unsigned int) 0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +#define AT91C_UDP_RMWUPE ((unsigned int) 0x1 << 4) // (UDP) Remote Wake Up Enable +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD ((unsigned int) 0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN ((unsigned int) 0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 ((unsigned int) 0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 ((unsigned int) 0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 ((unsigned int) 0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 ((unsigned int) 0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 ((unsigned int) 0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 ((unsigned int) 0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_RXSUSP ((unsigned int) 0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM ((unsigned int) 0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM ((unsigned int) 0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT ((unsigned int) 0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP ((unsigned int) 0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES ((unsigned int) 0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 ((unsigned int) 0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 ((unsigned int) 0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 ((unsigned int) 0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 ((unsigned int) 0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 ((unsigned int) 0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 ((unsigned int) 0x1 << 5) // (UDP) Reset Endpoint 5 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP ((unsigned int) 0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 ((unsigned int) 0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP ((unsigned int) 0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR ((unsigned int) 0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY ((unsigned int) 0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL ((unsigned int) 0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 ((unsigned int) 0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR ((unsigned int) 0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE ((unsigned int) 0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL ((unsigned int) 0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT ((unsigned int) 0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT ((unsigned int) 0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT ((unsigned int) 0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN ((unsigned int) 0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN ((unsigned int) 0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN ((unsigned int) 0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE ((unsigned int) 0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS ((unsigned int) 0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT ((unsigned int) 0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO +// -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +#define AT91C_UDP_TXVDIS ((unsigned int) 0x1 << 8) // (UDP) +#define AT91C_UDP_PUON ((unsigned int) 0x1 << 9) // (UDP) Pull-up ON + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +typedef struct _AT91S_TC { + AT91_REG TC_CCR; // Channel Control Register + AT91_REG TC_CMR; // Channel Mode Register (Capture Mode / Waveform Mode) + AT91_REG Reserved0[2]; // + AT91_REG TC_CV; // Counter Value + AT91_REG TC_RA; // Register A + AT91_REG TC_RB; // Register B + AT91_REG TC_RC; // Register C + AT91_REG TC_SR; // Status Register + AT91_REG TC_IER; // Interrupt Enable Register + AT91_REG TC_IDR; // Interrupt Disable Register + AT91_REG TC_IMR; // Interrupt Mask Register +} AT91S_TC, *AT91PS_TC; + +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN ((unsigned int) 0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS ((unsigned int) 0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG ((unsigned int) 0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS ((unsigned int) 0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK ((unsigned int) 0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK ((unsigned int) 0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK ((unsigned int) 0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK ((unsigned int) 0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK ((unsigned int) 0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 ((unsigned int) 0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 ((unsigned int) 0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 ((unsigned int) 0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI ((unsigned int) 0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST ((unsigned int) 0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE ((unsigned int) 0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 ((unsigned int) 0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 ((unsigned int) 0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 ((unsigned int) 0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_CPCDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_LDBDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_ETRGEDG ((unsigned int) 0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG ((unsigned int) 0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVT ((unsigned int) 0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_TIOB ((unsigned int) 0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_XC0 ((unsigned int) 0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_XC1 ((unsigned int) 0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_XC2 ((unsigned int) 0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ABETRG ((unsigned int) 0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_ENETRG ((unsigned int) 0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL ((unsigned int) 0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP ((unsigned int) 0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN ((unsigned int) 0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO ((unsigned int) 0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO ((unsigned int) 0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG ((unsigned int) 0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE ((unsigned int) 0x1 << 15) // (TC) +#define AT91C_TC_ACPA ((unsigned int) 0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE ((unsigned int) 0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET ((unsigned int) 0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR ((unsigned int) 0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE ((unsigned int) 0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRA ((unsigned int) 0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE ((unsigned int) 0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING ((unsigned int) 0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING ((unsigned int) 0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH ((unsigned int) 0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC ((unsigned int) 0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE ((unsigned int) 0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET ((unsigned int) 0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR ((unsigned int) 0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE ((unsigned int) 0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_LDRB ((unsigned int) 0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE ((unsigned int) 0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING ((unsigned int) 0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING ((unsigned int) 0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH ((unsigned int) 0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_AEEVT ((unsigned int) 0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE ((unsigned int) 0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET ((unsigned int) 0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR ((unsigned int) 0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE ((unsigned int) 0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG ((unsigned int) 0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE ((unsigned int) 0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET ((unsigned int) 0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR ((unsigned int) 0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE ((unsigned int) 0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB ((unsigned int) 0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE ((unsigned int) 0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET ((unsigned int) 0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR ((unsigned int) 0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE ((unsigned int) 0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC ((unsigned int) 0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE ((unsigned int) 0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET ((unsigned int) 0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR ((unsigned int) 0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE ((unsigned int) 0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT ((unsigned int) 0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE ((unsigned int) 0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET ((unsigned int) 0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR ((unsigned int) 0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE ((unsigned int) 0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG ((unsigned int) 0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE ((unsigned int) 0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET ((unsigned int) 0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR ((unsigned int) 0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE ((unsigned int) 0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS ((unsigned int) 0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS ((unsigned int) 0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS ((unsigned int) 0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS ((unsigned int) 0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS ((unsigned int) 0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS ((unsigned int) 0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS ((unsigned int) 0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRGS ((unsigned int) 0x1 << 7) // (TC) External Trigger +#define AT91C_TC_CLKSTA ((unsigned int) 0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA ((unsigned int) 0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB ((unsigned int) 0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +typedef struct _AT91S_TCB { + AT91S_TC TCB_TC0; // TC Channel 0 + AT91_REG Reserved0[4]; // + AT91S_TC TCB_TC1; // TC Channel 1 + AT91_REG Reserved1[4]; // + AT91S_TC TCB_TC2; // TC Channel 2 + AT91_REG Reserved2[4]; // + AT91_REG TCB_BCR; // TC Block Control Register + AT91_REG TCB_BMR; // TC Block Mode Register +} AT91S_TCB, *AT91PS_TCB; + +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC ((unsigned int) 0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S ((unsigned int) 0x3 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 ((unsigned int) 0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE ((unsigned int) 0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 ((unsigned int) 0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 ((unsigned int) 0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S ((unsigned int) 0x3 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 ((unsigned int) 0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE ((unsigned int) 0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 ((unsigned int) 0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 ((unsigned int) 0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S ((unsigned int) 0x3 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 ((unsigned int) 0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE ((unsigned int) 0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 ((unsigned int) 0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA1 ((unsigned int) 0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// ***************************************************************************** +typedef struct _AT91S_CAN_MB { + AT91_REG CAN_MB_MMR; // MailBox Mode Register + AT91_REG CAN_MB_MAM; // MailBox Acceptance Mask Register + AT91_REG CAN_MB_MID; // MailBox ID Register + AT91_REG CAN_MB_MFID; // MailBox Family ID Register + AT91_REG CAN_MB_MSR; // MailBox Status Register + AT91_REG CAN_MB_MDL; // MailBox Data Low Register + AT91_REG CAN_MB_MDH; // MailBox Data High Register + AT91_REG CAN_MB_MCR; // MailBox Control Register +} AT91S_CAN_MB, *AT91PS_CAN_MB; + +// -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +#define AT91C_CAN_MTIMEMARK ((unsigned int) 0xFFFF << 0) // (CAN_MB) Mailbox Timemark +#define AT91C_CAN_PRIOR ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Priority +#define AT91C_CAN_MOT ((unsigned int) 0x7 << 24) // (CAN_MB) Mailbox Object Type +#define AT91C_CAN_MOT_DIS ((unsigned int) 0x0 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RX ((unsigned int) 0x1 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RXOVERWRITE ((unsigned int) 0x2 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_TX ((unsigned int) 0x3 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_CONSUMER ((unsigned int) 0x4 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_PRODUCER ((unsigned int) 0x5 << 24) // (CAN_MB) +// -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +#define AT91C_CAN_MIDvB ((unsigned int) 0x3FFFF << 0) // (CAN_MB) Complementary bits for identifier in extended mode +#define AT91C_CAN_MIDvA ((unsigned int) 0x7FF << 18) // (CAN_MB) Identifier for standard frame mode +#define AT91C_CAN_MIDE ((unsigned int) 0x1 << 29) // (CAN_MB) Identifier Version +// -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +#define AT91C_CAN_MTIMESTAMP ((unsigned int) 0xFFFF << 0) // (CAN_MB) Timer Value +#define AT91C_CAN_MDLC ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Data Length Code +#define AT91C_CAN_MRTR ((unsigned int) 0x1 << 20) // (CAN_MB) Mailbox Remote Transmission Request +#define AT91C_CAN_MABT ((unsigned int) 0x1 << 22) // (CAN_MB) Mailbox Message Abort +#define AT91C_CAN_MRDY ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Ready +#define AT91C_CAN_MMI ((unsigned int) 0x1 << 24) // (CAN_MB) Mailbox Message Ignored +// -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +#define AT91C_CAN_MACR ((unsigned int) 0x1 << 22) // (CAN_MB) Abort Request for Mailbox +#define AT91C_CAN_MTCR ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Transfer Command + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network Interface +// ***************************************************************************** +typedef struct _AT91S_CAN { + AT91_REG CAN_MR; // Mode Register + AT91_REG CAN_IER; // Interrupt Enable Register + AT91_REG CAN_IDR; // Interrupt Disable Register + AT91_REG CAN_IMR; // Interrupt Mask Register + AT91_REG CAN_SR; // Status Register + AT91_REG CAN_BR; // Baudrate Register + AT91_REG CAN_TIM; // Timer Register + AT91_REG CAN_TIMESTP; // Time Stamp Register + AT91_REG CAN_ECR; // Error Counter Register + AT91_REG CAN_TCR; // Transfer Command Register + AT91_REG CAN_ACR; // Abort Command Register + AT91_REG Reserved0[52]; // + AT91_REG CAN_VR; // Version Register + AT91_REG Reserved1[64]; // + AT91S_CAN_MB CAN_MB0; // CAN Mailbox 0 + AT91S_CAN_MB CAN_MB1; // CAN Mailbox 1 + AT91S_CAN_MB CAN_MB2; // CAN Mailbox 2 + AT91S_CAN_MB CAN_MB3; // CAN Mailbox 3 + AT91S_CAN_MB CAN_MB4; // CAN Mailbox 4 + AT91S_CAN_MB CAN_MB5; // CAN Mailbox 5 + AT91S_CAN_MB CAN_MB6; // CAN Mailbox 6 + AT91S_CAN_MB CAN_MB7; // CAN Mailbox 7 + AT91S_CAN_MB CAN_MB8; // CAN Mailbox 8 + AT91S_CAN_MB CAN_MB9; // CAN Mailbox 9 + AT91S_CAN_MB CAN_MB10; // CAN Mailbox 10 + AT91S_CAN_MB CAN_MB11; // CAN Mailbox 11 + AT91S_CAN_MB CAN_MB12; // CAN Mailbox 12 + AT91S_CAN_MB CAN_MB13; // CAN Mailbox 13 + AT91S_CAN_MB CAN_MB14; // CAN Mailbox 14 + AT91S_CAN_MB CAN_MB15; // CAN Mailbox 15 +} AT91S_CAN, *AT91PS_CAN; + +// -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +#define AT91C_CAN_CANEN ((unsigned int) 0x1 << 0) // (CAN) CAN Controller Enable +#define AT91C_CAN_LPM ((unsigned int) 0x1 << 1) // (CAN) Disable/Enable Low Power Mode +#define AT91C_CAN_ABM ((unsigned int) 0x1 << 2) // (CAN) Disable/Enable Autobaud/Listen Mode +#define AT91C_CAN_OVL ((unsigned int) 0x1 << 3) // (CAN) Disable/Enable Overload Frame +#define AT91C_CAN_TEOF ((unsigned int) 0x1 << 4) // (CAN) Time Stamp messages at each end of Frame +#define AT91C_CAN_TTM ((unsigned int) 0x1 << 5) // (CAN) Disable/Enable Time Trigger Mode +#define AT91C_CAN_TIMFRZ ((unsigned int) 0x1 << 6) // (CAN) Enable Timer Freeze +#define AT91C_CAN_DRPT ((unsigned int) 0x1 << 7) // (CAN) Disable Repeat +// -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +#define AT91C_CAN_MB0 ((unsigned int) 0x1 << 0) // (CAN) Mailbox 0 Flag +#define AT91C_CAN_MB1 ((unsigned int) 0x1 << 1) // (CAN) Mailbox 1 Flag +#define AT91C_CAN_MB2 ((unsigned int) 0x1 << 2) // (CAN) Mailbox 2 Flag +#define AT91C_CAN_MB3 ((unsigned int) 0x1 << 3) // (CAN) Mailbox 3 Flag +#define AT91C_CAN_MB4 ((unsigned int) 0x1 << 4) // (CAN) Mailbox 4 Flag +#define AT91C_CAN_MB5 ((unsigned int) 0x1 << 5) // (CAN) Mailbox 5 Flag +#define AT91C_CAN_MB6 ((unsigned int) 0x1 << 6) // (CAN) Mailbox 6 Flag +#define AT91C_CAN_MB7 ((unsigned int) 0x1 << 7) // (CAN) Mailbox 7 Flag +#define AT91C_CAN_MB8 ((unsigned int) 0x1 << 8) // (CAN) Mailbox 8 Flag +#define AT91C_CAN_MB9 ((unsigned int) 0x1 << 9) // (CAN) Mailbox 9 Flag +#define AT91C_CAN_MB10 ((unsigned int) 0x1 << 10) // (CAN) Mailbox 10 Flag +#define AT91C_CAN_MB11 ((unsigned int) 0x1 << 11) // (CAN) Mailbox 11 Flag +#define AT91C_CAN_MB12 ((unsigned int) 0x1 << 12) // (CAN) Mailbox 12 Flag +#define AT91C_CAN_MB13 ((unsigned int) 0x1 << 13) // (CAN) Mailbox 13 Flag +#define AT91C_CAN_MB14 ((unsigned int) 0x1 << 14) // (CAN) Mailbox 14 Flag +#define AT91C_CAN_MB15 ((unsigned int) 0x1 << 15) // (CAN) Mailbox 15 Flag +#define AT91C_CAN_ERRA ((unsigned int) 0x1 << 16) // (CAN) Error Active Mode Flag +#define AT91C_CAN_WARN ((unsigned int) 0x1 << 17) // (CAN) Warning Limit Flag +#define AT91C_CAN_ERRP ((unsigned int) 0x1 << 18) // (CAN) Error Passive Mode Flag +#define AT91C_CAN_BOFF ((unsigned int) 0x1 << 19) // (CAN) Bus Off Mode Flag +#define AT91C_CAN_SLEEP ((unsigned int) 0x1 << 20) // (CAN) Sleep Flag +#define AT91C_CAN_WAKEUP ((unsigned int) 0x1 << 21) // (CAN) Wakeup Flag +#define AT91C_CAN_TOVF ((unsigned int) 0x1 << 22) // (CAN) Timer Overflow Flag +#define AT91C_CAN_TSTP ((unsigned int) 0x1 << 23) // (CAN) Timestamp Flag +#define AT91C_CAN_CERR ((unsigned int) 0x1 << 24) // (CAN) CRC Error +#define AT91C_CAN_SERR ((unsigned int) 0x1 << 25) // (CAN) Stuffing Error +#define AT91C_CAN_AERR ((unsigned int) 0x1 << 26) // (CAN) Acknowledgment Error +#define AT91C_CAN_FERR ((unsigned int) 0x1 << 27) // (CAN) Form Error +#define AT91C_CAN_BERR ((unsigned int) 0x1 << 28) // (CAN) Bit Error +// -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +#define AT91C_CAN_RBSY ((unsigned int) 0x1 << 29) // (CAN) Receiver Busy +#define AT91C_CAN_TBSY ((unsigned int) 0x1 << 30) // (CAN) Transmitter Busy +#define AT91C_CAN_OVLY ((unsigned int) 0x1 << 31) // (CAN) Overload Busy +// -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +#define AT91C_CAN_PHASE2 ((unsigned int) 0x7 << 0) // (CAN) Phase 2 segment +#define AT91C_CAN_PHASE1 ((unsigned int) 0x7 << 4) // (CAN) Phase 1 segment +#define AT91C_CAN_PROPAG ((unsigned int) 0x7 << 8) // (CAN) Programmation time segment +#define AT91C_CAN_SYNC ((unsigned int) 0x3 << 12) // (CAN) Re-synchronization jump width segment +#define AT91C_CAN_BRP ((unsigned int) 0x7F << 16) // (CAN) Baudrate Prescaler +#define AT91C_CAN_SMP ((unsigned int) 0x1 << 24) // (CAN) Sampling mode +// -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +#define AT91C_CAN_TIMER ((unsigned int) 0xFFFF << 0) // (CAN) Timer field +// -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +#define AT91C_CAN_REC ((unsigned int) 0xFF << 0) // (CAN) Receive Error Counter +#define AT91C_CAN_TEC ((unsigned int) 0xFF << 16) // (CAN) Transmit Error Counter +// -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +#define AT91C_CAN_TIMRST ((unsigned int) 0x1 << 31) // (CAN) Timer Reset Field +// -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// ***************************************************************************** +typedef struct _AT91S_EMAC { + AT91_REG EMAC_NCR; // Network Control Register + AT91_REG EMAC_NCFGR; // Network Configuration Register + AT91_REG EMAC_NSR; // Network Status Register + AT91_REG Reserved0[2]; // + AT91_REG EMAC_TSR; // Transmit Status Register + AT91_REG EMAC_RBQP; // Receive Buffer Queue Pointer + AT91_REG EMAC_TBQP; // Transmit Buffer Queue Pointer + AT91_REG EMAC_RSR; // Receive Status Register + AT91_REG EMAC_ISR; // Interrupt Status Register + AT91_REG EMAC_IER; // Interrupt Enable Register + AT91_REG EMAC_IDR; // Interrupt Disable Register + AT91_REG EMAC_IMR; // Interrupt Mask Register + AT91_REG EMAC_MAN; // PHY Maintenance Register + AT91_REG EMAC_PTR; // Pause Time Register + AT91_REG EMAC_PFR; // Pause Frames received Register + AT91_REG EMAC_FTO; // Frames Transmitted OK Register + AT91_REG EMAC_SCF; // Single Collision Frame Register + AT91_REG EMAC_MCF; // Multiple Collision Frame Register + AT91_REG EMAC_FRO; // Frames Received OK Register + AT91_REG EMAC_FCSE; // Frame Check Sequence Error Register + AT91_REG EMAC_ALE; // Alignment Error Register + AT91_REG EMAC_DTF; // Deferred Transmission Frame Register + AT91_REG EMAC_LCOL; // Late Collision Register + AT91_REG EMAC_ECOL; // Excessive Collision Register + AT91_REG EMAC_TUND; // Transmit Underrun Error Register + AT91_REG EMAC_CSE; // Carrier Sense Error Register + AT91_REG EMAC_RRE; // Receive Ressource Error Register + AT91_REG EMAC_ROV; // Receive Overrun Errors Register + AT91_REG EMAC_RSE; // Receive Symbol Errors Register + AT91_REG EMAC_ELE; // Excessive Length Errors Register + AT91_REG EMAC_RJA; // Receive Jabbers Register + AT91_REG EMAC_USF; // Undersize Frames Register + AT91_REG EMAC_STE; // SQE Test Error Register + AT91_REG EMAC_RLE; // Receive Length Field Mismatch Register + AT91_REG EMAC_TPF; // Transmitted Pause Frames Register + AT91_REG EMAC_HRB; // Hash Address Bottom[31:0] + AT91_REG EMAC_HRT; // Hash Address Top[63:32] + AT91_REG EMAC_SA1L; // Specific Address 1 Bottom, First 4 bytes + AT91_REG EMAC_SA1H; // Specific Address 1 Top, Last 2 bytes + AT91_REG EMAC_SA2L; // Specific Address 2 Bottom, First 4 bytes + AT91_REG EMAC_SA2H; // Specific Address 2 Top, Last 2 bytes + AT91_REG EMAC_SA3L; // Specific Address 3 Bottom, First 4 bytes + AT91_REG EMAC_SA3H; // Specific Address 3 Top, Last 2 bytes + AT91_REG EMAC_SA4L; // Specific Address 4 Bottom, First 4 bytes + AT91_REG EMAC_SA4H; // Specific Address 4 Top, Last 2 bytes + AT91_REG EMAC_TID; // Type ID Checking Register + AT91_REG EMAC_TPQ; // Transmit Pause Quantum Register + AT91_REG EMAC_USRIO; // USER Input/Output Register + AT91_REG EMAC_WOL; // Wake On LAN Register + AT91_REG Reserved1[13]; // + AT91_REG EMAC_REV; // Revision Register +} AT91S_EMAC, *AT91PS_EMAC; + +// -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +#define AT91C_EMAC_LB ((unsigned int) 0x1 << 0) // (EMAC) Loopback. Optional. When set, loopback signal is at high level. +#define AT91C_EMAC_LLB ((unsigned int) 0x1 << 1) // (EMAC) Loopback local. +#define AT91C_EMAC_RE ((unsigned int) 0x1 << 2) // (EMAC) Receive enable. +#define AT91C_EMAC_TE ((unsigned int) 0x1 << 3) // (EMAC) Transmit enable. +#define AT91C_EMAC_MPE ((unsigned int) 0x1 << 4) // (EMAC) Management port enable. +#define AT91C_EMAC_CLRSTAT ((unsigned int) 0x1 << 5) // (EMAC) Clear statistics registers. +#define AT91C_EMAC_INCSTAT ((unsigned int) 0x1 << 6) // (EMAC) Increment statistics registers. +#define AT91C_EMAC_WESTAT ((unsigned int) 0x1 << 7) // (EMAC) Write enable for statistics registers. +#define AT91C_EMAC_BP ((unsigned int) 0x1 << 8) // (EMAC) Back pressure. +#define AT91C_EMAC_TSTART ((unsigned int) 0x1 << 9) // (EMAC) Start Transmission. +#define AT91C_EMAC_THALT ((unsigned int) 0x1 << 10) // (EMAC) Transmission Halt. +#define AT91C_EMAC_TPFR ((unsigned int) 0x1 << 11) // (EMAC) Transmit pause frame +#define AT91C_EMAC_TZQ ((unsigned int) 0x1 << 12) // (EMAC) Transmit zero quantum pause frame +// -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +#define AT91C_EMAC_SPD ((unsigned int) 0x1 << 0) // (EMAC) Speed. +#define AT91C_EMAC_FD ((unsigned int) 0x1 << 1) // (EMAC) Full duplex. +#define AT91C_EMAC_JFRAME ((unsigned int) 0x1 << 3) // (EMAC) Jumbo Frames. +#define AT91C_EMAC_CAF ((unsigned int) 0x1 << 4) // (EMAC) Copy all frames. +#define AT91C_EMAC_NBC ((unsigned int) 0x1 << 5) // (EMAC) No broadcast. +#define AT91C_EMAC_MTI ((unsigned int) 0x1 << 6) // (EMAC) Multicast hash event enable +#define AT91C_EMAC_UNI ((unsigned int) 0x1 << 7) // (EMAC) Unicast hash enable. +#define AT91C_EMAC_BIG ((unsigned int) 0x1 << 8) // (EMAC) Receive 1522 bytes. +#define AT91C_EMAC_EAE ((unsigned int) 0x1 << 9) // (EMAC) External address match enable. +#define AT91C_EMAC_CLK ((unsigned int) 0x3 << 10) // (EMAC) +#define AT91C_EMAC_CLK_HCLK_8 ((unsigned int) 0x0 << 10) // (EMAC) HCLK divided by 8 +#define AT91C_EMAC_CLK_HCLK_16 ((unsigned int) 0x1 << 10) // (EMAC) HCLK divided by 16 +#define AT91C_EMAC_CLK_HCLK_32 ((unsigned int) 0x2 << 10) // (EMAC) HCLK divided by 32 +#define AT91C_EMAC_CLK_HCLK_64 ((unsigned int) 0x3 << 10) // (EMAC) HCLK divided by 64 +#define AT91C_EMAC_RTY ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PAE ((unsigned int) 0x1 << 13) // (EMAC) +#define AT91C_EMAC_RBOF ((unsigned int) 0x3 << 14) // (EMAC) +#define AT91C_EMAC_RBOF_OFFSET_0 ((unsigned int) 0x0 << 14) // (EMAC) no offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_1 ((unsigned int) 0x1 << 14) // (EMAC) one byte offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_2 ((unsigned int) 0x2 << 14) // (EMAC) two bytes offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_3 ((unsigned int) 0x3 << 14) // (EMAC) three bytes offset from start of receive buffer +#define AT91C_EMAC_RLCE ((unsigned int) 0x1 << 16) // (EMAC) Receive Length field Checking Enable +#define AT91C_EMAC_DRFCS ((unsigned int) 0x1 << 17) // (EMAC) Discard Receive FCS +#define AT91C_EMAC_EFRHD ((unsigned int) 0x1 << 18) // (EMAC) +#define AT91C_EMAC_IRXFCS ((unsigned int) 0x1 << 19) // (EMAC) Ignore RX FCS +// -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +#define AT91C_EMAC_LINKR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_MDIO ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_IDLE ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +#define AT91C_EMAC_UBR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_COL ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RLES ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TGO ((unsigned int) 0x1 << 3) // (EMAC) Transmit Go +#define AT91C_EMAC_BEX ((unsigned int) 0x1 << 4) // (EMAC) Buffers exhausted mid frame +#define AT91C_EMAC_COMP ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_UND ((unsigned int) 0x1 << 6) // (EMAC) +// -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +#define AT91C_EMAC_BNA ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_REC ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_OVR ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +#define AT91C_EMAC_MFD ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_RCOMP ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RXUBR ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TXUBR ((unsigned int) 0x1 << 3) // (EMAC) +#define AT91C_EMAC_TUNDR ((unsigned int) 0x1 << 4) // (EMAC) +#define AT91C_EMAC_RLEX ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_TXERR ((unsigned int) 0x1 << 6) // (EMAC) +#define AT91C_EMAC_TCOMP ((unsigned int) 0x1 << 7) // (EMAC) +#define AT91C_EMAC_LINK ((unsigned int) 0x1 << 9) // (EMAC) +#define AT91C_EMAC_ROVR ((unsigned int) 0x1 << 10) // (EMAC) +#define AT91C_EMAC_HRESP ((unsigned int) 0x1 << 11) // (EMAC) +#define AT91C_EMAC_PFRE ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PTZ ((unsigned int) 0x1 << 13) // (EMAC) +// -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +#define AT91C_EMAC_DATA ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_CODE ((unsigned int) 0x3 << 16) // (EMAC) +#define AT91C_EMAC_REGA ((unsigned int) 0x1F << 18) // (EMAC) +#define AT91C_EMAC_PHYA ((unsigned int) 0x1F << 23) // (EMAC) +#define AT91C_EMAC_RW ((unsigned int) 0x3 << 28) // (EMAC) +#define AT91C_EMAC_SOF ((unsigned int) 0x3 << 30) // (EMAC) +// -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +#define AT91C_EMAC_RMII ((unsigned int) 0x1 << 0) // (EMAC) Reduce MII +// -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +#define AT91C_EMAC_IP ((unsigned int) 0xFFFF << 0) // (EMAC) ARP request IP address +#define AT91C_EMAC_MAG ((unsigned int) 0x1 << 16) // (EMAC) Magic packet event enable +#define AT91C_EMAC_ARP ((unsigned int) 0x1 << 17) // (EMAC) ARP request event enable +#define AT91C_EMAC_SA1 ((unsigned int) 0x1 << 18) // (EMAC) Specific address register 1 event enable +// -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +#define AT91C_EMAC_REVREF ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_PARTREF ((unsigned int) 0xFFFF << 16) // (EMAC) + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +typedef struct _AT91S_ADC { + AT91_REG ADC_CR; // ADC Control Register + AT91_REG ADC_MR; // ADC Mode Register + AT91_REG Reserved0[2]; // + AT91_REG ADC_CHER; // ADC Channel Enable Register + AT91_REG ADC_CHDR; // ADC Channel Disable Register + AT91_REG ADC_CHSR; // ADC Channel Status Register + AT91_REG ADC_SR; // ADC Status Register + AT91_REG ADC_LCDR; // ADC Last Converted Data Register + AT91_REG ADC_IER; // ADC Interrupt Enable Register + AT91_REG ADC_IDR; // ADC Interrupt Disable Register + AT91_REG ADC_IMR; // ADC Interrupt Mask Register + AT91_REG ADC_CDR0; // ADC Channel Data Register 0 + AT91_REG ADC_CDR1; // ADC Channel Data Register 1 + AT91_REG ADC_CDR2; // ADC Channel Data Register 2 + AT91_REG ADC_CDR3; // ADC Channel Data Register 3 + AT91_REG ADC_CDR4; // ADC Channel Data Register 4 + AT91_REG ADC_CDR5; // ADC Channel Data Register 5 + AT91_REG ADC_CDR6; // ADC Channel Data Register 6 + AT91_REG ADC_CDR7; // ADC Channel Data Register 7 + AT91_REG Reserved1[44]; // + AT91_REG ADC_RPR; // Receive Pointer Register + AT91_REG ADC_RCR; // Receive Counter Register + AT91_REG ADC_TPR; // Transmit Pointer Register + AT91_REG ADC_TCR; // Transmit Counter Register + AT91_REG ADC_RNPR; // Receive Next Pointer Register + AT91_REG ADC_RNCR; // Receive Next Counter Register + AT91_REG ADC_TNPR; // Transmit Next Pointer Register + AT91_REG ADC_TNCR; // Transmit Next Counter Register + AT91_REG ADC_PTCR; // PDC Transfer Control Register + AT91_REG ADC_PTSR; // PDC Transfer Status Register +} AT91S_ADC, *AT91PS_ADC; + +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST ((unsigned int) 0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START ((unsigned int) 0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN ((unsigned int) 0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS ((unsigned int) 0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN ((unsigned int) 0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL ((unsigned int) 0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 ((unsigned int) 0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 ((unsigned int) 0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 ((unsigned int) 0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 ((unsigned int) 0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 ((unsigned int) 0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 ((unsigned int) 0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT ((unsigned int) 0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES ((unsigned int) 0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT ((unsigned int) 0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT ((unsigned int) 0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE ((unsigned int) 0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL ((unsigned int) 0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP ((unsigned int) 0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM ((unsigned int) 0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 ((unsigned int) 0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 ((unsigned int) 0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 ((unsigned int) 0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 ((unsigned int) 0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 ((unsigned int) 0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 ((unsigned int) 0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 ((unsigned int) 0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 ((unsigned int) 0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 ((unsigned int) 0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 ((unsigned int) 0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 ((unsigned int) 0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 ((unsigned int) 0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 ((unsigned int) 0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 ((unsigned int) 0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 ((unsigned int) 0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 ((unsigned int) 0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 ((unsigned int) 0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 ((unsigned int) 0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 ((unsigned int) 0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 ((unsigned int) 0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 ((unsigned int) 0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 ((unsigned int) 0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 ((unsigned int) 0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 ((unsigned int) 0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY ((unsigned int) 0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE ((unsigned int) 0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX ((unsigned int) 0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF ((unsigned int) 0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA ((unsigned int) 0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA ((unsigned int) 0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_AES { + AT91_REG AES_CR; // Control Register + AT91_REG AES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG AES_IER; // Interrupt Enable Register + AT91_REG AES_IDR; // Interrupt Disable Register + AT91_REG AES_IMR; // Interrupt Mask Register + AT91_REG AES_ISR; // Interrupt Status Register + AT91_REG AES_KEYWxR[4]; // Key Word x Register + AT91_REG Reserved1[4]; // + AT91_REG AES_IDATAxR[4]; // Input Data x Register + AT91_REG AES_ODATAxR[4]; // Output Data x Register + AT91_REG AES_IVxR[4]; // Initialization Vector x Register + AT91_REG Reserved2[35]; // + AT91_REG AES_VR; // AES Version Register + AT91_REG AES_RPR; // Receive Pointer Register + AT91_REG AES_RCR; // Receive Counter Register + AT91_REG AES_TPR; // Transmit Pointer Register + AT91_REG AES_TCR; // Transmit Counter Register + AT91_REG AES_RNPR; // Receive Next Pointer Register + AT91_REG AES_RNCR; // Receive Next Counter Register + AT91_REG AES_TNPR; // Transmit Next Pointer Register + AT91_REG AES_TNCR; // Transmit Next Counter Register + AT91_REG AES_PTCR; // PDC Transfer Control Register + AT91_REG AES_PTSR; // PDC Transfer Status Register +} AT91S_AES, *AT91PS_AES; + +// -------- AES_CR : (AES Offset: 0x0) Control Register -------- +#define AT91C_AES_START ((unsigned int) 0x1 << 0) // (AES) Starts Processing +#define AT91C_AES_SWRST ((unsigned int) 0x1 << 8) // (AES) Software Reset +#define AT91C_AES_LOADSEED ((unsigned int) 0x1 << 16) // (AES) Random Number Generator Seed Loading +// -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +#define AT91C_AES_CIPHER ((unsigned int) 0x1 << 0) // (AES) Processing Mode +#define AT91C_AES_PROCDLY ((unsigned int) 0xF << 4) // (AES) Processing Delay +#define AT91C_AES_SMOD ((unsigned int) 0x3 << 8) // (AES) Start Mode +#define AT91C_AES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +#define AT91C_AES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +#define AT91C_AES_SMOD_PDC ((unsigned int) 0x2 << 8) // (AES) PDC Mode (cf datasheet). +#define AT91C_AES_OPMOD ((unsigned int) 0x7 << 12) // (AES) Operation Mode +#define AT91C_AES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (AES) ECB Electronic CodeBook mode. +#define AT91C_AES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (AES) CBC Cipher Block Chaining mode. +#define AT91C_AES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (AES) OFB Output Feedback mode. +#define AT91C_AES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (AES) CFB Cipher Feedback mode. +#define AT91C_AES_OPMOD_CTR ((unsigned int) 0x4 << 12) // (AES) CTR Counter mode. +#define AT91C_AES_LOD ((unsigned int) 0x1 << 15) // (AES) Last Output Data Mode +#define AT91C_AES_CFBS ((unsigned int) 0x7 << 16) // (AES) Cipher Feedback Data Size +#define AT91C_AES_CFBS_128_BIT ((unsigned int) 0x0 << 16) // (AES) 128-bit. +#define AT91C_AES_CFBS_64_BIT ((unsigned int) 0x1 << 16) // (AES) 64-bit. +#define AT91C_AES_CFBS_32_BIT ((unsigned int) 0x2 << 16) // (AES) 32-bit. +#define AT91C_AES_CFBS_16_BIT ((unsigned int) 0x3 << 16) // (AES) 16-bit. +#define AT91C_AES_CFBS_8_BIT ((unsigned int) 0x4 << 16) // (AES) 8-bit. +#define AT91C_AES_CKEY ((unsigned int) 0xF << 20) // (AES) Countermeasure Key +#define AT91C_AES_CTYPE ((unsigned int) 0x1F << 24) // (AES) Countermeasure Type +#define AT91C_AES_CTYPE_TYPE1_EN ((unsigned int) 0x1 << 24) // (AES) Countermeasure type 1 is enabled. +#define AT91C_AES_CTYPE_TYPE2_EN ((unsigned int) 0x2 << 24) // (AES) Countermeasure type 2 is enabled. +#define AT91C_AES_CTYPE_TYPE3_EN ((unsigned int) 0x4 << 24) // (AES) Countermeasure type 3 is enabled. +#define AT91C_AES_CTYPE_TYPE4_EN ((unsigned int) 0x8 << 24) // (AES) Countermeasure type 4 is enabled. +#define AT91C_AES_CTYPE_TYPE5_EN ((unsigned int) 0x10 << 24) // (AES) Countermeasure type 5 is enabled. +// -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_AES_DATRDY ((unsigned int) 0x1 << 0) // (AES) DATRDY +#define AT91C_AES_ENDRX ((unsigned int) 0x1 << 1) // (AES) PDC Read Buffer End +#define AT91C_AES_ENDTX ((unsigned int) 0x1 << 2) // (AES) PDC Write Buffer End +#define AT91C_AES_RXBUFF ((unsigned int) 0x1 << 3) // (AES) PDC Read Buffer Full +#define AT91C_AES_TXBUFE ((unsigned int) 0x1 << 4) // (AES) PDC Write Buffer Empty +#define AT91C_AES_URAD ((unsigned int) 0x1 << 8) // (AES) Unspecified Register Access Detection +// -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_AES_URAT ((unsigned int) 0x7 << 12) // (AES) Unspecified Register Access Type Status +#define AT91C_AES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (AES) Input data register written during the data processing in PDC mode. +#define AT91C_AES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (AES) Output data register read during the data processing. +#define AT91C_AES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (AES) Mode register written during the data processing. +#define AT91C_AES_URAT_OUT_DAT_READ_SUBKEY ((unsigned int) 0x3 << 12) // (AES) Output data register read during the sub-keys generation. +#define AT91C_AES_URAT_MODEREG_WRITE_SUBKEY ((unsigned int) 0x4 << 12) // (AES) Mode register written during the sub-keys generation. +#define AT91C_AES_URAT_WO_REG_READ ((unsigned int) 0x5 << 12) // (AES) Write-only register read access. + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_TDES { + AT91_REG TDES_CR; // Control Register + AT91_REG TDES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG TDES_IER; // Interrupt Enable Register + AT91_REG TDES_IDR; // Interrupt Disable Register + AT91_REG TDES_IMR; // Interrupt Mask Register + AT91_REG TDES_ISR; // Interrupt Status Register + AT91_REG TDES_KEY1WxR[2]; // Key 1 Word x Register + AT91_REG TDES_KEY2WxR[2]; // Key 2 Word x Register + AT91_REG TDES_KEY3WxR[2]; // Key 3 Word x Register + AT91_REG Reserved1[2]; // + AT91_REG TDES_IDATAxR[2]; // Input Data x Register + AT91_REG Reserved2[2]; // + AT91_REG TDES_ODATAxR[2]; // Output Data x Register + AT91_REG Reserved3[2]; // + AT91_REG TDES_IVxR[2]; // Initialization Vector x Register + AT91_REG Reserved4[37]; // + AT91_REG TDES_VR; // TDES Version Register + AT91_REG TDES_RPR; // Receive Pointer Register + AT91_REG TDES_RCR; // Receive Counter Register + AT91_REG TDES_TPR; // Transmit Pointer Register + AT91_REG TDES_TCR; // Transmit Counter Register + AT91_REG TDES_RNPR; // Receive Next Pointer Register + AT91_REG TDES_RNCR; // Receive Next Counter Register + AT91_REG TDES_TNPR; // Transmit Next Pointer Register + AT91_REG TDES_TNCR; // Transmit Next Counter Register + AT91_REG TDES_PTCR; // PDC Transfer Control Register + AT91_REG TDES_PTSR; // PDC Transfer Status Register +} AT91S_TDES, *AT91PS_TDES; + +// -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +#define AT91C_TDES_START ((unsigned int) 0x1 << 0) // (TDES) Starts Processing +#define AT91C_TDES_SWRST ((unsigned int) 0x1 << 8) // (TDES) Software Reset +// -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +#define AT91C_TDES_CIPHER ((unsigned int) 0x1 << 0) // (TDES) Processing Mode +#define AT91C_TDES_TDESMOD ((unsigned int) 0x1 << 1) // (TDES) Single or Triple DES Mode +#define AT91C_TDES_KEYMOD ((unsigned int) 0x1 << 4) // (TDES) Key Mode +#define AT91C_TDES_SMOD ((unsigned int) 0x3 << 8) // (TDES) Start Mode +#define AT91C_TDES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +#define AT91C_TDES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +#define AT91C_TDES_SMOD_PDC ((unsigned int) 0x2 << 8) // (TDES) PDC Mode (cf datasheet). +#define AT91C_TDES_OPMOD ((unsigned int) 0x3 << 12) // (TDES) Operation Mode +#define AT91C_TDES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (TDES) ECB Electronic CodeBook mode. +#define AT91C_TDES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (TDES) CBC Cipher Block Chaining mode. +#define AT91C_TDES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (TDES) OFB Output Feedback mode. +#define AT91C_TDES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (TDES) CFB Cipher Feedback mode. +#define AT91C_TDES_LOD ((unsigned int) 0x1 << 15) // (TDES) Last Output Data Mode +#define AT91C_TDES_CFBS ((unsigned int) 0x3 << 16) // (TDES) Cipher Feedback Data Size +#define AT91C_TDES_CFBS_64_BIT ((unsigned int) 0x0 << 16) // (TDES) 64-bit. +#define AT91C_TDES_CFBS_32_BIT ((unsigned int) 0x1 << 16) // (TDES) 32-bit. +#define AT91C_TDES_CFBS_16_BIT ((unsigned int) 0x2 << 16) // (TDES) 16-bit. +#define AT91C_TDES_CFBS_8_BIT ((unsigned int) 0x3 << 16) // (TDES) 8-bit. +// -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_TDES_DATRDY ((unsigned int) 0x1 << 0) // (TDES) DATRDY +#define AT91C_TDES_ENDRX ((unsigned int) 0x1 << 1) // (TDES) PDC Read Buffer End +#define AT91C_TDES_ENDTX ((unsigned int) 0x1 << 2) // (TDES) PDC Write Buffer End +#define AT91C_TDES_RXBUFF ((unsigned int) 0x1 << 3) // (TDES) PDC Read Buffer Full +#define AT91C_TDES_TXBUFE ((unsigned int) 0x1 << 4) // (TDES) PDC Write Buffer Empty +#define AT91C_TDES_URAD ((unsigned int) 0x1 << 8) // (TDES) Unspecified Register Access Detection +// -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_TDES_URAT ((unsigned int) 0x3 << 12) // (TDES) Unspecified Register Access Type Status +#define AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (TDES) Input data register written during the data processing in PDC mode. +#define AT91C_TDES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (TDES) Output data register read during the data processing. +#define AT91C_TDES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (TDES) Mode register written during the data processing. +#define AT91C_TDES_URAT_WO_REG_READ ((unsigned int) 0x3 << 12) // (TDES) Write-only register read access. + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7X256 +// ***************************************************************************** +// ========== Register definition for SYS peripheral ========== +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_IVR ((AT91_REG *) 0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_SMR ((AT91_REG *) 0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_FVR ((AT91_REG *) 0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_DCR ((AT91_REG *) 0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_EOICR ((AT91_REG *) 0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_SVR ((AT91_REG *) 0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_FFSR ((AT91_REG *) 0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_ICCR ((AT91_REG *) 0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_ISR ((AT91_REG *) 0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IMR ((AT91_REG *) 0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_IPR ((AT91_REG *) 0xFFFFF10C) // (AIC) Interrupt Pending Register +#define AT91C_AIC_FFER ((AT91_REG *) 0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_IECR ((AT91_REG *) 0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_ISCR ((AT91_REG *) 0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_FFDR ((AT91_REG *) 0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_CISR ((AT91_REG *) 0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IDCR ((AT91_REG *) 0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_SPU ((AT91_REG *) 0xFFFFF134) // (AIC) Spurious Vector Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TCR ((AT91_REG *) 0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RNPR ((AT91_REG *) 0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR ((AT91_REG *) 0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +#define AT91C_DBGU_TPR ((AT91_REG *) 0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RPR ((AT91_REG *) 0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_RCR ((AT91_REG *) 0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_RNCR ((AT91_REG *) 0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR ((AT91_REG *) 0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR ((AT91_REG *) 0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_TNCR ((AT91_REG *) 0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_EXID ((AT91_REG *) 0xFFFFF244) // (DBGU) Chip ID Extension Register +#define AT91C_DBGU_BRGR ((AT91_REG *) 0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_IDR ((AT91_REG *) 0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_CSR ((AT91_REG *) 0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_CIDR ((AT91_REG *) 0xFFFFF240) // (DBGU) Chip ID Register +#define AT91C_DBGU_MR ((AT91_REG *) 0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_IMR ((AT91_REG *) 0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_CR ((AT91_REG *) 0xFFFFF200) // (DBGU) Control Register +#define AT91C_DBGU_FNTR ((AT91_REG *) 0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_THR ((AT91_REG *) 0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_RHR ((AT91_REG *) 0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IER ((AT91_REG *) 0xFFFFF208) // (DBGU) Interrupt Enable Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_ODR ((AT91_REG *) 0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_SODR ((AT91_REG *) 0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_ISR ((AT91_REG *) 0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_ABSR ((AT91_REG *) 0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_IER ((AT91_REG *) 0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_PPUDR ((AT91_REG *) 0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_IMR ((AT91_REG *) 0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_PER ((AT91_REG *) 0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_IFDR ((AT91_REG *) 0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_OWDR ((AT91_REG *) 0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_MDSR ((AT91_REG *) 0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_IDR ((AT91_REG *) 0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_ODSR ((AT91_REG *) 0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_PPUSR ((AT91_REG *) 0xFFFFF468) // (PIOA) Pull-up Status Register +#define AT91C_PIOA_OWSR ((AT91_REG *) 0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_BSR ((AT91_REG *) 0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_OWER ((AT91_REG *) 0xFFFFF4A0) // (PIOA) Output Write Enable Register +#define AT91C_PIOA_IFER ((AT91_REG *) 0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_PDSR ((AT91_REG *) 0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_PPUER ((AT91_REG *) 0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_OSR ((AT91_REG *) 0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_ASR ((AT91_REG *) 0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_MDDR ((AT91_REG *) 0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_CODR ((AT91_REG *) 0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_MDER ((AT91_REG *) 0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PDR ((AT91_REG *) 0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_IFSR ((AT91_REG *) 0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_OER ((AT91_REG *) 0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_PSR ((AT91_REG *) 0xFFFFF408) // (PIOA) PIO Status Register +// ========== Register definition for PIOB peripheral ========== +#define AT91C_PIOB_OWDR ((AT91_REG *) 0xFFFFF6A4) // (PIOB) Output Write Disable Register +#define AT91C_PIOB_MDER ((AT91_REG *) 0xFFFFF650) // (PIOB) Multi-driver Enable Register +#define AT91C_PIOB_PPUSR ((AT91_REG *) 0xFFFFF668) // (PIOB) Pull-up Status Register +#define AT91C_PIOB_IMR ((AT91_REG *) 0xFFFFF648) // (PIOB) Interrupt Mask Register +#define AT91C_PIOB_ASR ((AT91_REG *) 0xFFFFF670) // (PIOB) Select A Register +#define AT91C_PIOB_PPUDR ((AT91_REG *) 0xFFFFF660) // (PIOB) Pull-up Disable Register +#define AT91C_PIOB_PSR ((AT91_REG *) 0xFFFFF608) // (PIOB) PIO Status Register +#define AT91C_PIOB_IER ((AT91_REG *) 0xFFFFF640) // (PIOB) Interrupt Enable Register +#define AT91C_PIOB_CODR ((AT91_REG *) 0xFFFFF634) // (PIOB) Clear Output Data Register +#define AT91C_PIOB_OWER ((AT91_REG *) 0xFFFFF6A0) // (PIOB) Output Write Enable Register +#define AT91C_PIOB_ABSR ((AT91_REG *) 0xFFFFF678) // (PIOB) AB Select Status Register +#define AT91C_PIOB_IFDR ((AT91_REG *) 0xFFFFF624) // (PIOB) Input Filter Disable Register +#define AT91C_PIOB_PDSR ((AT91_REG *) 0xFFFFF63C) // (PIOB) Pin Data Status Register +#define AT91C_PIOB_IDR ((AT91_REG *) 0xFFFFF644) // (PIOB) Interrupt Disable Register +#define AT91C_PIOB_OWSR ((AT91_REG *) 0xFFFFF6A8) // (PIOB) Output Write Status Register +#define AT91C_PIOB_PDR ((AT91_REG *) 0xFFFFF604) // (PIOB) PIO Disable Register +#define AT91C_PIOB_ODR ((AT91_REG *) 0xFFFFF614) // (PIOB) Output Disable Registerr +#define AT91C_PIOB_IFSR ((AT91_REG *) 0xFFFFF628) // (PIOB) Input Filter Status Register +#define AT91C_PIOB_PPUER ((AT91_REG *) 0xFFFFF664) // (PIOB) Pull-up Enable Register +#define AT91C_PIOB_SODR ((AT91_REG *) 0xFFFFF630) // (PIOB) Set Output Data Register +#define AT91C_PIOB_ISR ((AT91_REG *) 0xFFFFF64C) // (PIOB) Interrupt Status Register +#define AT91C_PIOB_ODSR ((AT91_REG *) 0xFFFFF638) // (PIOB) Output Data Status Register +#define AT91C_PIOB_OSR ((AT91_REG *) 0xFFFFF618) // (PIOB) Output Status Register +#define AT91C_PIOB_MDSR ((AT91_REG *) 0xFFFFF658) // (PIOB) Multi-driver Status Register +#define AT91C_PIOB_IFER ((AT91_REG *) 0xFFFFF620) // (PIOB) Input Filter Enable Register +#define AT91C_PIOB_BSR ((AT91_REG *) 0xFFFFF674) // (PIOB) Select B Register +#define AT91C_PIOB_MDDR ((AT91_REG *) 0xFFFFF654) // (PIOB) Multi-driver Disable Register +#define AT91C_PIOB_OER ((AT91_REG *) 0xFFFFF610) // (PIOB) Output Enable Register +#define AT91C_PIOB_PER ((AT91_REG *) 0xFFFFF600) // (PIOB) PIO Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_MOR ((AT91_REG *) 0xFFFFFC20) // (CKGR) Main Oscillator Register +#define AT91C_CKGR_PLLR ((AT91_REG *) 0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR ((AT91_REG *) 0xFFFFFC24) // (CKGR) Main Clock Frequency Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_IDR ((AT91_REG *) 0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_MOR ((AT91_REG *) 0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PLLR ((AT91_REG *) 0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_PCER ((AT91_REG *) 0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCKR ((AT91_REG *) 0xFFFFFC40) // (PMC) Programmable Clock Register +#define AT91C_PMC_MCKR ((AT91_REG *) 0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_SCDR ((AT91_REG *) 0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_PCDR ((AT91_REG *) 0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCSR ((AT91_REG *) 0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_PCSR ((AT91_REG *) 0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_MCFR ((AT91_REG *) 0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_SCER ((AT91_REG *) 0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR ((AT91_REG *) 0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IER ((AT91_REG *) 0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_SR ((AT91_REG *) 0xFFFFFC68) // (PMC) Status Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RCR ((AT91_REG *) 0xFFFFFD00) // (RSTC) Reset Control Register +#define AT91C_RSTC_RMR ((AT91_REG *) 0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RSR ((AT91_REG *) 0xFFFFFD04) // (RSTC) Reset Status Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR ((AT91_REG *) 0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTMR ((AT91_REG *) 0xFFFFFD20) // (RTTC) Real-time Mode Register +#define AT91C_RTTC_RTVR ((AT91_REG *) 0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTAR ((AT91_REG *) 0xFFFFFD24) // (RTTC) Real-time Alarm Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIVR ((AT91_REG *) 0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PISR ((AT91_REG *) 0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIIR ((AT91_REG *) 0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PIMR ((AT91_REG *) 0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDCR ((AT91_REG *) 0xFFFFFD40) // (WDTC) Watchdog Control Register +#define AT91C_WDTC_WDSR ((AT91_REG *) 0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDMR ((AT91_REG *) 0xFFFFFD44) // (WDTC) Watchdog Mode Register +// ========== Register definition for VREG peripheral ========== +#define AT91C_VREG_MR ((AT91_REG *) 0xFFFFFD60) // (VREG) Voltage Regulator Mode Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_ASR ((AT91_REG *) 0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_RCR ((AT91_REG *) 0xFFFFFF00) // (MC) MC Remap Control Register +#define AT91C_MC_FCR ((AT91_REG *) 0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_AASR ((AT91_REG *) 0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_FSR ((AT91_REG *) 0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR ((AT91_REG *) 0xFFFFFF60) // (MC) MC Flash Mode Register +// ========== Register definition for PDC_SPI1 peripheral ========== +#define AT91C_SPI1_PTCR ((AT91_REG *) 0xFFFE4120) // (PDC_SPI1) PDC Transfer Control Register +#define AT91C_SPI1_RPR ((AT91_REG *) 0xFFFE4100) // (PDC_SPI1) Receive Pointer Register +#define AT91C_SPI1_TNCR ((AT91_REG *) 0xFFFE411C) // (PDC_SPI1) Transmit Next Counter Register +#define AT91C_SPI1_TPR ((AT91_REG *) 0xFFFE4108) // (PDC_SPI1) Transmit Pointer Register +#define AT91C_SPI1_TNPR ((AT91_REG *) 0xFFFE4118) // (PDC_SPI1) Transmit Next Pointer Register +#define AT91C_SPI1_TCR ((AT91_REG *) 0xFFFE410C) // (PDC_SPI1) Transmit Counter Register +#define AT91C_SPI1_RCR ((AT91_REG *) 0xFFFE4104) // (PDC_SPI1) Receive Counter Register +#define AT91C_SPI1_RNPR ((AT91_REG *) 0xFFFE4110) // (PDC_SPI1) Receive Next Pointer Register +#define AT91C_SPI1_RNCR ((AT91_REG *) 0xFFFE4114) // (PDC_SPI1) Receive Next Counter Register +#define AT91C_SPI1_PTSR ((AT91_REG *) 0xFFFE4124) // (PDC_SPI1) PDC Transfer Status Register +// ========== Register definition for SPI1 peripheral ========== +#define AT91C_SPI1_IMR ((AT91_REG *) 0xFFFE401C) // (SPI1) Interrupt Mask Register +#define AT91C_SPI1_IER ((AT91_REG *) 0xFFFE4014) // (SPI1) Interrupt Enable Register +#define AT91C_SPI1_MR ((AT91_REG *) 0xFFFE4004) // (SPI1) Mode Register +#define AT91C_SPI1_RDR ((AT91_REG *) 0xFFFE4008) // (SPI1) Receive Data Register +#define AT91C_SPI1_IDR ((AT91_REG *) 0xFFFE4018) // (SPI1) Interrupt Disable Register +#define AT91C_SPI1_SR ((AT91_REG *) 0xFFFE4010) // (SPI1) Status Register +#define AT91C_SPI1_TDR ((AT91_REG *) 0xFFFE400C) // (SPI1) Transmit Data Register +#define AT91C_SPI1_CR ((AT91_REG *) 0xFFFE4000) // (SPI1) Control Register +#define AT91C_SPI1_CSR ((AT91_REG *) 0xFFFE4030) // (SPI1) Chip Select Register +// ========== Register definition for PDC_SPI0 peripheral ========== +#define AT91C_SPI0_PTCR ((AT91_REG *) 0xFFFE0120) // (PDC_SPI0) PDC Transfer Control Register +#define AT91C_SPI0_TPR ((AT91_REG *) 0xFFFE0108) // (PDC_SPI0) Transmit Pointer Register +#define AT91C_SPI0_TCR ((AT91_REG *) 0xFFFE010C) // (PDC_SPI0) Transmit Counter Register +#define AT91C_SPI0_RCR ((AT91_REG *) 0xFFFE0104) // (PDC_SPI0) Receive Counter Register +#define AT91C_SPI0_PTSR ((AT91_REG *) 0xFFFE0124) // (PDC_SPI0) PDC Transfer Status Register +#define AT91C_SPI0_RNPR ((AT91_REG *) 0xFFFE0110) // (PDC_SPI0) Receive Next Pointer Register +#define AT91C_SPI0_RPR ((AT91_REG *) 0xFFFE0100) // (PDC_SPI0) Receive Pointer Register +#define AT91C_SPI0_TNCR ((AT91_REG *) 0xFFFE011C) // (PDC_SPI0) Transmit Next Counter Register +#define AT91C_SPI0_RNCR ((AT91_REG *) 0xFFFE0114) // (PDC_SPI0) Receive Next Counter Register +#define AT91C_SPI0_TNPR ((AT91_REG *) 0xFFFE0118) // (PDC_SPI0) Transmit Next Pointer Register +// ========== Register definition for SPI0 peripheral ========== +#define AT91C_SPI0_IER ((AT91_REG *) 0xFFFE0014) // (SPI0) Interrupt Enable Register +#define AT91C_SPI0_SR ((AT91_REG *) 0xFFFE0010) // (SPI0) Status Register +#define AT91C_SPI0_IDR ((AT91_REG *) 0xFFFE0018) // (SPI0) Interrupt Disable Register +#define AT91C_SPI0_CR ((AT91_REG *) 0xFFFE0000) // (SPI0) Control Register +#define AT91C_SPI0_MR ((AT91_REG *) 0xFFFE0004) // (SPI0) Mode Register +#define AT91C_SPI0_IMR ((AT91_REG *) 0xFFFE001C) // (SPI0) Interrupt Mask Register +#define AT91C_SPI0_TDR ((AT91_REG *) 0xFFFE000C) // (SPI0) Transmit Data Register +#define AT91C_SPI0_RDR ((AT91_REG *) 0xFFFE0008) // (SPI0) Receive Data Register +#define AT91C_SPI0_CSR ((AT91_REG *) 0xFFFE0030) // (SPI0) Chip Select Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_RNCR ((AT91_REG *) 0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_PTCR ((AT91_REG *) 0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TCR ((AT91_REG *) 0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_PTSR ((AT91_REG *) 0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNPR ((AT91_REG *) 0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RCR ((AT91_REG *) 0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_RNPR ((AT91_REG *) 0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_RPR ((AT91_REG *) 0xFFFC4100) // (PDC_US1) Receive Pointer Register +#define AT91C_US1_TNCR ((AT91_REG *) 0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_TPR ((AT91_REG *) 0xFFFC4108) // (PDC_US1) Transmit Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_IF ((AT91_REG *) 0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER ((AT91_REG *) 0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_RTOR ((AT91_REG *) 0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_CSR ((AT91_REG *) 0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR ((AT91_REG *) 0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_IER ((AT91_REG *) 0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_THR ((AT91_REG *) 0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_TTGR ((AT91_REG *) 0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_RHR ((AT91_REG *) 0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_BRGR ((AT91_REG *) 0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_IMR ((AT91_REG *) 0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_FIDI ((AT91_REG *) 0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_CR ((AT91_REG *) 0xFFFC4000) // (US1) Control Register +#define AT91C_US1_MR ((AT91_REG *) 0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_TNPR ((AT91_REG *) 0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR ((AT91_REG *) 0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TCR ((AT91_REG *) 0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_PTCR ((AT91_REG *) 0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_PTSR ((AT91_REG *) 0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR ((AT91_REG *) 0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_TPR ((AT91_REG *) 0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RCR ((AT91_REG *) 0xFFFC0104) // (PDC_US0) Receive Counter Register +#define AT91C_US0_RPR ((AT91_REG *) 0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_RNCR ((AT91_REG *) 0xFFFC0114) // (PDC_US0) Receive Next Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_BRGR ((AT91_REG *) 0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_NER ((AT91_REG *) 0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_CR ((AT91_REG *) 0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IMR ((AT91_REG *) 0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_FIDI ((AT91_REG *) 0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_TTGR ((AT91_REG *) 0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_MR ((AT91_REG *) 0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_RTOR ((AT91_REG *) 0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_CSR ((AT91_REG *) 0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_RHR ((AT91_REG *) 0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IDR ((AT91_REG *) 0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_THR ((AT91_REG *) 0xFFFC001C) // (US0) Transmitter Holding Register +#define AT91C_US0_IF ((AT91_REG *) 0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_IER ((AT91_REG *) 0xFFFC0008) // (US0) Interrupt Enable Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_TNCR ((AT91_REG *) 0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RPR ((AT91_REG *) 0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_RNCR ((AT91_REG *) 0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TPR ((AT91_REG *) 0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_PTCR ((AT91_REG *) 0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TCR ((AT91_REG *) 0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR ((AT91_REG *) 0xFFFD4104) // (PDC_SSC) Receive Counter Register +#define AT91C_SSC_RNPR ((AT91_REG *) 0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TNPR ((AT91_REG *) 0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_PTSR ((AT91_REG *) 0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RHR ((AT91_REG *) 0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_RSHR ((AT91_REG *) 0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_TFMR ((AT91_REG *) 0xFFFD401C) // (SSC) Transmit Frame Mode Register +#define AT91C_SSC_IDR ((AT91_REG *) 0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_THR ((AT91_REG *) 0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_RCMR ((AT91_REG *) 0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_IER ((AT91_REG *) 0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_TSHR ((AT91_REG *) 0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_SR ((AT91_REG *) 0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_CMR ((AT91_REG *) 0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_TCMR ((AT91_REG *) 0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_CR ((AT91_REG *) 0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR ((AT91_REG *) 0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_RFMR ((AT91_REG *) 0xFFFD4014) // (SSC) Receive Frame Mode Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_IER ((AT91_REG *) 0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_CR ((AT91_REG *) 0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_SR ((AT91_REG *) 0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_IMR ((AT91_REG *) 0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_THR ((AT91_REG *) 0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IDR ((AT91_REG *) 0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_IADR ((AT91_REG *) 0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR ((AT91_REG *) 0xFFFB8004) // (TWI) Master Mode Register +#define AT91C_TWI_CWGR ((AT91_REG *) 0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_RHR ((AT91_REG *) 0xFFFB8030) // (TWI) Receive Holding Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_PWMC_CH3_CUPDR ((AT91_REG *) 0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_PWMC_CH3_Reserved ((AT91_REG *) 0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_PWMC_CH3_CPRDR ((AT91_REG *) 0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_PWMC_CH3_CDTYR ((AT91_REG *) 0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +#define AT91C_PWMC_CH3_CCNTR ((AT91_REG *) 0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_PWMC_CH3_CMR ((AT91_REG *) 0xFFFCC260) // (PWMC_CH3) Channel Mode Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_PWMC_CH2_Reserved ((AT91_REG *) 0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_PWMC_CH2_CMR ((AT91_REG *) 0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_PWMC_CH2_CCNTR ((AT91_REG *) 0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_PWMC_CH2_CPRDR ((AT91_REG *) 0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_PWMC_CH2_CUPDR ((AT91_REG *) 0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_PWMC_CH2_CDTYR ((AT91_REG *) 0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_PWMC_CH1_Reserved ((AT91_REG *) 0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_PWMC_CH1_CUPDR ((AT91_REG *) 0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_PWMC_CH1_CPRDR ((AT91_REG *) 0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_PWMC_CH1_CCNTR ((AT91_REG *) 0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_PWMC_CH1_CDTYR ((AT91_REG *) 0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +#define AT91C_PWMC_CH1_CMR ((AT91_REG *) 0xFFFCC220) // (PWMC_CH1) Channel Mode Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_PWMC_CH0_Reserved ((AT91_REG *) 0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_PWMC_CH0_CPRDR ((AT91_REG *) 0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_PWMC_CH0_CDTYR ((AT91_REG *) 0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +#define AT91C_PWMC_CH0_CMR ((AT91_REG *) 0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_PWMC_CH0_CUPDR ((AT91_REG *) 0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_PWMC_CH0_CCNTR ((AT91_REG *) 0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_IDR ((AT91_REG *) 0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_DIS ((AT91_REG *) 0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER ((AT91_REG *) 0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +#define AT91C_PWMC_VR ((AT91_REG *) 0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR ((AT91_REG *) 0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_SR ((AT91_REG *) 0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_IMR ((AT91_REG *) 0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR ((AT91_REG *) 0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_ENA ((AT91_REG *) 0xFFFCC004) // (PWMC) PWMC Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_IMR ((AT91_REG *) 0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_FADDR ((AT91_REG *) 0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM ((AT91_REG *) 0xFFFB0000) // (UDP) Frame Number Register +#define AT91C_UDP_FDR ((AT91_REG *) 0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_ISR ((AT91_REG *) 0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_CSR ((AT91_REG *) 0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_IDR ((AT91_REG *) 0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_ICR ((AT91_REG *) 0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_RSTEP ((AT91_REG *) 0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_TXVC ((AT91_REG *) 0xFFFB0074) // (UDP) Transceiver Control Register +#define AT91C_UDP_GLBSTATE ((AT91_REG *) 0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_IER ((AT91_REG *) 0xFFFB0010) // (UDP) Interrupt Enable Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_SR ((AT91_REG *) 0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RC ((AT91_REG *) 0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RB ((AT91_REG *) 0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CCR ((AT91_REG *) 0xFFFA0000) // (TC0) Channel Control Register +#define AT91C_TC0_CMR ((AT91_REG *) 0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IER ((AT91_REG *) 0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RA ((AT91_REG *) 0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_IDR ((AT91_REG *) 0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_CV ((AT91_REG *) 0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_IMR ((AT91_REG *) 0xFFFA002C) // (TC0) Interrupt Mask Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_RB ((AT91_REG *) 0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CCR ((AT91_REG *) 0xFFFA0040) // (TC1) Channel Control Register +#define AT91C_TC1_IER ((AT91_REG *) 0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_IDR ((AT91_REG *) 0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR ((AT91_REG *) 0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_CMR ((AT91_REG *) 0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_RA ((AT91_REG *) 0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_RC ((AT91_REG *) 0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_IMR ((AT91_REG *) 0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_CV ((AT91_REG *) 0xFFFA0050) // (TC1) Counter Value +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_CMR ((AT91_REG *) 0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_CCR ((AT91_REG *) 0xFFFA0080) // (TC2) Channel Control Register +#define AT91C_TC2_CV ((AT91_REG *) 0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_RA ((AT91_REG *) 0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_RB ((AT91_REG *) 0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_IDR ((AT91_REG *) 0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_IMR ((AT91_REG *) 0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_RC ((AT91_REG *) 0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_IER ((AT91_REG *) 0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_SR ((AT91_REG *) 0xFFFA00A0) // (TC2) Status Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR ((AT91_REG *) 0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR ((AT91_REG *) 0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for CAN_MB0 peripheral ========== +#define AT91C_CAN_MB0_MDL ((AT91_REG *) 0xFFFD0214) // (CAN_MB0) MailBox Data Low Register +#define AT91C_CAN_MB0_MAM ((AT91_REG *) 0xFFFD0204) // (CAN_MB0) MailBox Acceptance Mask Register +#define AT91C_CAN_MB0_MCR ((AT91_REG *) 0xFFFD021C) // (CAN_MB0) MailBox Control Register +#define AT91C_CAN_MB0_MID ((AT91_REG *) 0xFFFD0208) // (CAN_MB0) MailBox ID Register +#define AT91C_CAN_MB0_MSR ((AT91_REG *) 0xFFFD0210) // (CAN_MB0) MailBox Status Register +#define AT91C_CAN_MB0_MFID ((AT91_REG *) 0xFFFD020C) // (CAN_MB0) MailBox Family ID Register +#define AT91C_CAN_MB0_MDH ((AT91_REG *) 0xFFFD0218) // (CAN_MB0) MailBox Data High Register +#define AT91C_CAN_MB0_MMR ((AT91_REG *) 0xFFFD0200) // (CAN_MB0) MailBox Mode Register +// ========== Register definition for CAN_MB1 peripheral ========== +#define AT91C_CAN_MB1_MDL ((AT91_REG *) 0xFFFD0234) // (CAN_MB1) MailBox Data Low Register +#define AT91C_CAN_MB1_MID ((AT91_REG *) 0xFFFD0228) // (CAN_MB1) MailBox ID Register +#define AT91C_CAN_MB1_MMR ((AT91_REG *) 0xFFFD0220) // (CAN_MB1) MailBox Mode Register +#define AT91C_CAN_MB1_MSR ((AT91_REG *) 0xFFFD0230) // (CAN_MB1) MailBox Status Register +#define AT91C_CAN_MB1_MAM ((AT91_REG *) 0xFFFD0224) // (CAN_MB1) MailBox Acceptance Mask Register +#define AT91C_CAN_MB1_MDH ((AT91_REG *) 0xFFFD0238) // (CAN_MB1) MailBox Data High Register +#define AT91C_CAN_MB1_MCR ((AT91_REG *) 0xFFFD023C) // (CAN_MB1) MailBox Control Register +#define AT91C_CAN_MB1_MFID ((AT91_REG *) 0xFFFD022C) // (CAN_MB1) MailBox Family ID Register +// ========== Register definition for CAN_MB2 peripheral ========== +#define AT91C_CAN_MB2_MCR ((AT91_REG *) 0xFFFD025C) // (CAN_MB2) MailBox Control Register +#define AT91C_CAN_MB2_MDH ((AT91_REG *) 0xFFFD0258) // (CAN_MB2) MailBox Data High Register +#define AT91C_CAN_MB2_MID ((AT91_REG *) 0xFFFD0248) // (CAN_MB2) MailBox ID Register +#define AT91C_CAN_MB2_MDL ((AT91_REG *) 0xFFFD0254) // (CAN_MB2) MailBox Data Low Register +#define AT91C_CAN_MB2_MMR ((AT91_REG *) 0xFFFD0240) // (CAN_MB2) MailBox Mode Register +#define AT91C_CAN_MB2_MAM ((AT91_REG *) 0xFFFD0244) // (CAN_MB2) MailBox Acceptance Mask Register +#define AT91C_CAN_MB2_MFID ((AT91_REG *) 0xFFFD024C) // (CAN_MB2) MailBox Family ID Register +#define AT91C_CAN_MB2_MSR ((AT91_REG *) 0xFFFD0250) // (CAN_MB2) MailBox Status Register +// ========== Register definition for CAN_MB3 peripheral ========== +#define AT91C_CAN_MB3_MFID ((AT91_REG *) 0xFFFD026C) // (CAN_MB3) MailBox Family ID Register +#define AT91C_CAN_MB3_MAM ((AT91_REG *) 0xFFFD0264) // (CAN_MB3) MailBox Acceptance Mask Register +#define AT91C_CAN_MB3_MID ((AT91_REG *) 0xFFFD0268) // (CAN_MB3) MailBox ID Register +#define AT91C_CAN_MB3_MCR ((AT91_REG *) 0xFFFD027C) // (CAN_MB3) MailBox Control Register +#define AT91C_CAN_MB3_MMR ((AT91_REG *) 0xFFFD0260) // (CAN_MB3) MailBox Mode Register +#define AT91C_CAN_MB3_MSR ((AT91_REG *) 0xFFFD0270) // (CAN_MB3) MailBox Status Register +#define AT91C_CAN_MB3_MDL ((AT91_REG *) 0xFFFD0274) // (CAN_MB3) MailBox Data Low Register +#define AT91C_CAN_MB3_MDH ((AT91_REG *) 0xFFFD0278) // (CAN_MB3) MailBox Data High Register +// ========== Register definition for CAN_MB4 peripheral ========== +#define AT91C_CAN_MB4_MID ((AT91_REG *) 0xFFFD0288) // (CAN_MB4) MailBox ID Register +#define AT91C_CAN_MB4_MMR ((AT91_REG *) 0xFFFD0280) // (CAN_MB4) MailBox Mode Register +#define AT91C_CAN_MB4_MDH ((AT91_REG *) 0xFFFD0298) // (CAN_MB4) MailBox Data High Register +#define AT91C_CAN_MB4_MFID ((AT91_REG *) 0xFFFD028C) // (CAN_MB4) MailBox Family ID Register +#define AT91C_CAN_MB4_MSR ((AT91_REG *) 0xFFFD0290) // (CAN_MB4) MailBox Status Register +#define AT91C_CAN_MB4_MCR ((AT91_REG *) 0xFFFD029C) // (CAN_MB4) MailBox Control Register +#define AT91C_CAN_MB4_MDL ((AT91_REG *) 0xFFFD0294) // (CAN_MB4) MailBox Data Low Register +#define AT91C_CAN_MB4_MAM ((AT91_REG *) 0xFFFD0284) // (CAN_MB4) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB5 peripheral ========== +#define AT91C_CAN_MB5_MSR ((AT91_REG *) 0xFFFD02B0) // (CAN_MB5) MailBox Status Register +#define AT91C_CAN_MB5_MCR ((AT91_REG *) 0xFFFD02BC) // (CAN_MB5) MailBox Control Register +#define AT91C_CAN_MB5_MFID ((AT91_REG *) 0xFFFD02AC) // (CAN_MB5) MailBox Family ID Register +#define AT91C_CAN_MB5_MDH ((AT91_REG *) 0xFFFD02B8) // (CAN_MB5) MailBox Data High Register +#define AT91C_CAN_MB5_MID ((AT91_REG *) 0xFFFD02A8) // (CAN_MB5) MailBox ID Register +#define AT91C_CAN_MB5_MMR ((AT91_REG *) 0xFFFD02A0) // (CAN_MB5) MailBox Mode Register +#define AT91C_CAN_MB5_MDL ((AT91_REG *) 0xFFFD02B4) // (CAN_MB5) MailBox Data Low Register +#define AT91C_CAN_MB5_MAM ((AT91_REG *) 0xFFFD02A4) // (CAN_MB5) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB6 peripheral ========== +#define AT91C_CAN_MB6_MFID ((AT91_REG *) 0xFFFD02CC) // (CAN_MB6) MailBox Family ID Register +#define AT91C_CAN_MB6_MID ((AT91_REG *) 0xFFFD02C8) // (CAN_MB6) MailBox ID Register +#define AT91C_CAN_MB6_MAM ((AT91_REG *) 0xFFFD02C4) // (CAN_MB6) MailBox Acceptance Mask Register +#define AT91C_CAN_MB6_MSR ((AT91_REG *) 0xFFFD02D0) // (CAN_MB6) MailBox Status Register +#define AT91C_CAN_MB6_MDL ((AT91_REG *) 0xFFFD02D4) // (CAN_MB6) MailBox Data Low Register +#define AT91C_CAN_MB6_MCR ((AT91_REG *) 0xFFFD02DC) // (CAN_MB6) MailBox Control Register +#define AT91C_CAN_MB6_MDH ((AT91_REG *) 0xFFFD02D8) // (CAN_MB6) MailBox Data High Register +#define AT91C_CAN_MB6_MMR ((AT91_REG *) 0xFFFD02C0) // (CAN_MB6) MailBox Mode Register +// ========== Register definition for CAN_MB7 peripheral ========== +#define AT91C_CAN_MB7_MCR ((AT91_REG *) 0xFFFD02FC) // (CAN_MB7) MailBox Control Register +#define AT91C_CAN_MB7_MDH ((AT91_REG *) 0xFFFD02F8) // (CAN_MB7) MailBox Data High Register +#define AT91C_CAN_MB7_MFID ((AT91_REG *) 0xFFFD02EC) // (CAN_MB7) MailBox Family ID Register +#define AT91C_CAN_MB7_MDL ((AT91_REG *) 0xFFFD02F4) // (CAN_MB7) MailBox Data Low Register +#define AT91C_CAN_MB7_MID ((AT91_REG *) 0xFFFD02E8) // (CAN_MB7) MailBox ID Register +#define AT91C_CAN_MB7_MMR ((AT91_REG *) 0xFFFD02E0) // (CAN_MB7) MailBox Mode Register +#define AT91C_CAN_MB7_MAM ((AT91_REG *) 0xFFFD02E4) // (CAN_MB7) MailBox Acceptance Mask Register +#define AT91C_CAN_MB7_MSR ((AT91_REG *) 0xFFFD02F0) // (CAN_MB7) MailBox Status Register +// ========== Register definition for CAN peripheral ========== +#define AT91C_CAN_TCR ((AT91_REG *) 0xFFFD0024) // (CAN) Transfer Command Register +#define AT91C_CAN_IMR ((AT91_REG *) 0xFFFD000C) // (CAN) Interrupt Mask Register +#define AT91C_CAN_IER ((AT91_REG *) 0xFFFD0004) // (CAN) Interrupt Enable Register +#define AT91C_CAN_ECR ((AT91_REG *) 0xFFFD0020) // (CAN) Error Counter Register +#define AT91C_CAN_TIMESTP ((AT91_REG *) 0xFFFD001C) // (CAN) Time Stamp Register +#define AT91C_CAN_MR ((AT91_REG *) 0xFFFD0000) // (CAN) Mode Register +#define AT91C_CAN_IDR ((AT91_REG *) 0xFFFD0008) // (CAN) Interrupt Disable Register +#define AT91C_CAN_ACR ((AT91_REG *) 0xFFFD0028) // (CAN) Abort Command Register +#define AT91C_CAN_TIM ((AT91_REG *) 0xFFFD0018) // (CAN) Timer Register +#define AT91C_CAN_SR ((AT91_REG *) 0xFFFD0010) // (CAN) Status Register +#define AT91C_CAN_BR ((AT91_REG *) 0xFFFD0014) // (CAN) Baudrate Register +#define AT91C_CAN_VR ((AT91_REG *) 0xFFFD00FC) // (CAN) Version Register +// ========== Register definition for EMAC peripheral ========== +#define AT91C_EMAC_ISR ((AT91_REG *) 0xFFFDC024) // (EMAC) Interrupt Status Register +#define AT91C_EMAC_SA4H ((AT91_REG *) 0xFFFDC0B4) // (EMAC) Specific Address 4 Top, Last 2 bytes +#define AT91C_EMAC_SA1L ((AT91_REG *) 0xFFFDC098) // (EMAC) Specific Address 1 Bottom, First 4 bytes +#define AT91C_EMAC_ELE ((AT91_REG *) 0xFFFDC078) // (EMAC) Excessive Length Errors Register +#define AT91C_EMAC_LCOL ((AT91_REG *) 0xFFFDC05C) // (EMAC) Late Collision Register +#define AT91C_EMAC_RLE ((AT91_REG *) 0xFFFDC088) // (EMAC) Receive Length Field Mismatch Register +#define AT91C_EMAC_WOL ((AT91_REG *) 0xFFFDC0C4) // (EMAC) Wake On LAN Register +#define AT91C_EMAC_DTF ((AT91_REG *) 0xFFFDC058) // (EMAC) Deferred Transmission Frame Register +#define AT91C_EMAC_TUND ((AT91_REG *) 0xFFFDC064) // (EMAC) Transmit Underrun Error Register +#define AT91C_EMAC_NCR ((AT91_REG *) 0xFFFDC000) // (EMAC) Network Control Register +#define AT91C_EMAC_SA4L ((AT91_REG *) 0xFFFDC0B0) // (EMAC) Specific Address 4 Bottom, First 4 bytes +#define AT91C_EMAC_RSR ((AT91_REG *) 0xFFFDC020) // (EMAC) Receive Status Register +#define AT91C_EMAC_SA3L ((AT91_REG *) 0xFFFDC0A8) // (EMAC) Specific Address 3 Bottom, First 4 bytes +#define AT91C_EMAC_TSR ((AT91_REG *) 0xFFFDC014) // (EMAC) Transmit Status Register +#define AT91C_EMAC_IDR ((AT91_REG *) 0xFFFDC02C) // (EMAC) Interrupt Disable Register +#define AT91C_EMAC_RSE ((AT91_REG *) 0xFFFDC074) // (EMAC) Receive Symbol Errors Register +#define AT91C_EMAC_ECOL ((AT91_REG *) 0xFFFDC060) // (EMAC) Excessive Collision Register +#define AT91C_EMAC_TID ((AT91_REG *) 0xFFFDC0B8) // (EMAC) Type ID Checking Register +#define AT91C_EMAC_HRB ((AT91_REG *) 0xFFFDC090) // (EMAC) Hash Address Bottom[31:0] +#define AT91C_EMAC_TBQP ((AT91_REG *) 0xFFFDC01C) // (EMAC) Transmit Buffer Queue Pointer +#define AT91C_EMAC_USRIO ((AT91_REG *) 0xFFFDC0C0) // (EMAC) USER Input/Output Register +#define AT91C_EMAC_PTR ((AT91_REG *) 0xFFFDC038) // (EMAC) Pause Time Register +#define AT91C_EMAC_SA2H ((AT91_REG *) 0xFFFDC0A4) // (EMAC) Specific Address 2 Top, Last 2 bytes +#define AT91C_EMAC_ROV ((AT91_REG *) 0xFFFDC070) // (EMAC) Receive Overrun Errors Register +#define AT91C_EMAC_ALE ((AT91_REG *) 0xFFFDC054) // (EMAC) Alignment Error Register +#define AT91C_EMAC_RJA ((AT91_REG *) 0xFFFDC07C) // (EMAC) Receive Jabbers Register +#define AT91C_EMAC_RBQP ((AT91_REG *) 0xFFFDC018) // (EMAC) Receive Buffer Queue Pointer +#define AT91C_EMAC_TPF ((AT91_REG *) 0xFFFDC08C) // (EMAC) Transmitted Pause Frames Register +#define AT91C_EMAC_NCFGR ((AT91_REG *) 0xFFFDC004) // (EMAC) Network Configuration Register +#define AT91C_EMAC_HRT ((AT91_REG *) 0xFFFDC094) // (EMAC) Hash Address Top[63:32] +#define AT91C_EMAC_USF ((AT91_REG *) 0xFFFDC080) // (EMAC) Undersize Frames Register +#define AT91C_EMAC_FCSE ((AT91_REG *) 0xFFFDC050) // (EMAC) Frame Check Sequence Error Register +#define AT91C_EMAC_TPQ ((AT91_REG *) 0xFFFDC0BC) // (EMAC) Transmit Pause Quantum Register +#define AT91C_EMAC_MAN ((AT91_REG *) 0xFFFDC034) // (EMAC) PHY Maintenance Register +#define AT91C_EMAC_FTO ((AT91_REG *) 0xFFFDC040) // (EMAC) Frames Transmitted OK Register +#define AT91C_EMAC_REV ((AT91_REG *) 0xFFFDC0FC) // (EMAC) Revision Register +#define AT91C_EMAC_IMR ((AT91_REG *) 0xFFFDC030) // (EMAC) Interrupt Mask Register +#define AT91C_EMAC_SCF ((AT91_REG *) 0xFFFDC044) // (EMAC) Single Collision Frame Register +#define AT91C_EMAC_PFR ((AT91_REG *) 0xFFFDC03C) // (EMAC) Pause Frames received Register +#define AT91C_EMAC_MCF ((AT91_REG *) 0xFFFDC048) // (EMAC) Multiple Collision Frame Register +#define AT91C_EMAC_NSR ((AT91_REG *) 0xFFFDC008) // (EMAC) Network Status Register +#define AT91C_EMAC_SA2L ((AT91_REG *) 0xFFFDC0A0) // (EMAC) Specific Address 2 Bottom, First 4 bytes +#define AT91C_EMAC_FRO ((AT91_REG *) 0xFFFDC04C) // (EMAC) Frames Received OK Register +#define AT91C_EMAC_IER ((AT91_REG *) 0xFFFDC028) // (EMAC) Interrupt Enable Register +#define AT91C_EMAC_SA1H ((AT91_REG *) 0xFFFDC09C) // (EMAC) Specific Address 1 Top, Last 2 bytes +#define AT91C_EMAC_CSE ((AT91_REG *) 0xFFFDC068) // (EMAC) Carrier Sense Error Register +#define AT91C_EMAC_SA3H ((AT91_REG *) 0xFFFDC0AC) // (EMAC) Specific Address 3 Top, Last 2 bytes +#define AT91C_EMAC_RRE ((AT91_REG *) 0xFFFDC06C) // (EMAC) Receive Ressource Error Register +#define AT91C_EMAC_STE ((AT91_REG *) 0xFFFDC084) // (EMAC) SQE Test Error Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTSR ((AT91_REG *) 0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_PTCR ((AT91_REG *) 0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR ((AT91_REG *) 0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_TNCR ((AT91_REG *) 0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNPR ((AT91_REG *) 0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_RNCR ((AT91_REG *) 0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_RPR ((AT91_REG *) 0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_TCR ((AT91_REG *) 0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_TPR ((AT91_REG *) 0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RCR ((AT91_REG *) 0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_CDR2 ((AT91_REG *) 0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR3 ((AT91_REG *) 0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR0 ((AT91_REG *) 0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR5 ((AT91_REG *) 0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_CHDR ((AT91_REG *) 0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_SR ((AT91_REG *) 0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CDR4 ((AT91_REG *) 0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR1 ((AT91_REG *) 0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_LCDR ((AT91_REG *) 0xFFFD8020) // (ADC) ADC Last Converted Data Register +#define AT91C_ADC_IDR ((AT91_REG *) 0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_CR ((AT91_REG *) 0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CDR7 ((AT91_REG *) 0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR6 ((AT91_REG *) 0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_IER ((AT91_REG *) 0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_CHER ((AT91_REG *) 0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR ((AT91_REG *) 0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_MR ((AT91_REG *) 0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_IMR ((AT91_REG *) 0xFFFD802C) // (ADC) ADC Interrupt Mask Register +// ========== Register definition for PDC_AES peripheral ========== +#define AT91C_AES_TPR ((AT91_REG *) 0xFFFA4108) // (PDC_AES) Transmit Pointer Register +#define AT91C_AES_PTCR ((AT91_REG *) 0xFFFA4120) // (PDC_AES) PDC Transfer Control Register +#define AT91C_AES_RNPR ((AT91_REG *) 0xFFFA4110) // (PDC_AES) Receive Next Pointer Register +#define AT91C_AES_TNCR ((AT91_REG *) 0xFFFA411C) // (PDC_AES) Transmit Next Counter Register +#define AT91C_AES_TCR ((AT91_REG *) 0xFFFA410C) // (PDC_AES) Transmit Counter Register +#define AT91C_AES_RCR ((AT91_REG *) 0xFFFA4104) // (PDC_AES) Receive Counter Register +#define AT91C_AES_RNCR ((AT91_REG *) 0xFFFA4114) // (PDC_AES) Receive Next Counter Register +#define AT91C_AES_TNPR ((AT91_REG *) 0xFFFA4118) // (PDC_AES) Transmit Next Pointer Register +#define AT91C_AES_RPR ((AT91_REG *) 0xFFFA4100) // (PDC_AES) Receive Pointer Register +#define AT91C_AES_PTSR ((AT91_REG *) 0xFFFA4124) // (PDC_AES) PDC Transfer Status Register +// ========== Register definition for AES peripheral ========== +#define AT91C_AES_IVxR ((AT91_REG *) 0xFFFA4060) // (AES) Initialization Vector x Register +#define AT91C_AES_MR ((AT91_REG *) 0xFFFA4004) // (AES) Mode Register +#define AT91C_AES_VR ((AT91_REG *) 0xFFFA40FC) // (AES) AES Version Register +#define AT91C_AES_ODATAxR ((AT91_REG *) 0xFFFA4050) // (AES) Output Data x Register +#define AT91C_AES_IDATAxR ((AT91_REG *) 0xFFFA4040) // (AES) Input Data x Register +#define AT91C_AES_CR ((AT91_REG *) 0xFFFA4000) // (AES) Control Register +#define AT91C_AES_IDR ((AT91_REG *) 0xFFFA4014) // (AES) Interrupt Disable Register +#define AT91C_AES_IMR ((AT91_REG *) 0xFFFA4018) // (AES) Interrupt Mask Register +#define AT91C_AES_IER ((AT91_REG *) 0xFFFA4010) // (AES) Interrupt Enable Register +#define AT91C_AES_KEYWxR ((AT91_REG *) 0xFFFA4020) // (AES) Key Word x Register +#define AT91C_AES_ISR ((AT91_REG *) 0xFFFA401C) // (AES) Interrupt Status Register +// ========== Register definition for PDC_TDES peripheral ========== +#define AT91C_TDES_RNCR ((AT91_REG *) 0xFFFA8114) // (PDC_TDES) Receive Next Counter Register +#define AT91C_TDES_TCR ((AT91_REG *) 0xFFFA810C) // (PDC_TDES) Transmit Counter Register +#define AT91C_TDES_RCR ((AT91_REG *) 0xFFFA8104) // (PDC_TDES) Receive Counter Register +#define AT91C_TDES_TNPR ((AT91_REG *) 0xFFFA8118) // (PDC_TDES) Transmit Next Pointer Register +#define AT91C_TDES_RNPR ((AT91_REG *) 0xFFFA8110) // (PDC_TDES) Receive Next Pointer Register +#define AT91C_TDES_RPR ((AT91_REG *) 0xFFFA8100) // (PDC_TDES) Receive Pointer Register +#define AT91C_TDES_TNCR ((AT91_REG *) 0xFFFA811C) // (PDC_TDES) Transmit Next Counter Register +#define AT91C_TDES_TPR ((AT91_REG *) 0xFFFA8108) // (PDC_TDES) Transmit Pointer Register +#define AT91C_TDES_PTSR ((AT91_REG *) 0xFFFA8124) // (PDC_TDES) PDC Transfer Status Register +#define AT91C_TDES_PTCR ((AT91_REG *) 0xFFFA8120) // (PDC_TDES) PDC Transfer Control Register +// ========== Register definition for TDES peripheral ========== +#define AT91C_TDES_KEY2WxR ((AT91_REG *) 0xFFFA8028) // (TDES) Key 2 Word x Register +#define AT91C_TDES_KEY3WxR ((AT91_REG *) 0xFFFA8030) // (TDES) Key 3 Word x Register +#define AT91C_TDES_IDR ((AT91_REG *) 0xFFFA8014) // (TDES) Interrupt Disable Register +#define AT91C_TDES_VR ((AT91_REG *) 0xFFFA80FC) // (TDES) TDES Version Register +#define AT91C_TDES_IVxR ((AT91_REG *) 0xFFFA8060) // (TDES) Initialization Vector x Register +#define AT91C_TDES_ODATAxR ((AT91_REG *) 0xFFFA8050) // (TDES) Output Data x Register +#define AT91C_TDES_IMR ((AT91_REG *) 0xFFFA8018) // (TDES) Interrupt Mask Register +#define AT91C_TDES_MR ((AT91_REG *) 0xFFFA8004) // (TDES) Mode Register +#define AT91C_TDES_CR ((AT91_REG *) 0xFFFA8000) // (TDES) Control Register +#define AT91C_TDES_IER ((AT91_REG *) 0xFFFA8010) // (TDES) Interrupt Enable Register +#define AT91C_TDES_ISR ((AT91_REG *) 0xFFFA801C) // (TDES) Interrupt Status Register +#define AT91C_TDES_IDATAxR ((AT91_REG *) 0xFFFA8040) // (TDES) Input Data x Register +#define AT91C_TDES_KEY1WxR ((AT91_REG *) 0xFFFA8020) // (TDES) Key 1 Word x Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_PIO_PA0 ((unsigned int) 1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_RXD0 ((unsigned int) AT91C_PIO_PA0) // USART 0 Receive Data +#define AT91C_PIO_PA1 ((unsigned int) 1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_TXD0 ((unsigned int) AT91C_PIO_PA1) // USART 0 Transmit Data +#define AT91C_PIO_PA10 ((unsigned int) 1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_TWD ((unsigned int) AT91C_PIO_PA10) // TWI Two-wire Serial Data +#define AT91C_PIO_PA11 ((unsigned int) 1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_TWCK ((unsigned int) AT91C_PIO_PA11) // TWI Two-wire Serial Clock +#define AT91C_PIO_PA12 ((unsigned int) 1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_NPCS00 ((unsigned int) AT91C_PIO_PA12) // SPI 0 Peripheral Chip Select 0 +#define AT91C_PIO_PA13 ((unsigned int) 1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_NPCS01 ((unsigned int) AT91C_PIO_PA13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PA13_PCK1 ((unsigned int) AT91C_PIO_PA13) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA14 ((unsigned int) 1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_NPCS02 ((unsigned int) AT91C_PIO_PA14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PA14_IRQ1 ((unsigned int) AT91C_PIO_PA14) // External Interrupt 1 +#define AT91C_PIO_PA15 ((unsigned int) 1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_NPCS03 ((unsigned int) AT91C_PIO_PA15) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PA15_TCLK2 ((unsigned int) AT91C_PIO_PA15) // Timer Counter 2 external clock input +#define AT91C_PIO_PA16 ((unsigned int) 1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_MISO0 ((unsigned int) AT91C_PIO_PA16) // SPI 0 Master In Slave +#define AT91C_PIO_PA17 ((unsigned int) 1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_MOSI0 ((unsigned int) AT91C_PIO_PA17) // SPI 0 Master Out Slave +#define AT91C_PIO_PA18 ((unsigned int) 1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_SPCK0 ((unsigned int) AT91C_PIO_PA18) // SPI 0 Serial Clock +#define AT91C_PIO_PA19 ((unsigned int) 1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_CANRX ((unsigned int) AT91C_PIO_PA19) // CAN Receive +#define AT91C_PIO_PA2 ((unsigned int) 1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_SCK0 ((unsigned int) AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PA2_NPCS11 ((unsigned int) AT91C_PIO_PA2) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA20 ((unsigned int) 1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_CANTX ((unsigned int) AT91C_PIO_PA20) // CAN Transmit +#define AT91C_PIO_PA21 ((unsigned int) 1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_TF ((unsigned int) AT91C_PIO_PA21) // SSC Transmit Frame Sync +#define AT91C_PA21_NPCS10 ((unsigned int) AT91C_PIO_PA21) // SPI 1 Peripheral Chip Select 0 +#define AT91C_PIO_PA22 ((unsigned int) 1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TK ((unsigned int) AT91C_PIO_PA22) // SSC Transmit Clock +#define AT91C_PA22_SPCK1 ((unsigned int) AT91C_PIO_PA22) // SPI 1 Serial Clock +#define AT91C_PIO_PA23 ((unsigned int) 1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_TD ((unsigned int) AT91C_PIO_PA23) // SSC Transmit data +#define AT91C_PA23_MOSI1 ((unsigned int) AT91C_PIO_PA23) // SPI 1 Master Out Slave +#define AT91C_PIO_PA24 ((unsigned int) 1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RD ((unsigned int) AT91C_PIO_PA24) // SSC Receive Data +#define AT91C_PA24_MISO1 ((unsigned int) AT91C_PIO_PA24) // SPI 1 Master In Slave +#define AT91C_PIO_PA25 ((unsigned int) 1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_RK ((unsigned int) AT91C_PIO_PA25) // SSC Receive Clock +#define AT91C_PA25_NPCS11 ((unsigned int) AT91C_PIO_PA25) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA26 ((unsigned int) 1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_RF ((unsigned int) AT91C_PIO_PA26) // SSC Receive Frame Sync +#define AT91C_PA26_NPCS12 ((unsigned int) AT91C_PIO_PA26) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA27 ((unsigned int) 1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DRXD ((unsigned int) AT91C_PIO_PA27) // DBGU Debug Receive Data +#define AT91C_PA27_PCK3 ((unsigned int) AT91C_PIO_PA27) // PMC Programmable Clock Output 3 +#define AT91C_PIO_PA28 ((unsigned int) 1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DTXD ((unsigned int) AT91C_PIO_PA28) // DBGU Debug Transmit Data +#define AT91C_PIO_PA29 ((unsigned int) 1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_FIQ ((unsigned int) AT91C_PIO_PA29) // AIC Fast Interrupt Input +#define AT91C_PA29_NPCS13 ((unsigned int) AT91C_PIO_PA29) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA3 ((unsigned int) 1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_RTS0 ((unsigned int) AT91C_PIO_PA3) // USART 0 Ready To Send +#define AT91C_PA3_NPCS12 ((unsigned int) AT91C_PIO_PA3) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA30 ((unsigned int) 1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ0 ((unsigned int) AT91C_PIO_PA30) // External Interrupt 0 +#define AT91C_PA30_PCK2 ((unsigned int) AT91C_PIO_PA30) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 ((unsigned int) 1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_CTS0 ((unsigned int) AT91C_PIO_PA4) // USART 0 Clear To Send +#define AT91C_PA4_NPCS13 ((unsigned int) AT91C_PIO_PA4) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA5 ((unsigned int) 1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD1 ((unsigned int) AT91C_PIO_PA5) // USART 1 Receive Data +#define AT91C_PIO_PA6 ((unsigned int) 1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD1 ((unsigned int) AT91C_PIO_PA6) // USART 1 Transmit Data +#define AT91C_PIO_PA7 ((unsigned int) 1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_SCK1 ((unsigned int) AT91C_PIO_PA7) // USART 1 Serial Clock +#define AT91C_PA7_NPCS01 ((unsigned int) AT91C_PIO_PA7) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PA8 ((unsigned int) 1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_RTS1 ((unsigned int) AT91C_PIO_PA8) // USART 1 Ready To Send +#define AT91C_PA8_NPCS02 ((unsigned int) AT91C_PIO_PA8) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PA9 ((unsigned int) 1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_CTS1 ((unsigned int) AT91C_PIO_PA9) // USART 1 Clear To Send +#define AT91C_PA9_NPCS03 ((unsigned int) AT91C_PIO_PA9) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB0 ((unsigned int) 1 << 0) // Pin Controlled by PB0 +#define AT91C_PB0_ETXCK_EREFCK ((unsigned int) AT91C_PIO_PB0) // Ethernet MAC Transmit Clock/Reference Clock +#define AT91C_PB0_PCK0 ((unsigned int) AT91C_PIO_PB0) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB1 ((unsigned int) 1 << 1) // Pin Controlled by PB1 +#define AT91C_PB1_ETXEN ((unsigned int) AT91C_PIO_PB1) // Ethernet MAC Transmit Enable +#define AT91C_PIO_PB10 ((unsigned int) 1 << 10) // Pin Controlled by PB10 +#define AT91C_PB10_ETX2 ((unsigned int) AT91C_PIO_PB10) // Ethernet MAC Transmit Data 2 +#define AT91C_PB10_NPCS11 ((unsigned int) AT91C_PIO_PB10) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PB11 ((unsigned int) 1 << 11) // Pin Controlled by PB11 +#define AT91C_PB11_ETX3 ((unsigned int) AT91C_PIO_PB11) // Ethernet MAC Transmit Data 3 +#define AT91C_PB11_NPCS12 ((unsigned int) AT91C_PIO_PB11) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PB12 ((unsigned int) 1 << 12) // Pin Controlled by PB12 +#define AT91C_PB12_ETXER ((unsigned int) AT91C_PIO_PB12) // Ethernet MAC Transmikt Coding Error +#define AT91C_PB12_TCLK0 ((unsigned int) AT91C_PIO_PB12) // Timer Counter 0 external clock input +#define AT91C_PIO_PB13 ((unsigned int) 1 << 13) // Pin Controlled by PB13 +#define AT91C_PB13_ERX2 ((unsigned int) AT91C_PIO_PB13) // Ethernet MAC Receive Data 2 +#define AT91C_PB13_NPCS01 ((unsigned int) AT91C_PIO_PB13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PB14 ((unsigned int) 1 << 14) // Pin Controlled by PB14 +#define AT91C_PB14_ERX3 ((unsigned int) AT91C_PIO_PB14) // Ethernet MAC Receive Data 3 +#define AT91C_PB14_NPCS02 ((unsigned int) AT91C_PIO_PB14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PB15 ((unsigned int) 1 << 15) // Pin Controlled by PB15 +#define AT91C_PB15_ERXDV ((unsigned int) AT91C_PIO_PB15) // Ethernet MAC Receive Data Valid +#define AT91C_PIO_PB16 ((unsigned int) 1 << 16) // Pin Controlled by PB16 +#define AT91C_PB16_ECOL ((unsigned int) AT91C_PIO_PB16) // Ethernet MAC Collision Detected +#define AT91C_PB16_NPCS13 ((unsigned int) AT91C_PIO_PB16) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PB17 ((unsigned int) 1 << 17) // Pin Controlled by PB17 +#define AT91C_PB17_ERXCK ((unsigned int) AT91C_PIO_PB17) // Ethernet MAC Receive Clock +#define AT91C_PB17_NPCS03 ((unsigned int) AT91C_PIO_PB17) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB18 ((unsigned int) 1 << 18) // Pin Controlled by PB18 +#define AT91C_PB18_EF100 ((unsigned int) AT91C_PIO_PB18) // Ethernet MAC Force 100 Mbits/sec +#define AT91C_PB18_ADTRG ((unsigned int) AT91C_PIO_PB18) // ADC External Trigger +#define AT91C_PIO_PB19 ((unsigned int) 1 << 19) // Pin Controlled by PB19 +#define AT91C_PB19_PWM0 ((unsigned int) AT91C_PIO_PB19) // PWM Channel 0 +#define AT91C_PB19_TCLK1 ((unsigned int) AT91C_PIO_PB19) // Timer Counter 1 external clock input +#define AT91C_PIO_PB2 ((unsigned int) 1 << 2) // Pin Controlled by PB2 +#define AT91C_PB2_ETX0 ((unsigned int) AT91C_PIO_PB2) // Ethernet MAC Transmit Data 0 +#define AT91C_PIO_PB20 ((unsigned int) 1 << 20) // Pin Controlled by PB20 +#define AT91C_PB20_PWM1 ((unsigned int) AT91C_PIO_PB20) // PWM Channel 1 +#define AT91C_PB20_PCK0 ((unsigned int) AT91C_PIO_PB20) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB21 ((unsigned int) 1 << 21) // Pin Controlled by PB21 +#define AT91C_PB21_PWM2 ((unsigned int) AT91C_PIO_PB21) // PWM Channel 2 +#define AT91C_PB21_PCK1 ((unsigned int) AT91C_PIO_PB21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PB22 ((unsigned int) 1 << 22) // Pin Controlled by PB22 +#define AT91C_PB22_PWM3 ((unsigned int) AT91C_PIO_PB22) // PWM Channel 3 +#define AT91C_PB22_PCK2 ((unsigned int) AT91C_PIO_PB22) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PB23 ((unsigned int) 1 << 23) // Pin Controlled by PB23 +#define AT91C_PB23_TIOA0 ((unsigned int) AT91C_PIO_PB23) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PB23_DCD1 ((unsigned int) AT91C_PIO_PB23) // USART 1 Data Carrier Detect +#define AT91C_PIO_PB24 ((unsigned int) 1 << 24) // Pin Controlled by PB24 +#define AT91C_PB24_TIOB0 ((unsigned int) AT91C_PIO_PB24) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PB24_DSR1 ((unsigned int) AT91C_PIO_PB24) // USART 1 Data Set ready +#define AT91C_PIO_PB25 ((unsigned int) 1 << 25) // Pin Controlled by PB25 +#define AT91C_PB25_TIOA1 ((unsigned int) AT91C_PIO_PB25) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PB25_DTR1 ((unsigned int) AT91C_PIO_PB25) // USART 1 Data Terminal ready +#define AT91C_PIO_PB26 ((unsigned int) 1 << 26) // Pin Controlled by PB26 +#define AT91C_PB26_TIOB1 ((unsigned int) AT91C_PIO_PB26) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PB26_RI1 ((unsigned int) AT91C_PIO_PB26) // USART 1 Ring Indicator +#define AT91C_PIO_PB27 ((unsigned int) 1 << 27) // Pin Controlled by PB27 +#define AT91C_PB27_TIOA2 ((unsigned int) AT91C_PIO_PB27) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PB27_PWM0 ((unsigned int) AT91C_PIO_PB27) // PWM Channel 0 +#define AT91C_PIO_PB28 ((unsigned int) 1 << 28) // Pin Controlled by PB28 +#define AT91C_PB28_TIOB2 ((unsigned int) AT91C_PIO_PB28) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PB28_PWM1 ((unsigned int) AT91C_PIO_PB28) // PWM Channel 1 +#define AT91C_PIO_PB29 ((unsigned int) 1 << 29) // Pin Controlled by PB29 +#define AT91C_PB29_PCK1 ((unsigned int) AT91C_PIO_PB29) // PMC Programmable Clock Output 1 +#define AT91C_PB29_PWM2 ((unsigned int) AT91C_PIO_PB29) // PWM Channel 2 +#define AT91C_PIO_PB3 ((unsigned int) 1 << 3) // Pin Controlled by PB3 +#define AT91C_PB3_ETX1 ((unsigned int) AT91C_PIO_PB3) // Ethernet MAC Transmit Data 1 +#define AT91C_PIO_PB30 ((unsigned int) 1 << 30) // Pin Controlled by PB30 +#define AT91C_PB30_PCK2 ((unsigned int) AT91C_PIO_PB30) // PMC Programmable Clock Output 2 +#define AT91C_PB30_PWM3 ((unsigned int) AT91C_PIO_PB30) // PWM Channel 3 +#define AT91C_PIO_PB4 ((unsigned int) 1 << 4) // Pin Controlled by PB4 +#define AT91C_PB4_ECRS_ECRSDV ((unsigned int) AT91C_PIO_PB4) // Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +#define AT91C_PIO_PB5 ((unsigned int) 1 << 5) // Pin Controlled by PB5 +#define AT91C_PB5_ERX0 ((unsigned int) AT91C_PIO_PB5) // Ethernet MAC Receive Data 0 +#define AT91C_PIO_PB6 ((unsigned int) 1 << 6) // Pin Controlled by PB6 +#define AT91C_PB6_ERX1 ((unsigned int) AT91C_PIO_PB6) // Ethernet MAC Receive Data 1 +#define AT91C_PIO_PB7 ((unsigned int) 1 << 7) // Pin Controlled by PB7 +#define AT91C_PB7_ERXER ((unsigned int) AT91C_PIO_PB7) // Ethernet MAC Receive Error +#define AT91C_PIO_PB8 ((unsigned int) 1 << 8) // Pin Controlled by PB8 +#define AT91C_PB8_EMDC ((unsigned int) AT91C_PIO_PB8) // Ethernet MAC Management Data Clock +#define AT91C_PIO_PB9 ((unsigned int) 1 << 9) // Pin Controlled by PB9 +#define AT91C_PB9_EMDIO ((unsigned int) AT91C_PIO_PB9) // Ethernet MAC Management Data Input/Output + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ID_FIQ ((unsigned int) 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ((unsigned int) 1) // System Peripheral +#define AT91C_ID_PIOA ((unsigned int) 2) // Parallel IO Controller A +#define AT91C_ID_PIOB ((unsigned int) 3) // Parallel IO Controller B +#define AT91C_ID_SPI0 ((unsigned int) 4) // Serial Peripheral Interface 0 +#define AT91C_ID_SPI1 ((unsigned int) 5) // Serial Peripheral Interface 1 +#define AT91C_ID_US0 ((unsigned int) 6) // USART 0 +#define AT91C_ID_US1 ((unsigned int) 7) // USART 1 +#define AT91C_ID_SSC ((unsigned int) 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ((unsigned int) 9) // Two-Wire Interface +#define AT91C_ID_PWMC ((unsigned int) 10) // PWM Controller +#define AT91C_ID_UDP ((unsigned int) 11) // USB Device Port +#define AT91C_ID_TC0 ((unsigned int) 12) // Timer Counter 0 +#define AT91C_ID_TC1 ((unsigned int) 13) // Timer Counter 1 +#define AT91C_ID_TC2 ((unsigned int) 14) // Timer Counter 2 +#define AT91C_ID_CAN ((unsigned int) 15) // Control Area Network Controller +#define AT91C_ID_EMAC ((unsigned int) 16) // Ethernet MAC +#define AT91C_ID_ADC ((unsigned int) 17) // Analog-to-Digital Converter +#define AT91C_ID_AES ((unsigned int) 18) // Advanced Encryption Standard 128-bit +#define AT91C_ID_TDES ((unsigned int) 19) // Triple Data Encryption Standard +#define AT91C_ID_20_Reserved ((unsigned int) 20) // Reserved +#define AT91C_ID_21_Reserved ((unsigned int) 21) // Reserved +#define AT91C_ID_22_Reserved ((unsigned int) 22) // Reserved +#define AT91C_ID_23_Reserved ((unsigned int) 23) // Reserved +#define AT91C_ID_24_Reserved ((unsigned int) 24) // Reserved +#define AT91C_ID_25_Reserved ((unsigned int) 25) // Reserved +#define AT91C_ID_26_Reserved ((unsigned int) 26) // Reserved +#define AT91C_ID_27_Reserved ((unsigned int) 27) // Reserved +#define AT91C_ID_28_Reserved ((unsigned int) 28) // Reserved +#define AT91C_ID_29_Reserved ((unsigned int) 29) // Reserved +#define AT91C_ID_IRQ0 ((unsigned int) 30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 ((unsigned int) 31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_BASE_SYS ((AT91PS_SYS) 0xFFFFF000) // (SYS) Base Address +#define AT91C_BASE_AIC ((AT91PS_AIC) 0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_PDC_DBGU ((AT91PS_PDC) 0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_DBGU ((AT91PS_DBGU) 0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PIOA ((AT91PS_PIO) 0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_PIOB ((AT91PS_PIO) 0xFFFFF600) // (PIOB) Base Address +#define AT91C_BASE_CKGR ((AT91PS_CKGR) 0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC ((AT91PS_PMC) 0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC ((AT91PS_RSTC) 0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC ((AT91PS_RTTC) 0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC ((AT91PS_PITC) 0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC ((AT91PS_WDTC) 0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_VREG ((AT91PS_VREG) 0xFFFFFD60) // (VREG) Base Address +#define AT91C_BASE_MC ((AT91PS_MC) 0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI1 ((AT91PS_PDC) 0xFFFE4100) // (PDC_SPI1) Base Address +#define AT91C_BASE_SPI1 ((AT91PS_SPI) 0xFFFE4000) // (SPI1) Base Address +#define AT91C_BASE_PDC_SPI0 ((AT91PS_PDC) 0xFFFE0100) // (PDC_SPI0) Base Address +#define AT91C_BASE_SPI0 ((AT91PS_SPI) 0xFFFE0000) // (SPI0) Base Address +#define AT91C_BASE_PDC_US1 ((AT91PS_PDC) 0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 ((AT91PS_USART) 0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 ((AT91PS_PDC) 0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 ((AT91PS_USART) 0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_PDC_SSC ((AT91PS_PDC) 0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC ((AT91PS_SSC) 0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_TWI ((AT91PS_TWI) 0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_PWMC_CH3 ((AT91PS_PWMC_CH) 0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 ((AT91PS_PWMC_CH) 0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 ((AT91PS_PWMC_CH) 0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 ((AT91PS_PWMC_CH) 0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC ((AT91PS_PWMC) 0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP ((AT91PS_UDP) 0xFFFB0000) // (UDP) Base Address +#define AT91C_BASE_TC0 ((AT91PS_TC) 0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TC1 ((AT91PS_TC) 0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC2 ((AT91PS_TC) 0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TCB ((AT91PS_TCB) 0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_CAN_MB0 ((AT91PS_CAN_MB) 0xFFFD0200) // (CAN_MB0) Base Address +#define AT91C_BASE_CAN_MB1 ((AT91PS_CAN_MB) 0xFFFD0220) // (CAN_MB1) Base Address +#define AT91C_BASE_CAN_MB2 ((AT91PS_CAN_MB) 0xFFFD0240) // (CAN_MB2) Base Address +#define AT91C_BASE_CAN_MB3 ((AT91PS_CAN_MB) 0xFFFD0260) // (CAN_MB3) Base Address +#define AT91C_BASE_CAN_MB4 ((AT91PS_CAN_MB) 0xFFFD0280) // (CAN_MB4) Base Address +#define AT91C_BASE_CAN_MB5 ((AT91PS_CAN_MB) 0xFFFD02A0) // (CAN_MB5) Base Address +#define AT91C_BASE_CAN_MB6 ((AT91PS_CAN_MB) 0xFFFD02C0) // (CAN_MB6) Base Address +#define AT91C_BASE_CAN_MB7 ((AT91PS_CAN_MB) 0xFFFD02E0) // (CAN_MB7) Base Address +#define AT91C_BASE_CAN ((AT91PS_CAN) 0xFFFD0000) // (CAN) Base Address +#define AT91C_BASE_EMAC ((AT91PS_EMAC) 0xFFFDC000) // (EMAC) Base Address +#define AT91C_BASE_PDC_ADC ((AT91PS_PDC) 0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC ((AT91PS_ADC) 0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_AES ((AT91PS_PDC) 0xFFFA4100) // (PDC_AES) Base Address +#define AT91C_BASE_AES ((AT91PS_AES) 0xFFFA4000) // (AES) Base Address +#define AT91C_BASE_PDC_TDES ((AT91PS_PDC) 0xFFFA8100) // (PDC_TDES) Base Address +#define AT91C_BASE_TDES ((AT91PS_TDES) 0xFFFA8000) // (TDES) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ISRAM ((char *) 0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE ((unsigned int) 0x00010000) // Internal SRAM size in byte (64 Kbyte) +#define AT91C_IFLASH ((char *) 0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE ((unsigned int) 0x00040000) // Internal ROM size in byte (256 Kbyte) + +#define AT91F_AIC_ConfigureIt( irq_id, priority, src_type, newHandler ) \ +{ \ + unsigned int mask ; \ + \ + mask = 0x1 << irq_id; \ + /* Disable the interrupt on the interrupt controller */ \ + AT91C_BASE_AIC->AIC_IDCR = mask ; \ + /* Save the interrupt handler routine pointer and the interrupt priority */ \ + AT91C_BASE_AIC->AIC_SVR[irq_id] = (unsigned int) newHandler ; \ + /* Store the Source Mode Register */ \ + AT91C_BASE_AIC->AIC_SMR[irq_id] = src_type | priority ; \ + /* Clear the interrupt on the interrupt controller */ \ + AT91C_BASE_AIC->AIC_ICCR = mask ; \ +} + + +#endif diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/ioat91sam7x256.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/ioat91sam7x256.h new file mode 100644 index 0000000..8ea721e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/ioat91sam7x256.h @@ -0,0 +1,4698 @@ +// - ---------------------------------------------------------------------------- +// - ATMEL Microcontroller Software Support - ROUSSET - +// - ---------------------------------------------------------------------------- +// - DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +// - IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// - MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +// - DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +// - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// - LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +// - OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// - LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +// - EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// - ---------------------------------------------------------------------------- +// - File Name : AT91SAM7X256.h +// - Object : AT91SAM7X256 definitions +// - Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +// - +// - CVS Reference : /AT91SAM7X256.pl/1.11/Tue May 10 12:15:32 2005// +// - CVS Reference : /SYS_SAM7X.pl/1.3/Tue Feb 1 17:01:43 2005// +// - CVS Reference : /MC_SAM7X.pl/1.2/Fri May 20 14:13:04 2005// +// - CVS Reference : /PMC_SAM7X.pl/1.4/Tue Feb 8 13:58:10 2005// +// - CVS Reference : /RSTC_SAM7X.pl/1.1/Tue Feb 1 16:16:26 2005// +// - CVS Reference : /UDP_SAM7X.pl/1.1/Tue May 10 11:35:35 2005// +// - CVS Reference : /PWM_SAM7X.pl/1.1/Tue May 10 11:53:07 2005// +// - CVS Reference : /AIC_6075B.pl/1.3/Fri May 20 14:01:30 2005// +// - CVS Reference : /PIO_6057A.pl/1.2/Thu Feb 3 10:18:28 2005// +// - CVS Reference : /RTTC_6081A.pl/1.2/Tue Nov 9 14:43:58 2004// +// - CVS Reference : /PITC_6079A.pl/1.2/Tue Nov 9 14:43:56 2004// +// - CVS Reference : /WDTC_6080A.pl/1.3/Tue Nov 9 14:44:00 2004// +// - CVS Reference : /VREG_6085B.pl/1.1/Tue Feb 1 16:05:48 2005// +// - CVS Reference : /PDC_6074C.pl/1.2/Thu Feb 3 08:48:54 2005// +// - CVS Reference : /DBGU_6059D.pl/1.1/Mon Jan 31 13:15:32 2005// +// - CVS Reference : /SPI_6088D.pl/1.3/Fri May 20 14:08:59 2005// +// - CVS Reference : /US_6089C.pl/1.1/Mon Jul 12 18:23:26 2004// +// - CVS Reference : /SSC_6078A.pl/1.1/Tue Jul 13 07:45:40 2004// +// - CVS Reference : /TWI_6061A.pl/1.1/Tue Jul 13 07:38:06 2004// +// - CVS Reference : /TC_6082A.pl/1.7/Fri Mar 11 12:52:17 2005// +// - CVS Reference : /CAN_6019B.pl/1.1/Tue Mar 8 12:42:22 2005// +// - CVS Reference : /EMACB_6119A.pl/1.5/Thu Feb 3 15:52:04 2005// +// - CVS Reference : /ADC_6051C.pl/1.1/Fri Oct 17 09:12:38 2003// +// - CVS Reference : /AES_6149A.pl/1.10/Mon Feb 7 09:44:25 2005// +// - CVS Reference : /DES3_6150A.pl/1.1/Mon Jan 17 08:34:31 2005// +// - ---------------------------------------------------------------------------- + +#ifndef AT91SAM7X256_H +#define AT91SAM7X256_H + +typedef volatile unsigned int AT91_REG;// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** +typedef struct _AT91S_SYS { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register + AT91_REG Reserved2[45]; // + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved3[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved4[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register + AT91_REG Reserved5[54]; // + AT91_REG PIOA_PER; // PIO Enable Register + AT91_REG PIOA_PDR; // PIO Disable Register + AT91_REG PIOA_PSR; // PIO Status Register + AT91_REG Reserved6[1]; // + AT91_REG PIOA_OER; // Output Enable Register + AT91_REG PIOA_ODR; // Output Disable Registerr + AT91_REG PIOA_OSR; // Output Status Register + AT91_REG Reserved7[1]; // + AT91_REG PIOA_IFER; // Input Filter Enable Register + AT91_REG PIOA_IFDR; // Input Filter Disable Register + AT91_REG PIOA_IFSR; // Input Filter Status Register + AT91_REG Reserved8[1]; // + AT91_REG PIOA_SODR; // Set Output Data Register + AT91_REG PIOA_CODR; // Clear Output Data Register + AT91_REG PIOA_ODSR; // Output Data Status Register + AT91_REG PIOA_PDSR; // Pin Data Status Register + AT91_REG PIOA_IER; // Interrupt Enable Register + AT91_REG PIOA_IDR; // Interrupt Disable Register + AT91_REG PIOA_IMR; // Interrupt Mask Register + AT91_REG PIOA_ISR; // Interrupt Status Register + AT91_REG PIOA_MDER; // Multi-driver Enable Register + AT91_REG PIOA_MDDR; // Multi-driver Disable Register + AT91_REG PIOA_MDSR; // Multi-driver Status Register + AT91_REG Reserved9[1]; // + AT91_REG PIOA_PPUDR; // Pull-up Disable Register + AT91_REG PIOA_PPUER; // Pull-up Enable Register + AT91_REG PIOA_PPUSR; // Pull-up Status Register + AT91_REG Reserved10[1]; // + AT91_REG PIOA_ASR; // Select A Register + AT91_REG PIOA_BSR; // Select B Register + AT91_REG PIOA_ABSR; // AB Select Status Register + AT91_REG Reserved11[9]; // + AT91_REG PIOA_OWER; // Output Write Enable Register + AT91_REG PIOA_OWDR; // Output Write Disable Register + AT91_REG PIOA_OWSR; // Output Write Status Register + AT91_REG Reserved12[85]; // + AT91_REG PIOB_PER; // PIO Enable Register + AT91_REG PIOB_PDR; // PIO Disable Register + AT91_REG PIOB_PSR; // PIO Status Register + AT91_REG Reserved13[1]; // + AT91_REG PIOB_OER; // Output Enable Register + AT91_REG PIOB_ODR; // Output Disable Registerr + AT91_REG PIOB_OSR; // Output Status Register + AT91_REG Reserved14[1]; // + AT91_REG PIOB_IFER; // Input Filter Enable Register + AT91_REG PIOB_IFDR; // Input Filter Disable Register + AT91_REG PIOB_IFSR; // Input Filter Status Register + AT91_REG Reserved15[1]; // + AT91_REG PIOB_SODR; // Set Output Data Register + AT91_REG PIOB_CODR; // Clear Output Data Register + AT91_REG PIOB_ODSR; // Output Data Status Register + AT91_REG PIOB_PDSR; // Pin Data Status Register + AT91_REG PIOB_IER; // Interrupt Enable Register + AT91_REG PIOB_IDR; // Interrupt Disable Register + AT91_REG PIOB_IMR; // Interrupt Mask Register + AT91_REG PIOB_ISR; // Interrupt Status Register + AT91_REG PIOB_MDER; // Multi-driver Enable Register + AT91_REG PIOB_MDDR; // Multi-driver Disable Register + AT91_REG PIOB_MDSR; // Multi-driver Status Register + AT91_REG Reserved16[1]; // + AT91_REG PIOB_PPUDR; // Pull-up Disable Register + AT91_REG PIOB_PPUER; // Pull-up Enable Register + AT91_REG PIOB_PPUSR; // Pull-up Status Register + AT91_REG Reserved17[1]; // + AT91_REG PIOB_ASR; // Select A Register + AT91_REG PIOB_BSR; // Select B Register + AT91_REG PIOB_ABSR; // AB Select Status Register + AT91_REG Reserved18[9]; // + AT91_REG PIOB_OWER; // Output Write Enable Register + AT91_REG PIOB_OWDR; // Output Write Disable Register + AT91_REG PIOB_OWSR; // Output Write Status Register + AT91_REG Reserved19[341]; // + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved20[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved21[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved22[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved23[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved24[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register + AT91_REG Reserved25[36]; // + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register + AT91_REG Reserved26[5]; // + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register + AT91_REG Reserved27[5]; // + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_SYS, *AT91PS_SYS; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +typedef struct _AT91S_AIC { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register +} AT91S_AIC, *AT91PS_AIC; + +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR ((unsigned int) 0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST ((unsigned int) 0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST ((unsigned int) 0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE ((unsigned int) 0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL ((unsigned int) 0x0 << 5) // (AIC) Internal Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL ((unsigned int) 0x0 << 5) // (AIC) External Sources Code Label Low-level Sensitive +#define AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) Internal Sources Code Label Positive Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) External Sources Code Label Negative Edge triggered +#define AT91C_AIC_SRCTYPE_HIGH_LEVEL ((unsigned int) 0x2 << 5) // (AIC) Internal Or External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_POSITIVE_EDGE ((unsigned int) 0x3 << 5) // (AIC) Internal Or External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ ((unsigned int) 0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ ((unsigned int) 0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT ((unsigned int) 0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK ((unsigned int) 0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// ***************************************************************************** +typedef struct _AT91S_PDC { + AT91_REG PDC_RPR; // Receive Pointer Register + AT91_REG PDC_RCR; // Receive Counter Register + AT91_REG PDC_TPR; // Transmit Pointer Register + AT91_REG PDC_TCR; // Transmit Counter Register + AT91_REG PDC_RNPR; // Receive Next Pointer Register + AT91_REG PDC_RNCR; // Receive Next Counter Register + AT91_REG PDC_TNPR; // Transmit Next Pointer Register + AT91_REG PDC_TNCR; // Transmit Next Counter Register + AT91_REG PDC_PTCR; // PDC Transfer Control Register + AT91_REG PDC_PTSR; // PDC Transfer Status Register +} AT91S_PDC, *AT91PS_PDC; + +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN ((unsigned int) 0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS ((unsigned int) 0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN ((unsigned int) 0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS ((unsigned int) 0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +typedef struct _AT91S_DBGU { + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved0[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved1[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register +} AT91S_DBGU, *AT91PS_DBGU; + +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX ((unsigned int) 0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX ((unsigned int) 0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN ((unsigned int) 0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS ((unsigned int) 0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN ((unsigned int) 0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS ((unsigned int) 0x1 << 7) // (DBGU) Transmitter Disable +#define AT91C_US_RSTSTA ((unsigned int) 0x1 << 8) // (DBGU) Reset Status Bits +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR ((unsigned int) 0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN ((unsigned int) 0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD ((unsigned int) 0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE ((unsigned int) 0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK ((unsigned int) 0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE ((unsigned int) 0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP ((unsigned int) 0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE ((unsigned int) 0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL ((unsigned int) 0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO ((unsigned int) 0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL ((unsigned int) 0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE ((unsigned int) 0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY ((unsigned int) 0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY ((unsigned int) 0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX ((unsigned int) 0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX ((unsigned int) 0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE ((unsigned int) 0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME ((unsigned int) 0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE ((unsigned int) 0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY ((unsigned int) 0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE ((unsigned int) 0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF ((unsigned int) 0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX ((unsigned int) 0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX ((unsigned int) 0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST ((unsigned int) 0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +typedef struct _AT91S_PIO { + AT91_REG PIO_PER; // PIO Enable Register + AT91_REG PIO_PDR; // PIO Disable Register + AT91_REG PIO_PSR; // PIO Status Register + AT91_REG Reserved0[1]; // + AT91_REG PIO_OER; // Output Enable Register + AT91_REG PIO_ODR; // Output Disable Registerr + AT91_REG PIO_OSR; // Output Status Register + AT91_REG Reserved1[1]; // + AT91_REG PIO_IFER; // Input Filter Enable Register + AT91_REG PIO_IFDR; // Input Filter Disable Register + AT91_REG PIO_IFSR; // Input Filter Status Register + AT91_REG Reserved2[1]; // + AT91_REG PIO_SODR; // Set Output Data Register + AT91_REG PIO_CODR; // Clear Output Data Register + AT91_REG PIO_ODSR; // Output Data Status Register + AT91_REG PIO_PDSR; // Pin Data Status Register + AT91_REG PIO_IER; // Interrupt Enable Register + AT91_REG PIO_IDR; // Interrupt Disable Register + AT91_REG PIO_IMR; // Interrupt Mask Register + AT91_REG PIO_ISR; // Interrupt Status Register + AT91_REG PIO_MDER; // Multi-driver Enable Register + AT91_REG PIO_MDDR; // Multi-driver Disable Register + AT91_REG PIO_MDSR; // Multi-driver Status Register + AT91_REG Reserved3[1]; // + AT91_REG PIO_PPUDR; // Pull-up Disable Register + AT91_REG PIO_PPUER; // Pull-up Enable Register + AT91_REG PIO_PPUSR; // Pull-up Status Register + AT91_REG Reserved4[1]; // + AT91_REG PIO_ASR; // Select A Register + AT91_REG PIO_BSR; // Select B Register + AT91_REG PIO_ABSR; // AB Select Status Register + AT91_REG Reserved5[9]; // + AT91_REG PIO_OWER; // Output Write Enable Register + AT91_REG PIO_OWDR; // Output Write Disable Register + AT91_REG PIO_OWSR; // Output Write Status Register +} AT91S_PIO, *AT91PS_PIO; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +typedef struct _AT91S_CKGR { + AT91_REG CKGR_MOR; // Main Oscillator Register + AT91_REG CKGR_MCFR; // Main Clock Frequency Register + AT91_REG Reserved0[1]; // + AT91_REG CKGR_PLLR; // PLL Register +} AT91S_CKGR, *AT91PS_CKGR; + +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN ((unsigned int) 0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS ((unsigned int) 0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT ((unsigned int) 0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF ((unsigned int) 0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY ((unsigned int) 0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV ((unsigned int) 0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 ((unsigned int) 0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS ((unsigned int) 0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT ((unsigned int) 0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT ((unsigned int) 0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 ((unsigned int) 0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 ((unsigned int) 0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 ((unsigned int) 0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 ((unsigned int) 0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL ((unsigned int) 0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV ((unsigned int) 0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 ((unsigned int) 0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 ((unsigned int) 0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 ((unsigned int) 0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +typedef struct _AT91S_PMC { + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved0[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved1[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved2[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved3[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved4[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register +} AT91S_PMC, *AT91PS_PMC; + +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK ((unsigned int) 0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP ((unsigned int) 0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 ((unsigned int) 0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 ((unsigned int) 0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 ((unsigned int) 0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 ((unsigned int) 0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS ((unsigned int) 0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK ((unsigned int) 0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK ((unsigned int) 0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK ((unsigned int) 0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES ((unsigned int) 0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK ((unsigned int) 0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 ((unsigned int) 0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 ((unsigned int) 0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 ((unsigned int) 0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 ((unsigned int) 0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 ((unsigned int) 0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 ((unsigned int) 0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS ((unsigned int) 0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK ((unsigned int) 0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY ((unsigned int) 0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY ((unsigned int) 0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY ((unsigned int) 0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY ((unsigned int) 0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY ((unsigned int) 0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RSTC { + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register +} AT91S_RSTC, *AT91PS_RSTC; + +// -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_RSTC_PROCRST ((unsigned int) 0x1 << 0) // (RSTC) Processor Reset +#define AT91C_RSTC_PERRST ((unsigned int) 0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_RSTC_EXTRST ((unsigned int) 0x1 << 3) // (RSTC) External Reset +#define AT91C_RSTC_KEY ((unsigned int) 0xFF << 24) // (RSTC) Password +// -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_RSTC_URSTS ((unsigned int) 0x1 << 0) // (RSTC) User Reset Status +#define AT91C_RSTC_BODSTS ((unsigned int) 0x1 << 1) // (RSTC) Brownout Detection Status +#define AT91C_RSTC_RSTTYP ((unsigned int) 0x7 << 8) // (RSTC) Reset Type +#define AT91C_RSTC_RSTTYP_POWERUP ((unsigned int) 0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WAKEUP ((unsigned int) 0x1 << 8) // (RSTC) WakeUp Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WATCHDOG ((unsigned int) 0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_RSTC_RSTTYP_SOFTWARE ((unsigned int) 0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_RSTC_RSTTYP_USER ((unsigned int) 0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_RSTC_RSTTYP_BROWNOUT ((unsigned int) 0x5 << 8) // (RSTC) Brownout Reset occured. +#define AT91C_RSTC_NRSTL ((unsigned int) 0x1 << 16) // (RSTC) NRST pin level +#define AT91C_RSTC_SRCMP ((unsigned int) 0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_RSTC_URSTEN ((unsigned int) 0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_RSTC_URSTIEN ((unsigned int) 0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_RSTC_ERSTL ((unsigned int) 0xF << 8) // (RSTC) User Reset Enable +#define AT91C_RSTC_BODIEN ((unsigned int) 0x1 << 16) // (RSTC) Brownout Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RTTC { + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register +} AT91S_RTTC, *AT91PS_RTTC; + +// -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_RTTC_RTPRES ((unsigned int) 0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_RTTC_ALMIEN ((unsigned int) 0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_RTTC_RTTINCIEN ((unsigned int) 0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_RTTC_RTTRST ((unsigned int) 0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_RTTC_ALMV ((unsigned int) 0x0 << 0) // (RTTC) Alarm Value +// -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_RTTC_CRTV ((unsigned int) 0x0 << 0) // (RTTC) Current Real-time Value +// -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_RTTC_ALMS ((unsigned int) 0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_RTTC_RTTINC ((unsigned int) 0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PITC { + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register +} AT91S_PITC, *AT91PS_PITC; + +// -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_PITC_PIV ((unsigned int) 0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_PITC_PITEN ((unsigned int) 0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_PITC_PITIEN ((unsigned int) 0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_PITC_PITS ((unsigned int) 0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_PITC_CPIV ((unsigned int) 0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_PITC_PICNT ((unsigned int) 0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_WDTC { + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register +} AT91S_WDTC, *AT91PS_WDTC; + +// -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_WDTC_WDRSTT ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Restart +#define AT91C_WDTC_KEY ((unsigned int) 0xFF << 24) // (WDTC) Watchdog KEY Password +// -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_WDTC_WDV ((unsigned int) 0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDFIEN ((unsigned int) 0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_WDTC_WDRSTEN ((unsigned int) 0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_WDTC_WDRPROC ((unsigned int) 0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDDIS ((unsigned int) 0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_WDTC_WDD ((unsigned int) 0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_WDTC_WDDBGHLT ((unsigned int) 0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_WDTC_WDIDLEHLT ((unsigned int) 0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_WDTC_WDUNF ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_WDTC_WDERR ((unsigned int) 0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// ***************************************************************************** +typedef struct _AT91S_VREG { + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_VREG, *AT91PS_VREG; + +// -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +#define AT91C_VREG_PSTDBY ((unsigned int) 0x1 << 0) // (VREG) Voltage Regulator Power Standby Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +typedef struct _AT91S_MC { + AT91_REG MC_RCR; // MC Remap Control Register + AT91_REG MC_ASR; // MC Abort Status Register + AT91_REG MC_AASR; // MC Abort Address Status Register + AT91_REG Reserved0[21]; // + AT91_REG MC_FMR; // MC Flash Mode Register + AT91_REG MC_FCR; // MC Flash Command Register + AT91_REG MC_FSR; // MC Flash Status Register +} AT91S_MC, *AT91PS_MC; + +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB ((unsigned int) 0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD ((unsigned int) 0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD ((unsigned int) 0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ ((unsigned int) 0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE ((unsigned int) 0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD ((unsigned int) 0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD ((unsigned int) 0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP ((unsigned int) 0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR ((unsigned int) 0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW ((unsigned int) 0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH ((unsigned int) 0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 ((unsigned int) 0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 ((unsigned int) 0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 ((unsigned int) 0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 ((unsigned int) 0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY ((unsigned int) 0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE ((unsigned int) 0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE ((unsigned int) 0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP ((unsigned int) 0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS ((unsigned int) 0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS ((unsigned int) 0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS ((unsigned int) 0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS ((unsigned int) 0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS ((unsigned int) 0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN ((unsigned int) 0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD ((unsigned int) 0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG ((unsigned int) 0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK ((unsigned int) 0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK ((unsigned int) 0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK ((unsigned int) 0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL ((unsigned int) 0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM ((unsigned int) 0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM ((unsigned int) 0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY ((unsigned int) 0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN ((unsigned int) 0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY ((unsigned int) 0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY ((unsigned int) 0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 ((unsigned int) 0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 ((unsigned int) 0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 ((unsigned int) 0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 ((unsigned int) 0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 ((unsigned int) 0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 ((unsigned int) 0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 ((unsigned int) 0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 ((unsigned int) 0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 ((unsigned int) 0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 ((unsigned int) 0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 ((unsigned int) 0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 ((unsigned int) 0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 ((unsigned int) 0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 ((unsigned int) 0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 ((unsigned int) 0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 ((unsigned int) 0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 ((unsigned int) 0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 ((unsigned int) 0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 ((unsigned int) 0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 ((unsigned int) 0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 ((unsigned int) 0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 ((unsigned int) 0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 ((unsigned int) 0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 ((unsigned int) 0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +typedef struct _AT91S_SPI { + AT91_REG SPI_CR; // Control Register + AT91_REG SPI_MR; // Mode Register + AT91_REG SPI_RDR; // Receive Data Register + AT91_REG SPI_TDR; // Transmit Data Register + AT91_REG SPI_SR; // Status Register + AT91_REG SPI_IER; // Interrupt Enable Register + AT91_REG SPI_IDR; // Interrupt Disable Register + AT91_REG SPI_IMR; // Interrupt Mask Register + AT91_REG Reserved0[4]; // + AT91_REG SPI_CSR[4]; // Chip Select Register + AT91_REG Reserved1[48]; // + AT91_REG SPI_RPR; // Receive Pointer Register + AT91_REG SPI_RCR; // Receive Counter Register + AT91_REG SPI_TPR; // Transmit Pointer Register + AT91_REG SPI_TCR; // Transmit Counter Register + AT91_REG SPI_RNPR; // Receive Next Pointer Register + AT91_REG SPI_RNCR; // Receive Next Counter Register + AT91_REG SPI_TNPR; // Transmit Next Pointer Register + AT91_REG SPI_TNCR; // Transmit Next Counter Register + AT91_REG SPI_PTCR; // PDC Transfer Control Register + AT91_REG SPI_PTSR; // PDC Transfer Status Register +} AT91S_SPI, *AT91PS_SPI; + +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN ((unsigned int) 0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS ((unsigned int) 0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST ((unsigned int) 0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER ((unsigned int) 0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR ((unsigned int) 0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS ((unsigned int) 0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED ((unsigned int) 0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE ((unsigned int) 0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC ((unsigned int) 0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV ((unsigned int) 0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS ((unsigned int) 0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB ((unsigned int) 0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS ((unsigned int) 0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD ((unsigned int) 0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD ((unsigned int) 0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF ((unsigned int) 0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE ((unsigned int) 0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF ((unsigned int) 0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES ((unsigned int) 0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX ((unsigned int) 0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX ((unsigned int) 0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF ((unsigned int) 0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE ((unsigned int) 0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR ((unsigned int) 0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY ((unsigned int) 0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS ((unsigned int) 0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL ((unsigned int) 0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA ((unsigned int) 0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT ((unsigned int) 0x1 << 3) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS ((unsigned int) 0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 ((unsigned int) 0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 ((unsigned int) 0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 ((unsigned int) 0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 ((unsigned int) 0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 ((unsigned int) 0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 ((unsigned int) 0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 ((unsigned int) 0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 ((unsigned int) 0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 ((unsigned int) 0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR ((unsigned int) 0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS ((unsigned int) 0xFF << 16) // (SPI) Delay Before SPCK +#define AT91C_SPI_DLYBCT ((unsigned int) 0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +typedef struct _AT91S_USART { + AT91_REG US_CR; // Control Register + AT91_REG US_MR; // Mode Register + AT91_REG US_IER; // Interrupt Enable Register + AT91_REG US_IDR; // Interrupt Disable Register + AT91_REG US_IMR; // Interrupt Mask Register + AT91_REG US_CSR; // Channel Status Register + AT91_REG US_RHR; // Receiver Holding Register + AT91_REG US_THR; // Transmitter Holding Register + AT91_REG US_BRGR; // Baud Rate Generator Register + AT91_REG US_RTOR; // Receiver Time-out Register + AT91_REG US_TTGR; // Transmitter Time-guard Register + AT91_REG Reserved0[5]; // + AT91_REG US_FIDI; // FI_DI_Ratio Register + AT91_REG US_NER; // Nb Errors Register + AT91_REG Reserved1[1]; // + AT91_REG US_IF; // IRDA_FILTER Register + AT91_REG Reserved2[44]; // + AT91_REG US_RPR; // Receive Pointer Register + AT91_REG US_RCR; // Receive Counter Register + AT91_REG US_TPR; // Transmit Pointer Register + AT91_REG US_TCR; // Transmit Counter Register + AT91_REG US_RNPR; // Receive Next Pointer Register + AT91_REG US_RNCR; // Receive Next Counter Register + AT91_REG US_TNPR; // Transmit Next Pointer Register + AT91_REG US_TNCR; // Transmit Next Counter Register + AT91_REG US_PTCR; // PDC Transfer Control Register + AT91_REG US_PTSR; // PDC Transfer Status Register +} AT91S_USART, *AT91PS_USART; + +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_STTBRK ((unsigned int) 0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK ((unsigned int) 0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO ((unsigned int) 0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA ((unsigned int) 0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT ((unsigned int) 0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK ((unsigned int) 0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO ((unsigned int) 0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN ((unsigned int) 0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS ((unsigned int) 0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN ((unsigned int) 0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS ((unsigned int) 0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE ((unsigned int) 0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL ((unsigned int) 0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 ((unsigned int) 0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH ((unsigned int) 0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM ((unsigned int) 0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 ((unsigned int) 0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 ((unsigned int) 0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA ((unsigned int) 0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH ((unsigned int) 0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS ((unsigned int) 0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK ((unsigned int) 0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 ((unsigned int) 0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW ((unsigned int) 0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT ((unsigned int) 0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL ((unsigned int) 0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS ((unsigned int) 0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS ((unsigned int) 0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS ((unsigned int) 0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS ((unsigned int) 0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC ((unsigned int) 0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP ((unsigned int) 0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT ((unsigned int) 0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT ((unsigned int) 0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT ((unsigned int) 0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF ((unsigned int) 0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 ((unsigned int) 0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO ((unsigned int) 0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER ((unsigned int) 0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK ((unsigned int) 0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK ((unsigned int) 0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER ((unsigned int) 0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER ((unsigned int) 0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK ((unsigned int) 0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT ((unsigned int) 0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION ((unsigned int) 0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK ((unsigned int) 0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC ((unsigned int) 0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC ((unsigned int) 0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC ((unsigned int) 0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC ((unsigned int) 0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI ((unsigned int) 0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR ((unsigned int) 0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD ((unsigned int) 0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS ((unsigned int) 0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +typedef struct _AT91S_SSC { + AT91_REG SSC_CR; // Control Register + AT91_REG SSC_CMR; // Clock Mode Register + AT91_REG Reserved0[2]; // + AT91_REG SSC_RCMR; // Receive Clock ModeRegister + AT91_REG SSC_RFMR; // Receive Frame Mode Register + AT91_REG SSC_TCMR; // Transmit Clock Mode Register + AT91_REG SSC_TFMR; // Transmit Frame Mode Register + AT91_REG SSC_RHR; // Receive Holding Register + AT91_REG SSC_THR; // Transmit Holding Register + AT91_REG Reserved1[2]; // + AT91_REG SSC_RSHR; // Receive Sync Holding Register + AT91_REG SSC_TSHR; // Transmit Sync Holding Register + AT91_REG Reserved2[2]; // + AT91_REG SSC_SR; // Status Register + AT91_REG SSC_IER; // Interrupt Enable Register + AT91_REG SSC_IDR; // Interrupt Disable Register + AT91_REG SSC_IMR; // Interrupt Mask Register + AT91_REG Reserved3[44]; // + AT91_REG SSC_RPR; // Receive Pointer Register + AT91_REG SSC_RCR; // Receive Counter Register + AT91_REG SSC_TPR; // Transmit Pointer Register + AT91_REG SSC_TCR; // Transmit Counter Register + AT91_REG SSC_RNPR; // Receive Next Pointer Register + AT91_REG SSC_RNCR; // Receive Next Counter Register + AT91_REG SSC_TNPR; // Transmit Next Pointer Register + AT91_REG SSC_TNCR; // Transmit Next Counter Register + AT91_REG SSC_PTCR; // PDC Transfer Control Register + AT91_REG SSC_PTSR; // PDC Transfer Status Register +} AT91S_SSC, *AT91PS_SSC; + +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN ((unsigned int) 0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS ((unsigned int) 0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN ((unsigned int) 0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS ((unsigned int) 0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST ((unsigned int) 0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS ((unsigned int) 0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV ((unsigned int) 0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK ((unsigned int) 0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK ((unsigned int) 0x2) // (SSC) RK pin +#define AT91C_SSC_CKO ((unsigned int) 0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE ((unsigned int) 0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS ((unsigned int) 0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX ((unsigned int) 0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI ((unsigned int) 0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_START ((unsigned int) 0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS ((unsigned int) 0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX ((unsigned int) 0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF ((unsigned int) 0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF ((unsigned int) 0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF ((unsigned int) 0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF ((unsigned int) 0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF ((unsigned int) 0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF ((unsigned int) 0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 ((unsigned int) 0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STTDLY ((unsigned int) 0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD ((unsigned int) 0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN ((unsigned int) 0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP ((unsigned int) 0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF ((unsigned int) 0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB ((unsigned int) 0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN ((unsigned int) 0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS ((unsigned int) 0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE ((unsigned int) 0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE ((unsigned int) 0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE ((unsigned int) 0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW ((unsigned int) 0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH ((unsigned int) 0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE ((unsigned int) 0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE ((unsigned int) 0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF ((unsigned int) 0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN ((unsigned int) 0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY ((unsigned int) 0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY ((unsigned int) 0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX ((unsigned int) 0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE ((unsigned int) 0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY ((unsigned int) 0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN ((unsigned int) 0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX ((unsigned int) 0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF ((unsigned int) 0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_TXSYN ((unsigned int) 0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN ((unsigned int) 0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA ((unsigned int) 0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA ((unsigned int) 0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +typedef struct _AT91S_TWI { + AT91_REG TWI_CR; // Control Register + AT91_REG TWI_MMR; // Master Mode Register + AT91_REG Reserved0[1]; // + AT91_REG TWI_IADR; // Internal Address Register + AT91_REG TWI_CWGR; // Clock Waveform Generator Register + AT91_REG Reserved1[3]; // + AT91_REG TWI_SR; // Status Register + AT91_REG TWI_IER; // Interrupt Enable Register + AT91_REG TWI_IDR; // Interrupt Disable Register + AT91_REG TWI_IMR; // Interrupt Mask Register + AT91_REG TWI_RHR; // Receive Holding Register + AT91_REG TWI_THR; // Transmit Holding Register +} AT91S_TWI, *AT91PS_TWI; + +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START ((unsigned int) 0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP ((unsigned int) 0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN ((unsigned int) 0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS ((unsigned int) 0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SWRST ((unsigned int) 0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ ((unsigned int) 0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO ((unsigned int) 0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE ((unsigned int) 0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE ((unsigned int) 0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE ((unsigned int) 0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD ((unsigned int) 0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR ((unsigned int) 0x7F << 16) // (TWI) Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV ((unsigned int) 0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV ((unsigned int) 0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV ((unsigned int) 0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP ((unsigned int) 0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY ((unsigned int) 0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY ((unsigned int) 0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_OVRE ((unsigned int) 0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE ((unsigned int) 0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK ((unsigned int) 0x1 << 8) // (TWI) Not Acknowledged +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC_CH { + AT91_REG PWMC_CMR; // Channel Mode Register + AT91_REG PWMC_CDTYR; // Channel Duty Cycle Register + AT91_REG PWMC_CPRDR; // Channel Period Register + AT91_REG PWMC_CCNTR; // Channel Counter Register + AT91_REG PWMC_CUPDR; // Channel Update Register + AT91_REG PWMC_Reserved[3]; // Reserved +} AT91S_PWMC_CH, *AT91PS_PWMC_CH; + +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE ((unsigned int) 0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK ((unsigned int) 0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA ((unsigned int) 0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB ((unsigned int) 0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG ((unsigned int) 0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL ((unsigned int) 0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD ((unsigned int) 0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC { + AT91_REG PWMC_MR; // PWMC Mode Register + AT91_REG PWMC_ENA; // PWMC Enable Register + AT91_REG PWMC_DIS; // PWMC Disable Register + AT91_REG PWMC_SR; // PWMC Status Register + AT91_REG PWMC_IER; // PWMC Interrupt Enable Register + AT91_REG PWMC_IDR; // PWMC Interrupt Disable Register + AT91_REG PWMC_IMR; // PWMC Interrupt Mask Register + AT91_REG PWMC_ISR; // PWMC Interrupt Status Register + AT91_REG Reserved0[55]; // + AT91_REG PWMC_VR; // PWMC Version Register + AT91_REG Reserved1[64]; // + AT91S_PWMC_CH PWMC_CH[4]; // PWMC Channel +} AT91S_PWMC, *AT91PS_PWMC; + +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA ((unsigned int) 0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA ((unsigned int) 0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK ((unsigned int) 0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB ((unsigned int) 0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB ((unsigned int) 0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK ((unsigned int) 0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 ((unsigned int) 0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 ((unsigned int) 0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 ((unsigned int) 0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 ((unsigned int) 0x1 << 3) // (PWMC) Channel ID 3 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +typedef struct _AT91S_UDP { + AT91_REG UDP_NUM; // Frame Number Register + AT91_REG UDP_GLBSTATE; // Global State Register + AT91_REG UDP_FADDR; // Function Address Register + AT91_REG Reserved0[1]; // + AT91_REG UDP_IER; // Interrupt Enable Register + AT91_REG UDP_IDR; // Interrupt Disable Register + AT91_REG UDP_IMR; // Interrupt Mask Register + AT91_REG UDP_ISR; // Interrupt Status Register + AT91_REG UDP_ICR; // Interrupt Clear Register + AT91_REG Reserved1[1]; // + AT91_REG UDP_RSTEP; // Reset Endpoint Register + AT91_REG Reserved2[1]; // + AT91_REG UDP_CSR[6]; // Endpoint Control and Status Register + AT91_REG Reserved3[2]; // + AT91_REG UDP_FDR[6]; // Endpoint FIFO Data Register + AT91_REG Reserved4[3]; // + AT91_REG UDP_TXVC; // Transceiver Control Register +} AT91S_UDP, *AT91PS_UDP; + +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM ((unsigned int) 0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR ((unsigned int) 0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK ((unsigned int) 0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN ((unsigned int) 0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG ((unsigned int) 0x1 << 1) // (UDP) Configured +#define AT91C_UDP_ESR ((unsigned int) 0x1 << 2) // (UDP) Enable Send Resume +#define AT91C_UDP_RSMINPR ((unsigned int) 0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +#define AT91C_UDP_RMWUPE ((unsigned int) 0x1 << 4) // (UDP) Remote Wake Up Enable +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD ((unsigned int) 0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN ((unsigned int) 0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 ((unsigned int) 0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 ((unsigned int) 0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 ((unsigned int) 0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 ((unsigned int) 0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 ((unsigned int) 0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 ((unsigned int) 0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_RXSUSP ((unsigned int) 0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM ((unsigned int) 0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM ((unsigned int) 0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT ((unsigned int) 0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP ((unsigned int) 0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES ((unsigned int) 0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 ((unsigned int) 0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 ((unsigned int) 0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 ((unsigned int) 0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 ((unsigned int) 0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 ((unsigned int) 0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 ((unsigned int) 0x1 << 5) // (UDP) Reset Endpoint 5 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP ((unsigned int) 0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 ((unsigned int) 0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP ((unsigned int) 0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR ((unsigned int) 0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY ((unsigned int) 0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL ((unsigned int) 0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 ((unsigned int) 0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR ((unsigned int) 0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE ((unsigned int) 0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL ((unsigned int) 0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT ((unsigned int) 0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT ((unsigned int) 0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT ((unsigned int) 0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN ((unsigned int) 0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN ((unsigned int) 0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN ((unsigned int) 0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE ((unsigned int) 0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS ((unsigned int) 0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT ((unsigned int) 0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO +// -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +#define AT91C_UDP_TXVDIS ((unsigned int) 0x1 << 8) // (UDP) +#define AT91C_UDP_PUON ((unsigned int) 0x1 << 9) // (UDP) Pull-up ON + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +typedef struct _AT91S_TC { + AT91_REG TC_CCR; // Channel Control Register + AT91_REG TC_CMR; // Channel Mode Register (Capture Mode / Waveform Mode) + AT91_REG Reserved0[2]; // + AT91_REG TC_CV; // Counter Value + AT91_REG TC_RA; // Register A + AT91_REG TC_RB; // Register B + AT91_REG TC_RC; // Register C + AT91_REG TC_SR; // Status Register + AT91_REG TC_IER; // Interrupt Enable Register + AT91_REG TC_IDR; // Interrupt Disable Register + AT91_REG TC_IMR; // Interrupt Mask Register +} AT91S_TC, *AT91PS_TC; + +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN ((unsigned int) 0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS ((unsigned int) 0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG ((unsigned int) 0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS ((unsigned int) 0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK ((unsigned int) 0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK ((unsigned int) 0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK ((unsigned int) 0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK ((unsigned int) 0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK ((unsigned int) 0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 ((unsigned int) 0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 ((unsigned int) 0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 ((unsigned int) 0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI ((unsigned int) 0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST ((unsigned int) 0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE ((unsigned int) 0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 ((unsigned int) 0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 ((unsigned int) 0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 ((unsigned int) 0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_CPCDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_LDBDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_ETRGEDG ((unsigned int) 0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG ((unsigned int) 0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVT ((unsigned int) 0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_TIOB ((unsigned int) 0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_XC0 ((unsigned int) 0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_XC1 ((unsigned int) 0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_XC2 ((unsigned int) 0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ABETRG ((unsigned int) 0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_ENETRG ((unsigned int) 0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL ((unsigned int) 0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP ((unsigned int) 0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN ((unsigned int) 0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO ((unsigned int) 0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO ((unsigned int) 0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG ((unsigned int) 0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE ((unsigned int) 0x1 << 15) // (TC) +#define AT91C_TC_ACPA ((unsigned int) 0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE ((unsigned int) 0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET ((unsigned int) 0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR ((unsigned int) 0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE ((unsigned int) 0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRA ((unsigned int) 0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE ((unsigned int) 0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING ((unsigned int) 0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING ((unsigned int) 0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH ((unsigned int) 0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC ((unsigned int) 0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE ((unsigned int) 0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET ((unsigned int) 0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR ((unsigned int) 0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE ((unsigned int) 0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_LDRB ((unsigned int) 0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE ((unsigned int) 0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING ((unsigned int) 0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING ((unsigned int) 0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH ((unsigned int) 0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_AEEVT ((unsigned int) 0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE ((unsigned int) 0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET ((unsigned int) 0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR ((unsigned int) 0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE ((unsigned int) 0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG ((unsigned int) 0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE ((unsigned int) 0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET ((unsigned int) 0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR ((unsigned int) 0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE ((unsigned int) 0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB ((unsigned int) 0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE ((unsigned int) 0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET ((unsigned int) 0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR ((unsigned int) 0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE ((unsigned int) 0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC ((unsigned int) 0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE ((unsigned int) 0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET ((unsigned int) 0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR ((unsigned int) 0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE ((unsigned int) 0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT ((unsigned int) 0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE ((unsigned int) 0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET ((unsigned int) 0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR ((unsigned int) 0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE ((unsigned int) 0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG ((unsigned int) 0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE ((unsigned int) 0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET ((unsigned int) 0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR ((unsigned int) 0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE ((unsigned int) 0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS ((unsigned int) 0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS ((unsigned int) 0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS ((unsigned int) 0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS ((unsigned int) 0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS ((unsigned int) 0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS ((unsigned int) 0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS ((unsigned int) 0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRGS ((unsigned int) 0x1 << 7) // (TC) External Trigger +#define AT91C_TC_CLKSTA ((unsigned int) 0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA ((unsigned int) 0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB ((unsigned int) 0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +typedef struct _AT91S_TCB { + AT91S_TC TCB_TC0; // TC Channel 0 + AT91_REG Reserved0[4]; // + AT91S_TC TCB_TC1; // TC Channel 1 + AT91_REG Reserved1[4]; // + AT91S_TC TCB_TC2; // TC Channel 2 + AT91_REG Reserved2[4]; // + AT91_REG TCB_BCR; // TC Block Control Register + AT91_REG TCB_BMR; // TC Block Mode Register +} AT91S_TCB, *AT91PS_TCB; + +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC ((unsigned int) 0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S ((unsigned int) 0x3 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 ((unsigned int) 0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE ((unsigned int) 0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 ((unsigned int) 0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 ((unsigned int) 0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S ((unsigned int) 0x3 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 ((unsigned int) 0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE ((unsigned int) 0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 ((unsigned int) 0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 ((unsigned int) 0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S ((unsigned int) 0x3 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 ((unsigned int) 0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE ((unsigned int) 0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 ((unsigned int) 0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA1 ((unsigned int) 0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// ***************************************************************************** +typedef struct _AT91S_CAN_MB { + AT91_REG CAN_MB_MMR; // MailBox Mode Register + AT91_REG CAN_MB_MAM; // MailBox Acceptance Mask Register + AT91_REG CAN_MB_MID; // MailBox ID Register + AT91_REG CAN_MB_MFID; // MailBox Family ID Register + AT91_REG CAN_MB_MSR; // MailBox Status Register + AT91_REG CAN_MB_MDL; // MailBox Data Low Register + AT91_REG CAN_MB_MDH; // MailBox Data High Register + AT91_REG CAN_MB_MCR; // MailBox Control Register +} AT91S_CAN_MB, *AT91PS_CAN_MB; + +// -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +#define AT91C_CAN_MTIMEMARK ((unsigned int) 0xFFFF << 0) // (CAN_MB) Mailbox Timemark +#define AT91C_CAN_PRIOR ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Priority +#define AT91C_CAN_MOT ((unsigned int) 0x7 << 24) // (CAN_MB) Mailbox Object Type +#define AT91C_CAN_MOT_DIS ((unsigned int) 0x0 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RX ((unsigned int) 0x1 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RXOVERWRITE ((unsigned int) 0x2 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_TX ((unsigned int) 0x3 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_CONSUMER ((unsigned int) 0x4 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_PRODUCER ((unsigned int) 0x5 << 24) // (CAN_MB) +// -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +#define AT91C_CAN_MIDvB ((unsigned int) 0x3FFFF << 0) // (CAN_MB) Complementary bits for identifier in extended mode +#define AT91C_CAN_MIDvA ((unsigned int) 0x7FF << 18) // (CAN_MB) Identifier for standard frame mode +#define AT91C_CAN_MIDE ((unsigned int) 0x1 << 29) // (CAN_MB) Identifier Version +// -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +#define AT91C_CAN_MTIMESTAMP ((unsigned int) 0xFFFF << 0) // (CAN_MB) Timer Value +#define AT91C_CAN_MDLC ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Data Length Code +#define AT91C_CAN_MRTR ((unsigned int) 0x1 << 20) // (CAN_MB) Mailbox Remote Transmission Request +#define AT91C_CAN_MABT ((unsigned int) 0x1 << 22) // (CAN_MB) Mailbox Message Abort +#define AT91C_CAN_MRDY ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Ready +#define AT91C_CAN_MMI ((unsigned int) 0x1 << 24) // (CAN_MB) Mailbox Message Ignored +// -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +#define AT91C_CAN_MACR ((unsigned int) 0x1 << 22) // (CAN_MB) Abort Request for Mailbox +#define AT91C_CAN_MTCR ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Transfer Command + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network Interface +// ***************************************************************************** +typedef struct _AT91S_CAN { + AT91_REG CAN_MR; // Mode Register + AT91_REG CAN_IER; // Interrupt Enable Register + AT91_REG CAN_IDR; // Interrupt Disable Register + AT91_REG CAN_IMR; // Interrupt Mask Register + AT91_REG CAN_SR; // Status Register + AT91_REG CAN_BR; // Baudrate Register + AT91_REG CAN_TIM; // Timer Register + AT91_REG CAN_TIMESTP; // Time Stamp Register + AT91_REG CAN_ECR; // Error Counter Register + AT91_REG CAN_TCR; // Transfer Command Register + AT91_REG CAN_ACR; // Abort Command Register + AT91_REG Reserved0[52]; // + AT91_REG CAN_VR; // Version Register + AT91_REG Reserved1[64]; // + AT91S_CAN_MB CAN_MB0; // CAN Mailbox 0 + AT91S_CAN_MB CAN_MB1; // CAN Mailbox 1 + AT91S_CAN_MB CAN_MB2; // CAN Mailbox 2 + AT91S_CAN_MB CAN_MB3; // CAN Mailbox 3 + AT91S_CAN_MB CAN_MB4; // CAN Mailbox 4 + AT91S_CAN_MB CAN_MB5; // CAN Mailbox 5 + AT91S_CAN_MB CAN_MB6; // CAN Mailbox 6 + AT91S_CAN_MB CAN_MB7; // CAN Mailbox 7 + AT91S_CAN_MB CAN_MB8; // CAN Mailbox 8 + AT91S_CAN_MB CAN_MB9; // CAN Mailbox 9 + AT91S_CAN_MB CAN_MB10; // CAN Mailbox 10 + AT91S_CAN_MB CAN_MB11; // CAN Mailbox 11 + AT91S_CAN_MB CAN_MB12; // CAN Mailbox 12 + AT91S_CAN_MB CAN_MB13; // CAN Mailbox 13 + AT91S_CAN_MB CAN_MB14; // CAN Mailbox 14 + AT91S_CAN_MB CAN_MB15; // CAN Mailbox 15 +} AT91S_CAN, *AT91PS_CAN; + +// -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +#define AT91C_CAN_CANEN ((unsigned int) 0x1 << 0) // (CAN) CAN Controller Enable +#define AT91C_CAN_LPM ((unsigned int) 0x1 << 1) // (CAN) Disable/Enable Low Power Mode +#define AT91C_CAN_ABM ((unsigned int) 0x1 << 2) // (CAN) Disable/Enable Autobaud/Listen Mode +#define AT91C_CAN_OVL ((unsigned int) 0x1 << 3) // (CAN) Disable/Enable Overload Frame +#define AT91C_CAN_TEOF ((unsigned int) 0x1 << 4) // (CAN) Time Stamp messages at each end of Frame +#define AT91C_CAN_TTM ((unsigned int) 0x1 << 5) // (CAN) Disable/Enable Time Trigger Mode +#define AT91C_CAN_TIMFRZ ((unsigned int) 0x1 << 6) // (CAN) Enable Timer Freeze +#define AT91C_CAN_DRPT ((unsigned int) 0x1 << 7) // (CAN) Disable Repeat +// -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +#define AT91C_CAN_MB0 ((unsigned int) 0x1 << 0) // (CAN) Mailbox 0 Flag +#define AT91C_CAN_MB1 ((unsigned int) 0x1 << 1) // (CAN) Mailbox 1 Flag +#define AT91C_CAN_MB2 ((unsigned int) 0x1 << 2) // (CAN) Mailbox 2 Flag +#define AT91C_CAN_MB3 ((unsigned int) 0x1 << 3) // (CAN) Mailbox 3 Flag +#define AT91C_CAN_MB4 ((unsigned int) 0x1 << 4) // (CAN) Mailbox 4 Flag +#define AT91C_CAN_MB5 ((unsigned int) 0x1 << 5) // (CAN) Mailbox 5 Flag +#define AT91C_CAN_MB6 ((unsigned int) 0x1 << 6) // (CAN) Mailbox 6 Flag +#define AT91C_CAN_MB7 ((unsigned int) 0x1 << 7) // (CAN) Mailbox 7 Flag +#define AT91C_CAN_MB8 ((unsigned int) 0x1 << 8) // (CAN) Mailbox 8 Flag +#define AT91C_CAN_MB9 ((unsigned int) 0x1 << 9) // (CAN) Mailbox 9 Flag +#define AT91C_CAN_MB10 ((unsigned int) 0x1 << 10) // (CAN) Mailbox 10 Flag +#define AT91C_CAN_MB11 ((unsigned int) 0x1 << 11) // (CAN) Mailbox 11 Flag +#define AT91C_CAN_MB12 ((unsigned int) 0x1 << 12) // (CAN) Mailbox 12 Flag +#define AT91C_CAN_MB13 ((unsigned int) 0x1 << 13) // (CAN) Mailbox 13 Flag +#define AT91C_CAN_MB14 ((unsigned int) 0x1 << 14) // (CAN) Mailbox 14 Flag +#define AT91C_CAN_MB15 ((unsigned int) 0x1 << 15) // (CAN) Mailbox 15 Flag +#define AT91C_CAN_ERRA ((unsigned int) 0x1 << 16) // (CAN) Error Active Mode Flag +#define AT91C_CAN_WARN ((unsigned int) 0x1 << 17) // (CAN) Warning Limit Flag +#define AT91C_CAN_ERRP ((unsigned int) 0x1 << 18) // (CAN) Error Passive Mode Flag +#define AT91C_CAN_BOFF ((unsigned int) 0x1 << 19) // (CAN) Bus Off Mode Flag +#define AT91C_CAN_SLEEP ((unsigned int) 0x1 << 20) // (CAN) Sleep Flag +#define AT91C_CAN_WAKEUP ((unsigned int) 0x1 << 21) // (CAN) Wakeup Flag +#define AT91C_CAN_TOVF ((unsigned int) 0x1 << 22) // (CAN) Timer Overflow Flag +#define AT91C_CAN_TSTP ((unsigned int) 0x1 << 23) // (CAN) Timestamp Flag +#define AT91C_CAN_CERR ((unsigned int) 0x1 << 24) // (CAN) CRC Error +#define AT91C_CAN_SERR ((unsigned int) 0x1 << 25) // (CAN) Stuffing Error +#define AT91C_CAN_AERR ((unsigned int) 0x1 << 26) // (CAN) Acknowledgment Error +#define AT91C_CAN_FERR ((unsigned int) 0x1 << 27) // (CAN) Form Error +#define AT91C_CAN_BERR ((unsigned int) 0x1 << 28) // (CAN) Bit Error +// -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +#define AT91C_CAN_RBSY ((unsigned int) 0x1 << 29) // (CAN) Receiver Busy +#define AT91C_CAN_TBSY ((unsigned int) 0x1 << 30) // (CAN) Transmitter Busy +#define AT91C_CAN_OVLY ((unsigned int) 0x1 << 31) // (CAN) Overload Busy +// -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +#define AT91C_CAN_PHASE2 ((unsigned int) 0x7 << 0) // (CAN) Phase 2 segment +#define AT91C_CAN_PHASE1 ((unsigned int) 0x7 << 4) // (CAN) Phase 1 segment +#define AT91C_CAN_PROPAG ((unsigned int) 0x7 << 8) // (CAN) Programmation time segment +#define AT91C_CAN_SYNC ((unsigned int) 0x3 << 12) // (CAN) Re-synchronization jump width segment +#define AT91C_CAN_BRP ((unsigned int) 0x7F << 16) // (CAN) Baudrate Prescaler +#define AT91C_CAN_SMP ((unsigned int) 0x1 << 24) // (CAN) Sampling mode +// -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +#define AT91C_CAN_TIMER ((unsigned int) 0xFFFF << 0) // (CAN) Timer field +// -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +#define AT91C_CAN_REC ((unsigned int) 0xFF << 0) // (CAN) Receive Error Counter +#define AT91C_CAN_TEC ((unsigned int) 0xFF << 16) // (CAN) Transmit Error Counter +// -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +#define AT91C_CAN_TIMRST ((unsigned int) 0x1 << 31) // (CAN) Timer Reset Field +// -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// ***************************************************************************** +typedef struct _AT91S_EMAC { + AT91_REG EMAC_NCR; // Network Control Register + AT91_REG EMAC_NCFGR; // Network Configuration Register + AT91_REG EMAC_NSR; // Network Status Register + AT91_REG Reserved0[2]; // + AT91_REG EMAC_TSR; // Transmit Status Register + AT91_REG EMAC_RBQP; // Receive Buffer Queue Pointer + AT91_REG EMAC_TBQP; // Transmit Buffer Queue Pointer + AT91_REG EMAC_RSR; // Receive Status Register + AT91_REG EMAC_ISR; // Interrupt Status Register + AT91_REG EMAC_IER; // Interrupt Enable Register + AT91_REG EMAC_IDR; // Interrupt Disable Register + AT91_REG EMAC_IMR; // Interrupt Mask Register + AT91_REG EMAC_MAN; // PHY Maintenance Register + AT91_REG EMAC_PTR; // Pause Time Register + AT91_REG EMAC_PFR; // Pause Frames received Register + AT91_REG EMAC_FTO; // Frames Transmitted OK Register + AT91_REG EMAC_SCF; // Single Collision Frame Register + AT91_REG EMAC_MCF; // Multiple Collision Frame Register + AT91_REG EMAC_FRO; // Frames Received OK Register + AT91_REG EMAC_FCSE; // Frame Check Sequence Error Register + AT91_REG EMAC_ALE; // Alignment Error Register + AT91_REG EMAC_DTF; // Deferred Transmission Frame Register + AT91_REG EMAC_LCOL; // Late Collision Register + AT91_REG EMAC_ECOL; // Excessive Collision Register + AT91_REG EMAC_TUND; // Transmit Underrun Error Register + AT91_REG EMAC_CSE; // Carrier Sense Error Register + AT91_REG EMAC_RRE; // Receive Ressource Error Register + AT91_REG EMAC_ROV; // Receive Overrun Errors Register + AT91_REG EMAC_RSE; // Receive Symbol Errors Register + AT91_REG EMAC_ELE; // Excessive Length Errors Register + AT91_REG EMAC_RJA; // Receive Jabbers Register + AT91_REG EMAC_USF; // Undersize Frames Register + AT91_REG EMAC_STE; // SQE Test Error Register + AT91_REG EMAC_RLE; // Receive Length Field Mismatch Register + AT91_REG EMAC_TPF; // Transmitted Pause Frames Register + AT91_REG EMAC_HRB; // Hash Address Bottom[31:0] + AT91_REG EMAC_HRT; // Hash Address Top[63:32] + AT91_REG EMAC_SA1L; // Specific Address 1 Bottom, First 4 bytes + AT91_REG EMAC_SA1H; // Specific Address 1 Top, Last 2 bytes + AT91_REG EMAC_SA2L; // Specific Address 2 Bottom, First 4 bytes + AT91_REG EMAC_SA2H; // Specific Address 2 Top, Last 2 bytes + AT91_REG EMAC_SA3L; // Specific Address 3 Bottom, First 4 bytes + AT91_REG EMAC_SA3H; // Specific Address 3 Top, Last 2 bytes + AT91_REG EMAC_SA4L; // Specific Address 4 Bottom, First 4 bytes + AT91_REG EMAC_SA4H; // Specific Address 4 Top, Last 2 bytes + AT91_REG EMAC_TID; // Type ID Checking Register + AT91_REG EMAC_TPQ; // Transmit Pause Quantum Register + AT91_REG EMAC_USRIO; // USER Input/Output Register + AT91_REG EMAC_WOL; // Wake On LAN Register + AT91_REG Reserved1[13]; // + AT91_REG EMAC_REV; // Revision Register +} AT91S_EMAC, *AT91PS_EMAC; + +// -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +#define AT91C_EMAC_LB ((unsigned int) 0x1 << 0) // (EMAC) Loopback. Optional. When set, loopback signal is at high level. +#define AT91C_EMAC_LLB ((unsigned int) 0x1 << 1) // (EMAC) Loopback local. +#define AT91C_EMAC_RE ((unsigned int) 0x1 << 2) // (EMAC) Receive enable. +#define AT91C_EMAC_TE ((unsigned int) 0x1 << 3) // (EMAC) Transmit enable. +#define AT91C_EMAC_MPE ((unsigned int) 0x1 << 4) // (EMAC) Management port enable. +#define AT91C_EMAC_CLRSTAT ((unsigned int) 0x1 << 5) // (EMAC) Clear statistics registers. +#define AT91C_EMAC_INCSTAT ((unsigned int) 0x1 << 6) // (EMAC) Increment statistics registers. +#define AT91C_EMAC_WESTAT ((unsigned int) 0x1 << 7) // (EMAC) Write enable for statistics registers. +#define AT91C_EMAC_BP ((unsigned int) 0x1 << 8) // (EMAC) Back pressure. +#define AT91C_EMAC_TSTART ((unsigned int) 0x1 << 9) // (EMAC) Start Transmission. +#define AT91C_EMAC_THALT ((unsigned int) 0x1 << 10) // (EMAC) Transmission Halt. +#define AT91C_EMAC_TPFR ((unsigned int) 0x1 << 11) // (EMAC) Transmit pause frame +#define AT91C_EMAC_TZQ ((unsigned int) 0x1 << 12) // (EMAC) Transmit zero quantum pause frame +// -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +#define AT91C_EMAC_SPD ((unsigned int) 0x1 << 0) // (EMAC) Speed. +#define AT91C_EMAC_FD ((unsigned int) 0x1 << 1) // (EMAC) Full duplex. +#define AT91C_EMAC_JFRAME ((unsigned int) 0x1 << 3) // (EMAC) Jumbo Frames. +#define AT91C_EMAC_CAF ((unsigned int) 0x1 << 4) // (EMAC) Copy all frames. +#define AT91C_EMAC_NBC ((unsigned int) 0x1 << 5) // (EMAC) No broadcast. +#define AT91C_EMAC_MTI ((unsigned int) 0x1 << 6) // (EMAC) Multicast hash event enable +#define AT91C_EMAC_UNI ((unsigned int) 0x1 << 7) // (EMAC) Unicast hash enable. +#define AT91C_EMAC_BIG ((unsigned int) 0x1 << 8) // (EMAC) Receive 1522 bytes. +#define AT91C_EMAC_EAE ((unsigned int) 0x1 << 9) // (EMAC) External address match enable. +#define AT91C_EMAC_CLK ((unsigned int) 0x3 << 10) // (EMAC) +#define AT91C_EMAC_CLK_HCLK_8 ((unsigned int) 0x0 << 10) // (EMAC) HCLK divided by 8 +#define AT91C_EMAC_CLK_HCLK_16 ((unsigned int) 0x1 << 10) // (EMAC) HCLK divided by 16 +#define AT91C_EMAC_CLK_HCLK_32 ((unsigned int) 0x2 << 10) // (EMAC) HCLK divided by 32 +#define AT91C_EMAC_CLK_HCLK_64 ((unsigned int) 0x3 << 10) // (EMAC) HCLK divided by 64 +#define AT91C_EMAC_RTY ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PAE ((unsigned int) 0x1 << 13) // (EMAC) +#define AT91C_EMAC_RBOF ((unsigned int) 0x3 << 14) // (EMAC) +#define AT91C_EMAC_RBOF_OFFSET_0 ((unsigned int) 0x0 << 14) // (EMAC) no offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_1 ((unsigned int) 0x1 << 14) // (EMAC) one byte offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_2 ((unsigned int) 0x2 << 14) // (EMAC) two bytes offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_3 ((unsigned int) 0x3 << 14) // (EMAC) three bytes offset from start of receive buffer +#define AT91C_EMAC_RLCE ((unsigned int) 0x1 << 16) // (EMAC) Receive Length field Checking Enable +#define AT91C_EMAC_DRFCS ((unsigned int) 0x1 << 17) // (EMAC) Discard Receive FCS +#define AT91C_EMAC_EFRHD ((unsigned int) 0x1 << 18) // (EMAC) +#define AT91C_EMAC_IRXFCS ((unsigned int) 0x1 << 19) // (EMAC) Ignore RX FCS +// -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +#define AT91C_EMAC_LINKR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_MDIO ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_IDLE ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +#define AT91C_EMAC_UBR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_COL ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RLES ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TGO ((unsigned int) 0x1 << 3) // (EMAC) Transmit Go +#define AT91C_EMAC_BEX ((unsigned int) 0x1 << 4) // (EMAC) Buffers exhausted mid frame +#define AT91C_EMAC_COMP ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_UND ((unsigned int) 0x1 << 6) // (EMAC) +// -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +#define AT91C_EMAC_BNA ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_REC ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_OVR ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +#define AT91C_EMAC_MFD ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_RCOMP ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RXUBR ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TXUBR ((unsigned int) 0x1 << 3) // (EMAC) +#define AT91C_EMAC_TUNDR ((unsigned int) 0x1 << 4) // (EMAC) +#define AT91C_EMAC_RLEX ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_TXERR ((unsigned int) 0x1 << 6) // (EMAC) +#define AT91C_EMAC_TCOMP ((unsigned int) 0x1 << 7) // (EMAC) +#define AT91C_EMAC_LINK ((unsigned int) 0x1 << 9) // (EMAC) +#define AT91C_EMAC_ROVR ((unsigned int) 0x1 << 10) // (EMAC) +#define AT91C_EMAC_HRESP ((unsigned int) 0x1 << 11) // (EMAC) +#define AT91C_EMAC_PFRE ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PTZ ((unsigned int) 0x1 << 13) // (EMAC) +// -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +#define AT91C_EMAC_DATA ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_CODE ((unsigned int) 0x3 << 16) // (EMAC) +#define AT91C_EMAC_REGA ((unsigned int) 0x1F << 18) // (EMAC) +#define AT91C_EMAC_PHYA ((unsigned int) 0x1F << 23) // (EMAC) +#define AT91C_EMAC_RW ((unsigned int) 0x3 << 28) // (EMAC) +#define AT91C_EMAC_SOF ((unsigned int) 0x3 << 30) // (EMAC) +// -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +#define AT91C_EMAC_RMII ((unsigned int) 0x1 << 0) // (EMAC) Reduce MII +// -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +#define AT91C_EMAC_IP ((unsigned int) 0xFFFF << 0) // (EMAC) ARP request IP address +#define AT91C_EMAC_MAG ((unsigned int) 0x1 << 16) // (EMAC) Magic packet event enable +#define AT91C_EMAC_ARP ((unsigned int) 0x1 << 17) // (EMAC) ARP request event enable +#define AT91C_EMAC_SA1 ((unsigned int) 0x1 << 18) // (EMAC) Specific address register 1 event enable +// -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +#define AT91C_EMAC_REVREF ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_PARTREF ((unsigned int) 0xFFFF << 16) // (EMAC) + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +typedef struct _AT91S_ADC { + AT91_REG ADC_CR; // ADC Control Register + AT91_REG ADC_MR; // ADC Mode Register + AT91_REG Reserved0[2]; // + AT91_REG ADC_CHER; // ADC Channel Enable Register + AT91_REG ADC_CHDR; // ADC Channel Disable Register + AT91_REG ADC_CHSR; // ADC Channel Status Register + AT91_REG ADC_SR; // ADC Status Register + AT91_REG ADC_LCDR; // ADC Last Converted Data Register + AT91_REG ADC_IER; // ADC Interrupt Enable Register + AT91_REG ADC_IDR; // ADC Interrupt Disable Register + AT91_REG ADC_IMR; // ADC Interrupt Mask Register + AT91_REG ADC_CDR0; // ADC Channel Data Register 0 + AT91_REG ADC_CDR1; // ADC Channel Data Register 1 + AT91_REG ADC_CDR2; // ADC Channel Data Register 2 + AT91_REG ADC_CDR3; // ADC Channel Data Register 3 + AT91_REG ADC_CDR4; // ADC Channel Data Register 4 + AT91_REG ADC_CDR5; // ADC Channel Data Register 5 + AT91_REG ADC_CDR6; // ADC Channel Data Register 6 + AT91_REG ADC_CDR7; // ADC Channel Data Register 7 + AT91_REG Reserved1[44]; // + AT91_REG ADC_RPR; // Receive Pointer Register + AT91_REG ADC_RCR; // Receive Counter Register + AT91_REG ADC_TPR; // Transmit Pointer Register + AT91_REG ADC_TCR; // Transmit Counter Register + AT91_REG ADC_RNPR; // Receive Next Pointer Register + AT91_REG ADC_RNCR; // Receive Next Counter Register + AT91_REG ADC_TNPR; // Transmit Next Pointer Register + AT91_REG ADC_TNCR; // Transmit Next Counter Register + AT91_REG ADC_PTCR; // PDC Transfer Control Register + AT91_REG ADC_PTSR; // PDC Transfer Status Register +} AT91S_ADC, *AT91PS_ADC; + +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST ((unsigned int) 0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START ((unsigned int) 0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN ((unsigned int) 0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS ((unsigned int) 0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN ((unsigned int) 0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL ((unsigned int) 0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 ((unsigned int) 0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 ((unsigned int) 0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 ((unsigned int) 0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 ((unsigned int) 0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 ((unsigned int) 0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 ((unsigned int) 0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT ((unsigned int) 0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES ((unsigned int) 0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT ((unsigned int) 0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT ((unsigned int) 0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE ((unsigned int) 0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL ((unsigned int) 0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP ((unsigned int) 0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM ((unsigned int) 0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 ((unsigned int) 0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 ((unsigned int) 0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 ((unsigned int) 0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 ((unsigned int) 0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 ((unsigned int) 0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 ((unsigned int) 0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 ((unsigned int) 0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 ((unsigned int) 0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 ((unsigned int) 0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 ((unsigned int) 0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 ((unsigned int) 0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 ((unsigned int) 0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 ((unsigned int) 0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 ((unsigned int) 0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 ((unsigned int) 0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 ((unsigned int) 0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 ((unsigned int) 0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 ((unsigned int) 0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 ((unsigned int) 0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 ((unsigned int) 0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 ((unsigned int) 0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 ((unsigned int) 0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 ((unsigned int) 0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 ((unsigned int) 0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY ((unsigned int) 0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE ((unsigned int) 0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX ((unsigned int) 0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF ((unsigned int) 0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA ((unsigned int) 0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA ((unsigned int) 0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_AES { + AT91_REG AES_CR; // Control Register + AT91_REG AES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG AES_IER; // Interrupt Enable Register + AT91_REG AES_IDR; // Interrupt Disable Register + AT91_REG AES_IMR; // Interrupt Mask Register + AT91_REG AES_ISR; // Interrupt Status Register + AT91_REG AES_KEYWxR[4]; // Key Word x Register + AT91_REG Reserved1[4]; // + AT91_REG AES_IDATAxR[4]; // Input Data x Register + AT91_REG AES_ODATAxR[4]; // Output Data x Register + AT91_REG AES_IVxR[4]; // Initialization Vector x Register + AT91_REG Reserved2[35]; // + AT91_REG AES_VR; // AES Version Register + AT91_REG AES_RPR; // Receive Pointer Register + AT91_REG AES_RCR; // Receive Counter Register + AT91_REG AES_TPR; // Transmit Pointer Register + AT91_REG AES_TCR; // Transmit Counter Register + AT91_REG AES_RNPR; // Receive Next Pointer Register + AT91_REG AES_RNCR; // Receive Next Counter Register + AT91_REG AES_TNPR; // Transmit Next Pointer Register + AT91_REG AES_TNCR; // Transmit Next Counter Register + AT91_REG AES_PTCR; // PDC Transfer Control Register + AT91_REG AES_PTSR; // PDC Transfer Status Register +} AT91S_AES, *AT91PS_AES; + +// -------- AES_CR : (AES Offset: 0x0) Control Register -------- +#define AT91C_AES_START ((unsigned int) 0x1 << 0) // (AES) Starts Processing +#define AT91C_AES_SWRST ((unsigned int) 0x1 << 8) // (AES) Software Reset +#define AT91C_AES_LOADSEED ((unsigned int) 0x1 << 16) // (AES) Random Number Generator Seed Loading +// -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +#define AT91C_AES_CIPHER ((unsigned int) 0x1 << 0) // (AES) Processing Mode +#define AT91C_AES_PROCDLY ((unsigned int) 0xF << 4) // (AES) Processing Delay +#define AT91C_AES_SMOD ((unsigned int) 0x3 << 8) // (AES) Start Mode +#define AT91C_AES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +#define AT91C_AES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +#define AT91C_AES_SMOD_PDC ((unsigned int) 0x2 << 8) // (AES) PDC Mode (cf datasheet). +#define AT91C_AES_OPMOD ((unsigned int) 0x7 << 12) // (AES) Operation Mode +#define AT91C_AES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (AES) ECB Electronic CodeBook mode. +#define AT91C_AES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (AES) CBC Cipher Block Chaining mode. +#define AT91C_AES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (AES) OFB Output Feedback mode. +#define AT91C_AES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (AES) CFB Cipher Feedback mode. +#define AT91C_AES_OPMOD_CTR ((unsigned int) 0x4 << 12) // (AES) CTR Counter mode. +#define AT91C_AES_LOD ((unsigned int) 0x1 << 15) // (AES) Last Output Data Mode +#define AT91C_AES_CFBS ((unsigned int) 0x7 << 16) // (AES) Cipher Feedback Data Size +#define AT91C_AES_CFBS_128_BIT ((unsigned int) 0x0 << 16) // (AES) 128-bit. +#define AT91C_AES_CFBS_64_BIT ((unsigned int) 0x1 << 16) // (AES) 64-bit. +#define AT91C_AES_CFBS_32_BIT ((unsigned int) 0x2 << 16) // (AES) 32-bit. +#define AT91C_AES_CFBS_16_BIT ((unsigned int) 0x3 << 16) // (AES) 16-bit. +#define AT91C_AES_CFBS_8_BIT ((unsigned int) 0x4 << 16) // (AES) 8-bit. +#define AT91C_AES_CKEY ((unsigned int) 0xF << 20) // (AES) Countermeasure Key +#define AT91C_AES_CTYPE ((unsigned int) 0x1F << 24) // (AES) Countermeasure Type +#define AT91C_AES_CTYPE_TYPE1_EN ((unsigned int) 0x1 << 24) // (AES) Countermeasure type 1 is enabled. +#define AT91C_AES_CTYPE_TYPE2_EN ((unsigned int) 0x2 << 24) // (AES) Countermeasure type 2 is enabled. +#define AT91C_AES_CTYPE_TYPE3_EN ((unsigned int) 0x4 << 24) // (AES) Countermeasure type 3 is enabled. +#define AT91C_AES_CTYPE_TYPE4_EN ((unsigned int) 0x8 << 24) // (AES) Countermeasure type 4 is enabled. +#define AT91C_AES_CTYPE_TYPE5_EN ((unsigned int) 0x10 << 24) // (AES) Countermeasure type 5 is enabled. +// -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_AES_DATRDY ((unsigned int) 0x1 << 0) // (AES) DATRDY +#define AT91C_AES_ENDRX ((unsigned int) 0x1 << 1) // (AES) PDC Read Buffer End +#define AT91C_AES_ENDTX ((unsigned int) 0x1 << 2) // (AES) PDC Write Buffer End +#define AT91C_AES_RXBUFF ((unsigned int) 0x1 << 3) // (AES) PDC Read Buffer Full +#define AT91C_AES_TXBUFE ((unsigned int) 0x1 << 4) // (AES) PDC Write Buffer Empty +#define AT91C_AES_URAD ((unsigned int) 0x1 << 8) // (AES) Unspecified Register Access Detection +// -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_AES_URAT ((unsigned int) 0x7 << 12) // (AES) Unspecified Register Access Type Status +#define AT91C_AES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (AES) Input data register written during the data processing in PDC mode. +#define AT91C_AES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (AES) Output data register read during the data processing. +#define AT91C_AES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (AES) Mode register written during the data processing. +#define AT91C_AES_URAT_OUT_DAT_READ_SUBKEY ((unsigned int) 0x3 << 12) // (AES) Output data register read during the sub-keys generation. +#define AT91C_AES_URAT_MODEREG_WRITE_SUBKEY ((unsigned int) 0x4 << 12) // (AES) Mode register written during the sub-keys generation. +#define AT91C_AES_URAT_WO_REG_READ ((unsigned int) 0x5 << 12) // (AES) Write-only register read access. + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_TDES { + AT91_REG TDES_CR; // Control Register + AT91_REG TDES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG TDES_IER; // Interrupt Enable Register + AT91_REG TDES_IDR; // Interrupt Disable Register + AT91_REG TDES_IMR; // Interrupt Mask Register + AT91_REG TDES_ISR; // Interrupt Status Register + AT91_REG TDES_KEY1WxR[2]; // Key 1 Word x Register + AT91_REG TDES_KEY2WxR[2]; // Key 2 Word x Register + AT91_REG TDES_KEY3WxR[2]; // Key 3 Word x Register + AT91_REG Reserved1[2]; // + AT91_REG TDES_IDATAxR[2]; // Input Data x Register + AT91_REG Reserved2[2]; // + AT91_REG TDES_ODATAxR[2]; // Output Data x Register + AT91_REG Reserved3[2]; // + AT91_REG TDES_IVxR[2]; // Initialization Vector x Register + AT91_REG Reserved4[37]; // + AT91_REG TDES_VR; // TDES Version Register + AT91_REG TDES_RPR; // Receive Pointer Register + AT91_REG TDES_RCR; // Receive Counter Register + AT91_REG TDES_TPR; // Transmit Pointer Register + AT91_REG TDES_TCR; // Transmit Counter Register + AT91_REG TDES_RNPR; // Receive Next Pointer Register + AT91_REG TDES_RNCR; // Receive Next Counter Register + AT91_REG TDES_TNPR; // Transmit Next Pointer Register + AT91_REG TDES_TNCR; // Transmit Next Counter Register + AT91_REG TDES_PTCR; // PDC Transfer Control Register + AT91_REG TDES_PTSR; // PDC Transfer Status Register +} AT91S_TDES, *AT91PS_TDES; + +// -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +#define AT91C_TDES_START ((unsigned int) 0x1 << 0) // (TDES) Starts Processing +#define AT91C_TDES_SWRST ((unsigned int) 0x1 << 8) // (TDES) Software Reset +// -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +#define AT91C_TDES_CIPHER ((unsigned int) 0x1 << 0) // (TDES) Processing Mode +#define AT91C_TDES_TDESMOD ((unsigned int) 0x1 << 1) // (TDES) Single or Triple DES Mode +#define AT91C_TDES_KEYMOD ((unsigned int) 0x1 << 4) // (TDES) Key Mode +#define AT91C_TDES_SMOD ((unsigned int) 0x3 << 8) // (TDES) Start Mode +#define AT91C_TDES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +#define AT91C_TDES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +#define AT91C_TDES_SMOD_PDC ((unsigned int) 0x2 << 8) // (TDES) PDC Mode (cf datasheet). +#define AT91C_TDES_OPMOD ((unsigned int) 0x3 << 12) // (TDES) Operation Mode +#define AT91C_TDES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (TDES) ECB Electronic CodeBook mode. +#define AT91C_TDES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (TDES) CBC Cipher Block Chaining mode. +#define AT91C_TDES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (TDES) OFB Output Feedback mode. +#define AT91C_TDES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (TDES) CFB Cipher Feedback mode. +#define AT91C_TDES_LOD ((unsigned int) 0x1 << 15) // (TDES) Last Output Data Mode +#define AT91C_TDES_CFBS ((unsigned int) 0x3 << 16) // (TDES) Cipher Feedback Data Size +#define AT91C_TDES_CFBS_64_BIT ((unsigned int) 0x0 << 16) // (TDES) 64-bit. +#define AT91C_TDES_CFBS_32_BIT ((unsigned int) 0x1 << 16) // (TDES) 32-bit. +#define AT91C_TDES_CFBS_16_BIT ((unsigned int) 0x2 << 16) // (TDES) 16-bit. +#define AT91C_TDES_CFBS_8_BIT ((unsigned int) 0x3 << 16) // (TDES) 8-bit. +// -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_TDES_DATRDY ((unsigned int) 0x1 << 0) // (TDES) DATRDY +#define AT91C_TDES_ENDRX ((unsigned int) 0x1 << 1) // (TDES) PDC Read Buffer End +#define AT91C_TDES_ENDTX ((unsigned int) 0x1 << 2) // (TDES) PDC Write Buffer End +#define AT91C_TDES_RXBUFF ((unsigned int) 0x1 << 3) // (TDES) PDC Read Buffer Full +#define AT91C_TDES_TXBUFE ((unsigned int) 0x1 << 4) // (TDES) PDC Write Buffer Empty +#define AT91C_TDES_URAD ((unsigned int) 0x1 << 8) // (TDES) Unspecified Register Access Detection +// -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_TDES_URAT ((unsigned int) 0x3 << 12) // (TDES) Unspecified Register Access Type Status +#define AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (TDES) Input data register written during the data processing in PDC mode. +#define AT91C_TDES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (TDES) Output data register read during the data processing. +#define AT91C_TDES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (TDES) Mode register written during the data processing. +#define AT91C_TDES_URAT_WO_REG_READ ((unsigned int) 0x3 << 12) // (TDES) Write-only register read access. + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7X256 +// ***************************************************************************** +// ========== Register definition for SYS peripheral ========== +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_IVR ((AT91_REG *) 0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_SMR ((AT91_REG *) 0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_FVR ((AT91_REG *) 0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_DCR ((AT91_REG *) 0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_EOICR ((AT91_REG *) 0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_SVR ((AT91_REG *) 0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_FFSR ((AT91_REG *) 0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_ICCR ((AT91_REG *) 0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_ISR ((AT91_REG *) 0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IMR ((AT91_REG *) 0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_IPR ((AT91_REG *) 0xFFFFF10C) // (AIC) Interrupt Pending Register +#define AT91C_AIC_FFER ((AT91_REG *) 0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_IECR ((AT91_REG *) 0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_ISCR ((AT91_REG *) 0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_FFDR ((AT91_REG *) 0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_CISR ((AT91_REG *) 0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IDCR ((AT91_REG *) 0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_SPU ((AT91_REG *) 0xFFFFF134) // (AIC) Spurious Vector Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TCR ((AT91_REG *) 0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RNPR ((AT91_REG *) 0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR ((AT91_REG *) 0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +#define AT91C_DBGU_TPR ((AT91_REG *) 0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RPR ((AT91_REG *) 0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_RCR ((AT91_REG *) 0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_RNCR ((AT91_REG *) 0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR ((AT91_REG *) 0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR ((AT91_REG *) 0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_TNCR ((AT91_REG *) 0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_EXID ((AT91_REG *) 0xFFFFF244) // (DBGU) Chip ID Extension Register +#define AT91C_DBGU_BRGR ((AT91_REG *) 0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_IDR ((AT91_REG *) 0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_CSR ((AT91_REG *) 0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_CIDR ((AT91_REG *) 0xFFFFF240) // (DBGU) Chip ID Register +#define AT91C_DBGU_MR ((AT91_REG *) 0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_IMR ((AT91_REG *) 0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_CR ((AT91_REG *) 0xFFFFF200) // (DBGU) Control Register +#define AT91C_DBGU_FNTR ((AT91_REG *) 0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_THR ((AT91_REG *) 0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_RHR ((AT91_REG *) 0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IER ((AT91_REG *) 0xFFFFF208) // (DBGU) Interrupt Enable Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_ODR ((AT91_REG *) 0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_SODR ((AT91_REG *) 0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_ISR ((AT91_REG *) 0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_ABSR ((AT91_REG *) 0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_IER ((AT91_REG *) 0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_PPUDR ((AT91_REG *) 0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_IMR ((AT91_REG *) 0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_PER ((AT91_REG *) 0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_IFDR ((AT91_REG *) 0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_OWDR ((AT91_REG *) 0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_MDSR ((AT91_REG *) 0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_IDR ((AT91_REG *) 0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_ODSR ((AT91_REG *) 0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_PPUSR ((AT91_REG *) 0xFFFFF468) // (PIOA) Pull-up Status Register +#define AT91C_PIOA_OWSR ((AT91_REG *) 0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_BSR ((AT91_REG *) 0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_OWER ((AT91_REG *) 0xFFFFF4A0) // (PIOA) Output Write Enable Register +#define AT91C_PIOA_IFER ((AT91_REG *) 0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_PDSR ((AT91_REG *) 0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_PPUER ((AT91_REG *) 0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_OSR ((AT91_REG *) 0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_ASR ((AT91_REG *) 0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_MDDR ((AT91_REG *) 0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_CODR ((AT91_REG *) 0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_MDER ((AT91_REG *) 0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PDR ((AT91_REG *) 0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_IFSR ((AT91_REG *) 0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_OER ((AT91_REG *) 0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_PSR ((AT91_REG *) 0xFFFFF408) // (PIOA) PIO Status Register +// ========== Register definition for PIOB peripheral ========== +#define AT91C_PIOB_OWDR ((AT91_REG *) 0xFFFFF6A4) // (PIOB) Output Write Disable Register +#define AT91C_PIOB_MDER ((AT91_REG *) 0xFFFFF650) // (PIOB) Multi-driver Enable Register +#define AT91C_PIOB_PPUSR ((AT91_REG *) 0xFFFFF668) // (PIOB) Pull-up Status Register +#define AT91C_PIOB_IMR ((AT91_REG *) 0xFFFFF648) // (PIOB) Interrupt Mask Register +#define AT91C_PIOB_ASR ((AT91_REG *) 0xFFFFF670) // (PIOB) Select A Register +#define AT91C_PIOB_PPUDR ((AT91_REG *) 0xFFFFF660) // (PIOB) Pull-up Disable Register +#define AT91C_PIOB_PSR ((AT91_REG *) 0xFFFFF608) // (PIOB) PIO Status Register +#define AT91C_PIOB_IER ((AT91_REG *) 0xFFFFF640) // (PIOB) Interrupt Enable Register +#define AT91C_PIOB_CODR ((AT91_REG *) 0xFFFFF634) // (PIOB) Clear Output Data Register +#define AT91C_PIOB_OWER ((AT91_REG *) 0xFFFFF6A0) // (PIOB) Output Write Enable Register +#define AT91C_PIOB_ABSR ((AT91_REG *) 0xFFFFF678) // (PIOB) AB Select Status Register +#define AT91C_PIOB_IFDR ((AT91_REG *) 0xFFFFF624) // (PIOB) Input Filter Disable Register +#define AT91C_PIOB_PDSR ((AT91_REG *) 0xFFFFF63C) // (PIOB) Pin Data Status Register +#define AT91C_PIOB_IDR ((AT91_REG *) 0xFFFFF644) // (PIOB) Interrupt Disable Register +#define AT91C_PIOB_OWSR ((AT91_REG *) 0xFFFFF6A8) // (PIOB) Output Write Status Register +#define AT91C_PIOB_PDR ((AT91_REG *) 0xFFFFF604) // (PIOB) PIO Disable Register +#define AT91C_PIOB_ODR ((AT91_REG *) 0xFFFFF614) // (PIOB) Output Disable Registerr +#define AT91C_PIOB_IFSR ((AT91_REG *) 0xFFFFF628) // (PIOB) Input Filter Status Register +#define AT91C_PIOB_PPUER ((AT91_REG *) 0xFFFFF664) // (PIOB) Pull-up Enable Register +#define AT91C_PIOB_SODR ((AT91_REG *) 0xFFFFF630) // (PIOB) Set Output Data Register +#define AT91C_PIOB_ISR ((AT91_REG *) 0xFFFFF64C) // (PIOB) Interrupt Status Register +#define AT91C_PIOB_ODSR ((AT91_REG *) 0xFFFFF638) // (PIOB) Output Data Status Register +#define AT91C_PIOB_OSR ((AT91_REG *) 0xFFFFF618) // (PIOB) Output Status Register +#define AT91C_PIOB_MDSR ((AT91_REG *) 0xFFFFF658) // (PIOB) Multi-driver Status Register +#define AT91C_PIOB_IFER ((AT91_REG *) 0xFFFFF620) // (PIOB) Input Filter Enable Register +#define AT91C_PIOB_BSR ((AT91_REG *) 0xFFFFF674) // (PIOB) Select B Register +#define AT91C_PIOB_MDDR ((AT91_REG *) 0xFFFFF654) // (PIOB) Multi-driver Disable Register +#define AT91C_PIOB_OER ((AT91_REG *) 0xFFFFF610) // (PIOB) Output Enable Register +#define AT91C_PIOB_PER ((AT91_REG *) 0xFFFFF600) // (PIOB) PIO Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_MOR ((AT91_REG *) 0xFFFFFC20) // (CKGR) Main Oscillator Register +#define AT91C_CKGR_PLLR ((AT91_REG *) 0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR ((AT91_REG *) 0xFFFFFC24) // (CKGR) Main Clock Frequency Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_IDR ((AT91_REG *) 0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_MOR ((AT91_REG *) 0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PLLR ((AT91_REG *) 0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_PCER ((AT91_REG *) 0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCKR ((AT91_REG *) 0xFFFFFC40) // (PMC) Programmable Clock Register +#define AT91C_PMC_MCKR ((AT91_REG *) 0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_SCDR ((AT91_REG *) 0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_PCDR ((AT91_REG *) 0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCSR ((AT91_REG *) 0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_PCSR ((AT91_REG *) 0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_MCFR ((AT91_REG *) 0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_SCER ((AT91_REG *) 0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR ((AT91_REG *) 0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IER ((AT91_REG *) 0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_SR ((AT91_REG *) 0xFFFFFC68) // (PMC) Status Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RCR ((AT91_REG *) 0xFFFFFD00) // (RSTC) Reset Control Register +#define AT91C_RSTC_RMR ((AT91_REG *) 0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RSR ((AT91_REG *) 0xFFFFFD04) // (RSTC) Reset Status Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR ((AT91_REG *) 0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTMR ((AT91_REG *) 0xFFFFFD20) // (RTTC) Real-time Mode Register +#define AT91C_RTTC_RTVR ((AT91_REG *) 0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTAR ((AT91_REG *) 0xFFFFFD24) // (RTTC) Real-time Alarm Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIVR ((AT91_REG *) 0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PISR ((AT91_REG *) 0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIIR ((AT91_REG *) 0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PIMR ((AT91_REG *) 0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDCR ((AT91_REG *) 0xFFFFFD40) // (WDTC) Watchdog Control Register +#define AT91C_WDTC_WDSR ((AT91_REG *) 0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDMR ((AT91_REG *) 0xFFFFFD44) // (WDTC) Watchdog Mode Register +// ========== Register definition for VREG peripheral ========== +#define AT91C_VREG_MR ((AT91_REG *) 0xFFFFFD60) // (VREG) Voltage Regulator Mode Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_ASR ((AT91_REG *) 0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_RCR ((AT91_REG *) 0xFFFFFF00) // (MC) MC Remap Control Register +#define AT91C_MC_FCR ((AT91_REG *) 0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_AASR ((AT91_REG *) 0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_FSR ((AT91_REG *) 0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR ((AT91_REG *) 0xFFFFFF60) // (MC) MC Flash Mode Register +// ========== Register definition for PDC_SPI1 peripheral ========== +#define AT91C_SPI1_PTCR ((AT91_REG *) 0xFFFE4120) // (PDC_SPI1) PDC Transfer Control Register +#define AT91C_SPI1_RPR ((AT91_REG *) 0xFFFE4100) // (PDC_SPI1) Receive Pointer Register +#define AT91C_SPI1_TNCR ((AT91_REG *) 0xFFFE411C) // (PDC_SPI1) Transmit Next Counter Register +#define AT91C_SPI1_TPR ((AT91_REG *) 0xFFFE4108) // (PDC_SPI1) Transmit Pointer Register +#define AT91C_SPI1_TNPR ((AT91_REG *) 0xFFFE4118) // (PDC_SPI1) Transmit Next Pointer Register +#define AT91C_SPI1_TCR ((AT91_REG *) 0xFFFE410C) // (PDC_SPI1) Transmit Counter Register +#define AT91C_SPI1_RCR ((AT91_REG *) 0xFFFE4104) // (PDC_SPI1) Receive Counter Register +#define AT91C_SPI1_RNPR ((AT91_REG *) 0xFFFE4110) // (PDC_SPI1) Receive Next Pointer Register +#define AT91C_SPI1_RNCR ((AT91_REG *) 0xFFFE4114) // (PDC_SPI1) Receive Next Counter Register +#define AT91C_SPI1_PTSR ((AT91_REG *) 0xFFFE4124) // (PDC_SPI1) PDC Transfer Status Register +// ========== Register definition for SPI1 peripheral ========== +#define AT91C_SPI1_IMR ((AT91_REG *) 0xFFFE401C) // (SPI1) Interrupt Mask Register +#define AT91C_SPI1_IER ((AT91_REG *) 0xFFFE4014) // (SPI1) Interrupt Enable Register +#define AT91C_SPI1_MR ((AT91_REG *) 0xFFFE4004) // (SPI1) Mode Register +#define AT91C_SPI1_RDR ((AT91_REG *) 0xFFFE4008) // (SPI1) Receive Data Register +#define AT91C_SPI1_IDR ((AT91_REG *) 0xFFFE4018) // (SPI1) Interrupt Disable Register +#define AT91C_SPI1_SR ((AT91_REG *) 0xFFFE4010) // (SPI1) Status Register +#define AT91C_SPI1_TDR ((AT91_REG *) 0xFFFE400C) // (SPI1) Transmit Data Register +#define AT91C_SPI1_CR ((AT91_REG *) 0xFFFE4000) // (SPI1) Control Register +#define AT91C_SPI1_CSR ((AT91_REG *) 0xFFFE4030) // (SPI1) Chip Select Register +// ========== Register definition for PDC_SPI0 peripheral ========== +#define AT91C_SPI0_PTCR ((AT91_REG *) 0xFFFE0120) // (PDC_SPI0) PDC Transfer Control Register +#define AT91C_SPI0_TPR ((AT91_REG *) 0xFFFE0108) // (PDC_SPI0) Transmit Pointer Register +#define AT91C_SPI0_TCR ((AT91_REG *) 0xFFFE010C) // (PDC_SPI0) Transmit Counter Register +#define AT91C_SPI0_RCR ((AT91_REG *) 0xFFFE0104) // (PDC_SPI0) Receive Counter Register +#define AT91C_SPI0_PTSR ((AT91_REG *) 0xFFFE0124) // (PDC_SPI0) PDC Transfer Status Register +#define AT91C_SPI0_RNPR ((AT91_REG *) 0xFFFE0110) // (PDC_SPI0) Receive Next Pointer Register +#define AT91C_SPI0_RPR ((AT91_REG *) 0xFFFE0100) // (PDC_SPI0) Receive Pointer Register +#define AT91C_SPI0_TNCR ((AT91_REG *) 0xFFFE011C) // (PDC_SPI0) Transmit Next Counter Register +#define AT91C_SPI0_RNCR ((AT91_REG *) 0xFFFE0114) // (PDC_SPI0) Receive Next Counter Register +#define AT91C_SPI0_TNPR ((AT91_REG *) 0xFFFE0118) // (PDC_SPI0) Transmit Next Pointer Register +// ========== Register definition for SPI0 peripheral ========== +#define AT91C_SPI0_IER ((AT91_REG *) 0xFFFE0014) // (SPI0) Interrupt Enable Register +#define AT91C_SPI0_SR ((AT91_REG *) 0xFFFE0010) // (SPI0) Status Register +#define AT91C_SPI0_IDR ((AT91_REG *) 0xFFFE0018) // (SPI0) Interrupt Disable Register +#define AT91C_SPI0_CR ((AT91_REG *) 0xFFFE0000) // (SPI0) Control Register +#define AT91C_SPI0_MR ((AT91_REG *) 0xFFFE0004) // (SPI0) Mode Register +#define AT91C_SPI0_IMR ((AT91_REG *) 0xFFFE001C) // (SPI0) Interrupt Mask Register +#define AT91C_SPI0_TDR ((AT91_REG *) 0xFFFE000C) // (SPI0) Transmit Data Register +#define AT91C_SPI0_RDR ((AT91_REG *) 0xFFFE0008) // (SPI0) Receive Data Register +#define AT91C_SPI0_CSR ((AT91_REG *) 0xFFFE0030) // (SPI0) Chip Select Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_RNCR ((AT91_REG *) 0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_PTCR ((AT91_REG *) 0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TCR ((AT91_REG *) 0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_PTSR ((AT91_REG *) 0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNPR ((AT91_REG *) 0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RCR ((AT91_REG *) 0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_RNPR ((AT91_REG *) 0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_RPR ((AT91_REG *) 0xFFFC4100) // (PDC_US1) Receive Pointer Register +#define AT91C_US1_TNCR ((AT91_REG *) 0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_TPR ((AT91_REG *) 0xFFFC4108) // (PDC_US1) Transmit Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_IF ((AT91_REG *) 0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER ((AT91_REG *) 0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_RTOR ((AT91_REG *) 0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_CSR ((AT91_REG *) 0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR ((AT91_REG *) 0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_IER ((AT91_REG *) 0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_THR ((AT91_REG *) 0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_TTGR ((AT91_REG *) 0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_RHR ((AT91_REG *) 0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_BRGR ((AT91_REG *) 0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_IMR ((AT91_REG *) 0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_FIDI ((AT91_REG *) 0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_CR ((AT91_REG *) 0xFFFC4000) // (US1) Control Register +#define AT91C_US1_MR ((AT91_REG *) 0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_TNPR ((AT91_REG *) 0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR ((AT91_REG *) 0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TCR ((AT91_REG *) 0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_PTCR ((AT91_REG *) 0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_PTSR ((AT91_REG *) 0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR ((AT91_REG *) 0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_TPR ((AT91_REG *) 0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RCR ((AT91_REG *) 0xFFFC0104) // (PDC_US0) Receive Counter Register +#define AT91C_US0_RPR ((AT91_REG *) 0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_RNCR ((AT91_REG *) 0xFFFC0114) // (PDC_US0) Receive Next Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_BRGR ((AT91_REG *) 0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_NER ((AT91_REG *) 0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_CR ((AT91_REG *) 0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IMR ((AT91_REG *) 0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_FIDI ((AT91_REG *) 0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_TTGR ((AT91_REG *) 0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_MR ((AT91_REG *) 0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_RTOR ((AT91_REG *) 0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_CSR ((AT91_REG *) 0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_RHR ((AT91_REG *) 0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IDR ((AT91_REG *) 0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_THR ((AT91_REG *) 0xFFFC001C) // (US0) Transmitter Holding Register +#define AT91C_US0_IF ((AT91_REG *) 0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_IER ((AT91_REG *) 0xFFFC0008) // (US0) Interrupt Enable Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_TNCR ((AT91_REG *) 0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RPR ((AT91_REG *) 0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_RNCR ((AT91_REG *) 0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TPR ((AT91_REG *) 0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_PTCR ((AT91_REG *) 0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TCR ((AT91_REG *) 0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR ((AT91_REG *) 0xFFFD4104) // (PDC_SSC) Receive Counter Register +#define AT91C_SSC_RNPR ((AT91_REG *) 0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TNPR ((AT91_REG *) 0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_PTSR ((AT91_REG *) 0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RHR ((AT91_REG *) 0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_RSHR ((AT91_REG *) 0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_TFMR ((AT91_REG *) 0xFFFD401C) // (SSC) Transmit Frame Mode Register +#define AT91C_SSC_IDR ((AT91_REG *) 0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_THR ((AT91_REG *) 0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_RCMR ((AT91_REG *) 0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_IER ((AT91_REG *) 0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_TSHR ((AT91_REG *) 0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_SR ((AT91_REG *) 0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_CMR ((AT91_REG *) 0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_TCMR ((AT91_REG *) 0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_CR ((AT91_REG *) 0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR ((AT91_REG *) 0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_RFMR ((AT91_REG *) 0xFFFD4014) // (SSC) Receive Frame Mode Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_IER ((AT91_REG *) 0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_CR ((AT91_REG *) 0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_SR ((AT91_REG *) 0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_IMR ((AT91_REG *) 0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_THR ((AT91_REG *) 0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IDR ((AT91_REG *) 0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_IADR ((AT91_REG *) 0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR ((AT91_REG *) 0xFFFB8004) // (TWI) Master Mode Register +#define AT91C_TWI_CWGR ((AT91_REG *) 0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_RHR ((AT91_REG *) 0xFFFB8030) // (TWI) Receive Holding Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_PWMC_CH3_CUPDR ((AT91_REG *) 0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_PWMC_CH3_Reserved ((AT91_REG *) 0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_PWMC_CH3_CPRDR ((AT91_REG *) 0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_PWMC_CH3_CDTYR ((AT91_REG *) 0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +#define AT91C_PWMC_CH3_CCNTR ((AT91_REG *) 0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_PWMC_CH3_CMR ((AT91_REG *) 0xFFFCC260) // (PWMC_CH3) Channel Mode Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_PWMC_CH2_Reserved ((AT91_REG *) 0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_PWMC_CH2_CMR ((AT91_REG *) 0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_PWMC_CH2_CCNTR ((AT91_REG *) 0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_PWMC_CH2_CPRDR ((AT91_REG *) 0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_PWMC_CH2_CUPDR ((AT91_REG *) 0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_PWMC_CH2_CDTYR ((AT91_REG *) 0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_PWMC_CH1_Reserved ((AT91_REG *) 0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_PWMC_CH1_CUPDR ((AT91_REG *) 0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_PWMC_CH1_CPRDR ((AT91_REG *) 0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_PWMC_CH1_CCNTR ((AT91_REG *) 0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_PWMC_CH1_CDTYR ((AT91_REG *) 0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +#define AT91C_PWMC_CH1_CMR ((AT91_REG *) 0xFFFCC220) // (PWMC_CH1) Channel Mode Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_PWMC_CH0_Reserved ((AT91_REG *) 0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_PWMC_CH0_CPRDR ((AT91_REG *) 0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_PWMC_CH0_CDTYR ((AT91_REG *) 0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +#define AT91C_PWMC_CH0_CMR ((AT91_REG *) 0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_PWMC_CH0_CUPDR ((AT91_REG *) 0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_PWMC_CH0_CCNTR ((AT91_REG *) 0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_IDR ((AT91_REG *) 0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_DIS ((AT91_REG *) 0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER ((AT91_REG *) 0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +#define AT91C_PWMC_VR ((AT91_REG *) 0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR ((AT91_REG *) 0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_SR ((AT91_REG *) 0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_IMR ((AT91_REG *) 0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR ((AT91_REG *) 0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_ENA ((AT91_REG *) 0xFFFCC004) // (PWMC) PWMC Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_IMR ((AT91_REG *) 0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_FADDR ((AT91_REG *) 0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM ((AT91_REG *) 0xFFFB0000) // (UDP) Frame Number Register +#define AT91C_UDP_FDR ((AT91_REG *) 0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_ISR ((AT91_REG *) 0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_CSR ((AT91_REG *) 0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_IDR ((AT91_REG *) 0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_ICR ((AT91_REG *) 0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_RSTEP ((AT91_REG *) 0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_TXVC ((AT91_REG *) 0xFFFB0074) // (UDP) Transceiver Control Register +#define AT91C_UDP_GLBSTATE ((AT91_REG *) 0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_IER ((AT91_REG *) 0xFFFB0010) // (UDP) Interrupt Enable Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_SR ((AT91_REG *) 0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RC ((AT91_REG *) 0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RB ((AT91_REG *) 0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CCR ((AT91_REG *) 0xFFFA0000) // (TC0) Channel Control Register +#define AT91C_TC0_CMR ((AT91_REG *) 0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IER ((AT91_REG *) 0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RA ((AT91_REG *) 0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_IDR ((AT91_REG *) 0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_CV ((AT91_REG *) 0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_IMR ((AT91_REG *) 0xFFFA002C) // (TC0) Interrupt Mask Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_RB ((AT91_REG *) 0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CCR ((AT91_REG *) 0xFFFA0040) // (TC1) Channel Control Register +#define AT91C_TC1_IER ((AT91_REG *) 0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_IDR ((AT91_REG *) 0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR ((AT91_REG *) 0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_CMR ((AT91_REG *) 0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_RA ((AT91_REG *) 0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_RC ((AT91_REG *) 0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_IMR ((AT91_REG *) 0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_CV ((AT91_REG *) 0xFFFA0050) // (TC1) Counter Value +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_CMR ((AT91_REG *) 0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_CCR ((AT91_REG *) 0xFFFA0080) // (TC2) Channel Control Register +#define AT91C_TC2_CV ((AT91_REG *) 0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_RA ((AT91_REG *) 0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_RB ((AT91_REG *) 0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_IDR ((AT91_REG *) 0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_IMR ((AT91_REG *) 0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_RC ((AT91_REG *) 0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_IER ((AT91_REG *) 0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_SR ((AT91_REG *) 0xFFFA00A0) // (TC2) Status Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR ((AT91_REG *) 0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR ((AT91_REG *) 0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for CAN_MB0 peripheral ========== +#define AT91C_CAN_MB0_MDL ((AT91_REG *) 0xFFFD0214) // (CAN_MB0) MailBox Data Low Register +#define AT91C_CAN_MB0_MAM ((AT91_REG *) 0xFFFD0204) // (CAN_MB0) MailBox Acceptance Mask Register +#define AT91C_CAN_MB0_MCR ((AT91_REG *) 0xFFFD021C) // (CAN_MB0) MailBox Control Register +#define AT91C_CAN_MB0_MID ((AT91_REG *) 0xFFFD0208) // (CAN_MB0) MailBox ID Register +#define AT91C_CAN_MB0_MSR ((AT91_REG *) 0xFFFD0210) // (CAN_MB0) MailBox Status Register +#define AT91C_CAN_MB0_MFID ((AT91_REG *) 0xFFFD020C) // (CAN_MB0) MailBox Family ID Register +#define AT91C_CAN_MB0_MDH ((AT91_REG *) 0xFFFD0218) // (CAN_MB0) MailBox Data High Register +#define AT91C_CAN_MB0_MMR ((AT91_REG *) 0xFFFD0200) // (CAN_MB0) MailBox Mode Register +// ========== Register definition for CAN_MB1 peripheral ========== +#define AT91C_CAN_MB1_MDL ((AT91_REG *) 0xFFFD0234) // (CAN_MB1) MailBox Data Low Register +#define AT91C_CAN_MB1_MID ((AT91_REG *) 0xFFFD0228) // (CAN_MB1) MailBox ID Register +#define AT91C_CAN_MB1_MMR ((AT91_REG *) 0xFFFD0220) // (CAN_MB1) MailBox Mode Register +#define AT91C_CAN_MB1_MSR ((AT91_REG *) 0xFFFD0230) // (CAN_MB1) MailBox Status Register +#define AT91C_CAN_MB1_MAM ((AT91_REG *) 0xFFFD0224) // (CAN_MB1) MailBox Acceptance Mask Register +#define AT91C_CAN_MB1_MDH ((AT91_REG *) 0xFFFD0238) // (CAN_MB1) MailBox Data High Register +#define AT91C_CAN_MB1_MCR ((AT91_REG *) 0xFFFD023C) // (CAN_MB1) MailBox Control Register +#define AT91C_CAN_MB1_MFID ((AT91_REG *) 0xFFFD022C) // (CAN_MB1) MailBox Family ID Register +// ========== Register definition for CAN_MB2 peripheral ========== +#define AT91C_CAN_MB2_MCR ((AT91_REG *) 0xFFFD025C) // (CAN_MB2) MailBox Control Register +#define AT91C_CAN_MB2_MDH ((AT91_REG *) 0xFFFD0258) // (CAN_MB2) MailBox Data High Register +#define AT91C_CAN_MB2_MID ((AT91_REG *) 0xFFFD0248) // (CAN_MB2) MailBox ID Register +#define AT91C_CAN_MB2_MDL ((AT91_REG *) 0xFFFD0254) // (CAN_MB2) MailBox Data Low Register +#define AT91C_CAN_MB2_MMR ((AT91_REG *) 0xFFFD0240) // (CAN_MB2) MailBox Mode Register +#define AT91C_CAN_MB2_MAM ((AT91_REG *) 0xFFFD0244) // (CAN_MB2) MailBox Acceptance Mask Register +#define AT91C_CAN_MB2_MFID ((AT91_REG *) 0xFFFD024C) // (CAN_MB2) MailBox Family ID Register +#define AT91C_CAN_MB2_MSR ((AT91_REG *) 0xFFFD0250) // (CAN_MB2) MailBox Status Register +// ========== Register definition for CAN_MB3 peripheral ========== +#define AT91C_CAN_MB3_MFID ((AT91_REG *) 0xFFFD026C) // (CAN_MB3) MailBox Family ID Register +#define AT91C_CAN_MB3_MAM ((AT91_REG *) 0xFFFD0264) // (CAN_MB3) MailBox Acceptance Mask Register +#define AT91C_CAN_MB3_MID ((AT91_REG *) 0xFFFD0268) // (CAN_MB3) MailBox ID Register +#define AT91C_CAN_MB3_MCR ((AT91_REG *) 0xFFFD027C) // (CAN_MB3) MailBox Control Register +#define AT91C_CAN_MB3_MMR ((AT91_REG *) 0xFFFD0260) // (CAN_MB3) MailBox Mode Register +#define AT91C_CAN_MB3_MSR ((AT91_REG *) 0xFFFD0270) // (CAN_MB3) MailBox Status Register +#define AT91C_CAN_MB3_MDL ((AT91_REG *) 0xFFFD0274) // (CAN_MB3) MailBox Data Low Register +#define AT91C_CAN_MB3_MDH ((AT91_REG *) 0xFFFD0278) // (CAN_MB3) MailBox Data High Register +// ========== Register definition for CAN_MB4 peripheral ========== +#define AT91C_CAN_MB4_MID ((AT91_REG *) 0xFFFD0288) // (CAN_MB4) MailBox ID Register +#define AT91C_CAN_MB4_MMR ((AT91_REG *) 0xFFFD0280) // (CAN_MB4) MailBox Mode Register +#define AT91C_CAN_MB4_MDH ((AT91_REG *) 0xFFFD0298) // (CAN_MB4) MailBox Data High Register +#define AT91C_CAN_MB4_MFID ((AT91_REG *) 0xFFFD028C) // (CAN_MB4) MailBox Family ID Register +#define AT91C_CAN_MB4_MSR ((AT91_REG *) 0xFFFD0290) // (CAN_MB4) MailBox Status Register +#define AT91C_CAN_MB4_MCR ((AT91_REG *) 0xFFFD029C) // (CAN_MB4) MailBox Control Register +#define AT91C_CAN_MB4_MDL ((AT91_REG *) 0xFFFD0294) // (CAN_MB4) MailBox Data Low Register +#define AT91C_CAN_MB4_MAM ((AT91_REG *) 0xFFFD0284) // (CAN_MB4) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB5 peripheral ========== +#define AT91C_CAN_MB5_MSR ((AT91_REG *) 0xFFFD02B0) // (CAN_MB5) MailBox Status Register +#define AT91C_CAN_MB5_MCR ((AT91_REG *) 0xFFFD02BC) // (CAN_MB5) MailBox Control Register +#define AT91C_CAN_MB5_MFID ((AT91_REG *) 0xFFFD02AC) // (CAN_MB5) MailBox Family ID Register +#define AT91C_CAN_MB5_MDH ((AT91_REG *) 0xFFFD02B8) // (CAN_MB5) MailBox Data High Register +#define AT91C_CAN_MB5_MID ((AT91_REG *) 0xFFFD02A8) // (CAN_MB5) MailBox ID Register +#define AT91C_CAN_MB5_MMR ((AT91_REG *) 0xFFFD02A0) // (CAN_MB5) MailBox Mode Register +#define AT91C_CAN_MB5_MDL ((AT91_REG *) 0xFFFD02B4) // (CAN_MB5) MailBox Data Low Register +#define AT91C_CAN_MB5_MAM ((AT91_REG *) 0xFFFD02A4) // (CAN_MB5) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB6 peripheral ========== +#define AT91C_CAN_MB6_MFID ((AT91_REG *) 0xFFFD02CC) // (CAN_MB6) MailBox Family ID Register +#define AT91C_CAN_MB6_MID ((AT91_REG *) 0xFFFD02C8) // (CAN_MB6) MailBox ID Register +#define AT91C_CAN_MB6_MAM ((AT91_REG *) 0xFFFD02C4) // (CAN_MB6) MailBox Acceptance Mask Register +#define AT91C_CAN_MB6_MSR ((AT91_REG *) 0xFFFD02D0) // (CAN_MB6) MailBox Status Register +#define AT91C_CAN_MB6_MDL ((AT91_REG *) 0xFFFD02D4) // (CAN_MB6) MailBox Data Low Register +#define AT91C_CAN_MB6_MCR ((AT91_REG *) 0xFFFD02DC) // (CAN_MB6) MailBox Control Register +#define AT91C_CAN_MB6_MDH ((AT91_REG *) 0xFFFD02D8) // (CAN_MB6) MailBox Data High Register +#define AT91C_CAN_MB6_MMR ((AT91_REG *) 0xFFFD02C0) // (CAN_MB6) MailBox Mode Register +// ========== Register definition for CAN_MB7 peripheral ========== +#define AT91C_CAN_MB7_MCR ((AT91_REG *) 0xFFFD02FC) // (CAN_MB7) MailBox Control Register +#define AT91C_CAN_MB7_MDH ((AT91_REG *) 0xFFFD02F8) // (CAN_MB7) MailBox Data High Register +#define AT91C_CAN_MB7_MFID ((AT91_REG *) 0xFFFD02EC) // (CAN_MB7) MailBox Family ID Register +#define AT91C_CAN_MB7_MDL ((AT91_REG *) 0xFFFD02F4) // (CAN_MB7) MailBox Data Low Register +#define AT91C_CAN_MB7_MID ((AT91_REG *) 0xFFFD02E8) // (CAN_MB7) MailBox ID Register +#define AT91C_CAN_MB7_MMR ((AT91_REG *) 0xFFFD02E0) // (CAN_MB7) MailBox Mode Register +#define AT91C_CAN_MB7_MAM ((AT91_REG *) 0xFFFD02E4) // (CAN_MB7) MailBox Acceptance Mask Register +#define AT91C_CAN_MB7_MSR ((AT91_REG *) 0xFFFD02F0) // (CAN_MB7) MailBox Status Register +// ========== Register definition for CAN peripheral ========== +#define AT91C_CAN_TCR ((AT91_REG *) 0xFFFD0024) // (CAN) Transfer Command Register +#define AT91C_CAN_IMR ((AT91_REG *) 0xFFFD000C) // (CAN) Interrupt Mask Register +#define AT91C_CAN_IER ((AT91_REG *) 0xFFFD0004) // (CAN) Interrupt Enable Register +#define AT91C_CAN_ECR ((AT91_REG *) 0xFFFD0020) // (CAN) Error Counter Register +#define AT91C_CAN_TIMESTP ((AT91_REG *) 0xFFFD001C) // (CAN) Time Stamp Register +#define AT91C_CAN_MR ((AT91_REG *) 0xFFFD0000) // (CAN) Mode Register +#define AT91C_CAN_IDR ((AT91_REG *) 0xFFFD0008) // (CAN) Interrupt Disable Register +#define AT91C_CAN_ACR ((AT91_REG *) 0xFFFD0028) // (CAN) Abort Command Register +#define AT91C_CAN_TIM ((AT91_REG *) 0xFFFD0018) // (CAN) Timer Register +#define AT91C_CAN_SR ((AT91_REG *) 0xFFFD0010) // (CAN) Status Register +#define AT91C_CAN_BR ((AT91_REG *) 0xFFFD0014) // (CAN) Baudrate Register +#define AT91C_CAN_VR ((AT91_REG *) 0xFFFD00FC) // (CAN) Version Register +// ========== Register definition for EMAC peripheral ========== +#define AT91C_EMAC_ISR ((AT91_REG *) 0xFFFDC024) // (EMAC) Interrupt Status Register +#define AT91C_EMAC_SA4H ((AT91_REG *) 0xFFFDC0B4) // (EMAC) Specific Address 4 Top, Last 2 bytes +#define AT91C_EMAC_SA1L ((AT91_REG *) 0xFFFDC098) // (EMAC) Specific Address 1 Bottom, First 4 bytes +#define AT91C_EMAC_ELE ((AT91_REG *) 0xFFFDC078) // (EMAC) Excessive Length Errors Register +#define AT91C_EMAC_LCOL ((AT91_REG *) 0xFFFDC05C) // (EMAC) Late Collision Register +#define AT91C_EMAC_RLE ((AT91_REG *) 0xFFFDC088) // (EMAC) Receive Length Field Mismatch Register +#define AT91C_EMAC_WOL ((AT91_REG *) 0xFFFDC0C4) // (EMAC) Wake On LAN Register +#define AT91C_EMAC_DTF ((AT91_REG *) 0xFFFDC058) // (EMAC) Deferred Transmission Frame Register +#define AT91C_EMAC_TUND ((AT91_REG *) 0xFFFDC064) // (EMAC) Transmit Underrun Error Register +#define AT91C_EMAC_NCR ((AT91_REG *) 0xFFFDC000) // (EMAC) Network Control Register +#define AT91C_EMAC_SA4L ((AT91_REG *) 0xFFFDC0B0) // (EMAC) Specific Address 4 Bottom, First 4 bytes +#define AT91C_EMAC_RSR ((AT91_REG *) 0xFFFDC020) // (EMAC) Receive Status Register +#define AT91C_EMAC_SA3L ((AT91_REG *) 0xFFFDC0A8) // (EMAC) Specific Address 3 Bottom, First 4 bytes +#define AT91C_EMAC_TSR ((AT91_REG *) 0xFFFDC014) // (EMAC) Transmit Status Register +#define AT91C_EMAC_IDR ((AT91_REG *) 0xFFFDC02C) // (EMAC) Interrupt Disable Register +#define AT91C_EMAC_RSE ((AT91_REG *) 0xFFFDC074) // (EMAC) Receive Symbol Errors Register +#define AT91C_EMAC_ECOL ((AT91_REG *) 0xFFFDC060) // (EMAC) Excessive Collision Register +#define AT91C_EMAC_TID ((AT91_REG *) 0xFFFDC0B8) // (EMAC) Type ID Checking Register +#define AT91C_EMAC_HRB ((AT91_REG *) 0xFFFDC090) // (EMAC) Hash Address Bottom[31:0] +#define AT91C_EMAC_TBQP ((AT91_REG *) 0xFFFDC01C) // (EMAC) Transmit Buffer Queue Pointer +#define AT91C_EMAC_USRIO ((AT91_REG *) 0xFFFDC0C0) // (EMAC) USER Input/Output Register +#define AT91C_EMAC_PTR ((AT91_REG *) 0xFFFDC038) // (EMAC) Pause Time Register +#define AT91C_EMAC_SA2H ((AT91_REG *) 0xFFFDC0A4) // (EMAC) Specific Address 2 Top, Last 2 bytes +#define AT91C_EMAC_ROV ((AT91_REG *) 0xFFFDC070) // (EMAC) Receive Overrun Errors Register +#define AT91C_EMAC_ALE ((AT91_REG *) 0xFFFDC054) // (EMAC) Alignment Error Register +#define AT91C_EMAC_RJA ((AT91_REG *) 0xFFFDC07C) // (EMAC) Receive Jabbers Register +#define AT91C_EMAC_RBQP ((AT91_REG *) 0xFFFDC018) // (EMAC) Receive Buffer Queue Pointer +#define AT91C_EMAC_TPF ((AT91_REG *) 0xFFFDC08C) // (EMAC) Transmitted Pause Frames Register +#define AT91C_EMAC_NCFGR ((AT91_REG *) 0xFFFDC004) // (EMAC) Network Configuration Register +#define AT91C_EMAC_HRT ((AT91_REG *) 0xFFFDC094) // (EMAC) Hash Address Top[63:32] +#define AT91C_EMAC_USF ((AT91_REG *) 0xFFFDC080) // (EMAC) Undersize Frames Register +#define AT91C_EMAC_FCSE ((AT91_REG *) 0xFFFDC050) // (EMAC) Frame Check Sequence Error Register +#define AT91C_EMAC_TPQ ((AT91_REG *) 0xFFFDC0BC) // (EMAC) Transmit Pause Quantum Register +#define AT91C_EMAC_MAN ((AT91_REG *) 0xFFFDC034) // (EMAC) PHY Maintenance Register +#define AT91C_EMAC_FTO ((AT91_REG *) 0xFFFDC040) // (EMAC) Frames Transmitted OK Register +#define AT91C_EMAC_REV ((AT91_REG *) 0xFFFDC0FC) // (EMAC) Revision Register +#define AT91C_EMAC_IMR ((AT91_REG *) 0xFFFDC030) // (EMAC) Interrupt Mask Register +#define AT91C_EMAC_SCF ((AT91_REG *) 0xFFFDC044) // (EMAC) Single Collision Frame Register +#define AT91C_EMAC_PFR ((AT91_REG *) 0xFFFDC03C) // (EMAC) Pause Frames received Register +#define AT91C_EMAC_MCF ((AT91_REG *) 0xFFFDC048) // (EMAC) Multiple Collision Frame Register +#define AT91C_EMAC_NSR ((AT91_REG *) 0xFFFDC008) // (EMAC) Network Status Register +#define AT91C_EMAC_SA2L ((AT91_REG *) 0xFFFDC0A0) // (EMAC) Specific Address 2 Bottom, First 4 bytes +#define AT91C_EMAC_FRO ((AT91_REG *) 0xFFFDC04C) // (EMAC) Frames Received OK Register +#define AT91C_EMAC_IER ((AT91_REG *) 0xFFFDC028) // (EMAC) Interrupt Enable Register +#define AT91C_EMAC_SA1H ((AT91_REG *) 0xFFFDC09C) // (EMAC) Specific Address 1 Top, Last 2 bytes +#define AT91C_EMAC_CSE ((AT91_REG *) 0xFFFDC068) // (EMAC) Carrier Sense Error Register +#define AT91C_EMAC_SA3H ((AT91_REG *) 0xFFFDC0AC) // (EMAC) Specific Address 3 Top, Last 2 bytes +#define AT91C_EMAC_RRE ((AT91_REG *) 0xFFFDC06C) // (EMAC) Receive Ressource Error Register +#define AT91C_EMAC_STE ((AT91_REG *) 0xFFFDC084) // (EMAC) SQE Test Error Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTSR ((AT91_REG *) 0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_PTCR ((AT91_REG *) 0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR ((AT91_REG *) 0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_TNCR ((AT91_REG *) 0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNPR ((AT91_REG *) 0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_RNCR ((AT91_REG *) 0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_RPR ((AT91_REG *) 0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_TCR ((AT91_REG *) 0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_TPR ((AT91_REG *) 0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RCR ((AT91_REG *) 0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_CDR2 ((AT91_REG *) 0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR3 ((AT91_REG *) 0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR0 ((AT91_REG *) 0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR5 ((AT91_REG *) 0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_CHDR ((AT91_REG *) 0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_SR ((AT91_REG *) 0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CDR4 ((AT91_REG *) 0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR1 ((AT91_REG *) 0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_LCDR ((AT91_REG *) 0xFFFD8020) // (ADC) ADC Last Converted Data Register +#define AT91C_ADC_IDR ((AT91_REG *) 0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_CR ((AT91_REG *) 0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CDR7 ((AT91_REG *) 0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR6 ((AT91_REG *) 0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_IER ((AT91_REG *) 0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_CHER ((AT91_REG *) 0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR ((AT91_REG *) 0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_MR ((AT91_REG *) 0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_IMR ((AT91_REG *) 0xFFFD802C) // (ADC) ADC Interrupt Mask Register +// ========== Register definition for PDC_AES peripheral ========== +#define AT91C_AES_TPR ((AT91_REG *) 0xFFFA4108) // (PDC_AES) Transmit Pointer Register +#define AT91C_AES_PTCR ((AT91_REG *) 0xFFFA4120) // (PDC_AES) PDC Transfer Control Register +#define AT91C_AES_RNPR ((AT91_REG *) 0xFFFA4110) // (PDC_AES) Receive Next Pointer Register +#define AT91C_AES_TNCR ((AT91_REG *) 0xFFFA411C) // (PDC_AES) Transmit Next Counter Register +#define AT91C_AES_TCR ((AT91_REG *) 0xFFFA410C) // (PDC_AES) Transmit Counter Register +#define AT91C_AES_RCR ((AT91_REG *) 0xFFFA4104) // (PDC_AES) Receive Counter Register +#define AT91C_AES_RNCR ((AT91_REG *) 0xFFFA4114) // (PDC_AES) Receive Next Counter Register +#define AT91C_AES_TNPR ((AT91_REG *) 0xFFFA4118) // (PDC_AES) Transmit Next Pointer Register +#define AT91C_AES_RPR ((AT91_REG *) 0xFFFA4100) // (PDC_AES) Receive Pointer Register +#define AT91C_AES_PTSR ((AT91_REG *) 0xFFFA4124) // (PDC_AES) PDC Transfer Status Register +// ========== Register definition for AES peripheral ========== +#define AT91C_AES_IVxR ((AT91_REG *) 0xFFFA4060) // (AES) Initialization Vector x Register +#define AT91C_AES_MR ((AT91_REG *) 0xFFFA4004) // (AES) Mode Register +#define AT91C_AES_VR ((AT91_REG *) 0xFFFA40FC) // (AES) AES Version Register +#define AT91C_AES_ODATAxR ((AT91_REG *) 0xFFFA4050) // (AES) Output Data x Register +#define AT91C_AES_IDATAxR ((AT91_REG *) 0xFFFA4040) // (AES) Input Data x Register +#define AT91C_AES_CR ((AT91_REG *) 0xFFFA4000) // (AES) Control Register +#define AT91C_AES_IDR ((AT91_REG *) 0xFFFA4014) // (AES) Interrupt Disable Register +#define AT91C_AES_IMR ((AT91_REG *) 0xFFFA4018) // (AES) Interrupt Mask Register +#define AT91C_AES_IER ((AT91_REG *) 0xFFFA4010) // (AES) Interrupt Enable Register +#define AT91C_AES_KEYWxR ((AT91_REG *) 0xFFFA4020) // (AES) Key Word x Register +#define AT91C_AES_ISR ((AT91_REG *) 0xFFFA401C) // (AES) Interrupt Status Register +// ========== Register definition for PDC_TDES peripheral ========== +#define AT91C_TDES_RNCR ((AT91_REG *) 0xFFFA8114) // (PDC_TDES) Receive Next Counter Register +#define AT91C_TDES_TCR ((AT91_REG *) 0xFFFA810C) // (PDC_TDES) Transmit Counter Register +#define AT91C_TDES_RCR ((AT91_REG *) 0xFFFA8104) // (PDC_TDES) Receive Counter Register +#define AT91C_TDES_TNPR ((AT91_REG *) 0xFFFA8118) // (PDC_TDES) Transmit Next Pointer Register +#define AT91C_TDES_RNPR ((AT91_REG *) 0xFFFA8110) // (PDC_TDES) Receive Next Pointer Register +#define AT91C_TDES_RPR ((AT91_REG *) 0xFFFA8100) // (PDC_TDES) Receive Pointer Register +#define AT91C_TDES_TNCR ((AT91_REG *) 0xFFFA811C) // (PDC_TDES) Transmit Next Counter Register +#define AT91C_TDES_TPR ((AT91_REG *) 0xFFFA8108) // (PDC_TDES) Transmit Pointer Register +#define AT91C_TDES_PTSR ((AT91_REG *) 0xFFFA8124) // (PDC_TDES) PDC Transfer Status Register +#define AT91C_TDES_PTCR ((AT91_REG *) 0xFFFA8120) // (PDC_TDES) PDC Transfer Control Register +// ========== Register definition for TDES peripheral ========== +#define AT91C_TDES_KEY2WxR ((AT91_REG *) 0xFFFA8028) // (TDES) Key 2 Word x Register +#define AT91C_TDES_KEY3WxR ((AT91_REG *) 0xFFFA8030) // (TDES) Key 3 Word x Register +#define AT91C_TDES_IDR ((AT91_REG *) 0xFFFA8014) // (TDES) Interrupt Disable Register +#define AT91C_TDES_VR ((AT91_REG *) 0xFFFA80FC) // (TDES) TDES Version Register +#define AT91C_TDES_IVxR ((AT91_REG *) 0xFFFA8060) // (TDES) Initialization Vector x Register +#define AT91C_TDES_ODATAxR ((AT91_REG *) 0xFFFA8050) // (TDES) Output Data x Register +#define AT91C_TDES_IMR ((AT91_REG *) 0xFFFA8018) // (TDES) Interrupt Mask Register +#define AT91C_TDES_MR ((AT91_REG *) 0xFFFA8004) // (TDES) Mode Register +#define AT91C_TDES_CR ((AT91_REG *) 0xFFFA8000) // (TDES) Control Register +#define AT91C_TDES_IER ((AT91_REG *) 0xFFFA8010) // (TDES) Interrupt Enable Register +#define AT91C_TDES_ISR ((AT91_REG *) 0xFFFA801C) // (TDES) Interrupt Status Register +#define AT91C_TDES_IDATAxR ((AT91_REG *) 0xFFFA8040) // (TDES) Input Data x Register +#define AT91C_TDES_KEY1WxR ((AT91_REG *) 0xFFFA8020) // (TDES) Key 1 Word x Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_PIO_PA0 ((unsigned int) 1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_RXD0 ((unsigned int) AT91C_PIO_PA0) // USART 0 Receive Data +#define AT91C_PIO_PA1 ((unsigned int) 1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_TXD0 ((unsigned int) AT91C_PIO_PA1) // USART 0 Transmit Data +#define AT91C_PIO_PA10 ((unsigned int) 1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_TWD ((unsigned int) AT91C_PIO_PA10) // TWI Two-wire Serial Data +#define AT91C_PIO_PA11 ((unsigned int) 1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_TWCK ((unsigned int) AT91C_PIO_PA11) // TWI Two-wire Serial Clock +#define AT91C_PIO_PA12 ((unsigned int) 1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_NPCS00 ((unsigned int) AT91C_PIO_PA12) // SPI 0 Peripheral Chip Select 0 +#define AT91C_PIO_PA13 ((unsigned int) 1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_NPCS01 ((unsigned int) AT91C_PIO_PA13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PA13_PCK1 ((unsigned int) AT91C_PIO_PA13) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA14 ((unsigned int) 1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_NPCS02 ((unsigned int) AT91C_PIO_PA14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PA14_IRQ1 ((unsigned int) AT91C_PIO_PA14) // External Interrupt 1 +#define AT91C_PIO_PA15 ((unsigned int) 1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_NPCS03 ((unsigned int) AT91C_PIO_PA15) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PA15_TCLK2 ((unsigned int) AT91C_PIO_PA15) // Timer Counter 2 external clock input +#define AT91C_PIO_PA16 ((unsigned int) 1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_MISO0 ((unsigned int) AT91C_PIO_PA16) // SPI 0 Master In Slave +#define AT91C_PIO_PA17 ((unsigned int) 1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_MOSI0 ((unsigned int) AT91C_PIO_PA17) // SPI 0 Master Out Slave +#define AT91C_PIO_PA18 ((unsigned int) 1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_SPCK0 ((unsigned int) AT91C_PIO_PA18) // SPI 0 Serial Clock +#define AT91C_PIO_PA19 ((unsigned int) 1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_CANRX ((unsigned int) AT91C_PIO_PA19) // CAN Receive +#define AT91C_PIO_PA2 ((unsigned int) 1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_SCK0 ((unsigned int) AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PA2_NPCS11 ((unsigned int) AT91C_PIO_PA2) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA20 ((unsigned int) 1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_CANTX ((unsigned int) AT91C_PIO_PA20) // CAN Transmit +#define AT91C_PIO_PA21 ((unsigned int) 1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_TF ((unsigned int) AT91C_PIO_PA21) // SSC Transmit Frame Sync +#define AT91C_PA21_NPCS10 ((unsigned int) AT91C_PIO_PA21) // SPI 1 Peripheral Chip Select 0 +#define AT91C_PIO_PA22 ((unsigned int) 1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TK ((unsigned int) AT91C_PIO_PA22) // SSC Transmit Clock +#define AT91C_PA22_SPCK1 ((unsigned int) AT91C_PIO_PA22) // SPI 1 Serial Clock +#define AT91C_PIO_PA23 ((unsigned int) 1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_TD ((unsigned int) AT91C_PIO_PA23) // SSC Transmit data +#define AT91C_PA23_MOSI1 ((unsigned int) AT91C_PIO_PA23) // SPI 1 Master Out Slave +#define AT91C_PIO_PA24 ((unsigned int) 1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RD ((unsigned int) AT91C_PIO_PA24) // SSC Receive Data +#define AT91C_PA24_MISO1 ((unsigned int) AT91C_PIO_PA24) // SPI 1 Master In Slave +#define AT91C_PIO_PA25 ((unsigned int) 1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_RK ((unsigned int) AT91C_PIO_PA25) // SSC Receive Clock +#define AT91C_PA25_NPCS11 ((unsigned int) AT91C_PIO_PA25) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA26 ((unsigned int) 1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_RF ((unsigned int) AT91C_PIO_PA26) // SSC Receive Frame Sync +#define AT91C_PA26_NPCS12 ((unsigned int) AT91C_PIO_PA26) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA27 ((unsigned int) 1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DRXD ((unsigned int) AT91C_PIO_PA27) // DBGU Debug Receive Data +#define AT91C_PA27_PCK3 ((unsigned int) AT91C_PIO_PA27) // PMC Programmable Clock Output 3 +#define AT91C_PIO_PA28 ((unsigned int) 1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DTXD ((unsigned int) AT91C_PIO_PA28) // DBGU Debug Transmit Data +#define AT91C_PIO_PA29 ((unsigned int) 1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_FIQ ((unsigned int) AT91C_PIO_PA29) // AIC Fast Interrupt Input +#define AT91C_PA29_NPCS13 ((unsigned int) AT91C_PIO_PA29) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA3 ((unsigned int) 1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_RTS0 ((unsigned int) AT91C_PIO_PA3) // USART 0 Ready To Send +#define AT91C_PA3_NPCS12 ((unsigned int) AT91C_PIO_PA3) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA30 ((unsigned int) 1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ0 ((unsigned int) AT91C_PIO_PA30) // External Interrupt 0 +#define AT91C_PA30_PCK2 ((unsigned int) AT91C_PIO_PA30) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 ((unsigned int) 1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_CTS0 ((unsigned int) AT91C_PIO_PA4) // USART 0 Clear To Send +#define AT91C_PA4_NPCS13 ((unsigned int) AT91C_PIO_PA4) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA5 ((unsigned int) 1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD1 ((unsigned int) AT91C_PIO_PA5) // USART 1 Receive Data +#define AT91C_PIO_PA6 ((unsigned int) 1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD1 ((unsigned int) AT91C_PIO_PA6) // USART 1 Transmit Data +#define AT91C_PIO_PA7 ((unsigned int) 1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_SCK1 ((unsigned int) AT91C_PIO_PA7) // USART 1 Serial Clock +#define AT91C_PA7_NPCS01 ((unsigned int) AT91C_PIO_PA7) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PA8 ((unsigned int) 1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_RTS1 ((unsigned int) AT91C_PIO_PA8) // USART 1 Ready To Send +#define AT91C_PA8_NPCS02 ((unsigned int) AT91C_PIO_PA8) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PA9 ((unsigned int) 1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_CTS1 ((unsigned int) AT91C_PIO_PA9) // USART 1 Clear To Send +#define AT91C_PA9_NPCS03 ((unsigned int) AT91C_PIO_PA9) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB0 ((unsigned int) 1 << 0) // Pin Controlled by PB0 +#define AT91C_PB0_ETXCK_EREFCK ((unsigned int) AT91C_PIO_PB0) // Ethernet MAC Transmit Clock/Reference Clock +#define AT91C_PB0_PCK0 ((unsigned int) AT91C_PIO_PB0) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB1 ((unsigned int) 1 << 1) // Pin Controlled by PB1 +#define AT91C_PB1_ETXEN ((unsigned int) AT91C_PIO_PB1) // Ethernet MAC Transmit Enable +#define AT91C_PIO_PB10 ((unsigned int) 1 << 10) // Pin Controlled by PB10 +#define AT91C_PB10_ETX2 ((unsigned int) AT91C_PIO_PB10) // Ethernet MAC Transmit Data 2 +#define AT91C_PB10_NPCS11 ((unsigned int) AT91C_PIO_PB10) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PB11 ((unsigned int) 1 << 11) // Pin Controlled by PB11 +#define AT91C_PB11_ETX3 ((unsigned int) AT91C_PIO_PB11) // Ethernet MAC Transmit Data 3 +#define AT91C_PB11_NPCS12 ((unsigned int) AT91C_PIO_PB11) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PB12 ((unsigned int) 1 << 12) // Pin Controlled by PB12 +#define AT91C_PB12_ETXER ((unsigned int) AT91C_PIO_PB12) // Ethernet MAC Transmikt Coding Error +#define AT91C_PB12_TCLK0 ((unsigned int) AT91C_PIO_PB12) // Timer Counter 0 external clock input +#define AT91C_PIO_PB13 ((unsigned int) 1 << 13) // Pin Controlled by PB13 +#define AT91C_PB13_ERX2 ((unsigned int) AT91C_PIO_PB13) // Ethernet MAC Receive Data 2 +#define AT91C_PB13_NPCS01 ((unsigned int) AT91C_PIO_PB13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PB14 ((unsigned int) 1 << 14) // Pin Controlled by PB14 +#define AT91C_PB14_ERX3 ((unsigned int) AT91C_PIO_PB14) // Ethernet MAC Receive Data 3 +#define AT91C_PB14_NPCS02 ((unsigned int) AT91C_PIO_PB14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PB15 ((unsigned int) 1 << 15) // Pin Controlled by PB15 +#define AT91C_PB15_ERXDV ((unsigned int) AT91C_PIO_PB15) // Ethernet MAC Receive Data Valid +#define AT91C_PIO_PB16 ((unsigned int) 1 << 16) // Pin Controlled by PB16 +#define AT91C_PB16_ECOL ((unsigned int) AT91C_PIO_PB16) // Ethernet MAC Collision Detected +#define AT91C_PB16_NPCS13 ((unsigned int) AT91C_PIO_PB16) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PB17 ((unsigned int) 1 << 17) // Pin Controlled by PB17 +#define AT91C_PB17_ERXCK ((unsigned int) AT91C_PIO_PB17) // Ethernet MAC Receive Clock +#define AT91C_PB17_NPCS03 ((unsigned int) AT91C_PIO_PB17) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB18 ((unsigned int) 1 << 18) // Pin Controlled by PB18 +#define AT91C_PB18_EF100 ((unsigned int) AT91C_PIO_PB18) // Ethernet MAC Force 100 Mbits/sec +#define AT91C_PB18_ADTRG ((unsigned int) AT91C_PIO_PB18) // ADC External Trigger +#define AT91C_PIO_PB19 ((unsigned int) 1 << 19) // Pin Controlled by PB19 +#define AT91C_PB19_PWM0 ((unsigned int) AT91C_PIO_PB19) // PWM Channel 0 +#define AT91C_PB19_TCLK1 ((unsigned int) AT91C_PIO_PB19) // Timer Counter 1 external clock input +#define AT91C_PIO_PB2 ((unsigned int) 1 << 2) // Pin Controlled by PB2 +#define AT91C_PB2_ETX0 ((unsigned int) AT91C_PIO_PB2) // Ethernet MAC Transmit Data 0 +#define AT91C_PIO_PB20 ((unsigned int) 1 << 20) // Pin Controlled by PB20 +#define AT91C_PB20_PWM1 ((unsigned int) AT91C_PIO_PB20) // PWM Channel 1 +#define AT91C_PB20_PCK0 ((unsigned int) AT91C_PIO_PB20) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB21 ((unsigned int) 1 << 21) // Pin Controlled by PB21 +#define AT91C_PB21_PWM2 ((unsigned int) AT91C_PIO_PB21) // PWM Channel 2 +#define AT91C_PB21_PCK1 ((unsigned int) AT91C_PIO_PB21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PB22 ((unsigned int) 1 << 22) // Pin Controlled by PB22 +#define AT91C_PB22_PWM3 ((unsigned int) AT91C_PIO_PB22) // PWM Channel 3 +#define AT91C_PB22_PCK2 ((unsigned int) AT91C_PIO_PB22) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PB23 ((unsigned int) 1 << 23) // Pin Controlled by PB23 +#define AT91C_PB23_TIOA0 ((unsigned int) AT91C_PIO_PB23) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PB23_DCD1 ((unsigned int) AT91C_PIO_PB23) // USART 1 Data Carrier Detect +#define AT91C_PIO_PB24 ((unsigned int) 1 << 24) // Pin Controlled by PB24 +#define AT91C_PB24_TIOB0 ((unsigned int) AT91C_PIO_PB24) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PB24_DSR1 ((unsigned int) AT91C_PIO_PB24) // USART 1 Data Set ready +#define AT91C_PIO_PB25 ((unsigned int) 1 << 25) // Pin Controlled by PB25 +#define AT91C_PB25_TIOA1 ((unsigned int) AT91C_PIO_PB25) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PB25_DTR1 ((unsigned int) AT91C_PIO_PB25) // USART 1 Data Terminal ready +#define AT91C_PIO_PB26 ((unsigned int) 1 << 26) // Pin Controlled by PB26 +#define AT91C_PB26_TIOB1 ((unsigned int) AT91C_PIO_PB26) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PB26_RI1 ((unsigned int) AT91C_PIO_PB26) // USART 1 Ring Indicator +#define AT91C_PIO_PB27 ((unsigned int) 1 << 27) // Pin Controlled by PB27 +#define AT91C_PB27_TIOA2 ((unsigned int) AT91C_PIO_PB27) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PB27_PWM0 ((unsigned int) AT91C_PIO_PB27) // PWM Channel 0 +#define AT91C_PIO_PB28 ((unsigned int) 1 << 28) // Pin Controlled by PB28 +#define AT91C_PB28_TIOB2 ((unsigned int) AT91C_PIO_PB28) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PB28_PWM1 ((unsigned int) AT91C_PIO_PB28) // PWM Channel 1 +#define AT91C_PIO_PB29 ((unsigned int) 1 << 29) // Pin Controlled by PB29 +#define AT91C_PB29_PCK1 ((unsigned int) AT91C_PIO_PB29) // PMC Programmable Clock Output 1 +#define AT91C_PB29_PWM2 ((unsigned int) AT91C_PIO_PB29) // PWM Channel 2 +#define AT91C_PIO_PB3 ((unsigned int) 1 << 3) // Pin Controlled by PB3 +#define AT91C_PB3_ETX1 ((unsigned int) AT91C_PIO_PB3) // Ethernet MAC Transmit Data 1 +#define AT91C_PIO_PB30 ((unsigned int) 1 << 30) // Pin Controlled by PB30 +#define AT91C_PB30_PCK2 ((unsigned int) AT91C_PIO_PB30) // PMC Programmable Clock Output 2 +#define AT91C_PB30_PWM3 ((unsigned int) AT91C_PIO_PB30) // PWM Channel 3 +#define AT91C_PIO_PB4 ((unsigned int) 1 << 4) // Pin Controlled by PB4 +#define AT91C_PB4_ECRS_ECRSDV ((unsigned int) AT91C_PIO_PB4) // Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +#define AT91C_PIO_PB5 ((unsigned int) 1 << 5) // Pin Controlled by PB5 +#define AT91C_PB5_ERX0 ((unsigned int) AT91C_PIO_PB5) // Ethernet MAC Receive Data 0 +#define AT91C_PIO_PB6 ((unsigned int) 1 << 6) // Pin Controlled by PB6 +#define AT91C_PB6_ERX1 ((unsigned int) AT91C_PIO_PB6) // Ethernet MAC Receive Data 1 +#define AT91C_PIO_PB7 ((unsigned int) 1 << 7) // Pin Controlled by PB7 +#define AT91C_PB7_ERXER ((unsigned int) AT91C_PIO_PB7) // Ethernet MAC Receive Error +#define AT91C_PIO_PB8 ((unsigned int) 1 << 8) // Pin Controlled by PB8 +#define AT91C_PB8_EMDC ((unsigned int) AT91C_PIO_PB8) // Ethernet MAC Management Data Clock +#define AT91C_PIO_PB9 ((unsigned int) 1 << 9) // Pin Controlled by PB9 +#define AT91C_PB9_EMDIO ((unsigned int) AT91C_PIO_PB9) // Ethernet MAC Management Data Input/Output + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ID_FIQ ((unsigned int) 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ((unsigned int) 1) // System Peripheral +#define AT91C_ID_PIOA ((unsigned int) 2) // Parallel IO Controller A +#define AT91C_ID_PIOB ((unsigned int) 3) // Parallel IO Controller B +#define AT91C_ID_SPI0 ((unsigned int) 4) // Serial Peripheral Interface 0 +#define AT91C_ID_SPI1 ((unsigned int) 5) // Serial Peripheral Interface 1 +#define AT91C_ID_US0 ((unsigned int) 6) // USART 0 +#define AT91C_ID_US1 ((unsigned int) 7) // USART 1 +#define AT91C_ID_SSC ((unsigned int) 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ((unsigned int) 9) // Two-Wire Interface +#define AT91C_ID_PWMC ((unsigned int) 10) // PWM Controller +#define AT91C_ID_UDP ((unsigned int) 11) // USB Device Port +#define AT91C_ID_TC0 ((unsigned int) 12) // Timer Counter 0 +#define AT91C_ID_TC1 ((unsigned int) 13) // Timer Counter 1 +#define AT91C_ID_TC2 ((unsigned int) 14) // Timer Counter 2 +#define AT91C_ID_CAN ((unsigned int) 15) // Control Area Network Controller +#define AT91C_ID_EMAC ((unsigned int) 16) // Ethernet MAC +#define AT91C_ID_ADC ((unsigned int) 17) // Analog-to-Digital Converter +#define AT91C_ID_AES ((unsigned int) 18) // Advanced Encryption Standard 128-bit +#define AT91C_ID_TDES ((unsigned int) 19) // Triple Data Encryption Standard +#define AT91C_ID_20_Reserved ((unsigned int) 20) // Reserved +#define AT91C_ID_21_Reserved ((unsigned int) 21) // Reserved +#define AT91C_ID_22_Reserved ((unsigned int) 22) // Reserved +#define AT91C_ID_23_Reserved ((unsigned int) 23) // Reserved +#define AT91C_ID_24_Reserved ((unsigned int) 24) // Reserved +#define AT91C_ID_25_Reserved ((unsigned int) 25) // Reserved +#define AT91C_ID_26_Reserved ((unsigned int) 26) // Reserved +#define AT91C_ID_27_Reserved ((unsigned int) 27) // Reserved +#define AT91C_ID_28_Reserved ((unsigned int) 28) // Reserved +#define AT91C_ID_29_Reserved ((unsigned int) 29) // Reserved +#define AT91C_ID_IRQ0 ((unsigned int) 30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 ((unsigned int) 31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_BASE_SYS ((AT91PS_SYS) 0xFFFFF000) // (SYS) Base Address +#define AT91C_BASE_AIC ((AT91PS_AIC) 0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_PDC_DBGU ((AT91PS_PDC) 0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_DBGU ((AT91PS_DBGU) 0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PIOA ((AT91PS_PIO) 0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_PIOB ((AT91PS_PIO) 0xFFFFF600) // (PIOB) Base Address +#define AT91C_BASE_CKGR ((AT91PS_CKGR) 0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC ((AT91PS_PMC) 0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC ((AT91PS_RSTC) 0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC ((AT91PS_RTTC) 0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC ((AT91PS_PITC) 0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC ((AT91PS_WDTC) 0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_VREG ((AT91PS_VREG) 0xFFFFFD60) // (VREG) Base Address +#define AT91C_BASE_MC ((AT91PS_MC) 0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI1 ((AT91PS_PDC) 0xFFFE4100) // (PDC_SPI1) Base Address +#define AT91C_BASE_SPI1 ((AT91PS_SPI) 0xFFFE4000) // (SPI1) Base Address +#define AT91C_BASE_PDC_SPI0 ((AT91PS_PDC) 0xFFFE0100) // (PDC_SPI0) Base Address +#define AT91C_BASE_SPI0 ((AT91PS_SPI) 0xFFFE0000) // (SPI0) Base Address +#define AT91C_BASE_PDC_US1 ((AT91PS_PDC) 0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 ((AT91PS_USART) 0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 ((AT91PS_PDC) 0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 ((AT91PS_USART) 0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_PDC_SSC ((AT91PS_PDC) 0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC ((AT91PS_SSC) 0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_TWI ((AT91PS_TWI) 0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_PWMC_CH3 ((AT91PS_PWMC_CH) 0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 ((AT91PS_PWMC_CH) 0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 ((AT91PS_PWMC_CH) 0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 ((AT91PS_PWMC_CH) 0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC ((AT91PS_PWMC) 0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP ((AT91PS_UDP) 0xFFFB0000) // (UDP) Base Address +#define AT91C_BASE_TC0 ((AT91PS_TC) 0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TC1 ((AT91PS_TC) 0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC2 ((AT91PS_TC) 0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TCB ((AT91PS_TCB) 0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_CAN_MB0 ((AT91PS_CAN_MB) 0xFFFD0200) // (CAN_MB0) Base Address +#define AT91C_BASE_CAN_MB1 ((AT91PS_CAN_MB) 0xFFFD0220) // (CAN_MB1) Base Address +#define AT91C_BASE_CAN_MB2 ((AT91PS_CAN_MB) 0xFFFD0240) // (CAN_MB2) Base Address +#define AT91C_BASE_CAN_MB3 ((AT91PS_CAN_MB) 0xFFFD0260) // (CAN_MB3) Base Address +#define AT91C_BASE_CAN_MB4 ((AT91PS_CAN_MB) 0xFFFD0280) // (CAN_MB4) Base Address +#define AT91C_BASE_CAN_MB5 ((AT91PS_CAN_MB) 0xFFFD02A0) // (CAN_MB5) Base Address +#define AT91C_BASE_CAN_MB6 ((AT91PS_CAN_MB) 0xFFFD02C0) // (CAN_MB6) Base Address +#define AT91C_BASE_CAN_MB7 ((AT91PS_CAN_MB) 0xFFFD02E0) // (CAN_MB7) Base Address +#define AT91C_BASE_CAN ((AT91PS_CAN) 0xFFFD0000) // (CAN) Base Address +#define AT91C_BASE_EMAC ((AT91PS_EMAC) 0xFFFDC000) // (EMAC) Base Address +#define AT91C_BASE_PDC_ADC ((AT91PS_PDC) 0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC ((AT91PS_ADC) 0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_AES ((AT91PS_PDC) 0xFFFA4100) // (PDC_AES) Base Address +#define AT91C_BASE_AES ((AT91PS_AES) 0xFFFA4000) // (AES) Base Address +#define AT91C_BASE_PDC_TDES ((AT91PS_PDC) 0xFFFA8100) // (PDC_TDES) Base Address +#define AT91C_BASE_TDES ((AT91PS_TDES) 0xFFFA8000) // (TDES) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ISRAM ((char *) 0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE ((unsigned int) 0x00010000) // Internal SRAM size in byte (64 Kbyte) +#define AT91C_IFLASH ((char *) 0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE ((unsigned int) 0x00040000) // Internal ROM size in byte (256 Kbyte) + + + +// - Hardware register definition + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR System Peripherals +// - ***************************************************************************** + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// - ***************************************************************************** +// - -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#if 0 /*_RB_*/ +AT91C_AIC_PRIOR EQU (0x7 << 0) ;- (AIC) Priority Level +AT91C_AIC_PRIOR_LOWEST EQU (0x0) ;- (AIC) Lowest priority level +AT91C_AIC_PRIOR_HIGHEST EQU (0x7) ;- (AIC) Highest priority level +AT91C_AIC_SRCTYPE EQU (0x3 << 5) ;- (AIC) Interrupt Source Type +AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL EQU (0x0 << 5) ;- (AIC) Internal Sources Code Label High-level Sensitive +AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL EQU (0x0 << 5) ;- (AIC) External Sources Code Label Low-level Sensitive +AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE EQU (0x1 << 5) ;- (AIC) Internal Sources Code Label Positive Edge triggered +AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE EQU (0x1 << 5) ;- (AIC) External Sources Code Label Negative Edge triggered +AT91C_AIC_SRCTYPE_HIGH_LEVEL EQU (0x2 << 5) ;- (AIC) Internal Or External Sources Code Label High-level Sensitive +AT91C_AIC_SRCTYPE_POSITIVE_EDGE EQU (0x3 << 5) ;- (AIC) Internal Or External Sources Code Label Positive Edge triggered +// - -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +AT91C_AIC_NFIQ EQU (0x1 << 0) ;- (AIC) NFIQ Status +AT91C_AIC_NIRQ EQU (0x1 << 1) ;- (AIC) NIRQ Status +// - -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +AT91C_AIC_DCR_PROT EQU (0x1 << 0) ;- (AIC) Protection Mode +AT91C_AIC_DCR_GMSK EQU (0x1 << 1) ;- (AIC) General Mask +#endif +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// - ***************************************************************************** +// - -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +AT91C_PDC_RXTEN EQU (0x1 << 0) ;- (PDC) Receiver Transfer Enable +AT91C_PDC_RXTDIS EQU (0x1 << 1) ;- (PDC) Receiver Transfer Disable +AT91C_PDC_TXTEN EQU (0x1 << 8) ;- (PDC) Transmitter Transfer Enable +AT91C_PDC_TXTDIS EQU (0x1 << 9) ;- (PDC) Transmitter Transfer Disable +// - -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Debug Unit +// - ***************************************************************************** +// - -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +AT91C_US_RSTRX EQU (0x1 << 2) ;- (DBGU) Reset Receiver +AT91C_US_RSTTX EQU (0x1 << 3) ;- (DBGU) Reset Transmitter +AT91C_US_RXEN EQU (0x1 << 4) ;- (DBGU) Receiver Enable +AT91C_US_RXDIS EQU (0x1 << 5) ;- (DBGU) Receiver Disable +AT91C_US_TXEN EQU (0x1 << 6) ;- (DBGU) Transmitter Enable +AT91C_US_TXDIS EQU (0x1 << 7) ;- (DBGU) Transmitter Disable +AT91C_US_RSTSTA EQU (0x1 << 8) ;- (DBGU) Reset Status Bits +// - -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +AT91C_US_PAR EQU (0x7 << 9) ;- (DBGU) Parity type +AT91C_US_PAR_EVEN EQU (0x0 << 9) ;- (DBGU) Even Parity +AT91C_US_PAR_ODD EQU (0x1 << 9) ;- (DBGU) Odd Parity +AT91C_US_PAR_SPACE EQU (0x2 << 9) ;- (DBGU) Parity forced to 0 (Space) +AT91C_US_PAR_MARK EQU (0x3 << 9) ;- (DBGU) Parity forced to 1 (Mark) +AT91C_US_PAR_NONE EQU (0x4 << 9) ;- (DBGU) No Parity +AT91C_US_PAR_MULTI_DROP EQU (0x6 << 9) ;- (DBGU) Multi-drop mode +AT91C_US_CHMODE EQU (0x3 << 14) ;- (DBGU) Channel Mode +AT91C_US_CHMODE_NORMAL EQU (0x0 << 14) ;- (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +AT91C_US_CHMODE_AUTO EQU (0x1 << 14) ;- (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +AT91C_US_CHMODE_LOCAL EQU (0x2 << 14) ;- (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +AT91C_US_CHMODE_REMOTE EQU (0x3 << 14) ;- (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// - -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +AT91C_US_RXRDY EQU (0x1 << 0) ;- (DBGU) RXRDY Interrupt +AT91C_US_TXRDY EQU (0x1 << 1) ;- (DBGU) TXRDY Interrupt +AT91C_US_ENDRX EQU (0x1 << 3) ;- (DBGU) End of Receive Transfer Interrupt +AT91C_US_ENDTX EQU (0x1 << 4) ;- (DBGU) End of Transmit Interrupt +AT91C_US_OVRE EQU (0x1 << 5) ;- (DBGU) Overrun Interrupt +AT91C_US_FRAME EQU (0x1 << 6) ;- (DBGU) Framing Error Interrupt +AT91C_US_PARE EQU (0x1 << 7) ;- (DBGU) Parity Error Interrupt +AT91C_US_TXEMPTY EQU (0x1 << 9) ;- (DBGU) TXEMPTY Interrupt +AT91C_US_TXBUFE EQU (0x1 << 11) ;- (DBGU) TXBUFE Interrupt +AT91C_US_RXBUFF EQU (0x1 << 12) ;- (DBGU) RXBUFF Interrupt +AT91C_US_COMM_TX EQU (0x1 << 30) ;- (DBGU) COMM_TX Interrupt +AT91C_US_COMM_RX EQU (0x1 << 31) ;- (DBGU) COMM_RX Interrupt +// - -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// - -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// - -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// - -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +AT91C_US_FORCE_NTRST EQU (0x1 << 0) ;- (DBGU) Force NTRST in JTAG + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// - ***************************************************************************** + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Clock Generator Controler +// - ***************************************************************************** +// - -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +AT91C_CKGR_MOSCEN EQU (0x1 << 0) ;- (CKGR) Main Oscillator Enable +AT91C_CKGR_OSCBYPASS EQU (0x1 << 1) ;- (CKGR) Main Oscillator Bypass +AT91C_CKGR_OSCOUNT EQU (0xFF << 8) ;- (CKGR) Main Oscillator Start-up Time +// - -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +AT91C_CKGR_MAINF EQU (0xFFFF << 0) ;- (CKGR) Main Clock Frequency +AT91C_CKGR_MAINRDY EQU (0x1 << 16) ;- (CKGR) Main Clock Ready +// - -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +AT91C_CKGR_DIV EQU (0xFF << 0) ;- (CKGR) Divider Selected +AT91C_CKGR_DIV_0 EQU (0x0) ;- (CKGR) Divider output is 0 +AT91C_CKGR_DIV_BYPASS EQU (0x1) ;- (CKGR) Divider is bypassed +AT91C_CKGR_PLLCOUNT EQU (0x3F << 8) ;- (CKGR) PLL Counter +AT91C_CKGR_OUT EQU (0x3 << 14) ;- (CKGR) PLL Output Frequency Range +AT91C_CKGR_OUT_0 EQU (0x0 << 14) ;- (CKGR) Please refer to the PLL datasheet +AT91C_CKGR_OUT_1 EQU (0x1 << 14) ;- (CKGR) Please refer to the PLL datasheet +AT91C_CKGR_OUT_2 EQU (0x2 << 14) ;- (CKGR) Please refer to the PLL datasheet +AT91C_CKGR_OUT_3 EQU (0x3 << 14) ;- (CKGR) Please refer to the PLL datasheet +AT91C_CKGR_MUL EQU (0x7FF << 16) ;- (CKGR) PLL Multiplier +AT91C_CKGR_USBDIV EQU (0x3 << 28) ;- (CKGR) Divider for USB Clocks +AT91C_CKGR_USBDIV_0 EQU (0x0 << 28) ;- (CKGR) Divider output is PLL clock output +AT91C_CKGR_USBDIV_1 EQU (0x1 << 28) ;- (CKGR) Divider output is PLL clock output divided by 2 +AT91C_CKGR_USBDIV_2 EQU (0x2 << 28) ;- (CKGR) Divider output is PLL clock output divided by 4 + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Power Management Controler +// - ***************************************************************************** +// - -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +AT91C_PMC_PCK EQU (0x1 << 0) ;- (PMC) Processor Clock +AT91C_PMC_UDP EQU (0x1 << 7) ;- (PMC) USB Device Port Clock +AT91C_PMC_PCK0 EQU (0x1 << 8) ;- (PMC) Programmable Clock Output +AT91C_PMC_PCK1 EQU (0x1 << 9) ;- (PMC) Programmable Clock Output +AT91C_PMC_PCK2 EQU (0x1 << 10) ;- (PMC) Programmable Clock Output +AT91C_PMC_PCK3 EQU (0x1 << 11) ;- (PMC) Programmable Clock Output +// - -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// - -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// - -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// - -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// - -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// - -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +AT91C_PMC_CSS EQU (0x3 << 0) ;- (PMC) Programmable Clock Selection +AT91C_PMC_CSS_SLOW_CLK EQU (0x0) ;- (PMC) Slow Clock is selected +AT91C_PMC_CSS_MAIN_CLK EQU (0x1) ;- (PMC) Main Clock is selected +AT91C_PMC_CSS_PLL_CLK EQU (0x3) ;- (PMC) Clock from PLL is selected +AT91C_PMC_PRES EQU (0x7 << 2) ;- (PMC) Programmable Clock Prescaler +AT91C_PMC_PRES_CLK EQU (0x0 << 2) ;- (PMC) Selected clock +AT91C_PMC_PRES_CLK_2 EQU (0x1 << 2) ;- (PMC) Selected clock divided by 2 +AT91C_PMC_PRES_CLK_4 EQU (0x2 << 2) ;- (PMC) Selected clock divided by 4 +AT91C_PMC_PRES_CLK_8 EQU (0x3 << 2) ;- (PMC) Selected clock divided by 8 +AT91C_PMC_PRES_CLK_16 EQU (0x4 << 2) ;- (PMC) Selected clock divided by 16 +AT91C_PMC_PRES_CLK_32 EQU (0x5 << 2) ;- (PMC) Selected clock divided by 32 +AT91C_PMC_PRES_CLK_64 EQU (0x6 << 2) ;- (PMC) Selected clock divided by 64 +// - -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// - -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +AT91C_PMC_MOSCS EQU (0x1 << 0) ;- (PMC) MOSC Status/Enable/Disable/Mask +AT91C_PMC_LOCK EQU (0x1 << 2) ;- (PMC) PLL Status/Enable/Disable/Mask +AT91C_PMC_MCKRDY EQU (0x1 << 3) ;- (PMC) MCK_RDY Status/Enable/Disable/Mask +AT91C_PMC_PCK0RDY EQU (0x1 << 8) ;- (PMC) PCK0_RDY Status/Enable/Disable/Mask +AT91C_PMC_PCK1RDY EQU (0x1 << 9) ;- (PMC) PCK1_RDY Status/Enable/Disable/Mask +AT91C_PMC_PCK2RDY EQU (0x1 << 10) ;- (PMC) PCK2_RDY Status/Enable/Disable/Mask +AT91C_PMC_PCK3RDY EQU (0x1 << 11) ;- (PMC) PCK3_RDY Status/Enable/Disable/Mask +// - -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// - -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// - -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Reset Controller Interface +// - ***************************************************************************** +// - -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +AT91C_RSTC_PROCRST EQU (0x1 << 0) ;- (RSTC) Processor Reset +AT91C_RSTC_PERRST EQU (0x1 << 2) ;- (RSTC) Peripheral Reset +AT91C_RSTC_EXTRST EQU (0x1 << 3) ;- (RSTC) External Reset +AT91C_RSTC_KEY EQU (0xFF << 24) ;- (RSTC) Password +// - -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +AT91C_RSTC_URSTS EQU (0x1 << 0) ;- (RSTC) User Reset Status +AT91C_RSTC_BODSTS EQU (0x1 << 1) ;- (RSTC) Brownout Detection Status +AT91C_RSTC_RSTTYP EQU (0x7 << 8) ;- (RSTC) Reset Type +AT91C_RSTC_RSTTYP_POWERUP EQU (0x0 << 8) ;- (RSTC) Power-up Reset. VDDCORE rising. +AT91C_RSTC_RSTTYP_WAKEUP EQU (0x1 << 8) ;- (RSTC) WakeUp Reset. VDDCORE rising. +AT91C_RSTC_RSTTYP_WATCHDOG EQU (0x2 << 8) ;- (RSTC) Watchdog Reset. Watchdog overflow occured. +AT91C_RSTC_RSTTYP_SOFTWARE EQU (0x3 << 8) ;- (RSTC) Software Reset. Processor reset required by the software. +AT91C_RSTC_RSTTYP_USER EQU (0x4 << 8) ;- (RSTC) User Reset. NRST pin detected low. +AT91C_RSTC_RSTTYP_BROWNOUT EQU (0x5 << 8) ;- (RSTC) Brownout Reset occured. +AT91C_RSTC_NRSTL EQU (0x1 << 16) ;- (RSTC) NRST pin level +AT91C_RSTC_SRCMP EQU (0x1 << 17) ;- (RSTC) Software Reset Command in Progress. +// - -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +AT91C_RSTC_URSTEN EQU (0x1 << 0) ;- (RSTC) User Reset Enable +AT91C_RSTC_URSTIEN EQU (0x1 << 4) ;- (RSTC) User Reset Interrupt Enable +AT91C_RSTC_ERSTL EQU (0xF << 8) ;- (RSTC) User Reset Enable +AT91C_RSTC_BODIEN EQU (0x1 << 16) ;- (RSTC) Brownout Detection Interrupt Enable + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// - ***************************************************************************** +// - -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +AT91C_RTTC_RTPRES EQU (0xFFFF << 0) ;- (RTTC) Real-time Timer Prescaler Value +AT91C_RTTC_ALMIEN EQU (0x1 << 16) ;- (RTTC) Alarm Interrupt Enable +AT91C_RTTC_RTTINCIEN EQU (0x1 << 17) ;- (RTTC) Real Time Timer Increment Interrupt Enable +AT91C_RTTC_RTTRST EQU (0x1 << 18) ;- (RTTC) Real Time Timer Restart +// - -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +AT91C_RTTC_ALMV EQU (0x0 << 0) ;- (RTTC) Alarm Value +// - -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +AT91C_RTTC_CRTV EQU (0x0 << 0) ;- (RTTC) Current Real-time Value +// - -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +AT91C_RTTC_ALMS EQU (0x1 << 0) ;- (RTTC) Real-time Alarm Status +AT91C_RTTC_RTTINC EQU (0x1 << 1) ;- (RTTC) Real-time Timer Increment + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// - ***************************************************************************** +// - -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +AT91C_PITC_PIV EQU (0xFFFFF << 0) ;- (PITC) Periodic Interval Value +AT91C_PITC_PITEN EQU (0x1 << 24) ;- (PITC) Periodic Interval Timer Enabled +AT91C_PITC_PITIEN EQU (0x1 << 25) ;- (PITC) Periodic Interval Timer Interrupt Enable +// - -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +AT91C_PITC_PITS EQU (0x1 << 0) ;- (PITC) Periodic Interval Timer Status +// - -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +AT91C_PITC_CPIV EQU (0xFFFFF << 0) ;- (PITC) Current Periodic Interval Value +AT91C_PITC_PICNT EQU (0xFFF << 20) ;- (PITC) Periodic Interval Counter +// - -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// - ***************************************************************************** +// - -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +AT91C_WDTC_WDRSTT EQU (0x1 << 0) ;- (WDTC) Watchdog Restart +AT91C_WDTC_KEY EQU (0xFF << 24) ;- (WDTC) Watchdog KEY Password +// - -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +AT91C_WDTC_WDV EQU (0xFFF << 0) ;- (WDTC) Watchdog Timer Restart +AT91C_WDTC_WDFIEN EQU (0x1 << 12) ;- (WDTC) Watchdog Fault Interrupt Enable +AT91C_WDTC_WDRSTEN EQU (0x1 << 13) ;- (WDTC) Watchdog Reset Enable +AT91C_WDTC_WDRPROC EQU (0x1 << 14) ;- (WDTC) Watchdog Timer Restart +AT91C_WDTC_WDDIS EQU (0x1 << 15) ;- (WDTC) Watchdog Disable +AT91C_WDTC_WDD EQU (0xFFF << 16) ;- (WDTC) Watchdog Delta Value +AT91C_WDTC_WDDBGHLT EQU (0x1 << 28) ;- (WDTC) Watchdog Debug Halt +AT91C_WDTC_WDIDLEHLT EQU (0x1 << 29) ;- (WDTC) Watchdog Idle Halt +// - -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +AT91C_WDTC_WDUNF EQU (0x1 << 0) ;- (WDTC) Watchdog Underflow +AT91C_WDTC_WDERR EQU (0x1 << 1) ;- (WDTC) Watchdog Error + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// - ***************************************************************************** +// - -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +AT91C_VREG_PSTDBY EQU (0x1 << 0) ;- (VREG) Voltage Regulator Power Standby Mode + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Memory Controller Interface +// - ***************************************************************************** +// - -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +AT91C_MC_RCB EQU (0x1 << 0) ;- (MC) Remap Command Bit +// - -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +AT91C_MC_UNDADD EQU (0x1 << 0) ;- (MC) Undefined Addess Abort Status +AT91C_MC_MISADD EQU (0x1 << 1) ;- (MC) Misaligned Addess Abort Status +AT91C_MC_ABTSZ EQU (0x3 << 8) ;- (MC) Abort Size Status +AT91C_MC_ABTSZ_BYTE EQU (0x0 << 8) ;- (MC) Byte +AT91C_MC_ABTSZ_HWORD EQU (0x1 << 8) ;- (MC) Half-word +AT91C_MC_ABTSZ_WORD EQU (0x2 << 8) ;- (MC) Word +AT91C_MC_ABTTYP EQU (0x3 << 10) ;- (MC) Abort Type Status +AT91C_MC_ABTTYP_DATAR EQU (0x0 << 10) ;- (MC) Data Read +AT91C_MC_ABTTYP_DATAW EQU (0x1 << 10) ;- (MC) Data Write +AT91C_MC_ABTTYP_FETCH EQU (0x2 << 10) ;- (MC) Code Fetch +AT91C_MC_MST0 EQU (0x1 << 16) ;- (MC) Master 0 Abort Source +AT91C_MC_MST1 EQU (0x1 << 17) ;- (MC) Master 1 Abort Source +AT91C_MC_SVMST0 EQU (0x1 << 24) ;- (MC) Saved Master 0 Abort Source +AT91C_MC_SVMST1 EQU (0x1 << 25) ;- (MC) Saved Master 1 Abort Source +// - -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +AT91C_MC_FRDY EQU (0x1 << 0) ;- (MC) Flash Ready +AT91C_MC_LOCKE EQU (0x1 << 2) ;- (MC) Lock Error +AT91C_MC_PROGE EQU (0x1 << 3) ;- (MC) Programming Error +AT91C_MC_NEBP EQU (0x1 << 7) ;- (MC) No Erase Before Programming +AT91C_MC_FWS EQU (0x3 << 8) ;- (MC) Flash Wait State +AT91C_MC_FWS_0FWS EQU (0x0 << 8) ;- (MC) 1 cycle for Read, 2 for Write operations +AT91C_MC_FWS_1FWS EQU (0x1 << 8) ;- (MC) 2 cycles for Read, 3 for Write operations +AT91C_MC_FWS_2FWS EQU (0x2 << 8) ;- (MC) 3 cycles for Read, 4 for Write operations +AT91C_MC_FWS_3FWS EQU (0x3 << 8) ;- (MC) 4 cycles for Read, 4 for Write operations +AT91C_MC_FMCN EQU (0xFF << 16) ;- (MC) Flash Microsecond Cycle Number +// - -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +AT91C_MC_FCMD EQU (0xF << 0) ;- (MC) Flash Command +AT91C_MC_FCMD_START_PROG EQU (0x1) ;- (MC) Starts the programming of th epage specified by PAGEN. +AT91C_MC_FCMD_LOCK EQU (0x2) ;- (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +AT91C_MC_FCMD_PROG_AND_LOCK EQU (0x3) ;- (MC) The lock sequence automatically happens after the programming sequence is completed. +AT91C_MC_FCMD_UNLOCK EQU (0x4) ;- (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +AT91C_MC_FCMD_ERASE_ALL EQU (0x8) ;- (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +AT91C_MC_FCMD_SET_GP_NVM EQU (0xB) ;- (MC) Set General Purpose NVM bits. +AT91C_MC_FCMD_CLR_GP_NVM EQU (0xD) ;- (MC) Clear General Purpose NVM bits. +AT91C_MC_FCMD_SET_SECURITY EQU (0xF) ;- (MC) Set Security Bit. +AT91C_MC_PAGEN EQU (0x3FF << 8) ;- (MC) Page Number +AT91C_MC_KEY EQU (0xFF << 24) ;- (MC) Writing Protect Key +// - -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +AT91C_MC_SECURITY EQU (0x1 << 4) ;- (MC) Security Bit Status +AT91C_MC_GPNVM0 EQU (0x1 << 8) ;- (MC) Sector 0 Lock Status +AT91C_MC_GPNVM1 EQU (0x1 << 9) ;- (MC) Sector 1 Lock Status +AT91C_MC_GPNVM2 EQU (0x1 << 10) ;- (MC) Sector 2 Lock Status +AT91C_MC_GPNVM3 EQU (0x1 << 11) ;- (MC) Sector 3 Lock Status +AT91C_MC_GPNVM4 EQU (0x1 << 12) ;- (MC) Sector 4 Lock Status +AT91C_MC_GPNVM5 EQU (0x1 << 13) ;- (MC) Sector 5 Lock Status +AT91C_MC_GPNVM6 EQU (0x1 << 14) ;- (MC) Sector 6 Lock Status +AT91C_MC_GPNVM7 EQU (0x1 << 15) ;- (MC) Sector 7 Lock Status +AT91C_MC_LOCKS0 EQU (0x1 << 16) ;- (MC) Sector 0 Lock Status +AT91C_MC_LOCKS1 EQU (0x1 << 17) ;- (MC) Sector 1 Lock Status +AT91C_MC_LOCKS2 EQU (0x1 << 18) ;- (MC) Sector 2 Lock Status +AT91C_MC_LOCKS3 EQU (0x1 << 19) ;- (MC) Sector 3 Lock Status +AT91C_MC_LOCKS4 EQU (0x1 << 20) ;- (MC) Sector 4 Lock Status +AT91C_MC_LOCKS5 EQU (0x1 << 21) ;- (MC) Sector 5 Lock Status +AT91C_MC_LOCKS6 EQU (0x1 << 22) ;- (MC) Sector 6 Lock Status +AT91C_MC_LOCKS7 EQU (0x1 << 23) ;- (MC) Sector 7 Lock Status +AT91C_MC_LOCKS8 EQU (0x1 << 24) ;- (MC) Sector 8 Lock Status +AT91C_MC_LOCKS9 EQU (0x1 << 25) ;- (MC) Sector 9 Lock Status +AT91C_MC_LOCKS10 EQU (0x1 << 26) ;- (MC) Sector 10 Lock Status +AT91C_MC_LOCKS11 EQU (0x1 << 27) ;- (MC) Sector 11 Lock Status +AT91C_MC_LOCKS12 EQU (0x1 << 28) ;- (MC) Sector 12 Lock Status +AT91C_MC_LOCKS13 EQU (0x1 << 29) ;- (MC) Sector 13 Lock Status +AT91C_MC_LOCKS14 EQU (0x1 << 30) ;- (MC) Sector 14 Lock Status +AT91C_MC_LOCKS15 EQU (0x1 << 31) ;- (MC) Sector 15 Lock Status + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Serial Parallel Interface +// - ***************************************************************************** +// - -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +AT91C_SPI_SPIEN EQU (0x1 << 0) ;- (SPI) SPI Enable +AT91C_SPI_SPIDIS EQU (0x1 << 1) ;- (SPI) SPI Disable +AT91C_SPI_SWRST EQU (0x1 << 7) ;- (SPI) SPI Software reset +AT91C_SPI_LASTXFER EQU (0x1 << 24) ;- (SPI) SPI Last Transfer +// - -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +AT91C_SPI_MSTR EQU (0x1 << 0) ;- (SPI) Master/Slave Mode +AT91C_SPI_PS EQU (0x1 << 1) ;- (SPI) Peripheral Select +AT91C_SPI_PS_FIXED EQU (0x0 << 1) ;- (SPI) Fixed Peripheral Select +AT91C_SPI_PS_VARIABLE EQU (0x1 << 1) ;- (SPI) Variable Peripheral Select +AT91C_SPI_PCSDEC EQU (0x1 << 2) ;- (SPI) Chip Select Decode +AT91C_SPI_FDIV EQU (0x1 << 3) ;- (SPI) Clock Selection +AT91C_SPI_MODFDIS EQU (0x1 << 4) ;- (SPI) Mode Fault Detection +AT91C_SPI_LLB EQU (0x1 << 7) ;- (SPI) Clock Selection +AT91C_SPI_PCS EQU (0xF << 16) ;- (SPI) Peripheral Chip Select +AT91C_SPI_DLYBCS EQU (0xFF << 24) ;- (SPI) Delay Between Chip Selects +// - -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +AT91C_SPI_RD EQU (0xFFFF << 0) ;- (SPI) Receive Data +AT91C_SPI_RPCS EQU (0xF << 16) ;- (SPI) Peripheral Chip Select Status +// - -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +AT91C_SPI_TD EQU (0xFFFF << 0) ;- (SPI) Transmit Data +AT91C_SPI_TPCS EQU (0xF << 16) ;- (SPI) Peripheral Chip Select Status +// - -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +AT91C_SPI_RDRF EQU (0x1 << 0) ;- (SPI) Receive Data Register Full +AT91C_SPI_TDRE EQU (0x1 << 1) ;- (SPI) Transmit Data Register Empty +AT91C_SPI_MODF EQU (0x1 << 2) ;- (SPI) Mode Fault Error +AT91C_SPI_OVRES EQU (0x1 << 3) ;- (SPI) Overrun Error Status +AT91C_SPI_ENDRX EQU (0x1 << 4) ;- (SPI) End of Receiver Transfer +AT91C_SPI_ENDTX EQU (0x1 << 5) ;- (SPI) End of Receiver Transfer +AT91C_SPI_RXBUFF EQU (0x1 << 6) ;- (SPI) RXBUFF Interrupt +AT91C_SPI_TXBUFE EQU (0x1 << 7) ;- (SPI) TXBUFE Interrupt +AT91C_SPI_NSSR EQU (0x1 << 8) ;- (SPI) NSSR Interrupt +AT91C_SPI_TXEMPTY EQU (0x1 << 9) ;- (SPI) TXEMPTY Interrupt +AT91C_SPI_SPIENS EQU (0x1 << 16) ;- (SPI) Enable Status +// - -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// - -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// - -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// - -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +AT91C_SPI_CPOL EQU (0x1 << 0) ;- (SPI) Clock Polarity +AT91C_SPI_NCPHA EQU (0x1 << 1) ;- (SPI) Clock Phase +AT91C_SPI_CSAAT EQU (0x1 << 3) ;- (SPI) Chip Select Active After Transfer +AT91C_SPI_BITS EQU (0xF << 4) ;- (SPI) Bits Per Transfer +AT91C_SPI_BITS_8 EQU (0x0 << 4) ;- (SPI) 8 Bits Per transfer +AT91C_SPI_BITS_9 EQU (0x1 << 4) ;- (SPI) 9 Bits Per transfer +AT91C_SPI_BITS_10 EQU (0x2 << 4) ;- (SPI) 10 Bits Per transfer +AT91C_SPI_BITS_11 EQU (0x3 << 4) ;- (SPI) 11 Bits Per transfer +AT91C_SPI_BITS_12 EQU (0x4 << 4) ;- (SPI) 12 Bits Per transfer +AT91C_SPI_BITS_13 EQU (0x5 << 4) ;- (SPI) 13 Bits Per transfer +AT91C_SPI_BITS_14 EQU (0x6 << 4) ;- (SPI) 14 Bits Per transfer +AT91C_SPI_BITS_15 EQU (0x7 << 4) ;- (SPI) 15 Bits Per transfer +AT91C_SPI_BITS_16 EQU (0x8 << 4) ;- (SPI) 16 Bits Per transfer +AT91C_SPI_SCBR EQU (0xFF << 8) ;- (SPI) Serial Clock Baud Rate +AT91C_SPI_DLYBS EQU (0xFF << 16) ;- (SPI) Delay Before SPCK +AT91C_SPI_DLYBCT EQU (0xFF << 24) ;- (SPI) Delay Between Consecutive Transfers + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Usart +// - ***************************************************************************** +// - -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +AT91C_US_STTBRK EQU (0x1 << 9) ;- (USART) Start Break +AT91C_US_STPBRK EQU (0x1 << 10) ;- (USART) Stop Break +AT91C_US_STTTO EQU (0x1 << 11) ;- (USART) Start Time-out +AT91C_US_SENDA EQU (0x1 << 12) ;- (USART) Send Address +AT91C_US_RSTIT EQU (0x1 << 13) ;- (USART) Reset Iterations +AT91C_US_RSTNACK EQU (0x1 << 14) ;- (USART) Reset Non Acknowledge +AT91C_US_RETTO EQU (0x1 << 15) ;- (USART) Rearm Time-out +AT91C_US_DTREN EQU (0x1 << 16) ;- (USART) Data Terminal ready Enable +AT91C_US_DTRDIS EQU (0x1 << 17) ;- (USART) Data Terminal ready Disable +AT91C_US_RTSEN EQU (0x1 << 18) ;- (USART) Request to Send enable +AT91C_US_RTSDIS EQU (0x1 << 19) ;- (USART) Request to Send Disable +// - -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +AT91C_US_USMODE EQU (0xF << 0) ;- (USART) Usart mode +AT91C_US_USMODE_NORMAL EQU (0x0) ;- (USART) Normal +AT91C_US_USMODE_RS485 EQU (0x1) ;- (USART) RS485 +AT91C_US_USMODE_HWHSH EQU (0x2) ;- (USART) Hardware Handshaking +AT91C_US_USMODE_MODEM EQU (0x3) ;- (USART) Modem +AT91C_US_USMODE_ISO7816_0 EQU (0x4) ;- (USART) ISO7816 protocol: T = 0 +AT91C_US_USMODE_ISO7816_1 EQU (0x6) ;- (USART) ISO7816 protocol: T = 1 +AT91C_US_USMODE_IRDA EQU (0x8) ;- (USART) IrDA +AT91C_US_USMODE_SWHSH EQU (0xC) ;- (USART) Software Handshaking +AT91C_US_CLKS EQU (0x3 << 4) ;- (USART) Clock Selection (Baud Rate generator Input Clock +AT91C_US_CLKS_CLOCK EQU (0x0 << 4) ;- (USART) Clock +AT91C_US_CLKS_FDIV1 EQU (0x1 << 4) ;- (USART) fdiv1 +AT91C_US_CLKS_SLOW EQU (0x2 << 4) ;- (USART) slow_clock (ARM) +AT91C_US_CLKS_EXT EQU (0x3 << 4) ;- (USART) External (SCK) +AT91C_US_CHRL EQU (0x3 << 6) ;- (USART) Clock Selection (Baud Rate generator Input Clock +AT91C_US_CHRL_5_BITS EQU (0x0 << 6) ;- (USART) Character Length: 5 bits +AT91C_US_CHRL_6_BITS EQU (0x1 << 6) ;- (USART) Character Length: 6 bits +AT91C_US_CHRL_7_BITS EQU (0x2 << 6) ;- (USART) Character Length: 7 bits +AT91C_US_CHRL_8_BITS EQU (0x3 << 6) ;- (USART) Character Length: 8 bits +AT91C_US_SYNC EQU (0x1 << 8) ;- (USART) Synchronous Mode Select +AT91C_US_NBSTOP EQU (0x3 << 12) ;- (USART) Number of Stop bits +AT91C_US_NBSTOP_1_BIT EQU (0x0 << 12) ;- (USART) 1 stop bit +AT91C_US_NBSTOP_15_BIT EQU (0x1 << 12) ;- (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +AT91C_US_NBSTOP_2_BIT EQU (0x2 << 12) ;- (USART) 2 stop bits +AT91C_US_MSBF EQU (0x1 << 16) ;- (USART) Bit Order +AT91C_US_MODE9 EQU (0x1 << 17) ;- (USART) 9-bit Character length +AT91C_US_CKLO EQU (0x1 << 18) ;- (USART) Clock Output Select +AT91C_US_OVER EQU (0x1 << 19) ;- (USART) Over Sampling Mode +AT91C_US_INACK EQU (0x1 << 20) ;- (USART) Inhibit Non Acknowledge +AT91C_US_DSNACK EQU (0x1 << 21) ;- (USART) Disable Successive NACK +AT91C_US_MAX_ITER EQU (0x1 << 24) ;- (USART) Number of Repetitions +AT91C_US_FILTER EQU (0x1 << 28) ;- (USART) Receive Line Filter +// - -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +AT91C_US_RXBRK EQU (0x1 << 2) ;- (USART) Break Received/End of Break +AT91C_US_TIMEOUT EQU (0x1 << 8) ;- (USART) Receiver Time-out +AT91C_US_ITERATION EQU (0x1 << 10) ;- (USART) Max number of Repetitions Reached +AT91C_US_NACK EQU (0x1 << 13) ;- (USART) Non Acknowledge +AT91C_US_RIIC EQU (0x1 << 16) ;- (USART) Ring INdicator Input Change Flag +AT91C_US_DSRIC EQU (0x1 << 17) ;- (USART) Data Set Ready Input Change Flag +AT91C_US_DCDIC EQU (0x1 << 18) ;- (USART) Data Carrier Flag +AT91C_US_CTSIC EQU (0x1 << 19) ;- (USART) Clear To Send Input Change Flag +// - -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// - -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// - -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +AT91C_US_RI EQU (0x1 << 20) ;- (USART) Image of RI Input +AT91C_US_DSR EQU (0x1 << 21) ;- (USART) Image of DSR Input +AT91C_US_DCD EQU (0x1 << 22) ;- (USART) Image of DCD Input +AT91C_US_CTS EQU (0x1 << 23) ;- (USART) Image of CTS Input + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// - ***************************************************************************** +// - -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +AT91C_SSC_RXEN EQU (0x1 << 0) ;- (SSC) Receive Enable +AT91C_SSC_RXDIS EQU (0x1 << 1) ;- (SSC) Receive Disable +AT91C_SSC_TXEN EQU (0x1 << 8) ;- (SSC) Transmit Enable +AT91C_SSC_TXDIS EQU (0x1 << 9) ;- (SSC) Transmit Disable +AT91C_SSC_SWRST EQU (0x1 << 15) ;- (SSC) Software Reset +// - -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +AT91C_SSC_CKS EQU (0x3 << 0) ;- (SSC) Receive/Transmit Clock Selection +AT91C_SSC_CKS_DIV EQU (0x0) ;- (SSC) Divided Clock +AT91C_SSC_CKS_TK EQU (0x1) ;- (SSC) TK Clock signal +AT91C_SSC_CKS_RK EQU (0x2) ;- (SSC) RK pin +AT91C_SSC_CKO EQU (0x7 << 2) ;- (SSC) Receive/Transmit Clock Output Mode Selection +AT91C_SSC_CKO_NONE EQU (0x0 << 2) ;- (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +AT91C_SSC_CKO_CONTINOUS EQU (0x1 << 2) ;- (SSC) Continuous Receive/Transmit Clock RK pin: Output +AT91C_SSC_CKO_DATA_TX EQU (0x2 << 2) ;- (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +AT91C_SSC_CKI EQU (0x1 << 5) ;- (SSC) Receive/Transmit Clock Inversion +AT91C_SSC_START EQU (0xF << 8) ;- (SSC) Receive/Transmit Start Selection +AT91C_SSC_START_CONTINOUS EQU (0x0 << 8) ;- (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +AT91C_SSC_START_TX EQU (0x1 << 8) ;- (SSC) Transmit/Receive start +AT91C_SSC_START_LOW_RF EQU (0x2 << 8) ;- (SSC) Detection of a low level on RF input +AT91C_SSC_START_HIGH_RF EQU (0x3 << 8) ;- (SSC) Detection of a high level on RF input +AT91C_SSC_START_FALL_RF EQU (0x4 << 8) ;- (SSC) Detection of a falling edge on RF input +AT91C_SSC_START_RISE_RF EQU (0x5 << 8) ;- (SSC) Detection of a rising edge on RF input +AT91C_SSC_START_LEVEL_RF EQU (0x6 << 8) ;- (SSC) Detection of any level change on RF input +AT91C_SSC_START_EDGE_RF EQU (0x7 << 8) ;- (SSC) Detection of any edge on RF input +AT91C_SSC_START_0 EQU (0x8 << 8) ;- (SSC) Compare 0 +AT91C_SSC_STTDLY EQU (0xFF << 16) ;- (SSC) Receive/Transmit Start Delay +AT91C_SSC_PERIOD EQU (0xFF << 24) ;- (SSC) Receive/Transmit Period Divider Selection +// - -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +AT91C_SSC_DATLEN EQU (0x1F << 0) ;- (SSC) Data Length +AT91C_SSC_LOOP EQU (0x1 << 5) ;- (SSC) Loop Mode +AT91C_SSC_MSBF EQU (0x1 << 7) ;- (SSC) Most Significant Bit First +AT91C_SSC_DATNB EQU (0xF << 8) ;- (SSC) Data Number per Frame +AT91C_SSC_FSLEN EQU (0xF << 16) ;- (SSC) Receive/Transmit Frame Sync length +AT91C_SSC_FSOS EQU (0x7 << 20) ;- (SSC) Receive/Transmit Frame Sync Output Selection +AT91C_SSC_FSOS_NONE EQU (0x0 << 20) ;- (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +AT91C_SSC_FSOS_NEGATIVE EQU (0x1 << 20) ;- (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +AT91C_SSC_FSOS_POSITIVE EQU (0x2 << 20) ;- (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +AT91C_SSC_FSOS_LOW EQU (0x3 << 20) ;- (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +AT91C_SSC_FSOS_HIGH EQU (0x4 << 20) ;- (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +AT91C_SSC_FSOS_TOGGLE EQU (0x5 << 20) ;- (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +AT91C_SSC_FSEDGE EQU (0x1 << 24) ;- (SSC) Frame Sync Edge Detection +// - -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// - -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +AT91C_SSC_DATDEF EQU (0x1 << 5) ;- (SSC) Data Default Value +AT91C_SSC_FSDEN EQU (0x1 << 23) ;- (SSC) Frame Sync Data Enable +// - -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +AT91C_SSC_TXRDY EQU (0x1 << 0) ;- (SSC) Transmit Ready +AT91C_SSC_TXEMPTY EQU (0x1 << 1) ;- (SSC) Transmit Empty +AT91C_SSC_ENDTX EQU (0x1 << 2) ;- (SSC) End Of Transmission +AT91C_SSC_TXBUFE EQU (0x1 << 3) ;- (SSC) Transmit Buffer Empty +AT91C_SSC_RXRDY EQU (0x1 << 4) ;- (SSC) Receive Ready +AT91C_SSC_OVRUN EQU (0x1 << 5) ;- (SSC) Receive Overrun +AT91C_SSC_ENDRX EQU (0x1 << 6) ;- (SSC) End of Reception +AT91C_SSC_RXBUFF EQU (0x1 << 7) ;- (SSC) Receive Buffer Full +AT91C_SSC_TXSYN EQU (0x1 << 10) ;- (SSC) Transmit Sync +AT91C_SSC_RXSYN EQU (0x1 << 11) ;- (SSC) Receive Sync +AT91C_SSC_TXENA EQU (0x1 << 16) ;- (SSC) Transmit Enable +AT91C_SSC_RXENA EQU (0x1 << 17) ;- (SSC) Receive Enable +// - -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// - -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// - -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Two-wire Interface +// - ***************************************************************************** +// - -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +AT91C_TWI_START EQU (0x1 << 0) ;- (TWI) Send a START Condition +AT91C_TWI_STOP EQU (0x1 << 1) ;- (TWI) Send a STOP Condition +AT91C_TWI_MSEN EQU (0x1 << 2) ;- (TWI) TWI Master Transfer Enabled +AT91C_TWI_MSDIS EQU (0x1 << 3) ;- (TWI) TWI Master Transfer Disabled +AT91C_TWI_SWRST EQU (0x1 << 7) ;- (TWI) Software Reset +// - -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +AT91C_TWI_IADRSZ EQU (0x3 << 8) ;- (TWI) Internal Device Address Size +AT91C_TWI_IADRSZ_NO EQU (0x0 << 8) ;- (TWI) No internal device address +AT91C_TWI_IADRSZ_1_BYTE EQU (0x1 << 8) ;- (TWI) One-byte internal device address +AT91C_TWI_IADRSZ_2_BYTE EQU (0x2 << 8) ;- (TWI) Two-byte internal device address +AT91C_TWI_IADRSZ_3_BYTE EQU (0x3 << 8) ;- (TWI) Three-byte internal device address +AT91C_TWI_MREAD EQU (0x1 << 12) ;- (TWI) Master Read Direction +AT91C_TWI_DADR EQU (0x7F << 16) ;- (TWI) Device Address +// - -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +AT91C_TWI_CLDIV EQU (0xFF << 0) ;- (TWI) Clock Low Divider +AT91C_TWI_CHDIV EQU (0xFF << 8) ;- (TWI) Clock High Divider +AT91C_TWI_CKDIV EQU (0x7 << 16) ;- (TWI) Clock Divider +// - -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +AT91C_TWI_TXCOMP EQU (0x1 << 0) ;- (TWI) Transmission Completed +AT91C_TWI_RXRDY EQU (0x1 << 1) ;- (TWI) Receive holding register ReaDY +AT91C_TWI_TXRDY EQU (0x1 << 2) ;- (TWI) Transmit holding register ReaDY +AT91C_TWI_OVRE EQU (0x1 << 6) ;- (TWI) Overrun Error +AT91C_TWI_UNRE EQU (0x1 << 7) ;- (TWI) Underrun Error +AT91C_TWI_NACK EQU (0x1 << 8) ;- (TWI) Not Acknowledged +// - -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// - -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// - -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR PWMC Channel Interface +// - ***************************************************************************** +// - -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +AT91C_PWMC_CPRE EQU (0xF << 0) ;- (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +AT91C_PWMC_CPRE_MCK EQU (0x0) ;- (PWMC_CH) +AT91C_PWMC_CPRE_MCKA EQU (0xB) ;- (PWMC_CH) +AT91C_PWMC_CPRE_MCKB EQU (0xC) ;- (PWMC_CH) +AT91C_PWMC_CALG EQU (0x1 << 8) ;- (PWMC_CH) Channel Alignment +AT91C_PWMC_CPOL EQU (0x1 << 9) ;- (PWMC_CH) Channel Polarity +AT91C_PWMC_CPD EQU (0x1 << 10) ;- (PWMC_CH) Channel Update Period +// - -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +AT91C_PWMC_CDTY EQU (0x0 << 0) ;- (PWMC_CH) Channel Duty Cycle +// - -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +AT91C_PWMC_CPRD EQU (0x0 << 0) ;- (PWMC_CH) Channel Period +// - -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +AT91C_PWMC_CCNT EQU (0x0 << 0) ;- (PWMC_CH) Channel Counter +// - -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +AT91C_PWMC_CUPD EQU (0x0 << 0) ;- (PWMC_CH) Channel Update + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// - ***************************************************************************** +// - -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +AT91C_PWMC_DIVA EQU (0xFF << 0) ;- (PWMC) CLKA divide factor. +AT91C_PWMC_PREA EQU (0xF << 8) ;- (PWMC) Divider Input Clock Prescaler A +AT91C_PWMC_PREA_MCK EQU (0x0 << 8) ;- (PWMC) +AT91C_PWMC_DIVB EQU (0xFF << 16) ;- (PWMC) CLKB divide factor. +AT91C_PWMC_PREB EQU (0xF << 24) ;- (PWMC) Divider Input Clock Prescaler B +AT91C_PWMC_PREB_MCK EQU (0x0 << 24) ;- (PWMC) +// - -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +AT91C_PWMC_CHID0 EQU (0x1 << 0) ;- (PWMC) Channel ID 0 +AT91C_PWMC_CHID1 EQU (0x1 << 1) ;- (PWMC) Channel ID 1 +AT91C_PWMC_CHID2 EQU (0x1 << 2) ;- (PWMC) Channel ID 2 +AT91C_PWMC_CHID3 EQU (0x1 << 3) ;- (PWMC) Channel ID 3 +// - -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// - -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// - -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// - -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// - -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// - -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR USB Device Interface +// - ***************************************************************************** +// - -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +AT91C_UDP_FRM_NUM EQU (0x7FF << 0) ;- (UDP) Frame Number as Defined in the Packet Field Formats +AT91C_UDP_FRM_ERR EQU (0x1 << 16) ;- (UDP) Frame Error +AT91C_UDP_FRM_OK EQU (0x1 << 17) ;- (UDP) Frame OK +// - -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +AT91C_UDP_FADDEN EQU (0x1 << 0) ;- (UDP) Function Address Enable +AT91C_UDP_CONFG EQU (0x1 << 1) ;- (UDP) Configured +AT91C_UDP_ESR EQU (0x1 << 2) ;- (UDP) Enable Send Resume +AT91C_UDP_RSMINPR EQU (0x1 << 3) ;- (UDP) A Resume Has Been Sent to the Host +AT91C_UDP_RMWUPE EQU (0x1 << 4) ;- (UDP) Remote Wake Up Enable +// - -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +AT91C_UDP_FADD EQU (0xFF << 0) ;- (UDP) Function Address Value +AT91C_UDP_FEN EQU (0x1 << 8) ;- (UDP) Function Enable +// - -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +AT91C_UDP_EPINT0 EQU (0x1 << 0) ;- (UDP) Endpoint 0 Interrupt +AT91C_UDP_EPINT1 EQU (0x1 << 1) ;- (UDP) Endpoint 0 Interrupt +AT91C_UDP_EPINT2 EQU (0x1 << 2) ;- (UDP) Endpoint 2 Interrupt +AT91C_UDP_EPINT3 EQU (0x1 << 3) ;- (UDP) Endpoint 3 Interrupt +AT91C_UDP_EPINT4 EQU (0x1 << 4) ;- (UDP) Endpoint 4 Interrupt +AT91C_UDP_EPINT5 EQU (0x1 << 5) ;- (UDP) Endpoint 5 Interrupt +AT91C_UDP_RXSUSP EQU (0x1 << 8) ;- (UDP) USB Suspend Interrupt +AT91C_UDP_RXRSM EQU (0x1 << 9) ;- (UDP) USB Resume Interrupt +AT91C_UDP_EXTRSM EQU (0x1 << 10) ;- (UDP) USB External Resume Interrupt +AT91C_UDP_SOFINT EQU (0x1 << 11) ;- (UDP) USB Start Of frame Interrupt +AT91C_UDP_WAKEUP EQU (0x1 << 13) ;- (UDP) USB Resume Interrupt +// - -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// - -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// - -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +AT91C_UDP_ENDBUSRES EQU (0x1 << 12) ;- (UDP) USB End Of Bus Reset Interrupt +// - -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// - -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +AT91C_UDP_EP0 EQU (0x1 << 0) ;- (UDP) Reset Endpoint 0 +AT91C_UDP_EP1 EQU (0x1 << 1) ;- (UDP) Reset Endpoint 1 +AT91C_UDP_EP2 EQU (0x1 << 2) ;- (UDP) Reset Endpoint 2 +AT91C_UDP_EP3 EQU (0x1 << 3) ;- (UDP) Reset Endpoint 3 +AT91C_UDP_EP4 EQU (0x1 << 4) ;- (UDP) Reset Endpoint 4 +AT91C_UDP_EP5 EQU (0x1 << 5) ;- (UDP) Reset Endpoint 5 +// - -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +AT91C_UDP_TXCOMP EQU (0x1 << 0) ;- (UDP) Generates an IN packet with data previously written in the DPR +AT91C_UDP_RX_DATA_BK0 EQU (0x1 << 1) ;- (UDP) Receive Data Bank 0 +AT91C_UDP_RXSETUP EQU (0x1 << 2) ;- (UDP) Sends STALL to the Host (Control endpoints) +AT91C_UDP_ISOERROR EQU (0x1 << 3) ;- (UDP) Isochronous error (Isochronous endpoints) +AT91C_UDP_TXPKTRDY EQU (0x1 << 4) ;- (UDP) Transmit Packet Ready +AT91C_UDP_FORCESTALL EQU (0x1 << 5) ;- (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +AT91C_UDP_RX_DATA_BK1 EQU (0x1 << 6) ;- (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +AT91C_UDP_DIR EQU (0x1 << 7) ;- (UDP) Transfer Direction +AT91C_UDP_EPTYPE EQU (0x7 << 8) ;- (UDP) Endpoint type +AT91C_UDP_EPTYPE_CTRL EQU (0x0 << 8) ;- (UDP) Control +AT91C_UDP_EPTYPE_ISO_OUT EQU (0x1 << 8) ;- (UDP) Isochronous OUT +AT91C_UDP_EPTYPE_BULK_OUT EQU (0x2 << 8) ;- (UDP) Bulk OUT +AT91C_UDP_EPTYPE_INT_OUT EQU (0x3 << 8) ;- (UDP) Interrupt OUT +AT91C_UDP_EPTYPE_ISO_IN EQU (0x5 << 8) ;- (UDP) Isochronous IN +AT91C_UDP_EPTYPE_BULK_IN EQU (0x6 << 8) ;- (UDP) Bulk IN +AT91C_UDP_EPTYPE_INT_IN EQU (0x7 << 8) ;- (UDP) Interrupt IN +AT91C_UDP_DTGLE EQU (0x1 << 11) ;- (UDP) Data Toggle +AT91C_UDP_EPEDS EQU (0x1 << 15) ;- (UDP) Endpoint Enable Disable +AT91C_UDP_RXBYTECNT EQU (0x7FF << 16) ;- (UDP) Number Of Bytes Available in the FIFO +// - -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +AT91C_UDP_TXVDIS EQU (0x1 << 8) ;- (UDP) +AT91C_UDP_PUON EQU (0x1 << 9) ;- (UDP) Pull-up ON + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// - ***************************************************************************** +// - -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +AT91C_TC_CLKEN EQU (0x1 << 0) ;- (TC) Counter Clock Enable Command +AT91C_TC_CLKDIS EQU (0x1 << 1) ;- (TC) Counter Clock Disable Command +AT91C_TC_SWTRG EQU (0x1 << 2) ;- (TC) Software Trigger Command +// - -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +AT91C_TC_CLKS EQU (0x7 << 0) ;- (TC) Clock Selection +AT91C_TC_CLKS_TIMER_DIV1_CLOCK EQU (0x0) ;- (TC) Clock selected: TIMER_DIV1_CLOCK +AT91C_TC_CLKS_TIMER_DIV2_CLOCK EQU (0x1) ;- (TC) Clock selected: TIMER_DIV2_CLOCK +AT91C_TC_CLKS_TIMER_DIV3_CLOCK EQU (0x2) ;- (TC) Clock selected: TIMER_DIV3_CLOCK +AT91C_TC_CLKS_TIMER_DIV4_CLOCK EQU (0x3) ;- (TC) Clock selected: TIMER_DIV4_CLOCK +AT91C_TC_CLKS_TIMER_DIV5_CLOCK EQU (0x4) ;- (TC) Clock selected: TIMER_DIV5_CLOCK +AT91C_TC_CLKS_XC0 EQU (0x5) ;- (TC) Clock selected: XC0 +AT91C_TC_CLKS_XC1 EQU (0x6) ;- (TC) Clock selected: XC1 +AT91C_TC_CLKS_XC2 EQU (0x7) ;- (TC) Clock selected: XC2 +AT91C_TC_CLKI EQU (0x1 << 3) ;- (TC) Clock Invert +AT91C_TC_BURST EQU (0x3 << 4) ;- (TC) Burst Signal Selection +AT91C_TC_BURST_NONE EQU (0x0 << 4) ;- (TC) The clock is not gated by an external signal +AT91C_TC_BURST_XC0 EQU (0x1 << 4) ;- (TC) XC0 is ANDed with the selected clock +AT91C_TC_BURST_XC1 EQU (0x2 << 4) ;- (TC) XC1 is ANDed with the selected clock +AT91C_TC_BURST_XC2 EQU (0x3 << 4) ;- (TC) XC2 is ANDed with the selected clock +AT91C_TC_CPCSTOP EQU (0x1 << 6) ;- (TC) Counter Clock Stopped with RC Compare +AT91C_TC_LDBSTOP EQU (0x1 << 6) ;- (TC) Counter Clock Stopped with RB Loading +AT91C_TC_CPCDIS EQU (0x1 << 7) ;- (TC) Counter Clock Disable with RC Compare +AT91C_TC_LDBDIS EQU (0x1 << 7) ;- (TC) Counter Clock Disabled with RB Loading +AT91C_TC_ETRGEDG EQU (0x3 << 8) ;- (TC) External Trigger Edge Selection +AT91C_TC_ETRGEDG_NONE EQU (0x0 << 8) ;- (TC) Edge: None +AT91C_TC_ETRGEDG_RISING EQU (0x1 << 8) ;- (TC) Edge: rising edge +AT91C_TC_ETRGEDG_FALLING EQU (0x2 << 8) ;- (TC) Edge: falling edge +AT91C_TC_ETRGEDG_BOTH EQU (0x3 << 8) ;- (TC) Edge: each edge +AT91C_TC_EEVTEDG EQU (0x3 << 8) ;- (TC) External Event Edge Selection +AT91C_TC_EEVTEDG_NONE EQU (0x0 << 8) ;- (TC) Edge: None +AT91C_TC_EEVTEDG_RISING EQU (0x1 << 8) ;- (TC) Edge: rising edge +AT91C_TC_EEVTEDG_FALLING EQU (0x2 << 8) ;- (TC) Edge: falling edge +AT91C_TC_EEVTEDG_BOTH EQU (0x3 << 8) ;- (TC) Edge: each edge +AT91C_TC_EEVT EQU (0x3 << 10) ;- (TC) External Event Selection +AT91C_TC_EEVT_TIOB EQU (0x0 << 10) ;- (TC) Signal selected as external event: TIOB TIOB direction: input +AT91C_TC_EEVT_XC0 EQU (0x1 << 10) ;- (TC) Signal selected as external event: XC0 TIOB direction: output +AT91C_TC_EEVT_XC1 EQU (0x2 << 10) ;- (TC) Signal selected as external event: XC1 TIOB direction: output +AT91C_TC_EEVT_XC2 EQU (0x3 << 10) ;- (TC) Signal selected as external event: XC2 TIOB direction: output +AT91C_TC_ABETRG EQU (0x1 << 10) ;- (TC) TIOA or TIOB External Trigger Selection +AT91C_TC_ENETRG EQU (0x1 << 12) ;- (TC) External Event Trigger enable +AT91C_TC_WAVESEL EQU (0x3 << 13) ;- (TC) Waveform Selection +AT91C_TC_WAVESEL_UP EQU (0x0 << 13) ;- (TC) UP mode without atomatic trigger on RC Compare +AT91C_TC_WAVESEL_UPDOWN EQU (0x1 << 13) ;- (TC) UPDOWN mode without automatic trigger on RC Compare +AT91C_TC_WAVESEL_UP_AUTO EQU (0x2 << 13) ;- (TC) UP mode with automatic trigger on RC Compare +AT91C_TC_WAVESEL_UPDOWN_AUTO EQU (0x3 << 13) ;- (TC) UPDOWN mode with automatic trigger on RC Compare +AT91C_TC_CPCTRG EQU (0x1 << 14) ;- (TC) RC Compare Trigger Enable +AT91C_TC_WAVE EQU (0x1 << 15) ;- (TC) +AT91C_TC_ACPA EQU (0x3 << 16) ;- (TC) RA Compare Effect on TIOA +AT91C_TC_ACPA_NONE EQU (0x0 << 16) ;- (TC) Effect: none +AT91C_TC_ACPA_SET EQU (0x1 << 16) ;- (TC) Effect: set +AT91C_TC_ACPA_CLEAR EQU (0x2 << 16) ;- (TC) Effect: clear +AT91C_TC_ACPA_TOGGLE EQU (0x3 << 16) ;- (TC) Effect: toggle +AT91C_TC_LDRA EQU (0x3 << 16) ;- (TC) RA Loading Selection +AT91C_TC_LDRA_NONE EQU (0x0 << 16) ;- (TC) Edge: None +AT91C_TC_LDRA_RISING EQU (0x1 << 16) ;- (TC) Edge: rising edge of TIOA +AT91C_TC_LDRA_FALLING EQU (0x2 << 16) ;- (TC) Edge: falling edge of TIOA +AT91C_TC_LDRA_BOTH EQU (0x3 << 16) ;- (TC) Edge: each edge of TIOA +AT91C_TC_ACPC EQU (0x3 << 18) ;- (TC) RC Compare Effect on TIOA +AT91C_TC_ACPC_NONE EQU (0x0 << 18) ;- (TC) Effect: none +AT91C_TC_ACPC_SET EQU (0x1 << 18) ;- (TC) Effect: set +AT91C_TC_ACPC_CLEAR EQU (0x2 << 18) ;- (TC) Effect: clear +AT91C_TC_ACPC_TOGGLE EQU (0x3 << 18) ;- (TC) Effect: toggle +AT91C_TC_LDRB EQU (0x3 << 18) ;- (TC) RB Loading Selection +AT91C_TC_LDRB_NONE EQU (0x0 << 18) ;- (TC) Edge: None +AT91C_TC_LDRB_RISING EQU (0x1 << 18) ;- (TC) Edge: rising edge of TIOA +AT91C_TC_LDRB_FALLING EQU (0x2 << 18) ;- (TC) Edge: falling edge of TIOA +AT91C_TC_LDRB_BOTH EQU (0x3 << 18) ;- (TC) Edge: each edge of TIOA +AT91C_TC_AEEVT EQU (0x3 << 20) ;- (TC) External Event Effect on TIOA +AT91C_TC_AEEVT_NONE EQU (0x0 << 20) ;- (TC) Effect: none +AT91C_TC_AEEVT_SET EQU (0x1 << 20) ;- (TC) Effect: set +AT91C_TC_AEEVT_CLEAR EQU (0x2 << 20) ;- (TC) Effect: clear +AT91C_TC_AEEVT_TOGGLE EQU (0x3 << 20) ;- (TC) Effect: toggle +AT91C_TC_ASWTRG EQU (0x3 << 22) ;- (TC) Software Trigger Effect on TIOA +AT91C_TC_ASWTRG_NONE EQU (0x0 << 22) ;- (TC) Effect: none +AT91C_TC_ASWTRG_SET EQU (0x1 << 22) ;- (TC) Effect: set +AT91C_TC_ASWTRG_CLEAR EQU (0x2 << 22) ;- (TC) Effect: clear +AT91C_TC_ASWTRG_TOGGLE EQU (0x3 << 22) ;- (TC) Effect: toggle +AT91C_TC_BCPB EQU (0x3 << 24) ;- (TC) RB Compare Effect on TIOB +AT91C_TC_BCPB_NONE EQU (0x0 << 24) ;- (TC) Effect: none +AT91C_TC_BCPB_SET EQU (0x1 << 24) ;- (TC) Effect: set +AT91C_TC_BCPB_CLEAR EQU (0x2 << 24) ;- (TC) Effect: clear +AT91C_TC_BCPB_TOGGLE EQU (0x3 << 24) ;- (TC) Effect: toggle +AT91C_TC_BCPC EQU (0x3 << 26) ;- (TC) RC Compare Effect on TIOB +AT91C_TC_BCPC_NONE EQU (0x0 << 26) ;- (TC) Effect: none +AT91C_TC_BCPC_SET EQU (0x1 << 26) ;- (TC) Effect: set +AT91C_TC_BCPC_CLEAR EQU (0x2 << 26) ;- (TC) Effect: clear +AT91C_TC_BCPC_TOGGLE EQU (0x3 << 26) ;- (TC) Effect: toggle +AT91C_TC_BEEVT EQU (0x3 << 28) ;- (TC) External Event Effect on TIOB +AT91C_TC_BEEVT_NONE EQU (0x0 << 28) ;- (TC) Effect: none +AT91C_TC_BEEVT_SET EQU (0x1 << 28) ;- (TC) Effect: set +AT91C_TC_BEEVT_CLEAR EQU (0x2 << 28) ;- (TC) Effect: clear +AT91C_TC_BEEVT_TOGGLE EQU (0x3 << 28) ;- (TC) Effect: toggle +AT91C_TC_BSWTRG EQU (0x3 << 30) ;- (TC) Software Trigger Effect on TIOB +AT91C_TC_BSWTRG_NONE EQU (0x0 << 30) ;- (TC) Effect: none +AT91C_TC_BSWTRG_SET EQU (0x1 << 30) ;- (TC) Effect: set +AT91C_TC_BSWTRG_CLEAR EQU (0x2 << 30) ;- (TC) Effect: clear +AT91C_TC_BSWTRG_TOGGLE EQU (0x3 << 30) ;- (TC) Effect: toggle +// - -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +AT91C_TC_COVFS EQU (0x1 << 0) ;- (TC) Counter Overflow +AT91C_TC_LOVRS EQU (0x1 << 1) ;- (TC) Load Overrun +AT91C_TC_CPAS EQU (0x1 << 2) ;- (TC) RA Compare +AT91C_TC_CPBS EQU (0x1 << 3) ;- (TC) RB Compare +AT91C_TC_CPCS EQU (0x1 << 4) ;- (TC) RC Compare +AT91C_TC_LDRAS EQU (0x1 << 5) ;- (TC) RA Loading +AT91C_TC_LDRBS EQU (0x1 << 6) ;- (TC) RB Loading +AT91C_TC_ETRGS EQU (0x1 << 7) ;- (TC) External Trigger +AT91C_TC_CLKSTA EQU (0x1 << 16) ;- (TC) Clock Enabling +AT91C_TC_MTIOA EQU (0x1 << 17) ;- (TC) TIOA Mirror +AT91C_TC_MTIOB EQU (0x1 << 18) ;- (TC) TIOA Mirror +// - -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// - -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// - -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Timer Counter Interface +// - ***************************************************************************** +// - -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +AT91C_TCB_SYNC EQU (0x1 << 0) ;- (TCB) Synchro Command +// - -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +AT91C_TCB_TC0XC0S EQU (0x3 << 0) ;- (TCB) External Clock Signal 0 Selection +AT91C_TCB_TC0XC0S_TCLK0 EQU (0x0) ;- (TCB) TCLK0 connected to XC0 +AT91C_TCB_TC0XC0S_NONE EQU (0x1) ;- (TCB) None signal connected to XC0 +AT91C_TCB_TC0XC0S_TIOA1 EQU (0x2) ;- (TCB) TIOA1 connected to XC0 +AT91C_TCB_TC0XC0S_TIOA2 EQU (0x3) ;- (TCB) TIOA2 connected to XC0 +AT91C_TCB_TC1XC1S EQU (0x3 << 2) ;- (TCB) External Clock Signal 1 Selection +AT91C_TCB_TC1XC1S_TCLK1 EQU (0x0 << 2) ;- (TCB) TCLK1 connected to XC1 +AT91C_TCB_TC1XC1S_NONE EQU (0x1 << 2) ;- (TCB) None signal connected to XC1 +AT91C_TCB_TC1XC1S_TIOA0 EQU (0x2 << 2) ;- (TCB) TIOA0 connected to XC1 +AT91C_TCB_TC1XC1S_TIOA2 EQU (0x3 << 2) ;- (TCB) TIOA2 connected to XC1 +AT91C_TCB_TC2XC2S EQU (0x3 << 4) ;- (TCB) External Clock Signal 2 Selection +AT91C_TCB_TC2XC2S_TCLK2 EQU (0x0 << 4) ;- (TCB) TCLK2 connected to XC2 +AT91C_TCB_TC2XC2S_NONE EQU (0x1 << 4) ;- (TCB) None signal connected to XC2 +AT91C_TCB_TC2XC2S_TIOA0 EQU (0x2 << 4) ;- (TCB) TIOA0 connected to XC2 +AT91C_TCB_TC2XC2S_TIOA1 EQU (0x3 << 4) ;- (TCB) TIOA2 connected to XC2 + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// - ***************************************************************************** +// - -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +AT91C_CAN_MTIMEMARK EQU (0xFFFF << 0) ;- (CAN_MB) Mailbox Timemark +AT91C_CAN_PRIOR EQU (0xF << 16) ;- (CAN_MB) Mailbox Priority +AT91C_CAN_MOT EQU (0x7 << 24) ;- (CAN_MB) Mailbox Object Type +AT91C_CAN_MOT_DIS EQU (0x0 << 24) ;- (CAN_MB) +AT91C_CAN_MOT_RX EQU (0x1 << 24) ;- (CAN_MB) +AT91C_CAN_MOT_RXOVERWRITE EQU (0x2 << 24) ;- (CAN_MB) +AT91C_CAN_MOT_TX EQU (0x3 << 24) ;- (CAN_MB) +AT91C_CAN_MOT_CONSUMER EQU (0x4 << 24) ;- (CAN_MB) +AT91C_CAN_MOT_PRODUCER EQU (0x5 << 24) ;- (CAN_MB) +// - -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +AT91C_CAN_MIDvB EQU (0x3FFFF << 0) ;- (CAN_MB) Complementary bits for identifier in extended mode +AT91C_CAN_MIDvA EQU (0x7FF << 18) ;- (CAN_MB) Identifier for standard frame mode +AT91C_CAN_MIDE EQU (0x1 << 29) ;- (CAN_MB) Identifier Version +// - -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// - -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// - -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +AT91C_CAN_MTIMESTAMP EQU (0xFFFF << 0) ;- (CAN_MB) Timer Value +AT91C_CAN_MDLC EQU (0xF << 16) ;- (CAN_MB) Mailbox Data Length Code +AT91C_CAN_MRTR EQU (0x1 << 20) ;- (CAN_MB) Mailbox Remote Transmission Request +AT91C_CAN_MABT EQU (0x1 << 22) ;- (CAN_MB) Mailbox Message Abort +AT91C_CAN_MRDY EQU (0x1 << 23) ;- (CAN_MB) Mailbox Ready +AT91C_CAN_MMI EQU (0x1 << 24) ;- (CAN_MB) Mailbox Message Ignored +// - -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// - -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// - -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +AT91C_CAN_MACR EQU (0x1 << 22) ;- (CAN_MB) Abort Request for Mailbox +AT91C_CAN_MTCR EQU (0x1 << 23) ;- (CAN_MB) Mailbox Transfer Command + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Control Area Network Interface +// - ***************************************************************************** +// - -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +AT91C_CAN_CANEN EQU (0x1 << 0) ;- (CAN) CAN Controller Enable +AT91C_CAN_LPM EQU (0x1 << 1) ;- (CAN) Disable/Enable Low Power Mode +AT91C_CAN_ABM EQU (0x1 << 2) ;- (CAN) Disable/Enable Autobaud/Listen Mode +AT91C_CAN_OVL EQU (0x1 << 3) ;- (CAN) Disable/Enable Overload Frame +AT91C_CAN_TEOF EQU (0x1 << 4) ;- (CAN) Time Stamp messages at each end of Frame +AT91C_CAN_TTM EQU (0x1 << 5) ;- (CAN) Disable/Enable Time Trigger Mode +AT91C_CAN_TIMFRZ EQU (0x1 << 6) ;- (CAN) Enable Timer Freeze +AT91C_CAN_DRPT EQU (0x1 << 7) ;- (CAN) Disable Repeat +// - -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +AT91C_CAN_MB0 EQU (0x1 << 0) ;- (CAN) Mailbox 0 Flag +AT91C_CAN_MB1 EQU (0x1 << 1) ;- (CAN) Mailbox 1 Flag +AT91C_CAN_MB2 EQU (0x1 << 2) ;- (CAN) Mailbox 2 Flag +AT91C_CAN_MB3 EQU (0x1 << 3) ;- (CAN) Mailbox 3 Flag +AT91C_CAN_MB4 EQU (0x1 << 4) ;- (CAN) Mailbox 4 Flag +AT91C_CAN_MB5 EQU (0x1 << 5) ;- (CAN) Mailbox 5 Flag +AT91C_CAN_MB6 EQU (0x1 << 6) ;- (CAN) Mailbox 6 Flag +AT91C_CAN_MB7 EQU (0x1 << 7) ;- (CAN) Mailbox 7 Flag +AT91C_CAN_MB8 EQU (0x1 << 8) ;- (CAN) Mailbox 8 Flag +AT91C_CAN_MB9 EQU (0x1 << 9) ;- (CAN) Mailbox 9 Flag +AT91C_CAN_MB10 EQU (0x1 << 10) ;- (CAN) Mailbox 10 Flag +AT91C_CAN_MB11 EQU (0x1 << 11) ;- (CAN) Mailbox 11 Flag +AT91C_CAN_MB12 EQU (0x1 << 12) ;- (CAN) Mailbox 12 Flag +AT91C_CAN_MB13 EQU (0x1 << 13) ;- (CAN) Mailbox 13 Flag +AT91C_CAN_MB14 EQU (0x1 << 14) ;- (CAN) Mailbox 14 Flag +AT91C_CAN_MB15 EQU (0x1 << 15) ;- (CAN) Mailbox 15 Flag +AT91C_CAN_ERRA EQU (0x1 << 16) ;- (CAN) Error Active Mode Flag +AT91C_CAN_WARN EQU (0x1 << 17) ;- (CAN) Warning Limit Flag +AT91C_CAN_ERRP EQU (0x1 << 18) ;- (CAN) Error Passive Mode Flag +AT91C_CAN_BOFF EQU (0x1 << 19) ;- (CAN) Bus Off Mode Flag +AT91C_CAN_SLEEP EQU (0x1 << 20) ;- (CAN) Sleep Flag +AT91C_CAN_WAKEUP EQU (0x1 << 21) ;- (CAN) Wakeup Flag +AT91C_CAN_TOVF EQU (0x1 << 22) ;- (CAN) Timer Overflow Flag +AT91C_CAN_TSTP EQU (0x1 << 23) ;- (CAN) Timestamp Flag +AT91C_CAN_CERR EQU (0x1 << 24) ;- (CAN) CRC Error +AT91C_CAN_SERR EQU (0x1 << 25) ;- (CAN) Stuffing Error +AT91C_CAN_AERR EQU (0x1 << 26) ;- (CAN) Acknowledgment Error +AT91C_CAN_FERR EQU (0x1 << 27) ;- (CAN) Form Error +AT91C_CAN_BERR EQU (0x1 << 28) ;- (CAN) Bit Error +// - -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// - -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// - -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +AT91C_CAN_RBSY EQU (0x1 << 29) ;- (CAN) Receiver Busy +AT91C_CAN_TBSY EQU (0x1 << 30) ;- (CAN) Transmitter Busy +AT91C_CAN_OVLY EQU (0x1 << 31) ;- (CAN) Overload Busy +// - -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +AT91C_CAN_PHASE2 EQU (0x7 << 0) ;- (CAN) Phase 2 segment +AT91C_CAN_PHASE1 EQU (0x7 << 4) ;- (CAN) Phase 1 segment +AT91C_CAN_PROPAG EQU (0x7 << 8) ;- (CAN) Programmation time segment +AT91C_CAN_SYNC EQU (0x3 << 12) ;- (CAN) Re-synchronization jump width segment +AT91C_CAN_BRP EQU (0x7F << 16) ;- (CAN) Baudrate Prescaler +AT91C_CAN_SMP EQU (0x1 << 24) ;- (CAN) Sampling mode +// - -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +AT91C_CAN_TIMER EQU (0xFFFF << 0) ;- (CAN) Timer field +// - -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// - -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +AT91C_CAN_REC EQU (0xFF << 0) ;- (CAN) Receive Error Counter +AT91C_CAN_TEC EQU (0xFF << 16) ;- (CAN) Transmit Error Counter +// - -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +AT91C_CAN_TIMRST EQU (0x1 << 31) ;- (CAN) Timer Reset Field +// - -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// - ***************************************************************************** +// - -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +AT91C_EMAC_LB EQU (0x1 << 0) ;- (EMAC) Loopback. Optional. When set, loopback signal is at high level. +AT91C_EMAC_LLB EQU (0x1 << 1) ;- (EMAC) Loopback local. +AT91C_EMAC_RE EQU (0x1 << 2) ;- (EMAC) Receive enable. +AT91C_EMAC_TE EQU (0x1 << 3) ;- (EMAC) Transmit enable. +AT91C_EMAC_MPE EQU (0x1 << 4) ;- (EMAC) Management port enable. +AT91C_EMAC_CLRSTAT EQU (0x1 << 5) ;- (EMAC) Clear statistics registers. +AT91C_EMAC_INCSTAT EQU (0x1 << 6) ;- (EMAC) Increment statistics registers. +AT91C_EMAC_WESTAT EQU (0x1 << 7) ;- (EMAC) Write enable for statistics registers. +AT91C_EMAC_BP EQU (0x1 << 8) ;- (EMAC) Back pressure. +AT91C_EMAC_TSTART EQU (0x1 << 9) ;- (EMAC) Start Transmission. +AT91C_EMAC_THALT EQU (0x1 << 10) ;- (EMAC) Transmission Halt. +AT91C_EMAC_TPFR EQU (0x1 << 11) ;- (EMAC) Transmit pause frame +AT91C_EMAC_TZQ EQU (0x1 << 12) ;- (EMAC) Transmit zero quantum pause frame +// - -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +AT91C_EMAC_SPD EQU (0x1 << 0) ;- (EMAC) Speed. +AT91C_EMAC_FD EQU (0x1 << 1) ;- (EMAC) Full duplex. +AT91C_EMAC_JFRAME EQU (0x1 << 3) ;- (EMAC) Jumbo Frames. +AT91C_EMAC_CAF EQU (0x1 << 4) ;- (EMAC) Copy all frames. +AT91C_EMAC_NBC EQU (0x1 << 5) ;- (EMAC) No broadcast. +AT91C_EMAC_MTI EQU (0x1 << 6) ;- (EMAC) Multicast hash event enable +AT91C_EMAC_UNI EQU (0x1 << 7) ;- (EMAC) Unicast hash enable. +AT91C_EMAC_BIG EQU (0x1 << 8) ;- (EMAC) Receive 1522 bytes. +AT91C_EMAC_EAE EQU (0x1 << 9) ;- (EMAC) External address match enable. +AT91C_EMAC_CLK EQU (0x3 << 10) ;- (EMAC) +AT91C_EMAC_CLK_HCLK_8 EQU (0x0 << 10) ;- (EMAC) HCLK divided by 8 +AT91C_EMAC_CLK_HCLK_16 EQU (0x1 << 10) ;- (EMAC) HCLK divided by 16 +AT91C_EMAC_CLK_HCLK_32 EQU (0x2 << 10) ;- (EMAC) HCLK divided by 32 +AT91C_EMAC_CLK_HCLK_64 EQU (0x3 << 10) ;- (EMAC) HCLK divided by 64 +AT91C_EMAC_RTY EQU (0x1 << 12) ;- (EMAC) +AT91C_EMAC_PAE EQU (0x1 << 13) ;- (EMAC) +AT91C_EMAC_RBOF EQU (0x3 << 14) ;- (EMAC) +AT91C_EMAC_RBOF_OFFSET_0 EQU (0x0 << 14) ;- (EMAC) no offset from start of receive buffer +AT91C_EMAC_RBOF_OFFSET_1 EQU (0x1 << 14) ;- (EMAC) one byte offset from start of receive buffer +AT91C_EMAC_RBOF_OFFSET_2 EQU (0x2 << 14) ;- (EMAC) two bytes offset from start of receive buffer +AT91C_EMAC_RBOF_OFFSET_3 EQU (0x3 << 14) ;- (EMAC) three bytes offset from start of receive buffer +AT91C_EMAC_RLCE EQU (0x1 << 16) ;- (EMAC) Receive Length field Checking Enable +AT91C_EMAC_DRFCS EQU (0x1 << 17) ;- (EMAC) Discard Receive FCS +AT91C_EMAC_EFRHD EQU (0x1 << 18) ;- (EMAC) +AT91C_EMAC_IRXFCS EQU (0x1 << 19) ;- (EMAC) Ignore RX FCS +// - -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +AT91C_EMAC_LINKR EQU (0x1 << 0) ;- (EMAC) +AT91C_EMAC_MDIO EQU (0x1 << 1) ;- (EMAC) +AT91C_EMAC_IDLE EQU (0x1 << 2) ;- (EMAC) +// - -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +AT91C_EMAC_UBR EQU (0x1 << 0) ;- (EMAC) +AT91C_EMAC_COL EQU (0x1 << 1) ;- (EMAC) +AT91C_EMAC_RLES EQU (0x1 << 2) ;- (EMAC) +AT91C_EMAC_TGO EQU (0x1 << 3) ;- (EMAC) Transmit Go +AT91C_EMAC_BEX EQU (0x1 << 4) ;- (EMAC) Buffers exhausted mid frame +AT91C_EMAC_COMP EQU (0x1 << 5) ;- (EMAC) +AT91C_EMAC_UND EQU (0x1 << 6) ;- (EMAC) +// - -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +AT91C_EMAC_BNA EQU (0x1 << 0) ;- (EMAC) +AT91C_EMAC_REC EQU (0x1 << 1) ;- (EMAC) +AT91C_EMAC_OVR EQU (0x1 << 2) ;- (EMAC) +// - -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +AT91C_EMAC_MFD EQU (0x1 << 0) ;- (EMAC) +AT91C_EMAC_RCOMP EQU (0x1 << 1) ;- (EMAC) +AT91C_EMAC_RXUBR EQU (0x1 << 2) ;- (EMAC) +AT91C_EMAC_TXUBR EQU (0x1 << 3) ;- (EMAC) +AT91C_EMAC_TUNDR EQU (0x1 << 4) ;- (EMAC) +AT91C_EMAC_RLEX EQU (0x1 << 5) ;- (EMAC) +AT91C_EMAC_TXERR EQU (0x1 << 6) ;- (EMAC) +AT91C_EMAC_TCOMP EQU (0x1 << 7) ;- (EMAC) +AT91C_EMAC_LINK EQU (0x1 << 9) ;- (EMAC) +AT91C_EMAC_ROVR EQU (0x1 << 10) ;- (EMAC) +AT91C_EMAC_HRESP EQU (0x1 << 11) ;- (EMAC) +AT91C_EMAC_PFRE EQU (0x1 << 12) ;- (EMAC) +AT91C_EMAC_PTZ EQU (0x1 << 13) ;- (EMAC) +// - -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// - -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// - -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// - -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +AT91C_EMAC_DATA EQU (0xFFFF << 0) ;- (EMAC) +AT91C_EMAC_CODE EQU (0x3 << 16) ;- (EMAC) +AT91C_EMAC_REGA EQU (0x1F << 18) ;- (EMAC) +AT91C_EMAC_PHYA EQU (0x1F << 23) ;- (EMAC) +AT91C_EMAC_RW EQU (0x3 << 28) ;- (EMAC) +AT91C_EMAC_SOF EQU (0x3 << 30) ;- (EMAC) +// - -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +AT91C_EMAC_RMII EQU (0x1 << 0) ;- (EMAC) Reduce MII +// - -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +AT91C_EMAC_IP EQU (0xFFFF << 0) ;- (EMAC) ARP request IP address +AT91C_EMAC_MAG EQU (0x1 << 16) ;- (EMAC) Magic packet event enable +AT91C_EMAC_ARP EQU (0x1 << 17) ;- (EMAC) ARP request event enable +AT91C_EMAC_SA1 EQU (0x1 << 18) ;- (EMAC) Specific address register 1 event enable +// - -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +AT91C_EMAC_REVREF EQU (0xFFFF << 0) ;- (EMAC) +AT91C_EMAC_PARTREF EQU (0xFFFF << 16) ;- (EMAC) + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// - ***************************************************************************** +// - -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +AT91C_ADC_SWRST EQU (0x1 << 0) ;- (ADC) Software Reset +AT91C_ADC_START EQU (0x1 << 1) ;- (ADC) Start Conversion +// - -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +AT91C_ADC_TRGEN EQU (0x1 << 0) ;- (ADC) Trigger Enable +AT91C_ADC_TRGEN_DIS EQU (0x0) ;- (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +AT91C_ADC_TRGEN_EN EQU (0x1) ;- (ADC) Hardware trigger selected by TRGSEL field is enabled. +AT91C_ADC_TRGSEL EQU (0x7 << 1) ;- (ADC) Trigger Selection +AT91C_ADC_TRGSEL_TIOA0 EQU (0x0 << 1) ;- (ADC) Selected TRGSEL = TIAO0 +AT91C_ADC_TRGSEL_TIOA1 EQU (0x1 << 1) ;- (ADC) Selected TRGSEL = TIAO1 +AT91C_ADC_TRGSEL_TIOA2 EQU (0x2 << 1) ;- (ADC) Selected TRGSEL = TIAO2 +AT91C_ADC_TRGSEL_TIOA3 EQU (0x3 << 1) ;- (ADC) Selected TRGSEL = TIAO3 +AT91C_ADC_TRGSEL_TIOA4 EQU (0x4 << 1) ;- (ADC) Selected TRGSEL = TIAO4 +AT91C_ADC_TRGSEL_TIOA5 EQU (0x5 << 1) ;- (ADC) Selected TRGSEL = TIAO5 +AT91C_ADC_TRGSEL_EXT EQU (0x6 << 1) ;- (ADC) Selected TRGSEL = External Trigger +AT91C_ADC_LOWRES EQU (0x1 << 4) ;- (ADC) Resolution. +AT91C_ADC_LOWRES_10_BIT EQU (0x0 << 4) ;- (ADC) 10-bit resolution +AT91C_ADC_LOWRES_8_BIT EQU (0x1 << 4) ;- (ADC) 8-bit resolution +AT91C_ADC_SLEEP EQU (0x1 << 5) ;- (ADC) Sleep Mode +AT91C_ADC_SLEEP_NORMAL_MODE EQU (0x0 << 5) ;- (ADC) Normal Mode +AT91C_ADC_SLEEP_MODE EQU (0x1 << 5) ;- (ADC) Sleep Mode +AT91C_ADC_PRESCAL EQU (0x3F << 8) ;- (ADC) Prescaler rate selection +AT91C_ADC_STARTUP EQU (0x1F << 16) ;- (ADC) Startup Time +AT91C_ADC_SHTIM EQU (0xF << 24) ;- (ADC) Sample & Hold Time +// - -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +AT91C_ADC_CH0 EQU (0x1 << 0) ;- (ADC) Channel 0 +AT91C_ADC_CH1 EQU (0x1 << 1) ;- (ADC) Channel 1 +AT91C_ADC_CH2 EQU (0x1 << 2) ;- (ADC) Channel 2 +AT91C_ADC_CH3 EQU (0x1 << 3) ;- (ADC) Channel 3 +AT91C_ADC_CH4 EQU (0x1 << 4) ;- (ADC) Channel 4 +AT91C_ADC_CH5 EQU (0x1 << 5) ;- (ADC) Channel 5 +AT91C_ADC_CH6 EQU (0x1 << 6) ;- (ADC) Channel 6 +AT91C_ADC_CH7 EQU (0x1 << 7) ;- (ADC) Channel 7 +// - -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// - -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// - -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +AT91C_ADC_EOC0 EQU (0x1 << 0) ;- (ADC) End of Conversion +AT91C_ADC_EOC1 EQU (0x1 << 1) ;- (ADC) End of Conversion +AT91C_ADC_EOC2 EQU (0x1 << 2) ;- (ADC) End of Conversion +AT91C_ADC_EOC3 EQU (0x1 << 3) ;- (ADC) End of Conversion +AT91C_ADC_EOC4 EQU (0x1 << 4) ;- (ADC) End of Conversion +AT91C_ADC_EOC5 EQU (0x1 << 5) ;- (ADC) End of Conversion +AT91C_ADC_EOC6 EQU (0x1 << 6) ;- (ADC) End of Conversion +AT91C_ADC_EOC7 EQU (0x1 << 7) ;- (ADC) End of Conversion +AT91C_ADC_OVRE0 EQU (0x1 << 8) ;- (ADC) Overrun Error +AT91C_ADC_OVRE1 EQU (0x1 << 9) ;- (ADC) Overrun Error +AT91C_ADC_OVRE2 EQU (0x1 << 10) ;- (ADC) Overrun Error +AT91C_ADC_OVRE3 EQU (0x1 << 11) ;- (ADC) Overrun Error +AT91C_ADC_OVRE4 EQU (0x1 << 12) ;- (ADC) Overrun Error +AT91C_ADC_OVRE5 EQU (0x1 << 13) ;- (ADC) Overrun Error +AT91C_ADC_OVRE6 EQU (0x1 << 14) ;- (ADC) Overrun Error +AT91C_ADC_OVRE7 EQU (0x1 << 15) ;- (ADC) Overrun Error +AT91C_ADC_DRDY EQU (0x1 << 16) ;- (ADC) Data Ready +AT91C_ADC_GOVRE EQU (0x1 << 17) ;- (ADC) General Overrun +AT91C_ADC_ENDRX EQU (0x1 << 18) ;- (ADC) End of Receiver Transfer +AT91C_ADC_RXBUFF EQU (0x1 << 19) ;- (ADC) RXBUFF Interrupt +// - -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +AT91C_ADC_LDATA EQU (0x3FF << 0) ;- (ADC) Last Data Converted +// - -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// - -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// - -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// - -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +AT91C_ADC_DATA EQU (0x3FF << 0) ;- (ADC) Converted Data +// - -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// - -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// - -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// - -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// - -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// - -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// - -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// - ***************************************************************************** +// - -------- AES_CR : (AES Offset: 0x0) Control Register -------- +AT91C_AES_START EQU (0x1 << 0) ;- (AES) Starts Processing +AT91C_AES_SWRST EQU (0x1 << 8) ;- (AES) Software Reset +AT91C_AES_LOADSEED EQU (0x1 << 16) ;- (AES) Random Number Generator Seed Loading +// - -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +AT91C_AES_CIPHER EQU (0x1 << 0) ;- (AES) Processing Mode +AT91C_AES_PROCDLY EQU (0xF << 4) ;- (AES) Processing Delay +AT91C_AES_SMOD EQU (0x3 << 8) ;- (AES) Start Mode +AT91C_AES_SMOD_MANUAL EQU (0x0 << 8) ;- (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +AT91C_AES_SMOD_AUTO EQU (0x1 << 8) ;- (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +AT91C_AES_SMOD_PDC EQU (0x2 << 8) ;- (AES) PDC Mode (cf datasheet). +AT91C_AES_OPMOD EQU (0x7 << 12) ;- (AES) Operation Mode +AT91C_AES_OPMOD_ECB EQU (0x0 << 12) ;- (AES) ECB Electronic CodeBook mode. +AT91C_AES_OPMOD_CBC EQU (0x1 << 12) ;- (AES) CBC Cipher Block Chaining mode. +AT91C_AES_OPMOD_OFB EQU (0x2 << 12) ;- (AES) OFB Output Feedback mode. +AT91C_AES_OPMOD_CFB EQU (0x3 << 12) ;- (AES) CFB Cipher Feedback mode. +AT91C_AES_OPMOD_CTR EQU (0x4 << 12) ;- (AES) CTR Counter mode. +AT91C_AES_LOD EQU (0x1 << 15) ;- (AES) Last Output Data Mode +AT91C_AES_CFBS EQU (0x7 << 16) ;- (AES) Cipher Feedback Data Size +AT91C_AES_CFBS_128_BIT EQU (0x0 << 16) ;- (AES) 128-bit. +AT91C_AES_CFBS_64_BIT EQU (0x1 << 16) ;- (AES) 64-bit. +AT91C_AES_CFBS_32_BIT EQU (0x2 << 16) ;- (AES) 32-bit. +AT91C_AES_CFBS_16_BIT EQU (0x3 << 16) ;- (AES) 16-bit. +AT91C_AES_CFBS_8_BIT EQU (0x4 << 16) ;- (AES) 8-bit. +AT91C_AES_CKEY EQU (0xF << 20) ;- (AES) Countermeasure Key +AT91C_AES_CTYPE EQU (0x1F << 24) ;- (AES) Countermeasure Type +AT91C_AES_CTYPE_TYPE1_EN EQU (0x1 << 24) ;- (AES) Countermeasure type 1 is enabled. +AT91C_AES_CTYPE_TYPE2_EN EQU (0x2 << 24) ;- (AES) Countermeasure type 2 is enabled. +AT91C_AES_CTYPE_TYPE3_EN EQU (0x4 << 24) ;- (AES) Countermeasure type 3 is enabled. +AT91C_AES_CTYPE_TYPE4_EN EQU (0x8 << 24) ;- (AES) Countermeasure type 4 is enabled. +AT91C_AES_CTYPE_TYPE5_EN EQU (0x10 << 24) ;- (AES) Countermeasure type 5 is enabled. +// - -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +AT91C_AES_DATRDY EQU (0x1 << 0) ;- (AES) DATRDY +AT91C_AES_ENDRX EQU (0x1 << 1) ;- (AES) PDC Read Buffer End +AT91C_AES_ENDTX EQU (0x1 << 2) ;- (AES) PDC Write Buffer End +AT91C_AES_RXBUFF EQU (0x1 << 3) ;- (AES) PDC Read Buffer Full +AT91C_AES_TXBUFE EQU (0x1 << 4) ;- (AES) PDC Write Buffer Empty +AT91C_AES_URAD EQU (0x1 << 8) ;- (AES) Unspecified Register Access Detection +// - -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// - -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// - -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +AT91C_AES_URAT EQU (0x7 << 12) ;- (AES) Unspecified Register Access Type Status +AT91C_AES_URAT_IN_DAT_WRITE_DATPROC EQU (0x0 << 12) ;- (AES) Input data register written during the data processing in PDC mode. +AT91C_AES_URAT_OUT_DAT_READ_DATPROC EQU (0x1 << 12) ;- (AES) Output data register read during the data processing. +AT91C_AES_URAT_MODEREG_WRITE_DATPROC EQU (0x2 << 12) ;- (AES) Mode register written during the data processing. +AT91C_AES_URAT_OUT_DAT_READ_SUBKEY EQU (0x3 << 12) ;- (AES) Output data register read during the sub-keys generation. +AT91C_AES_URAT_MODEREG_WRITE_SUBKEY EQU (0x4 << 12) ;- (AES) Mode register written during the sub-keys generation. +AT91C_AES_URAT_WO_REG_READ EQU (0x5 << 12) ;- (AES) Write-only register read access. + +// - ***************************************************************************** +// - SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// - ***************************************************************************** +// - -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +AT91C_TDES_START EQU (0x1 << 0) ;- (TDES) Starts Processing +AT91C_TDES_SWRST EQU (0x1 << 8) ;- (TDES) Software Reset +// - -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +AT91C_TDES_CIPHER EQU (0x1 << 0) ;- (TDES) Processing Mode +AT91C_TDES_TDESMOD EQU (0x1 << 1) ;- (TDES) Single or Triple DES Mode +AT91C_TDES_KEYMOD EQU (0x1 << 4) ;- (TDES) Key Mode +AT91C_TDES_SMOD EQU (0x3 << 8) ;- (TDES) Start Mode +AT91C_TDES_SMOD_MANUAL EQU (0x0 << 8) ;- (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +AT91C_TDES_SMOD_AUTO EQU (0x1 << 8) ;- (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +AT91C_TDES_SMOD_PDC EQU (0x2 << 8) ;- (TDES) PDC Mode (cf datasheet). +AT91C_TDES_OPMOD EQU (0x3 << 12) ;- (TDES) Operation Mode +AT91C_TDES_OPMOD_ECB EQU (0x0 << 12) ;- (TDES) ECB Electronic CodeBook mode. +AT91C_TDES_OPMOD_CBC EQU (0x1 << 12) ;- (TDES) CBC Cipher Block Chaining mode. +AT91C_TDES_OPMOD_OFB EQU (0x2 << 12) ;- (TDES) OFB Output Feedback mode. +AT91C_TDES_OPMOD_CFB EQU (0x3 << 12) ;- (TDES) CFB Cipher Feedback mode. +AT91C_TDES_LOD EQU (0x1 << 15) ;- (TDES) Last Output Data Mode +AT91C_TDES_CFBS EQU (0x3 << 16) ;- (TDES) Cipher Feedback Data Size +AT91C_TDES_CFBS_64_BIT EQU (0x0 << 16) ;- (TDES) 64-bit. +AT91C_TDES_CFBS_32_BIT EQU (0x1 << 16) ;- (TDES) 32-bit. +AT91C_TDES_CFBS_16_BIT EQU (0x2 << 16) ;- (TDES) 16-bit. +AT91C_TDES_CFBS_8_BIT EQU (0x3 << 16) ;- (TDES) 8-bit. +// - -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +AT91C_TDES_DATRDY EQU (0x1 << 0) ;- (TDES) DATRDY +AT91C_TDES_ENDRX EQU (0x1 << 1) ;- (TDES) PDC Read Buffer End +AT91C_TDES_ENDTX EQU (0x1 << 2) ;- (TDES) PDC Write Buffer End +AT91C_TDES_RXBUFF EQU (0x1 << 3) ;- (TDES) PDC Read Buffer Full +AT91C_TDES_TXBUFE EQU (0x1 << 4) ;- (TDES) PDC Write Buffer Empty +AT91C_TDES_URAD EQU (0x1 << 8) ;- (TDES) Unspecified Register Access Detection +// - -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// - -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// - -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +AT91C_TDES_URAT EQU (0x3 << 12) ;- (TDES) Unspecified Register Access Type Status +AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC EQU (0x0 << 12) ;- (TDES) Input data register written during the data processing in PDC mode. +AT91C_TDES_URAT_OUT_DAT_READ_DATPROC EQU (0x1 << 12) ;- (TDES) Output data register read during the data processing. +AT91C_TDES_URAT_MODEREG_WRITE_DATPROC EQU (0x2 << 12) ;- (TDES) Mode register written during the data processing. +AT91C_TDES_URAT_WO_REG_READ EQU (0x3 << 12) ;- (TDES) Write-only register read access. + +// - ***************************************************************************** +// - REGISTER ADDRESS DEFINITION FOR AT91SAM7X256 +// - ***************************************************************************** +// - ========== Register definition for SYS peripheral ========== +// - ========== Register definition for AIC peripheral ========== +AT91C_AIC_IVR EQU (0xFFFFF100) ;- (AIC) IRQ Vector Register +AT91C_AIC_SMR EQU (0xFFFFF000) ;- (AIC) Source Mode Register +AT91C_AIC_FVR EQU (0xFFFFF104) ;- (AIC) FIQ Vector Register +AT91C_AIC_DCR EQU (0xFFFFF138) ;- (AIC) Debug Control Register (Protect) +AT91C_AIC_EOICR EQU (0xFFFFF130) ;- (AIC) End of Interrupt Command Register +AT91C_AIC_SVR EQU (0xFFFFF080) ;- (AIC) Source Vector Register +AT91C_AIC_FFSR EQU (0xFFFFF148) ;- (AIC) Fast Forcing Status Register +AT91C_AIC_ICCR EQU (0xFFFFF128) ;- (AIC) Interrupt Clear Command Register +AT91C_AIC_ISR EQU (0xFFFFF108) ;- (AIC) Interrupt Status Register +AT91C_AIC_IMR EQU (0xFFFFF110) ;- (AIC) Interrupt Mask Register +AT91C_AIC_IPR EQU (0xFFFFF10C) ;- (AIC) Interrupt Pending Register +AT91C_AIC_FFER EQU (0xFFFFF140) ;- (AIC) Fast Forcing Enable Register +AT91C_AIC_IECR EQU (0xFFFFF120) ;- (AIC) Interrupt Enable Command Register +AT91C_AIC_ISCR EQU (0xFFFFF12C) ;- (AIC) Interrupt Set Command Register +AT91C_AIC_FFDR EQU (0xFFFFF144) ;- (AIC) Fast Forcing Disable Register +AT91C_AIC_CISR EQU (0xFFFFF114) ;- (AIC) Core Interrupt Status Register +AT91C_AIC_IDCR EQU (0xFFFFF124) ;- (AIC) Interrupt Disable Command Register +AT91C_AIC_SPU EQU (0xFFFFF134) ;- (AIC) Spurious Vector Register +// - ========== Register definition for PDC_DBGU peripheral ========== +AT91C_DBGU_TCR EQU (0xFFFFF30C) ;- (PDC_DBGU) Transmit Counter Register +AT91C_DBGU_RNPR EQU (0xFFFFF310) ;- (PDC_DBGU) Receive Next Pointer Register +AT91C_DBGU_TNPR EQU (0xFFFFF318) ;- (PDC_DBGU) Transmit Next Pointer Register +AT91C_DBGU_TPR EQU (0xFFFFF308) ;- (PDC_DBGU) Transmit Pointer Register +AT91C_DBGU_RPR EQU (0xFFFFF300) ;- (PDC_DBGU) Receive Pointer Register +AT91C_DBGU_RCR EQU (0xFFFFF304) ;- (PDC_DBGU) Receive Counter Register +AT91C_DBGU_RNCR EQU (0xFFFFF314) ;- (PDC_DBGU) Receive Next Counter Register +AT91C_DBGU_PTCR EQU (0xFFFFF320) ;- (PDC_DBGU) PDC Transfer Control Register +AT91C_DBGU_PTSR EQU (0xFFFFF324) ;- (PDC_DBGU) PDC Transfer Status Register +AT91C_DBGU_TNCR EQU (0xFFFFF31C) ;- (PDC_DBGU) Transmit Next Counter Register +// - ========== Register definition for DBGU peripheral ========== +AT91C_DBGU_EXID EQU (0xFFFFF244) ;- (DBGU) Chip ID Extension Register +AT91C_DBGU_BRGR EQU (0xFFFFF220) ;- (DBGU) Baud Rate Generator Register +AT91C_DBGU_IDR EQU (0xFFFFF20C) ;- (DBGU) Interrupt Disable Register +AT91C_DBGU_CSR EQU (0xFFFFF214) ;- (DBGU) Channel Status Register +AT91C_DBGU_CIDR EQU (0xFFFFF240) ;- (DBGU) Chip ID Register +AT91C_DBGU_MR EQU (0xFFFFF204) ;- (DBGU) Mode Register +AT91C_DBGU_IMR EQU (0xFFFFF210) ;- (DBGU) Interrupt Mask Register +AT91C_DBGU_CR EQU (0xFFFFF200) ;- (DBGU) Control Register +AT91C_DBGU_FNTR EQU (0xFFFFF248) ;- (DBGU) Force NTRST Register +AT91C_DBGU_THR EQU (0xFFFFF21C) ;- (DBGU) Transmitter Holding Register +AT91C_DBGU_RHR EQU (0xFFFFF218) ;- (DBGU) Receiver Holding Register +AT91C_DBGU_IER EQU (0xFFFFF208) ;- (DBGU) Interrupt Enable Register +// - ========== Register definition for PIOA peripheral ========== +AT91C_PIOA_ODR EQU (0xFFFFF414) ;- (PIOA) Output Disable Registerr +AT91C_PIOA_SODR EQU (0xFFFFF430) ;- (PIOA) Set Output Data Register +AT91C_PIOA_ISR EQU (0xFFFFF44C) ;- (PIOA) Interrupt Status Register +AT91C_PIOA_ABSR EQU (0xFFFFF478) ;- (PIOA) AB Select Status Register +AT91C_PIOA_IER EQU (0xFFFFF440) ;- (PIOA) Interrupt Enable Register +AT91C_PIOA_PPUDR EQU (0xFFFFF460) ;- (PIOA) Pull-up Disable Register +AT91C_PIOA_IMR EQU (0xFFFFF448) ;- (PIOA) Interrupt Mask Register +AT91C_PIOA_PER EQU (0xFFFFF400) ;- (PIOA) PIO Enable Register +AT91C_PIOA_IFDR EQU (0xFFFFF424) ;- (PIOA) Input Filter Disable Register +AT91C_PIOA_OWDR EQU (0xFFFFF4A4) ;- (PIOA) Output Write Disable Register +AT91C_PIOA_MDSR EQU (0xFFFFF458) ;- (PIOA) Multi-driver Status Register +AT91C_PIOA_IDR EQU (0xFFFFF444) ;- (PIOA) Interrupt Disable Register +AT91C_PIOA_ODSR EQU (0xFFFFF438) ;- (PIOA) Output Data Status Register +AT91C_PIOA_PPUSR EQU (0xFFFFF468) ;- (PIOA) Pull-up Status Register +AT91C_PIOA_OWSR EQU (0xFFFFF4A8) ;- (PIOA) Output Write Status Register +AT91C_PIOA_BSR EQU (0xFFFFF474) ;- (PIOA) Select B Register +AT91C_PIOA_OWER EQU (0xFFFFF4A0) ;- (PIOA) Output Write Enable Register +AT91C_PIOA_IFER EQU (0xFFFFF420) ;- (PIOA) Input Filter Enable Register +AT91C_PIOA_PDSR EQU (0xFFFFF43C) ;- (PIOA) Pin Data Status Register +AT91C_PIOA_PPUER EQU (0xFFFFF464) ;- (PIOA) Pull-up Enable Register +AT91C_PIOA_OSR EQU (0xFFFFF418) ;- (PIOA) Output Status Register +AT91C_PIOA_ASR EQU (0xFFFFF470) ;- (PIOA) Select A Register +AT91C_PIOA_MDDR EQU (0xFFFFF454) ;- (PIOA) Multi-driver Disable Register +AT91C_PIOA_CODR EQU (0xFFFFF434) ;- (PIOA) Clear Output Data Register +AT91C_PIOA_MDER EQU (0xFFFFF450) ;- (PIOA) Multi-driver Enable Register +AT91C_PIOA_PDR EQU (0xFFFFF404) ;- (PIOA) PIO Disable Register +AT91C_PIOA_IFSR EQU (0xFFFFF428) ;- (PIOA) Input Filter Status Register +AT91C_PIOA_OER EQU (0xFFFFF410) ;- (PIOA) Output Enable Register +AT91C_PIOA_PSR EQU (0xFFFFF408) ;- (PIOA) PIO Status Register +// - ========== Register definition for PIOB peripheral ========== +AT91C_PIOB_OWDR EQU (0xFFFFF6A4) ;- (PIOB) Output Write Disable Register +AT91C_PIOB_MDER EQU (0xFFFFF650) ;- (PIOB) Multi-driver Enable Register +AT91C_PIOB_PPUSR EQU (0xFFFFF668) ;- (PIOB) Pull-up Status Register +AT91C_PIOB_IMR EQU (0xFFFFF648) ;- (PIOB) Interrupt Mask Register +AT91C_PIOB_ASR EQU (0xFFFFF670) ;- (PIOB) Select A Register +AT91C_PIOB_PPUDR EQU (0xFFFFF660) ;- (PIOB) Pull-up Disable Register +AT91C_PIOB_PSR EQU (0xFFFFF608) ;- (PIOB) PIO Status Register +AT91C_PIOB_IER EQU (0xFFFFF640) ;- (PIOB) Interrupt Enable Register +AT91C_PIOB_CODR EQU (0xFFFFF634) ;- (PIOB) Clear Output Data Register +AT91C_PIOB_OWER EQU (0xFFFFF6A0) ;- (PIOB) Output Write Enable Register +AT91C_PIOB_ABSR EQU (0xFFFFF678) ;- (PIOB) AB Select Status Register +AT91C_PIOB_IFDR EQU (0xFFFFF624) ;- (PIOB) Input Filter Disable Register +AT91C_PIOB_PDSR EQU (0xFFFFF63C) ;- (PIOB) Pin Data Status Register +AT91C_PIOB_IDR EQU (0xFFFFF644) ;- (PIOB) Interrupt Disable Register +AT91C_PIOB_OWSR EQU (0xFFFFF6A8) ;- (PIOB) Output Write Status Register +AT91C_PIOB_PDR EQU (0xFFFFF604) ;- (PIOB) PIO Disable Register +AT91C_PIOB_ODR EQU (0xFFFFF614) ;- (PIOB) Output Disable Registerr +AT91C_PIOB_IFSR EQU (0xFFFFF628) ;- (PIOB) Input Filter Status Register +AT91C_PIOB_PPUER EQU (0xFFFFF664) ;- (PIOB) Pull-up Enable Register +AT91C_PIOB_SODR EQU (0xFFFFF630) ;- (PIOB) Set Output Data Register +AT91C_PIOB_ISR EQU (0xFFFFF64C) ;- (PIOB) Interrupt Status Register +AT91C_PIOB_ODSR EQU (0xFFFFF638) ;- (PIOB) Output Data Status Register +AT91C_PIOB_OSR EQU (0xFFFFF618) ;- (PIOB) Output Status Register +AT91C_PIOB_MDSR EQU (0xFFFFF658) ;- (PIOB) Multi-driver Status Register +AT91C_PIOB_IFER EQU (0xFFFFF620) ;- (PIOB) Input Filter Enable Register +AT91C_PIOB_BSR EQU (0xFFFFF674) ;- (PIOB) Select B Register +AT91C_PIOB_MDDR EQU (0xFFFFF654) ;- (PIOB) Multi-driver Disable Register +AT91C_PIOB_OER EQU (0xFFFFF610) ;- (PIOB) Output Enable Register +AT91C_PIOB_PER EQU (0xFFFFF600) ;- (PIOB) PIO Enable Register +// - ========== Register definition for CKGR peripheral ========== +AT91C_CKGR_MOR EQU (0xFFFFFC20) ;- (CKGR) Main Oscillator Register +AT91C_CKGR_PLLR EQU (0xFFFFFC2C) ;- (CKGR) PLL Register +AT91C_CKGR_MCFR EQU (0xFFFFFC24) ;- (CKGR) Main Clock Frequency Register +// - ========== Register definition for PMC peripheral ========== +AT91C_PMC_IDR EQU (0xFFFFFC64) ;- (PMC) Interrupt Disable Register +AT91C_PMC_MOR EQU (0xFFFFFC20) ;- (PMC) Main Oscillator Register +AT91C_PMC_PLLR EQU (0xFFFFFC2C) ;- (PMC) PLL Register +AT91C_PMC_PCER EQU (0xFFFFFC10) ;- (PMC) Peripheral Clock Enable Register +AT91C_PMC_PCKR EQU (0xFFFFFC40) ;- (PMC) Programmable Clock Register +AT91C_PMC_MCKR EQU (0xFFFFFC30) ;- (PMC) Master Clock Register +AT91C_PMC_SCDR EQU (0xFFFFFC04) ;- (PMC) System Clock Disable Register +AT91C_PMC_PCDR EQU (0xFFFFFC14) ;- (PMC) Peripheral Clock Disable Register +AT91C_PMC_SCSR EQU (0xFFFFFC08) ;- (PMC) System Clock Status Register +AT91C_PMC_PCSR EQU (0xFFFFFC18) ;- (PMC) Peripheral Clock Status Register +AT91C_PMC_MCFR EQU (0xFFFFFC24) ;- (PMC) Main Clock Frequency Register +AT91C_PMC_SCER EQU (0xFFFFFC00) ;- (PMC) System Clock Enable Register +AT91C_PMC_IMR EQU (0xFFFFFC6C) ;- (PMC) Interrupt Mask Register +AT91C_PMC_IER EQU (0xFFFFFC60) ;- (PMC) Interrupt Enable Register +AT91C_PMC_SR EQU (0xFFFFFC68) ;- (PMC) Status Register +// - ========== Register definition for RSTC peripheral ========== +AT91C_RSTC_RCR EQU (0xFFFFFD00) ;- (RSTC) Reset Control Register +AT91C_RSTC_RMR EQU (0xFFFFFD08) ;- (RSTC) Reset Mode Register +AT91C_RSTC_RSR EQU (0xFFFFFD04) ;- (RSTC) Reset Status Register +// - ========== Register definition for RTTC peripheral ========== +AT91C_RTTC_RTSR EQU (0xFFFFFD2C) ;- (RTTC) Real-time Status Register +AT91C_RTTC_RTMR EQU (0xFFFFFD20) ;- (RTTC) Real-time Mode Register +AT91C_RTTC_RTVR EQU (0xFFFFFD28) ;- (RTTC) Real-time Value Register +AT91C_RTTC_RTAR EQU (0xFFFFFD24) ;- (RTTC) Real-time Alarm Register +// - ========== Register definition for PITC peripheral ========== +AT91C_PITC_PIVR EQU (0xFFFFFD38) ;- (PITC) Period Interval Value Register +AT91C_PITC_PISR EQU (0xFFFFFD34) ;- (PITC) Period Interval Status Register +AT91C_PITC_PIIR EQU (0xFFFFFD3C) ;- (PITC) Period Interval Image Register +AT91C_PITC_PIMR EQU (0xFFFFFD30) ;- (PITC) Period Interval Mode Register +// - ========== Register definition for WDTC peripheral ========== +AT91C_WDTC_WDCR EQU (0xFFFFFD40) ;- (WDTC) Watchdog Control Register +AT91C_WDTC_WDSR EQU (0xFFFFFD48) ;- (WDTC) Watchdog Status Register +AT91C_WDTC_WDMR EQU (0xFFFFFD44) ;- (WDTC) Watchdog Mode Register +// - ========== Register definition for VREG peripheral ========== +AT91C_VREG_MR EQU (0xFFFFFD60) ;- (VREG) Voltage Regulator Mode Register +// - ========== Register definition for MC peripheral ========== +AT91C_MC_ASR EQU (0xFFFFFF04) ;- (MC) MC Abort Status Register +AT91C_MC_RCR EQU (0xFFFFFF00) ;- (MC) MC Remap Control Register +AT91C_MC_FCR EQU (0xFFFFFF64) ;- (MC) MC Flash Command Register +AT91C_MC_AASR EQU (0xFFFFFF08) ;- (MC) MC Abort Address Status Register +AT91C_MC_FSR EQU (0xFFFFFF68) ;- (MC) MC Flash Status Register +AT91C_MC_FMR EQU (0xFFFFFF60) ;- (MC) MC Flash Mode Register +// - ========== Register definition for PDC_SPI1 peripheral ========== +AT91C_SPI1_PTCR EQU (0xFFFE4120) ;- (PDC_SPI1) PDC Transfer Control Register +AT91C_SPI1_RPR EQU (0xFFFE4100) ;- (PDC_SPI1) Receive Pointer Register +AT91C_SPI1_TNCR EQU (0xFFFE411C) ;- (PDC_SPI1) Transmit Next Counter Register +AT91C_SPI1_TPR EQU (0xFFFE4108) ;- (PDC_SPI1) Transmit Pointer Register +AT91C_SPI1_TNPR EQU (0xFFFE4118) ;- (PDC_SPI1) Transmit Next Pointer Register +AT91C_SPI1_TCR EQU (0xFFFE410C) ;- (PDC_SPI1) Transmit Counter Register +AT91C_SPI1_RCR EQU (0xFFFE4104) ;- (PDC_SPI1) Receive Counter Register +AT91C_SPI1_RNPR EQU (0xFFFE4110) ;- (PDC_SPI1) Receive Next Pointer Register +AT91C_SPI1_RNCR EQU (0xFFFE4114) ;- (PDC_SPI1) Receive Next Counter Register +AT91C_SPI1_PTSR EQU (0xFFFE4124) ;- (PDC_SPI1) PDC Transfer Status Register +// - ========== Register definition for SPI1 peripheral ========== +AT91C_SPI1_IMR EQU (0xFFFE401C) ;- (SPI1) Interrupt Mask Register +AT91C_SPI1_IER EQU (0xFFFE4014) ;- (SPI1) Interrupt Enable Register +AT91C_SPI1_MR EQU (0xFFFE4004) ;- (SPI1) Mode Register +AT91C_SPI1_RDR EQU (0xFFFE4008) ;- (SPI1) Receive Data Register +AT91C_SPI1_IDR EQU (0xFFFE4018) ;- (SPI1) Interrupt Disable Register +AT91C_SPI1_SR EQU (0xFFFE4010) ;- (SPI1) Status Register +AT91C_SPI1_TDR EQU (0xFFFE400C) ;- (SPI1) Transmit Data Register +AT91C_SPI1_CR EQU (0xFFFE4000) ;- (SPI1) Control Register +AT91C_SPI1_CSR EQU (0xFFFE4030) ;- (SPI1) Chip Select Register +// - ========== Register definition for PDC_SPI0 peripheral ========== +AT91C_SPI0_PTCR EQU (0xFFFE0120) ;- (PDC_SPI0) PDC Transfer Control Register +AT91C_SPI0_TPR EQU (0xFFFE0108) ;- (PDC_SPI0) Transmit Pointer Register +AT91C_SPI0_TCR EQU (0xFFFE010C) ;- (PDC_SPI0) Transmit Counter Register +AT91C_SPI0_RCR EQU (0xFFFE0104) ;- (PDC_SPI0) Receive Counter Register +AT91C_SPI0_PTSR EQU (0xFFFE0124) ;- (PDC_SPI0) PDC Transfer Status Register +AT91C_SPI0_RNPR EQU (0xFFFE0110) ;- (PDC_SPI0) Receive Next Pointer Register +AT91C_SPI0_RPR EQU (0xFFFE0100) ;- (PDC_SPI0) Receive Pointer Register +AT91C_SPI0_TNCR EQU (0xFFFE011C) ;- (PDC_SPI0) Transmit Next Counter Register +AT91C_SPI0_RNCR EQU (0xFFFE0114) ;- (PDC_SPI0) Receive Next Counter Register +AT91C_SPI0_TNPR EQU (0xFFFE0118) ;- (PDC_SPI0) Transmit Next Pointer Register +// - ========== Register definition for SPI0 peripheral ========== +AT91C_SPI0_IER EQU (0xFFFE0014) ;- (SPI0) Interrupt Enable Register +AT91C_SPI0_SR EQU (0xFFFE0010) ;- (SPI0) Status Register +AT91C_SPI0_IDR EQU (0xFFFE0018) ;- (SPI0) Interrupt Disable Register +AT91C_SPI0_CR EQU (0xFFFE0000) ;- (SPI0) Control Register +AT91C_SPI0_MR EQU (0xFFFE0004) ;- (SPI0) Mode Register +AT91C_SPI0_IMR EQU (0xFFFE001C) ;- (SPI0) Interrupt Mask Register +AT91C_SPI0_TDR EQU (0xFFFE000C) ;- (SPI0) Transmit Data Register +AT91C_SPI0_RDR EQU (0xFFFE0008) ;- (SPI0) Receive Data Register +AT91C_SPI0_CSR EQU (0xFFFE0030) ;- (SPI0) Chip Select Register +// - ========== Register definition for PDC_US1 peripheral ========== +AT91C_US1_RNCR EQU (0xFFFC4114) ;- (PDC_US1) Receive Next Counter Register +AT91C_US1_PTCR EQU (0xFFFC4120) ;- (PDC_US1) PDC Transfer Control Register +AT91C_US1_TCR EQU (0xFFFC410C) ;- (PDC_US1) Transmit Counter Register +AT91C_US1_PTSR EQU (0xFFFC4124) ;- (PDC_US1) PDC Transfer Status Register +AT91C_US1_TNPR EQU (0xFFFC4118) ;- (PDC_US1) Transmit Next Pointer Register +AT91C_US1_RCR EQU (0xFFFC4104) ;- (PDC_US1) Receive Counter Register +AT91C_US1_RNPR EQU (0xFFFC4110) ;- (PDC_US1) Receive Next Pointer Register +AT91C_US1_RPR EQU (0xFFFC4100) ;- (PDC_US1) Receive Pointer Register +AT91C_US1_TNCR EQU (0xFFFC411C) ;- (PDC_US1) Transmit Next Counter Register +AT91C_US1_TPR EQU (0xFFFC4108) ;- (PDC_US1) Transmit Pointer Register +// - ========== Register definition for US1 peripheral ========== +AT91C_US1_IF EQU (0xFFFC404C) ;- (US1) IRDA_FILTER Register +AT91C_US1_NER EQU (0xFFFC4044) ;- (US1) Nb Errors Register +AT91C_US1_RTOR EQU (0xFFFC4024) ;- (US1) Receiver Time-out Register +AT91C_US1_CSR EQU (0xFFFC4014) ;- (US1) Channel Status Register +AT91C_US1_IDR EQU (0xFFFC400C) ;- (US1) Interrupt Disable Register +AT91C_US1_IER EQU (0xFFFC4008) ;- (US1) Interrupt Enable Register +AT91C_US1_THR EQU (0xFFFC401C) ;- (US1) Transmitter Holding Register +AT91C_US1_TTGR EQU (0xFFFC4028) ;- (US1) Transmitter Time-guard Register +AT91C_US1_RHR EQU (0xFFFC4018) ;- (US1) Receiver Holding Register +AT91C_US1_BRGR EQU (0xFFFC4020) ;- (US1) Baud Rate Generator Register +AT91C_US1_IMR EQU (0xFFFC4010) ;- (US1) Interrupt Mask Register +AT91C_US1_FIDI EQU (0xFFFC4040) ;- (US1) FI_DI_Ratio Register +AT91C_US1_CR EQU (0xFFFC4000) ;- (US1) Control Register +AT91C_US1_MR EQU (0xFFFC4004) ;- (US1) Mode Register +// - ========== Register definition for PDC_US0 peripheral ========== +AT91C_US0_TNPR EQU (0xFFFC0118) ;- (PDC_US0) Transmit Next Pointer Register +AT91C_US0_RNPR EQU (0xFFFC0110) ;- (PDC_US0) Receive Next Pointer Register +AT91C_US0_TCR EQU (0xFFFC010C) ;- (PDC_US0) Transmit Counter Register +AT91C_US0_PTCR EQU (0xFFFC0120) ;- (PDC_US0) PDC Transfer Control Register +AT91C_US0_PTSR EQU (0xFFFC0124) ;- (PDC_US0) PDC Transfer Status Register +AT91C_US0_TNCR EQU (0xFFFC011C) ;- (PDC_US0) Transmit Next Counter Register +AT91C_US0_TPR EQU (0xFFFC0108) ;- (PDC_US0) Transmit Pointer Register +AT91C_US0_RCR EQU (0xFFFC0104) ;- (PDC_US0) Receive Counter Register +AT91C_US0_RPR EQU (0xFFFC0100) ;- (PDC_US0) Receive Pointer Register +AT91C_US0_RNCR EQU (0xFFFC0114) ;- (PDC_US0) Receive Next Counter Register +// - ========== Register definition for US0 peripheral ========== +AT91C_US0_BRGR EQU (0xFFFC0020) ;- (US0) Baud Rate Generator Register +AT91C_US0_NER EQU (0xFFFC0044) ;- (US0) Nb Errors Register +AT91C_US0_CR EQU (0xFFFC0000) ;- (US0) Control Register +AT91C_US0_IMR EQU (0xFFFC0010) ;- (US0) Interrupt Mask Register +AT91C_US0_FIDI EQU (0xFFFC0040) ;- (US0) FI_DI_Ratio Register +AT91C_US0_TTGR EQU (0xFFFC0028) ;- (US0) Transmitter Time-guard Register +AT91C_US0_MR EQU (0xFFFC0004) ;- (US0) Mode Register +AT91C_US0_RTOR EQU (0xFFFC0024) ;- (US0) Receiver Time-out Register +AT91C_US0_CSR EQU (0xFFFC0014) ;- (US0) Channel Status Register +AT91C_US0_RHR EQU (0xFFFC0018) ;- (US0) Receiver Holding Register +AT91C_US0_IDR EQU (0xFFFC000C) ;- (US0) Interrupt Disable Register +AT91C_US0_THR EQU (0xFFFC001C) ;- (US0) Transmitter Holding Register +AT91C_US0_IF EQU (0xFFFC004C) ;- (US0) IRDA_FILTER Register +AT91C_US0_IER EQU (0xFFFC0008) ;- (US0) Interrupt Enable Register +// - ========== Register definition for PDC_SSC peripheral ========== +AT91C_SSC_TNCR EQU (0xFFFD411C) ;- (PDC_SSC) Transmit Next Counter Register +AT91C_SSC_RPR EQU (0xFFFD4100) ;- (PDC_SSC) Receive Pointer Register +AT91C_SSC_RNCR EQU (0xFFFD4114) ;- (PDC_SSC) Receive Next Counter Register +AT91C_SSC_TPR EQU (0xFFFD4108) ;- (PDC_SSC) Transmit Pointer Register +AT91C_SSC_PTCR EQU (0xFFFD4120) ;- (PDC_SSC) PDC Transfer Control Register +AT91C_SSC_TCR EQU (0xFFFD410C) ;- (PDC_SSC) Transmit Counter Register +AT91C_SSC_RCR EQU (0xFFFD4104) ;- (PDC_SSC) Receive Counter Register +AT91C_SSC_RNPR EQU (0xFFFD4110) ;- (PDC_SSC) Receive Next Pointer Register +AT91C_SSC_TNPR EQU (0xFFFD4118) ;- (PDC_SSC) Transmit Next Pointer Register +AT91C_SSC_PTSR EQU (0xFFFD4124) ;- (PDC_SSC) PDC Transfer Status Register +// - ========== Register definition for SSC peripheral ========== +AT91C_SSC_RHR EQU (0xFFFD4020) ;- (SSC) Receive Holding Register +AT91C_SSC_RSHR EQU (0xFFFD4030) ;- (SSC) Receive Sync Holding Register +AT91C_SSC_TFMR EQU (0xFFFD401C) ;- (SSC) Transmit Frame Mode Register +AT91C_SSC_IDR EQU (0xFFFD4048) ;- (SSC) Interrupt Disable Register +AT91C_SSC_THR EQU (0xFFFD4024) ;- (SSC) Transmit Holding Register +AT91C_SSC_RCMR EQU (0xFFFD4010) ;- (SSC) Receive Clock ModeRegister +AT91C_SSC_IER EQU (0xFFFD4044) ;- (SSC) Interrupt Enable Register +AT91C_SSC_TSHR EQU (0xFFFD4034) ;- (SSC) Transmit Sync Holding Register +AT91C_SSC_SR EQU (0xFFFD4040) ;- (SSC) Status Register +AT91C_SSC_CMR EQU (0xFFFD4004) ;- (SSC) Clock Mode Register +AT91C_SSC_TCMR EQU (0xFFFD4018) ;- (SSC) Transmit Clock Mode Register +AT91C_SSC_CR EQU (0xFFFD4000) ;- (SSC) Control Register +AT91C_SSC_IMR EQU (0xFFFD404C) ;- (SSC) Interrupt Mask Register +AT91C_SSC_RFMR EQU (0xFFFD4014) ;- (SSC) Receive Frame Mode Register +// - ========== Register definition for TWI peripheral ========== +AT91C_TWI_IER EQU (0xFFFB8024) ;- (TWI) Interrupt Enable Register +AT91C_TWI_CR EQU (0xFFFB8000) ;- (TWI) Control Register +AT91C_TWI_SR EQU (0xFFFB8020) ;- (TWI) Status Register +AT91C_TWI_IMR EQU (0xFFFB802C) ;- (TWI) Interrupt Mask Register +AT91C_TWI_THR EQU (0xFFFB8034) ;- (TWI) Transmit Holding Register +AT91C_TWI_IDR EQU (0xFFFB8028) ;- (TWI) Interrupt Disable Register +AT91C_TWI_IADR EQU (0xFFFB800C) ;- (TWI) Internal Address Register +AT91C_TWI_MMR EQU (0xFFFB8004) ;- (TWI) Master Mode Register +AT91C_TWI_CWGR EQU (0xFFFB8010) ;- (TWI) Clock Waveform Generator Register +AT91C_TWI_RHR EQU (0xFFFB8030) ;- (TWI) Receive Holding Register +// - ========== Register definition for PWMC_CH3 peripheral ========== +AT91C_PWMC_CH3_CUPDR EQU (0xFFFCC270) ;- (PWMC_CH3) Channel Update Register +AT91C_PWMC_CH3_Reserved EQU (0xFFFCC274) ;- (PWMC_CH3) Reserved +AT91C_PWMC_CH3_CPRDR EQU (0xFFFCC268) ;- (PWMC_CH3) Channel Period Register +AT91C_PWMC_CH3_CDTYR EQU (0xFFFCC264) ;- (PWMC_CH3) Channel Duty Cycle Register +AT91C_PWMC_CH3_CCNTR EQU (0xFFFCC26C) ;- (PWMC_CH3) Channel Counter Register +AT91C_PWMC_CH3_CMR EQU (0xFFFCC260) ;- (PWMC_CH3) Channel Mode Register +// - ========== Register definition for PWMC_CH2 peripheral ========== +AT91C_PWMC_CH2_Reserved EQU (0xFFFCC254) ;- (PWMC_CH2) Reserved +AT91C_PWMC_CH2_CMR EQU (0xFFFCC240) ;- (PWMC_CH2) Channel Mode Register +AT91C_PWMC_CH2_CCNTR EQU (0xFFFCC24C) ;- (PWMC_CH2) Channel Counter Register +AT91C_PWMC_CH2_CPRDR EQU (0xFFFCC248) ;- (PWMC_CH2) Channel Period Register +AT91C_PWMC_CH2_CUPDR EQU (0xFFFCC250) ;- (PWMC_CH2) Channel Update Register +AT91C_PWMC_CH2_CDTYR EQU (0xFFFCC244) ;- (PWMC_CH2) Channel Duty Cycle Register +// - ========== Register definition for PWMC_CH1 peripheral ========== +AT91C_PWMC_CH1_Reserved EQU (0xFFFCC234) ;- (PWMC_CH1) Reserved +AT91C_PWMC_CH1_CUPDR EQU (0xFFFCC230) ;- (PWMC_CH1) Channel Update Register +AT91C_PWMC_CH1_CPRDR EQU (0xFFFCC228) ;- (PWMC_CH1) Channel Period Register +AT91C_PWMC_CH1_CCNTR EQU (0xFFFCC22C) ;- (PWMC_CH1) Channel Counter Register +AT91C_PWMC_CH1_CDTYR EQU (0xFFFCC224) ;- (PWMC_CH1) Channel Duty Cycle Register +AT91C_PWMC_CH1_CMR EQU (0xFFFCC220) ;- (PWMC_CH1) Channel Mode Register +// - ========== Register definition for PWMC_CH0 peripheral ========== +AT91C_PWMC_CH0_Reserved EQU (0xFFFCC214) ;- (PWMC_CH0) Reserved +AT91C_PWMC_CH0_CPRDR EQU (0xFFFCC208) ;- (PWMC_CH0) Channel Period Register +AT91C_PWMC_CH0_CDTYR EQU (0xFFFCC204) ;- (PWMC_CH0) Channel Duty Cycle Register +AT91C_PWMC_CH0_CMR EQU (0xFFFCC200) ;- (PWMC_CH0) Channel Mode Register +AT91C_PWMC_CH0_CUPDR EQU (0xFFFCC210) ;- (PWMC_CH0) Channel Update Register +AT91C_PWMC_CH0_CCNTR EQU (0xFFFCC20C) ;- (PWMC_CH0) Channel Counter Register +// - ========== Register definition for PWMC peripheral ========== +AT91C_PWMC_IDR EQU (0xFFFCC014) ;- (PWMC) PWMC Interrupt Disable Register +AT91C_PWMC_DIS EQU (0xFFFCC008) ;- (PWMC) PWMC Disable Register +AT91C_PWMC_IER EQU (0xFFFCC010) ;- (PWMC) PWMC Interrupt Enable Register +AT91C_PWMC_VR EQU (0xFFFCC0FC) ;- (PWMC) PWMC Version Register +AT91C_PWMC_ISR EQU (0xFFFCC01C) ;- (PWMC) PWMC Interrupt Status Register +AT91C_PWMC_SR EQU (0xFFFCC00C) ;- (PWMC) PWMC Status Register +AT91C_PWMC_IMR EQU (0xFFFCC018) ;- (PWMC) PWMC Interrupt Mask Register +AT91C_PWMC_MR EQU (0xFFFCC000) ;- (PWMC) PWMC Mode Register +AT91C_PWMC_ENA EQU (0xFFFCC004) ;- (PWMC) PWMC Enable Register +// - ========== Register definition for UDP peripheral ========== +AT91C_UDP_IMR EQU (0xFFFB0018) ;- (UDP) Interrupt Mask Register +AT91C_UDP_FADDR EQU (0xFFFB0008) ;- (UDP) Function Address Register +AT91C_UDP_NUM EQU (0xFFFB0000) ;- (UDP) Frame Number Register +AT91C_UDP_FDR EQU (0xFFFB0050) ;- (UDP) Endpoint FIFO Data Register +AT91C_UDP_ISR EQU (0xFFFB001C) ;- (UDP) Interrupt Status Register +AT91C_UDP_CSR EQU (0xFFFB0030) ;- (UDP) Endpoint Control and Status Register +AT91C_UDP_IDR EQU (0xFFFB0014) ;- (UDP) Interrupt Disable Register +AT91C_UDP_ICR EQU (0xFFFB0020) ;- (UDP) Interrupt Clear Register +AT91C_UDP_RSTEP EQU (0xFFFB0028) ;- (UDP) Reset Endpoint Register +AT91C_UDP_TXVC EQU (0xFFFB0074) ;- (UDP) Transceiver Control Register +AT91C_UDP_GLBSTATE EQU (0xFFFB0004) ;- (UDP) Global State Register +AT91C_UDP_IER EQU (0xFFFB0010) ;- (UDP) Interrupt Enable Register +// - ========== Register definition for TC0 peripheral ========== +AT91C_TC0_SR EQU (0xFFFA0020) ;- (TC0) Status Register +AT91C_TC0_RC EQU (0xFFFA001C) ;- (TC0) Register C +AT91C_TC0_RB EQU (0xFFFA0018) ;- (TC0) Register B +AT91C_TC0_CCR EQU (0xFFFA0000) ;- (TC0) Channel Control Register +AT91C_TC0_CMR EQU (0xFFFA0004) ;- (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +AT91C_TC0_IER EQU (0xFFFA0024) ;- (TC0) Interrupt Enable Register +AT91C_TC0_RA EQU (0xFFFA0014) ;- (TC0) Register A +AT91C_TC0_IDR EQU (0xFFFA0028) ;- (TC0) Interrupt Disable Register +AT91C_TC0_CV EQU (0xFFFA0010) ;- (TC0) Counter Value +AT91C_TC0_IMR EQU (0xFFFA002C) ;- (TC0) Interrupt Mask Register +// - ========== Register definition for TC1 peripheral ========== +AT91C_TC1_RB EQU (0xFFFA0058) ;- (TC1) Register B +AT91C_TC1_CCR EQU (0xFFFA0040) ;- (TC1) Channel Control Register +AT91C_TC1_IER EQU (0xFFFA0064) ;- (TC1) Interrupt Enable Register +AT91C_TC1_IDR EQU (0xFFFA0068) ;- (TC1) Interrupt Disable Register +AT91C_TC1_SR EQU (0xFFFA0060) ;- (TC1) Status Register +AT91C_TC1_CMR EQU (0xFFFA0044) ;- (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +AT91C_TC1_RA EQU (0xFFFA0054) ;- (TC1) Register A +AT91C_TC1_RC EQU (0xFFFA005C) ;- (TC1) Register C +AT91C_TC1_IMR EQU (0xFFFA006C) ;- (TC1) Interrupt Mask Register +AT91C_TC1_CV EQU (0xFFFA0050) ;- (TC1) Counter Value +// - ========== Register definition for TC2 peripheral ========== +AT91C_TC2_CMR EQU (0xFFFA0084) ;- (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +AT91C_TC2_CCR EQU (0xFFFA0080) ;- (TC2) Channel Control Register +AT91C_TC2_CV EQU (0xFFFA0090) ;- (TC2) Counter Value +AT91C_TC2_RA EQU (0xFFFA0094) ;- (TC2) Register A +AT91C_TC2_RB EQU (0xFFFA0098) ;- (TC2) Register B +AT91C_TC2_IDR EQU (0xFFFA00A8) ;- (TC2) Interrupt Disable Register +AT91C_TC2_IMR EQU (0xFFFA00AC) ;- (TC2) Interrupt Mask Register +AT91C_TC2_RC EQU (0xFFFA009C) ;- (TC2) Register C +AT91C_TC2_IER EQU (0xFFFA00A4) ;- (TC2) Interrupt Enable Register +AT91C_TC2_SR EQU (0xFFFA00A0) ;- (TC2) Status Register +// - ========== Register definition for TCB peripheral ========== +AT91C_TCB_BMR EQU (0xFFFA00C4) ;- (TCB) TC Block Mode Register +AT91C_TCB_BCR EQU (0xFFFA00C0) ;- (TCB) TC Block Control Register +// - ========== Register definition for CAN_MB0 peripheral ========== +AT91C_CAN_MB0_MDL EQU (0xFFFD0214) ;- (CAN_MB0) MailBox Data Low Register +AT91C_CAN_MB0_MAM EQU (0xFFFD0204) ;- (CAN_MB0) MailBox Acceptance Mask Register +AT91C_CAN_MB0_MCR EQU (0xFFFD021C) ;- (CAN_MB0) MailBox Control Register +AT91C_CAN_MB0_MID EQU (0xFFFD0208) ;- (CAN_MB0) MailBox ID Register +AT91C_CAN_MB0_MSR EQU (0xFFFD0210) ;- (CAN_MB0) MailBox Status Register +AT91C_CAN_MB0_MFID EQU (0xFFFD020C) ;- (CAN_MB0) MailBox Family ID Register +AT91C_CAN_MB0_MDH EQU (0xFFFD0218) ;- (CAN_MB0) MailBox Data High Register +AT91C_CAN_MB0_MMR EQU (0xFFFD0200) ;- (CAN_MB0) MailBox Mode Register +// - ========== Register definition for CAN_MB1 peripheral ========== +AT91C_CAN_MB1_MDL EQU (0xFFFD0234) ;- (CAN_MB1) MailBox Data Low Register +AT91C_CAN_MB1_MID EQU (0xFFFD0228) ;- (CAN_MB1) MailBox ID Register +AT91C_CAN_MB1_MMR EQU (0xFFFD0220) ;- (CAN_MB1) MailBox Mode Register +AT91C_CAN_MB1_MSR EQU (0xFFFD0230) ;- (CAN_MB1) MailBox Status Register +AT91C_CAN_MB1_MAM EQU (0xFFFD0224) ;- (CAN_MB1) MailBox Acceptance Mask Register +AT91C_CAN_MB1_MDH EQU (0xFFFD0238) ;- (CAN_MB1) MailBox Data High Register +AT91C_CAN_MB1_MCR EQU (0xFFFD023C) ;- (CAN_MB1) MailBox Control Register +AT91C_CAN_MB1_MFID EQU (0xFFFD022C) ;- (CAN_MB1) MailBox Family ID Register +// - ========== Register definition for CAN_MB2 peripheral ========== +AT91C_CAN_MB2_MCR EQU (0xFFFD025C) ;- (CAN_MB2) MailBox Control Register +AT91C_CAN_MB2_MDH EQU (0xFFFD0258) ;- (CAN_MB2) MailBox Data High Register +AT91C_CAN_MB2_MID EQU (0xFFFD0248) ;- (CAN_MB2) MailBox ID Register +AT91C_CAN_MB2_MDL EQU (0xFFFD0254) ;- (CAN_MB2) MailBox Data Low Register +AT91C_CAN_MB2_MMR EQU (0xFFFD0240) ;- (CAN_MB2) MailBox Mode Register +AT91C_CAN_MB2_MAM EQU (0xFFFD0244) ;- (CAN_MB2) MailBox Acceptance Mask Register +AT91C_CAN_MB2_MFID EQU (0xFFFD024C) ;- (CAN_MB2) MailBox Family ID Register +AT91C_CAN_MB2_MSR EQU (0xFFFD0250) ;- (CAN_MB2) MailBox Status Register +// - ========== Register definition for CAN_MB3 peripheral ========== +AT91C_CAN_MB3_MFID EQU (0xFFFD026C) ;- (CAN_MB3) MailBox Family ID Register +AT91C_CAN_MB3_MAM EQU (0xFFFD0264) ;- (CAN_MB3) MailBox Acceptance Mask Register +AT91C_CAN_MB3_MID EQU (0xFFFD0268) ;- (CAN_MB3) MailBox ID Register +AT91C_CAN_MB3_MCR EQU (0xFFFD027C) ;- (CAN_MB3) MailBox Control Register +AT91C_CAN_MB3_MMR EQU (0xFFFD0260) ;- (CAN_MB3) MailBox Mode Register +AT91C_CAN_MB3_MSR EQU (0xFFFD0270) ;- (CAN_MB3) MailBox Status Register +AT91C_CAN_MB3_MDL EQU (0xFFFD0274) ;- (CAN_MB3) MailBox Data Low Register +AT91C_CAN_MB3_MDH EQU (0xFFFD0278) ;- (CAN_MB3) MailBox Data High Register +// - ========== Register definition for CAN_MB4 peripheral ========== +AT91C_CAN_MB4_MID EQU (0xFFFD0288) ;- (CAN_MB4) MailBox ID Register +AT91C_CAN_MB4_MMR EQU (0xFFFD0280) ;- (CAN_MB4) MailBox Mode Register +AT91C_CAN_MB4_MDH EQU (0xFFFD0298) ;- (CAN_MB4) MailBox Data High Register +AT91C_CAN_MB4_MFID EQU (0xFFFD028C) ;- (CAN_MB4) MailBox Family ID Register +AT91C_CAN_MB4_MSR EQU (0xFFFD0290) ;- (CAN_MB4) MailBox Status Register +AT91C_CAN_MB4_MCR EQU (0xFFFD029C) ;- (CAN_MB4) MailBox Control Register +AT91C_CAN_MB4_MDL EQU (0xFFFD0294) ;- (CAN_MB4) MailBox Data Low Register +AT91C_CAN_MB4_MAM EQU (0xFFFD0284) ;- (CAN_MB4) MailBox Acceptance Mask Register +// - ========== Register definition for CAN_MB5 peripheral ========== +AT91C_CAN_MB5_MSR EQU (0xFFFD02B0) ;- (CAN_MB5) MailBox Status Register +AT91C_CAN_MB5_MCR EQU (0xFFFD02BC) ;- (CAN_MB5) MailBox Control Register +AT91C_CAN_MB5_MFID EQU (0xFFFD02AC) ;- (CAN_MB5) MailBox Family ID Register +AT91C_CAN_MB5_MDH EQU (0xFFFD02B8) ;- (CAN_MB5) MailBox Data High Register +AT91C_CAN_MB5_MID EQU (0xFFFD02A8) ;- (CAN_MB5) MailBox ID Register +AT91C_CAN_MB5_MMR EQU (0xFFFD02A0) ;- (CAN_MB5) MailBox Mode Register +AT91C_CAN_MB5_MDL EQU (0xFFFD02B4) ;- (CAN_MB5) MailBox Data Low Register +AT91C_CAN_MB5_MAM EQU (0xFFFD02A4) ;- (CAN_MB5) MailBox Acceptance Mask Register +// - ========== Register definition for CAN_MB6 peripheral ========== +AT91C_CAN_MB6_MFID EQU (0xFFFD02CC) ;- (CAN_MB6) MailBox Family ID Register +AT91C_CAN_MB6_MID EQU (0xFFFD02C8) ;- (CAN_MB6) MailBox ID Register +AT91C_CAN_MB6_MAM EQU (0xFFFD02C4) ;- (CAN_MB6) MailBox Acceptance Mask Register +AT91C_CAN_MB6_MSR EQU (0xFFFD02D0) ;- (CAN_MB6) MailBox Status Register +AT91C_CAN_MB6_MDL EQU (0xFFFD02D4) ;- (CAN_MB6) MailBox Data Low Register +AT91C_CAN_MB6_MCR EQU (0xFFFD02DC) ;- (CAN_MB6) MailBox Control Register +AT91C_CAN_MB6_MDH EQU (0xFFFD02D8) ;- (CAN_MB6) MailBox Data High Register +AT91C_CAN_MB6_MMR EQU (0xFFFD02C0) ;- (CAN_MB6) MailBox Mode Register +// - ========== Register definition for CAN_MB7 peripheral ========== +AT91C_CAN_MB7_MCR EQU (0xFFFD02FC) ;- (CAN_MB7) MailBox Control Register +AT91C_CAN_MB7_MDH EQU (0xFFFD02F8) ;- (CAN_MB7) MailBox Data High Register +AT91C_CAN_MB7_MFID EQU (0xFFFD02EC) ;- (CAN_MB7) MailBox Family ID Register +AT91C_CAN_MB7_MDL EQU (0xFFFD02F4) ;- (CAN_MB7) MailBox Data Low Register +AT91C_CAN_MB7_MID EQU (0xFFFD02E8) ;- (CAN_MB7) MailBox ID Register +AT91C_CAN_MB7_MMR EQU (0xFFFD02E0) ;- (CAN_MB7) MailBox Mode Register +AT91C_CAN_MB7_MAM EQU (0xFFFD02E4) ;- (CAN_MB7) MailBox Acceptance Mask Register +AT91C_CAN_MB7_MSR EQU (0xFFFD02F0) ;- (CAN_MB7) MailBox Status Register +// - ========== Register definition for CAN peripheral ========== +AT91C_CAN_TCR EQU (0xFFFD0024) ;- (CAN) Transfer Command Register +AT91C_CAN_IMR EQU (0xFFFD000C) ;- (CAN) Interrupt Mask Register +AT91C_CAN_IER EQU (0xFFFD0004) ;- (CAN) Interrupt Enable Register +AT91C_CAN_ECR EQU (0xFFFD0020) ;- (CAN) Error Counter Register +AT91C_CAN_TIMESTP EQU (0xFFFD001C) ;- (CAN) Time Stamp Register +AT91C_CAN_MR EQU (0xFFFD0000) ;- (CAN) Mode Register +AT91C_CAN_IDR EQU (0xFFFD0008) ;- (CAN) Interrupt Disable Register +AT91C_CAN_ACR EQU (0xFFFD0028) ;- (CAN) Abort Command Register +AT91C_CAN_TIM EQU (0xFFFD0018) ;- (CAN) Timer Register +AT91C_CAN_SR EQU (0xFFFD0010) ;- (CAN) Status Register +AT91C_CAN_BR EQU (0xFFFD0014) ;- (CAN) Baudrate Register +AT91C_CAN_VR EQU (0xFFFD00FC) ;- (CAN) Version Register +// - ========== Register definition for EMAC peripheral ========== +AT91C_EMAC_ISR EQU (0xFFFDC024) ;- (EMAC) Interrupt Status Register +AT91C_EMAC_SA4H EQU (0xFFFDC0B4) ;- (EMAC) Specific Address 4 Top, Last 2 bytes +AT91C_EMAC_SA1L EQU (0xFFFDC098) ;- (EMAC) Specific Address 1 Bottom, First 4 bytes +AT91C_EMAC_ELE EQU (0xFFFDC078) ;- (EMAC) Excessive Length Errors Register +AT91C_EMAC_LCOL EQU (0xFFFDC05C) ;- (EMAC) Late Collision Register +AT91C_EMAC_RLE EQU (0xFFFDC088) ;- (EMAC) Receive Length Field Mismatch Register +AT91C_EMAC_WOL EQU (0xFFFDC0C4) ;- (EMAC) Wake On LAN Register +AT91C_EMAC_DTF EQU (0xFFFDC058) ;- (EMAC) Deferred Transmission Frame Register +AT91C_EMAC_TUND EQU (0xFFFDC064) ;- (EMAC) Transmit Underrun Error Register +AT91C_EMAC_NCR EQU (0xFFFDC000) ;- (EMAC) Network Control Register +AT91C_EMAC_SA4L EQU (0xFFFDC0B0) ;- (EMAC) Specific Address 4 Bottom, First 4 bytes +AT91C_EMAC_RSR EQU (0xFFFDC020) ;- (EMAC) Receive Status Register +AT91C_EMAC_SA3L EQU (0xFFFDC0A8) ;- (EMAC) Specific Address 3 Bottom, First 4 bytes +AT91C_EMAC_TSR EQU (0xFFFDC014) ;- (EMAC) Transmit Status Register +AT91C_EMAC_IDR EQU (0xFFFDC02C) ;- (EMAC) Interrupt Disable Register +AT91C_EMAC_RSE EQU (0xFFFDC074) ;- (EMAC) Receive Symbol Errors Register +AT91C_EMAC_ECOL EQU (0xFFFDC060) ;- (EMAC) Excessive Collision Register +AT91C_EMAC_TID EQU (0xFFFDC0B8) ;- (EMAC) Type ID Checking Register +AT91C_EMAC_HRB EQU (0xFFFDC090) ;- (EMAC) Hash Address Bottom[31:0] +AT91C_EMAC_TBQP EQU (0xFFFDC01C) ;- (EMAC) Transmit Buffer Queue Pointer +AT91C_EMAC_USRIO EQU (0xFFFDC0C0) ;- (EMAC) USER Input/Output Register +AT91C_EMAC_PTR EQU (0xFFFDC038) ;- (EMAC) Pause Time Register +AT91C_EMAC_SA2H EQU (0xFFFDC0A4) ;- (EMAC) Specific Address 2 Top, Last 2 bytes +AT91C_EMAC_ROV EQU (0xFFFDC070) ;- (EMAC) Receive Overrun Errors Register +AT91C_EMAC_ALE EQU (0xFFFDC054) ;- (EMAC) Alignment Error Register +AT91C_EMAC_RJA EQU (0xFFFDC07C) ;- (EMAC) Receive Jabbers Register +AT91C_EMAC_RBQP EQU (0xFFFDC018) ;- (EMAC) Receive Buffer Queue Pointer +AT91C_EMAC_TPF EQU (0xFFFDC08C) ;- (EMAC) Transmitted Pause Frames Register +AT91C_EMAC_NCFGR EQU (0xFFFDC004) ;- (EMAC) Network Configuration Register +AT91C_EMAC_HRT EQU (0xFFFDC094) ;- (EMAC) Hash Address Top[63:32] +AT91C_EMAC_USF EQU (0xFFFDC080) ;- (EMAC) Undersize Frames Register +AT91C_EMAC_FCSE EQU (0xFFFDC050) ;- (EMAC) Frame Check Sequence Error Register +AT91C_EMAC_TPQ EQU (0xFFFDC0BC) ;- (EMAC) Transmit Pause Quantum Register +AT91C_EMAC_MAN EQU (0xFFFDC034) ;- (EMAC) PHY Maintenance Register +AT91C_EMAC_FTO EQU (0xFFFDC040) ;- (EMAC) Frames Transmitted OK Register +AT91C_EMAC_REV EQU (0xFFFDC0FC) ;- (EMAC) Revision Register +AT91C_EMAC_IMR EQU (0xFFFDC030) ;- (EMAC) Interrupt Mask Register +AT91C_EMAC_SCF EQU (0xFFFDC044) ;- (EMAC) Single Collision Frame Register +AT91C_EMAC_PFR EQU (0xFFFDC03C) ;- (EMAC) Pause Frames received Register +AT91C_EMAC_MCF EQU (0xFFFDC048) ;- (EMAC) Multiple Collision Frame Register +AT91C_EMAC_NSR EQU (0xFFFDC008) ;- (EMAC) Network Status Register +AT91C_EMAC_SA2L EQU (0xFFFDC0A0) ;- (EMAC) Specific Address 2 Bottom, First 4 bytes +AT91C_EMAC_FRO EQU (0xFFFDC04C) ;- (EMAC) Frames Received OK Register +AT91C_EMAC_IER EQU (0xFFFDC028) ;- (EMAC) Interrupt Enable Register +AT91C_EMAC_SA1H EQU (0xFFFDC09C) ;- (EMAC) Specific Address 1 Top, Last 2 bytes +AT91C_EMAC_CSE EQU (0xFFFDC068) ;- (EMAC) Carrier Sense Error Register +AT91C_EMAC_SA3H EQU (0xFFFDC0AC) ;- (EMAC) Specific Address 3 Top, Last 2 bytes +AT91C_EMAC_RRE EQU (0xFFFDC06C) ;- (EMAC) Receive Ressource Error Register +AT91C_EMAC_STE EQU (0xFFFDC084) ;- (EMAC) SQE Test Error Register +// - ========== Register definition for PDC_ADC peripheral ========== +AT91C_ADC_PTSR EQU (0xFFFD8124) ;- (PDC_ADC) PDC Transfer Status Register +AT91C_ADC_PTCR EQU (0xFFFD8120) ;- (PDC_ADC) PDC Transfer Control Register +AT91C_ADC_TNPR EQU (0xFFFD8118) ;- (PDC_ADC) Transmit Next Pointer Register +AT91C_ADC_TNCR EQU (0xFFFD811C) ;- (PDC_ADC) Transmit Next Counter Register +AT91C_ADC_RNPR EQU (0xFFFD8110) ;- (PDC_ADC) Receive Next Pointer Register +AT91C_ADC_RNCR EQU (0xFFFD8114) ;- (PDC_ADC) Receive Next Counter Register +AT91C_ADC_RPR EQU (0xFFFD8100) ;- (PDC_ADC) Receive Pointer Register +AT91C_ADC_TCR EQU (0xFFFD810C) ;- (PDC_ADC) Transmit Counter Register +AT91C_ADC_TPR EQU (0xFFFD8108) ;- (PDC_ADC) Transmit Pointer Register +AT91C_ADC_RCR EQU (0xFFFD8104) ;- (PDC_ADC) Receive Counter Register +// - ========== Register definition for ADC peripheral ========== +AT91C_ADC_CDR2 EQU (0xFFFD8038) ;- (ADC) ADC Channel Data Register 2 +AT91C_ADC_CDR3 EQU (0xFFFD803C) ;- (ADC) ADC Channel Data Register 3 +AT91C_ADC_CDR0 EQU (0xFFFD8030) ;- (ADC) ADC Channel Data Register 0 +AT91C_ADC_CDR5 EQU (0xFFFD8044) ;- (ADC) ADC Channel Data Register 5 +AT91C_ADC_CHDR EQU (0xFFFD8014) ;- (ADC) ADC Channel Disable Register +AT91C_ADC_SR EQU (0xFFFD801C) ;- (ADC) ADC Status Register +AT91C_ADC_CDR4 EQU (0xFFFD8040) ;- (ADC) ADC Channel Data Register 4 +AT91C_ADC_CDR1 EQU (0xFFFD8034) ;- (ADC) ADC Channel Data Register 1 +AT91C_ADC_LCDR EQU (0xFFFD8020) ;- (ADC) ADC Last Converted Data Register +AT91C_ADC_IDR EQU (0xFFFD8028) ;- (ADC) ADC Interrupt Disable Register +AT91C_ADC_CR EQU (0xFFFD8000) ;- (ADC) ADC Control Register +AT91C_ADC_CDR7 EQU (0xFFFD804C) ;- (ADC) ADC Channel Data Register 7 +AT91C_ADC_CDR6 EQU (0xFFFD8048) ;- (ADC) ADC Channel Data Register 6 +AT91C_ADC_IER EQU (0xFFFD8024) ;- (ADC) ADC Interrupt Enable Register +AT91C_ADC_CHER EQU (0xFFFD8010) ;- (ADC) ADC Channel Enable Register +AT91C_ADC_CHSR EQU (0xFFFD8018) ;- (ADC) ADC Channel Status Register +AT91C_ADC_MR EQU (0xFFFD8004) ;- (ADC) ADC Mode Register +AT91C_ADC_IMR EQU (0xFFFD802C) ;- (ADC) ADC Interrupt Mask Register +// - ========== Register definition for PDC_AES peripheral ========== +AT91C_AES_TPR EQU (0xFFFA4108) ;- (PDC_AES) Transmit Pointer Register +AT91C_AES_PTCR EQU (0xFFFA4120) ;- (PDC_AES) PDC Transfer Control Register +AT91C_AES_RNPR EQU (0xFFFA4110) ;- (PDC_AES) Receive Next Pointer Register +AT91C_AES_TNCR EQU (0xFFFA411C) ;- (PDC_AES) Transmit Next Counter Register +AT91C_AES_TCR EQU (0xFFFA410C) ;- (PDC_AES) Transmit Counter Register +AT91C_AES_RCR EQU (0xFFFA4104) ;- (PDC_AES) Receive Counter Register +AT91C_AES_RNCR EQU (0xFFFA4114) ;- (PDC_AES) Receive Next Counter Register +AT91C_AES_TNPR EQU (0xFFFA4118) ;- (PDC_AES) Transmit Next Pointer Register +AT91C_AES_RPR EQU (0xFFFA4100) ;- (PDC_AES) Receive Pointer Register +AT91C_AES_PTSR EQU (0xFFFA4124) ;- (PDC_AES) PDC Transfer Status Register +// - ========== Register definition for AES peripheral ========== +AT91C_AES_IVxR EQU (0xFFFA4060) ;- (AES) Initialization Vector x Register +AT91C_AES_MR EQU (0xFFFA4004) ;- (AES) Mode Register +AT91C_AES_VR EQU (0xFFFA40FC) ;- (AES) AES Version Register +AT91C_AES_ODATAxR EQU (0xFFFA4050) ;- (AES) Output Data x Register +AT91C_AES_IDATAxR EQU (0xFFFA4040) ;- (AES) Input Data x Register +AT91C_AES_CR EQU (0xFFFA4000) ;- (AES) Control Register +AT91C_AES_IDR EQU (0xFFFA4014) ;- (AES) Interrupt Disable Register +AT91C_AES_IMR EQU (0xFFFA4018) ;- (AES) Interrupt Mask Register +AT91C_AES_IER EQU (0xFFFA4010) ;- (AES) Interrupt Enable Register +AT91C_AES_KEYWxR EQU (0xFFFA4020) ;- (AES) Key Word x Register +AT91C_AES_ISR EQU (0xFFFA401C) ;- (AES) Interrupt Status Register +// - ========== Register definition for PDC_TDES peripheral ========== +AT91C_TDES_RNCR EQU (0xFFFA8114) ;- (PDC_TDES) Receive Next Counter Register +AT91C_TDES_TCR EQU (0xFFFA810C) ;- (PDC_TDES) Transmit Counter Register +AT91C_TDES_RCR EQU (0xFFFA8104) ;- (PDC_TDES) Receive Counter Register +AT91C_TDES_TNPR EQU (0xFFFA8118) ;- (PDC_TDES) Transmit Next Pointer Register +AT91C_TDES_RNPR EQU (0xFFFA8110) ;- (PDC_TDES) Receive Next Pointer Register +AT91C_TDES_RPR EQU (0xFFFA8100) ;- (PDC_TDES) Receive Pointer Register +AT91C_TDES_TNCR EQU (0xFFFA811C) ;- (PDC_TDES) Transmit Next Counter Register +AT91C_TDES_TPR EQU (0xFFFA8108) ;- (PDC_TDES) Transmit Pointer Register +AT91C_TDES_PTSR EQU (0xFFFA8124) ;- (PDC_TDES) PDC Transfer Status Register +AT91C_TDES_PTCR EQU (0xFFFA8120) ;- (PDC_TDES) PDC Transfer Control Register +// - ========== Register definition for TDES peripheral ========== +AT91C_TDES_KEY2WxR EQU (0xFFFA8028) ;- (TDES) Key 2 Word x Register +AT91C_TDES_KEY3WxR EQU (0xFFFA8030) ;- (TDES) Key 3 Word x Register +AT91C_TDES_IDR EQU (0xFFFA8014) ;- (TDES) Interrupt Disable Register +AT91C_TDES_VR EQU (0xFFFA80FC) ;- (TDES) TDES Version Register +AT91C_TDES_IVxR EQU (0xFFFA8060) ;- (TDES) Initialization Vector x Register +AT91C_TDES_ODATAxR EQU (0xFFFA8050) ;- (TDES) Output Data x Register +AT91C_TDES_IMR EQU (0xFFFA8018) ;- (TDES) Interrupt Mask Register +AT91C_TDES_MR EQU (0xFFFA8004) ;- (TDES) Mode Register +AT91C_TDES_CR EQU (0xFFFA8000) ;- (TDES) Control Register +AT91C_TDES_IER EQU (0xFFFA8010) ;- (TDES) Interrupt Enable Register +AT91C_TDES_ISR EQU (0xFFFA801C) ;- (TDES) Interrupt Status Register +AT91C_TDES_IDATAxR EQU (0xFFFA8040) ;- (TDES) Input Data x Register +AT91C_TDES_KEY1WxR EQU (0xFFFA8020) ;- (TDES) Key 1 Word x Register + +// - ***************************************************************************** +// - PIO DEFINITIONS FOR AT91SAM7X256 +// - ***************************************************************************** +AT91C_PIO_PA0 EQU (1 << 0) ;- Pin Controlled by PA0 +AT91C_PA0_RXD0 EQU (AT91C_PIO_PA0) ;- USART 0 Receive Data +AT91C_PIO_PA1 EQU (1 << 1) ;- Pin Controlled by PA1 +AT91C_PA1_TXD0 EQU (AT91C_PIO_PA1) ;- USART 0 Transmit Data +AT91C_PIO_PA10 EQU (1 << 10) ;- Pin Controlled by PA10 +AT91C_PA10_TWD EQU (AT91C_PIO_PA10) ;- TWI Two-wire Serial Data +AT91C_PIO_PA11 EQU (1 << 11) ;- Pin Controlled by PA11 +AT91C_PA11_TWCK EQU (AT91C_PIO_PA11) ;- TWI Two-wire Serial Clock +AT91C_PIO_PA12 EQU (1 << 12) ;- Pin Controlled by PA12 +AT91C_PA12_NPCS00 EQU (AT91C_PIO_PA12) ;- SPI 0 Peripheral Chip Select 0 +AT91C_PIO_PA13 EQU (1 << 13) ;- Pin Controlled by PA13 +AT91C_PA13_NPCS01 EQU (AT91C_PIO_PA13) ;- SPI 0 Peripheral Chip Select 1 +AT91C_PA13_PCK1 EQU (AT91C_PIO_PA13) ;- PMC Programmable Clock Output 1 +AT91C_PIO_PA14 EQU (1 << 14) ;- Pin Controlled by PA14 +AT91C_PA14_NPCS02 EQU (AT91C_PIO_PA14) ;- SPI 0 Peripheral Chip Select 2 +AT91C_PA14_IRQ1 EQU (AT91C_PIO_PA14) ;- External Interrupt 1 +AT91C_PIO_PA15 EQU (1 << 15) ;- Pin Controlled by PA15 +AT91C_PA15_NPCS03 EQU (AT91C_PIO_PA15) ;- SPI 0 Peripheral Chip Select 3 +AT91C_PA15_TCLK2 EQU (AT91C_PIO_PA15) ;- Timer Counter 2 external clock input +AT91C_PIO_PA16 EQU (1 << 16) ;- Pin Controlled by PA16 +AT91C_PA16_MISO0 EQU (AT91C_PIO_PA16) ;- SPI 0 Master In Slave +AT91C_PIO_PA17 EQU (1 << 17) ;- Pin Controlled by PA17 +AT91C_PA17_MOSI0 EQU (AT91C_PIO_PA17) ;- SPI 0 Master Out Slave +AT91C_PIO_PA18 EQU (1 << 18) ;- Pin Controlled by PA18 +AT91C_PA18_SPCK0 EQU (AT91C_PIO_PA18) ;- SPI 0 Serial Clock +AT91C_PIO_PA19 EQU (1 << 19) ;- Pin Controlled by PA19 +AT91C_PA19_CANRX EQU (AT91C_PIO_PA19) ;- CAN Receive +AT91C_PIO_PA2 EQU (1 << 2) ;- Pin Controlled by PA2 +AT91C_PA2_SCK0 EQU (AT91C_PIO_PA2) ;- USART 0 Serial Clock +AT91C_PA2_NPCS11 EQU (AT91C_PIO_PA2) ;- SPI 1 Peripheral Chip Select 1 +AT91C_PIO_PA20 EQU (1 << 20) ;- Pin Controlled by PA20 +AT91C_PA20_CANTX EQU (AT91C_PIO_PA20) ;- CAN Transmit +AT91C_PIO_PA21 EQU (1 << 21) ;- Pin Controlled by PA21 +AT91C_PA21_TF EQU (AT91C_PIO_PA21) ;- SSC Transmit Frame Sync +AT91C_PA21_NPCS10 EQU (AT91C_PIO_PA21) ;- SPI 1 Peripheral Chip Select 0 +AT91C_PIO_PA22 EQU (1 << 22) ;- Pin Controlled by PA22 +AT91C_PA22_TK EQU (AT91C_PIO_PA22) ;- SSC Transmit Clock +AT91C_PA22_SPCK1 EQU (AT91C_PIO_PA22) ;- SPI 1 Serial Clock +AT91C_PIO_PA23 EQU (1 << 23) ;- Pin Controlled by PA23 +AT91C_PA23_TD EQU (AT91C_PIO_PA23) ;- SSC Transmit data +AT91C_PA23_MOSI1 EQU (AT91C_PIO_PA23) ;- SPI 1 Master Out Slave +AT91C_PIO_PA24 EQU (1 << 24) ;- Pin Controlled by PA24 +AT91C_PA24_RD EQU (AT91C_PIO_PA24) ;- SSC Receive Data +AT91C_PA24_MISO1 EQU (AT91C_PIO_PA24) ;- SPI 1 Master In Slave +AT91C_PIO_PA25 EQU (1 << 25) ;- Pin Controlled by PA25 +AT91C_PA25_RK EQU (AT91C_PIO_PA25) ;- SSC Receive Clock +AT91C_PA25_NPCS11 EQU (AT91C_PIO_PA25) ;- SPI 1 Peripheral Chip Select 1 +AT91C_PIO_PA26 EQU (1 << 26) ;- Pin Controlled by PA26 +AT91C_PA26_RF EQU (AT91C_PIO_PA26) ;- SSC Receive Frame Sync +AT91C_PA26_NPCS12 EQU (AT91C_PIO_PA26) ;- SPI 1 Peripheral Chip Select 2 +AT91C_PIO_PA27 EQU (1 << 27) ;- Pin Controlled by PA27 +AT91C_PA27_DRXD EQU (AT91C_PIO_PA27) ;- DBGU Debug Receive Data +AT91C_PA27_PCK3 EQU (AT91C_PIO_PA27) ;- PMC Programmable Clock Output 3 +AT91C_PIO_PA28 EQU (1 << 28) ;- Pin Controlled by PA28 +AT91C_PA28_DTXD EQU (AT91C_PIO_PA28) ;- DBGU Debug Transmit Data +AT91C_PIO_PA29 EQU (1 << 29) ;- Pin Controlled by PA29 +AT91C_PA29_FIQ EQU (AT91C_PIO_PA29) ;- AIC Fast Interrupt Input +AT91C_PA29_NPCS13 EQU (AT91C_PIO_PA29) ;- SPI 1 Peripheral Chip Select 3 +AT91C_PIO_PA3 EQU (1 << 3) ;- Pin Controlled by PA3 +AT91C_PA3_RTS0 EQU (AT91C_PIO_PA3) ;- USART 0 Ready To Send +AT91C_PA3_NPCS12 EQU (AT91C_PIO_PA3) ;- SPI 1 Peripheral Chip Select 2 +AT91C_PIO_PA30 EQU (1 << 30) ;- Pin Controlled by PA30 +AT91C_PA30_IRQ0 EQU (AT91C_PIO_PA30) ;- External Interrupt 0 +AT91C_PA30_PCK2 EQU (AT91C_PIO_PA30) ;- PMC Programmable Clock Output 2 +AT91C_PIO_PA4 EQU (1 << 4) ;- Pin Controlled by PA4 +AT91C_PA4_CTS0 EQU (AT91C_PIO_PA4) ;- USART 0 Clear To Send +AT91C_PA4_NPCS13 EQU (AT91C_PIO_PA4) ;- SPI 1 Peripheral Chip Select 3 +AT91C_PIO_PA5 EQU (1 << 5) ;- Pin Controlled by PA5 +AT91C_PA5_RXD1 EQU (AT91C_PIO_PA5) ;- USART 1 Receive Data +AT91C_PIO_PA6 EQU (1 << 6) ;- Pin Controlled by PA6 +AT91C_PA6_TXD1 EQU (AT91C_PIO_PA6) ;- USART 1 Transmit Data +AT91C_PIO_PA7 EQU (1 << 7) ;- Pin Controlled by PA7 +AT91C_PA7_SCK1 EQU (AT91C_PIO_PA7) ;- USART 1 Serial Clock +AT91C_PA7_NPCS01 EQU (AT91C_PIO_PA7) ;- SPI 0 Peripheral Chip Select 1 +AT91C_PIO_PA8 EQU (1 << 8) ;- Pin Controlled by PA8 +AT91C_PA8_RTS1 EQU (AT91C_PIO_PA8) ;- USART 1 Ready To Send +AT91C_PA8_NPCS02 EQU (AT91C_PIO_PA8) ;- SPI 0 Peripheral Chip Select 2 +AT91C_PIO_PA9 EQU (1 << 9) ;- Pin Controlled by PA9 +AT91C_PA9_CTS1 EQU (AT91C_PIO_PA9) ;- USART 1 Clear To Send +AT91C_PA9_NPCS03 EQU (AT91C_PIO_PA9) ;- SPI 0 Peripheral Chip Select 3 +AT91C_PIO_PB0 EQU (1 << 0) ;- Pin Controlled by PB0 +AT91C_PB0_ETXCK_EREFCK EQU (AT91C_PIO_PB0) ;- Ethernet MAC Transmit Clock/Reference Clock +AT91C_PB0_PCK0 EQU (AT91C_PIO_PB0) ;- PMC Programmable Clock Output 0 +AT91C_PIO_PB1 EQU (1 << 1) ;- Pin Controlled by PB1 +AT91C_PB1_ETXEN EQU (AT91C_PIO_PB1) ;- Ethernet MAC Transmit Enable +AT91C_PIO_PB10 EQU (1 << 10) ;- Pin Controlled by PB10 +AT91C_PB10_ETX2 EQU (AT91C_PIO_PB10) ;- Ethernet MAC Transmit Data 2 +AT91C_PB10_NPCS11 EQU (AT91C_PIO_PB10) ;- SPI 1 Peripheral Chip Select 1 +AT91C_PIO_PB11 EQU (1 << 11) ;- Pin Controlled by PB11 +AT91C_PB11_ETX3 EQU (AT91C_PIO_PB11) ;- Ethernet MAC Transmit Data 3 +AT91C_PB11_NPCS12 EQU (AT91C_PIO_PB11) ;- SPI 1 Peripheral Chip Select 2 +AT91C_PIO_PB12 EQU (1 << 12) ;- Pin Controlled by PB12 +AT91C_PB12_ETXER EQU (AT91C_PIO_PB12) ;- Ethernet MAC Transmikt Coding Error +AT91C_PB12_TCLK0 EQU (AT91C_PIO_PB12) ;- Timer Counter 0 external clock input +AT91C_PIO_PB13 EQU (1 << 13) ;- Pin Controlled by PB13 +AT91C_PB13_ERX2 EQU (AT91C_PIO_PB13) ;- Ethernet MAC Receive Data 2 +AT91C_PB13_NPCS01 EQU (AT91C_PIO_PB13) ;- SPI 0 Peripheral Chip Select 1 +AT91C_PIO_PB14 EQU (1 << 14) ;- Pin Controlled by PB14 +AT91C_PB14_ERX3 EQU (AT91C_PIO_PB14) ;- Ethernet MAC Receive Data 3 +AT91C_PB14_NPCS02 EQU (AT91C_PIO_PB14) ;- SPI 0 Peripheral Chip Select 2 +AT91C_PIO_PB15 EQU (1 << 15) ;- Pin Controlled by PB15 +AT91C_PB15_ERXDV EQU (AT91C_PIO_PB15) ;- Ethernet MAC Receive Data Valid +AT91C_PIO_PB16 EQU (1 << 16) ;- Pin Controlled by PB16 +AT91C_PB16_ECOL EQU (AT91C_PIO_PB16) ;- Ethernet MAC Collision Detected +AT91C_PB16_NPCS13 EQU (AT91C_PIO_PB16) ;- SPI 1 Peripheral Chip Select 3 +AT91C_PIO_PB17 EQU (1 << 17) ;- Pin Controlled by PB17 +AT91C_PB17_ERXCK EQU (AT91C_PIO_PB17) ;- Ethernet MAC Receive Clock +AT91C_PB17_NPCS03 EQU (AT91C_PIO_PB17) ;- SPI 0 Peripheral Chip Select 3 +AT91C_PIO_PB18 EQU (1 << 18) ;- Pin Controlled by PB18 +AT91C_PB18_EF100 EQU (AT91C_PIO_PB18) ;- Ethernet MAC Force 100 Mbits/sec +AT91C_PB18_ADTRG EQU (AT91C_PIO_PB18) ;- ADC External Trigger +AT91C_PIO_PB19 EQU (1 << 19) ;- Pin Controlled by PB19 +AT91C_PB19_PWM0 EQU (AT91C_PIO_PB19) ;- PWM Channel 0 +AT91C_PB19_TCLK1 EQU (AT91C_PIO_PB19) ;- Timer Counter 1 external clock input +AT91C_PIO_PB2 EQU (1 << 2) ;- Pin Controlled by PB2 +AT91C_PB2_ETX0 EQU (AT91C_PIO_PB2) ;- Ethernet MAC Transmit Data 0 +AT91C_PIO_PB20 EQU (1 << 20) ;- Pin Controlled by PB20 +AT91C_PB20_PWM1 EQU (AT91C_PIO_PB20) ;- PWM Channel 1 +AT91C_PB20_PCK0 EQU (AT91C_PIO_PB20) ;- PMC Programmable Clock Output 0 +AT91C_PIO_PB21 EQU (1 << 21) ;- Pin Controlled by PB21 +AT91C_PB21_PWM2 EQU (AT91C_PIO_PB21) ;- PWM Channel 2 +AT91C_PB21_PCK1 EQU (AT91C_PIO_PB21) ;- PMC Programmable Clock Output 1 +AT91C_PIO_PB22 EQU (1 << 22) ;- Pin Controlled by PB22 +AT91C_PB22_PWM3 EQU (AT91C_PIO_PB22) ;- PWM Channel 3 +AT91C_PB22_PCK2 EQU (AT91C_PIO_PB22) ;- PMC Programmable Clock Output 2 +AT91C_PIO_PB23 EQU (1 << 23) ;- Pin Controlled by PB23 +AT91C_PB23_TIOA0 EQU (AT91C_PIO_PB23) ;- Timer Counter 0 Multipurpose Timer I/O Pin A +AT91C_PB23_DCD1 EQU (AT91C_PIO_PB23) ;- USART 1 Data Carrier Detect +AT91C_PIO_PB24 EQU (1 << 24) ;- Pin Controlled by PB24 +AT91C_PB24_TIOB0 EQU (AT91C_PIO_PB24) ;- Timer Counter 0 Multipurpose Timer I/O Pin B +AT91C_PB24_DSR1 EQU (AT91C_PIO_PB24) ;- USART 1 Data Set ready +AT91C_PIO_PB25 EQU (1 << 25) ;- Pin Controlled by PB25 +AT91C_PB25_TIOA1 EQU (AT91C_PIO_PB25) ;- Timer Counter 1 Multipurpose Timer I/O Pin A +AT91C_PB25_DTR1 EQU (AT91C_PIO_PB25) ;- USART 1 Data Terminal ready +AT91C_PIO_PB26 EQU (1 << 26) ;- Pin Controlled by PB26 +AT91C_PB26_TIOB1 EQU (AT91C_PIO_PB26) ;- Timer Counter 1 Multipurpose Timer I/O Pin B +AT91C_PB26_RI1 EQU (AT91C_PIO_PB26) ;- USART 1 Ring Indicator +AT91C_PIO_PB27 EQU (1 << 27) ;- Pin Controlled by PB27 +AT91C_PB27_TIOA2 EQU (AT91C_PIO_PB27) ;- Timer Counter 2 Multipurpose Timer I/O Pin A +AT91C_PB27_PWM0 EQU (AT91C_PIO_PB27) ;- PWM Channel 0 +AT91C_PIO_PB28 EQU (1 << 28) ;- Pin Controlled by PB28 +AT91C_PB28_TIOB2 EQU (AT91C_PIO_PB28) ;- Timer Counter 2 Multipurpose Timer I/O Pin B +AT91C_PB28_PWM1 EQU (AT91C_PIO_PB28) ;- PWM Channel 1 +AT91C_PIO_PB29 EQU (1 << 29) ;- Pin Controlled by PB29 +AT91C_PB29_PCK1 EQU (AT91C_PIO_PB29) ;- PMC Programmable Clock Output 1 +AT91C_PB29_PWM2 EQU (AT91C_PIO_PB29) ;- PWM Channel 2 +AT91C_PIO_PB3 EQU (1 << 3) ;- Pin Controlled by PB3 +AT91C_PB3_ETX1 EQU (AT91C_PIO_PB3) ;- Ethernet MAC Transmit Data 1 +AT91C_PIO_PB30 EQU (1 << 30) ;- Pin Controlled by PB30 +AT91C_PB30_PCK2 EQU (AT91C_PIO_PB30) ;- PMC Programmable Clock Output 2 +AT91C_PB30_PWM3 EQU (AT91C_PIO_PB30) ;- PWM Channel 3 +AT91C_PIO_PB4 EQU (1 << 4) ;- Pin Controlled by PB4 +AT91C_PB4_ECRS_ECRSDV EQU (AT91C_PIO_PB4) ;- Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +AT91C_PIO_PB5 EQU (1 << 5) ;- Pin Controlled by PB5 +AT91C_PB5_ERX0 EQU (AT91C_PIO_PB5) ;- Ethernet MAC Receive Data 0 +AT91C_PIO_PB6 EQU (1 << 6) ;- Pin Controlled by PB6 +AT91C_PB6_ERX1 EQU (AT91C_PIO_PB6) ;- Ethernet MAC Receive Data 1 +AT91C_PIO_PB7 EQU (1 << 7) ;- Pin Controlled by PB7 +AT91C_PB7_ERXER EQU (AT91C_PIO_PB7) ;- Ethernet MAC Receive Error +AT91C_PIO_PB8 EQU (1 << 8) ;- Pin Controlled by PB8 +AT91C_PB8_EMDC EQU (AT91C_PIO_PB8) ;- Ethernet MAC Management Data Clock +AT91C_PIO_PB9 EQU (1 << 9) ;- Pin Controlled by PB9 +AT91C_PB9_EMDIO EQU (AT91C_PIO_PB9) ;- Ethernet MAC Management Data Input/Output + +// - ***************************************************************************** +// - PERIPHERAL ID DEFINITIONS FOR AT91SAM7X256 +// - ***************************************************************************** +AT91C_ID_FIQ EQU ( 0) ;- Advanced Interrupt Controller (FIQ) +AT91C_ID_SYS EQU ( 1) ;- System Peripheral +AT91C_ID_PIOA EQU ( 2) ;- Parallel IO Controller A +AT91C_ID_PIOB EQU ( 3) ;- Parallel IO Controller B +AT91C_ID_SPI0 EQU ( 4) ;- Serial Peripheral Interface 0 +AT91C_ID_SPI1 EQU ( 5) ;- Serial Peripheral Interface 1 +AT91C_ID_US0 EQU ( 6) ;- USART 0 +AT91C_ID_US1 EQU ( 7) ;- USART 1 +AT91C_ID_SSC EQU ( 8) ;- Serial Synchronous Controller +AT91C_ID_TWI EQU ( 9) ;- Two-Wire Interface +AT91C_ID_PWMC EQU (10) ;- PWM Controller +AT91C_ID_UDP EQU (11) ;- USB Device Port +AT91C_ID_TC0 EQU (12) ;- Timer Counter 0 +AT91C_ID_TC1 EQU (13) ;- Timer Counter 1 +AT91C_ID_TC2 EQU (14) ;- Timer Counter 2 +AT91C_ID_CAN EQU (15) ;- Control Area Network Controller +AT91C_ID_EMAC EQU (16) ;- Ethernet MAC +AT91C_ID_ADC EQU (17) ;- Analog-to-Digital Converter +AT91C_ID_AES EQU (18) ;- Advanced Encryption Standard 128-bit +AT91C_ID_TDES EQU (19) ;- Triple Data Encryption Standard +AT91C_ID_20_Reserved EQU (20) ;- Reserved +AT91C_ID_21_Reserved EQU (21) ;- Reserved +AT91C_ID_22_Reserved EQU (22) ;- Reserved +AT91C_ID_23_Reserved EQU (23) ;- Reserved +AT91C_ID_24_Reserved EQU (24) ;- Reserved +AT91C_ID_25_Reserved EQU (25) ;- Reserved +AT91C_ID_26_Reserved EQU (26) ;- Reserved +AT91C_ID_27_Reserved EQU (27) ;- Reserved +AT91C_ID_28_Reserved EQU (28) ;- Reserved +AT91C_ID_29_Reserved EQU (29) ;- Reserved +AT91C_ID_IRQ0 EQU (30) ;- Advanced Interrupt Controller (IRQ0) +AT91C_ID_IRQ1 EQU (31) ;- Advanced Interrupt Controller (IRQ1) + +// - ***************************************************************************** +// - BASE ADDRESS DEFINITIONS FOR AT91SAM7X256 +// - ***************************************************************************** +AT91C_BASE_SYS EQU (0xFFFFF000) ;- (SYS) Base Address +AT91C_BASE_AIC EQU (0xFFFFF000) ;- (AIC) Base Address +AT91C_BASE_PDC_DBGU EQU (0xFFFFF300) ;- (PDC_DBGU) Base Address +AT91C_BASE_DBGU EQU (0xFFFFF200) ;- (DBGU) Base Address +AT91C_BASE_PIOA EQU (0xFFFFF400) ;- (PIOA) Base Address +AT91C_BASE_PIOB EQU (0xFFFFF600) ;- (PIOB) Base Address +AT91C_BASE_CKGR EQU (0xFFFFFC20) ;- (CKGR) Base Address +AT91C_BASE_PMC EQU (0xFFFFFC00) ;- (PMC) Base Address +AT91C_BASE_RSTC EQU (0xFFFFFD00) ;- (RSTC) Base Address +AT91C_BASE_RTTC EQU (0xFFFFFD20) ;- (RTTC) Base Address +AT91C_BASE_PITC EQU (0xFFFFFD30) ;- (PITC) Base Address +AT91C_BASE_WDTC EQU (0xFFFFFD40) ;- (WDTC) Base Address +AT91C_BASE_VREG EQU (0xFFFFFD60) ;- (VREG) Base Address +AT91C_BASE_MC EQU (0xFFFFFF00) ;- (MC) Base Address +AT91C_BASE_PDC_SPI1 EQU (0xFFFE4100) ;- (PDC_SPI1) Base Address +AT91C_BASE_SPI1 EQU (0xFFFE4000) ;- (SPI1) Base Address +AT91C_BASE_PDC_SPI0 EQU (0xFFFE0100) ;- (PDC_SPI0) Base Address +AT91C_BASE_SPI0 EQU (0xFFFE0000) ;- (SPI0) Base Address +AT91C_BASE_PDC_US1 EQU (0xFFFC4100) ;- (PDC_US1) Base Address +AT91C_BASE_US1 EQU (0xFFFC4000) ;- (US1) Base Address +AT91C_BASE_PDC_US0 EQU (0xFFFC0100) ;- (PDC_US0) Base Address +AT91C_BASE_US0 EQU (0xFFFC0000) ;- (US0) Base Address +AT91C_BASE_PDC_SSC EQU (0xFFFD4100) ;- (PDC_SSC) Base Address +AT91C_BASE_SSC EQU (0xFFFD4000) ;- (SSC) Base Address +AT91C_BASE_TWI EQU (0xFFFB8000) ;- (TWI) Base Address +AT91C_BASE_PWMC_CH3 EQU (0xFFFCC260) ;- (PWMC_CH3) Base Address +AT91C_BASE_PWMC_CH2 EQU (0xFFFCC240) ;- (PWMC_CH2) Base Address +AT91C_BASE_PWMC_CH1 EQU (0xFFFCC220) ;- (PWMC_CH1) Base Address +AT91C_BASE_PWMC_CH0 EQU (0xFFFCC200) ;- (PWMC_CH0) Base Address +AT91C_BASE_PWMC EQU (0xFFFCC000) ;- (PWMC) Base Address +AT91C_BASE_UDP EQU (0xFFFB0000) ;- (UDP) Base Address +AT91C_BASE_TC0 EQU (0xFFFA0000) ;- (TC0) Base Address +AT91C_BASE_TC1 EQU (0xFFFA0040) ;- (TC1) Base Address +AT91C_BASE_TC2 EQU (0xFFFA0080) ;- (TC2) Base Address +AT91C_BASE_TCB EQU (0xFFFA0000) ;- (TCB) Base Address +AT91C_BASE_CAN_MB0 EQU (0xFFFD0200) ;- (CAN_MB0) Base Address +AT91C_BASE_CAN_MB1 EQU (0xFFFD0220) ;- (CAN_MB1) Base Address +AT91C_BASE_CAN_MB2 EQU (0xFFFD0240) ;- (CAN_MB2) Base Address +AT91C_BASE_CAN_MB3 EQU (0xFFFD0260) ;- (CAN_MB3) Base Address +AT91C_BASE_CAN_MB4 EQU (0xFFFD0280) ;- (CAN_MB4) Base Address +AT91C_BASE_CAN_MB5 EQU (0xFFFD02A0) ;- (CAN_MB5) Base Address +AT91C_BASE_CAN_MB6 EQU (0xFFFD02C0) ;- (CAN_MB6) Base Address +AT91C_BASE_CAN_MB7 EQU (0xFFFD02E0) ;- (CAN_MB7) Base Address +AT91C_BASE_CAN EQU (0xFFFD0000) ;- (CAN) Base Address +AT91C_BASE_EMAC EQU (0xFFFDC000) ;- (EMAC) Base Address +AT91C_BASE_PDC_ADC EQU (0xFFFD8100) ;- (PDC_ADC) Base Address +AT91C_BASE_ADC EQU (0xFFFD8000) ;- (ADC) Base Address +AT91C_BASE_PDC_AES EQU (0xFFFA4100) ;- (PDC_AES) Base Address +AT91C_BASE_AES EQU (0xFFFA4000) ;- (AES) Base Address +AT91C_BASE_PDC_TDES EQU (0xFFFA8100) ;- (PDC_TDES) Base Address +AT91C_BASE_TDES EQU (0xFFFA8000) ;- (TDES) Base Address + +// - ***************************************************************************** +// - MEMORY MAPPING DEFINITIONS FOR AT91SAM7X256 +// - ***************************************************************************** +AT91C_ISRAM EQU (0x00200000) ;- Internal SRAM base address +AT91C_ISRAM_SIZE EQU (0x00010000) ;- Internal SRAM size in byte (64 Kbyte) +AT91C_IFLASH EQU (0x00100000) ;- Internal ROM base address +AT91C_IFLASH_SIZE EQU (0x00040000) ;- Internal ROM size in byte (256 Kbyte) + + + +#endif /* AT91SAM7X256_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.c new file mode 100644 index 0000000..9cbd823 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.c @@ -0,0 +1,51 @@ +//* ---------------------------------------------------------------------------- +//* ATMEL Microcontroller Software Support - ROUSSET - +//* ---------------------------------------------------------------------------- +//* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +//* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +//* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +//* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +//* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +//* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +//* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +//* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +//* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//* ---------------------------------------------------------------------------- +//* File Name : lib_AT91SAM7X256.h +//* Object : AT91SAM7X256 inlined functions +//* Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +//* +//* CVS Reference : /lib_dbgu.h/1.1/Fri Jan 31 12:18:40 2003// +//* CVS Reference : /lib_pmc_SAM7X.h/1.1/Tue Feb 1 08:32:10 2005// +//* CVS Reference : /lib_VREG_6085B.h/1.1/Tue Feb 1 16:20:47 2005// +//* CVS Reference : /lib_rstc_6098A.h/1.1/Wed Oct 6 10:39:20 2004// +//* CVS Reference : /lib_ssc.h/1.4/Fri Jan 31 12:19:20 2003// +//* CVS Reference : /lib_wdtc_6080A.h/1.1/Wed Oct 6 10:38:30 2004// +//* CVS Reference : /lib_usart.h/1.5/Thu Nov 21 16:01:54 2002// +//* CVS Reference : /lib_spi2.h/1.1/Mon Aug 25 14:23:52 2003// +//* CVS Reference : /lib_pitc_6079A.h/1.2/Tue Nov 9 14:43:56 2004// +//* CVS Reference : /lib_aic_6075b.h/1.1/Fri May 20 14:01:19 2005// +//* CVS Reference : /lib_aes_6149a.h/1.1/Mon Jan 17 07:43:09 2005// +//* CVS Reference : /lib_twi.h/1.3/Mon Jul 19 14:27:58 2004// +//* CVS Reference : /lib_adc.h/1.6/Fri Oct 17 09:12:38 2003// +//* CVS Reference : /lib_rttc_6081A.h/1.1/Wed Oct 6 10:39:38 2004// +//* CVS Reference : /lib_udp.h/1.4/Wed Feb 16 08:39:34 2005// +//* CVS Reference : /lib_des3_6150a.h/1.1/Mon Jan 17 09:19:19 2005// +//* CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +//* CVS Reference : /lib_MC_SAM7X.h/1.1/Thu Mar 25 15:19:14 2004// +//* CVS Reference : /lib_pio.h/1.3/Fri Jan 31 12:18:56 2003// +//* CVS Reference : /lib_can_AT91.h/1.4/Fri Oct 17 09:12:50 2003// +//* CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +//* CVS Reference : /lib_pdc.h/1.2/Tue Jul 2 13:29:40 2002// +//* ---------------------------------------------------------------------------- + + +#include "AT91SAM7X256.h" + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ConfigureIt +//* \brief Interrupt Handler Initialization +//*---------------------------------------------------------------------------- + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.h new file mode 100644 index 0000000..e66b4e1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.h @@ -0,0 +1,4558 @@ +//* ---------------------------------------------------------------------------- +//* ATMEL Microcontroller Software Support - ROUSSET - +//* ---------------------------------------------------------------------------- +//* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +//* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +//* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +//* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +//* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +//* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +//* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +//* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +//* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//* ---------------------------------------------------------------------------- +//* File Name : lib_AT91SAM7X256.h +//* Object : AT91SAM7X256 inlined functions +//* Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +//* +//* CVS Reference : /lib_dbgu.h/1.1/Fri Jan 31 12:18:40 2003// +//* CVS Reference : /lib_pmc_SAM7X.h/1.1/Tue Feb 1 08:32:10 2005// +//* CVS Reference : /lib_VREG_6085B.h/1.1/Tue Feb 1 16:20:47 2005// +//* CVS Reference : /lib_rstc_6098A.h/1.1/Wed Oct 6 10:39:20 2004// +//* CVS Reference : /lib_ssc.h/1.4/Fri Jan 31 12:19:20 2003// +//* CVS Reference : /lib_wdtc_6080A.h/1.1/Wed Oct 6 10:38:30 2004// +//* CVS Reference : /lib_usart.h/1.5/Thu Nov 21 16:01:54 2002// +//* CVS Reference : /lib_spi2.h/1.1/Mon Aug 25 14:23:52 2003// +//* CVS Reference : /lib_pitc_6079A.h/1.2/Tue Nov 9 14:43:56 2004// +//* CVS Reference : /lib_aic_6075b.h/1.1/Fri May 20 14:01:19 2005// +//* CVS Reference : /lib_aes_6149a.h/1.1/Mon Jan 17 07:43:09 2005// +//* CVS Reference : /lib_twi.h/1.3/Mon Jul 19 14:27:58 2004// +//* CVS Reference : /lib_adc.h/1.6/Fri Oct 17 09:12:38 2003// +//* CVS Reference : /lib_rttc_6081A.h/1.1/Wed Oct 6 10:39:38 2004// +//* CVS Reference : /lib_udp.h/1.4/Wed Feb 16 08:39:34 2005// +//* CVS Reference : /lib_des3_6150a.h/1.1/Mon Jan 17 09:19:19 2005// +//* CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +//* CVS Reference : /lib_MC_SAM7X.h/1.1/Thu Mar 25 15:19:14 2004// +//* CVS Reference : /lib_pio.h/1.3/Fri Jan 31 12:18:56 2003// +//* CVS Reference : /lib_can_AT91.h/1.4/Fri Oct 17 09:12:50 2003// +//* CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +//* CVS Reference : /lib_pdc.h/1.2/Tue Jul 2 13:29:40 2002// +//* ---------------------------------------------------------------------------- + +#ifndef lib_AT91SAM7X256_H +#define lib_AT91SAM7X256_H + +/* ***************************************************************************** + SOFTWARE API FOR AIC + ***************************************************************************** */ +#define AT91C_AIC_BRANCH_OPCODE ((void (*) ()) 0xE51FFF20) // ldr, pc, [pc, #-&F20] + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ConfigureIt +//* \brief Interrupt Handler Initialization +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_ConfigureIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id, // \arg interrupt number to initialize + unsigned int priority, // \arg priority to give to the interrupt + unsigned int src_type, // \arg activation and sense of activation + void (*newHandler) (void) ) // \arg address of the interrupt handler +{ + unsigned int oldHandler; + unsigned int mask ; + + oldHandler = pAic->AIC_SVR[irq_id]; + + mask = 0x1 << irq_id ; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Save the interrupt handler routine pointer and the interrupt priority + pAic->AIC_SVR[irq_id] = (unsigned int) newHandler ; + //* Store the Source Mode Register + pAic->AIC_SMR[irq_id] = src_type | priority ; + //* Clear the interrupt on the interrupt controller + pAic->AIC_ICCR = mask ; + + return oldHandler; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_EnableIt +//* \brief Enable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_EnableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + //* Enable the interrupt on the interrupt controller + pAic->AIC_IECR = 0x1 << irq_id ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_DisableIt +//* \brief Disable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_DisableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + unsigned int mask = 0x1 << irq_id; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = mask ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ClearIt +//* \brief Clear corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_ClearIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number to initialize +{ + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = (0x1 << irq_id); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_AcknowledgeIt +//* \brief Acknowledge corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_AcknowledgeIt ( + AT91PS_AIC pAic) // \arg pointer to the AIC registers +{ + pAic->AIC_EOICR = pAic->AIC_EOICR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_SetExceptionVector +//* \brief Configure vector handler +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_SetExceptionVector ( + unsigned int *pVector, // \arg pointer to the AIC registers + void (*Handler) () ) // \arg Interrupt Handler +{ + unsigned int oldVector = *pVector; + + if ((unsigned int) Handler == (unsigned int) AT91C_AIC_BRANCH_OPCODE) + *pVector = (unsigned int) AT91C_AIC_BRANCH_OPCODE; + else + *pVector = (((((unsigned int) Handler) - ((unsigned int) pVector) - 0x8) >> 2) & 0x00FFFFFF) | 0xEA000000; + + return oldVector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Trig +//* \brief Trig an IT +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Trig ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number +{ + pAic->AIC_ISCR = (0x1 << irq_id) ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsActive +//* \brief Test if an IT is active +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsActive ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_ISR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsPending +//* \brief Test if an IT is pending +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsPending ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_IPR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Open +//* \brief Set exception vectors and AIC registers to default values +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Open( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + void (*IrqHandler) (), // \arg Default IRQ vector exception + void (*FiqHandler) (), // \arg Default FIQ vector exception + void (*DefaultHandler) (), // \arg Default Handler set in ISR + void (*SpuriousHandler) (), // \arg Default Spurious Handler + unsigned int protectMode) // \arg Debug Control Register +{ + int i; + + // Disable all interrupts and set IVR to the default handler + for (i = 0; i < 32; ++i) { + AT91F_AIC_DisableIt(pAic, i); + AT91F_AIC_ConfigureIt(pAic, i, AT91C_AIC_PRIOR_LOWEST, AT91C_AIC_SRCTYPE_HIGH_LEVEL, DefaultHandler); + } + + // Set the IRQ exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x18, IrqHandler); + // Set the Fast Interrupt exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x1C, FiqHandler); + + pAic->AIC_SPU = (unsigned int) SpuriousHandler; + pAic->AIC_DCR = protectMode; +} +/* ***************************************************************************** + SOFTWARE API FOR PDC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextRx +//* \brief Set the next receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RNPR = (unsigned int) address; + pPDC->PDC_RNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextTx +//* \brief Set the next transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TNPR = (unsigned int) address; + pPDC->PDC_TNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetRx +//* \brief Set the receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RPR = (unsigned int) address; + pPDC->PDC_RCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetTx +//* \brief Set the transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TPR = (unsigned int) address; + pPDC->PDC_TCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableTx +//* \brief Enable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableRx +//* \brief Enable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableTx +//* \brief Disable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableRx +//* \brief Disable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsTxEmpty +//* \brief Test if the current transfer descriptor has been sent +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextTxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsRxEmpty +//* \brief Test if the current transfer descriptor has been filled +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextRxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Open +//* \brief Open PDC: disable TX and RX reset transfer descriptors, re-enable RX and TX +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Open ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + + //* Enable the RX and TX PDC transfer requests + AT91F_PDC_EnableRx(pPDC); + AT91F_PDC_EnableTx(pPDC); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Close +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Close ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SendFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_SendFrame( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsTxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetTx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextTx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextTxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextTx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_ReceiveFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_ReceiveFrame ( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsRxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetRx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextRx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextRxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextRx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} +/* ***************************************************************************** + SOFTWARE API FOR DBGU + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptEnable +//* \brief Enable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptEnable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be enabled +{ + pDbgu->DBGU_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptDisable +//* \brief Disable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptDisable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be disabled +{ + pDbgu->DBGU_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_GetInterruptMaskStatus +//* \brief Return DBGU Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_DBGU_GetInterruptMaskStatus( // \return DBGU Interrupt Mask Status + AT91PS_DBGU pDbgu) // \arg pointer to a DBGU controller +{ + return pDbgu->DBGU_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_IsInterruptMasked +//* \brief Test if DBGU Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_DBGU_IsInterruptMasked( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_DBGU_GetInterruptMaskStatus(pDbgu) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PIO + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPeriph +//* \brief Enable pins to be drived by peripheral +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPeriph( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int periphAEnable, // \arg PERIPH A to enable + unsigned int periphBEnable) // \arg PERIPH B to enable + +{ + pPio->PIO_ASR = periphAEnable; + pPio->PIO_BSR = periphBEnable; + pPio->PIO_PDR = (periphAEnable | periphBEnable); // Set in Periph mode +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOutput +//* \brief Enable PIO in output mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pioEnable) // \arg PIO to be enabled +{ + pPio->PIO_PER = pioEnable; // Set in PIO mode + pPio->PIO_OER = pioEnable; // Configure in Output +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInput +//* \brief Enable PIO in input mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputEnable) // \arg PIO to be enabled +{ + // Disable output + pPio->PIO_ODR = inputEnable; + pPio->PIO_PER = inputEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOpendrain +//* \brief Configure PIO in open drain +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOpendrain( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int multiDrvEnable) // \arg pio to be configured in open drain +{ + // Configure the multi-drive option + pPio->PIO_MDDR = ~multiDrvEnable; + pPio->PIO_MDER = multiDrvEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPullup +//* \brief Enable pullup on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPullup( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pullupEnable) // \arg enable pullup on PIO +{ + // Connect or not Pullup + pPio->PIO_PPUDR = ~pullupEnable; + pPio->PIO_PPUER = pullupEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgDirectDrive +//* \brief Enable direct drive on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgDirectDrive( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int directDrive) // \arg PIO to be configured with direct drive + +{ + // Configure the Direct Drive + pPio->PIO_OWDR = ~directDrive; + pPio->PIO_OWER = directDrive; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInputFilter +//* \brief Enable input filter on input PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInputFilter( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputFilter) // \arg PIO to be configured with input filter + +{ + // Configure the Direct Drive + pPio->PIO_IFDR = ~inputFilter; + pPio->PIO_IFER = inputFilter; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInput +//* \brief Return PIO input value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInput( // \return PIO input + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputSet +//* \brief Test if PIO is input flag is active +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInput(pPio) & flag); +} + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_SetOutput +//* \brief Set to 1 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_SetOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be set +{ + pPio->PIO_SODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ClearOutput +//* \brief Set to 0 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ClearOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be cleared +{ + pPio->PIO_CODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ForceOutput +//* \brief Force output when Direct drive option is enabled +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ForceOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be forced +{ + pPio->PIO_ODSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Enable +//* \brief Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Enable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_PER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Disable +//* \brief Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Disable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_PDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetStatus +//* \brief Return PIO Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetStatus( // \return PIO Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsSet +//* \brief Test if PIO is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputEnable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be enabled +{ + pPio->PIO_OER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputDisable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be disabled +{ + pPio->PIO_ODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputStatus +//* \brief Return PIO Output Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputStatus( // \return PIO Output Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOuputSet +//* \brief Test if PIO Output is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterEnable +//* \brief Input Filter Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be enabled +{ + pPio->PIO_IFER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterDisable +//* \brief Input Filter Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be disabled +{ + pPio->PIO_IFDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInputFilterStatus +//* \brief Return PIO Input Filter Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInputFilterStatus( // \return PIO Input Filter Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IFSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputFilterSet +//* \brief Test if PIO Input filter is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputFilterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInputFilterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputDataStatus +//* \brief Return PIO Output Data Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputDataStatus( // \return PIO Output Data Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ODSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptEnable +//* \brief Enable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be enabled +{ + pPio->PIO_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptDisable +//* \brief Disable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be disabled +{ + pPio->PIO_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptMaskStatus +//* \brief Return PIO Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptMaskStatus( // \return PIO Interrupt Mask Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptStatus( // \return PIO Interrupt Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptMasked +//* \brief Test if PIO Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptMasked( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptMaskStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptSet +//* \brief Test if PIO Interrupt is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverEnable +//* \brief Multi Driver Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_MDER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverDisable +//* \brief Multi Driver Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_MDDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetMultiDriverStatus +//* \brief Return PIO Multi Driver Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetMultiDriverStatus( // \return PIO Multi Driver Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_MDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsMultiDriverSet +//* \brief Test if PIO MultiDriver is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsMultiDriverSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetMultiDriverStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_A_RegisterSelection +//* \brief PIO A Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_A_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio A register selection +{ + pPio->PIO_ASR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_B_RegisterSelection +//* \brief PIO B Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_B_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio B register selection +{ + pPio->PIO_BSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Get_AB_RegisterStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_Get_AB_RegisterStatus( // \return PIO AB Register Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ABSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsAB_RegisterSet +//* \brief Test if PIO AB Register is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsAB_RegisterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_Get_AB_RegisterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteEnable +//* \brief Output Write Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be enabled +{ + pPio->PIO_OWER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteDisable +//* \brief Output Write Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be disabled +{ + pPio->PIO_OWDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputWriteStatus +//* \brief Return PIO Output Write Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputWriteStatus( // \return PIO Output Write Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OWSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputWriteSet +//* \brief Test if PIO OutputWrite is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputWriteSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputWriteStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetCfgPullup +//* \brief Return PIO Configuration Pullup +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetCfgPullup( // \return PIO Configuration Pullup + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PPUSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputDataStatusSet +//* \brief Test if PIO Output Data Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputDataStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputDataStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsCfgPullupStatusSet +//* \brief Test if PIO Configuration Pullup Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsCfgPullupStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (~AT91F_PIO_GetCfgPullup(pPio) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkEnableReg +//* \brief Configure the System Clock Enable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkEnableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCER register + pPMC->PMC_SCER = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkDisableReg +//* \brief Configure the System Clock Disable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkDisableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCDR register + pPMC->PMC_SCDR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetSysClkStatusReg +//* \brief Return the System Clock Status Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetSysClkStatusReg ( + AT91PS_PMC pPMC // pointer to a CAN controller + ) +{ + return pPMC->PMC_SCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePeriphClock +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCER = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePeriphClock +//* \brief Disable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCDR = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetPeriphClock +//* \brief Get peripheral clock status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetPeriphClock ( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_PCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscillatorReg ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int mode) +{ + pCKGR->CKGR_MOR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainOscillatorReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MOR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_EnableMainOscillator +//* \brief Enable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_EnableMainOscillator( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR |= AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_DisableMainOscillator +//* \brief Disable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_DisableMainOscillator ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscStartUpTime +//* \brief Cfg MOR Register according to the main osc startup time +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscStartUpTime ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int startup_time, // \arg main osc startup time in microsecond (us) + unsigned int slowClock) // \arg slowClock in Hz +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_OSCOUNT; + pCKGR->CKGR_MOR |= ((slowClock * startup_time)/(8*1000000)) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClockFreqReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClockFreqReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MCFR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClock +//* \brief Return Main clock in Hz +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClock ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + return ((pCKGR->CKGR_MCFR & AT91C_CKGR_MAINF) * slowClock) >> 4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgMCKReg +//* \brief Cfg Master Clock Register +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgMCKReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + pPMC->PMC_MCKR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetMCKReg +//* \brief Return Master Clock Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetMCKReg( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_MCKR; +} + +//*------------------------------------------------------------------------------ +//* \fn AT91F_PMC_GetMasterClock +//* \brief Return master clock in Hz which correponds to processor clock for ARM7 +//*------------------------------------------------------------------------------ +__inline unsigned int AT91F_PMC_GetMasterClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + unsigned int reg = pPMC->PMC_MCKR; + unsigned int prescaler = (1 << ((reg & AT91C_PMC_PRES) >> 2)); + unsigned int pllDivider, pllMultiplier; + + switch (reg & AT91C_PMC_CSS) { + case AT91C_PMC_CSS_SLOW_CLK: // Slow clock selected + return slowClock / prescaler; + case AT91C_PMC_CSS_MAIN_CLK: // Main clock is selected + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / prescaler; + case AT91C_PMC_CSS_PLL_CLK: // PLLB clock is selected + reg = pCKGR->CKGR_PLLR; + pllDivider = (reg & AT91C_CKGR_DIV); + pllMultiplier = ((reg & AT91C_CKGR_MUL) >> 16) + 1; + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / pllDivider * pllMultiplier / prescaler; + } + return 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck, // \arg Peripheral clock identifier 0 .. 7 + unsigned int mode) +{ + pPMC->PMC_PCKR[pck] = mode; + pPMC->PMC_SCER = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck) // \arg Peripheral clock identifier 0 .. 7 +{ + pPMC->PMC_SCDR = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnableIt +//* \brief Enable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pPMC->PMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisableIt +//* \brief Disable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pPMC->PMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetStatus +//* \brief Return PMC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetStatus( // \return PMC Interrupt Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetInterruptMaskStatus +//* \brief Return PMC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetInterruptMaskStatus( // \return PMC Interrupt Mask Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsInterruptMasked +//* \brief Test if PMC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsInterruptMasked( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetInterruptMaskStatus(pPMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsStatusSet +//* \brief Test if PMC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsStatusSet( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetStatus(pPMC) & flag); +}/* ***************************************************************************** + SOFTWARE API FOR RSTC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTSoftReset +//* \brief Start Software Reset +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTSoftReset( + AT91PS_RSTC pRSTC, + unsigned int reset) +{ + pRSTC->RSTC_RCR = (0xA5000000 | reset); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTSetMode +//* \brief Set Reset Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTSetMode( + AT91PS_RSTC pRSTC, + unsigned int mode) +{ + pRSTC->RSTC_RMR = (0xA5000000 | mode); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTGetMode +//* \brief Get Reset Mode +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTGetMode( + AT91PS_RSTC pRSTC) +{ + return (pRSTC->RSTC_RMR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTGetStatus +//* \brief Get Reset Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTGetStatus( + AT91PS_RSTC pRSTC) +{ + return (pRSTC->RSTC_RSR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTIsSoftRstActive +//* \brief Return !=0 if software reset is still not completed +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTIsSoftRstActive( + AT91PS_RSTC pRSTC) +{ + return ((pRSTC->RSTC_RSR) & AT91C_RSTC_SRCMP); +} +/* ***************************************************************************** + SOFTWARE API FOR RTTC + ***************************************************************************** */ +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_SetRTT_TimeBase() +//* \brief Set the RTT prescaler according to the TimeBase in ms +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTSetTimeBase( + AT91PS_RTTC pRTTC, + unsigned int ms) +{ + if (ms > 2000) + return 1; // AT91C_TIME_OUT_OF_RANGE + pRTTC->RTTC_RTMR &= ~0xFFFF; + pRTTC->RTTC_RTMR |= (((ms << 15) /1000) & 0xFFFF); + return 0; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTSetPrescaler() +//* \brief Set the new prescaler value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTSetPrescaler( + AT91PS_RTTC pRTTC, + unsigned int rtpres) +{ + pRTTC->RTTC_RTMR &= ~0xFFFF; + pRTTC->RTTC_RTMR |= (rtpres & 0xFFFF); + return (pRTTC->RTTC_RTMR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTRestart() +//* \brief Restart the RTT prescaler +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTRestart( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTRST; +} + + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetAlarmINT() +//* \brief Enable RTT Alarm Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetAlarmINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_ALMIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ClearAlarmINT() +//* \brief Disable RTT Alarm Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTClearAlarmINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR &= ~AT91C_RTTC_ALMIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetRttIncINT() +//* \brief Enable RTT INC Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetRttIncINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTINCIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ClearRttIncINT() +//* \brief Disable RTT INC Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTClearRttIncINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR &= ~AT91C_RTTC_RTTINCIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetAlarmValue() +//* \brief Set RTT Alarm Value +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetAlarmValue( + AT91PS_RTTC pRTTC, unsigned int alarm) +{ + pRTTC->RTTC_RTAR = alarm; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_GetAlarmValue() +//* \brief Get RTT Alarm Value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTGetAlarmValue( + AT91PS_RTTC pRTTC) +{ + return(pRTTC->RTTC_RTAR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTGetStatus() +//* \brief Read the RTT status +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTGetStatus( + AT91PS_RTTC pRTTC) +{ + return(pRTTC->RTTC_RTSR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ReadValue() +//* \brief Read the RTT value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTReadValue( + AT91PS_RTTC pRTTC) +{ + register volatile unsigned int val1,val2; + do + { + val1 = pRTTC->RTTC_RTVR; + val2 = pRTTC->RTTC_RTVR; + } + while(val1 != val2); + return(val1); +} +/* ***************************************************************************** + SOFTWARE API FOR PITC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITInit +//* \brief System timer init : period in µsecond, system clock freq in MHz +//*---------------------------------------------------------------------------- +__inline void AT91F_PITInit( + AT91PS_PITC pPITC, + unsigned int period, + unsigned int pit_frequency) +{ + pPITC->PITC_PIMR = period? (period * pit_frequency + 8) >> 4 : 0; // +8 to avoid %10 and /10 + pPITC->PITC_PIMR |= AT91C_PITC_PITEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITSetPIV +//* \brief Set the PIT Periodic Interval Value +//*---------------------------------------------------------------------------- +__inline void AT91F_PITSetPIV( + AT91PS_PITC pPITC, + unsigned int piv) +{ + pPITC->PITC_PIMR = piv | (pPITC->PITC_PIMR & (AT91C_PITC_PITEN | AT91C_PITC_PITIEN)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITEnableInt +//* \brief Enable PIT periodic interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PITEnableInt( + AT91PS_PITC pPITC) +{ + pPITC->PITC_PIMR |= AT91C_PITC_PITIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITDisableInt +//* \brief Disable PIT periodic interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PITDisableInt( + AT91PS_PITC pPITC) +{ + pPITC->PITC_PIMR &= ~AT91C_PITC_PITIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetMode +//* \brief Read PIT mode register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetMode( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIMR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetStatus +//* \brief Read PIT status register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetStatus( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PISR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetPIIR +//* \brief Read PIT CPIV and PICNT without ressetting the counters +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetPIIR( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIIR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetPIVR +//* \brief Read System timer CPIV and PICNT without ressetting the counters +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetPIVR( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIVR); +} +/* ***************************************************************************** + SOFTWARE API FOR WDTC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTSetMode +//* \brief Set Watchdog Mode Register +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTSetMode( + AT91PS_WDTC pWDTC, + unsigned int Mode) +{ + pWDTC->WDTC_WDMR = Mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTRestart +//* \brief Restart Watchdog +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTRestart( + AT91PS_WDTC pWDTC) +{ + pWDTC->WDTC_WDCR = 0xA5000001; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTSGettatus +//* \brief Get Watchdog Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_WDTSGettatus( + AT91PS_WDTC pWDTC) +{ + return(pWDTC->WDTC_WDSR & 0x3); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTGetPeriod +//* \brief Translate ms into Watchdog Compatible value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_WDTGetPeriod(unsigned int ms) +{ + if ((ms < 4) || (ms > 16000)) + return 0; + return((ms << 8) / 1000); +} +/* ***************************************************************************** + SOFTWARE API FOR VREG + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_Enable_LowPowerMode +//* \brief Enable VREG Low Power Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_Enable_LowPowerMode( + AT91PS_VREG pVREG) +{ + pVREG->VREG_MR |= AT91C_VREG_PSTDBY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_Disable_LowPowerMode +//* \brief Disable VREG Low Power Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_Disable_LowPowerMode( + AT91PS_VREG pVREG) +{ + pVREG->VREG_MR &= ~AT91C_VREG_PSTDBY; +}/* ***************************************************************************** + SOFTWARE API FOR MC + ***************************************************************************** */ + +#define AT91C_MC_CORRECT_KEY ((unsigned int) 0x5A << 24) // (MC) Correct Protect Key + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_Remap +//* \brief Make Remap +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_Remap (void) // +{ + AT91PS_MC pMC = (AT91PS_MC) AT91C_BASE_MC; + + pMC->MC_RCR = AT91C_MC_RCB; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_CfgModeReg +//* \brief Configure the EFC Mode Register of the MC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_CfgModeReg ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int mode) // mode register +{ + // Write to the FMR register + pMC->MC_FMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetModeReg +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetModeReg( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_ComputeFMCN +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_ComputeFMCN( + int master_clock) // master clock in Hz +{ + return (master_clock/1000000 +2); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_PerformCmd +//* \brief Perform EFC Command +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_PerformCmd ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int transfer_cmd) +{ + pMC->MC_FCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetStatus +//* \brief Return MC EFC Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetStatus( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptMasked +//* \brief Test if EFC MC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptMasked( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetModeReg(pMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptSet +//* \brief Test if EFC MC Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptSet( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetStatus(pMC) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR SPI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Open +//* \brief Open a SPI Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgCs +//* \brief Configure SPI chip select register +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgCs ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int cs, // SPI cs number (0 to 3) + int val) // chip select register +{ + //* Write to the CSR register + *(pSPI->SPI_CSR + cs) = val; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_EnableIt +//* \brief Enable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_EnableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pSPI->SPI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_DisableIt +//* \brief Disable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_DisableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pSPI->SPI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Reset +//* \brief Reset the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Reset ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Enable +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Enable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Disable +//* \brief Disable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Disable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgMode +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgMode ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int mode) // mode register +{ + //* Write to the MR register + pSPI->SPI_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgPCS +//* \brief Switch to the correct PCS of SPI Mode Register : Fixed Peripheral Selected +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgPCS ( + AT91PS_SPI pSPI, // pointer to a SPI controller + char PCS_Device) // PCS of the Device +{ + //* Write to the MR register + pSPI->SPI_MR &= 0xFFF0FFFF; + pSPI->SPI_MR |= ( (PCS_Device<<16) & AT91C_SPI_PCS ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_ReceiveFrame ( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is bSPIy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_SendFrame( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Close +//* \brief Close SPI: disable IT disable transfert, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Close ( + AT91PS_SPI pSPI) // \arg pointer to a SPI controller +{ + //* Reset all the Chip Select register + pSPI->SPI_CSR[0] = 0 ; + pSPI->SPI_CSR[1] = 0 ; + pSPI->SPI_CSR[2] = 0 ; + pSPI->SPI_CSR[3] = 0 ; + + //* Reset the SPI mode + pSPI->SPI_MR = 0 ; + + //* Disable all interrupts + pSPI->SPI_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pSPI->SPI_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_PutChar ( + AT91PS_SPI pSPI, + unsigned int character, + unsigned int cs_number ) +{ + unsigned int value_for_cs; + value_for_cs = (~(1 << cs_number)) & 0xF; //Place a zero among a 4 ONEs number + pSPI->SPI_TDR = (character & 0xFFFF) | (value_for_cs << 16); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_GetChar ( + const AT91PS_SPI pSPI) +{ + return((pSPI->SPI_RDR) & 0xFFFF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetInterruptMaskStatus +//* \brief Return SPI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_GetInterruptMaskStatus( // \return SPI Interrupt Mask Status + AT91PS_SPI pSpi) // \arg pointer to a SPI controller +{ + return pSpi->SPI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_IsInterruptMasked +//* \brief Test if SPI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_IsInterruptMasked( + AT91PS_SPI pSpi, // \arg pointer to a SPI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SPI_GetInterruptMaskStatus(pSpi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR USART + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Calculate the baudrate +//* Standard Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* Standard External Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_SCK_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_EXT ) + +//* Standard Synchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_SYNC_MODE ( AT91C_US_SYNC + \ + AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* SCK used Label +#define AT91C_US_SCK_USED (AT91C_US_CKLO | AT91C_US_CLKS_EXT) + +//* Standard ISO T=0 Mode : 8 bits , 1 stop , parity +#define AT91C_US_ISO_READER_MODE ( AT91C_US_USMODE_ISO7816_0 + \ + AT91C_US_CLKS_CLOCK +\ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_EVEN + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CKLO +\ + AT91C_US_OVER) + +//* Standard IRDA mode +#define AT91C_US_ASYNC_IRDA_MODE ( AT91C_US_USMODE_IRDA + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Caluculate baud_value according to the main clock and the baud rate +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Baudrate ( + const unsigned int main_clock, // \arg peripheral clock + const unsigned int baud_rate) // \arg UART baudrate +{ + unsigned int baud_value = ((main_clock*10)/(baud_rate * 16)); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + return baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetBaudrate ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg UART baudrate +{ + //* Define the baud rate divisor register + pUSART->US_BRGR = AT91F_US_Baudrate(mainClock, speed); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetTimeguard +//* \brief Set USART timeguard +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetTimeguard ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int timeguard) // \arg timeguard value +{ + //* Write the Timeguard Register + pUSART->US_TTGR = timeguard ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableIt +//* \brief Enable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUSART->US_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableIt +//* \brief Disable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IER register + pUSART->US_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Configure +//* \brief Configure USART +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Configure ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int mode , // \arg mode Register to be programmed + unsigned int baudRate , // \arg baudrate to be programmed + unsigned int timeguard ) // \arg timeguard to be programmed +{ + //* Disable interrupts + pUSART->US_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pUSART->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RXDIS | AT91C_US_TXDIS ; + + //* Define the baud rate divisor register + AT91F_US_SetBaudrate(pUSART, mainClock, baudRate); + + //* Write the Timeguard Register + AT91F_US_SetTimeguard(pUSART, timeguard); + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Define the USART mode + pUSART->US_MR = mode ; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableRx +//* \brief Enable receiving characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableTx +//* \brief Enable sending characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetRx +//* \brief Reset Receiver and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset receiver + pUSART->US_CR = AT91C_US_RSTRX; + //* Re-Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetTx +//* \brief Reset Transmitter and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset transmitter + pUSART->US_CR = AT91C_US_RSTTX; + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableRx +//* \brief Disable Receiver +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable receiver + pUSART->US_CR = AT91C_US_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableTx +//* \brief Disable Transmitter +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable transmitter + pUSART->US_CR = AT91C_US_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Close +//* \brief Close USART: disable IT disable receiver and transmitter, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Close ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset the baud rate divisor register + pUSART->US_BRGR = 0 ; + + //* Reset the USART mode + pUSART->US_MR = 0 ; + + //* Reset the Timeguard Register + pUSART->US_TTGR = 0; + + //* Disable all interrupts + pUSART->US_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pUSART->US_CR = AT91C_US_TXDIS | AT91C_US_RXDIS | AT91C_US_RSTTX | AT91C_US_RSTRX ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_TxReady +//* \brief Return 1 if a character can be written in US_THR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_TxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_TXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_RxReady +//* \brief Return 1 if a character can be read in US_RHR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_RxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_RXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Error +//* \brief Return the error flag +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Error ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & + (AT91C_US_OVRE | // Overrun error + AT91C_US_FRAME | // Framing error + AT91C_US_PARE)); // Parity error +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_US_PutChar ( + AT91PS_USART pUSART, + int character ) +{ + pUSART->US_THR = (character & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_US_GetChar ( + const AT91PS_USART pUSART) +{ + return((pUSART->US_RHR) & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_SendFrame( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_ReceiveFrame ( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetIrdaFilter +//* \brief Set the value of IrDa filter tregister +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetIrdaFilter ( + AT91PS_USART pUSART, + unsigned char value +) +{ + pUSART->US_IF = value; +} + +/* ***************************************************************************** + SOFTWARE API FOR SSC + ***************************************************************************** */ +//* Define the standard I2S mode configuration + +//* Configuration to set in the SSC Transmit Clock Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_MASTER_TX_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + AT91C_SSC_CKS_DIV +\ + AT91C_SSC_CKO_CONTINOUS +\ + AT91C_SSC_CKG_NONE +\ + AT91C_SSC_START_FALL_RF +\ + AT91C_SSC_STTOUT +\ + ((1<<16) & AT91C_SSC_STTDLY) +\ + ((((nb_bit_by_slot*nb_slot_by_frame)/2)-1) <<24)) + + +//* Configuration to set in the SSC Transmit Frame Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_TX_FRAME_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + (nb_bit_by_slot-1) +\ + AT91C_SSC_MSBF +\ + (((nb_slot_by_frame-1)<<8) & AT91C_SSC_DATNB) +\ + (((nb_bit_by_slot-1)<<16) & AT91C_SSC_FSLEN) +\ + AT91C_SSC_FSOS_NEGATIVE) + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_SetBaudrate ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg SSC baudrate +{ + unsigned int baud_value; + //* Define the baud rate divisor register + if (speed == 0) + baud_value = 0; + else + { + baud_value = (unsigned int) (mainClock * 10)/(2*speed); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + } + + pSSC->SSC_CMR = baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_Configure +//* \brief Configure SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_Configure ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int syst_clock, // \arg System Clock Frequency + unsigned int baud_rate, // \arg Expected Baud Rate Frequency + unsigned int clock_rx, // \arg Receiver Clock Parameters + unsigned int mode_rx, // \arg mode Register to be programmed + unsigned int clock_tx, // \arg Transmitter Clock Parameters + unsigned int mode_tx) // \arg mode Register to be programmed +{ + //* Disable interrupts + pSSC->SSC_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pSSC->SSC_CR = AT91C_SSC_SWRST | AT91C_SSC_RXDIS | AT91C_SSC_TXDIS ; + + //* Define the Clock Mode Register + AT91F_SSC_SetBaudrate(pSSC, syst_clock, baud_rate); + + //* Write the Receive Clock Mode Register + pSSC->SSC_RCMR = clock_rx; + + //* Write the Transmit Clock Mode Register + pSSC->SSC_TCMR = clock_tx; + + //* Write the Receive Frame Mode Register + pSSC->SSC_RFMR = mode_rx; + + //* Write the Transmit Frame Mode Register + pSSC->SSC_TFMR = mode_tx; + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pSSC->SSC_RPR)); + + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableRx +//* \brief Enable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable receiver + pSSC->SSC_CR = AT91C_SSC_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableRx +//* \brief Disable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable receiver + pSSC->SSC_CR = AT91C_SSC_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableTx +//* \brief Enable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable transmitter + pSSC->SSC_CR = AT91C_SSC_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableTx +//* \brief Disable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable transmitter + pSSC->SSC_CR = AT91C_SSC_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableIt +//* \brief Enable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pSSC->SSC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableIt +//* \brief Disable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pSSC->SSC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_ReceiveFrame ( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_SendFrame( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_GetInterruptMaskStatus +//* \brief Return SSC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_GetInterruptMaskStatus( // \return SSC Interrupt Mask Status + AT91PS_SSC pSsc) // \arg pointer to a SSC controller +{ + return pSsc->SSC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_IsInterruptMasked +//* \brief Test if SSC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SSC_IsInterruptMasked( + AT91PS_SSC pSsc, // \arg pointer to a SSC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SSC_GetInterruptMaskStatus(pSsc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TWI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_EnableIt +//* \brief Enable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_EnableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pTWI->TWI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_DisableIt +//* \brief Disable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_DisableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pTWI->TWI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_Configure +//* \brief Configure TWI in master mode +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_Configure ( AT91PS_TWI pTWI ) // \arg pointer to a TWI controller +{ + //* Disable interrupts + pTWI->TWI_IDR = (unsigned int) -1; + + //* Reset peripheral + pTWI->TWI_CR = AT91C_TWI_SWRST; + + //* Set Master mode + pTWI->TWI_CR = AT91C_TWI_MSEN; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_GetInterruptMaskStatus +//* \brief Return TWI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TWI_GetInterruptMaskStatus( // \return TWI Interrupt Mask Status + AT91PS_TWI pTwi) // \arg pointer to a TWI controller +{ + return pTwi->TWI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_IsInterruptMasked +//* \brief Test if TWI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TWI_IsInterruptMasked( + AT91PS_TWI pTwi, // \arg pointer to a TWI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TWI_GetInterruptMaskStatus(pTwi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PWMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetStatus +//* \brief Return PWM Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetStatus( // \return PWM Interrupt Status + AT91PS_PWMC pPWM) // pointer to a PWM controller +{ + return pPWM->PWMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptEnable +//* \brief Enable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptEnable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be enabled +{ + pPwm->PWMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptDisable +//* \brief Disable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptDisable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be disabled +{ + pPwm->PWMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetInterruptMaskStatus +//* \brief Return PWM Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetInterruptMaskStatus( // \return PWM Interrupt Mask Status + AT91PS_PWMC pPwm) // \arg pointer to a PWM controller +{ + return pPwm->PWMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsInterruptMasked +//* \brief Test if PWM Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsInterruptMasked( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetInterruptMaskStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsStatusSet +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsStatusSet( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_CfgChannel +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int mode, // \arg PWM mode + unsigned int period, // \arg PWM period + unsigned int duty) // \arg PWM duty cycle +{ + pPWM->PWMC_CH[channelId].PWMC_CMR = mode; + pPWM->PWMC_CH[channelId].PWMC_CDTYR = duty; + pPWM->PWMC_CH[channelId].PWMC_CPRDR = period; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StartChannel +//* \brief Enable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StartChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_ENA = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StopChannel +//* \brief Disable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StopChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_DIS = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_UpdateChannel +//* \brief Update Period or Duty Cycle +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_UpdateChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int update) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_CH[channelId].PWMC_CUPDR = update; +} + +/* ***************************************************************************** + SOFTWARE API FOR UDP + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableIt +//* \brief Enable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUDP->UDP_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableIt +//* \brief Disable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pUDP->UDP_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetAddress +//* \brief Set UDP functional address +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetAddress ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char address) // \arg new UDP address +{ + pUDP->UDP_FADDR = (AT91C_UDP_FEN | address); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_EPEDS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] &= ~AT91C_UDP_EPEDS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetState +//* \brief Set UDP Device state +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetState ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg new UDP address +{ + pUDP->UDP_GLBSTATE &= ~(AT91C_UDP_FADDEN | AT91C_UDP_CONFG); + pUDP->UDP_GLBSTATE |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetState +//* \brief return UDP Device state +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetState ( // \return the UDP device state + AT91PS_UDP pUDP) // \arg pointer to a UDP controller +{ + return (pUDP->UDP_GLBSTATE & (AT91C_UDP_FADDEN | AT91C_UDP_CONFG)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_ResetEp +//* \brief Reset UDP endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_ResetEp ( // \return the UDP device state + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg Endpoints to be reset +{ + pUDP->UDP_RSTEP = flag; + pUDP->UDP_RSTEP = 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStall +//* \brief Endpoint will STALL requests +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpStall( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_FORCESTALL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpWrite +//* \brief Write value in the DPR +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpWrite( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned char value) // \arg value to be written in the DPR +{ + pUDP->UDP_FDR[endpoint] = value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpRead +//* \brief Return value from the DPR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpRead( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_FDR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpEndOfWr +//* \brief Notify the UDP that values in DPR are ready to be sent +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpEndOfWr( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_TXPKTRDY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpClear +//* \brief Clear flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpClear( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] &= ~(flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpSet +//* \brief Set flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpSet( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStatus +//* \brief Return the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpStatus( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_CSR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetInterruptMaskStatus +//* \brief Return UDP Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetInterruptMaskStatus( // \return UDP Interrupt Mask Status + AT91PS_UDP pUdp) // \arg pointer to a UDP controller +{ + return pUdp->UDP_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_IsInterruptMasked +//* \brief Test if UDP Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_UDP_IsInterruptMasked( + AT91PS_UDP pUdp, // \arg pointer to a UDP controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_UDP_GetInterruptMaskStatus(pUdp) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptEnable +//* \brief Enable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptEnable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be enabled +{ + pTc->TC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptDisable +//* \brief Disable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptDisable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be disabled +{ + pTc->TC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_GetInterruptMaskStatus +//* \brief Return TC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TC_GetInterruptMaskStatus( // \return TC Interrupt Mask Status + AT91PS_TC pTc) // \arg pointer to a TC controller +{ + return pTc->TC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_IsInterruptMasked +//* \brief Test if TC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TC_IsInterruptMasked( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TC_GetInterruptMaskStatus(pTc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR CAN + ***************************************************************************** */ +#define STANDARD_FORMAT 0 +#define EXTENDED_FORMAT 1 + +//*---------------------------------------------------------------------------- +//* \fn AT91F_InitMailboxRegisters() +//* \brief Configure the corresponding mailbox +//*---------------------------------------------------------------------------- +__inline void AT91F_InitMailboxRegisters(AT91PS_CAN_MB CAN_Mailbox, + int mode_reg, + int acceptance_mask_reg, + int id_reg, + int data_low_reg, + int data_high_reg, + int control_reg) +{ + CAN_Mailbox->CAN_MB_MCR = 0x0; + CAN_Mailbox->CAN_MB_MMR = mode_reg; + CAN_Mailbox->CAN_MB_MAM = acceptance_mask_reg; + CAN_Mailbox->CAN_MB_MID = id_reg; + CAN_Mailbox->CAN_MB_MDL = data_low_reg; + CAN_Mailbox->CAN_MB_MDH = data_high_reg; + CAN_Mailbox->CAN_MB_MCR = control_reg; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EnableCAN() +//* \brief +//*---------------------------------------------------------------------------- +__inline void AT91F_EnableCAN( + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + pCAN->CAN_MR |= AT91C_CAN_CANEN; + + // Wait for WAKEUP flag raising <=> 11-recessive-bit were scanned by the transceiver + while( (pCAN->CAN_SR & AT91C_CAN_WAKEUP) != AT91C_CAN_WAKEUP ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DisableCAN() +//* \brief +//*---------------------------------------------------------------------------- +__inline void AT91F_DisableCAN( + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + pCAN->CAN_MR &= ~AT91C_CAN_CANEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_EnableIt +//* \brief Enable CAN interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_EnableIt ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pCAN->CAN_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_DisableIt +//* \brief Disable CAN interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_DisableIt ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pCAN->CAN_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetStatus +//* \brief Return CAN Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetStatus( // \return CAN Interrupt Status + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + return pCAN->CAN_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetInterruptMaskStatus +//* \brief Return CAN Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetInterruptMaskStatus( // \return CAN Interrupt Mask Status + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + return pCAN->CAN_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_IsInterruptMasked +//* \brief Test if CAN Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_IsInterruptMasked( + AT91PS_CAN pCAN, // \arg pointer to a CAN controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_CAN_GetInterruptMaskStatus(pCAN) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_IsStatusSet +//* \brief Test if CAN Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_IsStatusSet( + AT91PS_CAN pCAN, // \arg pointer to a CAN controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_CAN_GetStatus(pCAN) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgModeReg +//* \brief Configure the Mode Register of the CAN controller +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgModeReg ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pCAN->CAN_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetModeReg +//* \brief Return the Mode Register of the CAN controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetModeReg ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgBaudrateReg +//* \brief Configure the Baudrate of the CAN controller for the network +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgBaudrateReg ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int baudrate_cfg) +{ + //* Write to the BR register + pCAN->CAN_BR = baudrate_cfg; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetBaudrate +//* \brief Return the Baudrate of the CAN controller for the network value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetBaudrate ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_BR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetInternalCounter +//* \brief Return CAN Timer Regsiter Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetInternalCounter ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_TIM; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetTimestamp +//* \brief Return CAN Timestamp Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetTimestamp ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_TIMESTP; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetErrorCounter +//* \brief Return CAN Error Counter Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetErrorCounter ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_ECR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_InitTransferRequest +//* \brief Request for a transfer on the corresponding mailboxes +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_InitTransferRequest ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int transfer_cmd) +{ + pCAN->CAN_TCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_InitAbortRequest +//* \brief Abort the corresponding mailboxes +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_InitAbortRequest ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int abort_cmd) +{ + pCAN->CAN_ACR = abort_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageModeReg +//* \brief Program the Message Mode Register +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageModeReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int mode) +{ + CAN_Mailbox->CAN_MB_MMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageModeReg +//* \brief Return the Message Mode Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageModeReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageIDReg +//* \brief Program the Message ID Register +//* \brief Version == 0 for Standard messsage, Version == 1 for Extended +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageIDReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int id, + unsigned char version) +{ + if(version==0) // IDvA Standard Format + CAN_Mailbox->CAN_MB_MID = id<<18; + else // IDvB Extended Format + CAN_Mailbox->CAN_MB_MID = id | (1<<29); // set MIDE bit +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageIDReg +//* \brief Return the Message ID Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageIDReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MID; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageAcceptanceMaskReg +//* \brief Program the Message Acceptance Mask Register +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageAcceptanceMaskReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int mask) +{ + CAN_Mailbox->CAN_MB_MAM = mask; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageAcceptanceMaskReg +//* \brief Return the Message Acceptance Mask Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageAcceptanceMaskReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MAM; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetFamilyID +//* \brief Return the Message ID Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetFamilyID ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MFID; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageCtrl +//* \brief Request and config for a transfer on the corresponding mailbox +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageCtrlReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int message_ctrl_cmd) +{ + CAN_Mailbox->CAN_MB_MCR = message_ctrl_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageStatus +//* \brief Return CAN Mailbox Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageStatus ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageDataLow +//* \brief Program data low value +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageDataLow ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int data) +{ + CAN_Mailbox->CAN_MB_MDL = data; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageDataLow +//* \brief Return data low value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageDataLow ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MDL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageDataHigh +//* \brief Program data high value +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageDataHigh ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int data) +{ + CAN_Mailbox->CAN_MB_MDH = data; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageDataHigh +//* \brief Return data high value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageDataHigh ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MDH; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_Open +//* \brief Open a CAN Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} +/* ***************************************************************************** + SOFTWARE API FOR ADC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableIt +//* \brief Enable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pADC->ADC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableIt +//* \brief Disable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pADC->ADC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetStatus +//* \brief Return ADC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetStatus( // \return ADC Interrupt Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetInterruptMaskStatus +//* \brief Return ADC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetInterruptMaskStatus( // \return ADC Interrupt Mask Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsInterruptMasked +//* \brief Test if ADC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsInterruptMasked( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetInterruptMaskStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsStatusSet +//* \brief Test if ADC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsStatusSet( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgModeReg +//* \brief Configure the Mode Register of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgModeReg ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pADC->ADC_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetModeReg +//* \brief Return the Mode Register of the ADC controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetModeReg ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgTimings +//* \brief Configure the different necessary timings of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgTimings ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mck_clock, // in MHz + unsigned int adc_clock, // in MHz + unsigned int startup_time, // in us + unsigned int sample_and_hold_time) // in ns +{ + unsigned int prescal,startup,shtim; + + prescal = mck_clock/(2*adc_clock) - 1; + startup = adc_clock*startup_time/8 - 1; + shtim = adc_clock*sample_and_hold_time/1000 - 1; + + //* Write to the MR register + pADC->ADC_MR = ( (prescal<<8) & AT91C_ADC_PRESCAL) | ( (startup<<16) & AT91C_ADC_STARTUP) | ( (shtim<<24) & AT91C_ADC_SHTIM); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHER register + pADC->ADC_CHER = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHDR register + pADC->ADC_CHDR = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetChannelStatus +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetChannelStatus ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CHSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_StartConversion +//* \brief Software request for a analog to digital conversion +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_StartConversion ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_SoftReset +//* \brief Software reset +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_SoftReset ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetLastConvertedData +//* \brief Return the Last Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetLastConvertedData ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_LCDR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH0 +//* \brief Return the Channel 0 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH0 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH1 +//* \brief Return the Channel 1 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH1 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR1; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH2 +//* \brief Return the Channel 2 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH2 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR2; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH3 +//* \brief Return the Channel 3 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH3 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR3; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH4 +//* \brief Return the Channel 4 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH4 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH5 +//* \brief Return the Channel 5 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH5 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR5; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH6 +//* \brief Return the Channel 6 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH6 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR6; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH7 +//* \brief Return the Channel 7 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH7 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR7; +} + +/* ***************************************************************************** + SOFTWARE API FOR AES + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_EnableIt +//* \brief Enable AES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_EnableIt ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pAES->AES_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_DisableIt +//* \brief Disable AES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_DisableIt ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pAES->AES_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetStatus +//* \brief Return AES Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetStatus( // \return AES Interrupt Status + AT91PS_AES pAES) // pointer to a AES controller +{ + return pAES->AES_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetInterruptMaskStatus +//* \brief Return AES Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetInterruptMaskStatus( // \return AES Interrupt Mask Status + AT91PS_AES pAES) // pointer to a AES controller +{ + return pAES->AES_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_IsInterruptMasked +//* \brief Test if AES Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_IsInterruptMasked( + AT91PS_AES pAES, // \arg pointer to a AES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_AES_GetInterruptMaskStatus(pAES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_IsStatusSet +//* \brief Test if AES Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_IsStatusSet( + AT91PS_AES pAES, // \arg pointer to a AES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_AES_GetStatus(pAES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_CfgModeReg +//* \brief Configure the Mode Register of the AES controller +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_CfgModeReg ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pAES->AES_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetModeReg +//* \brief Return the Mode Register of the AES controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetModeReg ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + return pAES->AES_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_StartProcessing +//* \brief Start Encryption or Decryption +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_StartProcessing ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SoftReset +//* \brief Reset AES +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SoftReset ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_LoadNewSeed +//* \brief Load New Seed in the random number generator +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_LoadNewSeed ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_LOADSEED; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SetCryptoKey +//* \brief Set Cryptographic Key x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SetCryptoKey ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int keyword + ) +{ + pAES->AES_KEYWxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_InputData +//* \brief Set Input Data x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_InputData ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int indata + ) +{ + pAES->AES_IDATAxR[index] = indata; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetOutputData +//* \brief Get Output Data x +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetOutputData ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index + ) +{ + return pAES->AES_ODATAxR[index]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SetInitializationVector +//* \brief Set Initialization Vector (or Counter) x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SetInitializationVector ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int initvector + ) +{ + pAES->AES_IVxR[index] = initvector; +} + +/* ***************************************************************************** + SOFTWARE API FOR TDES + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_EnableIt +//* \brief Enable TDES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_EnableIt ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pTDES->TDES_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_DisableIt +//* \brief Disable TDES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_DisableIt ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pTDES->TDES_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetStatus +//* \brief Return TDES Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetStatus( // \return TDES Interrupt Status + AT91PS_TDES pTDES) // pointer to a TDES controller +{ + return pTDES->TDES_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetInterruptMaskStatus +//* \brief Return TDES Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetInterruptMaskStatus( // \return TDES Interrupt Mask Status + AT91PS_TDES pTDES) // pointer to a TDES controller +{ + return pTDES->TDES_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_IsInterruptMasked +//* \brief Test if TDES Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_IsInterruptMasked( + AT91PS_TDES pTDES, // \arg pointer to a TDES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TDES_GetInterruptMaskStatus(pTDES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_IsStatusSet +//* \brief Test if TDES Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_IsStatusSet( + AT91PS_TDES pTDES, // \arg pointer to a TDES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TDES_GetStatus(pTDES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_CfgModeReg +//* \brief Configure the Mode Register of the TDES controller +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_CfgModeReg ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pTDES->TDES_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetModeReg +//* \brief Return the Mode Register of the TDES controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetModeReg ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + return pTDES->TDES_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_StartProcessing +//* \brief Start Encryption or Decryption +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_StartProcessing ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + pTDES->TDES_CR = AT91C_TDES_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SoftReset +//* \brief Reset TDES +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SoftReset ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + pTDES->TDES_CR = AT91C_TDES_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey1 +//* \brief Set Cryptographic Key 1 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey1 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY1WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey2 +//* \brief Set Cryptographic Key 2 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey2 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY2WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey3 +//* \brief Set Cryptographic Key 3 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey3 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY3WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_InputData +//* \brief Set Input Data x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_InputData ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int indata + ) +{ + pTDES->TDES_IDATAxR[index] = indata; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetOutputData +//* \brief Get Output Data x +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetOutputData ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index + ) +{ + return pTDES->TDES_ODATAxR[index]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetInitializationVector +//* \brief Set Initialization Vector x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetInitializationVector ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int initvector + ) +{ + pTDES->TDES_IVxR[index] = initvector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPMC +//* \brief Enable Peripheral clock in PMC for DBGU +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPIO +//* \brief Configure PIO controllers to drive DBGU signals +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA27_DRXD ) | + ((unsigned int) AT91C_PA28_DTXD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPIO +//* \brief Configure PIO controllers to drive PMC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB30_PCK2 ) | + ((unsigned int) AT91C_PB29_PCK1 ), // Peripheral A + ((unsigned int) AT91C_PB20_PCK0 ) | + ((unsigned int) AT91C_PB0_PCK0 ) | + ((unsigned int) AT91C_PB22_PCK2 ) | + ((unsigned int) AT91C_PB21_PCK1 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA30_PCK2 ) | + ((unsigned int) AT91C_PA13_PCK1 ) | + ((unsigned int) AT91C_PA27_PCK3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_CfgPMC +//* \brief Enable Peripheral clock in PMC for VREG +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for RSTC +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPMC +//* \brief Enable Peripheral clock in PMC for SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SSC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPIO +//* \brief Configure PIO controllers to drive SSC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA25_RK ) | + ((unsigned int) AT91C_PA22_TK ) | + ((unsigned int) AT91C_PA21_TF ) | + ((unsigned int) AT91C_PA24_RD ) | + ((unsigned int) AT91C_PA26_RF ) | + ((unsigned int) AT91C_PA23_TD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for WDTC +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPMC +//* \brief Enable Peripheral clock in PMC for US1 +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPIO +//* \brief Configure PIO controllers to drive US1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB26_RI1 ) | + ((unsigned int) AT91C_PB24_DSR1 ) | + ((unsigned int) AT91C_PB23_DCD1 ) | + ((unsigned int) AT91C_PB25_DTR1 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA7_SCK1 ) | + ((unsigned int) AT91C_PA8_RTS1 ) | + ((unsigned int) AT91C_PA6_TXD1 ) | + ((unsigned int) AT91C_PA5_RXD1 ) | + ((unsigned int) AT91C_PA9_CTS1 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPMC +//* \brief Enable Peripheral clock in PMC for US0 +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPIO +//* \brief Configure PIO controllers to drive US0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA0_RXD0 ) | + ((unsigned int) AT91C_PA4_CTS0 ) | + ((unsigned int) AT91C_PA3_RTS0 ) | + ((unsigned int) AT91C_PA2_SCK0 ) | + ((unsigned int) AT91C_PA1_TXD0 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI1_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI1 +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI1_CfgPIO +//* \brief Configure PIO controllers to drive SPI1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB16_NPCS13 ) | + ((unsigned int) AT91C_PB10_NPCS11 ) | + ((unsigned int) AT91C_PB11_NPCS12 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA4_NPCS13 ) | + ((unsigned int) AT91C_PA29_NPCS13 ) | + ((unsigned int) AT91C_PA21_NPCS10 ) | + ((unsigned int) AT91C_PA22_SPCK1 ) | + ((unsigned int) AT91C_PA25_NPCS11 ) | + ((unsigned int) AT91C_PA2_NPCS11 ) | + ((unsigned int) AT91C_PA24_MISO1 ) | + ((unsigned int) AT91C_PA3_NPCS12 ) | + ((unsigned int) AT91C_PA26_NPCS12 ) | + ((unsigned int) AT91C_PA23_MOSI1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI0_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI0 +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI0_CfgPIO +//* \brief Configure PIO controllers to drive SPI0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB13_NPCS01 ) | + ((unsigned int) AT91C_PB17_NPCS03 ) | + ((unsigned int) AT91C_PB14_NPCS02 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA16_MISO0 ) | + ((unsigned int) AT91C_PA13_NPCS01 ) | + ((unsigned int) AT91C_PA15_NPCS03 ) | + ((unsigned int) AT91C_PA17_MOSI0 ) | + ((unsigned int) AT91C_PA18_SPCK0 ) | + ((unsigned int) AT91C_PA14_NPCS02 ) | + ((unsigned int) AT91C_PA12_NPCS00 ), // Peripheral A + ((unsigned int) AT91C_PA7_NPCS01 ) | + ((unsigned int) AT91C_PA9_NPCS03 ) | + ((unsigned int) AT91C_PA8_NPCS02 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PITC +//*---------------------------------------------------------------------------- +__inline void AT91F_PITC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPMC +//* \brief Enable Peripheral clock in PMC for AIC +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_FIQ) | + ((unsigned int) 1 << AT91C_ID_IRQ0) | + ((unsigned int) 1 << AT91C_ID_IRQ1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPIO +//* \brief Configure PIO controllers to drive AIC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA30_IRQ0 ) | + ((unsigned int) AT91C_PA29_FIQ ), // Peripheral A + ((unsigned int) AT91C_PA14_IRQ1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_CfgPMC +//* \brief Enable Peripheral clock in PMC for AES +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_AES)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPMC +//* \brief Enable Peripheral clock in PMC for TWI +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TWI)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPIO +//* \brief Configure PIO controllers to drive TWI signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA11_TWCK ) | + ((unsigned int) AT91C_PA10_TWD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPMC +//* \brief Enable Peripheral clock in PMC for ADC +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_ADC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPIO +//* \brief Configure PIO controllers to drive ADC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB18_ADTRG )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH3_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH3 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH3_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB22_PWM3 ), // Peripheral A + ((unsigned int) AT91C_PB30_PWM3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH2_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB21_PWM2 ), // Peripheral A + ((unsigned int) AT91C_PB29_PWM2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH1_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB20_PWM1 ), // Peripheral A + ((unsigned int) AT91C_PB28_PWM1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH0_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB19_PWM0 ), // Peripheral A + ((unsigned int) AT91C_PB27_PWM0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RTTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for RTTC +//*---------------------------------------------------------------------------- +__inline void AT91F_RTTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_CfgPMC +//* \brief Enable Peripheral clock in PMC for UDP +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_UDP)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_CfgPMC +//* \brief Enable Peripheral clock in PMC for TDES +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TDES)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EMAC_CfgPMC +//* \brief Enable Peripheral clock in PMC for EMAC +//*---------------------------------------------------------------------------- +__inline void AT91F_EMAC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_EMAC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EMAC_CfgPIO +//* \brief Configure PIO controllers to drive EMAC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_EMAC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB2_ETX0 ) | + ((unsigned int) AT91C_PB12_ETXER ) | + ((unsigned int) AT91C_PB16_ECOL ) | + ((unsigned int) AT91C_PB11_ETX3 ) | + ((unsigned int) AT91C_PB6_ERX1 ) | + ((unsigned int) AT91C_PB15_ERXDV ) | + ((unsigned int) AT91C_PB13_ERX2 ) | + ((unsigned int) AT91C_PB3_ETX1 ) | + ((unsigned int) AT91C_PB8_EMDC ) | + ((unsigned int) AT91C_PB5_ERX0 ) | + //((unsigned int) AT91C_PB18_EF100 ) | + ((unsigned int) AT91C_PB14_ERX3 ) | + ((unsigned int) AT91C_PB4_ECRS_ECRSDV) | + ((unsigned int) AT91C_PB1_ETXEN ) | + ((unsigned int) AT91C_PB10_ETX2 ) | + ((unsigned int) AT91C_PB0_ETXCK_EREFCK) | + ((unsigned int) AT91C_PB9_EMDIO ) | + ((unsigned int) AT91C_PB7_ERXER ) | + ((unsigned int) AT91C_PB17_ERXCK ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC0 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPIO +//* \brief Configure PIO controllers to drive TC0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB23_TIOA0 ) | + ((unsigned int) AT91C_PB24_TIOB0 ), // Peripheral A + ((unsigned int) AT91C_PB12_TCLK0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC1 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPIO +//* \brief Configure PIO controllers to drive TC1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB25_TIOA1 ) | + ((unsigned int) AT91C_PB26_TIOB1 ), // Peripheral A + ((unsigned int) AT91C_PB19_TCLK1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC2 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC2)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPIO +//* \brief Configure PIO controllers to drive TC2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB28_TIOB2 ) | + ((unsigned int) AT91C_PB27_TIOA2 ), // Peripheral A + 0); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA15_TCLK2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_CfgPMC +//* \brief Enable Peripheral clock in PMC for MC +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOA_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOA +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOA_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOA)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOB_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOB +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOB_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOB)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgPMC +//* \brief Enable Peripheral clock in PMC for CAN +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_CAN)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgPIO +//* \brief Configure PIO controllers to drive CAN signals +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA20_CANTX ) | + ((unsigned int) AT91C_PA19_CANRX ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PWMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PWMC)); +} + +#endif // lib_AT91SAM7X256_H diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/port.c new file mode 100644 index 0000000..fca0dc7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/port.c @@ -0,0 +1,213 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ARM7 port. + * + * Components that can be compiled to either ARM or THUMB mode are + * contained in this file. The ISR routines, which can only be compiled + * to ARM mode are contained in portISR.c. + *----------------------------------------------------------*/ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Processor constants. */ +#include "AT91SAM7X256.h" + +/* Constants required to setup the task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) +#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) + +/* Constants required to setup the tick ISR. */ +#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) +#define portPRESCALE_VALUE 0x00 +#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) +#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) + +/* Constants required to setup the PIT. */ +#define portPIT_CLOCK_DIVISOR ( ( uint32_t ) 16 ) +#define portPIT_COUNTER_VALUE ( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS ) + +#define portINT_LEVEL_SENSITIVE 0 +#define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 ) +#define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 ) +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* + * The scheduler can only be started from ARM mode, so + * vPortISRStartFirstSTask() is defined in portISR.c. + */ +extern void vPortISRStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The last thing onto the stack is the status register, which is set for + system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + #ifdef THUMB_INTERWORK + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + #endif + + pxTopOfStack--; + + /* Some optimisation levels use the stack differently to others. This + means the interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortISRStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* + * Setup the timer 0 to generate the tick interrupts at the required frequency. + */ +static void prvSetupTimerInterrupt( void ) +{ +AT91PS_PITC pxPIT = AT91C_BASE_PITC; + + /* Setup the AIC for PIT interrupts. The interrupt routine chosen depends + on whether the preemptive or cooperative scheduler is being used. */ + #if configUSE_PREEMPTION == 0 + + extern void ( vNonPreemptiveTick ) ( void ); + AT91F_AIC_ConfigureIt( AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vNonPreemptiveTick ); + + #else + + extern void ( vPreemptiveTick )( void ); + AT91F_AIC_ConfigureIt( AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPreemptiveTick ); + + #endif + + /* Configure the PIT period. */ + pxPIT->PITC_PIMR = portPIT_ENABLE | portPIT_INT_ENABLE | portPIT_COUNTER_VALUE; + + /* Enable the interrupt. Global interrupts are disables at this point so + this is safe. */ + AT91C_BASE_AIC->AIC_IECR = 0x1 << AT91C_ID_SYS; +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c new file mode 100644 index 0000000..197e201 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c @@ -0,0 +1,227 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Components that can be compiled to either ARM or THUMB mode are + * contained in port.c The ISR routines, which can only be compiled + * to ARM mode, are contained in this file. + *----------------------------------------------------------*/ + +/* + Changes from V3.2.4 + + + The assembler statements are now included in a single asm block rather + than each line having its own asm block. +*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#include "AT91SAM7X256.h" + +/* Constants required to handle interrupts. */ +#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) +#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +/*-----------------------------------------------------------*/ + +/* ISR to handle manual context switches (from a call to taskYIELD()). */ +void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); + +/* + * The scheduler can only be started from ARM mode, hence the inclusion of this + * function here. + */ +void vPortISRStartFirstTask( void ); +/*-----------------------------------------------------------*/ + +void vPortISRStartFirstTask( void ) +{ + /* Simply start the scheduler. This is included here as it can only be + called from ARM mode. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Called by portYIELD() or taskYIELD() to manually force a context switch. + * + * When a context switch is performed from the task level the saved task + * context is made to look as if it occurred from within the tick ISR. This + * way the same restore context function can be used when restoring the context + * saved from the ISR or that saved from a call to vPortYieldProcessor. + */ +void vPortYieldProcessor( void ) +{ + /* Within an IRQ ISR the link register has an offset from the true return + address, but an SWI ISR does not. Add the offset manually so the same + ISR return code can be used in both cases. */ + __asm volatile ( "ADD LR, LR, #4" ); + + /* Perform the context switch. First save the context of the current task. */ + portSAVE_CONTEXT(); + + /* Find the highest priority task that is ready to run. */ + vTaskSwitchContext(); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * The ISR used for the scheduler tick depends on whether the cooperative or + * the preemptive scheduler is being used. + */ + +#if configUSE_PREEMPTION == 0 + + /* The cooperative scheduler requires a normal IRQ service routine to + simply increment the system tick. */ + void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); + void vNonPreemptiveTick( void ) + { + uint32_t ulDummy; + + /* Increment the tick count - which may wake some tasks but as the + preemptive scheduler is not being used any woken task is not given + processor time no matter what its priority. */ + xTaskIncrementTick(); + + /* Clear the PIT interrupt. */ + ulDummy = AT91C_BASE_PITC->PITC_PIVR; + + /* End the interrupt in the AIC. */ + AT91C_BASE_AIC->AIC_EOICR = ulDummy; + } + +#else + + /* The preemptive scheduler is defined as "naked" as the full context is + saved on entry as part of the context switch. */ + void vPreemptiveTick( void ) __attribute__((naked)); + void vPreemptiveTick( void ) + { + /* Save the context of the current task. */ + portSAVE_CONTEXT(); + + /* Increment the tick count - this may wake a task. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Find the highest priority task that is ready to run. */ + vTaskSwitchContext(); + } + + /* End the interrupt in the AIC. */ + AT91C_BASE_AIC->AIC_EOICR = AT91C_BASE_PITC->PITC_PIVR; + + portRESTORE_CONTEXT(); + } + +#endif +/*-----------------------------------------------------------*/ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions here to + * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then + * the utilities are defined as macros in portmacro.h - as per other ports. + */ +void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); +void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + +void vPortDisableInterruptsFromThumb( void ) +{ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ +} + +void vPortEnableInterruptsFromThumb( void ) +{ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ +} + + +/* The code generated by the GCC compiler uses the stack in different ways at +different optimisation levels. The interrupt flags can therefore not always +be saved to the stack. Instead the critical section nesting level is stored +in a variable, which is then saved as part of the stack context. */ +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable interrupts as per portEXIT_CRITICAL(). */ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + } + } +} + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h new file mode 100644 index 0000000..97ab4de --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h @@ -0,0 +1,249 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + Changes from V3.2.3 + + + Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. + + Changes from V3.2.4 + + + Removed the use of the %0 parameter within the assembler macros and + replaced them with hard coded registers. This will ensure the + assembler does not select the link register as the temp register as + was occasionally happening previously. + + + The assembler statements are now included in a single asm block rather + than each line having its own asm block. + + Changes from V4.5.0 + + + Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros + and replaced them with portYIELD_FROM_ISR() macro. Application code + should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() + macros as per the V4.5.1 demo code. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE portLONG + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portNOP() __asm volatile ( "NOP" ); +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + +/* + * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR + * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but + * are included here for efficiency. An attempt to call one from + * THUMB mode code will result in a compile time error. + */ + +#define portRESTORE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Set the LR to the task stack. */ \ + __asm volatile ( \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "LDR LR, [R0] \n\t" \ + \ + /* The critical nesting depth is the first item on the stack. */ \ + /* Load it into the ulCriticalNesting variable. */ \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDMFD LR!, {R1} \n\t" \ + "STR R1, [R0] \n\t" \ + \ + /* Get the SPSR from the stack. */ \ + "LDMFD LR!, {R0} \n\t" \ + "MSR SPSR, R0 \n\t" \ + \ + /* Restore all system mode registers for the task. */ \ + "LDMFD LR, {R0-R14}^ \n\t" \ + "NOP \n\t" \ + \ + /* Restore the return address. */ \ + "LDR LR, [LR, #+60] \n\t" \ + \ + /* And return - correcting the offset in the LR to obtain the */ \ + /* correct address. */ \ + "SUBS PC, LR, #4 \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} +/*-----------------------------------------------------------*/ + +#define portSAVE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Push R0 as we are going to use the register. */ \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" \ + \ + /* Set R0 to point to the task stack pointer. */ \ + "STMDB SP,{SP}^ \n\t" \ + "NOP \n\t" \ + "SUB SP, SP, #4 \n\t" \ + "LDMIA SP!,{R0} \n\t" \ + \ + /* Push the return address onto the stack. */ \ + "STMDB R0!, {LR} \n\t" \ + \ + /* Now we have saved LR we can use it instead of R0. */ \ + "MOV LR, R0 \n\t" \ + \ + /* Pop R0 so we can save it onto the system mode stack. */ \ + "LDMIA SP!, {R0} \n\t" \ + \ + /* Push all the system mode registers onto the task stack. */ \ + "STMDB LR,{R0-LR}^ \n\t" \ + "NOP \n\t" \ + "SUB LR, LR, #60 \n\t" \ + \ + /* Push the SPSR onto the task stack. */ \ + "MRS R0, SPSR \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDR R0, [R0] \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + /* Store the new top of stack for the task. */ \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "STR LR, [R0] \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} + + +#define portYIELD_FROM_ISR() vTaskSwitchContext() +#define portYIELD() __asm volatile ( "SWI 0" ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions in + * portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not + * defined then the utilities are defined as macros here - as per other ports. + */ + +#ifdef THUMB_INTERWORK + + extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() + #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() + +#else + + #define portDISABLE_INTERRUPTS() \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + + #define portENABLE_INTERRUPTS() \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + +#endif /* THUMB_INTERWORK */ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/port.c new file mode 100644 index 0000000..abc4810 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/port.c @@ -0,0 +1,221 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ARM7 port. + * + * Components that can be compiled to either ARM or THUMB mode are + * contained in this file. The ISR routines, which can only be compiled + * to ARM mode are contained in portISR.c. + *----------------------------------------------------------*/ + + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) +#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) + +/* Constants required to setup the tick ISR. */ +#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) +#define portPRESCALE_VALUE 0x00 +#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) +#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) + +/* Constants required to setup the VIC for the tick ISR. */ +#define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 ) +#define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 ) +#define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 ) + +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* + * The scheduler can only be started from ARM mode, so + * vPortISRStartFirstSTask() is defined in portISR.c. + */ +extern void vPortISRStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The last thing onto the stack is the status register, which is set for + system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Some optimisation levels use the stack differently to others. This + means the interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortISRStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* + * Setup the timer 0 to generate the tick interrupts at the required frequency. + */ +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; +extern void ( vTickISR )( void ); + + /* A 1ms tick does not require the use of the timer prescale. This is + defaulted to zero but can be used if necessary. */ + T0_PR = portPRESCALE_VALUE; + + /* Calculate the match value required for our wanted tick rate. */ + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* Protect against divide by zero. Using an if() statement still results + in a warning - hence the #if. */ + #if portPRESCALE_VALUE != 0 + { + ulCompareMatch /= ( portPRESCALE_VALUE + 1 ); + } + #endif + T0_MR0 = ulCompareMatch; + + /* Generate tick with timer 0 compare match. */ + T0_MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH; + + /* Setup the VIC for the timer. */ + VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT ); + VICIntEnable |= portTIMER_VIC_CHANNEL_BIT; + + /* The ISR installed depends on whether the preemptive or cooperative + scheduler is being used. */ + + VICVectAddr0 = ( int32_t ) vTickISR; + VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE; + + /* Start the timer - interrupts are disabled when this function is called + so it is okay to do this here. */ + T0_TCR = portENABLE_TIMER; +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/portISR.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/portISR.c new file mode 100644 index 0000000..4b5c8b2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/portISR.c @@ -0,0 +1,215 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Components that can be compiled to either ARM or THUMB mode are + * contained in port.c The ISR routines, which can only be compiled + * to ARM mode, are contained in this file. + *----------------------------------------------------------*/ + +/* + Changes from V2.5.2 + + + The critical section management functions have been changed. These no + longer modify the stack and are safe to use at all optimisation levels. + The functions are now also the same for both ARM and THUMB modes. + + Changes from V2.6.0 + + + Removed the 'static' from the definition of vNonPreemptiveTick() to + allow the demo to link when using the cooperative scheduler. + + Changes from V3.2.4 + + + The assembler statements are now included in a single asm block rather + than each line having its own asm block. +*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* Constants required to handle interrupts. */ +#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) +#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +/*-----------------------------------------------------------*/ + +/* ISR to handle manual context switches (from a call to taskYIELD()). */ +void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); + +/* + * The scheduler can only be started from ARM mode, hence the inclusion of this + * function here. + */ +void vPortISRStartFirstTask( void ); +/*-----------------------------------------------------------*/ + +void vPortISRStartFirstTask( void ) +{ + /* Simply start the scheduler. This is included here as it can only be + called from ARM mode. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Called by portYIELD() or taskYIELD() to manually force a context switch. + * + * When a context switch is performed from the task level the saved task + * context is made to look as if it occurred from within the tick ISR. This + * way the same restore context function can be used when restoring the context + * saved from the ISR or that saved from a call to vPortYieldProcessor. + */ +void vPortYieldProcessor( void ) +{ + /* Within an IRQ ISR the link register has an offset from the true return + address, but an SWI ISR does not. Add the offset manually so the same + ISR return code can be used in both cases. */ + __asm volatile ( "ADD LR, LR, #4" ); + + /* Perform the context switch. First save the context of the current task. */ + portSAVE_CONTEXT(); + + /* Find the highest priority task that is ready to run. */ + __asm volatile ( "bl vTaskSwitchContext" ); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * The ISR used for the scheduler tick. + */ +void vTickISR( void ) __attribute__((naked)); +void vTickISR( void ) +{ + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* Increment the RTOS tick count, then look for the highest priority + task that is ready to run. */ + __asm volatile + ( + " bl xTaskIncrementTick \t\n" \ + " cmp r0, #0 \t\n" \ + " beq SkipContextSwitch \t\n" \ + " bl vTaskSwitchContext \t\n" \ + "SkipContextSwitch: \t\n" + ); + + /* Ready for the next interrupt. */ + T0_IR = portTIMER_MATCH_ISR_BIT; + VICVectAddr = portCLEAR_VIC_INTERRUPT; + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions here to + * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then + * the utilities are defined as macros in portmacro.h - as per other ports. + */ +#ifdef THUMB_INTERWORK + + void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + void vPortDisableInterruptsFromThumb( void ) + { + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + + void vPortEnableInterruptsFromThumb( void ) + { + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + +#endif /* THUMB_INTERWORK */ + +/* The code generated by the GCC compiler uses the stack in different ways at +different optimisation levels. The interrupt flags can therefore not always +be saved to the stack. Instead the critical section nesting level is stored +in a variable, which is then saved as part of the stack context. */ +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable interrupts as per portEXIT_CRITICAL(). */ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + } + } +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/portmacro.h new file mode 100644 index 0000000..7ee62d1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC2000/portmacro.h @@ -0,0 +1,226 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE portLONG + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portNOP() __asm volatile ( "NOP" ); +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + +/* + * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR + * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but + * are included here for efficiency. An attempt to call one from + * THUMB mode code will result in a compile time error. + */ + +#define portRESTORE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Set the LR to the task stack. */ \ + __asm volatile ( \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "LDR LR, [R0] \n\t" \ + \ + /* The critical nesting depth is the first item on the stack. */ \ + /* Load it into the ulCriticalNesting variable. */ \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDMFD LR!, {R1} \n\t" \ + "STR R1, [R0] \n\t" \ + \ + /* Get the SPSR from the stack. */ \ + "LDMFD LR!, {R0} \n\t" \ + "MSR SPSR, R0 \n\t" \ + \ + /* Restore all system mode registers for the task. */ \ + "LDMFD LR, {R0-R14}^ \n\t" \ + "NOP \n\t" \ + \ + /* Restore the return address. */ \ + "LDR LR, [LR, #+60] \n\t" \ + \ + /* And return - correcting the offset in the LR to obtain the */ \ + /* correct address. */ \ + "SUBS PC, LR, #4 \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} +/*-----------------------------------------------------------*/ + +#define portSAVE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Push R0 as we are going to use the register. */ \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" \ + \ + /* Set R0 to point to the task stack pointer. */ \ + "STMDB SP,{SP}^ \n\t" \ + "NOP \n\t" \ + "SUB SP, SP, #4 \n\t" \ + "LDMIA SP!,{R0} \n\t" \ + \ + /* Push the return address onto the stack. */ \ + "STMDB R0!, {LR} \n\t" \ + \ + /* Now we have saved LR we can use it instead of R0. */ \ + "MOV LR, R0 \n\t" \ + \ + /* Pop R0 so we can save it onto the system mode stack. */ \ + "LDMIA SP!, {R0} \n\t" \ + \ + /* Push all the system mode registers onto the task stack. */ \ + "STMDB LR,{R0-LR}^ \n\t" \ + "NOP \n\t" \ + "SUB LR, LR, #60 \n\t" \ + \ + /* Push the SPSR onto the task stack. */ \ + "MRS R0, SPSR \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDR R0, [R0] \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + /* Store the new top of stack for the task. */ \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "STR LR, [R0] \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} + +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR() vTaskSwitchContext() +#define portYIELD() __asm volatile ( "SWI 0" ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions in + * portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not + * defined then the utilities are defined as macros here - as per other ports. + */ + +#ifdef THUMB_INTERWORK + + extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() + #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() + +#else + + #define portDISABLE_INTERRUPTS() \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + + #define portENABLE_INTERRUPTS() \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + +#endif /* THUMB_INTERWORK */ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/port.c new file mode 100644 index 0000000..f93d04a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/port.c @@ -0,0 +1,233 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ARM7 port. + * + * Components that can be compiled to either ARM or THUMB mode are + * contained in this file. The ISR routines, which can only be compiled + * to ARM mode are contained in portISR.c. + *----------------------------------------------------------*/ + + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) +#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) + +/* Constants required to setup the tick ISR. */ +#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) +#define portPRESCALE_VALUE 0x00 +#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) +#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) + +/* Constants required to setup the VIC for the tick ISR. */ +#define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 ) +#define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 ) +#define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 ) + +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* + * The scheduler can only be started from ARM mode, so + * vPortISRStartFirstSTask() is defined in portISR.c. + */ +extern void vPortISRStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The last thing onto the stack is the status register, which is set for + system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Some optimisation levels use the stack differently to others. This + means the interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortISRStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* + * Setup the timer 0 to generate the tick interrupts at the required frequency. + */ +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; + + PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2); + T0TCR = 2; /* Stop and reset the timer */ + T0CTCR = 0; /* Timer mode */ + + /* A 1ms tick does not require the use of the timer prescale. This is + defaulted to zero but can be used if necessary. */ + T0PR = portPRESCALE_VALUE; + + /* Calculate the match value required for our wanted tick rate. */ + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* Protect against divide by zero. Using an if() statement still results + in a warning - hence the #if. */ + #if portPRESCALE_VALUE != 0 + { + ulCompareMatch /= ( portPRESCALE_VALUE + 1 ); + } + #endif + T0MR1 = ulCompareMatch; + + /* Generate tick with timer 0 compare match. */ + T0MCR = (3 << 3); /* Reset timer on match and generate interrupt */ + + /* Setup the VIC for the timer. */ + VICIntEnable = 0x00000010; + + /* The ISR installed depends on whether the preemptive or cooperative + scheduler is being used. */ + #if configUSE_PREEMPTION == 1 + { + extern void ( vPreemptiveTick )( void ); + VICVectAddr4 = ( int32_t ) vPreemptiveTick; + } + #else + { + extern void ( vNonPreemptiveTick )( void ); + VICVectAddr4 = ( int32_t ) vNonPreemptiveTick; + } + #endif + + VICVectCntl4 = 1; + + /* Start the timer - interrupts are disabled when this function is called + so it is okay to do this here. */ + T0TCR = portENABLE_TIMER; +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/portISR.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/portISR.c new file mode 100644 index 0000000..99d4803 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/portISR.c @@ -0,0 +1,218 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Components that can be compiled to either ARM or THUMB mode are + * contained in port.c The ISR routines, which can only be compiled + * to ARM mode, are contained in this file. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to handle interrupts. */ +#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) +#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +/*-----------------------------------------------------------*/ + +/* ISR to handle manual context switches (from a call to taskYIELD()). */ +void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); + +/* + * The scheduler can only be started from ARM mode, hence the inclusion of this + * function here. + */ +void vPortISRStartFirstTask( void ); +/*-----------------------------------------------------------*/ + +void vPortISRStartFirstTask( void ) +{ + /* Simply start the scheduler. This is included here as it can only be + called from ARM mode. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Called by portYIELD() or taskYIELD() to manually force a context switch. + * + * When a context switch is performed from the task level the saved task + * context is made to look as if it occurred from within the tick ISR. This + * way the same restore context function can be used when restoring the context + * saved from the ISR or that saved from a call to vPortYieldProcessor. + */ +void vPortYieldProcessor( void ) +{ + /* Within an IRQ ISR the link register has an offset from the true return + address, but an SWI ISR does not. Add the offset manually so the same + ISR return code can be used in both cases. */ + __asm volatile ( "ADD LR, LR, #4" ); + + /* Perform the context switch. First save the context of the current task. */ + portSAVE_CONTEXT(); + + /* Find the highest priority task that is ready to run. */ + __asm volatile( "bl vTaskSwitchContext" ); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * The ISR used for the scheduler tick depends on whether the cooperative or + * the preemptive scheduler is being used. + */ + + +#if configUSE_PREEMPTION == 0 + + /* The cooperative scheduler requires a normal IRQ service routine to + simply increment the system tick. */ + void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); + void vNonPreemptiveTick( void ) + { + xTaskIncrementTick(); + T0IR = 2; + VICVectAddr = portCLEAR_VIC_INTERRUPT; + } + +#else + + /* The preemptive scheduler is defined as "naked" as the full context is + saved on entry as part of the context switch. */ + void vPreemptiveTick( void ) __attribute__((naked)); + void vPreemptiveTick( void ) + { + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* Increment the RTOS tick count, then look for the highest priority + task that is ready to run. */ + __asm volatile + ( + " bl xTaskIncrementTick \t\n" \ + " cmp r0, #0 \t\n" \ + " beq SkipContextSwitch \t\n" \ + " bl vTaskSwitchContext \t\n" \ + "SkipContextSwitch: \t\n" + ); + + /* Ready for the next interrupt. */ + T0IR = 2; + VICVectAddr = portCLEAR_VIC_INTERRUPT; + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); + } + +#endif +/*-----------------------------------------------------------*/ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions here to + * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then + * the utilities are defined as macros in portmacro.h - as per other ports. + */ +#ifdef THUMB_INTERWORK + + void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + void vPortDisableInterruptsFromThumb( void ) + { + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + + void vPortEnableInterruptsFromThumb( void ) + { + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + +#endif /* THUMB_INTERWORK */ + +/* The code generated by the GCC compiler uses the stack in different ways at +different optimisation levels. The interrupt flags can therefore not always +be saved to the stack. Instead the critical section nesting level is stored +in a variable, which is then saved as part of the stack context. */ +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable interrupts as per portEXIT_CRITICAL(). */ + __asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + } + } +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/portmacro.h new file mode 100644 index 0000000..db8331f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM7_LPC23xx/portmacro.h @@ -0,0 +1,249 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + Changes from V3.2.3 + + + Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. + + Changes from V3.2.4 + + + Removed the use of the %0 parameter within the assembler macros and + replaced them with hard coded registers. This will ensure the + assembler does not select the link register as the temp register as + was occasionally happening previously. + + + The assembler statements are now included in a single asm block rather + than each line having its own asm block. + + Changes from V4.5.0 + + + Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros + and replaced them with portYIELD_FROM_ISR() macro. Application code + should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() + macros as per the V4.5.1 demo code. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE portLONG + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portNOP() __asm volatile ( "NOP" ); +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + +/* + * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR + * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but + * are included here for efficiency. An attempt to call one from + * THUMB mode code will result in a compile time error. + */ + +#define portRESTORE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Set the LR to the task stack. */ \ + __asm volatile ( \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "LDR LR, [R0] \n\t" \ + \ + /* The critical nesting depth is the first item on the stack. */ \ + /* Load it into the ulCriticalNesting variable. */ \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDMFD LR!, {R1} \n\t" \ + "STR R1, [R0] \n\t" \ + \ + /* Get the SPSR from the stack. */ \ + "LDMFD LR!, {R0} \n\t" \ + "MSR SPSR, R0 \n\t" \ + \ + /* Restore all system mode registers for the task. */ \ + "LDMFD LR, {R0-R14}^ \n\t" \ + "NOP \n\t" \ + \ + /* Restore the return address. */ \ + "LDR LR, [LR, #+60] \n\t" \ + \ + /* And return - correcting the offset in the LR to obtain the */ \ + /* correct address. */ \ + "SUBS PC, LR, #4 \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} +/*-----------------------------------------------------------*/ + +#define portSAVE_CONTEXT() \ +{ \ +extern volatile void * volatile pxCurrentTCB; \ +extern volatile uint32_t ulCriticalNesting; \ + \ + /* Push R0 as we are going to use the register. */ \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" \ + \ + /* Set R0 to point to the task stack pointer. */ \ + "STMDB SP,{SP}^ \n\t" \ + "NOP \n\t" \ + "SUB SP, SP, #4 \n\t" \ + "LDMIA SP!,{R0} \n\t" \ + \ + /* Push the return address onto the stack. */ \ + "STMDB R0!, {LR} \n\t" \ + \ + /* Now we have saved LR we can use it instead of R0. */ \ + "MOV LR, R0 \n\t" \ + \ + /* Pop R0 so we can save it onto the system mode stack. */ \ + "LDMIA SP!, {R0} \n\t" \ + \ + /* Push all the system mode registers onto the task stack. */ \ + "STMDB LR,{R0-LR}^ \n\t" \ + "NOP \n\t" \ + "SUB LR, LR, #60 \n\t" \ + \ + /* Push the SPSR onto the task stack. */ \ + "MRS R0, SPSR \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDR R0, [R0] \n\t" \ + "STMDB LR!, {R0} \n\t" \ + \ + /* Store the new top of stack for the task. */ \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "STR LR, [R0] \n\t" \ + ); \ + ( void ) ulCriticalNesting; \ + ( void ) pxCurrentTCB; \ +} + + +#define portYIELD_FROM_ISR() vTaskSwitchContext() +#define portYIELD() __asm volatile ( "SWI 0" ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions in + * portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not + * defined then the utilities are defined as macros here - as per other ports. + */ + +#ifdef THUMB_INTERWORK + + extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() + #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() + +#else + + #define portDISABLE_INTERRUPTS() \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + + #define portENABLE_INTERRUPTS() \ + __asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + +#endif /* THUMB_INTERWORK */ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/port.c new file mode 100644 index 0000000..63ea94c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/port.c @@ -0,0 +1,518 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS + #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET + #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configUNIQUE_INTERRUPT_PRIORITIES + #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif /* configSETUP_TICK_INTERRUPT */ + +#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 + #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/* In case security extensions are implemented. */ +#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) +#endif + +/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in +portmacro.h. */ +#ifndef configCLEAR_TICK_INTERRUPT + #define configCLEAR_TICK_INTERRUPT() +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( size_t ) 0 ) + +/* In all GICs 255 can be written to the priority mask register to unmask all +(but the lowest) interrupt priority. */ +#define portUNMASK_VALUE ( 0xFFUL ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portSP_ELx ( ( StackType_t ) 0x01 ) +#define portSP_EL0 ( ( StackType_t ) 0x00 ) + +#if defined( GUEST ) + #define portEL1 ( ( StackType_t ) 0x04 ) + #define portINITIAL_PSTATE ( portEL1 | portSP_EL0 ) +#else + #define portEL3 ( ( StackType_t ) 0x0c ) + /* At the time of writing, the BSP only supports EL3. */ + #define portINITIAL_PSTATE ( portEL3 | portSP_EL0 ) +#endif + + +/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary +point is zero. */ +#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x0C ) + +/* The I bit in the DAIF bits. */ +#define portDAIF_I ( 0x80 ) + +/* Macro to unmask all interrupt priorities. */ +#define portCLEAR_INTERRUPT_MASK() \ +{ \ + portDISABLE_INTERRUPTS(); \ + portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ + __asm volatile ( "DSB SY \n" \ + "ISB SY \n" ); \ + portENABLE_INTERRUPTS(); \ +} + +/* Hardware specifics used when sanity checking the configuration. */ +#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portBIT_0_SET ( ( uint8_t ) 0x01 ) + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint64_t ullCriticalNesting = 9999ULL; + +/* Saved as part of the task context. If ullPortTaskHasFPUContext is non-zero +then floating point context must be saved and restored for the task. */ +uint64_t ullPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +uint64_t ullPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +uint64_t ullPortInterruptNesting = 0; + +/* Used in the ASM code. */ +__attribute__(( used )) const uint64_t ullICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS; +__attribute__(( used )) const uint64_t ullICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS; +__attribute__(( used )) const uint64_t ullICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS; +__attribute__(( used )) const uint64_t ullMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First all the general purpose registers. */ + pxTopOfStack--; + *pxTopOfStack = 0x0101010101010101ULL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = 0x0303030303030303ULL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = 0x0202020202020202ULL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = 0x0505050505050505ULL; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = 0x0404040404040404ULL; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = 0x0707070707070707ULL; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = 0x0606060606060606ULL; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = 0x0909090909090909ULL; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = 0x0808080808080808ULL; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = 0x1111111111111111ULL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = 0x1010101010101010ULL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = 0x1313131313131313ULL; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = 0x1212121212121212ULL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = 0x1515151515151515ULL; /* R15 */ + pxTopOfStack--; + *pxTopOfStack = 0x1414141414141414ULL; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = 0x1717171717171717ULL; /* R17 */ + pxTopOfStack--; + *pxTopOfStack = 0x1616161616161616ULL; /* R16 */ + pxTopOfStack--; + *pxTopOfStack = 0x1919191919191919ULL; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = 0x1818181818181818ULL; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = 0x2121212121212121ULL; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = 0x2020202020202020ULL; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = 0x2323232323232323ULL; /* R23 */ + pxTopOfStack--; + *pxTopOfStack = 0x2222222222222222ULL; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = 0x2525252525252525ULL; /* R25 */ + pxTopOfStack--; + *pxTopOfStack = 0x2424242424242424ULL; /* R24 */ + pxTopOfStack--; + *pxTopOfStack = 0x2727272727272727ULL; /* R27 */ + pxTopOfStack--; + *pxTopOfStack = 0x2626262626262626ULL; /* R26 */ + pxTopOfStack--; + *pxTopOfStack = 0x2929292929292929ULL; /* R29 */ + pxTopOfStack--; + *pxTopOfStack = 0x2828282828282828ULL; /* R28 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00; /* XZR - has no effect, used so there are an even number of registers. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00; /* R30 - procedure call link register. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_PSTATE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + the floating point hardware must call vPortTaskUsesFPU() before executing + any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + #if( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine how many priority bits are implemented in the GIC. + + Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to + all possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Shift to the least significant bits. */ + while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET ) + { + ucMaxPriorityValue >>= ( uint8_t ) 0x01; + } + + /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read + value. */ + + configASSERT( ucMaxPriorityValue >= portLOWEST_INTERRUPT_PRIORITY ); + + + /* Restore the clobbered interrupt priority register to its original + value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + + /* At the time of writing, the BSP only supports EL3. */ + __asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + +#if defined( GUEST ) + #warning Building for execution as a guest under XEN. THIS IS NOT A FULLY TESTED PATH. + configASSERT( ulAPSR == portEL1 ); + if( ulAPSR == portEL1 ) +#else + configASSERT( ulAPSR == portEL3 ); + if( ulAPSR == portEL3 ) +#endif + { + /* Only continue if the binary point value is set to its lowest possible + setting. See the comments in vPortValidateInterruptPriority() below for + more information. */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + + if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ) + { + /* Interrupts are turned off in the CPU itself to ensure a tick does + not execute while the scheduler is being started. Interrupts are + automatically turned back on in the CPU when the first task starts + executing. */ + portDISABLE_INTERRUPTS(); + + /* Start the timer that generates the tick ISR. */ + configSETUP_TICK_INTERRUPT(); + + /* Start the first task executing. */ + vPortRestoreTaskContext(); + } + } + + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ullCriticalNesting == 1000ULL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Mask interrupts up to the max syscall interrupt priority. */ + uxPortSetInterruptMask(); + + /* Now interrupts are disabled ullCriticalNesting can be accessed + directly. Increment ullCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ullCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ullCriticalNesting == 1ULL ) + { + configASSERT( ullPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ullCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ullCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ullCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portCLEAR_INTERRUPT_MASK(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + /* Must be the lowest possible priority. */ + #if !defined( QEMU ) + { + configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); + } + #endif + + /* Interrupts should not be enabled before this point. */ + #if( configASSERT_DEFINED == 1 ) + { + uint32_t ulMaskBits; + + __asm volatile( "mrs %0, daif" : "=r"( ulMaskBits ) :: "memory" ); + configASSERT( ( ulMaskBits & portDAIF_I ) != 0 ); + } + #endif /* configASSERT_DEFINED */ + + /* Set interrupt mask before altering scheduler structures. The tick + handler runs at the lowest priority, so interrupts cannot already be masked, + so there is no need to save and restore the current mask value. It is + necessary to turn off interrupts in the CPU itself while the ICCPMR is being + updated. */ + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm volatile ( "dsb sy \n" + "isb sy \n" ::: "memory" ); + + /* Ok to enable interrupts after the interrupt source has been cleared. */ + configCLEAR_TICK_INTERRUPT(); + portENABLE_INTERRUPTS(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ullPortYieldRequired = pdTRUE; + } + + /* Ensure all interrupt priorities are active again. */ + portCLEAR_INTERRUPT_MASK(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ullPortTaskHasFPUContext = pdTRUE; + + /* Consider initialising the FPSR here - but probably not necessary in + AArch64. */ +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( UBaseType_t uxNewMaskValue ) +{ + if( uxNewMaskValue == pdFALSE ) + { + portCLEAR_INTERRUPT_MASK(); + } +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxPortSetInterruptMask( void ) +{ +uint32_t ulReturn; + + /* Interrupt in the CPU must be turned off while the ICCPMR is being + updated. */ + portDISABLE_INTERRUPTS(); + if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ) + { + /* Interrupts were already masked. */ + ulReturn = pdTRUE; + } + else + { + ulReturn = pdFALSE; + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm volatile ( "dsb sy \n" + "isb sy \n" ::: "memory" ); + } + portENABLE_INTERRUPTS(); + + return ulReturn; +} +/*-----------------------------------------------------------*/ + +#if( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + /* The following assertion will fail if a service routine (ISR) for + an interrupt that has been assigned a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + function. ISR safe FreeRTOS API functions must *only* be called + from interrupts that have been assigned a priority at or below + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + Numerically low interrupt priority numbers represent logically high + interrupt priorities, therefore the priority of the interrupt must + be set to a value equal to or numerically *higher* than + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + FreeRTOS maintains separate thread and ISR API functions to ensure + interrupt entry is as fast and simple as possible. */ + configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); + + /* Priority grouping: The interrupt controller (GIC) allows the bits + that define each interrupt's priority to be split between bits that + define the interrupt's pre-emption priority bits and bits that define + the interrupt's sub-priority. For simplicity all bits must be defined + to be pre-emption priority bits. The following assertion will fail if + this is not the case (if some bits represent a sub-priority). + + The priority grouping is configured by the GIC's binary point register + (ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest + possible value (which may be above 0). */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/portASM.S new file mode 100644 index 0000000..80cb574 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/portASM.S @@ -0,0 +1,431 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + .text + + /* Variables and functions. */ + .extern ullMaxAPIPriorityMask + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vApplicationIRQHandler + .extern ullPortInterruptNesting + .extern ullPortTaskHasFPUContext + .extern ullCriticalNesting + .extern ullPortYieldRequired + .extern ullICCEOIR + .extern ullICCIAR + .extern _freertos_vector_table + + .global FreeRTOS_IRQ_Handler + .global FreeRTOS_SWI_Handler + .global vPortRestoreTaskContext + + +.macro portSAVE_CONTEXT + + /* Switch to use the EL0 stack pointer. */ + MSR SPSEL, #0 + + /* Save the entire context. */ + STP X0, X1, [SP, #-0x10]! + STP X2, X3, [SP, #-0x10]! + STP X4, X5, [SP, #-0x10]! + STP X6, X7, [SP, #-0x10]! + STP X8, X9, [SP, #-0x10]! + STP X10, X11, [SP, #-0x10]! + STP X12, X13, [SP, #-0x10]! + STP X14, X15, [SP, #-0x10]! + STP X16, X17, [SP, #-0x10]! + STP X18, X19, [SP, #-0x10]! + STP X20, X21, [SP, #-0x10]! + STP X22, X23, [SP, #-0x10]! + STP X24, X25, [SP, #-0x10]! + STP X26, X27, [SP, #-0x10]! + STP X28, X29, [SP, #-0x10]! + STP X30, XZR, [SP, #-0x10]! + + /* Save the SPSR. */ +#if defined( GUEST ) + MRS X3, SPSR_EL1 + MRS X2, ELR_EL1 +#else + MRS X3, SPSR_EL3 + /* Save the ELR. */ + MRS X2, ELR_EL3 +#endif + + STP X2, X3, [SP, #-0x10]! + + /* Save the critical section nesting depth. */ + LDR X0, ullCriticalNestingConst + LDR X3, [X0] + + /* Save the FPU context indicator. */ + LDR X0, ullPortTaskHasFPUContextConst + LDR X2, [X0] + + /* Save the FPU context, if any (32 128-bit registers). */ + CMP X2, #0 + B.EQ 1f + STP Q0, Q1, [SP,#-0x20]! + STP Q2, Q3, [SP,#-0x20]! + STP Q4, Q5, [SP,#-0x20]! + STP Q6, Q7, [SP,#-0x20]! + STP Q8, Q9, [SP,#-0x20]! + STP Q10, Q11, [SP,#-0x20]! + STP Q12, Q13, [SP,#-0x20]! + STP Q14, Q15, [SP,#-0x20]! + STP Q16, Q17, [SP,#-0x20]! + STP Q18, Q19, [SP,#-0x20]! + STP Q20, Q21, [SP,#-0x20]! + STP Q22, Q23, [SP,#-0x20]! + STP Q24, Q25, [SP,#-0x20]! + STP Q26, Q27, [SP,#-0x20]! + STP Q28, Q29, [SP,#-0x20]! + STP Q30, Q31, [SP,#-0x20]! + +1: + /* Store the critical nesting count and FPU context indicator. */ + STP X2, X3, [SP, #-0x10]! + + LDR X0, pxCurrentTCBConst + LDR X1, [X0] + MOV X0, SP /* Move SP into X0 for saving. */ + STR X0, [X1] + + /* Switch to use the ELx stack pointer. */ + MSR SPSEL, #1 + + .endm + +; /**********************************************************************/ + +.macro portRESTORE_CONTEXT + + /* Switch to use the EL0 stack pointer. */ + MSR SPSEL, #0 + + /* Set the SP to point to the stack of the task being restored. */ + LDR X0, pxCurrentTCBConst + LDR X1, [X0] + LDR X0, [X1] + MOV SP, X0 + + LDP X2, X3, [SP], #0x10 /* Critical nesting and FPU context. */ + + /* Set the PMR register to be correct for the current critical nesting + depth. */ + LDR X0, ullCriticalNestingConst /* X0 holds the address of ullCriticalNesting. */ + MOV X1, #255 /* X1 holds the unmask value. */ + LDR X4, ullICCPMRConst /* X4 holds the address of the ICCPMR constant. */ + CMP X3, #0 + LDR X5, [X4] /* X5 holds the address of the ICCPMR register. */ + B.EQ 1f + LDR X6, ullMaxAPIPriorityMaskConst + LDR X1, [X6] /* X1 holds the mask value. */ +1: + STR W1, [X5] /* Write the mask value to ICCPMR. */ + DSB SY /* _RB_Barriers probably not required here. */ + ISB SY + STR X3, [X0] /* Restore the task's critical nesting count. */ + + /* Restore the FPU context indicator. */ + LDR X0, ullPortTaskHasFPUContextConst + STR X2, [X0] + + /* Restore the FPU context, if any. */ + CMP X2, #0 + B.EQ 1f + LDP Q30, Q31, [SP], #0x20 + LDP Q28, Q29, [SP], #0x20 + LDP Q26, Q27, [SP], #0x20 + LDP Q24, Q25, [SP], #0x20 + LDP Q22, Q23, [SP], #0x20 + LDP Q20, Q21, [SP], #0x20 + LDP Q18, Q19, [SP], #0x20 + LDP Q16, Q17, [SP], #0x20 + LDP Q14, Q15, [SP], #0x20 + LDP Q12, Q13, [SP], #0x20 + LDP Q10, Q11, [SP], #0x20 + LDP Q8, Q9, [SP], #0x20 + LDP Q6, Q7, [SP], #0x20 + LDP Q4, Q5, [SP], #0x20 + LDP Q2, Q3, [SP], #0x20 + LDP Q0, Q1, [SP], #0x20 +1: + LDP X2, X3, [SP], #0x10 /* SPSR and ELR. */ + +#if defined( GUEST ) + /* Restore the SPSR. */ + MSR SPSR_EL1, X3 + /* Restore the ELR. */ + MSR ELR_EL1, X2 +#else + /* Restore the SPSR. */ + MSR SPSR_EL3, X3 /*_RB_ Assumes started in EL3. */ + /* Restore the ELR. */ + MSR ELR_EL3, X2 +#endif + + LDP X30, XZR, [SP], #0x10 + LDP X28, X29, [SP], #0x10 + LDP X26, X27, [SP], #0x10 + LDP X24, X25, [SP], #0x10 + LDP X22, X23, [SP], #0x10 + LDP X20, X21, [SP], #0x10 + LDP X18, X19, [SP], #0x10 + LDP X16, X17, [SP], #0x10 + LDP X14, X15, [SP], #0x10 + LDP X12, X13, [SP], #0x10 + LDP X10, X11, [SP], #0x10 + LDP X8, X9, [SP], #0x10 + LDP X6, X7, [SP], #0x10 + LDP X4, X5, [SP], #0x10 + LDP X2, X3, [SP], #0x10 + LDP X0, X1, [SP], #0x10 + + /* Switch to use the ELx stack pointer. _RB_ Might not be required. */ + MSR SPSEL, #1 + + ERET + + .endm + + +/****************************************************************************** + * FreeRTOS_SWI_Handler handler is used to perform a context switch. + *****************************************************************************/ +.align 8 +.type FreeRTOS_SWI_Handler, %function +FreeRTOS_SWI_Handler: + /* Save the context of the current task and select a new task to run. */ + portSAVE_CONTEXT +#if defined( GUEST ) + MRS X0, ESR_EL1 +#else + MRS X0, ESR_EL3 +#endif + + LSR X1, X0, #26 + +#if defined( GUEST ) + CMP X1, #0x15 /* 0x15 = SVC instruction. */ +#else + CMP X1, #0x17 /* 0x17 = SMC instruction. */ +#endif + B.NE FreeRTOS_Abort + BL vTaskSwitchContext + + portRESTORE_CONTEXT + +FreeRTOS_Abort: + /* Full ESR is in X0, exception class code is in X1. */ + B . + +/****************************************************************************** + * vPortRestoreTaskContext is used to start the scheduler. + *****************************************************************************/ +.align 8 +.type vPortRestoreTaskContext, %function +vPortRestoreTaskContext: +.set freertos_vector_base, _freertos_vector_table + + /* Install the FreeRTOS interrupt handlers. */ + LDR X1, =freertos_vector_base +#if defined( GUEST ) + MSR VBAR_EL1, X1 +#else + MSR VBAR_EL3, X1 +#endif + DSB SY + ISB SY + + /* Start the first task. */ + portRESTORE_CONTEXT + + +/****************************************************************************** + * FreeRTOS_IRQ_Handler handles IRQ entry and exit. + *****************************************************************************/ +.align 8 +.type FreeRTOS_IRQ_Handler, %function +FreeRTOS_IRQ_Handler: + /* Save volatile registers. */ + STP X0, X1, [SP, #-0x10]! + STP X2, X3, [SP, #-0x10]! + STP X4, X5, [SP, #-0x10]! + STP X6, X7, [SP, #-0x10]! + STP X8, X9, [SP, #-0x10]! + STP X10, X11, [SP, #-0x10]! + STP X12, X13, [SP, #-0x10]! + STP X14, X15, [SP, #-0x10]! + STP X16, X17, [SP, #-0x10]! + STP X18, X19, [SP, #-0x10]! + STP X29, X30, [SP, #-0x10]! + + /* Save the SPSR and ELR. */ +#if defined( GUEST ) + MRS X3, SPSR_EL1 + MRS X2, ELR_EL1 +#else + MRS X3, SPSR_EL3 + MRS X2, ELR_EL3 +#endif + STP X2, X3, [SP, #-0x10]! + + /* Increment the interrupt nesting counter. */ + LDR X5, ullPortInterruptNestingConst + LDR X1, [X5] /* Old nesting count in X1. */ + ADD X6, X1, #1 + STR X6, [X5] /* Address of nesting count variable in X5. */ + + /* Maintain the interrupt nesting information across the function call. */ + STP X1, X5, [SP, #-0x10]! + + /* Read value from the interrupt acknowledge register, which is stored in W0 + for future parameter and interrupt clearing use. */ + LDR X2, ullICCIARConst + LDR X3, [X2] + LDR W0, [X3] /* ICCIAR in W0 as parameter. */ + + /* Maintain the ICCIAR value across the function call. */ + STP X0, X1, [SP, #-0x10]! + + /* Call the C handler. */ + BL vApplicationIRQHandler + + /* Disable interrupts. */ + MSR DAIFSET, #2 + DSB SY + ISB SY + + /* Restore the ICCIAR value. */ + LDP X0, X1, [SP], #0x10 + + /* End IRQ processing by writing ICCIAR to the EOI register. */ + LDR X4, ullICCEOIRConst + LDR X4, [X4] + STR W0, [X4] + + /* Restore the critical nesting count. */ + LDP X1, X5, [SP], #0x10 + STR X1, [X5] + + /* Has interrupt nesting unwound? */ + CMP X1, #0 + B.NE Exit_IRQ_No_Context_Switch + + /* Is a context switch required? */ + LDR X0, ullPortYieldRequiredConst + LDR X1, [X0] + CMP X1, #0 + B.EQ Exit_IRQ_No_Context_Switch + + /* Reset ullPortYieldRequired to 0. */ + MOV X2, #0 + STR X2, [X0] + + /* Restore volatile registers. */ + LDP X4, X5, [SP], #0x10 /* SPSR and ELR. */ +#if defined( GUEST ) + MSR SPSR_EL1, X5 + MSR ELR_EL1, X4 +#else + MSR SPSR_EL3, X5 /*_RB_ Assumes started in EL3. */ + MSR ELR_EL3, X4 +#endif + DSB SY + ISB SY + + LDP X29, X30, [SP], #0x10 + LDP X18, X19, [SP], #0x10 + LDP X16, X17, [SP], #0x10 + LDP X14, X15, [SP], #0x10 + LDP X12, X13, [SP], #0x10 + LDP X10, X11, [SP], #0x10 + LDP X8, X9, [SP], #0x10 + LDP X6, X7, [SP], #0x10 + LDP X4, X5, [SP], #0x10 + LDP X2, X3, [SP], #0x10 + LDP X0, X1, [SP], #0x10 + + /* Save the context of the current task and select a new task to run. */ + portSAVE_CONTEXT + BL vTaskSwitchContext + portRESTORE_CONTEXT + +Exit_IRQ_No_Context_Switch: + /* Restore volatile registers. */ + LDP X4, X5, [SP], #0x10 /* SPSR and ELR. */ +#if defined( GUEST ) + MSR SPSR_EL1, X5 + MSR ELR_EL1, X4 +#else + MSR SPSR_EL3, X5 /*_RB_ Assumes started in EL3. */ + MSR ELR_EL3, X4 +#endif + DSB SY + ISB SY + + LDP X29, X30, [SP], #0x10 + LDP X18, X19, [SP], #0x10 + LDP X16, X17, [SP], #0x10 + LDP X14, X15, [SP], #0x10 + LDP X12, X13, [SP], #0x10 + LDP X10, X11, [SP], #0x10 + LDP X8, X9, [SP], #0x10 + LDP X6, X7, [SP], #0x10 + LDP X4, X5, [SP], #0x10 + LDP X2, X3, [SP], #0x10 + LDP X0, X1, [SP], #0x10 + + ERET + + + + +.align 8 +pxCurrentTCBConst: .dword pxCurrentTCB +ullCriticalNestingConst: .dword ullCriticalNesting +ullPortTaskHasFPUContextConst: .dword ullPortTaskHasFPUContext + +ullICCPMRConst: .dword ullICCPMR +ullMaxAPIPriorityMaskConst: .dword ullMaxAPIPriorityMask +vApplicationIRQHandlerConst: .word vApplicationIRQHandler +ullPortInterruptNestingConst: .dword ullPortInterruptNesting +ullPortYieldRequiredConst: .dword ullPortYieldRequired +ullICCIARConst: .dword ullICCIAR +ullICCEOIRConst: .dword ullICCEOIR + + + +.end + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/portmacro.h new file mode 100644 index 0000000..8215504 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/portmacro.h @@ -0,0 +1,211 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE size_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef portBASE_TYPE BaseType_t; +typedef uint64_t UBaseType_t; + +typedef uint64_t TickType_t; +#define portMAX_DELAY ( ( TickType_t ) 0xffffffffffffffff ) + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do +not need to be guarded with a critical section. */ +#define portTICK_TYPE_IS_ATOMIC 1 + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 16 +#define portPOINTER_SIZE_TYPE uint64_t + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Called at the end of an ISR that can cause a context switch. */ +#define portEND_SWITCHING_ISR( xSwitchRequired )\ +{ \ +extern uint64_t ullPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ullPortYieldRequired = pdTRUE; \ + } \ +} + +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +#if defined( GUEST ) + #define portYIELD() __asm volatile ( "SVC 0" ::: "memory" ) +#else + #define portYIELD() __asm volatile ( "SMC 0" ::: "memory" ) +#endif +/*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern UBaseType_t uxPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( UBaseType_t uxNewMaskValue ); +extern void vPortInstallFreeRTOSVectorTable( void ); + +#define portDISABLE_INTERRUPTS() \ + __asm volatile ( "MSR DAIFSET, #2" ::: "memory" ); \ + __asm volatile ( "DSB SY" ); \ + __asm volatile ( "ISB SY" ); + +#define portENABLE_INTERRUPTS() \ + __asm volatile ( "MSR DAIFCLR, #2" ::: "memory" ); \ + __asm volatile ( "DSB SY" ); \ + __asm volatile ( "ISB SY" ); + + +/* These macros do not globally disable/enable interrupts. They do mask off +interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMask() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not required for this port but included in case common demo code that uses these +macros is used. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Prototype of the FreeRTOS tick handler. This must be installed as the +handler for whichever peripheral is used to generate the RTOS tick. */ +void FreeRTOS_Tick_Handler( void ); + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() +before any floating point instructions are executed. */ +void vPortTaskUsesFPU( void ); +#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + +#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) +#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( uxReadyPriorities ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() +#endif /* configASSERT */ + +#define portNOP() __asm volatile( "NOP" ) +#define portINLINE __inline + +#ifdef __cplusplus + } /* extern C */ +#endif + + +/* The number of bits to shift for an interrupt priority is dependent on the +number of bits implemented by the interrupt controller. */ +#if configUNIQUE_INTERRUPT_PRIORITIES == 16 + #define portPRIORITY_SHIFT 4 + #define portMAX_BINARY_POINT_VALUE 3 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 + #define portPRIORITY_SHIFT 3 + #define portMAX_BINARY_POINT_VALUE 2 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 + #define portPRIORITY_SHIFT 2 + #define portMAX_BINARY_POINT_VALUE 1 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 + #define portPRIORITY_SHIFT 1 + #define portMAX_BINARY_POINT_VALUE 0 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 + #define portPRIORITY_SHIFT 0 + #define portMAX_BINARY_POINT_VALUE 0 +#else + #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware +#endif + +/* Interrupt controller access addresses. */ +#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) +#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) +#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) +#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) + +#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) +#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) +#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) ) +#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) ) + +#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/port.c new file mode 100644 index 0000000..3b62283 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/port.c @@ -0,0 +1,568 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS + #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET + #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configUNIQUE_INTERRUPT_PRIORITIES + #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif /* configSETUP_TICK_INTERRUPT */ + +#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 + #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/* In case security extensions are implemented. */ +#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) +#endif + +/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in +portmacro.h. */ +#ifndef configCLEAR_TICK_INTERRUPT + #define configCLEAR_TICK_INTERRUPT() +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* In all GICs 255 can be written to the priority mask register to unmask all +(but the lowest) interrupt priority. */ +#define portUNMASK_VALUE ( 0xFFUL ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINTERRUPT_ENABLE_BIT ( 0x80UL ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary +point is zero. */ +#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user +mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/* The critical section macros only mask interrupts up to an application +determined priority level. Sometimes it is necessary to turn interrupt off in +the CPU itself before modifying certain hardware registers. */ +#define portCPU_IRQ_DISABLE() \ + __asm volatile ( "CPSID i" ::: "memory" ); \ + __asm volatile ( "DSB" ); \ + __asm volatile ( "ISB" ); + +#define portCPU_IRQ_ENABLE() \ + __asm volatile ( "CPSIE i" ::: "memory" ); \ + __asm volatile ( "DSB" ); \ + __asm volatile ( "ISB" ); + + +/* Macro to unmask all interrupt priorities. */ +#define portCLEAR_INTERRUPT_MASK() \ +{ \ + portCPU_IRQ_DISABLE(); \ + portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ + __asm volatile ( "DSB \n" \ + "ISB \n" ); \ + portCPU_IRQ_ENABLE(); \ +} + +#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portBIT_0_SET ( ( uint8_t ) 0x01 ) + +/* Let the user override the pre-loading of the initial LR with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* The space on the stack required to hold the FPU registers. This is 32 64-bit +registers, plus a 32-bit status register. */ +#define portFPU_REGISTER_WORDS ( ( 32 * 2 ) + 1 ) + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/* + * If the application provides an implementation of vApplicationIRQHandler(), + * then it will get called directly without saving the FPU registers on + * interrupt entry, and this weak implementation of + * vApplicationFPUSafeIRQHandler() is just provided to remove linkage errors - + * it should never actually get called so its implementation contains a + * call to configASSERT() that will always fail. + * + * If the application provides its own implementation of + * vApplicationFPUSafeIRQHandler() then the implementation of + * vApplicationIRQHandler() provided in portASM.S will save the FPU registers + * before calling it. + * + * Therefore, if the application writer wants FPU registers to be saved on + * interrupt entry their IRQ handler must be called + * vApplicationFPUSafeIRQHandler(), and if the application writer does not want + * FPU registers to be saved on interrupt entry their IRQ handler must be + * called vApplicationIRQHandler(). + */ +void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then +a floating point context must be saved and restored for the task. */ +volatile uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +volatile uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +volatile uint32_t ulPortInterruptNesting = 0UL; + +/* Used in the asm file. */ +__attribute__(( used )) const uint32_t ulICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS; +__attribute__(( used )) const uint32_t ulICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS; +__attribute__(( used )) const uint32_t ulICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS; +__attribute__(( used )) const uint32_t ulMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + The fist real value on the stack is the status register, which is set for + system mode, with interrupts enabled. A few NULLs are added first to ensure + GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + #if( configUSE_TASK_FPU_SUPPORT == 1 ) + { + /* The task will start without a floating point context. A task that + uses the floating point hardware must call vPortTaskUsesFPU() before + executing any floating point instructions. */ + pxTopOfStack--; + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + } + #elif( configUSE_TASK_FPU_SUPPORT == 2 ) + { + /* The task will start with a floating point context. Leave enough + space for the registers - and ensure they are initialised to 0. */ + pxTopOfStack -= portFPU_REGISTER_WORDS; + memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) ); + + pxTopOfStack--; + *pxTopOfStack = pdTRUE; + ulPortTaskHasFPUContext = pdTRUE; + } + #else + { + #error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined. + } + #endif + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + #if( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine how many priority bits are implemented in the GIC. + + Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to + all possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Shift to the least significant bits. */ + while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET ) + { + ucMaxPriorityValue >>= ( uint8_t ) 0x01; + } + + /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read + value. */ + configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY ); + + /* Restore the clobbered interrupt priority register to its original + value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + + /* Only continue if the CPU is not in User mode. The CPU must be in a + Privileged mode for the scheduler to start. */ + __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) :: "memory" ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Only continue if the binary point value is set to its lowest possible + setting. See the comments in vPortValidateInterruptPriority() below for + more information. */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + + if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ) + { + /* Interrupts are turned off in the CPU itself to ensure tick does + not execute while the scheduler is being started. Interrupts are + automatically turned back on in the CPU when the first task starts + executing. */ + portCPU_IRQ_DISABLE(); + + /* Start the timer that generates the tick ISR. */ + configSETUP_TICK_INTERRUPT(); + + /* Start the first task executing. */ + vPortRestoreTaskContext(); + } + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + a non-privileged mode or the binary point register was not set to its lowest + possible value. prvTaskExitError() is referenced to prevent a compiler + warning about it being defined but not referenced in the case that the user + defines their own exit address. */ + ( void ) prvTaskExitError; + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Mask interrupts up to the max syscall interrupt priority. */ + ulPortSetInterruptMask(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portCLEAR_INTERRUPT_MASK(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + /* Set interrupt mask before altering scheduler structures. The tick + handler runs at the lowest priority, so interrupts cannot already be masked, + so there is no need to save and restore the current mask value. It is + necessary to turn off interrupts in the CPU itself while the ICCPMR is being + updated. */ + portCPU_IRQ_DISABLE(); + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm volatile ( "dsb \n" + "isb \n" ::: "memory" ); + portCPU_IRQ_ENABLE(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + /* Ensure all interrupt priorities are active again. */ + portCLEAR_INTERRUPT_MASK(); + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_FPU_SUPPORT != 2 ) + + void vPortTaskUsesFPU( void ) + { + uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm volatile ( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) : "memory" ); + } + +#endif /* configUSE_TASK_FPU_SUPPORT */ +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( uint32_t ulNewMaskValue ) +{ + if( ulNewMaskValue == pdFALSE ) + { + portCLEAR_INTERRUPT_MASK(); + } +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortSetInterruptMask( void ) +{ +uint32_t ulReturn; + + /* Interrupt in the CPU must be turned off while the ICCPMR is being + updated. */ + portCPU_IRQ_DISABLE(); + if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ) + { + /* Interrupts were already masked. */ + ulReturn = pdTRUE; + } + else + { + ulReturn = pdFALSE; + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm volatile ( "dsb \n" + "isb \n" ::: "memory" ); + } + portCPU_IRQ_ENABLE(); + + return ulReturn; +} +/*-----------------------------------------------------------*/ + +#if( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + /* The following assertion will fail if a service routine (ISR) for + an interrupt that has been assigned a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + function. ISR safe FreeRTOS API functions must *only* be called + from interrupts that have been assigned a priority at or below + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + Numerically low interrupt priority numbers represent logically high + interrupt priorities, therefore the priority of the interrupt must + be set to a value equal to or numerically *higher* than + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + FreeRTOS maintains separate thread and ISR API functions to ensure + interrupt entry is as fast and simple as possible. */ + configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); + + /* Priority grouping: The interrupt controller (GIC) allows the bits + that define each interrupt's priority to be split between bits that + define the interrupt's pre-emption priority bits and bits that define + the interrupt's sub-priority. For simplicity all bits must be defined + to be pre-emption priority bits. The following assertion will fail if + this is not the case (if some bits represent a sub-priority). + + The priority grouping is configured by the GIC's binary point register + (ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest + possible value (which may be above 0). */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ + +void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) +{ + ( void ) ulICCIAR; + configASSERT( ( volatile void * ) NULL ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/portASM.S new file mode 100644 index 0000000..d3aff1e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/portASM.S @@ -0,0 +1,323 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + .eabi_attribute Tag_ABI_align_preserved, 1 + .text + .arm + + .set SYS_MODE, 0x1f + .set SVC_MODE, 0x13 + .set IRQ_MODE, 0x12 + + /* Hardware registers. */ + .extern ulICCIAR + .extern ulICCEOIR + .extern ulICCPMR + + /* Variables and functions. */ + .extern ulMaxAPIPriorityMask + .extern _freertos_vector_table + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vApplicationIRQHandler + .extern ulPortInterruptNesting + .extern ulPortTaskHasFPUContext + + .global FreeRTOS_IRQ_Handler + .global FreeRTOS_SWI_Handler + .global vPortRestoreTaskContext + + + + +.macro portSAVE_CONTEXT + + /* Save the LR and SPSR onto the system mode stack before switching to + system mode to save the remaining system mode registers. */ + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + /* Push the critical nesting count. */ + LDR R2, ulCriticalNestingConst + LDR R1, [R2] + PUSH {R1} + + /* Does the task have a floating point context that needs saving? If + ulPortTaskHasFPUContext is 0 then no. */ + LDR R2, ulPortTaskHasFPUContextConst + LDR R3, [R2] + CMP R3, #0 + + /* Save the floating point context, if any. */ + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} + VPUSHNE {D16-D31} + PUSHNE {R1} + + /* Save ulPortTaskHasFPUContext itself. */ + PUSH {R3} + + /* Save the stack pointer in the TCB. */ + LDR R0, pxCurrentTCBConst + LDR R1, [R0] + STR SP, [R1] + + .endm + +; /**********************************************************************/ + +.macro portRESTORE_CONTEXT + + /* Set the SP to point to the stack of the task being restored. */ + LDR R0, pxCurrentTCBConst + LDR R1, [R0] + LDR SP, [R1] + + /* Is there a floating point context to restore? If the restored + ulPortTaskHasFPUContext is zero then no. */ + LDR R0, ulPortTaskHasFPUContextConst + POP {R1} + STR R1, [R0] + CMP R1, #0 + + /* Restore the floating point context, if any. */ + POPNE {R0} + VPOPNE {D16-D31} + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + /* Restore the critical section nesting depth. */ + LDR R0, ulCriticalNestingConst + POP {R1} + STR R1, [R0] + + /* Ensure the priority mask is correct for the critical nesting depth. */ + LDR R2, ulICCPMRConst + LDR R2, [R2] + CMP R1, #0 + MOVEQ R4, #255 + LDRNE R4, ulMaxAPIPriorityMaskConst + LDRNE R4, [R4] + STR R4, [R2] + + /* Restore all system mode registers other than the SP (which is already + being used). */ + POP {R0-R12, R14} + + /* Return to the task code, loading CPSR on the way. */ + RFEIA sp! + + .endm + + + + +/****************************************************************************** + * SVC handler is used to start the scheduler. + *****************************************************************************/ +.align 4 +.type FreeRTOS_SWI_Handler, %function +FreeRTOS_SWI_Handler: + /* Save the context of the current task and select a new task to run. */ + portSAVE_CONTEXT + LDR R0, vTaskSwitchContextConst + BLX R0 + portRESTORE_CONTEXT + + +/****************************************************************************** + * vPortRestoreTaskContext is used to start the scheduler. + *****************************************************************************/ +.type vPortRestoreTaskContext, %function +vPortRestoreTaskContext: + /* Switch to system mode. */ + CPS #SYS_MODE + portRESTORE_CONTEXT + +.align 4 +.type FreeRTOS_IRQ_Handler, %function +FreeRTOS_IRQ_Handler: + /* Return to the interrupted instruction. */ + SUB lr, lr, #4 + + /* Push the return address and SPSR. */ + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + /* Change to supervisor mode to allow reentry. */ + CPS #SVC_MODE + + /* Push used registers. */ + PUSH {r0-r4, r12} + + /* Increment nesting count. r3 holds the address of ulPortInterruptNesting + for future use. r1 holds the original ulPortInterruptNesting value for + future use. */ + LDR r3, ulPortInterruptNestingConst + LDR r1, [r3] + ADD r4, r1, #1 + STR r4, [r3] + + /* Read value from the interrupt acknowledge register, which is stored in r0 + for future parameter and interrupt clearing use. */ + LDR r2, ulICCIARConst + LDR r2, [r2] + LDR r0, [r2] + + /* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + future use. _RB_ Does this ever actually need to be done provided the start + of the stack is 8-byte aligned? */ + MOV r2, sp + AND r2, r2, #4 + SUB sp, sp, r2 + + /* Call the interrupt handler. r4 pushed to maintain alignment. */ + PUSH {r0-r4, lr} + LDR r1, vApplicationIRQHandlerConst + BLX r1 + POP {r0-r4, lr} + ADD sp, sp, r2 + + CPSID i + DSB + ISB + + /* Write the value read from ICCIAR to ICCEOIR. */ + LDR r4, ulICCEOIRConst + LDR r4, [r4] + STR r0, [r4] + + /* Restore the old nesting count. */ + STR r1, [r3] + + /* A context switch is never performed if the nesting count is not 0. */ + CMP r1, #0 + BNE exit_without_switch + + /* Did the interrupt request a context switch? r1 holds the address of + ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + use. */ + LDR r1, =ulPortYieldRequired + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch: + /* No context switch. Restore used registers, LR_irq and SPSR before + returning. */ + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit: + /* A context swtich is to be performed. Clear the context switch pending + flag. */ + MOV r0, #0 + STR r0, [r1] + + /* Restore used registers, LR-irq and SPSR before saving the context + to the task stack. */ + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + /* Call the function that selects the new task to execute. + vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + instructions, or 8 byte aligned stack allocated data. LR does not need + saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */ + LDR R0, vTaskSwitchContextConst + BLX R0 + + /* Restore the context of, and branch to, the task selected to execute + next. */ + portRESTORE_CONTEXT + + +/****************************************************************************** + * If the application provides an implementation of vApplicationIRQHandler(), + * then it will get called directly without saving the FPU registers on + * interrupt entry, and this weak implementation of + * vApplicationIRQHandler() will not get called. + * + * If the application provides its own implementation of + * vApplicationFPUSafeIRQHandler() then this implementation of + * vApplicationIRQHandler() will be called, save the FPU registers, and then + * call vApplicationFPUSafeIRQHandler(). + * + * Therefore, if the application writer wants FPU registers to be saved on + * interrupt entry their IRQ handler must be called + * vApplicationFPUSafeIRQHandler(), and if the application writer does not want + * FPU registers to be saved on interrupt entry their IRQ handler must be + * called vApplicationIRQHandler(). + *****************************************************************************/ + +.align 4 +.weak vApplicationIRQHandler +.type vApplicationIRQHandler, %function +vApplicationIRQHandler: + PUSH {LR} + FMRX R1, FPSCR + VPUSH {D0-D15} + VPUSH {D16-D31} + PUSH {R1} + + LDR r1, vApplicationFPUSafeIRQHandlerConst + BLX r1 + + POP {R0} + VPOP {D16-D31} + VPOP {D0-D15} + VMSR FPSCR, R0 + + POP {PC} + + +ulICCIARConst: .word ulICCIAR +ulICCEOIRConst: .word ulICCEOIR +ulICCPMRConst: .word ulICCPMR +pxCurrentTCBConst: .word pxCurrentTCB +ulCriticalNestingConst: .word ulCriticalNesting +ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext +ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask +vTaskSwitchContextConst: .word vTaskSwitchContext +vApplicationIRQHandlerConst: .word vApplicationIRQHandler +ulPortInterruptNestingConst: .word ulPortInterruptNesting +vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler + +.end + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/portmacro.h new file mode 100644 index 0000000..3da0b91 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CA9/portmacro.h @@ -0,0 +1,208 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +typedef uint32_t TickType_t; +#define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do +not need to be guarded with a critical section. */ +#define portTICK_TYPE_IS_ATOMIC 1 + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Called at the end of an ISR that can cause a context switch. */ +#define portEND_SWITCHING_ISR( xSwitchRequired )\ +{ \ +extern uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ +} + +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +#define portYIELD() __asm volatile ( "SWI 0" ::: "memory" ); + + +/*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern uint32_t ulPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); +extern void vPortInstallFreeRTOSVectorTable( void ); + +/* These macros do not globally disable/enable interrupts. They do mask off +interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() +#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not required for this port but included in case common demo code that uses these +macros is used. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Prototype of the FreeRTOS tick handler. This must be installed as the +handler for whichever peripheral is used to generate the RTOS tick. */ +void FreeRTOS_Tick_Handler( void ); + +/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are +created without an FPU context and must call vPortTaskUsesFPU() to give +themselves an FPU context before using any FPU instructions. If +configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context +by default. */ +#if( configUSE_TASK_FPU_SUPPORT != 2 ) + void vPortTaskUsesFPU( void ); +#else + /* Each task has an FPU context already, so define this function away to + nothing to prevent it being called accidentally. */ + #define vPortTaskUsesFPU() +#endif +#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + +#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) +#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() +#endif /* configASSERT */ + +#define portNOP() __asm volatile( "NOP" ) +#define portINLINE __inline + +#ifdef __cplusplus + } /* extern C */ +#endif + + +/* The number of bits to shift for an interrupt priority is dependent on the +number of bits implemented by the interrupt controller. */ +#if configUNIQUE_INTERRUPT_PRIORITIES == 16 + #define portPRIORITY_SHIFT 4 + #define portMAX_BINARY_POINT_VALUE 3 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 + #define portPRIORITY_SHIFT 3 + #define portMAX_BINARY_POINT_VALUE 2 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 + #define portPRIORITY_SHIFT 2 + #define portMAX_BINARY_POINT_VALUE 1 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 + #define portPRIORITY_SHIFT 1 + #define portMAX_BINARY_POINT_VALUE 0 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 + #define portPRIORITY_SHIFT 0 + #define portMAX_BINARY_POINT_VALUE 0 +#else + #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware +#endif + +/* Interrupt controller access addresses. */ +#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) +#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) +#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) +#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) + +#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) +#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) +#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) ) +#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) ) + +#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c new file mode 100644 index 0000000..bad10db --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c @@ -0,0 +1,566 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM0 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#ifndef portMISSED_COUNTS_FACTOR + #define portMISSED_COUNTS_FACTOR ( 45UL ) +#endif + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case it messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__( ( naked ) ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void vPortStartFirstTask( void ) __attribute__( ( naked ) ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/*-----------------------------------------------------------*/ + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11..R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being defined + * but never called. ulDummy is used purely to quieten other warnings + * about code appearing after this function is called - making ulDummy + * volatile makes the compiler think the function could return and + * therefore not output an 'unreachable code' warning for code that appears + * after it. */ + } +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + /* This function is no longer used, but retained for backward + * compatibility. */ +} +/*-----------------------------------------------------------*/ + +void vPortStartFirstTask( void ) +{ + /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector + * table offset register that can be used to locate the initial stack value. + * Not all M0 parts have the application vector table at address 0. */ + __asm volatile ( + " .syntax unified \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Obtain location of pxCurrentTCB. */ + " ldr r3, [r2] \n" + " ldr r0, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " movs r0, #2 \n"/* Switch to the psp stack. */ + " msr CONTROL, r0 \n" + " isb \n" + " pop {r0-r5} \n"/* Pop the registers that are saved automatically. */ + " mov lr, r5 \n"/* lr is now in r5. */ + " pop {r3} \n"/* Return address is now in r3. */ + " pop {r2} \n"/* Pop and discard XPSR. */ + " cpsie i \n"/* The first task has its context and interrupts can be enabled. */ + " bx r3 \n"/* Finally, jump to the user defined task code. */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB " + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimisation does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is completely + * within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMaskFromISR( void ) +{ + __asm volatile ( + " mrs r0, PRIMASK \n" + " cpsid i \n" + " bx lr " + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMaskFromISR( __attribute__( ( unused ) ) uint32_t ulMask ) +{ + __asm volatile ( + " msr PRIMASK, r0 \n" + " bx lr " + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " .syntax unified \n" + " mrs r0, psp \n" + " \n" + " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " subs r0, r0, #32 \n"/* Make space for the remaining low registers. */ + " str r0, [r2] \n"/* Save the new top of stack. */ + " stmia r0!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */ + " mov r4, r8 \n"/* Store the high registers. */ + " mov r5, r9 \n" + " mov r6, r10 \n" + " mov r7, r11 \n" + " stmia r0!, {r4-r7} \n" + " \n" + " push {r3, r14} \n" + " cpsid i \n" + " bl vTaskSwitchContext \n" + " cpsie i \n" + " pop {r2, r3} \n"/* lr goes in r3. r2 now holds tcb pointer. */ + " \n" + " ldr r1, [r2] \n" + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " adds r0, r0, #16 \n"/* Move to the high registers. */ + " ldmia r0!, {r4-r7} \n"/* Pop the high registers. */ + " mov r8, r4 \n" + " mov r9, r5 \n" + " mov r10, r6 \n" + " mov r11, r7 \n" + " \n" + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " \n" + " subs r0, r0, #32 \n"/* Go back for the low registers that are not automatically restored. */ + " ldmia r0!, {r4-r7} \n"/* Pop low registers. */ + " \n" + " bx r3 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB " + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR; + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrpts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h new file mode 100644 index 0000000..29806b6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h @@ -0,0 +1,124 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + extern void vPortYield( void ); + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portYIELD() vPortYield() + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + extern uint32_t ulSetInterruptMaskFromISR( void ) __attribute__( ( naked ) ); + extern void vClearInterruptMaskFromISR( uint32_t ulMask ) __attribute__( ( naked ) ); + + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMaskFromISR( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + + #define portNOP() + + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/port.c new file mode 100644 index 0000000..852a11c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portasm.c new file mode 100644 index 0000000..5276d8f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portasm.c @@ -0,0 +1,453 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " movs r5, #4 \n"/* r5 = 4. */ + " str r5, [r2] \n"/* Program RNR = 4. */ + " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r5, #5 \n"/* r5 = 5. */ + " str r5, [r2] \n"/* Program RNR = 5. */ + " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r5, #6 \n"/* r5 = 6. */ + " str r5, [r2] \n"/* Program RNR = 6. */ + " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r5, #7 \n"/* r5 = 7. */ + " str r5, [r2] \n"/* Program RNR = 7. */ + " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + " ldr r5, xSecureContextConst2 \n" + " str r1, [r5] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " msr control, r3 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r4 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + " ldr r4, xSecureContextConst2 \n" + " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + "xSecureContextConst2: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " tst r0, r1 \n"/* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + " beq running_privileged \n"/* If the result of previous AND operation was 0, branch. */ + " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " bx lr \n"/* Return. */ + " running_privileged: \n" + " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " movs r1, #1 \n"/* r1 = 1. */ + " bics r0, r1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " orrs r0, r1 \n"/* r0 = r0 | r1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, PRIMASK \n" + " cpsid i \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr PRIMASK, r0 \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " .extern SecureContext_SaveContext \n" + " .extern SecureContext_LoadContext \n" + " \n" + " mrs r1, psp \n"/* Read PSP in r1. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + " \n" + " cbz r0, save_ns_context \n"/* No secure context to save. */ + " push {r0-r2, r14} \n" + " bl SecureContext_SaveContext \n" + " pop {r0-r3} \n"/* LR is now in r3. */ + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl save_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #16 \n"/* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #12 \n"/* Make space for xSecureContext, PSPLIM and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + " b select_next_task \n" + " \n" + " save_ns_context: \n" + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #48 \n"/* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " adds r1, r1, #16 \n"/* r1 = r1 + 16. */ + " stmia r1!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " subs r1, r1, #48 \n"/* r1 = r1 - 48. */ + " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #44 \n"/* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r7} \n"/* Store xSecureContext, PSPLIM, LR and the low registers that are not saved automatically. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + #endif /* configENABLE_MPU */ + " \n" + " select_next_task: \n" + " cpsid i \n" + " bl vTaskSwitchContext \n" + " cpsie i \n" + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " movs r5, #4 \n"/* r5 = 4. */ + " str r5, [r2] \n"/* Program RNR = 4. */ + " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r5, #5 \n"/* r5 = 5. */ + " str r5, [r2] \n"/* Program RNR = 5. */ + " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r5, #6 \n"/* r5 = 6. */ + " str r5, [r2] \n"/* Program RNR = 6. */ + " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r5, #7 \n"/* r5 = 7. */ + " str r5, [r2] \n"/* Program RNR = 7. */ + " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */ + " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r5, #1 \n"/* r5 = 1. */ + " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r0, r2-r4} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r3 \n"/* Restore the CONTROL register value for the task. */ + " mov lr, r4 \n"/* LR = r4. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r4} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r4} \n" + " mov lr, r4 \n"/* LR = r4. */ + " lsls r2, r4, #25 \n"/* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #else /* configENABLE_MPU */ + " ldmia r1!, {r0, r2-r3} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " mov lr, r3 \n"/* LR = r3. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r3} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r3} \n" + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #endif /* configENABLE_MPU */ + " \n" + " restore_ns_context: \n" + " adds r1, r1, #16 \n"/* Move to the high registers. */ + " ldmia r1!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */ + " mov r8, r4 \n"/* r8 = r4. */ + " mov r9, r5 \n"/* r9 = r5. */ + " mov r10, r6 \n"/* r10 = r6. */ + " mov r11, r7 \n"/* r11 = r7. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " subs r1, r1, #32 \n"/* Go back to the low registers. */ + " ldmia r1!, {r4-r7} \n"/* Restore the low registers that are not automatically restored. */ + " bx lr \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + "xSecureContextConst: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " movs r0, #4 \n" + " mov r1, lr \n" + " tst r0, r1 \n" + " beq stacking_used_msp \n" + " mrs r0, psp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " stacking_used_msp: \n" + " mrs r0, msp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ + +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " svc %0 \n"/* Secure context is allocated in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r1, [r0] \n"/* The first item in the TCB is the top of the stack. */ + " ldr r0, [r1] \n"/* The first item on the stack is the task's xSecureContext. */ + " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */ + " beq free_secure_context \n" + " bx lr \n"/* There is no secure context (xSecureContext is NULL). */ + " free_secure_context: \n" + " svc %0 \n"/* Secure context is freed in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portmacro.h new file mode 100644 index 0000000..61cd152 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context.c new file mode 100644 index 0000000..046bf4e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context.c @@ -0,0 +1,206 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief CONTROL value for privileged tasks. + * + * Bit[0] - 0 --> Thread mode is privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 + +/** + * @brief CONTROL value for un-privileged tasks. + * + * Bit[0] - 1 --> Thread mode is un-privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 +/*-----------------------------------------------------------*/ + +/** + * @brief Structure to represent secure context. + * + * @note Since stack grows down, pucStackStart is the highest address while + * pucStackLimit is the first addess of the allocated memory. + */ +typedef struct SecureContext +{ + uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ + uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ + uint8_t * pucStackStart; /**< First location of the stack memory. */ +} SecureContext_t; +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* No stack for thread mode until a task's context is loaded. */ + secureportSET_PSPLIM( securecontextNO_STACK ); + secureportSET_PSP( securecontextNO_STACK ); + + #if ( configENABLE_MPU == 1 ) + { + /* Configure thread mode to use PSP and to be unprivileged. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); + } + #else /* configENABLE_MPU */ + { + /* Configure thread mode to use PSP and to be privileged.. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); + } + #endif /* configENABLE_MPU */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ) +#else /* configENABLE_MPU */ + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) +#endif /* configENABLE_MPU */ +{ + uint8_t * pucStackMemory = NULL; + uint32_t ulIPSR; + SecureContextHandle_t xSecureContextHandle = NULL; + + #if ( configENABLE_MPU == 1 ) + uint32_t * pulCurrentStackPointer = NULL; + #endif /* configENABLE_MPU */ + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Allocate the context structure. */ + xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) ); + + if( xSecureContextHandle != NULL ) + { + /* Allocate the stack space. */ + pucStackMemory = pvPortMalloc( ulSecureStackSize ); + + if( pucStackMemory != NULL ) + { + /* Since stack grows down, the starting point will be the last + * location. Note that this location is next to the last + * allocated byte because the hardware decrements the stack + * pointer before writing i.e. if stack pointer is 0x2, a push + * operation will decrement the stack pointer to 0x1 and then + * write at 0x1. */ + xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize; + + /* The stack cannot go beyond this location. This value is + * programmed in the PSPLIM register on context switch.*/ + xSecureContextHandle->pucStackLimit = pucStackMemory; + + #if ( configENABLE_MPU == 1 ) + { + /* Store the correct CONTROL value for the task on the stack. + * This value is programmed in the CONTROL register on + * context switch. */ + pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart; + pulCurrentStackPointer--; + + if( ulIsTaskPrivileged ) + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED; + } + else + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED; + } + + /* Store the current stack pointer. This value is programmed in + * the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; + } + #else /* configENABLE_MPU */ + { + /* Current SP is set to the starting of the stack. This + * value programmed in the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart; + } + #endif /* configENABLE_MPU */ + } + else + { + /* Free the context to avoid memory leak and make sure to return + * NULL to indicate failure. */ + vPortFree( xSecureContextHandle ); + xSecureContextHandle = NULL; + } + } + } + + return xSecureContextHandle; +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Ensure that valid parameters are passed. */ + secureportASSERT( xSecureContextHandle != NULL ); + + /* Free the stack space. */ + vPortFree( xSecureContextHandle->pucStackLimit ); + + /* Free the context itself. */ + vPortFree( xSecureContextHandle ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context.h new file mode 100644 index 0000000..532a407 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_CONTEXT_H__ +#define __SECURE_CONTEXT_H__ + +/* Standard includes. */ +#include + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/** + * @brief PSP value when no task's context is loaded. + */ +#define securecontextNO_STACK 0x0 + +/** + * @brief Opaque handle. + */ +struct SecureContext; +typedef struct SecureContext * SecureContextHandle_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Initializes the secure context management system. + * + * PSP is set to NULL and therefore a task must allocate and load a context + * before calling any secure side function in the thread mode. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureContext_Init( void ); + +/** + * @brief Allocates a context on the secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] ulSecureStackSize Size of the stack to allocate on secure side. + * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise. + * + * @return Opaque context handle if context is successfully allocated, NULL + * otherwise. + */ +#if ( configENABLE_MPU == 1 ) + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ); +#else /* configENABLE_MPU */ + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); +#endif /* configENABLE_MPU */ + +/** + * @brief Frees the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the + * context to be freed. + */ +void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Loads the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be loaded. + */ +void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Saves the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be saved. + */ +void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ); + +#endif /* __SECURE_CONTEXT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context_port.c new file mode 100644 index 0000000..ade0abf --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_context_port.c @@ -0,0 +1,91 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, load_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */ + " msr control, r3 \n"/* CONTROL = r3. */ + #endif /* configENABLE_MPU */ + " msr psplim, r2 \n"/* PSPLIM = r2. */ + " msr psp, r1 \n"/* PSP = r1. */ + " \n" + " load_ctx_therad_mode: \n" + " nop \n" + " \n" + ::: "r0", "r1", "r2" + ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " mrs r1, psp \n"/* r1 = PSP. */ + #if ( configENABLE_MPU == 1 ) + " mrs r2, control \n"/* r2 = CONTROL. */ + " subs r1, r1, #4 \n"/* Make space for the CONTROL value on the stack. */ + " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + " stmia r1!, {r2} \n"/* Store CONTROL value on the stack. */ + #else /* configENABLE_MPU */ + " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + #endif /* configENABLE_MPU */ + " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */ + " msr psplim, r1 \n"/* PSPLIM = securecontextNO_STACK. */ + " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + " \n" + " save_ctx_therad_mode: \n" + " nop \n" + " \n" + ::"i" ( securecontextNO_STACK ) : "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_heap.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_heap.c new file mode 100644 index 0000000..82dbd9e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_heap.c @@ -0,0 +1,454 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure context heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Total heap size. + */ +#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) + +/* No test marker by default. */ +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif + +/* No tracing by default. */ +#ifndef traceMALLOC + #define traceMALLOC( pvReturn, xWantedSize ) +#endif + +/* No tracing by default. */ +#ifndef traceFREE + #define traceFREE( pv, xBlockSize ) +#endif + +/* Block sizes must not get too small. */ +#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) +/*-----------------------------------------------------------*/ + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#else /* configAPPLICATION_ALLOCATED_HEAP */ + static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/** + * @brief The linked list structure. + * + * This is used to link free blocks in order of their memory address. + */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */ + size_t xBlockSize; /**< The size of the free block. */ +} BlockLink_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Called automatically to setup the required heap structures the first + * time pvPortMalloc() is called. + */ +static void prvHeapInit( void ); + +/** + * @brief Inserts a block of memory that is being freed into the correct + * position in the list of free memory blocks. + * + * The block being freed will be merged with the block in front it and/or the + * block behind it if the memory blocks are adjacent to each other. + * + * @param[in] pxBlockToInsert The block being freed. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ); +/*-----------------------------------------------------------*/ + +/** + * @brief The size of the structure placed at the beginning of each allocated + * memory block must by correctly byte aligned. + */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + +/** + * @brief Create a couple of list links to mark the start and end of the list. + */ +static BlockLink_t xStart, * pxEnd = NULL; + +/** + * @brief Keeps track of the number of free bytes remaining, but says nothing + * about fragmentation. + */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; + +/** + * @brief Gets set to the top bit of an size_t type. + * + * When this bit in the xBlockSize member of an BlockLink_t structure is set + * then the block belongs to the application. When the bit is free the block is + * still part of the free heap space. + */ +static size_t xBlockAllocatedBit = 0; +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + size_t uxAddress; + size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; + + /* Ensure the heap starts on a correctly aligned boundary. */ + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* pxEnd is used to mark the end of the list of free blocks and is inserted + * at the end of the heap space. */ + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space, minus the space taken by pxEnd. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; + pxFirstFreeBlock->pxNextFreeBlock = pxEnd; + + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( pxEnd == NULL ) + { + prvHeapInit(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Check the requested block size is not so large that the top bit is set. + * The top bit of the block size member of the BlockLink_t structure is used + * to determine who owns the block - the application or the kernel, so it + * must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned to the required number of + * bytes. */ + if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. */ + xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); + secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size was + * not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + + /* Calculate the sizes of two blocks split from the single + * block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( pxNewBlockLink ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned by + * the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + + #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */ + + secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + secureportASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + secureportDISABLE_NON_SECURE_INTERRUPTS(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + } + secureportENABLE_NON_SECURE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_heap.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_heap.h new file mode 100644 index 0000000..fa78046 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_heap.h @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_HEAP_H__ +#define __SECURE_HEAP_H__ + +/* Standard includes. */ +#include + +/** + * @brief Allocates memory from heap. + * + * @param[in] xWantedSize The size of the memory to be allocated. + * + * @return Pointer to the memory region if the allocation is successful, NULL + * otherwise. + */ +void * pvPortMalloc( size_t xWantedSize ); + +/** + * @brief Frees the previously allocated memory. + * + * @param[in] pv Pointer to the memory to be freed. + */ +void vPortFree( void * pv ); + +#endif /* __SECURE_HEAP_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_init.c new file mode 100644 index 0000000..4e6018d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_init.c @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure init includes. */ +#include "secure_init.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Constants required to manipulate the SCB. + */ +#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ +#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) +#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) +#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) +#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) + +/** + * @brief Constants required to manipulate the FPU. + */ +#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define secureinitFPCCR_LSPENS_POS ( 29UL ) +#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) +#define secureinitFPCCR_TS_POS ( 26UL ) +#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) + +#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ +#define secureinitNSACR_CP10_POS ( 10UL ) +#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) +#define secureinitNSACR_CP11_POS ( 11UL ) +#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | + ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | + ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); + } +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is + * permitted. CP11 should be programmed to the same value as CP10. */ + *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); + + /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures + * that we can enable/disable lazy stacking in port.c file. */ + *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK ); + + /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP + * registers (S16-S31) are also pushed to stack on exception entry and + * restored on exception return. */ + *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_init.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_init.h new file mode 100644 index 0000000..39deb36 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_init.h @@ -0,0 +1,53 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_INIT_H__ +#define __SECURE_INIT_H__ + +/** + * @brief De-prioritizes the non-secure exceptions. + * + * This is needed to ensure that the non-secure PendSV runs at the lowest + * priority. Context switch is done in the non-secure PendSV handler. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_DePrioritizeNSExceptions( void ); + +/** + * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access. + * + * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point + * Registers are not leaked to the non-secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_EnableNSFPUAccess( void ); + +#endif /* __SECURE_INIT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_port_macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_port_macros.h new file mode 100644 index 0000000..7b8dbed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23/secure/secure_port_macros.h @@ -0,0 +1,133 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_PORT_MACROS_H__ +#define __SECURE_PORT_MACROS_H__ + +/** + * @brief Byte alignment requirements. + */ +#define secureportBYTE_ALIGNMENT 8 +#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) + +/** + * @brief Macro to declare a function as non-secure callable. + */ +#if defined( __IAR_SYSTEMS_ICC__ ) + #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root +#else + #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) ) +#endif + +/** + * @brief Set the secure PRIMASK value. + */ +#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Set the non-secure PRIMASK value. + */ +#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Read the PSP value in the given variable. + */ +#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ + __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) + +/** + * @brief Set the PSP to the given value. + */ +#define secureportSET_PSP( pucCurrentStackPointer ) \ + __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) + +/** + * @brief Set the PSPLIM to the given value. + */ +#define secureportSET_PSPLIM( pucStackLimit ) \ + __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) + +/** + * @brief Set the NonSecure MSP to the given value. + */ +#define secureportSET_MSP_NS( pucMainStackPointer ) \ + __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) + +/** + * @brief Set the CONTROL register to the given value. + */ +#define secureportSET_CONTROL( ulControl ) \ + __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) + +/** + * @brief Read the Interrupt Program Status Register (IPSR) value in the given + * variable. + */ +#define secureportREAD_IPSR( ulIPSR ) \ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) + +/** + * @brief PRIMASK value to enable interrupts. + */ +#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 + +/** + * @brief PRIMASK value to disable interrupts. + */ +#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 + +/** + * @brief Disable secure interrupts. + */ +#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Disable non-secure interrupts. + * + * This effectively disables context switches. + */ +#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Enable non-secure interrupts. + */ +#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) + +/** + * @brief Assert definition. + */ +#define secureportASSERT( x ) \ + if( ( x ) == 0 ) \ + { \ + secureportDISABLE_SECURE_INTERRUPTS(); \ + secureportDISABLE_NON_SECURE_INTERRUPTS(); \ + for( ; ; ) {; } \ + } + +#endif /* __SECURE_PORT_MACROS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/port.c new file mode 100644 index 0000000..b4639df --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portasm.c new file mode 100644 index 0000000..ef8f3e4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portasm.c @@ -0,0 +1,366 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " bics r3, r4 \n"/* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r4, [r1] \n"/* r4 = *r1 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " ldmia r1!, {r5,r6} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r4, #5 \n"/* r4 = 5. */ + " str r4, [r2] \n"/* Program RNR = 5. */ + " ldmia r1!, {r5,r6} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r4, #6 \n"/* r4 = 6. */ + " str r4, [r2] \n"/* Program RNR = 6. */ + " ldmia r1!, {r5,r6} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r4, #7 \n"/* r4 = 7. */ + " str r4, [r2] \n"/* Program RNR = 7. */ + " ldmia r1!, {r5,r6} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " orrs r3, r4 \n"/* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " msr control, r2 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r2} \n"/* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " bx r2 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " tst r0, r1 \n"/* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + " beq running_privileged \n"/* If the result of previous AND operation was 0, branch. */ + " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " bx lr \n"/* Return. */ + " running_privileged: \n" + " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " movs r1, #1 \n"/* r1 = 1. */ + " bics r0, r1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " movs r1, #1 \n"/* r1 = 1. */ + " orrs r0, r1 \n"/* r0 = r0 | r1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, PRIMASK \n" + " cpsid i \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr PRIMASK, r0 \n" + " bx lr \n" + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r0, psp \n"/* Read PSP in r0. */ + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r0, r0, #44 \n"/* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + " str r0, [r1] \n"/* Save the new top of stack in TCB. */ + " mrs r1, psplim \n"/* r1 = PSPLIM. */ + " mrs r2, control \n"/* r2 = CONTROL. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r0!, {r1-r7} \n"/* Store on the stack - PSPLIM, CONTROL, LR and low registers that are not automatically saved. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r0!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + #else /* configENABLE_MPU */ + " subs r0, r0, #40 \n"/* Make space for PSPLIM, LR and the remaining registers on the stack. */ + " str r0, [r1] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r0!, {r2-r7} \n"/* Store on the stack - PSPLIM, LR and low registers that are not automatically saved. */ + " mov r4, r8 \n"/* r4 = r8. */ + " mov r5, r9 \n"/* r5 = r9. */ + " mov r6, r10 \n"/* r6 = r10. */ + " mov r7, r11 \n"/* r7 = r11. */ + " stmia r0!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */ + #endif /* configENABLE_MPU */ + " \n" + " cpsid i \n" + " bl vTaskSwitchContext \n" + " cpsie i \n" + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " bics r3, r4 \n"/* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r4, [r1] \n"/* r4 = *r1 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " ldmia r1!, {r5,r6} \n"/* Read first set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write first set of RBAR/RLAR registers. */ + " movs r4, #5 \n"/* r4 = 5. */ + " str r4, [r2] \n"/* Program RNR = 5. */ + " ldmia r1!, {r5,r6} \n"/* Read second set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write second set of RBAR/RLAR registers. */ + " movs r4, #6 \n"/* r4 = 6. */ + " str r4, [r2] \n"/* Program RNR = 6. */ + " ldmia r1!, {r5,r6} \n"/* Read third set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write third set of RBAR/RLAR registers. */ + " movs r4, #7 \n"/* r4 = 7. */ + " str r4, [r2] \n"/* Program RNR = 7. */ + " ldmia r1!, {r5,r6} \n"/* Read fourth set of RBAR/RLAR from TCB. */ + " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */ + " stmia r3!, {r5,r6} \n"/* Write fourth set of RBAR/RLAR registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " movs r4, #1 \n"/* r4 = 1. */ + " orrs r3, r4 \n"/* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " adds r0, r0, #28 \n"/* Move to the high registers. */ + " ldmia r0!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */ + " mov r8, r4 \n"/* r8 = r4. */ + " mov r9, r5 \n"/* r9 = r5. */ + " mov r10, r6 \n"/* r10 = r6. */ + " mov r11, r7 \n"/* r11 = r7. */ + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " subs r0, r0, #44 \n"/* Move to the starting of the saved context. */ + " ldmia r0!, {r1-r7} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r7 restored. */ + " msr psplim, r1 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r2 \n"/* Restore the CONTROL register value for the task. */ + " bx r3 \n" + #else /* configENABLE_MPU */ + " adds r0, r0, #24 \n"/* Move to the high registers. */ + " ldmia r0!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */ + " mov r8, r4 \n"/* r8 = r4. */ + " mov r9, r5 \n"/* r9 = r5. */ + " mov r10, r6 \n"/* r10 = r6. */ + " mov r11, r7 \n"/* r11 = r7. */ + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " subs r0, r0, #40 \n"/* Move to the starting of the saved context. */ + " ldmia r0!, {r2-r7} \n"/* Read from stack - r2 = PSPLIM, r3 = LR and r4-r7 restored. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " bx r3 \n" + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " movs r0, #4 \n" + " mov r1, lr \n" + " tst r0, r1 \n" + " beq stacking_used_msp \n" + " mrs r0, psp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " stacking_used_msp: \n" + " mrs r0, msp \n" + " ldr r2, svchandler_address_const \n" + " bx r2 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portmacro.h new file mode 100644 index 0000000..61cd152 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ/non_secure/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c new file mode 100644 index 0000000..c8c3c5f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c @@ -0,0 +1,705 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM3 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is + * defined. The value should also ensure backward compatibility. + * FreeRTOS.org versions prior to V4.4.0 did not include this definition. */ +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 255 +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000UL ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case it messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__( ( naked ) ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ) __attribute__( ( naked ) ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvPortStartFirstTask( void ) __attribute__( ( naked ) ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being defined + * but never called. ulDummy is used purely to quieten other warnings + * about code appearing after this function is called - making ulDummy + * volatile makes the compiler think the function could return and + * therefore not output an 'unreachable code' warning for code that appears + * after it. */ + } +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + __asm volatile ( + " ldr r3, pxCurrentTCBConst2 \n"/* Restore the context. */ + " ldr r1, [r3] \n"/* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " ldmia r0!, {r4-r11} \n"/* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ + " msr psp, r0 \n"/* Restore the task stack pointer. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " orr r14, #0xd \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + ); +} +/*-----------------------------------------------------------*/ + +static void prvPortStartFirstTask( void ) +{ + __asm volatile ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc 0 \n"/* System call to start first task. */ + " nop \n" + " .ltorg \n" + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + prvPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimisation does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " mrs r0, psp \n" + " isb \n" + " \n" + " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " stmdb r0!, {r4-r11} \n"/* Save the remaining registers. */ + " str r0, [r2] \n"/* Save the new top of stack into the first member of the TCB. */ + " \n" + " stmdb sp!, {r3, r14} \n" + " mov r0, %0 \n" + " msr basepri, r0 \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldmia sp!, {r3, r14} \n" + " \n"/* Restore the context, including the critical nesting count. */ + " ldr r1, [r3] \n" + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " ldmia r0!, {r4-r11} \n"/* Pop the registers. */ + " msr psp, r0 \n" + " isb \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h new file mode 100644 index 0000000..3140278 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h @@ -0,0 +1,246 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __asm volatile ( "dsb" ::: "memory" ); \ + __asm volatile ( "isb" ); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" ); + + return ucReturn; + } + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI; + + __asm volatile + ( + " mov %0, %1 \n"\ + " msr basepri, %0 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulOriginalBASEPRI, ulNewBASEPRI; + + __asm volatile + ( + " mrs %0, basepri \n"\ + " mov %1, %2 \n"\ + " msr basepri, %1 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + + /* This return will not be reached but is necessary to prevent compiler + * warnings. */ + return ulOriginalBASEPRI; + } +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) + { + __asm volatile + ( + " msr basepri, %0 "::"r" ( ulNewMaskValue ) : "memory" + ); + } +/*-----------------------------------------------------------*/ + + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c new file mode 100644 index 0000000..b4639df --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.c new file mode 100644 index 0000000..aaab4cf --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.c @@ -0,0 +1,414 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst2 \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r3!, {r4-r11} \n"/* Read 4 set of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + " ldr r5, xSecureContextConst2 \n" + " str r1, [r5] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " msr control, r3 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r4 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + " ldr r4, xSecureContextConst2 \n" + " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */ + " msr psplim, r2 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + "xSecureContextConst2: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + " ite ne \n" + " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " bic r0, #1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " orr r0, #1 \n"/* r0 = r0 | 1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, basepri \n"/* r0 = basepri. Return original basepri value. */ + " mov r1, %0 \n"/* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " msr basepri, r1 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr basepri, r0 \n"/* basepri = ulMask. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " .extern SecureContext_SaveContext \n" + " .extern SecureContext_LoadContext \n" + " \n" + " mrs r1, psp \n"/* Read PSP in r1. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + " \n" + " cbz r0, save_ns_context \n"/* No secure context to save. */ + " push {r0-r2, r14} \n" + " bl SecureContext_SaveContext \n" + " pop {r0-r3} \n"/* LR is now in r3. */ + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl save_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #16 \n"/* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #12 \n"/* Make space for xSecureContext, PSPLIM and LR on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + " b select_next_task \n" + " \n" + " save_ns_context: \n" + " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r2, [r3] \n"/* Read pxCurrentTCB. */ + #if ( configENABLE_FPU == 1 ) + " tst lr, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vstmdbeq r1!, {s16-s31} \n"/* Store the FPU registers which are not saved automatically. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + " subs r1, r1, #48 \n"/* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " adds r1, r1, #16 \n"/* r1 = r1 + 16. */ + " stm r1, {r4-r11} \n"/* Store the registers that are not saved automatically. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mrs r3, control \n"/* r3 = CONTROL. */ + " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */ + " subs r1, r1, #16 \n"/* r1 = r1 - 16. */ + " stm r1, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + " subs r1, r1, #44 \n"/* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + " str r1, [r2] \n"/* Save the new top of stack in TCB. */ + " adds r1, r1, #12 \n"/* r1 = r1 + 12. */ + " stm r1, {r4-r11} \n"/* Store the registers that are not saved automatically. */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " subs r1, r1, #12 \n"/* r1 = r1 - 12. */ + " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + " \n" + " select_next_task: \n" + " mov r0, %0 \n"/* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */ + " msr basepri, r0 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n"/* r0 = 0. */ + " msr basepri, r0 \n"/* Enable interrupts. */ + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r3, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + " ldr r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r4, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r4, #4 \n"/* r4 = 4. */ + " str r4, [r2] \n"/* Program RNR = 4. */ + " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r3!, {r4-r11} \n"/* Read 4 sets of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r0, r2-r4} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r3 \n"/* Restore the CONTROL register value for the task. */ + " mov lr, r4 \n"/* LR = r4. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r4} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r4} \n" + " mov lr, r4 \n"/* LR = r4. */ + " lsls r2, r4, #25 \n"/* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #else /* configENABLE_MPU */ + " ldmia r1!, {r0, r2-r3} \n"/* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + " mov lr, r3 \n"/* LR = r3. */ + " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */ + " str r0, [r2] \n"/* Restore the task's xSecureContext. */ + " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */ + " push {r1,r3} \n" + " bl SecureContext_LoadContext \n"/* Restore the secure context. */ + " pop {r1,r3} \n" + " mov lr, r3 \n"/* LR = r3. */ + " lsls r2, r3, #25 \n"/* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + " bpl restore_ns_context \n"/* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + #endif /* configENABLE_MPU */ + " \n" + " restore_ns_context: \n" + " ldmia r1!, {r4-r11} \n"/* Restore the registers that are not automatically restored. */ + #if ( configENABLE_FPU == 1 ) + " tst lr, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vldmiaeq r1!, {s16-s31} \n"/* Restore the FPU registers which are not restored automatically. */ + #endif /* configENABLE_FPU */ + " msr psp, r1 \n"/* Remember the new top of stack for the task. */ + " bx lr \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + "xSecureContextConst: .word xSecureContext \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " ldr r1, svchandler_address_const \n" + " bx r1 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ + +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " svc %0 \n"/* Secure context is allocated in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r1, [r0] \n"/* The first item in the TCB is the top of the stack. */ + " ldr r0, [r1] \n"/* The first item on the stack is the task's xSecureContext. */ + " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */ + " it ne \n" + " svcne %0 \n"/* Secure context is freed in the supervisor call. */ + " bx lr \n"/* Return. */ + ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portmacro.h new file mode 100644 index 0000000..8e3b0b3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context.c new file mode 100644 index 0000000..046bf4e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context.c @@ -0,0 +1,206 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief CONTROL value for privileged tasks. + * + * Bit[0] - 0 --> Thread mode is privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 + +/** + * @brief CONTROL value for un-privileged tasks. + * + * Bit[0] - 1 --> Thread mode is un-privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 +/*-----------------------------------------------------------*/ + +/** + * @brief Structure to represent secure context. + * + * @note Since stack grows down, pucStackStart is the highest address while + * pucStackLimit is the first addess of the allocated memory. + */ +typedef struct SecureContext +{ + uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ + uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ + uint8_t * pucStackStart; /**< First location of the stack memory. */ +} SecureContext_t; +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* No stack for thread mode until a task's context is loaded. */ + secureportSET_PSPLIM( securecontextNO_STACK ); + secureportSET_PSP( securecontextNO_STACK ); + + #if ( configENABLE_MPU == 1 ) + { + /* Configure thread mode to use PSP and to be unprivileged. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); + } + #else /* configENABLE_MPU */ + { + /* Configure thread mode to use PSP and to be privileged.. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); + } + #endif /* configENABLE_MPU */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ) +#else /* configENABLE_MPU */ + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) +#endif /* configENABLE_MPU */ +{ + uint8_t * pucStackMemory = NULL; + uint32_t ulIPSR; + SecureContextHandle_t xSecureContextHandle = NULL; + + #if ( configENABLE_MPU == 1 ) + uint32_t * pulCurrentStackPointer = NULL; + #endif /* configENABLE_MPU */ + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Allocate the context structure. */ + xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) ); + + if( xSecureContextHandle != NULL ) + { + /* Allocate the stack space. */ + pucStackMemory = pvPortMalloc( ulSecureStackSize ); + + if( pucStackMemory != NULL ) + { + /* Since stack grows down, the starting point will be the last + * location. Note that this location is next to the last + * allocated byte because the hardware decrements the stack + * pointer before writing i.e. if stack pointer is 0x2, a push + * operation will decrement the stack pointer to 0x1 and then + * write at 0x1. */ + xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize; + + /* The stack cannot go beyond this location. This value is + * programmed in the PSPLIM register on context switch.*/ + xSecureContextHandle->pucStackLimit = pucStackMemory; + + #if ( configENABLE_MPU == 1 ) + { + /* Store the correct CONTROL value for the task on the stack. + * This value is programmed in the CONTROL register on + * context switch. */ + pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart; + pulCurrentStackPointer--; + + if( ulIsTaskPrivileged ) + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED; + } + else + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED; + } + + /* Store the current stack pointer. This value is programmed in + * the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; + } + #else /* configENABLE_MPU */ + { + /* Current SP is set to the starting of the stack. This + * value programmed in the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart; + } + #endif /* configENABLE_MPU */ + } + else + { + /* Free the context to avoid memory leak and make sure to return + * NULL to indicate failure. */ + vPortFree( xSecureContextHandle ); + xSecureContextHandle = NULL; + } + } + } + + return xSecureContextHandle; +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Ensure that valid parameters are passed. */ + secureportASSERT( xSecureContextHandle != NULL ); + + /* Free the stack space. */ + vPortFree( xSecureContextHandle->pucStackLimit ); + + /* Free the context itself. */ + vPortFree( xSecureContextHandle ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context.h new file mode 100644 index 0000000..532a407 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_CONTEXT_H__ +#define __SECURE_CONTEXT_H__ + +/* Standard includes. */ +#include + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/** + * @brief PSP value when no task's context is loaded. + */ +#define securecontextNO_STACK 0x0 + +/** + * @brief Opaque handle. + */ +struct SecureContext; +typedef struct SecureContext * SecureContextHandle_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Initializes the secure context management system. + * + * PSP is set to NULL and therefore a task must allocate and load a context + * before calling any secure side function in the thread mode. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureContext_Init( void ); + +/** + * @brief Allocates a context on the secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] ulSecureStackSize Size of the stack to allocate on secure side. + * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise. + * + * @return Opaque context handle if context is successfully allocated, NULL + * otherwise. + */ +#if ( configENABLE_MPU == 1 ) + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ); +#else /* configENABLE_MPU */ + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); +#endif /* configENABLE_MPU */ + +/** + * @brief Frees the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the + * context to be freed. + */ +void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Loads the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be loaded. + */ +void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Saves the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be saved. + */ +void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ); + +#endif /* __SECURE_CONTEXT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context_port.c new file mode 100644 index 0000000..64b2e7a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_context_port.c @@ -0,0 +1,88 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, load_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ + #if ( configENABLE_MPU == 1 ) + " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */ + " msr control, r3 \n"/* CONTROL = r3. */ + #endif /* configENABLE_MPU */ + " msr psplim, r2 \n"/* PSPLIM = r2. */ + " msr psp, r1 \n"/* PSP = r1. */ + " \n" + " load_ctx_therad_mode: \n" + " nop \n" + " \n" + ::: "r0", "r1", "r2" + ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + /* xSecureContextHandle value is in r0. */ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r1, ipsr \n"/* r1 = IPSR. */ + " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */ + " mrs r1, psp \n"/* r1 = PSP. */ + #if ( configENABLE_FPU == 1 ) + " vstmdb r1!, {s0} \n"/* Trigger the defferred stacking of FPU registers. */ + " vldmia r1!, {s0} \n"/* Nullify the effect of the pervious statement. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + " mrs r2, control \n"/* r2 = CONTROL. */ + " stmdb r1!, {r2} \n"/* Store CONTROL value on the stack. */ + #endif /* configENABLE_MPU */ + " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */ + " msr psplim, r1 \n"/* PSPLIM = securecontextNO_STACK. */ + " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + " \n" + " save_ctx_therad_mode: \n" + " nop \n" + " \n" + ::"i" ( securecontextNO_STACK ) : "r1", "memory" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_heap.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_heap.c new file mode 100644 index 0000000..82dbd9e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_heap.c @@ -0,0 +1,454 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure context heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Total heap size. + */ +#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) + +/* No test marker by default. */ +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif + +/* No tracing by default. */ +#ifndef traceMALLOC + #define traceMALLOC( pvReturn, xWantedSize ) +#endif + +/* No tracing by default. */ +#ifndef traceFREE + #define traceFREE( pv, xBlockSize ) +#endif + +/* Block sizes must not get too small. */ +#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) +/*-----------------------------------------------------------*/ + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#else /* configAPPLICATION_ALLOCATED_HEAP */ + static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/** + * @brief The linked list structure. + * + * This is used to link free blocks in order of their memory address. + */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */ + size_t xBlockSize; /**< The size of the free block. */ +} BlockLink_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Called automatically to setup the required heap structures the first + * time pvPortMalloc() is called. + */ +static void prvHeapInit( void ); + +/** + * @brief Inserts a block of memory that is being freed into the correct + * position in the list of free memory blocks. + * + * The block being freed will be merged with the block in front it and/or the + * block behind it if the memory blocks are adjacent to each other. + * + * @param[in] pxBlockToInsert The block being freed. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ); +/*-----------------------------------------------------------*/ + +/** + * @brief The size of the structure placed at the beginning of each allocated + * memory block must by correctly byte aligned. + */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + +/** + * @brief Create a couple of list links to mark the start and end of the list. + */ +static BlockLink_t xStart, * pxEnd = NULL; + +/** + * @brief Keeps track of the number of free bytes remaining, but says nothing + * about fragmentation. + */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; + +/** + * @brief Gets set to the top bit of an size_t type. + * + * When this bit in the xBlockSize member of an BlockLink_t structure is set + * then the block belongs to the application. When the bit is free the block is + * still part of the free heap space. + */ +static size_t xBlockAllocatedBit = 0; +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + size_t uxAddress; + size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; + + /* Ensure the heap starts on a correctly aligned boundary. */ + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* pxEnd is used to mark the end of the list of free blocks and is inserted + * at the end of the heap space. */ + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space, minus the space taken by pxEnd. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; + pxFirstFreeBlock->pxNextFreeBlock = pxEnd; + + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( pxEnd == NULL ) + { + prvHeapInit(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Check the requested block size is not so large that the top bit is set. + * The top bit of the block size member of the BlockLink_t structure is used + * to determine who owns the block - the application or the kernel, so it + * must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned to the required number of + * bytes. */ + if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. */ + xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); + secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size was + * not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + + /* Calculate the sizes of two blocks split from the single + * block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( pxNewBlockLink ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned by + * the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + + #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */ + + secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + secureportASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + secureportDISABLE_NON_SECURE_INTERRUPTS(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + } + secureportENABLE_NON_SECURE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_heap.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_heap.h new file mode 100644 index 0000000..fa78046 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_heap.h @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_HEAP_H__ +#define __SECURE_HEAP_H__ + +/* Standard includes. */ +#include + +/** + * @brief Allocates memory from heap. + * + * @param[in] xWantedSize The size of the memory to be allocated. + * + * @return Pointer to the memory region if the allocation is successful, NULL + * otherwise. + */ +void * pvPortMalloc( size_t xWantedSize ); + +/** + * @brief Frees the previously allocated memory. + * + * @param[in] pv Pointer to the memory to be freed. + */ +void vPortFree( void * pv ); + +#endif /* __SECURE_HEAP_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_init.c new file mode 100644 index 0000000..4e6018d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_init.c @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure init includes. */ +#include "secure_init.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Constants required to manipulate the SCB. + */ +#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ +#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) +#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) +#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) +#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) + +/** + * @brief Constants required to manipulate the FPU. + */ +#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define secureinitFPCCR_LSPENS_POS ( 29UL ) +#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) +#define secureinitFPCCR_TS_POS ( 26UL ) +#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) + +#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ +#define secureinitNSACR_CP10_POS ( 10UL ) +#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) +#define secureinitNSACR_CP11_POS ( 11UL ) +#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | + ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | + ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); + } +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is + * permitted. CP11 should be programmed to the same value as CP10. */ + *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); + + /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures + * that we can enable/disable lazy stacking in port.c file. */ + *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK ); + + /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP + * registers (S16-S31) are also pushed to stack on exception entry and + * restored on exception return. */ + *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_init.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_init.h new file mode 100644 index 0000000..39deb36 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_init.h @@ -0,0 +1,53 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_INIT_H__ +#define __SECURE_INIT_H__ + +/** + * @brief De-prioritizes the non-secure exceptions. + * + * This is needed to ensure that the non-secure PendSV runs at the lowest + * priority. Context switch is done in the non-secure PendSV handler. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_DePrioritizeNSExceptions( void ); + +/** + * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access. + * + * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point + * Registers are not leaked to the non-secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_EnableNSFPUAccess( void ); + +#endif /* __SECURE_INIT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_port_macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_port_macros.h new file mode 100644 index 0000000..7b8dbed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33/secure/secure_port_macros.h @@ -0,0 +1,133 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_PORT_MACROS_H__ +#define __SECURE_PORT_MACROS_H__ + +/** + * @brief Byte alignment requirements. + */ +#define secureportBYTE_ALIGNMENT 8 +#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) + +/** + * @brief Macro to declare a function as non-secure callable. + */ +#if defined( __IAR_SYSTEMS_ICC__ ) + #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root +#else + #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) ) +#endif + +/** + * @brief Set the secure PRIMASK value. + */ +#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Set the non-secure PRIMASK value. + */ +#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Read the PSP value in the given variable. + */ +#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ + __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) + +/** + * @brief Set the PSP to the given value. + */ +#define secureportSET_PSP( pucCurrentStackPointer ) \ + __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) + +/** + * @brief Set the PSPLIM to the given value. + */ +#define secureportSET_PSPLIM( pucStackLimit ) \ + __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) + +/** + * @brief Set the NonSecure MSP to the given value. + */ +#define secureportSET_MSP_NS( pucMainStackPointer ) \ + __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) + +/** + * @brief Set the CONTROL register to the given value. + */ +#define secureportSET_CONTROL( ulControl ) \ + __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) + +/** + * @brief Read the Interrupt Program Status Register (IPSR) value in the given + * variable. + */ +#define secureportREAD_IPSR( ulIPSR ) \ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) + +/** + * @brief PRIMASK value to enable interrupts. + */ +#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 + +/** + * @brief PRIMASK value to disable interrupts. + */ +#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 + +/** + * @brief Disable secure interrupts. + */ +#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Disable non-secure interrupts. + * + * This effectively disables context switches. + */ +#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Enable non-secure interrupts. + */ +#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) + +/** + * @brief Assert definition. + */ +#define secureportASSERT( x ) \ + if( ( x ) == 0 ) \ + { \ + secureportDISABLE_SECURE_INTERRUPTS(); \ + secureportDISABLE_NON_SECURE_INTERRUPTS(); \ + for( ; ; ) {; } \ + } + +#endif /* __SECURE_PORT_MACROS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/port.c new file mode 100644 index 0000000..852a11c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c new file mode 100644 index 0000000..98927a7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c @@ -0,0 +1,320 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION + * is defined correctly and privileged functions are placed in correct sections. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Portasm includes. */ +#include "portasm.h" + +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the + * header files. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r3, [r1] \n"/* r3 = *r1 i.e. r3 = MAIR0. */ + " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r3, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r3, #4 \n"/* r3 = 4. */ + " str r3, [r2] \n"/* Program RNR = 4. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst2 \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 set of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " msr control, r2 \n"/* Set this task's CONTROL value. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r3 \n"/* Finally, branch to EXC_RETURN. */ + #else /* configENABLE_MPU */ + " ldm r0!, {r1-r2} \n"/* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + " msr psplim, r1 \n"/* Set this task's PSPLIM value. */ + " movs r1, #2 \n"/* r1 = 2. */ + " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */ + " adds r0, #32 \n"/* Discard everything up to r0. */ + " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n"/* Ensure that interrupts are enabled when the first task starts. */ + " bx r2 \n"/* Finally, branch to EXC_RETURN. */ + #endif /* configENABLE_MPU */ + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst2: .word 0xe000ed94 \n" + "xMAIR0Const2: .word 0xe000edc0 \n" + "xRNRConst2: .word 0xe000ed98 \n" + "xRBARConst2: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + " ite ne \n" + " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, control \n"/* Read the CONTROL register. */ + " bic r0, #1 \n"/* Clear the bit 0. */ + " msr control, r0 \n"/* Write back the new CONTROL value. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " orr r0, #1 \n"/* r0 = r0 | 1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " ldr r0, xVTORConst \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n"/* Read the VTOR register which gives the address of vector table. */ + " ldr r0, [r0] \n"/* The first entry in vector table is stack pointer. */ + " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start the first task. */ + " nop \n" + " \n" + " .align 4 \n" + "xVTORConst: .word 0xe000ed08 \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " mrs r0, basepri \n"/* r0 = basepri. Return original basepri value. */ + " mov r1, %0 \n"/* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " msr basepri, r1 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " msr basepri, r0 \n"/* basepri = ulMask. */ + " dsb \n" + " isb \n" + " bx lr \n"/* Return. */ + ::: "memory" + ); +} +/*-----------------------------------------------------------*/ + +void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " .syntax unified \n" + " \n" + " mrs r0, psp \n"/* Read PSP in r0. */ + #if ( configENABLE_FPU == 1 ) + " tst lr, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vstmdbeq r0!, {s16-s31} \n"/* Store the FPU registers which are not saved automatically. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + " mrs r1, psplim \n"/* r1 = PSPLIM. */ + " mrs r2, control \n"/* r2 = CONTROL. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmdb r0!, {r1-r11} \n"/* Store on the stack - PSPLIM, CONTROL, LR and registers that are not automatically saved. */ + #else /* configENABLE_MPU */ + " mrs r2, psplim \n"/* r2 = PSPLIM. */ + " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */ + " stmdb r0!, {r2-r11} \n"/* Store on the stack - PSPLIM, LR and registers that are not automatically saved. */ + #endif /* configENABLE_MPU */ + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " str r0, [r1] \n"/* Save the new top of stack in TCB. */ + " \n" + " mov r0, %0 \n"/* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */ + " msr basepri, r0 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n"/* r0 = 0. */ + " msr basepri, r0 \n"/* Enable interrupts. */ + " \n" + " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + " ldr r1, [r2] \n"/* Read pxCurrentTCB. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + " \n" + #if ( configENABLE_MPU == 1 ) + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + " str r4, [r2] \n"/* Disable MPU. */ + " \n" + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + " ldr r3, [r1] \n"/* r3 = *r1 i.e. r3 = MAIR0. */ + " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */ + " str r3, [r2] \n"/* Program MAIR0. */ + " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */ + " movs r3, #4 \n"/* r3 = 4. */ + " str r3, [r2] \n"/* Program RNR = 4. */ + " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + " ldr r2, xRBARConst \n"/* r2 = 0xe000ed9c [Location of RBAR]. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of RBAR/RLAR registers from TCB. */ + " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */ + " \n" + " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + " str r4, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " ldmia r0!, {r1-r11} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */ + #else /* configENABLE_MPU */ + " ldmia r0!, {r2-r11} \n"/* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */ + #endif /* configENABLE_MPU */ + " \n" + #if ( configENABLE_FPU == 1 ) + " tst r3, #0x10 \n"/* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + " it eq \n" + " vldmiaeq r0!, {s16-s31} \n"/* Restore the FPU registers which are not restored automatically. */ + #endif /* configENABLE_FPU */ + " \n" + #if ( configENABLE_MPU == 1 ) + " msr psplim, r1 \n"/* Restore the PSPLIM register value for the task. */ + " msr control, r2 \n"/* Restore the CONTROL register value for the task. */ + #else /* configENABLE_MPU */ + " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */ + #endif /* configENABLE_MPU */ + " msr psp, r0 \n"/* Remember the new top of stack for the task. */ + " bx r3 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + #if ( configENABLE_MPU == 1 ) + "xMPUCTRLConst: .word 0xe000ed94 \n" + "xMAIR0Const: .word 0xe000edc0 \n" + "xRNRConst: .word 0xe000ed98 \n" + "xRBARConst: .word 0xe000ed9c \n" + #endif /* configENABLE_MPU */ + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ +{ + __asm volatile + ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " ldr r1, svchandler_address_const \n" + " bx r1 \n" + " \n" + " .align 4 \n" + "svchandler_address_const: .word vPortSVCHandler_C \n" + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portmacro.h new file mode 100644 index 0000000..8e3b0b3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure/portmacro.h @@ -0,0 +1,312 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c new file mode 100644 index 0000000..a1f70dd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c @@ -0,0 +1,875 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM3 MPU port. +*----------------------------------------------------------*/ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK ( 0 ) +#endif + +/* Constants required to access and manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) ) +#define portNVIC_SYS_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) ) +#define portNVIC_MEM_FAULT_ENABLE ( 1UL << 16UL ) + +/* Constants required to access and manipulate the MPU. */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_REGION_BASE_ADDRESS_REG ( *( ( volatile uint32_t * ) 0xe000ed9C ) ) +#define portMPU_REGION_ATTRIBUTE_REG ( *( ( volatile uint32_t * ) 0xe000edA0 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +#define portMPU_ENABLE ( 0x01UL ) +#define portMPU_BACKGROUND_ENABLE ( 1UL << 2UL ) +#define portPRIVILEGED_EXECUTION_START_ADDRESS ( 0UL ) +#define portMPU_REGION_VALID ( 0x10UL ) +#define portMPU_REGION_ENABLE ( 0x01UL ) +#define portPERIPHERALS_START_ADDRESS 0x40000000UL +#define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL + +/* Constants required to access and manipulate the SysTick. */ +#define portNVIC_SYSTICK_INT ( 0x00000002UL ) +#define portNVIC_SYSTICK_ENABLE ( 0x00000001UL ) +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) +#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 ) +#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Offsets in the stack to the parameters when inside the SVC handler. */ +#define portOFFSET_TO_PC ( 6 ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) +/*-----------------------------------------------------------*/ + +/* + * Configure a number of standard MPU regions that are used by all tasks. + */ +static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; + +/* + * Return the smallest MPU region size that a given number of bytes will fit + * into. The region size is returned as the value that should be programmed + * into the region attribute register for that region. + */ +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION; + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Standard FreeRTOS exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; +void xPortSysTickHandler( void ) __attribute__( ( optimize( "3" ) ) ) PRIVILEGED_FUNCTION; +void vPortSVCHandler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/* + * Starts the scheduler by restoring the context of the first task to run. + */ +static void prvRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/* + * C portion of the SVC handler. The SVC handler is split between an asm entry + * and a C wrapper for simplicity of coding and maintenance. + */ +static void prvSVCHandler( uint32_t * pulRegisters ) __attribute__( ( noinline ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Calls the port specific code to raise the privilege. + * + * @return pdFALSE if privilege was raised, pdTRUE otherwise. + */ +extern BaseType_t xPortRaisePrivilege( void ); + +/** + * @brief If xRunningPrivileged is not pdTRUE, calls the port specific + * code to reset the privilege, otherwise does nothing. + */ +extern void vPortResetPrivilege( BaseType_t xRunningPrivileged ); +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. Note this is not saved as part of the task context as context + * switches can only occur when uxCriticalNesting is zero. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = 0; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED; + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED; + } + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + /* Assumes psp was in use. */ + __asm volatile + ( + #ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */ + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + #else + " mrs r0, psp \n" + #endif + " b %0 \n" + ::"i" ( prvSVCHandler ) : "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +static void prvSVCHandler( uint32_t * pulParam ) +{ + uint8_t ucSVCNumber; + uint32_t ulPC; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* #if defined( __ARMCC_VERSION ) */ + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + /* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR. The first + * argument (r0) is pulParam[ 0 ]. */ + ulPC = pulParam[ portOFFSET_TO_PC ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + case portSVC_START_SCHEDULER: + portNVIC_SHPR2_REG |= portNVIC_SVC_PRI; + prvRestoreContextOfFirstTask(); + break; + + case portSVC_YIELD: + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required + * but do ensure the code is completely + * within the specified behaviour for the + * architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); + + break; + + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + case portSVC_RAISE_PRIVILEGE: /* Only raise the privilege, if the + * svc was raised from any of the + * system calls. */ + + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + __asm volatile + ( + " mrs r1, control \n"/* Obtain current control value. */ + " bic r1, #1 \n"/* Set privilege bit. */ + " msr control, r1 \n"/* Write back new control value. */ + ::: "r1", "memory" + ); + } + + break; + #else /* if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + case portSVC_RAISE_PRIVILEGE: + __asm volatile + ( + " mrs r1, control \n"/* Obtain current control value. */ + " bic r1, #1 \n"/* Set privilege bit. */ + " msr control, r1 \n"/* Write back new control value. */ + ::: "r1", "memory" + ); + break; + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + default: /* Unknown SVC call. */ + break; + } +} +/*-----------------------------------------------------------*/ + +static void prvRestoreContextOfFirstTask( void ) +{ + __asm volatile + ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " ldr r3, pxCurrentTCBConst2 \n"/* Restore the context. */ + " ldr r1, [r3] \n" + " ldr r0, [r1] \n"/* The first item in the TCB is the task top of stack. */ + " add r1, r1, #4 \n"/* Move onto the second item in the TCB... */ + " \n" + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r3, #1 \n"/* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " ldr r2, =0xe000ed9c \n"/* Region Base Address register. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers. */ + " stmia r2!, {r4-r11} \n"/* Write 4 sets of MPU registers. */ + " \n" + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r3, #1 \n"/* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + " \n" + " ldmia r0!, {r3, r4-r11} \n"/* Pop the registers that are not automatically saved on exception entry. */ + " msr control, r3 \n" + " msr psp, r0 \n"/* Restore the task stack pointer. */ + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldr r14, =0xfffffffd \n"/* Load exec return code. */ + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions + * to ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the same priority as the kernel, and the SVC + * handler higher priority so it can be used to exit a critical section (where + * lower priorities are masked). */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Configure the regions in the MPU that are common to all tasks. */ + prvSetupMPU(); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + __asm volatile ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start first task. */ + " nop \n" + " .ltorg \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" ); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " mrs r0, psp \n" + " \n" + " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " mrs r1, control \n" + " stmdb r0!, {r1, r4-r11} \n"/* Save the remaining registers. */ + " str r0, [r2] \n"/* Save the new top of stack into the first member of the TCB. */ + " \n" + " stmdb sp!, {r3, r14} \n" + " mov r0, %0 \n" + " msr basepri, r0 \n" + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldmia sp!, {r3, r14} \n" + " \n"/* Restore the context. */ + " ldr r1, [r3] \n" + " ldr r0, [r1] \n"/* The first item in the TCB is the task top of stack. */ + " add r1, r1, #4 \n"/* Move onto the second item in the TCB... */ + " \n" + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r3, #1 \n"/* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " ldr r2, =0xe000ed9c \n"/* Region Base Address register. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers. */ + " stmia r2!, {r4-r11} \n"/* Write 4 sets of MPU registers. */ + " \n" + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r3, #1 \n"/* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + " \n" + " ldmia r0!, {r3, r4-r11} \n"/* Pop the registers that are not automatically saved on exception entry. */ + " msr control, r3 \n" + " \n" + " msr psp, r0 \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + uint32_t ulDummy; + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) +{ + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupMPU( void ) +{ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __FLASH_segment_start__[]; + extern uint32_t __FLASH_segment_end__[]; + extern uint32_t __privileged_data_start__[]; + extern uint32_t __privileged_data_end__[]; + + /* Check the expected MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* First setup the unprivileged flash for unprivileged read only access. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portUNPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_ONLY ) | + ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged flash for privileged only access. This is where + * the kernel code is * placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_functions_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_ONLY ) | + ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __privileged_functions_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged data RAM region. This is where the kernel data + * is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_RAM_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* By default allow everything to access the general peripherals. The + * system peripherals and registers are protected. */ + portMPU_REGION_BASE_ADDRESS_REG = ( portPERIPHERALS_START_ADDRESS ) | + ( portMPU_REGION_VALID ) | + ( portGENERAL_PERIPHERALS_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) | + ( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) | + ( portMPU_REGION_ENABLE ); + + /* Enable the memory fault exception. */ + portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE; + + /* Enable the MPU with the background region configured. */ + portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE ); + } +} +/*-----------------------------------------------------------*/ + +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) +{ + uint32_t ulRegionSize, ulReturnValue = 4; + + /* 32 is the smallest region size, 31 is the largest valid value for + * ulReturnValue. */ + for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) ) + { + if( ulActualSizeInBytes <= ulRegionSize ) + { + break; + } + else + { + ulReturnValue++; + } + } + + /* Shift the code by one before returning so it can be written directly + * into the the correct bit position of the attribute register. */ + return( ulReturnValue << 1UL ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + " ite ne \n" + " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " orr r0, #1 \n"/* r0 = r0 | 1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) +{ + extern uint32_t __SRAM_segment_start__[]; + extern uint32_t __SRAM_segment_end__[]; + extern uint32_t __privileged_data_start__[]; + extern uint32_t __privileged_data_end__[]; + int32_t lIndex; + uint32_t ul; + + if( xRegions == NULL ) + { + /* No MPU regions are specified so allow access to all RAM. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Re-instate the privileged only RAM region as xRegion[ 0 ] will have + * just removed the privileged only parameters. */ + xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress = + ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + 1 ); + + xMPUSettings->xRegion[ 1 ].ulRegionAttribute = + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* Invalidate all other regions. */ + for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + } + else + { + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that the + * stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + /* Define the region that allows access to the stack. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) pxBottomOfStack ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); /* Region number. */ + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | /* Read and write. */ + ( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) | + ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | + ( portMPU_REGION_ENABLE ); + } + + lIndex = 0; + + for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL ) + { + /* Translate the generic region definition contained in + * xRegions into the CM3 specific MPU settings that are then + * stored in xMPUSettings. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = + ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + ul ); /* Region number. */ + + xMPUSettings->xRegion[ ul ].ulRegionAttribute = + ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) | + ( xRegions[ lIndex ].ulParameters ) | + ( portMPU_REGION_ENABLE ); + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + + lIndex++; + } + } +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredicable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/portmacro.h new file mode 100644 index 0000000..865a9cb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/portmacro.h @@ -0,0 +1,308 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* MPU specific constants. */ + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + + #define portMPU_REGION_READ_WRITE ( 0x03UL << 24UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 0x05UL << 24UL ) + #define portMPU_REGION_READ_ONLY ( 0x06UL << 24UL ) + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0x01UL << 24UL ) + #define portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY ( 0x02UL << 24UL ) + #define portMPU_REGION_CACHEABLE_BUFFERABLE ( 0x07UL << 16UL ) + #define portMPU_REGION_EXECUTE_NEVER ( 0x01UL << 28UL ) + + #define portUNPRIVILEGED_FLASH_REGION ( 0UL ) + #define portPRIVILEGED_FLASH_REGION ( 1UL ) + #define portPRIVILEGED_RAM_REGION ( 2UL ) + #define portGENERAL_PERIPHERALS_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + + #define portSWITCH_TO_USER_MODE() __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0 " ::: "r0", "memory" ) + + typedef struct MPU_REGION_REGISTERS + { + uint32_t ulRegionBaseAddress; + uint32_t ulRegionAttribute; + } xMPU_REGION_REGISTERS; + +/* Plus 1 to create space for the stack region. */ + typedef struct MPU_SETTINGS + { + xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS ]; + } xMPU_SETTINGS; + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/* SVC numbers for various services. */ + #define portSVC_START_SCHEDULER 0 + #define portSVC_YIELD 1 + #define portSVC_RAISE_PRIVILEGE 2 + +/* Scheduler utilities. */ + + #define portYIELD() __asm volatile ( " SVC %0 \n"::"i" ( portSVC_YIELD ) : "memory" ) + #define portYIELD_WITHIN_API() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __asm volatile ( "dsb" ::: "memory" ); \ + __asm volatile ( "isb" ); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" ); + + return ucReturn; + } + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif +/*-----------------------------------------------------------*/ + + extern BaseType_t xIsPrivileged( void ); + extern void vResetPrivilege( void ); + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI; + + __asm volatile + ( + " mov %0, %1 \n"\ + " msr basepri, %0 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulOriginalBASEPRI, ulNewBASEPRI; + + __asm volatile + ( + " mrs %0, basepri \n"\ + " mov %1, %2 \n"\ + " msr basepri, %1 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + + /* This return will not be reached but is necessary to prevent compiler + * warnings. */ + return ulOriginalBASEPRI; + } +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) + { + __asm volatile + ( + " msr basepri, %0 "::"r" ( ulNewMaskValue ) : "memory" + ); + } +/*-----------------------------------------------------------*/ + + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + + #ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY + #warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html" + #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0 + #endif +/*-----------------------------------------------------------*/ + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c new file mode 100644 index 0000000..9f7fb08 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c @@ -0,0 +1,783 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __VFP_FP__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7 + * r0p1 port. */ +#define portCPUID ( *( ( volatile uint32_t * ) 0xE000ed00 ) ) +#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL ) +#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case it messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__( ( naked ) ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ) __attribute__( ( naked ) ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvPortStartFirstTask( void ) __attribute__( ( naked ) ); + +/* + * Function to enable the VFP. + */ +static void vPortEnableVFP( void ) __attribute__( ( naked ) ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being defined + * but never called. ulDummy is used purely to quieten other warnings + * about code appearing after this function is called - making ulDummy + * volatile makes the compiler think the function could return and + * therefore not output an 'unreachable code' warning for code that appears + * after it. */ + } +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + __asm volatile ( + " ldr r3, pxCurrentTCBConst2 \n"/* Restore the context. */ + " ldr r1, [r3] \n"/* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " ldmia r0!, {r4-r11, r14} \n"/* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ + " msr psp, r0 \n"/* Restore the task stack pointer. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + ); +} +/*-----------------------------------------------------------*/ + +static void prvPortStartFirstTask( void ) +{ + /* Start the first task. This also clears the bit that indicates the FPU is + * in use in case the FPU was used before the scheduler was started - which + * would otherwise result in the unnecessary leaving of space in the SVC stack + * for lazy saving of FPU registers. */ + __asm volatile ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " mov r0, #0 \n"/* Clear the bit that indicates the FPU is in use, see comment above. */ + " msr control, r0 \n" + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc 0 \n"/* System call to start first task. */ + " nop \n" + " .ltorg \n" + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + /* This port can be used on all revisions of the Cortex-M7 core other than + * the r0p1 parts. r0p1 parts should use the port from the + * /source/portable/GCC/ARM_CM7/r0p1 directory. */ + configASSERT( portCPUID != portCORTEX_M7_r0p1_ID ); + configASSERT( portCPUID != portCORTEX_M7_r0p0_ID ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + prvPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimisation does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " mrs r0, psp \n" + " isb \n" + " \n" + " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " tst r14, #0x10 \n"/* Is the task using the FPU context? If so, push high vfp registers. */ + " it eq \n" + " vstmdbeq r0!, {s16-s31} \n" + " \n" + " stmdb r0!, {r4-r11, r14} \n"/* Save the core registers. */ + " str r0, [r2] \n"/* Save the new top of stack into the first member of the TCB. */ + " \n" + " stmdb sp!, {r0, r3} \n" + " mov r0, %0 \n" + " msr basepri, r0 \n" + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldmia sp!, {r0, r3} \n" + " \n" + " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " ldr r0, [r1] \n" + " \n" + " ldmia r0!, {r4-r11, r14} \n"/* Pop the core registers. */ + " \n" + " tst r14, #0x10 \n"/* Is the task using the FPU context? If so, pop the high vfp registers too. */ + " it eq \n" + " vldmiaeq r0!, {s16-s31} \n" + " \n" + " msr psp, r0 \n" + " isb \n" + " \n" + #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */ + #if WORKAROUND_PMU_CM001 == 1 + " push { r14 } \n" + " pop { pc } \n" + #endif + #endif + " \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } + +#endif /* #if configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +/* This is a naked function. */ +static void vPortEnableVFP( void ) +{ + __asm volatile + ( + " ldr.w r0, =0xE000ED88 \n"/* The FPU enable bits are in the CPACR. */ + " ldr r1, [r0] \n" + " \n" + " orr r1, r1, #( 0xf << 20 ) \n"/* Enable CP10 and CP11 coprocessors, then save back. */ + " str r1, [r0] \n" + " bx r14 \n" + " .ltorg \n" + ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..46e4677 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h @@ -0,0 +1,244 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __asm volatile ( "dsb" ::: "memory" ); \ + __asm volatile ( "isb" ); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" ); + + return ucReturn; + } + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI; + + __asm volatile + ( + " mov %0, %1 \n"\ + " msr basepri, %0 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulOriginalBASEPRI, ulNewBASEPRI; + + __asm volatile + ( + " mrs %0, basepri \n"\ + " mov %1, %2 \n"\ + " msr basepri, %1 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + + /* This return will not be reached but is necessary to prevent compiler + * warnings. */ + return ulOriginalBASEPRI; + } +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) + { + __asm volatile + ( + " msr basepri, %0 "::"r" ( ulNewMaskValue ) : "memory" + ); + } +/*-----------------------------------------------------------*/ + + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4_MPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4_MPU/port.c new file mode 100644 index 0000000..8ca0ab5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4_MPU/port.c @@ -0,0 +1,974 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4 MPU port. +*----------------------------------------------------------*/ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __VFP_FP__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK ( 0 ) +#endif + +/* Constants required to access and manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) ) +#define portNVIC_SYS_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) ) +#define portNVIC_MEM_FAULT_ENABLE ( 1UL << 16UL ) + +/* Constants required to access and manipulate the MPU. */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_REGION_BASE_ADDRESS_REG ( *( ( volatile uint32_t * ) 0xe000ed9C ) ) +#define portMPU_REGION_ATTRIBUTE_REG ( *( ( volatile uint32_t * ) 0xe000edA0 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portEXPECTED_MPU_TYPE_VALUE ( portTOTAL_NUM_REGIONS << 8UL ) +#define portMPU_ENABLE ( 0x01UL ) +#define portMPU_BACKGROUND_ENABLE ( 1UL << 2UL ) +#define portPRIVILEGED_EXECUTION_START_ADDRESS ( 0UL ) +#define portMPU_REGION_VALID ( 0x10UL ) +#define portMPU_REGION_ENABLE ( 0x01UL ) +#define portPERIPHERALS_START_ADDRESS 0x40000000UL +#define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL + +/* Constants required to access and manipulate the SysTick. */ +#define portNVIC_SYSTICK_INT ( 0x00000002UL ) +#define portNVIC_SYSTICK_ENABLE ( 0x00000001UL ) +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) +#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34UL ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000UL ) +#define portINITIAL_EXC_RETURN ( 0xfffffffdUL ) +#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 ) +#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Offsets in the stack to the parameters when inside the SVC handler. */ +#define portOFFSET_TO_PC ( 6 ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Configure a number of standard MPU regions that are used by all tasks. + */ +static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; + +/* + * Return the smallest MPU region size that a given number of bytes will fit + * into. The region size is returned as the value that should be programmed + * into the region attribute register for that region. + */ +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION; + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Standard FreeRTOS exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; +void xPortSysTickHandler( void ) PRIVILEGED_FUNCTION; +void vPortSVCHandler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/* + * Starts the scheduler by restoring the context of the first task to run. + */ +static void prvRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/* + * C portion of the SVC handler. The SVC handler is split between an asm entry + * and a C wrapper for simplicity of coding and maintenance. + */ +static void prvSVCHandler( uint32_t * pulRegisters ) __attribute__( ( noinline ) ) PRIVILEGED_FUNCTION; + +/* + * Function to enable the VFP. + */ +static void vPortEnableVFP( void ) __attribute__( ( naked ) ); + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Calls the port specific code to raise the privilege. + * + * @return pdFALSE if privilege was raised, pdTRUE otherwise. + */ +extern BaseType_t xPortRaisePrivilege( void ); + +/** + * @brief If xRunningPrivileged is not pdTRUE, calls the port specific + * code to reset the privilege, otherwise does nothing. + */ +extern void vPortResetPrivilege( BaseType_t xRunningPrivileged ); +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. Note this is not saved as part of the task context as context + * switches can only occur when uxCriticalNesting is zero. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = 0; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED; + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED; + } + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + /* Assumes psp was in use. */ + __asm volatile + ( + #ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */ + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + #else + " mrs r0, psp \n" + #endif + " b %0 \n" + ::"i" ( prvSVCHandler ) : "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +static void prvSVCHandler( uint32_t * pulParam ) +{ + uint8_t ucSVCNumber; + uint32_t ulPC; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* #if defined( __ARMCC_VERSION ) */ + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + /* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR. The first + * argument (r0) is pulParam[ 0 ]. */ + ulPC = pulParam[ portOFFSET_TO_PC ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + case portSVC_START_SCHEDULER: + portNVIC_SHPR2_REG |= portNVIC_SVC_PRI; + prvRestoreContextOfFirstTask(); + break; + + case portSVC_YIELD: + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required + * but do ensure the code is completely + * within the specified behaviour for the + * architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); + + break; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + case portSVC_RAISE_PRIVILEGE: /* Only raise the privilege, if the + * svc was raised from any of the + * system calls. */ + + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + __asm volatile + ( + " mrs r1, control \n"/* Obtain current control value. */ + " bic r1, #1 \n"/* Set privilege bit. */ + " msr control, r1 \n"/* Write back new control value. */ + ::: "r1", "memory" + ); + } + + break; + #else /* if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + case portSVC_RAISE_PRIVILEGE: + __asm volatile + ( + " mrs r1, control \n"/* Obtain current control value. */ + " bic r1, #1 \n"/* Set privilege bit. */ + " msr control, r1 \n"/* Write back new control value. */ + ::: "r1", "memory" + ); + break; + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + default: /* Unknown SVC call. */ + break; + } +} +/*-----------------------------------------------------------*/ + +static void prvRestoreContextOfFirstTask( void ) +{ + __asm volatile + ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " ldr r3, pxCurrentTCBConst2 \n"/* Restore the context. */ + " ldr r1, [r3] \n" + " ldr r0, [r1] \n"/* The first item in the TCB is the task top of stack. */ + " add r1, r1, #4 \n"/* Move onto the second item in the TCB... */ + " \n" + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r3, #1 \n"/* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " ldr r2, =0xe000ed9c \n"/* Region Base Address register. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */ + " stmia r2, {r4-r11} \n"/* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */ + " \n" + #if ( portTOTAL_NUM_REGIONS == 16 ) + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */ + " stmia r2, {r4-r11} \n"/* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */ + " stmia r2, {r4-r11} \n"/* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */ + #endif /* portTOTAL_NUM_REGIONS == 16. */ + " \n" + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r3, #1 \n"/* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + " \n" + " ldmia r0!, {r3-r11, r14} \n"/* Pop the registers that are not automatically saved on exception entry. */ + " msr control, r3 \n" + " msr psp, r0 \n"/* Restore the task stack pointer. */ + " mov r0, #0 \n" + " msr basepri, r0 \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the same priority as the kernel, and the SVC + * handler higher priority so it can be used to exit a critical section (where + * lower priorities are masked). */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Configure the regions in the MPU that are common to all tasks. */ + prvSetupMPU(); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. This also clears the bit that indicates the FPU is + * in use in case the FPU was used before the scheduler was started - which + * would otherwise result in the unnecessary leaving of space in the SVC stack + * for lazy saving of FPU registers. */ + __asm volatile ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " mov r0, #0 \n"/* Clear the bit that indicates the FPU is in use, see comment above. */ + " msr control, r0 \n" + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc %0 \n"/* System call to start first task. */ + " nop \n" + " .ltorg \n" + ::"i" ( portSVC_START_SCHEDULER ) : "memory" ); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " mrs r0, psp \n" + " isb \n" + " \n" + " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " tst r14, #0x10 \n"/* Is the task using the FPU context? If so, push high vfp registers. */ + " it eq \n" + " vstmdbeq r0!, {s16-s31} \n" + " \n" + " mrs r1, control \n" + " stmdb r0!, {r1, r4-r11, r14} \n"/* Save the remaining registers. */ + " str r0, [r2] \n"/* Save the new top of stack into the first member of the TCB. */ + " \n" + " stmdb sp!, {r0, r3} \n" + " mov r0, %0 \n" + " msr basepri, r0 \n" + " dsb \n" + " isb \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldmia sp!, {r0, r3} \n" + " \n"/* Restore the context. */ + " ldr r1, [r3] \n" + " ldr r0, [r1] \n"/* The first item in the TCB is the task top of stack. */ + " add r1, r1, #4 \n"/* Move onto the second item in the TCB... */ + " \n" + " dmb \n"/* Complete outstanding transfers before disabling MPU. */ + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " bic r3, #1 \n"/* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + " str r3, [r2] \n"/* Disable MPU. */ + " \n" + " ldr r2, =0xe000ed9c \n"/* Region Base Address register. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */ + " stmia r2, {r4-r11} \n"/* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */ + " \n" + #if ( portTOTAL_NUM_REGIONS == 16 ) + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */ + " stmia r2, {r4-r11} \n"/* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */ + " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */ + " stmia r2, {r4-r11} \n"/* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */ + #endif /* portTOTAL_NUM_REGIONS == 16. */ + " \n" + " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ + " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ + " orr r3, #1 \n"/* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + " str r3, [r2] \n"/* Enable MPU. */ + " dsb \n"/* Force memory writes before continuing. */ + " \n" + " ldmia r0!, {r3-r11, r14} \n"/* Pop the registers that are not automatically saved on exception entry. */ + " msr control, r3 \n" + " \n" + " tst r14, #0x10 \n"/* Is the task using the FPU context? If so, pop the high vfp registers too. */ + " it eq \n" + " vldmiaeq r0!, {s16-s31} \n" + " \n" + " msr psp, r0 \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + uint32_t ulDummy; + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) +{ + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE ); +} +/*-----------------------------------------------------------*/ + +/* This is a naked function. */ +static void vPortEnableVFP( void ) +{ + __asm volatile + ( + " ldr.w r0, =0xE000ED88 \n"/* The FPU enable bits are in the CPACR. */ + " ldr r1, [r0] \n" + " \n" + " orr r1, r1, #( 0xf << 20 ) \n"/* Enable CP10 and CP11 coprocessors, then save back. */ + " str r1, [r0] \n" + " bx r14 \n" + " .ltorg \n" + ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupMPU( void ) +{ + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __FLASH_segment_start__; + extern uint32_t * __FLASH_segment_end__; + extern uint32_t * __privileged_data_start__; + extern uint32_t * __privileged_data_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __FLASH_segment_start__[]; + extern uint32_t __FLASH_segment_end__[]; + extern uint32_t __privileged_data_start__[]; + extern uint32_t __privileged_data_end__[]; + #endif /* if defined( __ARMCC_VERSION ) */ + + /* The only permitted number of regions are 8 or 16. */ + configASSERT( ( portTOTAL_NUM_REGIONS == 8 ) || ( portTOTAL_NUM_REGIONS == 16 ) ); + + /* Ensure that the configTOTAL_MPU_REGIONS is configured correctly. */ + configASSERT( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ); + + /* Check the expected MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* First setup the unprivileged flash for unprivileged read only access. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portUNPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_ONLY ) | + ( ( configTEX_S_C_B_FLASH & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged flash for privileged only access. This is where + * the kernel code is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_functions_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_ONLY ) | + ( ( configTEX_S_C_B_FLASH & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __privileged_functions_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged data RAM region. This is where the kernel data + * is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_RAM_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* By default allow everything to access the general peripherals. The + * system peripherals and registers are protected. */ + portMPU_REGION_BASE_ADDRESS_REG = ( portPERIPHERALS_START_ADDRESS ) | + ( portMPU_REGION_VALID ) | + ( portGENERAL_PERIPHERALS_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) | + ( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) | + ( portMPU_REGION_ENABLE ); + + /* Enable the memory fault exception. */ + portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE; + + /* Enable the MPU with the background region configured. */ + portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE ); + } +} +/*-----------------------------------------------------------*/ + +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) +{ + uint32_t ulRegionSize, ulReturnValue = 4; + + /* 32 is the smallest region size, 31 is the largest valid value for + * ulReturnValue. */ + for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) ) + { + if( ulActualSizeInBytes <= ulRegionSize ) + { + break; + } + else + { + ulReturnValue++; + } + } + + /* Shift the code by one before returning so it can be written directly + * into the the correct bit position of the attribute register. */ + return( ulReturnValue << 1UL ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + " ite ne \n" + " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + " bx lr \n"/* Return. */ + " \n" + " .align 4 \n" + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vResetPrivilege( void ) /* __attribute__ (( naked )) */ +{ + __asm volatile + ( + " mrs r0, control \n"/* r0 = CONTROL. */ + " orr r0, #1 \n"/* r0 = r0 | 1. */ + " msr control, r0 \n"/* CONTROL = r0. */ + " bx lr \n"/* Return to the caller. */ + ::: "r0", "memory" + ); +} +/*-----------------------------------------------------------*/ + +void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) +{ + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __SRAM_segment_start__; + extern uint32_t * __SRAM_segment_end__; + extern uint32_t * __privileged_data_start__; + extern uint32_t * __privileged_data_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __SRAM_segment_start__[]; + extern uint32_t __SRAM_segment_end__[]; + extern uint32_t __privileged_data_start__[]; + extern uint32_t __privileged_data_end__[]; + #endif /* if defined( __ARMCC_VERSION ) */ + + int32_t lIndex; + uint32_t ul; + + if( xRegions == NULL ) + { + /* No MPU regions are specified so allow access to all RAM. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Re-instate the privileged only RAM region as xRegion[ 0 ] will have + * just removed the privileged only parameters. */ + xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress = + ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + 1 ); + + xMPUSettings->xRegion[ 1 ].ulRegionAttribute = + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* Invalidate all other regions. */ + for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + } + else + { + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that the + * stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + /* Define the region that allows access to the stack. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) pxBottomOfStack ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); /* Region number. */ + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | /* Read and write. */ + ( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( portMPU_REGION_ENABLE ); + } + + lIndex = 0; + + for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL ) + { + /* Translate the generic region definition contained in + * xRegions into the CM4 specific MPU settings that are then + * stored in xMPUSettings. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = + ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + ul ); /* Region number. */ + + xMPUSettings->xRegion[ ul ].ulRegionAttribute = + ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) | + ( xRegions[ lIndex ].ulParameters ) | + ( portMPU_REGION_ENABLE ); + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + + lIndex++; + } + } +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredicable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4_MPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4_MPU/portmacro.h new file mode 100644 index 0000000..a070356 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM4_MPU/portmacro.h @@ -0,0 +1,400 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* MPU specific constants. */ +#define portUSING_MPU_WRAPPERS 1 +#define portPRIVILEGE_BIT ( 0x80000000UL ) + +#define portMPU_REGION_READ_WRITE ( 0x03UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 0x05UL << 24UL ) +#define portMPU_REGION_READ_ONLY ( 0x06UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0x01UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY ( 0x02UL << 24UL ) +#define portMPU_REGION_CACHEABLE_BUFFERABLE ( 0x07UL << 16UL ) +#define portMPU_REGION_EXECUTE_NEVER ( 0x01UL << 28UL ) + +/* Location of the TEX,S,C,B bits in the MPU Region Attribute and Size + * Register (RASR). */ +#define portMPU_RASR_TEX_S_C_B_LOCATION ( 16UL ) +#define portMPU_RASR_TEX_S_C_B_MASK ( 0x3FUL ) + +/* MPU settings that can be overriden in FreeRTOSConfig.h. */ +#ifndef configTOTAL_MPU_REGIONS + /* Define to 8 for backward compatibility. */ + #define configTOTAL_MPU_REGIONS ( 8UL ) +#endif + +/* + * The TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits define the + * memory type, and where necessary the cacheable and shareable properties + * of the memory region. + * + * The TEX, C, and B bits together indicate the memory type of the region, + * and: + * - For Normal memory, the cacheable properties of the region. + * - For Device memory, whether the region is shareable. + * + * For Normal memory regions, the S bit indicates whether the region is + * shareable. For Strongly-ordered and Device memory, the S bit is ignored. + * + * See the following two tables for setting TEX, S, C and B bits for + * unprivileged flash, privileged flash and privileged RAM regions. + * + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | TEX | C | B | Memory type | Description or Normal region cacheability | Shareable? | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 0 | 0 | Strongly-ordered | Strongly ordered | Shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 0 | 1 | Device | Shared device | Shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 1 | 0 | Normal | Outer and inner write-through; no write allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 1 | 1 | Normal | Outer and inner write-back; no write allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 0 | 0 | Normal | Outer and inner Non-cacheable | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 0 | 1 | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 1 | 0 | IMPLEMENTATION DEFINED | IMPLEMENTATION DEFINED | IMPLEMENTATION DEFINED | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 1 | 1 | Normal | Outer and inner write-back; write and read allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 0 | 0 | Device | Non-shared device | Not shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 0 | 1 | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 1 | X | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 011 | X | X | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 1BB | A | A | Normal | Cached memory, with AA and BB indicating the inner and | Reserved | + | | | | | outer cacheability rules that must be exported on the | | + | | | | | bus. See the table below for the cacheability policy | | + | | | | | encoding. memory, BB=Outer policy, AA=Inner policy. | | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | + +-----------------------------------------+----------------------------------------+ + | AA or BB subfield of {TEX,C,B} encoding | Cacheability policy | + +-----------------------------------------+----------------------------------------+ + | 00 | Non-cacheable | + +-----------------------------------------+----------------------------------------+ + | 01 | Write-back, write and read allocate | + +-----------------------------------------+----------------------------------------+ + | 10 | Write-through, no write allocate | + +-----------------------------------------+----------------------------------------+ + | 11 | Write-back, no write allocate | + +-----------------------------------------+----------------------------------------+ + */ + +/* TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for flash + * region. */ +#ifndef configTEX_S_C_B_FLASH + /* Default to TEX=000, S=1, C=1, B=1 for backward compatibility. */ + #define configTEX_S_C_B_FLASH ( 0x07UL ) +#endif + +/* TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for RAM + * region. */ +#ifndef configTEX_S_C_B_SRAM + /* Default to TEX=000, S=1, C=1, B=1 for backward compatibility. */ + #define configTEX_S_C_B_SRAM ( 0x07UL ) +#endif + +#define portUNPRIVILEGED_FLASH_REGION ( 0UL ) +#define portPRIVILEGED_FLASH_REGION ( 1UL ) +#define portPRIVILEGED_RAM_REGION ( 2UL ) +#define portGENERAL_PERIPHERALS_REGION ( 3UL ) +#define portSTACK_REGION ( 4UL ) +#define portFIRST_CONFIGURABLE_REGION ( 5UL ) +#define portTOTAL_NUM_REGIONS ( configTOTAL_MPU_REGIONS ) +#define portNUM_CONFIGURABLE_REGIONS ( portTOTAL_NUM_REGIONS - portFIRST_CONFIGURABLE_REGION ) +#define portLAST_CONFIGURABLE_REGION ( portTOTAL_NUM_REGIONS - 1 ) + +#define portSWITCH_TO_USER_MODE() __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0 " ::: "r0", "memory" ) + +typedef struct MPU_REGION_REGISTERS +{ + uint32_t ulRegionBaseAddress; + uint32_t ulRegionAttribute; +} xMPU_REGION_REGISTERS; + +/* Plus 1 to create space for the stack region. */ +typedef struct MPU_SETTINGS +{ + xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS ]; +} xMPU_SETTINGS; + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/* SVC numbers for various services. */ +#define portSVC_START_SCHEDULER 0 +#define portSVC_YIELD 1 +#define portSVC_RAISE_PRIVILEGE 2 + +/* Scheduler utilities. */ + +#define portYIELD() __asm volatile ( " SVC %0 \n"::"i" ( portSVC_YIELD ) : "memory" ) +#define portYIELD_WITHIN_API() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __asm volatile ( "dsb" ::: "memory" ); \ + __asm volatile ( "isb" ); \ + } + +#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) +#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) +#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() +#define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" ); + + return ucReturn; + } + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + +#ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() +#endif + +/* portNOP() is not required by this port. */ +#define portNOP() + +#define portINLINE __inline + +#ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) +#endif +/*-----------------------------------------------------------*/ + +extern BaseType_t xIsPrivileged( void ); +extern void vResetPrivilege( void ); + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +#define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + */ +#define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ +#define portRESET_PRIVILEGE() vResetPrivilege() +/*-----------------------------------------------------------*/ + +portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} + +/*-----------------------------------------------------------*/ + +portFORCE_INLINE static void vPortRaiseBASEPRI( void ) +{ + uint32_t ulNewBASEPRI; + + __asm volatile + ( + " mov %0, %1 \n"\ + " msr basepri, %0 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); +} + +/*-----------------------------------------------------------*/ + +portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void ) +{ + uint32_t ulOriginalBASEPRI, ulNewBASEPRI; + + __asm volatile + ( + " mrs %0, basepri \n"\ + " mov %1, %2 \n"\ + " msr basepri, %1 \n"\ + " isb \n"\ + " dsb \n"\ + : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + + /* This return will not be reached but is necessary to prevent compiler + * warnings. */ + return ulOriginalBASEPRI; +} +/*-----------------------------------------------------------*/ + +portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) +{ + __asm volatile + ( + " msr basepri, %0 "::"r" ( ulNewMaskValue ) : "memory" + ); +} +/*-----------------------------------------------------------*/ + +#define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + +#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY + #warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html" + #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0 +#endif +/*-----------------------------------------------------------*/ + +/* *INDENT-OFF* */ + #ifdef __cplusplus + } + #endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/ReadMe.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/ReadMe.txt new file mode 100644 index 0000000..d661449 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/ReadMe.txt @@ -0,0 +1,18 @@ +There are two options for running FreeRTOS on ARM Cortex-M7 microcontrollers. +The best option depends on the revision of the ARM Cortex-M7 core in use. The +revision is specified by an 'r' number, and a 'p' number, so will look something +like 'r0p1'. Check the documentation for the microcontroller in use to find the +revision of the Cortex-M7 core used in that microcontroller. If in doubt, use +the FreeRTOS port provided specifically for r0p1 revisions, as that can be used +with all core revisions. + +The first option is to use the ARM Cortex-M4F port, and the second option is to +use the Cortex-M7 r0p1 port - the latter containing a minor errata workaround. + +If the revision of the ARM Cortex-M7 core is not r0p1 then either option can be +used, but it is recommended to use the FreeRTOS ARM Cortex-M4F port located in +the /FreeRTOS/Source/portable/GCC/ARM_CM4F directory. + +If the revision of the ARM Cortex-M7 core is r0p1 then use the FreeRTOS ARM +Cortex-M7 r0p1 port located in the /FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1 +directory. \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/port.c new file mode 100644 index 0000000..e30e076 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/port.c @@ -0,0 +1,773 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM7 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __VFP_FP__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case it messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__( ( naked ) ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ) __attribute__( ( naked ) ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvPortStartFirstTask( void ) __attribute__( ( naked ) ); + +/* + * Function to enable the VFP. + */ +static void vPortEnableVFP( void ) __attribute__( ( naked ) ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being defined + * but never called. ulDummy is used purely to quieten other warnings + * about code appearing after this function is called - making ulDummy + * volatile makes the compiler think the function could return and + * therefore not output an 'unreachable code' warning for code that appears + * after it. */ + } +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + __asm volatile ( + " ldr r3, pxCurrentTCBConst2 \n"/* Restore the context. */ + " ldr r1, [r3] \n"/* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ + " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " ldmia r0!, {r4-r11, r14} \n"/* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ + " msr psp, r0 \n"/* Restore the task stack pointer. */ + " isb \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + ); +} +/*-----------------------------------------------------------*/ + +static void prvPortStartFirstTask( void ) +{ + /* Start the first task. This also clears the bit that indicates the FPU is + * in use in case the FPU was used before the scheduler was started - which + * would otherwise result in the unnecessary leaving of space in the SVC stack + * for lazy saving of FPU registers. */ + __asm volatile ( + " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ + " mov r0, #0 \n"/* Clear the bit that indicates the FPU is in use, see comment above. */ + " msr control, r0 \n" + " cpsie i \n"/* Globally enable interrupts. */ + " cpsie f \n" + " dsb \n" + " isb \n" + " svc 0 \n"/* System call to start first task. */ + " nop \n" + " .ltorg \n" + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + prvPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimisation does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " mrs r0, psp \n" + " isb \n" + " \n" + " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " tst r14, #0x10 \n"/* Is the task using the FPU context? If so, push high vfp registers. */ + " it eq \n" + " vstmdbeq r0!, {s16-s31} \n" + " \n" + " stmdb r0!, {r4-r11, r14} \n"/* Save the core registers. */ + " str r0, [r2] \n"/* Save the new top of stack into the first member of the TCB. */ + " \n" + " stmdb sp!, {r0, r3} \n" + " mov r0, %0 \n" + " cpsid i \n"/* Errata workaround. */ + " msr basepri, r0 \n" + " dsb \n" + " isb \n" + " cpsie i \n"/* Errata workaround. */ + " bl vTaskSwitchContext \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldmia sp!, {r0, r3} \n" + " \n" + " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. */ + " ldr r0, [r1] \n" + " \n" + " ldmia r0!, {r4-r11, r14} \n"/* Pop the core registers. */ + " \n" + " tst r14, #0x10 \n"/* Is the task using the FPU context? If so, pop the high vfp registers too. */ + " it eq \n" + " vldmiaeq r0!, {s16-s31} \n" + " \n" + " msr psp, r0 \n" + " isb \n" + " \n" + #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */ + #if WORKAROUND_PMU_CM001 == 1 + " push { r14 } \n" + " pop { pc } \n" + #endif + #endif + " \n" + " bx r14 \n" + " \n" + " .align 4 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } + +#endif /* #if configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +/* This is a naked function. */ +static void vPortEnableVFP( void ) +{ + __asm volatile + ( + " ldr.w r0, =0xE000ED88 \n"/* The FPU enable bits are in the CPACR. */ + " ldr r1, [r0] \n" + " \n" + " orr r1, r1, #( 0xf << 20 ) \n"/* Enable CP10 and CP11 coprocessors, then save back. */ + " str r1, [r0] \n" + " bx r14 \n" + " .ltorg \n" + ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/portmacro.h new file mode 100644 index 0000000..4aae2be --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/portmacro.h @@ -0,0 +1,248 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portDONT_DISCARD __attribute__( ( used ) ) +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __asm volatile ( "dsb" ::: "memory" ); \ + __asm volatile ( "isb" ); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" ); + + return ucReturn; + } + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI; + + __asm volatile + ( + " mov %0, %1 \n"\ + " cpsid i \n"\ + " msr basepri, %0 \n"\ + " isb \n"\ + " dsb \n"\ + " cpsie i \n"\ + : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + } + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulOriginalBASEPRI, ulNewBASEPRI; + + __asm volatile + ( + " mrs %0, basepri \n"\ + " mov %1, %2 \n"\ + " cpsid i \n"\ + " msr basepri, %1 \n"\ + " isb \n"\ + " dsb \n"\ + " cpsie i \n"\ + : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" + ); + + /* This return will not be reached but is necessary to prevent compiler + * warnings. */ + return ulOriginalBASEPRI; + } +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) + { + __asm volatile + ( + " msr basepri, %0 "::"r" ( ulNewMaskValue ) : "memory" + ); + } +/*-----------------------------------------------------------*/ + + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/port.c new file mode 100644 index 0000000..de80c2e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/port.c @@ -0,0 +1,529 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS + #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */ +#endif + +#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET + #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */ +#endif + +#ifndef configUNIQUE_INTERRUPT_PRIORITIES + #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */ +#endif + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined. Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */ +#endif /* configSETUP_TICK_INTERRUPT */ + +#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */ +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 + #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/* In case security extensions are implemented. */ +#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) +#endif + +/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in + * portmacro.h. */ +#ifndef configCLEAR_TICK_INTERRUPT + #define configCLEAR_TICK_INTERRUPT() +#endif + +/* A critical section is exited when the critical section nesting count reaches + * this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* In all GICs 255 can be written to the priority mask register to unmask all + * (but the lowest) interrupt priority. */ +#define portUNMASK_VALUE ( 0xFFUL ) + +/* Tasks are not created with a floating point context, but can be given a + * floating point context after they have been created. A variable is stored as + * part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task + * does not have an FPU context, or any other value if the task does have an FPU + * context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINTERRUPT_ENABLE_BIT ( 0x80UL ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary + * point is zero. */ +#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user + * mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/* The critical section macros only mask interrupts up to an application + * determined priority level. Sometimes it is necessary to turn interrupt off in + * the CPU itself before modifying certain hardware registers. */ +#define portCPU_IRQ_DISABLE() \ + __asm volatile ( "CPSID i" ::: "memory" ); \ + __asm volatile ( "DSB" ); \ + __asm volatile ( "ISB" ); + +#define portCPU_IRQ_ENABLE() \ + __asm volatile ( "CPSIE i" ::: "memory" ); \ + __asm volatile ( "DSB" ); \ + __asm volatile ( "ISB" ); + + +/* Macro to unmask all interrupt priorities. */ +#define portCLEAR_INTERRUPT_MASK() \ + { \ + portCPU_IRQ_DISABLE(); \ + portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ + __asm volatile ( "DSB \n" \ + "ISB \n"); \ + portCPU_IRQ_ENABLE(); \ + } + +#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portBIT_0_SET ( ( uint8_t ) 0x01 ) + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case is messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This + * variable has to be stored as part of the task context and must be initialised to + * a non zero value to ensure interrupts don't inadvertently become unmasked before + * the scheduler starts. As it is stored as part of the task context it will + * automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then + * a floating point context must be saved and restored for the task. */ +uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if + * if the nesting depth is 0. */ +uint32_t ulPortInterruptNesting = 0UL; + +/* Used in asm code. */ +__attribute__( ( used ) ) const uint32_t ulICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS; +__attribute__( ( used ) ) const uint32_t ulICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS; +__attribute__( ( used ) ) const uint32_t ulICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS; +__attribute__( ( used ) ) const uint32_t ulMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + * expected by the portRESTORE_CONTEXT() macro. + * + * The fist real value on the stack is the status register, which is set for + * system mode, with interrupts enabled. A few NULLs are added first to ensure + * GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + * enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + * the floating point hardware must call vPortTaskUsesFPU() before executing + * any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + uint32_t ulAPSR, ulCycles = 8; /* 8 bits per byte. */ + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine how many priority bits are implemented in the GIC. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to + * all possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Shift to the least significant bits. */ + while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET ) + { + ucMaxPriorityValue >>= ( uint8_t ) 0x01; + + /* If ulCycles reaches 0 then ucMaxPriorityValue must have been + * read as 0, indicating a misconfiguration. */ + ulCycles--; + + if( ulCycles == 0 ) + { + break; + } + } + + /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read + * value. */ + configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY ); + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Only continue if the CPU is not in User mode. The CPU must be in a + * Privileged mode for the scheduler to start. */ + __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR )::"memory" ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Only continue if the binary point value is set to its lowest possible + * setting. See the comments in vPortValidateInterruptPriority() below for + * more information. */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + + if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ) + { + /* Interrupts are turned off in the CPU itself to ensure tick does + * not execute while the scheduler is being started. Interrupts are + * automatically turned back on in the CPU when the first task starts + * executing. */ + portCPU_IRQ_DISABLE(); + + /* Start the timer that generates the tick ISR. */ + configSETUP_TICK_INTERRUPT(); + + /* Start the first task executing. */ + vPortRestoreTaskContext(); + } + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + * a non-privileged mode or the binary point register was not set to its lowest + * possible value. prvTaskExitError() is referenced to prevent a compiler + * warning about it being defined but not referenced in the case that the user + * defines their own exit address. */ + ( void ) prvTaskExitError; + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Mask interrupts up to the max syscall interrupt priority. */ + ulPortSetInterruptMask(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + * directly. Increment ulCriticalNesting to keep a count of how many times + * portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + * exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + * priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + * should be unmasked. */ + portCLEAR_INTERRUPT_MASK(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + /* Set interrupt mask before altering scheduler structures. The tick + * handler runs at the lowest priority, so interrupts cannot already be masked, + * so there is no need to save and restore the current mask value. It is + * necessary to turn off interrupts in the CPU itself while the ICCPMR is being + * updated. */ + portCPU_IRQ_DISABLE(); + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm volatile ( "dsb \n" + "isb \n"::: "memory" ); + portCPU_IRQ_ENABLE(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + /* Ensure all interrupt priorities are active again. */ + portCLEAR_INTERRUPT_MASK(); + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ + uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + * FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm volatile ( "FMXR FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" ); +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( uint32_t ulNewMaskValue ) +{ + if( ulNewMaskValue == pdFALSE ) + { + portCLEAR_INTERRUPT_MASK(); + } +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortSetInterruptMask( void ) +{ + uint32_t ulReturn; + + /* Interrupt in the CPU must be turned off while the ICCPMR is being + * updated. */ + portCPU_IRQ_DISABLE(); + + if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ) + { + /* Interrupts were already masked. */ + ulReturn = pdTRUE; + } + else + { + ulReturn = pdFALSE; + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm volatile ( "dsb \n" + "isb \n"::: "memory" ); + } + + portCPU_IRQ_ENABLE(); + + return ulReturn; +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. */ + + configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); + + /* Priority grouping: The interrupt controller (GIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * The priority grouping is configured by the GIC's binary point register + * (ICCBPR). Writing 0 to ICCBPR will ensure it is set to its lowest + * possible value (which may be above 0). */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/portASM.S new file mode 100644 index 0000000..4925911 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/portASM.S @@ -0,0 +1,280 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + .text + .arm + + .set SYS_MODE, 0x1f + .set SVC_MODE, 0x13 + .set IRQ_MODE, 0x12 + + /* Hardware registers. */ + .extern ulICCIAR + .extern ulICCEOIR + .extern ulICCPMR + + /* Variables and functions. */ + .extern ulMaxAPIPriorityMask + .extern _freertos_vector_table + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vApplicationIRQHandler + .extern ulPortInterruptNesting + .extern ulPortTaskHasFPUContext + + .global FreeRTOS_IRQ_Handler + .global FreeRTOS_SWI_Handler + .global vPortRestoreTaskContext + +.macro portSAVE_CONTEXT + + /* Save the LR and SPSR onto the system mode stack before switching to + system mode to save the remaining system mode registers. */ + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + /* Push the critical nesting count. */ + LDR R2, ulCriticalNestingConst + LDR R1, [R2] + PUSH {R1} + + /* Does the task have a floating point context that needs saving? If + ulPortTaskHasFPUContext is 0 then no. */ + LDR R2, ulPortTaskHasFPUContextConst + LDR R3, [R2] + CMP R3, #0 + + /* Save the floating point context, if any. */ + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} + /*VPUSHNE {D16-D31}*/ + PUSHNE {R1} + + /* Save ulPortTaskHasFPUContext itself. */ + PUSH {R3} + + /* Save the stack pointer in the TCB. */ + LDR R0, pxCurrentTCBConst + LDR R1, [R0] + STR SP, [R1] + + .endm + +; /**********************************************************************/ + +.macro portRESTORE_CONTEXT + + /* Set the SP to point to the stack of the task being restored. */ + LDR R0, pxCurrentTCBConst + LDR R1, [R0] + LDR SP, [R1] + + /* Is there a floating point context to restore? If the restored + ulPortTaskHasFPUContext is zero then no. */ + LDR R0, ulPortTaskHasFPUContextConst + POP {R1} + STR R1, [R0] + CMP R1, #0 + + /* Restore the floating point context, if any. */ + POPNE {R0} + /*VPOPNE {D16-D31}*/ + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + /* Restore the critical section nesting depth. */ + LDR R0, ulCriticalNestingConst + POP {R1} + STR R1, [R0] + + /* Ensure the priority mask is correct for the critical nesting depth. */ + LDR R2, ulICCPMRConst + LDR R2, [R2] + CMP R1, #0 + MOVEQ R4, #255 + LDRNE R4, ulMaxAPIPriorityMaskConst + LDRNE R4, [R4] + STR R4, [R2] + + /* Restore all system mode registers other than the SP (which is already + being used). */ + POP {R0-R12, R14} + + /* Return to the task code, loading CPSR on the way. */ + RFEIA sp! + + .endm + + + + +/****************************************************************************** + * SVC handler is used to start the scheduler. + *****************************************************************************/ +.align 4 +.type FreeRTOS_SWI_Handler, %function +FreeRTOS_SWI_Handler: + /* Save the context of the current task and select a new task to run. */ + portSAVE_CONTEXT + LDR R0, vTaskSwitchContextConst + BLX R0 + portRESTORE_CONTEXT + + +/****************************************************************************** + * vPortRestoreTaskContext is used to start the scheduler. + *****************************************************************************/ +.type vPortRestoreTaskContext, %function +vPortRestoreTaskContext: + /* Switch to system mode. */ + CPS #SYS_MODE + portRESTORE_CONTEXT + +.align 4 +.type FreeRTOS_IRQ_Handler, %function +FreeRTOS_IRQ_Handler: + + /* Return to the interrupted instruction. */ + SUB lr, lr, #4 + + /* Push the return address and SPSR. */ + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + /* Change to supervisor mode to allow reentry. */ + CPS #SVC_MODE + + /* Push used registers. */ + PUSH {r0-r4, r12} + + /* Increment nesting count. r3 holds the address of ulPortInterruptNesting + for future use. r1 holds the original ulPortInterruptNesting value for + future use. */ + LDR r3, ulPortInterruptNestingConst + LDR r1, [r3] + ADD r4, r1, #1 + STR r4, [r3] + + /* Read value from the interrupt acknowledge register, which is stored in r0 + for future parameter and interrupt clearing use. */ + LDR r2, ulICCIARConst + LDR r2, [r2] + LDR r0, [r2] + + /* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + future use. _RB_ Is this ever needed provided the start of the stack is + alligned on an 8-byte boundary? */ + MOV r2, sp + AND r2, r2, #4 + SUB sp, sp, r2 + + /* Call the interrupt handler. */ + PUSH {r0-r4, lr} + LDR r1, vApplicationIRQHandlerConst + BLX r1 + POP {r0-r4, lr} + ADD sp, sp, r2 + + CPSID i + DSB + ISB + + /* Write the value read from ICCIAR to ICCEOIR. */ + LDR r4, ulICCEOIRConst + LDR r4, [r4] + STR r0, [r4] + + /* Restore the old nesting count. */ + STR r1, [r3] + + /* A context switch is never performed if the nesting count is not 0. */ + CMP r1, #0 + BNE exit_without_switch + + /* Did the interrupt request a context switch? r1 holds the address of + ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + use. */ + LDR r1, =ulPortYieldRequired + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch: + /* No context switch. Restore used registers, LR_irq and SPSR before + returning. */ + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit: + /* A context swtich is to be performed. Clear the context switch pending + flag. */ + MOV r0, #0 + STR r0, [r1] + + /* Restore used registers, LR-irq and SPSR before saving the context + to the task stack. */ + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + /* Call the function that selects the new task to execute. + vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + instructions, or 8 byte aligned stack allocated data. LR does not need + saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */ + LDR R0, vTaskSwitchContextConst + BLX R0 + + /* Restore the context of, and branch to, the task selected to execute + next. */ + portRESTORE_CONTEXT + +ulICCIARConst: .word ulICCIAR +ulICCEOIRConst: .word ulICCEOIR +ulICCPMRConst: .word ulICCPMR +pxCurrentTCBConst: .word pxCurrentTCB +ulCriticalNestingConst: .word ulCriticalNesting +ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext +ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask +vTaskSwitchContextConst: .word vTaskSwitchContext +vApplicationIRQHandlerConst: .word vApplicationIRQHandler +ulPortInterruptNestingConst: .word ulPortInterruptNesting + +.end + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/portmacro.h new file mode 100644 index 0000000..200fcc0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CR5/portmacro.h @@ -0,0 +1,194 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Called at the end of an ISR that can cause a context switch. */ + #define portEND_SWITCHING_ISR( xSwitchRequired ) \ + { \ + extern uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ + } + + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + #define portYIELD() __asm volatile ( "SWI 0" ::: "memory" ); + + +/*----------------------------------------------------------- +* Critical section control +*----------------------------------------------------------*/ + + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + extern uint32_t ulPortSetInterruptMask( void ); + extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); + extern void vPortInstallFreeRTOSVectorTable( void ); + +/* These macros do not globally disable/enable interrupts. They do mask off + * interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ + #define portENTER_CRITICAL() vPortEnterCritical(); + #define portEXIT_CRITICAL() vPortExitCritical(); + #define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() + #define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortClearInterruptMask( x ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not required for this port but included in case common demo code that uses these + * macros is used. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* Prototype of the FreeRTOS tick handler. This must be installed as the + * handler for whichever peripheral is used to generate the RTOS tick. */ + void FreeRTOS_Tick_Handler( void ); + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() + * before any floating point instructions are executed. */ + void vPortTaskUsesFPU( void ); + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + + #define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) + #define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( uxReadyPriorities ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif /* configASSERT */ + + #define portNOP() __asm volatile ( "NOP" ) + + + #ifdef __cplusplus + } /* extern C */ + #endif + + +/* The number of bits to shift for an interrupt priority is dependent on the + * number of bits implemented by the interrupt controller. */ + #if configUNIQUE_INTERRUPT_PRIORITIES == 16 + #define portPRIORITY_SHIFT 4 + #define portMAX_BINARY_POINT_VALUE 3 + #elif configUNIQUE_INTERRUPT_PRIORITIES == 32 + #define portPRIORITY_SHIFT 3 + #define portMAX_BINARY_POINT_VALUE 2 + #elif configUNIQUE_INTERRUPT_PRIORITIES == 64 + #define portPRIORITY_SHIFT 2 + #define portMAX_BINARY_POINT_VALUE 1 + #elif configUNIQUE_INTERRUPT_PRIORITIES == 128 + #define portPRIORITY_SHIFT 1 + #define portMAX_BINARY_POINT_VALUE 0 + #elif configUNIQUE_INTERRUPT_PRIORITIES == 256 + #define portPRIORITY_SHIFT 0 + #define portMAX_BINARY_POINT_VALUE 0 + #else /* if configUNIQUE_INTERRUPT_PRIORITIES == 16 */ + #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware + #endif /* if configUNIQUE_INTERRUPT_PRIORITIES == 16 */ + +/* Interrupt controller access addresses. */ + #define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) + #define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) + #define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) + #define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) + #define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) + + #define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) + #define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) + #define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) + #define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) + #define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) + #define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) ) + #define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) ) + + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/port.c new file mode 100644 index 0000000..6f18723 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/port.c @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined in FreeRTOSConfig.h to call the function that sets up the tick interrupt. +#endif + +#ifndef configCLEAR_TICK_INTERRUPT + #error configCLEAR_TICK_INTERRUPT must be defined in FreeRTOSConfig.h to clear which ever interrupt was used to generate the tick interrupt. +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user +mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/* Let the user override the pre-loading of the initial LR with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then +a floating point context must be saved and restored for the task. */ +volatile uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +volatile uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +volatile uint32_t ulPortInterruptNesting = 0UL; + +/* Used in the asm file to clear an interrupt. */ +__attribute__(( used )) const uint32_t ulICCEOIR = configEOI_ADDRESS; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + The fist real value on the stack is the status register, which is set for + system mode, with interrupts enabled. A few NULLs are added first to ensure + GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + the floating point hardware must call vPortTaskUsesFPU() before executing + any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + /* Only continue if the CPU is not in User mode. The CPU must be in a + Privileged mode for the scheduler to start. */ + __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) :: "memory" ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Start the timer that generates the tick ISR. */ + portDISABLE_INTERRUPTS(); + configSETUP_TICK_INTERRUPT(); + + /* Start the first task executing. */ + vPortRestoreTaskContext(); + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + a non-privileged mode or the binary point register was not set to its lowest + possible value. prvTaskExitError() is referenced to prevent a compiler + warning about it being defined but not referenced in the case that the user + defines their own exit address. */ + ( void ) prvTaskExitError; + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ +uint32_t ulInterruptStatus; + + ulInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulInterruptStatus ); + + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ +uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm volatile ( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) : "memory" ); +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/portASM.S new file mode 100644 index 0000000..415f8d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/portASM.S @@ -0,0 +1,264 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + .text + .arm + + .set SYS_MODE, 0x1f + .set SVC_MODE, 0x13 + .set IRQ_MODE, 0x12 + + /* Variables and functions. */ + .extern ulMaxAPIPriorityMask + .extern _freertos_vector_table + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vApplicationIRQHandler + .extern ulPortInterruptNesting + .extern ulPortTaskHasFPUContext + .extern ulICCEOIR + .extern ulPortYieldRequired + + .global FreeRTOS_IRQ_Handler + .global FreeRTOS_SVC_Handler + .global vPortRestoreTaskContext + + +.macro portSAVE_CONTEXT + + /* Save the LR and SPSR onto the system mode stack before switching to + system mode to save the remaining system mode registers. */ + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + /* Push the critical nesting count. */ + LDR R2, ulCriticalNestingConst + LDR R1, [R2] + PUSH {R1} + + /* Does the task have a floating point context that needs saving? If + ulPortTaskHasFPUContext is 0 then no. */ + LDR R2, ulPortTaskHasFPUContextConst + LDR R3, [R2] + CMP R3, #0 + + /* Save the floating point context, if any. */ + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} +#if configFPU_D32 == 1 + VPUSHNE {D16-D31} +#endif /* configFPU_D32 */ + PUSHNE {R1} + + /* Save ulPortTaskHasFPUContext itself. */ + PUSH {R3} + + /* Save the stack pointer in the TCB. */ + LDR R0, pxCurrentTCBConst + LDR R1, [R0] + STR SP, [R1] + + .endm + +; /**********************************************************************/ + +.macro portRESTORE_CONTEXT + + /* Set the SP to point to the stack of the task being restored. */ + LDR R0, pxCurrentTCBConst + LDR R1, [R0] + LDR SP, [R1] + + /* Is there a floating point context to restore? If the restored + ulPortTaskHasFPUContext is zero then no. */ + LDR R0, ulPortTaskHasFPUContextConst + POP {R1} + STR R1, [R0] + CMP R1, #0 + + /* Restore the floating point context, if any. */ + POPNE {R0} +#if configFPU_D32 == 1 + VPOPNE {D16-D31} +#endif /* configFPU_D32 */ + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + /* Restore the critical section nesting depth. */ + LDR R0, ulCriticalNestingConst + POP {R1} + STR R1, [R0] + + /* Restore all system mode registers other than the SP (which is already + being used). */ + POP {R0-R12, R14} + + /* Return to the task code, loading CPSR on the way. */ + RFEIA sp! + + .endm + + + + +/****************************************************************************** + * SVC handler is used to yield. + *****************************************************************************/ +.align 4 +.type FreeRTOS_SVC_Handler, %function +FreeRTOS_SVC_Handler: + /* Save the context of the current task and select a new task to run. */ + portSAVE_CONTEXT + LDR R0, vTaskSwitchContextConst + BLX R0 + portRESTORE_CONTEXT + + +/****************************************************************************** + * vPortRestoreTaskContext is used to start the scheduler. + *****************************************************************************/ +.align 4 +.type vPortRestoreTaskContext, %function +vPortRestoreTaskContext: + /* Switch to system mode. */ + CPS #SYS_MODE + portRESTORE_CONTEXT + +.align 4 +.type FreeRTOS_IRQ_Handler, %function +FreeRTOS_IRQ_Handler: + /* Return to the interrupted instruction. */ + SUB lr, lr, #4 + + /* Push the return address and SPSR. */ + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + /* Change to supervisor mode to allow reentry. */ + CPS #0x13 + + /* Push used registers. */ + PUSH {r0-r3, r12} + + /* Increment nesting count. r3 holds the address of ulPortInterruptNesting + for future use. r1 holds the original ulPortInterruptNesting value for + future use. */ + LDR r3, ulPortInterruptNestingConst + LDR r1, [r3] + ADD r0, r1, #1 + STR r0, [r3] + + /* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + future use. */ + MOV r0, sp + AND r2, r0, #4 + SUB sp, sp, r2 + + /* Call the interrupt handler. */ + PUSH {r0-r3, lr} + LDR r1, vApplicationIRQHandlerConst + BLX r1 + POP {r0-r3, lr} + ADD sp, sp, r2 + + CPSID i + DSB + ISB + + /* Write to the EOI register. */ + LDR r0, ulICCEOIRConst + LDR r2, [r0] + STR r0, [r2] + + /* Restore the old nesting count. */ + STR r1, [r3] + + /* A context switch is never performed if the nesting count is not 0. */ + CMP r1, #0 + BNE exit_without_switch + + /* Did the interrupt request a context switch? r1 holds the address of + ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + use. */ + LDR r1, ulPortYieldRequiredConst + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch: + /* No context switch. Restore used registers, LR_irq and SPSR before + returning. */ + POP {r0-r3, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit: + /* A context swtich is to be performed. Clear the context switch pending + flag. */ + MOV r0, #0 + STR r0, [r1] + + /* Restore used registers, LR-irq and SPSR before saving the context + to the task stack. */ + POP {r0-r3, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + /* Call the function that selects the new task to execute. + vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + instructions, or 8 byte aligned stack allocated data. LR does not need + saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */ + LDR R0, vTaskSwitchContextConst + BLX R0 + + /* Restore the context of, and branch to, the task selected to execute + next. */ + portRESTORE_CONTEXT + +ulICCEOIRConst: .word ulICCEOIR +pxCurrentTCBConst: .word pxCurrentTCB +ulCriticalNestingConst: .word ulCriticalNesting +ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext +vTaskSwitchContextConst: .word vTaskSwitchContext +vApplicationIRQHandlerConst: .word vApplicationIRQHandler +ulPortInterruptNestingConst: .word ulPortInterruptNesting +ulPortYieldRequiredConst: .word ulPortYieldRequired + +.end + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/portmacro.h new file mode 100644 index 0000000..51c5c95 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_CRx_No_GIC/portmacro.h @@ -0,0 +1,181 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +typedef uint32_t TickType_t; +#define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do +not need to be guarded with a critical section. */ +#define portTICK_TYPE_IS_ATOMIC 1 + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Called at the end of an ISR that can cause a context switch. */ +#define portEND_SWITCHING_ISR( xSwitchRequired )\ +{ \ +extern volatile uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ +} + +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +#define portYIELD() __asm volatile ( "SWI 0 \n" \ + "ISB " ::: "memory" ); + + +/*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern uint32_t ulPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); +extern void vPortInstallFreeRTOSVectorTable( void ); + +/* The I bit within the CPSR. */ +#define portINTERRUPT_ENABLE_BIT ( 1 << 7 ) + +/* In the absence of a priority mask register, these functions and macros +globally enable and disable interrupts. */ +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +#define portENABLE_INTERRUPTS() __asm volatile ( "CPSIE i \n" ::: "memory" ); +#define portDISABLE_INTERRUPTS() __asm volatile ( "CPSID i \n" \ + "DSB \n" \ + "ISB " ::: "memory" ); + +__attribute__( ( always_inline ) ) static __inline uint32_t portINLINE_SET_INTERRUPT_MASK_FROM_ISR( void ) +{ +volatile uint32_t ulCPSR; + + __asm volatile ( "MRS %0, CPSR" : "=r" (ulCPSR) :: "memory" ); + ulCPSR &= portINTERRUPT_ENABLE_BIT; + portDISABLE_INTERRUPTS(); + return ulCPSR; +} + +#define portSET_INTERRUPT_MASK_FROM_ISR() portINLINE_SET_INTERRUPT_MASK_FROM_ISR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) if( x == 0 ) portENABLE_INTERRUPTS() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not required for this port but included in case common demo code that uses these +macros is used. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Tickless idle/low power functionality. */ +#ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) +#endif + +/* Prototype of the FreeRTOS tick handler. This must be installed as the +handler for whichever peripheral is used to generate the RTOS tick. */ +void FreeRTOS_Tick_Handler( void ); + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() +before any floating point instructions are executed. */ +void vPortTaskUsesFPU( void ); +#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + +#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) +#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#define portNOP() __asm volatile( "NOP" ) +#define portINLINE __inline + +#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) + +#ifdef __cplusplus + } /* extern C */ +#endif + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/port.c new file mode 100644 index 0000000..288bfb2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/port.c @@ -0,0 +1,287 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + Copyright (c) 2014-2016 NVIDIA CORPORATION. All rights reserved. + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*-----------------------------------------------------------*/ + +/* Count of the critical section nesting depth. */ +uint32_t ulCriticalNesting = 9999; + +/*-----------------------------------------------------------*/ + +/* Constants required to set up the initial stack of each task. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1F ) +#define portINITIAL_FPSCR ( ( StackType_t ) 0x00 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 0x04 ) +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) + +/* The number of words on the stack frame between the saved Top Of Stack and +R0 (in which the parameters are passed. */ +#define portSPACE_BETWEEN_TOS_AND_PARAMETERS ( 12 ) + +/*-----------------------------------------------------------*/ + +/* vPortStartFirstSTask() is defined in portASM.asm */ +extern void vPortStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* Saved as part of the task context. Set to pdFALSE if the task does not +require an FPU context. */ +uint32_t ulTaskHasFPUContext = 0; + +/* Set to 1 to pend a context switch from an ISR. */ +uint32_t ulPortYieldRequired = pdFALSE; + +/*-----------------------------------------------------------*/ + +/** \brief Get CPSR + + This function returns the current value of the CPSR + register. + + \return CPSR register value +*/ +__attribute__( ( always_inline ) ) static inline unsigned long _get_CPSR(void) +{ +unsigned long result; + + __asm volatile ("MRS %0, cpsr" : "=r" (result) ); + return(result); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which is the start of the as + the task has not executed yet. The offset is added to make the return + address appear as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + + #ifdef portPRELOAD_TASK_REGISTERS + { + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + } + #else + { + pxTopOfStack -= portSPACE_BETWEEN_TOS_AND_PARAMETERS; + } + #endif + + /* Function parameters are passed in R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* Set the status register for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR ); + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) + { + /* The task will start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + /* ulUsingFPU, which by default is set to indicate + that the stack frame does not include FPU registers. */ + pxTopOfStack--; + *pxTopOfStack = pdFALSE; + + /* ulCriticalNesting, which by default is set to 0 */ + pxTopOfStack--; + *pxTopOfStack = 0; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler(void) +{ + configSETUP_TICK_INTERRUPT(); + + /* Reset the critical section nesting count read to execute the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. This is done from portASM.S as ARM mode must be + used. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +void vPortEndScheduler(void) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +/* + * Disable interrupts, and keep a count of the nesting depth. + */ +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +/* + * Decrement the critical nesting count, and if it has reached zero, re-enable + * interrupts. + */ +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > 0 ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == 0 ) + { + /* Enable interrupts as per portENABLE_INTERRUPTS(). */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (saved as part of the task context. */ + ulTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm ( "MOV r0, #0 \n\t"\ + "VMSR FPSCR, r0 \n\t"); +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + ulPortYieldRequired = pdTRUE; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/portASM.S new file mode 100644 index 0000000..372c47b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/portASM.S @@ -0,0 +1,244 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + Copyright (c) 2014, NVIDIA CORPORATION. All rights reserved. + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +/* FreeRTOS includes. */ +/* + * The scheduler can only be started from ARM mode, hence the inclusion of this + * function here. + */ +#include "FreeRTOSConfig.h" + + .global vPortStartFirstTask + .global vPortYieldProcessor + .global vPortPreemptiveTick + .global irq_end + + .text + +.macro portSAVE_CONTEXT + DSB + /* Push R0 as we are going to use it */ + STMDB SP!, {R0} + + /* Set R0 to point to the task stack pointer.*/ + STMDB SP,{SP}^ + SUB SP, SP, #4 + LDMIA SP!,{R0} + + /* Push the return address onto the stack. */ + STMDB R0!, {LR} + + /* Now LR has been saved, it can be used instead of R0.*/ + MOV LR, R0 + + /* Pop R0 so it can be saved onto the task stack.*/ + LDMIA SP!, {R0} + + /* Push all the system mode registers onto the task stack.*/ + STMDB LR,{R0-LR}^ + SUB LR, LR, #60 + + /* Push the SPSR onto the task stack.*/ + MRS R0, SPSR + STMDB LR!, {R0} + + /*Determine if the task maintains an FPU context.*/ + LDR R0, =ulTaskHasFPUContext + LDR R0, [R0] + + /* Test the flag */ + CMP R0, #0 + + /*If the task is not using a floating point context then skip the*/ + /* saving of the FPU registers. */ + BEQ 1f + FSTMDBD LR!, {D0-D15} + FMRX R1, FPSCR + STMFD LR!, {R1} +1: + /* Save the flag */ + STMDB LR!, {R0} + + /* Save ulCriticalNesting */ + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + /* Store the new top of stack for the task.*/ + LDR R0, =pxCurrentTCB + LDR R0, [R0] + STR LR, [R0] + .endm + +vPortStartFirstTask: +portRESTORE_CONTEXT: + LDR R0, =pxCurrentTCB + LDR R0, [R0] + LDR LR, [R0] + + /* The critical nest context counter is the first thing on the stack.*/ + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + /* The floating point context flag is the second thing on the stack.*/ + LDR R0, =ulTaskHasFPUContext + LDMFD LR!, {R1} + STR R1, [R0] + + /* Test the flag */ + CMP R1, #0 + + /*If the task is not using a floating point context then */ + /*skip the VFP register loads. */ + BEQ 1f + + /* Restore the floating point context. */ + LDMFD LR!, {R0} + FLDMIAD LR!, {D0-D15} + FMXR FPSCR, R0 +1: + /* Get the SPSR from the stack.*/ + LDMFD LR!, {R0} + MSR spsr_csxf, R0 + + /* Restore all system mode registers for the task.*/ + LDMFD LR, {R0-R14}^ + + /* Restore the return address.*/ + LDR LR, [LR, #+60] + + /* And return - correcting the offset in the LR to obtain the*/ + /* correct address. */ + SUBS PC, LR, #4 + +/* + * Called by portYIELD() or taskYIELD() to manually force a context switch. + * + * When a context switch is performed from the task level the saved task + * context is made to look as if it occurred from within the tick ISR. This + * way the same restore context function can be used when restoring the context + * saved from the ISR or that saved from a call to vPortYieldProcessor. + */ +vPortYieldProcessor: + /* Within an IRQ ISR the link register has an offset from the true return + address, but an SWI ISR does not. Add the offset manually so the same + ISR return code can be used in both cases. */ + ADD LR, LR, #4 + + /* Perform the context switch. First save the context of the current task. */ + portSAVE_CONTEXT + + /* Find the highest priority task that is ready to run. */ + BLX vTaskSwitchContext + + /* Restore the context of the new task. */ + b portRESTORE_CONTEXT + +vPortPreemptiveTick: + PUSH { R0-R3, IP, LR } + + /* Clear tick IRQ status early */ + configCLEAR_TICK_INTERRUPT + + /* Increment the tick count, making any adjustments to the blocked lists + that may be necessary.*/ + BLX xTaskIncrementTick + + LDR R1, =ulPortYieldRequired + STR R0, [R1] + + configACKNOWLEDGE_TICK_INTERRUPT + +/* irq_end can be used in end of an irq handler and do a context switch if required. + * "PUSH { R0-R3, IP, LR }" must be used in irq handler before jumping to irq_end. + * + * An example to use irq_end: + * IRQ_Handler: + * PUSH { R0-R3, IP, LR } + * BLX Application_IRQ_Handler + * B irq_end + */ +irq_end: + LDR R1, =ulPortYieldRequired + LDR R0, [R1] + CMP R0, #0 + BNE irq_end_with_context_switch + + POP { R0-R3, IP, LR } + SUBS PC, LR, #4 + +irq_end_with_context_switch: + /* Clear context swtich pending flag. */ + MOV R0, #0 + STR R0, [R1] + POP { R0-R3, IP, LR } + + /* Save the context of the current task.*/ + portSAVE_CONTEXT + BLX vTaskSwitchContext + /* Restore the context of the task selected to execute.*/ + b portRESTORE_CONTEXT diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/portmacro.h new file mode 100644 index 0000000..8eec452 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ARM_R5/portmacro.h @@ -0,0 +1,164 @@ +/* + FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + Copyright (c) 2014-2016 NVIDIA CORPORATION. All rights reserved. + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +#ifndef __PORTMACRO_H__ +#define __PORTMACRO_H__ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if (configUSE_16_BIT_TICKS == 1) + typedef uint16_t TickType_t; + #define portMAX_DELAY (TickType_t) 0xFFFF +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY (TickType_t) 0xFFFFFFFF +#endif + + +/* Architecture specifics. */ +#define portSTACK_GROWTH (-1) +#define portTICK_PERIOD_MS ((TickType_t) 1000 / configTICK_RATE_HZ) +#define portBYTE_ALIGNMENT 8 + +/* Critical section handling. */ +extern void vPortEnterCritical(void); +extern void vPortExitCritical(void); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +#define portDISABLE_INTERRUPTS() __asm__( " CPSID I" ) +#define portENABLE_INTERRUPTS() __asm__( " CPSIE I" ) + +extern uint32_t ulPortYieldRequired; + +/* Scheduler utilities. */ +/* Called at the end of an ISR that can cause a context switch. */ +#define portEND_SWITCHING_ISR( xSwitchRequired )\ +{ \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ +} + +#define portYIELD() __asm__ volatile ( "SWI 0" ) +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() +before any floating point instructions are executed. */ +void vPortTaskUsesFPU( void ); +#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + +void FreeRTOS_Tick_Handler( void ); + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +/* Architecture specific optimisations. */ +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( ( uxReadyPriorities ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION(vFunction, pvParameters) void vFunction(void *pvParameters) +#define portTASK_FUNCTION_PROTO(vFunction, pvParameters) void vFunction(void *pvParameters) + +#endif /* __PORTMACRO_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ATMega323/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ATMega323/port.c new file mode 100644 index 0000000..e423ab6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ATMega323/port.c @@ -0,0 +1,426 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + +Changes from V2.6.0 + + + AVR port - Replaced the inb() and outb() functions with direct memory + access. This allows the port to be built with the 20050414 build of + WinAVR. +*/ + +#include +#include + +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the AVR port. + *----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 ) + +/* Hardware constants for timer 1. */ +#define portCLEAR_COUNTER_ON_MATCH ( ( uint8_t ) 0x08 ) +#define portPRESCALE_64 ( ( uint8_t ) 0x03 ) +#define portCLOCK_PRESCALER ( ( uint32_t ) 64 ) +#define portCOMPARE_MATCH_A_INTERRUPT_ENABLE ( ( uint8_t ) 0x10 ) + +/*-----------------------------------------------------------*/ + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * Macro to save all the general purpose registers, the save the stack pointer + * into the TCB. + * + * The first thing we do is save the flags then disable interrupts. This is to + * guard our stack against having a context switch interrupt after we have already + * pushed the registers onto the stack - causing the 32 registers to be on the + * stack twice. + * + * r1 is set to zero as the compiler expects it to be thus, however some + * of the math routines make use of R1. + * + * The interrupts will have been disabled during the call to portSAVE_CONTEXT() + * so we need not worry about reading/writing to the stack pointer. + */ + +#define portSAVE_CONTEXT() \ + asm volatile ( "push r0 \n\t" \ + "in r0, __SREG__ \n\t" \ + "cli \n\t" \ + "push r0 \n\t" \ + "push r1 \n\t" \ + "clr r1 \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in r0, 0x3d \n\t" \ + "st x+, r0 \n\t" \ + "in r0, 0x3e \n\t" \ + "st x+, r0 \n\t" \ + ); + +/* + * Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during + * the context save so we can write to the stack pointer. + */ + +#define portRESTORE_CONTEXT() \ + asm volatile ( "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop r1 \n\t" \ + "pop r0 \n\t" \ + "out __SREG__, r0 \n\t" \ + "pop r0 \n\t" \ + ); + +/*-----------------------------------------------------------*/ + +/* + * Perform hardware setup to enable ticks from timer 1, compare match A. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint16_t usAddress; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x11; + pxTopOfStack--; + *pxTopOfStack = 0x22; + pxTopOfStack--; + *pxTopOfStack = 0x33; + pxTopOfStack--; + + /* Simulate how the stack would look after a call to vPortYield() generated by + the compiler. */ + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* The start of the task code will be popped off the stack last, so place + it on first. */ + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + + /* Now the remaining registers. The compiler expects R1 to be 0. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R15 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x16; /* R16 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x17; /* R17 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x18; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23; /* R23 */ + pxTopOfStack--; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27; /* R27 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x28; /* R28 Y */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x29; /* R29 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x031; /* R31 */ + pxTopOfStack--; + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); + + /* Simulate a function call end as generated by the compiler. We will now + jump to the start of the task the context of which we have just restored. */ + asm volatile ( "ret" ); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the AVR port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. The first thing we do is save the registers so we + * can use a naked attribute. + */ +void vPortYield( void ) __attribute__ ( ( naked ) ); +void vPortYield( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + + asm volatile ( "ret" ); +} +/*-----------------------------------------------------------*/ + +/* + * Context switch function used by the tick. This must be identical to + * vPortYield() from the call to vTaskSwitchContext() onwards. The only + * difference from vPortYield() is the tick count is incremented as the + * call comes from the tick ISR. + */ +void vPortYieldFromTick( void ) __attribute__ ( ( naked ) ); +void vPortYieldFromTick( void ) +{ + portSAVE_CONTEXT(); + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + portRESTORE_CONTEXT(); + + asm volatile ( "ret" ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup timer 1 compare match A to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; +uint8_t ucHighByte, ucLowByte; + + /* Using 16bit timer 1 to generate the tick. Correct fuses must be + selected for the configCPU_CLOCK_HZ clock. */ + + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* We only have 16 bits so have to scale to get our required tick rate. */ + ulCompareMatch /= portCLOCK_PRESCALER; + + /* Adjust for correct value. */ + ulCompareMatch -= ( uint32_t ) 1; + + /* Setup compare match value for compare match A. Interrupts are disabled + before this is called so we need not worry here. */ + ucLowByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff ); + ulCompareMatch >>= 8; + ucHighByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff ); + OCR1AH = ucHighByte; + OCR1AL = ucLowByte; + + /* Setup clock source and compare match behaviour. */ + ucLowByte = portCLEAR_COUNTER_ON_MATCH | portPRESCALE_64; + TCCR1B = ucLowByte; + + /* Enable the interrupt - this is okay as interrupt are currently globally + disabled. */ + ucLowByte = TIMSK; + ucLowByte |= portCOMPARE_MATCH_A_INTERRUPT_ENABLE; + TIMSK = ucLowByte; +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + + /* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + void TIMER1_COMPA_vect( void ) __attribute__ ( ( signal, naked ) ); + void TIMER1_COMPA_vect( void ) + { + vPortYieldFromTick(); + asm volatile ( "reti" ); + } +#else + + /* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + void TIMER1_COMPA_vect( void ) __attribute__ ( ( signal ) ); + void TIMER1_COMPA_vect( void ) + { + xTaskIncrementTick(); + } +#endif + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ATMega323/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ATMega323/portmacro.h new file mode 100644 index 0000000..482fc8e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ATMega323/portmacro.h @@ -0,0 +1,107 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.2.3 + + + portCPU_CLOSK_HZ definition changed to 8MHz base 10, previously it + base 16. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portENTER_CRITICAL() asm volatile ( "in __tmp_reg__, __SREG__" :: ); \ + asm volatile ( "cli" :: ); \ + asm volatile ( "push __tmp_reg__" :: ) + +#define portEXIT_CRITICAL() asm volatile ( "pop __tmp_reg__" :: ); \ + asm volatile ( "out __SREG__, __tmp_reg__" :: ) + +#define portDISABLE_INTERRUPTS() asm volatile ( "cli" :: ); +#define portENABLE_INTERRUPTS() asm volatile ( "sei" :: ); +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm volatile ( "nop" ); +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield( void ) __attribute__ ( ( naked ) ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/exception.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/exception.S new file mode 100644 index 0000000..79cca31 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/exception.S @@ -0,0 +1,298 @@ +/*This file is prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief Exception and interrupt vectors. + * + * This file maps all events supported by an AVR32UC. + * + * - Compiler: GNU GCC for AVR32 + * - Supported devices: All AVR32UC devices with an INTC module can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support/ + * + ******************************************************************************/ + +/* Copyright (c) 2007, Atmel Corporation All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. The name of ATMEL may not be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND + * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, + * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#include +#include "intc.h" + + +//! @{ +//! \verbatim + + + .section .exception, "ax", @progbits + + +// Start of Exception Vector Table. + + // EVBA must be aligned with a power of two strictly greater than the EVBA- + // relative offset of the last vector. + .balign 0x200 + + // Export symbol. + .global _evba + .type _evba, @function +_evba: + + .org 0x000 + // Unrecoverable Exception. +_handle_Unrecoverable_Exception: + rjmp $ + + .org 0x004 + // TLB Multiple Hit: UNUSED IN AVR32UC. +_handle_TLB_Multiple_Hit: + rjmp $ + + .org 0x008 + // Bus Error Data Fetch. +_handle_Bus_Error_Data_Fetch: + rjmp $ + + .org 0x00C + // Bus Error Instruction Fetch. +_handle_Bus_Error_Instruction_Fetch: + rjmp $ + + .org 0x010 + // NMI. +_handle_NMI: + rjmp $ + + .org 0x014 + // Instruction Address. +_handle_Instruction_Address: + rjmp $ + + .org 0x018 + // ITLB Protection. +_handle_ITLB_Protection: + rjmp $ + + .org 0x01C + // Breakpoint. +_handle_Breakpoint: + rjmp $ + + .org 0x020 + // Illegal Opcode. +_handle_Illegal_Opcode: + rjmp $ + + .org 0x024 + // Unimplemented Instruction. +_handle_Unimplemented_Instruction: + rjmp $ + + .org 0x028 + // Privilege Violation. +_handle_Privilege_Violation: + rjmp $ + + .org 0x02C + // Floating-Point: UNUSED IN AVR32UC. +_handle_Floating_Point: + rjmp $ + + .org 0x030 + // Coprocessor Absent: UNUSED IN AVR32UC. +_handle_Coprocessor_Absent: + rjmp $ + + .org 0x034 + // Data Address (Read). +_handle_Data_Address_Read: + rjmp $ + + .org 0x038 + // Data Address (Write). +_handle_Data_Address_Write: + rjmp $ + + .org 0x03C + // DTLB Protection (Read). +_handle_DTLB_Protection_Read: + rjmp $ + + .org 0x040 + // DTLB Protection (Write). +_handle_DTLB_Protection_Write: + rjmp $ + + .org 0x044 + // DTLB Modified: UNUSED IN AVR32UC. +_handle_DTLB_Modified: + rjmp $ + + .org 0x050 + // ITLB Miss: UNUSED IN AVR32UC. +_handle_ITLB_Miss: + rjmp $ + + .org 0x060 + // DTLB Miss (Read): UNUSED IN AVR32UC. +_handle_DTLB_Miss_Read: + rjmp $ + + .org 0x070 + // DTLB Miss (Write): UNUSED IN AVR32UC. +_handle_DTLB_Miss_Write: + rjmp $ + + .org 0x100 + // Supervisor Call. +_handle_Supervisor_Call: + lda.w pc, SCALLYield + + +// Interrupt support. +// The interrupt controller must provide the offset address relative to EVBA. +// Important note: +// All interrupts call a C function named _get_interrupt_handler. +// This function will read group and interrupt line number to then return in +// R12 a pointer to a user-provided interrupt handler. + + .balign 4 + +_int0: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 0b110 + brlo _int0_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int0_normal: +#endif + mov r12, 0 // Pass the int_lev parameter to the _get_interrupt_handler function. + call _get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + +_int1: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 0b110 + brlo _int1_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int1_normal: +#endif + mov r12, 1 // Pass the int_lev parameter to the _get_interrupt_handler function. + call _get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + +_int2: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 0b110 + brlo _int2_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int2_normal: +#endif + mov r12, 2 // Pass the int_lev parameter to the _get_interrupt_handler function. + call _get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + +_int3: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 0b110 + brlo _int3_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int3_normal: +#endif + mov r12, 3 // Pass the int_lev parameter to the _get_interrupt_handler function. + call _get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + + +// Constant data area. + + .balign 4 + + // Values to store in the interrupt priority registers for the various interrupt priority levels. + // The interrupt priority registers contain the interrupt priority level and + // the EVBA-relative interrupt vector offset. + .global ipr_val + .type ipr_val, @object +ipr_val: + .word (INT0 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int0 - _evba),\ + (INT1 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int1 - _evba),\ + (INT2 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int2 - _evba),\ + (INT3 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int3 - _evba) + + +//! \endverbatim +//! @} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/port.c new file mode 100644 index 0000000..0603c91 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/port.c @@ -0,0 +1,436 @@ +/*This file has been prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief FreeRTOS port source for AVR32 UC3. + * + * - Compiler: GNU GCC for AVR32 + * - Supported devices: All AVR32 devices can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support/ + * + *****************************************************************************/ + +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/* Standard includes. */ +#include +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* AVR32 UC3 includes. */ +#include +#include "gpio.h" +#if( configTICK_USE_TC==1 ) + #include "tc.h" +#endif + + +/* Constants required to setup the task context. */ +#define portINITIAL_SR ( ( StackType_t ) 0x00400000 ) /* AVR32 : [M2:M0]=001 I1M=0 I0M=0, GM=0 */ +#define portINSTRUCTION_SIZE ( ( StackType_t ) 0 ) + +/* Each task maintains its own critical nesting variable. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +#if( configTICK_USE_TC==0 ) + static void prvScheduleNextTick( void ); +#else + static void prvClearTcInt( void ); +#endif + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/*-----------------------------------------------------------*/ + +/* + * Low-level initialization routine called during startup, before the main + * function. + * This version comes in replacement to the default one provided by Newlib. + * Newlib's _init_startup only calls init_exceptions, but Newlib's exception + * vectors are not compatible with the SCALL management in the current FreeRTOS + * port. More low-level initializations are besides added here. + */ +void _init_startup(void) +{ + /* Import the Exception Vector Base Address. */ + extern void _evba; + + #if configHEAP_INIT + extern void __heap_start__; + extern void __heap_end__; + BaseType_t *pxMem; + #endif + + /* Load the Exception Vector Base Address in the corresponding system register. */ + Set_system_register( AVR32_EVBA, ( int ) &_evba ); + + /* Enable exceptions. */ + ENABLE_ALL_EXCEPTIONS(); + + /* Initialize interrupt handling. */ + INTC_init_interrupts(); + + #if configHEAP_INIT + + /* Initialize the heap used by malloc. */ + for( pxMem = &__heap_start__; pxMem < ( BaseType_t * )&__heap_end__; ) + { + *pxMem++ = 0xA5A5A5A5; + } + + #endif + + /* Give the used CPU clock frequency to Newlib, so it can work properly. */ + set_cpu_hz( configCPU_CLOCK_HZ ); + + /* Code section present if and only if the debug trace is activated. */ + #if configDBG + { + static const gpio_map_t DBG_USART_GPIO_MAP = + { + { configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION }, + { configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION } + }; + + /* Initialize the USART used for the debug trace with the configured parameters. */ + set_usart_base( ( void * ) configDBG_USART ); + gpio_enable_module( DBG_USART_GPIO_MAP, + sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) ); + usart_init( configDBG_USART_BAUDRATE ); + } + #endif +} +/*-----------------------------------------------------------*/ + +/* + * malloc, realloc and free are meant to be called through respectively + * pvPortMalloc, pvPortRealloc and vPortFree. + * The latter functions call the former ones from within sections where tasks + * are suspended, so the latter functions are task-safe. __malloc_lock and + * __malloc_unlock use the same mechanism to also keep the former functions + * task-safe as they may be called directly from Newlib's functions. + * However, all these functions are interrupt-unsafe and SHALL THEREFORE NOT BE + * CALLED FROM WITHIN AN INTERRUPT, because __malloc_lock and __malloc_unlock do + * not call portENTER_CRITICAL and portEXIT_CRITICAL in order not to disable + * interrupts during memory allocation management as this may be a very time- + * consuming process. + */ + +/* + * Lock routine called by Newlib on malloc / realloc / free entry to guarantee a + * safe section as memory allocation management uses global data. + * See the aforementioned details. + */ +void __malloc_lock(struct _reent *ptr) +{ + vTaskSuspendAll(); +} + +/* + * Unlock routine called by Newlib on malloc / realloc / free exit to guarantee + * a safe section as memory allocation management uses global data. + * See the aforementioned details. + */ +void __malloc_unlock(struct _reent *ptr) +{ + xTaskResumeAll(); +} +/*-----------------------------------------------------------*/ + +/* Added as there is no such function in FreeRTOS. */ +void *pvPortRealloc( void *pv, size_t xWantedSize ) +{ +void *pvReturn; + + vTaskSuspendAll(); + { + pvReturn = realloc( pv, xWantedSize ); + } + xTaskResumeAll(); + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +/* The cooperative scheduler requires a normal IRQ service routine to +simply increment the system tick. */ +/* The preemptive scheduler is defined as "naked" as the full context is saved +on entry as part of the context switch. */ +__attribute__((__naked__)) static void vTick( void ) +{ + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT_OS_INT(); + + #if( configTICK_USE_TC==1 ) + /* Clear the interrupt flag. */ + prvClearTcInt(); + #else + /* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ) + clock cycles from now. */ + prvScheduleNextTick(); + #endif + + /* Because FreeRTOS is not supposed to run with nested interrupts, put all OS + calls in a critical section . */ + portENTER_CRITICAL(); + xTaskIncrementTick(); + portEXIT_CRITICAL(); + + /* Restore the context of the "elected task". */ + portRESTORE_CONTEXT_OS_INT(); +} +/*-----------------------------------------------------------*/ + +__attribute__((__naked__)) void SCALLYield( void ) +{ + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT_SCALL(); + vTaskSwitchContext(); + portRESTORE_CONTEXT_SCALL(); +} +/*-----------------------------------------------------------*/ + +/* The code generated by the GCC compiler uses the stack in different ways at +different optimisation levels. The interrupt flags can therefore not always +be saved to the stack. Instead the critical section nesting level is stored +in a variable, which is then saved as part of the stack context. */ +__attribute__((__noinline__)) void vPortEnterCritical( void ) +{ + /* Disable interrupts */ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +__attribute__((__noinline__)) void vPortExitCritical( void ) +{ + if(ulCriticalNesting > portNO_CRITICAL_NESTING) + { + ulCriticalNesting--; + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable all interrupt/exception. */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* When the task starts, it will expect to find the function parameter in R12. */ + pxTopOfStack--; + *pxTopOfStack-- = ( StackType_t ) 0x08080808; /* R8 */ + *pxTopOfStack-- = ( StackType_t ) 0x09090909; /* R9 */ + *pxTopOfStack-- = ( StackType_t ) 0x0A0A0A0A; /* R10 */ + *pxTopOfStack-- = ( StackType_t ) 0x0B0B0B0B; /* R11 */ + *pxTopOfStack-- = ( StackType_t ) pvParameters; /* R12 */ + *pxTopOfStack-- = ( StackType_t ) 0xDEADBEEF; /* R14/LR */ + *pxTopOfStack-- = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; /* R15/PC */ + *pxTopOfStack-- = ( StackType_t ) portINITIAL_SR; /* SR */ + *pxTopOfStack-- = ( StackType_t ) 0xFF0000FF; /* R0 */ + *pxTopOfStack-- = ( StackType_t ) 0x01010101; /* R1 */ + *pxTopOfStack-- = ( StackType_t ) 0x02020202; /* R2 */ + *pxTopOfStack-- = ( StackType_t ) 0x03030303; /* R3 */ + *pxTopOfStack-- = ( StackType_t ) 0x04040404; /* R4 */ + *pxTopOfStack-- = ( StackType_t ) 0x05050505; /* R5 */ + *pxTopOfStack-- = ( StackType_t ) 0x06060606; /* R6 */ + *pxTopOfStack-- = ( StackType_t ) 0x07070707; /* R7 */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING; /* ulCriticalNesting */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + portRESTORE_CONTEXT(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the AVR32 port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ) +clock cycles from now. */ +#if( configTICK_USE_TC==0 ) + static void prvScheduleFirstTick(void) + { + uint32_t lCycles; + + lCycles = Get_system_register(AVR32_COUNT); + lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ); + // If lCycles ends up to be 0, make it 1 so that the COMPARE and exception + // generation feature does not get disabled. + if(0 == lCycles) + { + lCycles++; + } + Set_system_register(AVR32_COMPARE, lCycles); + } + + __attribute__((__noinline__)) static void prvScheduleNextTick(void) + { + uint32_t lCycles, lCount; + + lCycles = Get_system_register(AVR32_COMPARE); + lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ); + // If lCycles ends up to be 0, make it 1 so that the COMPARE and exception + // generation feature does not get disabled. + if(0 == lCycles) + { + lCycles++; + } + lCount = Get_system_register(AVR32_COUNT); + if( lCycles < lCount ) + { // We missed a tick, recover for the next. + lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ); + } + Set_system_register(AVR32_COMPARE, lCycles); + } +#else + __attribute__((__noinline__)) static void prvClearTcInt(void) + { + AVR32_TC.channel[configTICK_TC_CHANNEL].sr; + } +#endif +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt(void) +{ +#if( configTICK_USE_TC==1 ) + + volatile avr32_tc_t *tc = &AVR32_TC; + + // Options for waveform genration. + tc_waveform_opt_t waveform_opt = + { + .channel = configTICK_TC_CHANNEL, /* Channel selection. */ + + .bswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOB. */ + .beevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOB. */ + .bcpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOB. */ + .bcpb = TC_EVT_EFFECT_NOOP, /* RB compare effect on TIOB. */ + + .aswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOA. */ + .aeevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOA. */ + .acpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOA: toggle. */ + .acpa = TC_EVT_EFFECT_NOOP, /* RA compare effect on TIOA: toggle (other possibilities are none, set and clear). */ + + .wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,/* Waveform selection: Up mode without automatic trigger on RC compare. */ + .enetrg = FALSE, /* External event trigger enable. */ + .eevt = 0, /* External event selection. */ + .eevtedg = TC_SEL_NO_EDGE, /* External event edge selection. */ + .cpcdis = FALSE, /* Counter disable when RC compare. */ + .cpcstop = FALSE, /* Counter clock stopped with RC compare. */ + + .burst = FALSE, /* Burst signal selection. */ + .clki = FALSE, /* Clock inversion. */ + .tcclks = TC_CLOCK_SOURCE_TC2 /* Internal source clock 2. */ + }; + + tc_interrupt_t tc_interrupt = + { + .etrgs=0, + .ldrbs=0, + .ldras=0, + .cpcs =1, + .cpbs =0, + .cpas =0, + .lovrs=0, + .covfs=0, + }; + +#endif + + /* Disable all interrupt/exception. */ + portDISABLE_INTERRUPTS(); + + /* Register the compare interrupt handler to the interrupt controller and + enable the compare interrupt. */ + + #if( configTICK_USE_TC==1 ) + { + INTC_register_interrupt(&vTick, configTICK_TC_IRQ, INT0); + + /* Initialize the timer/counter. */ + tc_init_waveform(tc, &waveform_opt); + + /* Set the compare triggers. + Remember TC counter is 16-bits, so counting second is not possible! + That's why we configure it to count ms. */ + tc_write_rc( tc, configTICK_TC_CHANNEL, ( configPBA_CLOCK_HZ / 4) / configTICK_RATE_HZ ); + + tc_configure_interrupts( tc, configTICK_TC_CHANNEL, &tc_interrupt ); + + /* Start the timer/counter. */ + tc_start(tc, configTICK_TC_CHANNEL); + } + #else + { + INTC_register_interrupt(&vTick, AVR32_CORE_COMPARE_IRQ, INT0); + prvScheduleFirstTick(); + } + #endif +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/portmacro.h new file mode 100644 index 0000000..ad26b87 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR32_UC3/portmacro.h @@ -0,0 +1,668 @@ +/*This file has been prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief FreeRTOS port source for AVR32 UC3. + * + * - Compiler: GNU GCC for AVR32 + * - Supported devices: All AVR32 devices can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support/ + * + *****************************************************************************/ + +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ +#include +#include "intc.h" +#include "compiler.h" + +#ifdef __cplusplus +extern "C" { +#endif + + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#define TASK_DELAY_MS(x) ( (x) /portTICK_PERIOD_MS ) +#define TASK_DELAY_S(x) ( (x)*1000 /portTICK_PERIOD_MS ) +#define TASK_DELAY_MIN(x) ( (x)*60*1000/portTICK_PERIOD_MS ) + +#define configTICK_TC_IRQ ATPASTE2(AVR32_TC_IRQ, configTICK_TC_CHANNEL) + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() {__asm__ __volatile__ ("nop");} +/*-----------------------------------------------------------*/ + + +/*-----------------------------------------------------------*/ + +/* INTC-specific. */ +#define DISABLE_ALL_EXCEPTIONS() Disable_global_exception() +#define ENABLE_ALL_EXCEPTIONS() Enable_global_exception() + +#define DISABLE_ALL_INTERRUPTS() Disable_global_interrupt() +#define ENABLE_ALL_INTERRUPTS() Enable_global_interrupt() + +#define DISABLE_INT_LEVEL(int_lev) Disable_interrupt_level(int_lev) +#define ENABLE_INT_LEVEL(int_lev) Enable_interrupt_level(int_lev) + + +/* + * Debug trace. + * Activated if and only if configDBG is nonzero. + * Prints a formatted string to stdout. + * The current source file name and line number are output with a colon before + * the formatted string. + * A carriage return and a linefeed are appended to the output. + * stdout is redirected to the USART configured by configDBG_USART. + * The parameters are the same as for the standard printf function. + * There is no return value. + * SHALL NOT BE CALLED FROM WITHIN AN INTERRUPT as fputs and printf use malloc, + * which is interrupt-unsafe with the current __malloc_lock and __malloc_unlock. + */ +#if configDBG +#define portDBG_TRACE(...) \ +{\ + fputs(__FILE__ ":" ASTRINGZ(__LINE__) ": ", stdout);\ + printf(__VA_ARGS__);\ + fputs("\r\n", stdout);\ +} +#else +#define portDBG_TRACE(...) +#endif + + +/* Critical section management. */ +#define portDISABLE_INTERRUPTS() DISABLE_ALL_INTERRUPTS() +#define portENABLE_INTERRUPTS() ENABLE_ALL_INTERRUPTS() + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); + + +/* Added as there is no such function in FreeRTOS. */ +extern void *pvPortRealloc( void *pv, size_t xSize ); +/*-----------------------------------------------------------*/ + + +/*=============================================================================================*/ + +/* + * Restore Context for cases other than INTi. + */ +#define portRESTORE_CONTEXT() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + __asm__ __volatile__ ( \ + /* Set SP to point to new stack */ \ + "mov r8, LO(%[pxCurrentTCB]) \n\t"\ + "orh r8, HI(%[pxCurrentTCB]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0] \n\t"\ + \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LO(%[ulCriticalNesting]) \n\t"\ + "orh r8, HI(%[ulCriticalNesting]) \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + /* R0-R7 should not be used below this line */ \ + /* Skip PC and SR (will do it at the end) */ \ + "sub sp, -2*4 \n\t"\ + /* Restore R8..R12 and LR */ \ + "ldm sp++, r8-r12, lr \n\t"\ + /* Restore SR */ \ + "ld.w r0, sp[-8*4]\n\t" /* R0 is modified, is restored later. */ \ + "mtsr %[SR], r0 \n\t"\ + /* Restore r0 */ \ + "ld.w r0, sp[-9*4] \n\t"\ + /* Restore PC */ \ + "ld.w pc, sp[-7*4]" /* Get PC from stack - PC is the 7th register saved */ \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting), \ + [pxCurrentTCB] "i" (&pxCurrentTCB), \ + [SR] "i" (AVR32_SR) \ + ); \ +} + + +/* + * portSAVE_CONTEXT_INT() and portRESTORE_CONTEXT_INT(): for INT0..3 exceptions. + * portSAVE_CONTEXT_SCALL() and portRESTORE_CONTEXT_SCALL(): for the scall exception. + * + * Had to make different versions because registers saved on the system stack + * are not the same between INT0..3 exceptions and the scall exception. + */ + +// Task context stack layout: + // R8 (*) + // R9 (*) + // R10 (*) + // R11 (*) + // R12 (*) + // R14/LR (*) + // R15/PC (*) + // SR (*) + // R0 + // R1 + // R2 + // R3 + // R4 + // R5 + // R6 + // R7 + // ulCriticalNesting +// (*) automatically done for INT0..INT3, but not for SCALL + +/* + * The ISR used for the scheduler tick depends on whether the cooperative or + * the preemptive scheduler is being used. + */ +#if configUSE_PREEMPTION == 0 + +/* + * portSAVE_CONTEXT_OS_INT() for OS Tick exception. + */ +#define portSAVE_CONTEXT_OS_INT() \ +{ \ + /* Save R0..R7 */ \ + __asm__ __volatile__ ("stm --sp, r0-r7"); \ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context save. */ \ +} + +/* + * portRESTORE_CONTEXT_OS_INT() for Tick exception. + */ +#define portRESTORE_CONTEXT_OS_INT() \ +{ \ + __asm__ __volatile__ ( \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7\n\t" \ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context restore. */ \ + "rete" \ + ); \ +} + +#else + +/* + * portSAVE_CONTEXT_OS_INT() for OS Tick exception. + */ +#define portSAVE_CONTEXT_OS_INT() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* When we come here */ \ + /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */ \ + \ + __asm__ __volatile__ ( \ + /* Save R0..R7 */ \ + "stm --sp, r0-r7 \n\t"\ + \ + /* Save ulCriticalNesting variable - R0 is overwritten */ \ + "mov r8, LO(%[ulCriticalNesting])\n\t" \ + "orh r8, HI(%[ulCriticalNesting])\n\t" \ + "ld.w r0, r8[0] \n\t"\ + "st.w --sp, r0 \n\t"\ + \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case we don't want to do a task switch because we don't know what the stack */ \ + /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ + /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ + /* will just be restoring the interrupt handler, no way!!! */ \ + /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */ \ + "ld.w r0, sp[9*4]\n\t" /* Read SR in stack */ \ + "bfextu r0, r0, 22, 3\n\t" /* Extract the mode bits to R0. */ \ + "cp.w r0, 1\n\t" /* Compare the mode bits with supervisor mode(b'001) */ \ + "brhi LABEL_INT_SKIP_SAVE_CONTEXT_%[LINE] \n\t"\ + \ + /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ + /* NOTE: we don't enter a critical section here because all interrupt handlers */ \ + /* MUST perform a SAVE_CONTEXT/RESTORE_CONTEXT in the same way as */ \ + /* portSAVE_CONTEXT_OS_INT/port_RESTORE_CONTEXT_OS_INT if they call OS functions. */ \ + /* => all interrupt handlers must use portENTER_SWITCHING_ISR/portEXIT_SWITCHING_ISR. */ \ + "mov r8, LO(%[pxCurrentTCB])\n\t" \ + "orh r8, HI(%[pxCurrentTCB])\n\t" \ + "ld.w r0, r8[0]\n\t" \ + "st.w r0[0], sp\n" \ + \ + "LABEL_INT_SKIP_SAVE_CONTEXT_%[LINE]:" \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting), \ + [pxCurrentTCB] "i" (&pxCurrentTCB), \ + [LINE] "i" (__LINE__) \ + ); \ +} + +/* + * portRESTORE_CONTEXT_OS_INT() for Tick exception. + */ +#define portRESTORE_CONTEXT_OS_INT() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case we don't want to do a task switch because we don't know what the stack */ \ + /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ + /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ + /* will just be restoring the interrupt handler, no way!!! */ \ + __asm__ __volatile__ ( \ + "ld.w r0, sp[9*4]\n\t" /* Read SR in stack */ \ + "bfextu r0, r0, 22, 3\n\t" /* Extract the mode bits to R0. */ \ + "cp.w r0, 1\n\t" /* Compare the mode bits with supervisor mode(b'001) */ \ + "brhi LABEL_INT_SKIP_RESTORE_CONTEXT_%[LINE]" \ + : \ + : [LINE] "i" (__LINE__) \ + ); \ + \ + /* Else */ \ + /* because it is here safe, always call vTaskSwitchContext() since an OS tick occurred. */ \ + /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */\ + portENTER_CRITICAL(); \ + vTaskSwitchContext(); \ + portEXIT_CRITICAL(); \ + \ + /* Restore all registers */ \ + \ + __asm__ __volatile__ ( \ + /* Set SP to point to new stack */ \ + "mov r8, LO(%[pxCurrentTCB]) \n\t"\ + "orh r8, HI(%[pxCurrentTCB]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0] \n"\ + \ + "LABEL_INT_SKIP_RESTORE_CONTEXT_%[LINE]: \n\t"\ + \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t" \ + "mov r8, LO(%[ulCriticalNesting]) \n\t"\ + "orh r8, HI(%[ulCriticalNesting]) \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* Now, the stack should be R8..R12, LR, PC and SR */ \ + "rete" \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting), \ + [pxCurrentTCB] "i" (&pxCurrentTCB), \ + [LINE] "i" (__LINE__) \ + ); \ +} + +#endif + + +/* + * portSAVE_CONTEXT_SCALL() for SupervisorCALL exception. + * + * NOTE: taskYIELD()(== SCALL) MUST NOT be called in a mode > supervisor mode. + * + */ +#define portSAVE_CONTEXT_SCALL() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* Warning: the stack layout after SCALL doesn't match the one after an interrupt. */ \ + /* If SR[M2:M0] == 001 */ \ + /* PC and SR are on the stack. */ \ + /* Else (other modes) */ \ + /* Nothing on the stack. */ \ + \ + /* WARNING NOTE: the else case cannot happen as it is strictly forbidden to call */ \ + /* vTaskDelay() and vTaskDelayUntil() OS functions (that result in a taskYield()) */ \ + /* in an interrupt|exception handler. */ \ + \ + __asm__ __volatile__ ( \ + /* in order to save R0-R7 */ \ + "sub sp, 6*4 \n\t"\ + /* Save R0..R7 */ \ + "stm --sp, r0-r7 \n\t"\ + \ + /* in order to save R8-R12 and LR */ \ + /* do not use SP if interrupts occurs, SP must be left at bottom of stack */ \ + "sub r7, sp,-16*4 \n\t"\ + /* Copy PC and SR in other places in the stack. */ \ + "ld.w r0, r7[-2*4] \n\t" /* Read SR */\ + "st.w r7[-8*4], r0 \n\t" /* Copy SR */\ + "ld.w r0, r7[-1*4] \n\t" /* Read PC */\ + "st.w r7[-7*4], r0 \n\t" /* Copy PC */\ + \ + /* Save R8..R12 and LR on the stack. */ \ + "stm --r7, r8-r12, lr \n\t"\ + \ + /* Arriving here we have the following stack organizations: */ \ + /* R8..R12, LR, PC, SR, R0..R7. */ \ + \ + /* Now we can finalize the save. */ \ + \ + /* Save ulCriticalNesting variable - R0 is overwritten */ \ + "mov r8, LO(%[ulCriticalNesting]) \n\t"\ + "orh r8, HI(%[ulCriticalNesting]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w --sp, r0" \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting) \ + ); \ + \ + /* Disable the its which may cause a context switch (i.e. cause a change of */ \ + /* pxCurrentTCB). */ \ + /* Basically, all accesses to the pxCurrentTCB structure should be put in a */ \ + /* critical section because it is a global structure. */ \ + portENTER_CRITICAL(); \ + \ + /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ + __asm__ __volatile__ ( \ + "mov r8, LO(%[pxCurrentTCB]) \n\t"\ + "orh r8, HI(%[pxCurrentTCB]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w r0[0], sp" \ + : \ + : [pxCurrentTCB] "i" (&pxCurrentTCB) \ + ); \ +} + +/* + * portRESTORE_CONTEXT() for SupervisorCALL exception. + */ +#define portRESTORE_CONTEXT_SCALL() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* Restore all registers */ \ + \ + /* Set SP to point to new stack */ \ + __asm__ __volatile__ ( \ + "mov r8, LO(%[pxCurrentTCB]) \n\t"\ + "orh r8, HI(%[pxCurrentTCB]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0]" \ + : \ + : [pxCurrentTCB] "i" (&pxCurrentTCB) \ + ); \ + \ + /* Leave pxCurrentTCB variable access critical section */ \ + portEXIT_CRITICAL(); \ + \ + __asm__ __volatile__ ( \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LO(%[ulCriticalNesting]) \n\t"\ + "orh r8, HI(%[ulCriticalNesting]) \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* skip PC and SR */ \ + /* do not use SP if interrupts occurs, SP must be left at bottom of stack */ \ + "sub r7, sp, -10*4 \n\t"\ + /* Restore r8-r12 and LR */ \ + "ldm r7++, r8-r12, lr \n\t"\ + \ + /* RETS will take care of the extra PC and SR restore. */ \ + /* So, we have to prepare the stack for this. */ \ + "ld.w r0, r7[-8*4] \n\t" /* Read SR */\ + "st.w r7[-2*4], r0 \n\t" /* Copy SR */\ + "ld.w r0, r7[-7*4] \n\t" /* Read PC */\ + "st.w r7[-1*4], r0 \n\t" /* Copy PC */\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + "sub sp, -6*4 \n\t"\ + \ + "rets" \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting) \ + ); \ +} + + +/* + * The ISR used depends on whether the cooperative or + * the preemptive scheduler is being used. + */ +#if configUSE_PREEMPTION == 0 + +/* + * ISR entry and exit macros. These are only required if a task switch + * is required from the ISR. + */ +#define portENTER_SWITCHING_ISR() \ +{ \ + /* Save R0..R7 */ \ + __asm__ __volatile__ ("stm --sp, r0-r7"); \ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context save. */ \ +} + +/* + * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1 + */ +#define portEXIT_SWITCHING_ISR() \ +{ \ + __asm__ __volatile__ ( \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context restore. */ \ + "rete" \ + ); \ +} + +#else + +/* + * ISR entry and exit macros. These are only required if a task switch + * is required from the ISR. + */ +#define portENTER_SWITCHING_ISR() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* When we come here */ \ + /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */ \ + \ + __asm__ __volatile__ ( \ + /* Save R0..R7 */ \ + "stm --sp, r0-r7 \n\t"\ + \ + /* Save ulCriticalNesting variable - R0 is overwritten */ \ + "mov r8, LO(%[ulCriticalNesting]) \n\t"\ + "orh r8, HI(%[ulCriticalNesting]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w --sp, r0 \n\t"\ + \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case we don't want to do a task switch because we don't know what the stack */ \ + /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ + /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ + /* will just be restoring the interrupt handler, no way!!! */ \ + /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */ \ + "ld.w r0, sp[9*4] \n\t" /* Read SR in stack */\ + "bfextu r0, r0, 22, 3 \n\t" /* Extract the mode bits to R0. */\ + "cp.w r0, 1 \n\t" /* Compare the mode bits with supervisor mode(b'001) */\ + "brhi LABEL_ISR_SKIP_SAVE_CONTEXT_%[LINE] \n\t"\ + \ + /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ + "mov r8, LO(%[pxCurrentTCB]) \n\t"\ + "orh r8, HI(%[pxCurrentTCB]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w r0[0], sp \n"\ + \ + "LABEL_ISR_SKIP_SAVE_CONTEXT_%[LINE]:" \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting), \ + [pxCurrentTCB] "i" (&pxCurrentTCB), \ + [LINE] "i" (__LINE__) \ + ); \ +} + +/* + * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1 + */ +#define portEXIT_SWITCHING_ISR() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + __asm__ __volatile__ ( \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case it's of no use to switch context and restore a new SP because we purposedly */ \ + /* did not previously save SP in its TCB. */ \ + "ld.w r0, sp[9*4] \n\t" /* Read SR in stack */\ + "bfextu r0, r0, 22, 3 \n\t" /* Extract the mode bits to R0. */\ + "cp.w r0, 1 \n\t" /* Compare the mode bits with supervisor mode(b'001) */\ + "brhi LABEL_ISR_SKIP_RESTORE_CONTEXT_%[LINE] \n\t"\ + \ + /* If a switch is required then we just need to call */ \ + /* vTaskSwitchContext() as the context has already been */ \ + /* saved. */ \ + "cp.w r12, 1 \n\t" /* Check if Switch context is required. */\ + "brne LABEL_ISR_RESTORE_CONTEXT_%[LINE]" \ + : \ + : [LINE] "i" (__LINE__) \ + ); \ + \ + /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */ \ + portENTER_CRITICAL(); \ + vTaskSwitchContext(); \ + portEXIT_CRITICAL(); \ + \ + __asm__ __volatile__ ( \ + "LABEL_ISR_RESTORE_CONTEXT_%[LINE]: \n\t"\ + /* Restore the context of which ever task is now the highest */ \ + /* priority that is ready to run. */ \ + \ + /* Restore all registers */ \ + \ + /* Set SP to point to new stack */ \ + "mov r8, LO(%[pxCurrentTCB]) \n\t"\ + "orh r8, HI(%[pxCurrentTCB]) \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0] \n"\ + \ + "LABEL_ISR_SKIP_RESTORE_CONTEXT_%[LINE]: \n\t"\ + \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LO(%[ulCriticalNesting]) \n\t"\ + "orh r8, HI(%[ulCriticalNesting]) \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* Now, the stack should be R8..R12, LR, PC and SR */ \ + "rete" \ + : \ + : [ulCriticalNesting] "i" (&ulCriticalNesting), \ + [pxCurrentTCB] "i" (&pxCurrentTCB), \ + [LINE] "i" (__LINE__) \ + ); \ +} + +#endif + + +#define portYIELD() {__asm__ __volatile__ ("scall");} + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/port.c new file mode 100644 index 0000000..8bf9474 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/port.c @@ -0,0 +1,345 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#include + +#include +#include "porthardware.h" +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the AVR port. +*----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 ) + +/*-----------------------------------------------------------*/ + +/* We require the address of the pxCurrentTCB variable, but don't want to know + * any details of its type. */ +typedef void RTOS_TCB_t; +extern volatile RTOS_TCB_t * volatile pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * Macro to save all the general purpose registers, the save the stack pointer + * into the TCB. + * + * The first thing we do is save the flags then disable interrupts. This is to + * guard our stack against having a context switch interrupt after we have already + * pushed the registers onto the stack - causing the 32 registers to be on the + * stack twice. + * + * r1 is set to zero as the compiler expects it to be thus, however some + * of the math routines make use of R1. + * + * The interrupts will have been disabled during the call to portSAVE_CONTEXT() + * so we need not worry about reading/writing to the stack pointer. + */ + +#define portSAVE_CONTEXT() \ + asm volatile ( "push r0 \n\t" \ + "in r0, __SREG__ \n\t" \ + "cli \n\t" \ + "push r0 \n\t" \ + "in r0, __RAMPZ__ \n\t" \ + "push r0 \n\t" \ + "push r1 \n\t" \ + "clr r1 \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in r0, __SP_L__ \n\t" \ + "st x+, r0 \n\t" \ + "in r0, __SP_H__ \n\t" \ + "st x+, r0 \n\t" ); + +/* + * Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during + * the context save so we can write to the stack pointer. + */ + +#define portRESTORE_CONTEXT() \ + asm volatile ( "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop r1 \n\t" \ + "pop r0 \n\t" \ + "out __RAMPZ__, r0 \n\t" \ + "pop r0 \n\t" \ + "out __SREG__, r0 \n\t" \ + "pop r0 \n\t" ); + +/*-----------------------------------------------------------*/ + +/* + * Perform hardware setup to enable ticks from timer. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + uint16_t usAddress; + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* Place a few bytes of known values on the bottom of the stack. + * This is just useful for debugging. Uncomment if needed. */ + /* *pxTopOfStack = 0x11; */ + /* pxTopOfStack--; */ + /* *pxTopOfStack = 0x22; */ + /* pxTopOfStack--; */ + /* *pxTopOfStack = 0x33; */ + /* pxTopOfStack--; */ + + /* The start of the task code will be popped off the stack last, so place + * it on first. */ + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + * portSAVE_CONTEXT places the flags on the stack immediately after r0 + * to ensure the interrupts get disabled as soon as possible, and so ensuring + * the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */ + pxTopOfStack--; + + /* Now the remaining registers. The compiler expects R1 to be 0. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R1 */ + + /* Leave R2 - R23 untouched */ + pxTopOfStack -= 23; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + + /* Leave register R26 - R31 untouched */ + pxTopOfStack -= 7; + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); + + /* Simulate a function call end as generated by the compiler. We will now + * jump to the start of the task the context of which we have just restored. */ + asm volatile ( "ret" ); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* vPortEndScheduler is not implemented in this port. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. The first thing we do is save the registers so we + * can use a naked attribute. + */ +void vPortYield( void ) __attribute__( ( naked ) ); +void vPortYield( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile ( "ret" ); +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch callable from ISRs. The first thing + * we do is save the registers so we can use a naked attribute. + */ +void vPortYieldFromISR( void ) __attribute__( ( naked ) ); +void vPortYieldFromISR( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile ( "reti" ); +} +/*-----------------------------------------------------------*/ + +/* + * Context switch function used by the tick. This must be identical to + * vPortYield() from the call to vTaskSwitchContext() onwards. The only + * difference from vPortYield() is the tick count is incremented as the + * call comes from the tick ISR. + */ +void vPortYieldFromTick( void ) __attribute__( ( naked ) ); +void vPortYieldFromTick( void ) +{ + portSAVE_CONTEXT(); + + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + portRESTORE_CONTEXT(); + + asm volatile ( "reti" ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ + TICK_init(); +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + +/* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + ISR( TICK_INT_vect, ISR_NAKED ) + { + /* Clear tick interrupt flag. */ + CLR_INT( INT_FLAGS, INT_MASK ); + + vPortYieldFromTick(); + + asm volatile ( "reti" ); + } +#else /* if configUSE_PREEMPTION == 1 */ + +/* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + ISR( TICK_INT_vect ) + { + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + xTaskIncrementTick(); + } +#endif /* if configUSE_PREEMPTION == 1 */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/porthardware.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/porthardware.h new file mode 100644 index 0000000..7e670d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/porthardware.h @@ -0,0 +1,109 @@ +#ifndef PORTHARDWARE_H +#define PORTHARDWARE_H + +#include "FreeRTOSConfig.h" + +/*-----------------------------------------------------------*/ + +#define CLR_INT( FLAG_REG, FLAG_MASK ) \ + asm volatile ( \ + "push r16\n\t" \ + "ldi r16, %1\n\t" \ + "sts %0, r16\n\t" \ + "pop r16\n\t" \ + : \ + : "i" ( _SFR_MEM_ADDR( FLAG_REG ) ), "i" ( ( uint8_t ) ( FLAG_MASK ) ) \ + ); + +#if ( configUSE_TIMER_INSTANCE == 0 ) + + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 1 ) + + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 2 ) + + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 3 ) + + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 4 ) + + #define TICK_INT_vect TCB4_INT_vect + #define INT_FLAGS TCB4_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB4.INTCTRL = TCB_CAPT_bm; \ + TCB4.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 5 ) + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + +/* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ( x ) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() \ + { \ + while( RTC.STATUS > 0 ) {; } \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ( configTICK_RATE_HZ ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } + +#else /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. +#endif /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + +/*-----------------------------------------------------------*/ + +#endif /* PORTHARDWARE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/portmacro.h new file mode 100644 index 0000000..93fa73c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_AVRDx/portmacro.h @@ -0,0 +1,109 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ + #ifdef __cplusplus + extern "C" { + #endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portENTER_CRITICAL() \ + asm volatile ( "in __tmp_reg__, __SREG__" ); \ + asm volatile ( "cli" ); \ + asm volatile ( "push __tmp_reg__" ) + +#define portEXIT_CRITICAL() \ + asm volatile ( "pop __tmp_reg__" ); \ + asm volatile ( "out __SREG__, __tmp_reg__" ) + +#define portDISABLE_INTERRUPTS() asm volatile ( "cli" ::); +#define portENABLE_INTERRUPTS() asm volatile ( "sei" ::); +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm volatile ( "nop" ); +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield( void ) __attribute__( ( naked ) ); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR( void ) __attribute__( ( naked ) ); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* *INDENT-OFF* */ + #ifdef __cplusplus + } + #endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/port.c new file mode 100644 index 0000000..2d80384 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/port.c @@ -0,0 +1,339 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#include + +#include +#include "porthardware.h" +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the AVR port. +*----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 ) + +/*-----------------------------------------------------------*/ + +/* We require the address of the pxCurrentTCB variable, but don't want to know + * any details of its type. */ +typedef void RTOS_TCB_t; +extern volatile RTOS_TCB_t * volatile pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * Macro to save all the general purpose registers, the save the stack pointer + * into the TCB. + * + * The first thing we do is save the flags then disable interrupts. This is to + * guard our stack against having a context switch interrupt after we have already + * pushed the registers onto the stack - causing the 32 registers to be on the + * stack twice. + * + * r1 is set to zero as the compiler expects it to be thus, however some + * of the math routines make use of R1. + * + * The interrupts will have been disabled during the call to portSAVE_CONTEXT() + * so we need not worry about reading/writing to the stack pointer. + */ + +#define portSAVE_CONTEXT() \ + asm volatile ( "push r0 \n\t" \ + "in r0, __SREG__ \n\t" \ + "cli \n\t" \ + "push r0 \n\t" \ + "push r1 \n\t" \ + "clr r1 \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in r0, __SP_L__ \n\t" \ + "st x+, r0 \n\t" \ + "in r0, __SP_H__ \n\t" \ + "st x+, r0 \n\t" ); + +/* + * Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during + * the context save so we can write to the stack pointer. + */ + +#define portRESTORE_CONTEXT() \ + asm volatile ( "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop r1 \n\t" \ + "pop r0 \n\t" \ + "out __SREG__, r0 \n\t" \ + "pop r0 \n\t" ); + +/*-----------------------------------------------------------*/ + +/* + * Perform hardware setup to enable ticks from timer. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + uint16_t usAddress; + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* Place a few bytes of known values on the bottom of the stack. + * This is just useful for debugging. Uncomment if needed. */ + /* *pxTopOfStack = 0x11; */ + /* pxTopOfStack--; */ + /* *pxTopOfStack = 0x22; */ + /* pxTopOfStack--; */ + /* *pxTopOfStack = 0x33; */ + /* pxTopOfStack--; */ + + /* The start of the task code will be popped off the stack last, so place + * it on first. */ + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + * portSAVE_CONTEXT places the flags on the stack immediately after r0 + * to ensure the interrupts get disabled as soon as possible, and so ensuring + * the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Now the remaining registers. The compiler expects R1 to be 0. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R1 */ + + /* Leave R2 - R23 untouched */ + pxTopOfStack -= 23; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + + /* Leave register R26 - R31 untouched */ + pxTopOfStack -= 7; + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); + + /* Simulate a function call end as generated by the compiler. We will now + * jump to the start of the task the context of which we have just restored. */ + asm volatile ( "ret" ); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* vPortEndScheduler is not implemented in this port. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. The first thing we do is save the registers so we + * can use a naked attribute. + */ +void vPortYield( void ) __attribute__( ( naked ) ); +void vPortYield( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile ( "ret" ); +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch callable from ISRs. The first thing + * we do is save the registers so we can use a naked attribute. + */ +void vPortYieldFromISR( void ) __attribute__( ( naked ) ); +void vPortYieldFromISR( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile ( "reti" ); +} +/*-----------------------------------------------------------*/ + +/* + * Context switch function used by the tick. This must be identical to + * vPortYield() from the call to vTaskSwitchContext() onwards. The only + * difference from vPortYield() is the tick count is incremented as the + * call comes from the tick ISR. + */ +void vPortYieldFromTick( void ) __attribute__( ( naked ) ); +void vPortYieldFromTick( void ) +{ + portSAVE_CONTEXT(); + + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + portRESTORE_CONTEXT(); + + asm volatile ( "reti" ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ + TICK_init(); +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + +/* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + ISR( TICK_INT_vect, ISR_NAKED ) + { + /* Clear tick interrupt flag. */ + CLR_INT( INT_FLAGS, INT_MASK ); + + vPortYieldFromTick(); + + asm volatile ( "reti" ); + } +#else /* if configUSE_PREEMPTION == 1 */ + +/* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + ISR( TICK_INT_vect ) + { + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + xTaskIncrementTick(); + } +#endif /* if configUSE_PREEMPTION == 1 */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/porthardware.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/porthardware.h new file mode 100644 index 0000000..8d4f1bc --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/porthardware.h @@ -0,0 +1,96 @@ +#ifndef PORTHARDWARE_H +#define PORTHARDWARE_H + +#include "FreeRTOSConfig.h" + +/*-----------------------------------------------------------*/ + +#define CLR_INT( FLAG_REG, FLAG_MASK ) \ + asm volatile ( \ + "push r16\n\t" \ + "ldi r16, %1\n\t" \ + "sts %0, r16\n\t" \ + "pop r16\n\t" \ + : \ + : "i" ( _SFR_MEM_ADDR( FLAG_REG ) ), "i" ( ( uint8_t ) ( FLAG_MASK ) ) \ + ); + +#if ( configUSE_TIMER_INSTANCE == 0 ) + + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 1 ) + + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 2 ) + + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 3 ) + + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 4 ) + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + +/* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ( x ) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() \ + { \ + while( RTC.STATUS > 0 ) {; } \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ( configTICK_RATE_HZ ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } + +#else /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. +#endif /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + +/*-----------------------------------------------------------*/ + +#endif /* PORTHARDWARE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/portmacro.h new file mode 100644 index 0000000..1181d71 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/AVR_Mega0/portmacro.h @@ -0,0 +1,109 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portENTER_CRITICAL() \ + asm volatile ( "in __tmp_reg__, __SREG__" ); \ + asm volatile ( "cli" ); \ + asm volatile ( "push __tmp_reg__" ) + +#define portEXIT_CRITICAL() \ + asm volatile ( "pop __tmp_reg__" ); \ + asm volatile ( "out __SREG__, __tmp_reg__" ) + +#define portDISABLE_INTERRUPTS() asm volatile ( "cli" ::); +#define portENABLE_INTERRUPTS() asm volatile ( "sei" ::); +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm volatile ( "nop" ); +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield( void ) __attribute__( ( naked ) ); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR( void ) __attribute__( ( naked ) ); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/CORTUS_APS3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/CORTUS_APS3/port.c new file mode 100644 index 0000000..04ff764 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/CORTUS_APS3/port.c @@ -0,0 +1,145 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Machine includes */ +#include +#include +/*-----------------------------------------------------------*/ + +/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */ +#define portINITIAL_PSR ( 0x00020000 ) + +/*-----------------------------------------------------------*/ + +/* + * Perform any hardware configuration necessary to generate the tick interrupt. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Make space on the stack for the context - this leaves a couple of spaces + empty. */ + pxTopOfStack -= 20; + + /* Fill the registers with known values to assist debugging. */ + pxTopOfStack[ 16 ] = 0; + pxTopOfStack[ 15 ] = portINITIAL_PSR; + pxTopOfStack[ 14 ] = ( uint32_t ) pxCode; + pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */ + pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */ + pxTopOfStack[ 11 ] = 0x0d0d0d0dUL; + pxTopOfStack[ 10 ] = 0x0c0c0c0cUL; + pxTopOfStack[ 9 ] = 0x0b0b0b0bUL; + pxTopOfStack[ 8 ] = 0x0a0a0a0aUL; + pxTopOfStack[ 7 ] = 0x09090909UL; + pxTopOfStack[ 6 ] = 0x08080808UL; + pxTopOfStack[ 5 ] = 0x07070707UL; + pxTopOfStack[ 4 ] = 0x06060606UL; + pxTopOfStack[ 3 ] = 0x05050505UL; + pxTopOfStack[ 2 ] = 0x04040404UL; + pxTopOfStack[ 1 ] = 0x03030303UL; + pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Set-up the timer interrupt. */ + prvSetupTimerInterrupt(); + + /* Integrated Interrupt Controller: Enable all interrupts. */ + ic->ien = 1; + + /* Restore callee saved registers. */ + portRESTORE_CONTEXT(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Enable timer interrupts */ + counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1; + counter1->value = counter1->reload; + counter1->mask = 1; + + /* Set the IRQ Handler priority and enable it. */ + irq[ IRQ_COUNTER1 ].ien = 1; +} +/*-----------------------------------------------------------*/ + +/* Trap 31 handler. */ +void interrupt31_handler( void ) __attribute__((naked)); +void interrupt31_handler( void ) +{ + portSAVE_CONTEXT(); + __asm volatile ( "call vTaskSwitchContext" ); + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +static void prvProcessTick( void ) __attribute__((noinline)); +static void prvProcessTick( void ) +{ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Clear the Tick Interrupt. */ + counter1->expired = 0; +} +/*-----------------------------------------------------------*/ + +/* Timer 1 interrupt handler, used for tick interrupt. */ +void interrupt7_handler( void ) __attribute__((naked)); +void interrupt7_handler( void ) +{ + portSAVE_CONTEXT(); + prvProcessTick(); + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Nothing to do. Unlikely to want to end. */ +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/CORTUS_APS3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/CORTUS_APS3/portmacro.h new file mode 100644 index 0000000..f0ac6b0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/CORTUS_APS3/portmacro.h @@ -0,0 +1,152 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() __asm__ volatile ( "mov r0, r0" ) +#define portCRITICAL_NESTING_IN_TCB 1 +#define portIRQ_TRAP_YIELD 31 +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +extern void vPortYield( void ); + +/*---------------------------------------------------------------------------*/ + +#define portYIELD() asm __volatile__( " trap #%0 "::"i"(portIRQ_TRAP_YIELD):"memory") +/*---------------------------------------------------------------------------*/ + +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() +/*---------------------------------------------------------------------------*/ + +/* Critical section management. */ +#define portDISABLE_INTERRUPTS() cpu_int_disable() +#define portENABLE_INTERRUPTS() cpu_int_enable() + +/*---------------------------------------------------------------------------*/ + +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken != pdFALSE ) vTaskSwitchContext() + +/*---------------------------------------------------------------------------*/ + +#define portSAVE_CONTEXT() \ + asm __volatile__ \ + ( \ + "sub r1, #68 \n" /* Make space on the stack for the context. */ \ + "std r2, [r1] + 0 \n" \ + "stq r4, [r1] + 8 \n" \ + "stq r8, [r1] + 24 \n" \ + "stq r12, [r1] + 40 \n" \ + "mov r6, rtt \n" \ + "mov r7, psr \n" \ + "std r6, [r1] + 56 \n" \ + "movhi r2, #16384 \n" /* Set the pointer to the IC. */ \ + "ldub r3, [r2] + 2 \n" /* Load the current interrupt mask. */ \ + "st r3, [r1]+ 64 \n" /* Store the interrupt mask on the stack. */ \ + "ld r2, [r0]+short(pxCurrentTCB) \n" /* Load the pointer to the TCB. */ \ + "st r1, [r2] \n" /* Save the stack pointer into the TCB. */ \ + "mov r14, r1 \n" /* Compiler expects r14 to be set to the function stack. */ \ + ); +/*---------------------------------------------------------------------------*/ + +#define portRESTORE_CONTEXT() \ + asm __volatile__( \ + "ld r2, [r0]+short(pxCurrentTCB) \n" /* Load the TCB to find the stack pointer and context. */ \ + "ld r1, [r2] \n" \ + "movhi r2, #16384 \n" /* Set the pointer to the IC. */ \ + "ld r3, [r1] + 64 \n" /* Load the previous interrupt mask. */ \ + "stb r3, [r2] + 2 \n" /* Set the current interrupt mask to be the previous. */ \ + "ldd r6, [r1] + 56 \n" /* Restore context. */ \ + "mov rtt, r6 \n" \ + "mov psr, r7 \n" \ + "ldd r2, [r1] + 0 \n" \ + "ldq r4, [r1] + 8 \n" \ + "ldq r8, [r1] + 24 \n" \ + "ldq r12, [r1] + 40 \n" \ + "add r1, #68 \n" \ + "rti \n" \ + ); + +/*---------------------------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*---------------------------------------------------------------------------*/ + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/port.c new file mode 100644 index 0000000..5c513ee --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/port.c @@ -0,0 +1,134 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 ) + +/* Supervisor mode set. */ +#define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000) + +/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This +will be set to 0 prior to the first task being started. */ +static uint32_t ulCriticalNesting = 0x9999UL; + +/*-----------------------------------------------------------*/ + +StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0xDEADBEEF; + pxTopOfStack--; + + /* Exception stack frame starts with the return address. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/ + pxTopOfStack -= 14; /* A5 to D0. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + ulCriticalNesting = 0UL; + + /* Configure the interrupts used by this port. */ + vApplicationSetupInterrupts(); + + /* Start the first task executing. */ + vPortStartFirstTask(); + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented as there is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + if( ulCriticalNesting == 0UL ) + { + /* Guard against context switches being pended simultaneously with a + critical section being entered. */ + do + { + portDISABLE_INTERRUPTS(); + if( MCF_INTC0_INTFRCL == 0UL ) + { + break; + } + + portENABLE_INTERRUPTS(); + + } while( 1 ); + } + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + ulCriticalNesting--; + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void vPortYieldHandler( void ) +{ +uint32_t ulSavedInterruptMask; + + ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + /* Note this will clear all forced interrupts - this is done for speed. */ + MCF_INTC0_INTFRCL = 0; + vTaskSwitchContext(); + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); +} + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/portasm.S new file mode 100644 index 0000000..e929c62 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/portasm.S @@ -0,0 +1,120 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * Purpose: Lowest level routines for all ColdFire processors. + * + * Notes: + * + * ulPortSetIPL() and mcf5xxx_wr_cacr() copied with permission from FreeScale + * supplied source files. + */ + + .global ulPortSetIPL + .global mcf5xxx_wr_cacr + .global __cs3_isr_interrupt_80 + .global vPortStartFirstTask + + .text + +.macro portSAVE_CONTEXT + + lea.l (-60, %sp), %sp + movem.l %d0-%fp, (%sp) + move.l pxCurrentTCB, %a0 + move.l %sp, (%a0) + + .endm + +.macro portRESTORE_CONTEXT + + move.l pxCurrentTCB, %a0 + move.l (%a0), %sp + movem.l (%sp), %d0-%fp + lea.l %sp@(60), %sp + rte + + .endm + +/********************************************************************/ +/* + * This routines changes the IPL to the value passed into the routine. + * It also returns the old IPL value back. + * Calling convention from C: + * old_ipl = asm_set_ipl(new_ipl); + * For the Diab Data C compiler, it passes return value thru D0. + * Note that only the least significant three bits of the passed + * value are used. + */ + +ulPortSetIPL: + link A6,#-8 + movem.l D6-D7,(SP) + + move.w SR,D7 /* current sr */ + + move.l D7,D0 /* prepare return value */ + andi.l #0x0700,D0 /* mask out IPL */ + lsr.l #8,D0 /* IPL */ + + move.l 8(A6),D6 /* get argument */ + andi.l #0x07,D6 /* least significant three bits */ + lsl.l #8,D6 /* move over to make mask */ + + andi.l #0x0000F8FF,D7 /* zero out current IPL */ + or.l D6,D7 /* place new IPL in sr */ + move.w D7,SR + + movem.l (SP),D6-D7 + lea 8(SP),SP + unlk A6 + rts +/********************************************************************/ + +mcf5xxx_wr_cacr: + move.l 4(sp),d0 + .long 0x4e7b0002 /* movec d0,cacr */ + nop + rts + +/********************************************************************/ + +/* Yield interrupt. */ +__cs3_isr_interrupt_80: + portSAVE_CONTEXT + jsr vPortYieldHandler + portRESTORE_CONTEXT + +/********************************************************************/ + + +vPortStartFirstTask: + portRESTORE_CONTEXT + + .end + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/portmacro.h new file mode 100644 index 0000000..69f9b4d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/ColdFire_V2/portmacro.h @@ -0,0 +1,114 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ +uint32_t ulPortSetIPL( uint32_t ); +#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 ) + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +extern UBaseType_t uxPortSetInterruptMaskFromISR( void ); +extern void vPortClearInterruptMaskFromISR( UBaseType_t ); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister ) + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +#define portNOP() asm volatile ( "nop" ) + +/* Note this will overwrite all other bits in the force register, it is done this way for speed. */ +#define portYIELD() MCF_INTC0_INTFRCL = ( 1UL << configYIELD_INTERRUPT_VECTOR ); portNOP(); portNOP() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \ + { \ + portYIELD(); \ + } + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/H8S2329/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/H8S2329/port.c new file mode 100644 index 0000000..f357a64 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/H8S2329/port.c @@ -0,0 +1,303 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the H8S port. + *----------------------------------------------------------*/ + + +/*-----------------------------------------------------------*/ + +/* When the task starts interrupts should be enabled. */ +#define portINITIAL_CCR ( ( StackType_t ) 0x00 ) + +/* Hardware specific constants used to generate the RTOS tick from the TPU. */ +#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 ) +#define portCLOCK_DIV_64 ( ( uint8_t ) 0x03 ) +#define portCLOCK_DIV ( ( uint32_t ) 64 ) +#define portTGRA_INTERRUPT_ENABLE ( ( uint8_t ) 0x01 ) +#define portTIMER_CHANNEL ( ( uint8_t ) 0x02 ) +#define portMSTP13 ( ( uint16_t ) 0x2000 ) + +/* + * Setup TPU channel one for the RTOS tick at the requested frequency. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * The ISR used by portYIELD(). This is installed as a trap handler. + */ +void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t ulValue; + + /* This requires an even address. */ + ulValue = ( uint32_t ) pxTopOfStack; + if( ulValue & 1UL ) + { + pxTopOfStack = pxTopOfStack - 1; + } + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + pxTopOfStack--; + *pxTopOfStack = 0xaa; + pxTopOfStack--; + *pxTopOfStack = 0xbb; + pxTopOfStack--; + *pxTopOfStack = 0xcc; + pxTopOfStack--; + *pxTopOfStack = 0xdd; + + /* The initial stack mimics an interrupt stack. First there is the program + counter (24 bits). */ + ulValue = ( uint32_t ) pxCode; + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + pxTopOfStack--; + ulValue >>= 8UL; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + pxTopOfStack--; + ulValue >>= 8UL; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + + /* Followed by the CCR. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_CCR; + + /* Next all the general purpose registers - with the parameters being passed + in ER0. The parameter order must match that used by the compiler when the + "saveall" function attribute is used. */ + + /* ER6 */ + pxTopOfStack--; + *pxTopOfStack = 0x66; + pxTopOfStack--; + *pxTopOfStack = 0x66; + pxTopOfStack--; + *pxTopOfStack = 0x66; + pxTopOfStack--; + *pxTopOfStack = 0x66; + + /* ER0 */ + ulValue = ( uint32_t ) pvParameters; + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + pxTopOfStack--; + ulValue >>= 8UL; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + pxTopOfStack--; + ulValue >>= 8UL; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + pxTopOfStack--; + ulValue >>= 8UL; + *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); + + /* ER1 */ + pxTopOfStack--; + *pxTopOfStack = 0x11; + pxTopOfStack--; + *pxTopOfStack = 0x11; + pxTopOfStack--; + *pxTopOfStack = 0x11; + pxTopOfStack--; + *pxTopOfStack = 0x11; + + /* ER2 */ + pxTopOfStack--; + *pxTopOfStack = 0x22; + pxTopOfStack--; + *pxTopOfStack = 0x22; + pxTopOfStack--; + *pxTopOfStack = 0x22; + pxTopOfStack--; + *pxTopOfStack = 0x22; + + /* ER3 */ + pxTopOfStack--; + *pxTopOfStack = 0x33; + pxTopOfStack--; + *pxTopOfStack = 0x33; + pxTopOfStack--; + *pxTopOfStack = 0x33; + pxTopOfStack--; + *pxTopOfStack = 0x33; + + /* ER4 */ + pxTopOfStack--; + *pxTopOfStack = 0x44; + pxTopOfStack--; + *pxTopOfStack = 0x44; + pxTopOfStack--; + *pxTopOfStack = 0x44; + pxTopOfStack--; + *pxTopOfStack = 0x44; + + /* ER5 */ + pxTopOfStack--; + *pxTopOfStack = 0x55; + pxTopOfStack--; + *pxTopOfStack = 0x55; + pxTopOfStack--; + *pxTopOfStack = 0x55; + pxTopOfStack--; + *pxTopOfStack = 0x55; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void * pxCurrentTCB; + + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. This + mirrors the function epilogue code generated by the compiler when the + "saveall" function attribute is used. */ + asm volatile ( + "MOV.L @_pxCurrentTCB, ER6 \n\t" + "MOV.L @ER6, ER7 \n\t" + "LDM.L @SP+, (ER4-ER5) \n\t" + "LDM.L @SP+, (ER0-ER3) \n\t" + "MOV.L @ER7+, ER6 \n\t" + "RTE \n\t" + ); + + ( void ) pxCurrentTCB; + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the h8 port will get stopped. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. This is a trap handler. The "saveall" function + * attribute is used so the context is saved by the compiler prologue. All + * we have to do is save the stack pointer. + */ +void vPortYield( void ) +{ + portSAVE_STACK_POINTER(); + vTaskSwitchContext(); + portRESTORE_STACK_POINTER(); +} +/*-----------------------------------------------------------*/ + +/* + * The interrupt handler installed for the RTOS tick depends on whether the + * preemptive or cooperative scheduler is being used. + */ +#if( configUSE_PREEMPTION == 1 ) + + /* + * The preemptive scheduler is used so the ISR calls vTaskSwitchContext(). + * The function prologue saves the context so all we have to do is save + * the stack pointer. + */ + void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) ); + void vTickISR( void ) + { + portSAVE_STACK_POINTER(); + + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Clear the interrupt. */ + TSR1 &= ~0x01; + + portRESTORE_STACK_POINTER(); + } + +#else + + /* + * The cooperative scheduler is being used so all we have to do is + * periodically increment the tick. This can just be a normal ISR and + * the "saveall" attribute is not required. + */ + void vTickISR( void ) __attribute__ ( ( interrupt_handler ) ); + void vTickISR( void ) + { + xTaskIncrementTick(); + + /* Clear the interrupt. */ + TSR1 &= ~0x01; + } + +#endif +/*-----------------------------------------------------------*/ + +/* + * Setup timer 1 compare match to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ +const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV; + + /* Turn the module on. */ + MSTPCR &= ~portMSTP13; + + /* Configure timer 1. */ + TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64; + + /* Configure the compare match value for a tick of configTICK_RATE_HZ. */ + TGR1A = ulCompareMatch; + + /* Start the timer and enable the interrupt - we can do this here as + interrupts are globally disabled when this function is called. */ + TIER1 |= portTGRA_INTERRUPT_ENABLE; + TSTR |= portTIMER_CHANNEL; +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/H8S2329/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/H8S2329/portmacro.h new file mode 100644 index 0000000..27159c2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/H8S2329/portmacro.h @@ -0,0 +1,138 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portYIELD() asm volatile( "TRAPA #0" ) +#define portNOP() asm volatile( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#define portENABLE_INTERRUPTS() asm volatile( "ANDC #0x7F, CCR" ); +#define portDISABLE_INTERRUPTS() asm volatile( "ORC #0x80, CCR" ); + +/* Push the CCR then disable interrupts. */ +#define portENTER_CRITICAL() asm volatile( "STC CCR, @-ER7" ); \ + portDISABLE_INTERRUPTS(); + +/* Pop the CCR to set the interrupt masking back to its previous state. */ +#define portEXIT_CRITICAL() asm volatile( "LDC @ER7+, CCR" ); +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Context switch macros. These macros are very simple as the context +is saved simply by selecting the saveall attribute of the context switch +interrupt service routines. These macros save and restore the stack +pointer to the TCB. */ + +#define portSAVE_STACK_POINTER() \ +extern void* pxCurrentTCB; \ + \ + asm volatile( \ + "MOV.L @_pxCurrentTCB, ER5 \n\t" \ + "MOV.L ER7, @ER5 \n\t" \ + ); \ + ( void ) pxCurrentTCB; + + +#define portRESTORE_STACK_POINTER() \ +extern void* pxCurrentTCB; \ + \ + asm volatile( \ + "MOV.L @_pxCurrentTCB, ER5 \n\t" \ + "MOV.L @ER5, ER7 \n\t" \ + ); \ + ( void ) pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* Macros to allow a context switch from within an application ISR. */ + +#define portENTER_SWITCHING_ISR() portSAVE_STACK_POINTER(); { + +#define portEXIT_SWITCHING_ISR( x ) \ + if( x ) \ + { \ + extern void vTaskSwitchContext( void ); \ + vTaskSwitchContext(); \ + } \ + } portRESTORE_STACK_POINTER(); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/HCS12/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/HCS12/port.c new file mode 100644 index 0000000..78b541a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/HCS12/port.c @@ -0,0 +1,237 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* GCC/HCS12 port by Jefferson L Smith, 2005 */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Port includes */ +#include + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the HCS12 port. + *----------------------------------------------------------*/ + + +/* + * Configure a timer to generate the RTOS tick at the frequency specified + * within FreeRTOSConfig.h. + */ +static void prvSetupTimerInterrupt( void ); + +/* NOTE: Interrupt service routines must be in non-banked memory - as does the +scheduler startup function. */ +#define ATTR_NEAR __attribute__((near)) + +/* Manual context switch function. This is the SWI ISR. */ +// __attribute__((interrupt)) +void ATTR_NEAR vPortYield( void ); + +/* Tick context switch function. This is the timer ISR. */ +// __attribute__((interrupt)) +void ATTR_NEAR vPortTickInterrupt( void ); + +/* Function in non-banked memory which actually switches to first task. */ +BaseType_t ATTR_NEAR xStartSchedulerNear( void ); + +/* Calls to portENTER_CRITICAL() can be nested. When they are nested the +critical section should not be left (i.e. interrupts should not be re-enabled) +until the nesting depth reaches 0. This variable simply tracks the nesting +depth. Each task maintains it's own critical nesting depth variable so +uxCriticalNesting is saved and restored from the task stack during a context +switch. */ +volatile UBaseType_t uxCriticalNesting = 0x80; // un-initialized + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. In this case the stack as + expected by the HCS12 RTI instruction. */ + + + /* The address of the task function is placed in the stack byte at a time. */ + *pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 1 ); + *--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 0 ); + + /* Next are all the registers that form part of the task context. */ + + /* Y register */ + *--pxTopOfStack = ( StackType_t ) 0xff; + *--pxTopOfStack = ( StackType_t ) 0xee; + + /* X register */ + *--pxTopOfStack = ( StackType_t ) 0xdd; + *--pxTopOfStack = ( StackType_t ) 0xcc; + + /* A register contains parameter high byte. */ + *--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 0 ); + + /* B register contains parameter low byte. */ + *--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 1 ); + + /* CCR: Note that when the task starts interrupts will be enabled since + "I" bit of CCR is cleared */ + *--pxTopOfStack = ( StackType_t ) 0x80; // keeps Stop disabled (MCU default) + + /* tmp softregs used by GCC. Values right now don't matter. */ + __asm("\n\ + movw _.frame, 2,-%0 \n\ + movw _.tmp, 2,-%0 \n\ + movw _.z, 2,-%0 \n\ + movw _.xy, 2,-%0 \n\ + ;movw _.d2, 2,-%0 \n\ + ;movw _.d1, 2,-%0 \n\ + ": "=A"(pxTopOfStack) : "0"(pxTopOfStack) ); + + #ifdef BANKED_MODEL + /* The page of the task. */ + *--pxTopOfStack = 0x30; // can only directly start in PPAGE 0x30 + #endif + + /* The critical nesting depth is initialised with 0 (meaning not in + a critical section). */ + *--pxTopOfStack = ( StackType_t ) 0x00; + + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the HCS12 port will get stopped. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Enable hardware RTI timer */ + /* Ignores configTICK_RATE_HZ */ + RTICTL = 0x50; // 16 MHz xtal: 976.56 Hz, 1024mS + CRGINT |= 0x80; // RTIE +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* xPortStartScheduler() does not start the scheduler directly because + the header file containing the xPortStartScheduler() prototype is part + of the common kernel code, and therefore cannot use the CODE_SEG pragma. + Instead it simply calls the locally defined xNearStartScheduler() - + which does use the CODE_SEG pragma. */ + + int16_t register d; + __asm ("jmp xStartSchedulerNear ; will never return": "=d"(d)); + return d; +} +/*-----------------------------------------------------------*/ + +BaseType_t xStartSchedulerNear( void ) +{ + /* Configure the timer that will generate the RTOS tick. Interrupts are + disabled when this function is called. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task. */ + portRESTORE_CONTEXT(); + + portISR_TAIL(); + + /* Should not get here! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +/* + * Context switch functions. These are interrupt service routines. + */ + +/* + * Manual context switch forced by calling portYIELD(). This is the SWI + * handler. + */ +void vPortYield( void ) +{ + portISR_HEAD(); + /* NOTE: This is the trap routine (swi) although not defined as a trap. + It will fill the stack the same way as an ISR in order to mix preemtion + and cooperative yield. */ + + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + + portISR_TAIL(); +} +/*-----------------------------------------------------------*/ + +/* + * RTOS tick interrupt service routine. If the cooperative scheduler is + * being used then this simply increments the tick count. If the + * preemptive scheduler is being used a context switch can occur. + */ +void vPortTickInterrupt( void ) +{ + portISR_HEAD(); + + /* Clear tick timer flag */ + CRGFLG = 0x80; + + #if configUSE_PREEMPTION == 1 + { + /* A context switch might happen so save the context. */ + portSAVE_CONTEXT(); + + /* Increment the tick ... */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is necessary. */ + vTaskSwitchContext(); + } + + /* Restore the context of a task - which may be a different task + to that interrupted. */ + portRESTORE_CONTEXT(); + } + #else + { + xTaskIncrementTick(); + } + #endif + + portISR_TAIL(); +} + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/HCS12/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/HCS12/portmacro.h new file mode 100644 index 0000000..bbfe2da --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/HCS12/portmacro.h @@ -0,0 +1,246 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 1 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portYIELD() __asm( "swi" ); +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#define portENABLE_INTERRUPTS() __asm( "cli" ) +#define portDISABLE_INTERRUPTS() __asm( "sei" ) + +/* + * Disable interrupts before incrementing the count of critical section nesting. + * The nesting count is maintained so we know when interrupts should be + * re-enabled. Once interrupts are disabled the nesting count can be accessed + * directly. Each task maintains its own nesting count. + */ +#define portENTER_CRITICAL() \ +{ \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + uxCriticalNesting++; \ +} + +/* + * Interrupts are disabled so we can access the nesting count directly. If the + * nesting is found to be 0 (no nesting) then we are leaving the critical + * section and interrupts can be re-enabled. + */ +#define portEXIT_CRITICAL() \ +{ \ + extern volatile UBaseType_t uxCriticalNesting; \ + \ + uxCriticalNesting--; \ + if( uxCriticalNesting == 0 ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * These macros are very simple as the processor automatically saves and + * restores its registers as interrupts are entered and exited. In + * addition to the (automatically stacked) registers we also stack the + * critical nesting count. Each task maintains its own critical nesting + * count as it is legitimate for a task to yield from within a critical + * section. If the banked memory model is being used then the PPAGE + * register is also stored as part of the tasks context. + */ + +#ifdef BANKED_MODEL + /* + * Load the stack pointer for the task, then pull the critical nesting + * count and PPAGE register from the stack. The remains of the + * context are restored by the RTI instruction. + */ + #define portRESTORE_CONTEXT() \ + { \ + __asm( " \n\ + .globl pxCurrentTCB ; void * \n\ + .globl uxCriticalNesting ; char \n\ + \n\ + ldx pxCurrentTCB \n\ + lds 0,x ; Stack \n\ + \n\ + movb 1,sp+,uxCriticalNesting \n\ + movb 1,sp+,0x30 ; PPAGE \n\ + " ); \ + } + + /* + * By the time this macro is called the processor has already stacked the + * registers. Simply stack the nesting count and PPAGE value, then save + * the task stack pointer. + */ + #define portSAVE_CONTEXT() \ + { \ + __asm( " \n\ + .globl pxCurrentTCB ; void * \n\ + .globl uxCriticalNesting ; char \n\ + \n\ + movb 0x30, 1,-sp ; PPAGE \n\ + movb uxCriticalNesting, 1,-sp \n\ + \n\ + ldx pxCurrentTCB \n\ + sts 0,x ; Stack \n\ + " ); \ + } +#else + + /* + * These macros are as per the BANKED versions above, but without saving + * and restoring the PPAGE register. + */ + + #define portRESTORE_CONTEXT() \ + { \ + __asm( " \n\ + .globl pxCurrentTCB ; void * \n\ + .globl uxCriticalNesting ; char \n\ + \n\ + ldx pxCurrentTCB \n\ + lds 0,x ; Stack \n\ + \n\ + movb 1,sp+,uxCriticalNesting \n\ + " ); \ + } + + #define portSAVE_CONTEXT() \ + { \ + __asm( " \n\ + .globl pxCurrentTCB ; void * \n\ + .globl uxCriticalNesting ; char \n\ + \n\ + movb uxCriticalNesting, 1,-sp \n\ + \n\ + ldx pxCurrentTCB \n\ + sts 0,x ; Stack \n\ + " ); \ + } +#endif + +/* + * Utility macros to save/restore correct software registers for GCC. This is + * useful when GCC does not generate appropriate ISR head/tail code. + */ +#define portISR_HEAD() \ +{ \ + __asm(" \n\ + movw _.frame, 2,-sp \n\ + movw _.tmp, 2,-sp \n\ + movw _.z, 2,-sp \n\ + movw _.xy, 2,-sp \n\ + ;movw _.d2, 2,-sp \n\ + ;movw _.d1, 2,-sp \n\ + "); \ +} + +#define portISR_TAIL() \ +{ \ + __asm(" \n\ + movw 2,sp+, _.xy \n\ + movw 2,sp+, _.z \n\ + movw 2,sp+, _.tmp \n\ + movw 2,sp+, _.frame \n\ + ;movw 2,sp+, _.d1 \n\ + ;movw 2,sp+, _.d2 \n\ + rti \n\ + "); \ +} + +/* + * Utility macro to call macros above in correct order in order to perform a + * task switch from within a standard ISR. This macro can only be used if + * the ISR does not use any local (stack) variables. If the ISR uses stack + * variables portYIELD() should be used in it's place. + */ + +#define portTASK_SWITCH_FROM_ISR() \ + portSAVE_CONTEXT(); \ + vTaskSwitchContext(); \ + portRESTORE_CONTEXT(); + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/ISR_Support.h new file mode 100644 index 0000000..df07dac --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/ISR_Support.h @@ -0,0 +1,127 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + .extern ulTopOfSystemStack + .extern ulInterruptNesting + +/*-----------------------------------------------------------*/ + +.macro portFREERTOS_INTERRUPT_ENTRY + + /* Save general purpose registers. */ + pusha + + /* If ulInterruptNesting is zero the rest of the task context will need + saving and a stack switch might be required. */ + movl ulInterruptNesting, %eax + test %eax, %eax + jne 2f + + /* Interrupts are not nested, so save the rest of the task context. */ + .if configSUPPORT_FPU == 1 + + /* If the task has a buffer allocated to save the FPU context then + save the FPU context now. */ + movl pucPortTaskFPUContextBuffer, %eax + test %eax, %eax + je 1f + fnsave ( %eax ) /* Save FLOP context into ucTempFPUBuffer array. */ + fwait + + 1: + /* Save the address of the FPU context, if any. */ + push pucPortTaskFPUContextBuffer + + .endif /* configSUPPORT_FPU */ + + /* Find the TCB. */ + movl pxCurrentTCB, %eax + + /* Stack location is first item in the TCB. */ + movl %esp, (%eax) + + /* Switch stacks. */ + movl ulTopOfSystemStack, %esp + movl %esp, %ebp + + 2: + /* Increment nesting count. */ + add $1, ulInterruptNesting + +.endm +/*-----------------------------------------------------------*/ + +.macro portINTERRUPT_EPILOGUE + + cli + sub $1, ulInterruptNesting + + /* If the nesting has unwound to zero. */ + movl ulInterruptNesting, %eax + test %eax, %eax + jne 2f + + /* If a yield was requested then select a new TCB now. */ + movl ulPortYieldPending, %eax + test %eax, %eax + je 1f + movl $0, ulPortYieldPending + call vTaskSwitchContext + + 1: + /* Stack location is first item in the TCB. */ + movl pxCurrentTCB, %eax + movl (%eax), %esp + + .if configSUPPORT_FPU == 1 + + /* Restore address of task's FPU context buffer. */ + pop pucPortTaskFPUContextBuffer + + /* If the task has a buffer allocated in which its FPU context is saved, + then restore it now. */ + movl pucPortTaskFPUContextBuffer, %eax + test %eax, %eax + je 1f + frstor ( %eax ) + 1: + .endif + + 2: + popa + +.endm +/*-----------------------------------------------------------*/ + +.macro portFREERTOS_INTERRUPT_EXIT + + portINTERRUPT_EPILOGUE + /* EOI. */ + movl $0x00, (0xFEE000B0) + iret + +.endm diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/port.c new file mode 100644 index 0000000..d9f5013 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/port.c @@ -0,0 +1,686 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#if( configISR_STACK_SIZE < ( configMINIMAL_STACK_SIZE * 2 ) ) + #warning configISR_STACK_SIZE is probably too small! +#endif /* ( configISR_STACK_SIZE < configMINIMAL_STACK_SIZE * 2 ) */ + +#if( ( configMAX_API_CALL_INTERRUPT_PRIORITY > portMAX_PRIORITY ) || ( configMAX_API_CALL_INTERRUPT_PRIORITY < 2 ) ) + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be between 2 and 15 +#endif + +#if( ( configSUPPORT_FPU == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) + #error configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 to use this port with an FPU +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Only the IF bit is set so tasks start with interrupts enabled. */ +#define portINITIAL_EFLAGS ( 0x200UL ) + +/* Error interrupts are at the highest priority vectors. */ +#define portAPIC_LVT_ERROR_VECTOR ( 0xfe ) +#define portAPIC_SPURIOUS_INT_VECTOR ( 0xff ) + +/* EFLAGS bits. */ +#define portEFLAGS_IF ( 0x200UL ) + +/* FPU context size if FSAVE is used. */ +#define portFPU_CONTEXT_SIZE_BYTES 108 + +/* The expected size of each entry in the IDT. Used to check structure packing + is set correctly. */ +#define portEXPECTED_IDT_ENTRY_SIZE 8 + +/* Default flags setting for entries in the IDT. */ +#define portIDT_FLAGS ( 0x8E ) + +/* This is the lowest possible ISR vector available to application code. */ +#define portAPIC_MIN_ALLOWABLE_VECTOR ( 0x20 ) + +/* If configASSERT() is defined then the system stack is filled with this value +to allow for a crude stack overflow check. */ +#define portSTACK_WORD ( 0xecececec ) +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. + */ +extern void vPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/* + * Complete one descriptor in the IDT. + */ +static void prvSetInterruptGate( uint8_t ucNumber, ISR_Handler_t pxHandlerFunction, uint8_t ucFlags ); + +/* + * The default handler installed in each IDT position. + */ +extern void vPortCentralInterruptWrapper( void ); + +/* + * Handler for portYIELD(). + */ +extern void vPortYieldCall( void ); + +/* + * Configure the APIC to generate the RTOS tick. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * Tick interrupt handler. + */ +extern void vPortTimerHandler( void ); + +/* + * Check an interrupt vector is not too high, too low, in use by FreeRTOS, or + * already in use by the application. + */ +static BaseType_t prvCheckValidityOfVectorNumber( uint32_t ulVectorNumber ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable must be initialised to a non zero value to ensure interrupts don't +inadvertently become unmasked before the scheduler starts. It is set to zero +before the first task starts executing. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* A structure used to map the various fields of an IDT entry into separate +structure members. */ +struct IDTEntry +{ + uint16_t usISRLow; /* Low 16 bits of handler address. */ + uint16_t usSegmentSelector; /* Flat model means this is not changed. */ + uint8_t ucZero; /* Must be set to zero. */ + uint8_t ucFlags; /* Flags for this entry. */ + uint16_t usISRHigh; /* High 16 bits of handler address. */ +} __attribute__( ( packed ) ); +typedef struct IDTEntry IDTEntry_t; + + +/* Use to pass the location of the IDT to the CPU. */ +struct IDTPointer +{ + uint16_t usTableLimit; + uint32_t ulTableBase; /* The address of the first entry in xInterruptDescriptorTable. */ +} __attribute__( ( __packed__ ) ); +typedef struct IDTPointer IDTPointer_t; + +/* The IDT itself. */ +static __attribute__ ( ( aligned( 32 ) ) ) IDTEntry_t xInterruptDescriptorTable[ portNUM_VECTORS ]; + +#if ( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 ) + + /* A table in which application defined interrupt handlers are stored. These + are called by the central interrupt handler if a common interrupt entry + point it used. */ + static ISR_Handler_t xInterruptHandlerTable[ portNUM_VECTORS ] = { NULL }; + +#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */ + +#if ( configSUPPORT_FPU == 1 ) + + /* Saved as part of the task context. If pucPortTaskFPUContextBuffer is NULL + then the task does not have an FPU context. If pucPortTaskFPUContextBuffer is + not NULL then it points to a buffer into which the FPU context can be saved. */ + uint8_t *pucPortTaskFPUContextBuffer __attribute__((used)) = pdFALSE; + +#endif /* configSUPPORT_FPU */ + +/* The stack used by interrupt handlers. */ +static uint32_t ulSystemStack[ configISR_STACK_SIZE ] __attribute__((used)) = { 0 }; + +/* Don't use the very top of the system stack so the return address +appears as 0 if the debugger tries to unwind the stack. */ +volatile uint32_t ulTopOfSystemStack __attribute__((used)) = ( uint32_t ) &( ulSystemStack[ configISR_STACK_SIZE - 5 ] ); + +/* If a yield is requested from an interrupt or from a critical section then +the yield is not performed immediately, and ulPortYieldPending is set to pdTRUE +instead to indicate the yield should be performed at the end of the interrupt +when the critical section is exited. */ +volatile uint32_t ulPortYieldPending __attribute__((used)) = pdFALSE; + +/* Counts the interrupt nesting depth. Used to know when to switch to the +interrupt/system stack and when to save/restore a complete context. */ +volatile uint32_t ulInterruptNesting __attribute__((used)) = 0; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t ulCodeSegment; + + /* Setup the initial stack as expected by the portFREERTOS_INTERRUPT_EXIT macro. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = 0x00; + pxTopOfStack--; + + /* Parameters first. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* There is nothing to return to so assert if attempting to use the return + address. */ + *pxTopOfStack = ( StackType_t ) prvTaskExitError; + pxTopOfStack--; + + /* iret used to start the task pops up to here. */ + *pxTopOfStack = portINITIAL_EFLAGS; + pxTopOfStack--; + + /* CS */ + __asm volatile( "movl %%cs, %0" : "=r" ( ulCodeSegment ) ); + *pxTopOfStack = ulCodeSegment; + pxTopOfStack--; + + /* First instruction in the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* General purpose registers as expected by a POPA instruction. */ + *pxTopOfStack = 0xEA; + pxTopOfStack--; + + *pxTopOfStack = 0xEC; + pxTopOfStack--; + + *pxTopOfStack = 0xED1; /* EDX */ + pxTopOfStack--; + + *pxTopOfStack = 0xEB1; /* EBX */ + pxTopOfStack--; + + /* Hole for ESP. */ + pxTopOfStack--; + + *pxTopOfStack = 0x00; /* EBP */ + pxTopOfStack--; + + *pxTopOfStack = 0xE5; /* ESI */ + pxTopOfStack--; + + *pxTopOfStack = 0xeeeeeeee; /* EDI */ + + #if ( configSUPPORT_FPU == 1 ) + { + pxTopOfStack--; + + /* Buffer for FPU context, which is initialised to NULL as tasks are not + created with an FPU context. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + } + #endif /* configSUPPORT_FPU */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvSetInterruptGate( uint8_t ucNumber, ISR_Handler_t pxHandlerFunction, uint8_t ucFlags ) +{ +uint16_t usCodeSegment; +uint32_t ulBase = ( uint32_t ) pxHandlerFunction; + + xInterruptDescriptorTable[ ucNumber ].usISRLow = ( uint16_t ) ( ulBase & USHRT_MAX ); + xInterruptDescriptorTable[ ucNumber ].usISRHigh = ( uint16_t ) ( ( ulBase >> 16UL ) & USHRT_MAX ); + + /* When the flat model is used the CS will never change. */ + __asm volatile( "mov %%cs, %0" : "=r" ( usCodeSegment ) ); + xInterruptDescriptorTable[ ucNumber ].usSegmentSelector = usCodeSegment; + xInterruptDescriptorTable[ ucNumber ].ucZero = 0; + xInterruptDescriptorTable[ ucNumber ].ucFlags = ucFlags; +} +/*-----------------------------------------------------------*/ + +void vPortSetupIDT( void ) +{ +uint32_t ulNum; +IDTPointer_t xIDT; + + #if ( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 ) + { + for( ulNum = 0; ulNum < portNUM_VECTORS; ulNum++ ) + { + /* If a handler has not already been installed on this vector. */ + if( ( xInterruptDescriptorTable[ ulNum ].usISRLow == 0x00 ) && ( xInterruptDescriptorTable[ ulNum ].usISRHigh == 0x00 ) ) + { + prvSetInterruptGate( ( uint8_t ) ulNum, vPortCentralInterruptWrapper, portIDT_FLAGS ); + } + } + } + #endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */ + + /* Set IDT address. */ + xIDT.ulTableBase = ( uint32_t ) xInterruptDescriptorTable; + xIDT.usTableLimit = sizeof( xInterruptDescriptorTable ) - 1; + + /* Set IDT in CPU. */ + __asm volatile( "lidt %0" :: "m" (xIDT) ); +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +extern void vPortAPICErrorHandlerWrapper( void ); +extern void vPortAPICSpuriousHandler( void ); + + /* Initialise LAPIC to a well known state. */ + portAPIC_LDR = 0xFFFFFFFF; + portAPIC_LDR = ( ( portAPIC_LDR & 0x00FFFFFF ) | 0x00000001 ); + portAPIC_LVT_TIMER = portAPIC_DISABLE; + portAPIC_LVT_PERF = portAPIC_NMI; + portAPIC_LVT_LINT0 = portAPIC_DISABLE; + portAPIC_LVT_LINT1 = portAPIC_DISABLE; + portAPIC_TASK_PRIORITY = 0; + + /* Install APIC timer ISR vector. */ + prvSetInterruptGate( ( uint8_t ) portAPIC_TIMER_INT_VECTOR, vPortTimerHandler, portIDT_FLAGS ); + + /* Install API error handler. */ + prvSetInterruptGate( ( uint8_t ) portAPIC_LVT_ERROR_VECTOR, vPortAPICErrorHandlerWrapper, portIDT_FLAGS ); + + /* Install Yield handler. */ + prvSetInterruptGate( ( uint8_t ) portAPIC_YIELD_INT_VECTOR, vPortYieldCall, portIDT_FLAGS ); + + /* Install spurious interrupt vector. */ + prvSetInterruptGate( ( uint8_t ) portAPIC_SPURIOUS_INT_VECTOR, vPortAPICSpuriousHandler, portIDT_FLAGS ); + + /* Enable the APIC, mapping the spurious interrupt at the same time. */ + portAPIC_SPURIOUS_INT = portAPIC_SPURIOUS_INT_VECTOR | portAPIC_ENABLE_BIT; + + /* Set timer error vector. */ + portAPIC_LVT_ERROR = portAPIC_LVT_ERROR_VECTOR; + + /* Set the interrupt frequency. */ + portAPIC_TMRDIV = portAPIC_DIV_16; + portAPIC_TIMER_INITIAL_COUNT = ( ( configCPU_CLOCK_HZ >> 4UL ) / configTICK_RATE_HZ ) - 1UL; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +BaseType_t xWord; + + /* Some versions of GCC require the -mno-ms-bitfields command line option + for packing to work. */ + configASSERT( sizeof( struct IDTEntry ) == portEXPECTED_IDT_ENTRY_SIZE ); + + /* Fill part of the system stack with a known value to help detect stack + overflow. A few zeros are left so GDB doesn't get confused unwinding + the stack. */ + for( xWord = 0; xWord < configISR_STACK_SIZE - 20; xWord++ ) + { + ulSystemStack[ xWord ] = portSTACK_WORD; + } + + /* Initialise Interrupt Descriptor Table (IDT). */ + vPortSetupIDT(); + + /* Initialise LAPIC and install system handlers. */ + prvSetupTimerInterrupt(); + + /* Make sure the stack used by interrupts is aligned. */ + ulTopOfSystemStack &= ~portBYTE_ALIGNMENT_MASK; + + ulCriticalNesting = 0; + + /* Enable LAPIC Counter.*/ + portAPIC_LVT_TIMER = portAPIC_TIMER_PERIODIC | portAPIC_TIMER_INT_VECTOR; + + /* Sometimes needed. */ + portAPIC_TMRDIV = portAPIC_DIV_16; + + /* Should not return from the following function as the scheduler will then + be executing the tasks. */ + vPortStartFirstTask(); + + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + if( ulCriticalNesting == 0 ) + { + #if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY ) + { + __asm volatile( "cli" ); + } + #else + { + portAPIC_TASK_PRIORITY = portMAX_API_CALL_PRIORITY; + configASSERT( portAPIC_TASK_PRIORITY == portMAX_API_CALL_PRIORITY ); + } + #endif + } + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + #if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY ) + { + __asm volatile( "sti" ); + } + #else + { + portAPIC_TASK_PRIORITY = 0; + } + #endif + + /* If a yield was pended from within the critical section then + perform the yield now. */ + if( ulPortYieldPending != pdFALSE ) + { + ulPortYieldPending = pdFALSE; + __asm volatile( portYIELD_INTERRUPT ); + } + } + } +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortSetInterruptMask( void ) +{ +volatile uint32_t ulOriginalMask; + + /* Set mask to max syscall priority. */ + #if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY ) + { + /* Return whether interrupts were already enabled or not. Pop adjusts + the stack first. */ + __asm volatile( "pushf \t\n" + "pop %0 \t\n" + "cli " + : "=rm" (ulOriginalMask) :: "memory" ); + + ulOriginalMask &= portEFLAGS_IF; + } + #else + { + /* Return original mask. */ + ulOriginalMask = portAPIC_TASK_PRIORITY; + portAPIC_TASK_PRIORITY = portMAX_API_CALL_PRIORITY; + configASSERT( portAPIC_TASK_PRIORITY == portMAX_API_CALL_PRIORITY ); + } + #endif + + return ulOriginalMask; +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( uint32_t ulNewMaskValue ) +{ + #if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY ) + { + if( ulNewMaskValue != pdFALSE ) + { + __asm volatile( "sti" ); + } + } + #else + { + portAPIC_TASK_PRIORITY = ulNewMaskValue; + configASSERT( portAPIC_TASK_PRIORITY == ulNewMaskValue ); + } + #endif +} +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_FPU == 1 ) + + void vPortTaskUsesFPU( void ) + { + /* A task is registering the fact that it needs an FPU context. Allocate a + buffer into which the context can be saved. */ + pucPortTaskFPUContextBuffer = ( uint8_t * ) pvPortMalloc( portFPU_CONTEXT_SIZE_BYTES ); + configASSERT( pucPortTaskFPUContextBuffer ); + + /* Initialise the floating point registers. */ + __asm volatile( "fninit" ); + } + +#endif /* configSUPPORT_FPU */ +/*-----------------------------------------------------------*/ + +void vPortAPICErrorHandler( void ) +{ +/* Variable to hold the APIC error status for viewing in the debugger. */ +volatile uint32_t ulErrorStatus = 0; + + portAPIC_ERROR_STATUS = 0; + ulErrorStatus = portAPIC_ERROR_STATUS; + ( void ) ulErrorStatus; + + /* Force an assert. */ + configASSERT( ulCriticalNesting == ~0UL ); +} +/*-----------------------------------------------------------*/ + +#if( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 ) + + void vPortCentralInterruptHandler( uint32_t ulVector ) + { + if( ulVector < portNUM_VECTORS ) + { + if( xInterruptHandlerTable[ ulVector ] != NULL ) + { + ( xInterruptHandlerTable[ ulVector ] )(); + } + } + + /* Check for a system stack overflow. */ + configASSERT( ulSystemStack[ 10 ] == portSTACK_WORD ); + configASSERT( ulSystemStack[ 12 ] == portSTACK_WORD ); + configASSERT( ulSystemStack[ 14 ] == portSTACK_WORD ); + } + +#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 ) + + BaseType_t xPortRegisterCInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber ) + { + BaseType_t xReturn; + + xReturn = prvCheckValidityOfVectorNumber( ulVectorNumber ); + + if( xReturn != pdFAIL ) + { + /* Save the handler passed in by the application in the vector number + passed in. The addresses are then called from the central interrupt + handler. */ + xInterruptHandlerTable[ ulVectorNumber ] = pxHandler; + } + + return xReturn; + } + +#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortInstallInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber ) +{ +BaseType_t xReturn; + + xReturn = prvCheckValidityOfVectorNumber( ulVectorNumber ); + + if( xReturn != pdFAIL ) + { + taskENTER_CRITICAL(); + { + /* Update the IDT to include the application defined handler. */ + prvSetInterruptGate( ( uint8_t ) ulVectorNumber, ( ISR_Handler_t ) pxHandler, portIDT_FLAGS ); + } + taskEXIT_CRITICAL(); + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static BaseType_t prvCheckValidityOfVectorNumber( uint32_t ulVectorNumber ) +{ +BaseType_t xReturn; + + /* Check validity of vector number. */ + if( ulVectorNumber >= portNUM_VECTORS ) + { + /* Too high. */ + xReturn = pdFAIL; + } + else if( ulVectorNumber < portAPIC_MIN_ALLOWABLE_VECTOR ) + { + /* Too low. */ + xReturn = pdFAIL; + } + else if( ulVectorNumber == portAPIC_TIMER_INT_VECTOR ) + { + /* In use by FreeRTOS. */ + xReturn = pdFAIL; + } + else if( ulVectorNumber == portAPIC_YIELD_INT_VECTOR ) + { + /* In use by FreeRTOS. */ + xReturn = pdFAIL; + } + else if( ulVectorNumber == portAPIC_LVT_ERROR_VECTOR ) + { + /* In use by FreeRTOS. */ + xReturn = pdFAIL; + } + else if( ulVectorNumber == portAPIC_SPURIOUS_INT_VECTOR ) + { + /* In use by FreeRTOS. */ + xReturn = pdFAIL; + } + else if( xInterruptHandlerTable[ ulVectorNumber ] != NULL ) + { + /* Already in use by the application. */ + xReturn = pdFAIL; + } + else + { + xReturn = pdPASS; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vGenerateYieldInterrupt( void ) +{ + __asm volatile( portYIELD_INTERRUPT ); +} + + + + + + + + + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/portASM.S new file mode 100644 index 0000000..af682cd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/portASM.S @@ -0,0 +1,274 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +.file "portASM.S" +#include "FreeRTOSConfig.h" +#include "ISR_Support.h" + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vPortCentralInterruptHandler + .extern xTaskIncrementTick + .extern vPortAPICErrorHandler + .extern pucPortTaskFPUContextBuffer + .extern ulPortYieldPending + + .global vPortStartFirstTask + .global vPortCentralInterruptWrapper + .global vPortAPICErrorHandlerWrapper + .global vPortTimerHandler + .global vPortYieldCall + .global vPortAPICSpuriousHandler + + .text + +/*-----------------------------------------------------------*/ + +.align 4 +.func vPortYieldCall +vPortYieldCall: + /* Save general purpose registers. */ + pusha + + .if configSUPPORT_FPU == 1 + + /* If the task has a buffer allocated to save the FPU context then save + the FPU context now. */ + movl pucPortTaskFPUContextBuffer, %eax + test %eax, %eax + je 1f + fnsave ( %eax ) + fwait + + 1: + + /* Save the address of the FPU context, if any. */ + push pucPortTaskFPUContextBuffer + + .endif /* configSUPPORT_FPU */ + + /* Find the TCB. */ + movl pxCurrentTCB, %eax + + /* Stack location is first item in the TCB. */ + movl %esp, (%eax) + + call vTaskSwitchContext + + /* Find the location of pxCurrentTCB again - a callee saved register could + be used in place of eax to prevent this second load, but that then relies + on the compiler and other asm code. */ + movl pxCurrentTCB, %eax + movl (%eax), %esp + + .if configSUPPORT_FPU == 1 + + /* Restore address of task's FPU context buffer. */ + pop pucPortTaskFPUContextBuffer + + /* If the task has a buffer allocated in which its FPU context is saved, + then restore it now. */ + movl pucPortTaskFPUContextBuffer, %eax + test %eax, %eax + je 1f + frstor ( %eax ) + 1: + .endif + + popa + iret + +.endfunc +/*-----------------------------------------------------------*/ + +.align 4 +.func vPortStartFirstTask +vPortStartFirstTask: + + /* Find the TCB. */ + movl pxCurrentTCB, %eax + + /* Stack location is first item in the TCB. */ + movl (%eax), %esp + + /* Restore FPU context flag. */ + .if configSUPPORT_FPU == 1 + + pop pucPortTaskFPUContextBuffer + + .endif /* configSUPPORT_FPU */ + + /* Restore general purpose registers. */ + popa + iret +.endfunc +/*-----------------------------------------------------------*/ + +.align 4 +.func vPortAPICErrorHandlerWrapper +vPortAPICErrorHandlerWrapper: + pusha + call vPortAPICErrorHandler + popa + /* EOI. */ + movl $0x00, (0xFEE000B0) + iret +.endfunc +/*-----------------------------------------------------------*/ + +.align 4 +.func vPortTimerHandler +vPortTimerHandler: + + /* Save general purpose registers. */ + pusha + + /* Interrupts are not nested, so save the rest of the task context. */ + .if configSUPPORT_FPU == 1 + + /* If the task has a buffer allocated to save the FPU context then save the + FPU context now. */ + movl pucPortTaskFPUContextBuffer, %eax + test %eax, %eax + je 1f + fnsave ( %eax ) /* Save FLOP context into ucTempFPUBuffer array. */ + fwait + + 1: + /* Save the address of the FPU context, if any. */ + push pucPortTaskFPUContextBuffer + + .endif /* configSUPPORT_FPU */ + + /* Find the TCB. */ + movl pxCurrentTCB, %eax + + /* Stack location is first item in the TCB. */ + movl %esp, (%eax) + + /* Switch stacks. */ + movl ulTopOfSystemStack, %esp + movl %esp, %ebp + + /* Increment nesting count. */ + add $1, ulInterruptNesting + + call xTaskIncrementTick + + sti + + /* Is a switch to another task required? */ + test %eax, %eax + je _skip_context_switch + cli + call vTaskSwitchContext + +_skip_context_switch: + cli + + /* Decrement the variable used to determine if a switch to a system + stack is necessary. */ + sub $1, ulInterruptNesting + + /* Stack location is first item in the TCB. */ + movl pxCurrentTCB, %eax + movl (%eax), %esp + + .if configSUPPORT_FPU == 1 + + /* Restore address of task's FPU context buffer. */ + pop pucPortTaskFPUContextBuffer + + /* If the task has a buffer allocated in which its FPU context is saved, + then restore it now. */ + movl pucPortTaskFPUContextBuffer, %eax + test %eax, %eax + je 1f + frstor ( %eax ) + 1: + .endif + + popa + + /* EOI. */ + movl $0x00, (0xFEE000B0) + iret + +.endfunc +/*-----------------------------------------------------------*/ + +.if configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 + + .align 4 + .func vPortCentralInterruptWrapper + vPortCentralInterruptWrapper: + + portFREERTOS_INTERRUPT_ENTRY + + movl $0xFEE00170, %eax /* Highest In Service Register (ISR) long word. */ + movl $8, %ecx /* Loop counter. */ + + next_isr_long_word: + test %ecx, %ecx /* Loop counter reached 0? */ + je wrapper_epilogue /* Looked at all ISR registers without finding a bit set. */ + sub $1, %ecx /* Sub 1 from loop counter. */ + movl (%eax), %ebx /* Load next ISR long word. */ + sub $0x10, %eax /* Point to next ISR long word in case no bits are set in the current long word. */ + test %ebx, %ebx /* Are there any bits set? */ + je next_isr_long_word /* Look at next ISR long word if no bits were set. */ + sti + bsr %ebx, %ebx /* A bit was set, which one? */ + movl $32, %eax /* Destination operand for following multiplication. */ + mul %ecx /* Calculate base vector for current register, 32 vectors per register. */ + add %ebx, %eax /* Add bit offset into register to get final vector number. */ + push %eax /* Vector number is function parameter. */ + call vPortCentralInterruptHandler + pop %eax /* Remove parameter. */ + + wrapper_epilogue: + portFREERTOS_INTERRUPT_EXIT + + .endfunc + +.endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */ +/*-----------------------------------------------------------*/ + +.align 4 +.func vPortAPISpuriousHandler +vPortAPICSpuriousHandler: + iret + +.endfunc + +.end + + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/portmacro.h new file mode 100644 index 0000000..5420d65 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/IA32_flat/portmacro.h @@ -0,0 +1,291 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +typedef uint32_t TickType_t; +#define portMAX_DELAY ( ( TickType_t ) 0xffffffffUL ) + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 32 + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* The interrupt priority (for vectors 16 to 255) is determined using vector/16. +The quotient is rounded to the nearest integer with 1 being the lowest priority +and 15 is the highest. Therefore the following two interrupts are at the lowest +priority. *NOTE 1* If the yield vector is changed then it must also be changed +in the portYIELD_INTERRUPT definition immediately below. */ +#define portAPIC_TIMER_INT_VECTOR ( 0x21 ) +#define portAPIC_YIELD_INT_VECTOR ( 0x20 ) + +/* Build yield interrupt instruction. */ +#define portYIELD_INTERRUPT "int $0x20" + +/* APIC register addresses. */ +#define portAPIC_EOI ( *( ( volatile uint32_t * ) 0xFEE000B0UL ) ) + +/* APIC bit definitions. */ +#define portAPIC_ENABLE_BIT ( 1UL << 8UL ) +#define portAPIC_TIMER_PERIODIC ( 1UL << 17UL ) +#define portAPIC_DISABLE ( 1UL << 16UL ) +#define portAPIC_NMI ( 4 << 8) +#define portAPIC_DIV_16 ( 0x03 ) + +/* Define local API register addresses. */ +#define portAPIC_ID_REGISTER ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x20UL ) ) ) +#define portAPIC_SPURIOUS_INT ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0xF0UL ) ) ) +#define portAPIC_LVT_TIMER ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x320UL ) ) ) +#define portAPIC_TIMER_INITIAL_COUNT ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x380UL ) ) ) +#define portAPIC_TIMER_CURRENT_COUNT ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x390UL ) ) ) +#define portAPIC_TASK_PRIORITY ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x80UL ) ) ) +#define portAPIC_LVT_ERROR ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x370UL ) ) ) +#define portAPIC_ERROR_STATUS ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x280UL ) ) ) +#define portAPIC_LDR ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0xD0UL ) ) ) +#define portAPIC_TMRDIV ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x3E0UL ) ) ) +#define portAPIC_LVT_PERF ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x340UL ) ) ) +#define portAPIC_LVT_LINT0 ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x350UL ) ) ) +#define portAPIC_LVT_LINT1 ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x360UL ) ) ) + +/* Don't yield if inside a critical section - instead hold the yield pending +so it is performed when the critical section is exited. */ +#define portYIELD() \ +{ \ +extern volatile uint32_t ulCriticalNesting; \ +extern volatile uint32_t ulPortYieldPending; \ + if( ulCriticalNesting != 0 ) \ + { \ + ulPortYieldPending = pdTRUE; \ + } \ + else \ + { \ + __asm volatile( portYIELD_INTERRUPT ); \ + } \ +} + +/* Called at the end of an ISR that can cause a context switch - pend a yield if +xSwithcRequired is not false. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern volatile uint32_t ulPortYieldPending; \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldPending = 1; \ + } \ +} + +/* Same as portEND_SWITCHING_ISR() - take your pick which name to use. */ +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + +/* Critical sections for use in interrupts. */ +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask( x ) + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern uint32_t ulPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); + +/* These macros do not globally disable/enable interrupts. They do mask off +interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +#define portDISABLE_INTERRUPTS() __asm volatile( "cli" ) +#define portENABLE_INTERRUPTS() __asm volatile( "sti" ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not required for this port but included in case common demo code that uses these +macros is used. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Architecture specific optimisations. */ +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) \ + __asm volatile( "bsr %1, %0\n\t" \ + :"=r"(uxTopPriority) : "rm"(uxReadyPriorities) : "cc" ) + + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#define portNOP() __asm volatile( "NOP" ) + +/*----------------------------------------------------------- + * Misc + *----------------------------------------------------------*/ + +#define portNUM_VECTORS 256 +#define portMAX_PRIORITY 15 +typedef void ( *ISR_Handler_t ) ( void ); + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() +before any floating point instructions are executed. */ +#ifndef configSUPPORT_FPU + #define configSUPPORT_FPU 0 +#endif + +#if configSUPPORT_FPU == 1 + void vPortTaskUsesFPU( void ); + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() +#endif + +/* See the comments under the configUSE_COMMON_INTERRUPT_ENTRY_POINT definition +below. */ +BaseType_t xPortRegisterCInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber ); +BaseType_t xPortInstallInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber ); + +#ifndef configAPIC_BASE + /* configAPIC_BASE_ADDRESS sets the base address of the local APIC. It can + be overridden in FreeRTOSConfig.h should it not be constant. */ + #define configAPIC_BASE 0xFEE00000UL +#endif + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + /* The FreeRTOS scheduling algorithm selects the task that will enter the + Running state. configUSE_PORT_OPTIMISED_TASK_SELECTION is used to set how + that is done. + + If configUSE_PORT_OPTIMISED_TASK_SELECTION is set to 0 then the task to + enter the Running state is selected using a portable algorithm written in + C. This is the slowest method, but the algorithm does not restrict the + maximum number of unique RTOS task priorities that are available. + + If configUSE_PORT_OPTIMISED_TASK_SELECTION is set to 1 then the task to + enter the Running state is selected using a single assembly instruction. + This is the fastest method, but restricts the maximum number of unique RTOS + task priorities to 32 (the same task priority can be assigned to any number + of RTOS tasks). */ + #warning configUSE_PORT_OPTIMISED_TASK_SELECTION was not defined in FreeRTOSConfig.h and has been defaulted to 1 + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#ifndef configUSE_COMMON_INTERRUPT_ENTRY_POINT + /* There are two ways of implementing interrupt handlers: + + 1) As standard C functions - + + This method can only be used if configUSE_COMMON_INTERRUPT_ENTRY_POINT + is set to 1. The C function is installed using + xPortRegisterCInterruptHandler(). + + This is the simplest of the two methods but incurs a slightly longer + interrupt entry time. + + 2) By using an assembly stub that wraps the handler in the FreeRTOS + portFREERTOS_INTERRUPT_ENTRY and portFREERTOS_INTERRUPT_EXIT macros. + + This method can always be used. It is slightly more complex than + method 1 but benefits from a faster interrupt entry time. */ + #warning configUSE_COMMON_INTERRUPT_ENTRY_POINT was not defined in FreeRTOSConfig.h and has been defaulted to 1. + #define configUSE_COMMON_INTERRUPT_ENTRY_POINT 1 +#endif + +#ifndef configISR_STACK_SIZE + /* Interrupt entry code will switch the stack in use to a dedicated system + stack. + + configISR_STACK_SIZE defines the number of 32-bit values that can be stored + on the system stack, and must be large enough to hold a potentially nested + interrupt stack frame. */ + + #error configISR_STACK_SIZE was not defined in FreeRTOSConfig.h. +#endif + +#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY + /* Interrupt safe FreeRTOS functions (those that end in "FromISR" must not + be called from an interrupt that has a priority above that set by + configMAX_API_CALL_INTERRUPT_PRIORITY. */ + #warning configMAX_API_CALL_INTERRUPT_PRIORITY was not defined in FreeRTOSConfig.h and has been defaulted to 10 + #define configMAX_API_CALL_INTERRUPT_PRIORITY 10 +#endif + +#ifndef configSUPPORT_FPU + #warning configSUPPORT_FPU was not defined in FreeRTOSConfig.h and has been defaulted to 0 + #define configSUPPORT_FPU 0 +#endif + +/* The value written to the task priority register to raise the interrupt mask +to the maximum from which FreeRTOS API calls can be made. */ +#define portAPIC_PRIORITY_SHIFT ( 4UL ) +#define portAPIC_MAX_SUB_PRIORITY ( 0x0fUL ) +#define portMAX_API_CALL_PRIORITY ( ( configMAX_API_CALL_INTERRUPT_PRIORITY << portAPIC_PRIORITY_SHIFT ) | portAPIC_MAX_SUB_PRIORITY ) + +/* Asserts if interrupt safe FreeRTOS functions are called from a priority +above the max system call interrupt priority. */ +#define portAPIC_PROCESSOR_PRIORITY ( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0xA0UL ) ) ) +#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( portAPIC_PROCESSOR_PRIORITY ) <= ( portMAX_API_CALL_PRIORITY ) ) + +#ifdef __cplusplus + } /* extern C */ +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MCF5235/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MCF5235/port.c new file mode 100644 index 0000000..9c7e84e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MCF5235/port.c @@ -0,0 +1,285 @@ +/* + FreeRTOS V4.1.1 - Copyright (C) 2003-2006 Richard Barry. + MCF5235 Port - Copyright (C) 2006 Christian Walter. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License** as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS, without being obliged to provide + the source code for any proprietary components. See the licensing section + of https://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + *************************************************************************** + * * + * Get the FreeRTOS eBook! See https://www.FreeRTOS.org/Documentation * + * * + * This is a concise, step by step, 'hands on' guide that describes both * + * general multitasking concepts and FreeRTOS specifics. It presents and * + * explains numerous examples that are written using the FreeRTOS API. * + * Full source code for all the examples is provided in an accompanying * + * .zip file. * + * * + *************************************************************************** + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + https://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + https://www.highintegritysystems.com/safertos/ - A version that is + certified for use in safety critical systems. + + https://www.highintegritysystems.com/openrtos/ - Commercial support, + development, porting, licensing and training services. +*/ + +#include + +#include "FreeRTOS.h" +#include "FreeRTOSConfig.h" +#include "task.h" + +/* ------------------------ Types ----------------------------------------- */ +typedef volatile uint32_t vuint32; +typedef volatile uint16_t vuint16; +typedef volatile uint8_t vuint8; + +/* ------------------------ Defines --------------------------------------- */ +#define portVECTOR_TABLE __RAMVEC +#define portVECTOR_SYSCALL ( 32 + portTRAP_YIELD ) +#define portVECTOR_TIMER ( 64 + 36 ) + +#define MCF_PIT_PRESCALER 512UL +#define MCF_PIT_TIMER_TICKS ( FSYS_2 / MCF_PIT_PRESCALER ) +#define MCF_PIT_MODULUS_REGISTER(freq) ( MCF_PIT_TIMER_TICKS / ( freq ) - 1UL) + +#define MCF_PIT_PMR0 ( *( vuint16 * )( void * )( &__IPSBAR[ 0x150002 ] ) ) +#define MCF_PIT_PCSR0 ( *( vuint16 * )( void * )( &__IPSBAR[ 0x150000 ] ) ) +#define MCF_PIT_PCSR_PRE(x) ( ( ( x ) & 0x000F ) << 8 ) +#define MCF_PIT_PCSR_EN ( 0x0001 ) +#define MCF_PIT_PCSR_RLD ( 0x0002 ) +#define MCF_PIT_PCSR_PIF ( 0x0004 ) +#define MCF_PIT_PCSR_PIE ( 0x0008 ) +#define MCF_PIT_PCSR_OVW ( 0x0010 ) +#define MCF_INTC0_ICR36 ( *( vuint8 * )( void * )( &__IPSBAR[ 0x000C64 ] ) ) +#define MCF_INTC0_IMRH ( *( vuint32 * )( void * )( &__IPSBAR[ 0x000C08 ] ) ) +#define MCF_INTC0_IMRH_INT_MASK36 ( 0x00000010 ) +#define MCF_INTC0_IMRH_MASKALL ( 0x00000001 ) +#define MCF_INTC0_ICRn_IP(x) ( ( ( x ) & 0x07 ) << 0 ) +#define MCF_INTC0_ICRn_IL(x) ( ( ( x ) & 0x07 ) << 3 ) + +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +#define portINITIAL_CRITICAL_NESTING ( ( uint32_t ) 10 ) + +/* ------------------------ Static variables ------------------------------ */ +volatile uint32_t ulCriticalNesting = portINITIAL_CRITICAL_NESTING; + +/* ------------------------ Static functions ------------------------------ */ +#if configUSE_PREEMPTION == 0 +static void prvPortPreemptiveTick ( void ) __attribute__ ((interrupt_handler)); +#else +static void prvPortPreemptiveTick ( void ); +#endif + +/* ------------------------ Start implementation -------------------------- */ + +StackType_t * +pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, + void *pvParameters ) +{ + /* Place the parameter on the stack in the expected location. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* Place dummy return address on stack. Tasks should never terminate so + * we can set this to anything. */ + *pxTopOfStack = ( StackType_t ) 0; + pxTopOfStack--; + + /* Create a Motorola Coldfire exception stack frame. First comes the return + * address. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Format, fault-status, vector number for exception stack frame. Task + * run in supervisor mode. */ + *pxTopOfStack = 0x40002000UL | ( portVECTOR_SYSCALL + 32 ) << 18; + pxTopOfStack--; + + /* Set the initial critical section nesting counter to zero. This value + * is used to restore the value of ulCriticalNesting. */ + *pxTopOfStack = 0; + *pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xA6; /* A6 / FP */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xA5; /* A5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xA4; /* A4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xA3; /* A3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xA2; /* A2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xA1; /* A1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xA0; /* A0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD7; /* D7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD6; /* D6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD5; /* D5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD4; /* D4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD3; /* D3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD2; /* D2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD1; /* D1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xD0; /* D0 */ + + return pxTopOfStack; +} + +/* + * Called by portYIELD() or taskYIELD() to manually force a context switch. + */ +static void +prvPortYield( void ) +{ + asm volatile ( "move.w #0x2700, %sr\n\t" ); +#if _GCC_USES_FP == 1 + asm volatile ( "unlk %fp\n\t" ); +#endif + /* Perform the context switch. First save the context of the current task. */ + portSAVE_CONTEXT( ); + + /* Find the highest priority task that is ready to run. */ + vTaskSwitchContext( ); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT( ); +} + +#if configUSE_PREEMPTION == 0 +/* + * The ISR used for the scheduler tick depends on whether the cooperative or + * the preemptive scheduler is being used. + */ +static void +prvPortPreemptiveTick ( void ) +{ + /* The cooperative scheduler requires a normal IRQ service routine to + * simply increment the system tick. + */ + + xTaskIncrementTick(); + MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIF; +} + +#else + +static void +prvPortPreemptiveTick( void ) +{ + asm volatile ( "move.w #0x2700, %sr\n\t" ); +#if _GCC_USES_FP == 1 + asm volatile ( "unlk %fp\n\t" ); +#endif + portSAVE_CONTEXT( ); + MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIF; + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext( ); + } + portRESTORE_CONTEXT( ); +} +#endif + +void +vPortEnterCritical() +{ + /* FIXME: We should store the old IPL here - How are we supposed to do + * this. + */ + ( void )portSET_IPL( portIPL_MAX ); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + * directly. Increment ulCriticalNesting to keep a count of how many times + * portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} + +void +vPortExitCritical() +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + ( void )portSET_IPL( 0 ); + } + } +} + +BaseType_t +xPortStartScheduler( void ) +{ + extern void ( *portVECTOR_TABLE[ ] ) ( ); + + /* Add entry in vector table for yield system call. */ + portVECTOR_TABLE[ portVECTOR_SYSCALL ] = prvPortYield; + /* Add entry in vector table for periodic timer. */ + portVECTOR_TABLE[ portVECTOR_TIMER ] = prvPortPreemptiveTick; + + /* Configure the timer for the system clock. */ + if ( configTICK_RATE_HZ > 0) + { + /* Configure prescaler */ + MCF_PIT_PCSR0 = MCF_PIT_PCSR_PRE( 0x9 ) | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_OVW; + /* Initialize the periodic timer interrupt. */ + MCF_PIT_PMR0 = MCF_PIT_MODULUS_REGISTER( configTICK_RATE_HZ ); + /* Configure interrupt priority and level and unmask interrupt. */ + MCF_INTC0_ICR36 = MCF_INTC0_ICRn_IL( 0x1 ) | MCF_INTC0_ICRn_IP( 0x1 ); + MCF_INTC0_IMRH &= ~( MCF_INTC0_IMRH_INT_MASK36 | MCF_INTC0_IMRH_MASKALL ); + /* Enable interrupts */ + MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_EN | MCF_PIT_PCSR_PIF; + } + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT( ); + + /* Should not get here. */ + return pdTRUE; +} + +void +vPortEndScheduler( void ) +{ +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MCF5235/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MCF5235/portmacro.h new file mode 100644 index 0000000..065667f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MCF5235/portmacro.h @@ -0,0 +1,183 @@ +/* + FreeRTOS V4.1.1 - Copyright (C) 2003-2006 Richard Barry. + MCF5235 Port - Copyright (C) 2006 Christian Walter. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License** as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS, without being obliged to provide + the source code for any proprietary components. See the licensing section + of https://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + *************************************************************************** + * * + * Get the FreeRTOS eBook! See https://www.FreeRTOS.org/Documentation * + * * + * This is a concise, step by step, 'hands on' guide that describes both * + * general multitasking concepts and FreeRTOS specifics. It presents and * + * explains numerous examples that are written using the FreeRTOS API. * + * Full source code for all the examples is provided in an accompanying * + * .zip file. * + * * + *************************************************************************** + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + https://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + https://www.highintegritysystems.com/safertos/ - A version that is + certified for use in safety critical systems. + + https://www.highintegritysystems.com/openrtos/ - Commercial support, + development, porting, + licensing and training services. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* ------------------------ Data types for Coldfire ----------------------- */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE unsigned int +#define portBASE_TYPE int + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/* ------------------------ Architecture specifics ------------------------ */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 + +#define portTRAP_YIELD 0 /* Trap 0 */ +#define portIPL_MAX 7 /* Only NMI interrupt 7 allowed. */ + +/* ------------------------ FreeRTOS macros for port ---------------------- */ + +/* + * This function must be called when the current state of the active task + * should be stored. It must be called immediately after exception + * processing from the CPU, i.e. there exists a Coldfire exception frame at + * the current position in the stack. The function reserves space on + * the stack for the CPU registers and other task dependent values (e.g + * ulCriticalNesting) and updates the top of the stack in the TCB. + */ +#define portSAVE_CONTEXT() \ + asm volatile ( /* reserve space for task state. */ \ + "lea.l (-64, %sp), %sp\n\t" \ + /* push data register %d0-%d7/%a0-%a6 on stack. */ \ + "movem.l %d0-%d7/%a0-%a6, (%sp)\n\t" \ + /* push ulCriticalNesting counter on stack. */ \ + "lea.l (60, %sp), %a0\n\t" \ + "move.l ulCriticalNesting, (%a0)\n\t" \ + /* set the new top of the stack in the TCB. */ \ + "move.l pxCurrentTCB, %a0\n\t" \ + "move.l %sp, (%a0)"); + +/*. + * This function restores the current active and continues its execution. + * It loads the current TCB and restores the processor registers, the + * task dependent values (e.g ulCriticalNesting). Finally execution + * is continued by executing an rte instruction. + */ +#define portRESTORE_CONTEXT() \ + asm volatile ( "move.l pxCurrentTCB, %sp\n\t" \ + "move.l (%sp), %sp\n\t" \ + /* stack pointer now points to the saved registers. */ \ + "movem.l (%sp), %d0-%d7/%a0-%a6\n\t" \ + /* restore ulCriticalNesting counter from stack. */ \ + "lea.l (%sp, 60), %sp\n\t" \ + "move.l (%sp)+, ulCriticalNesting\n\t" \ + /* stack pointer now points to exception frame. */ \ + "rte\n\t" ); + +#define portENTER_CRITICAL() \ + vPortEnterCritical(); + +#define portEXIT_CRITICAL() \ + vPortExitCritical(); + +#define portSET_IPL( xIPL ) \ + asm_set_ipl( xIPL ) + +#define portDISABLE_INTERRUPTS() \ + do { ( void )portSET_IPL( portIPL_MAX ); } while( 0 ) +#define portENABLE_INTERRUPTS() \ + do { ( void )portSET_IPL( 0 ); } while( 0 ) + +#define portYIELD() \ + asm volatile ( " trap %0\n\t" : : "i"(portTRAP_YIELD) ) + +#define portNOP() \ + asm volatile ( "nop\n\t" ) + +#define portENTER_SWITCHING_ISR() \ + asm volatile ( "move.w #0x2700, %sr" ); \ + /* Save the context of the interrupted task. */ \ + portSAVE_CONTEXT( ); \ + { + +#define portEXIT_SWITCHING_ISR( SwitchRequired ) \ + /* If a switch is required we call vTaskSwitchContext(). */ \ + if( SwitchRequired ) \ + { \ + vTaskSwitchContext( ); \ + } \ + } \ + portRESTORE_CONTEXT( ); + +/* ------------------------ Function prototypes --------------------------- */ +void vPortEnterCritical( void ); +void vPortExitCritical( void ); +int asm_set_ipl( uint32_t int uiNewIPL ); + +/* ------------------------ Compiler specifics ---------------------------- */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) \ + void vFunction( void *pvParameters ) + +#define portTASK_FUNCTION( vFunction, pvParameters ) \ + void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MSP430F449/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MSP430F449/port.c new file mode 100644 index 0000000..1d2e23f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MSP430F449/port.c @@ -0,0 +1,328 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + Changes from V2.5.2 + + + usCriticalNesting now has a volatile qualifier. +*/ + +/* Standard includes. */ +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MSP430 port. + *----------------------------------------------------------*/ + +/* Constants required for hardware setup. The tick ISR runs off the ACLK, +not the MCLK. */ +#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Most ports implement critical sections by placing the interrupt flags on +the stack before disabling interrupts. Exiting the critical section is then +simply a case of popping the flags from the stack. As mspgcc does not use +a frame pointer this cannot be done as modifying the stack will clobber all +the stack variables. Instead each task maintains a count of the critical +section nesting depth. Each time a critical section is entered the count is +incremented. Each time a critical section is left the count is decremented - +with interrupts only being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + +/* + * Macro to save a task context to the task stack. This simply pushes all the + * general purpose msp430 registers onto the stack, followed by the + * usCriticalNesting value used by the task. Finally the resultant stack + * pointer value is saved into the task control block so it can be retrieved + * the next time the task executes. + */ +#define portSAVE_CONTEXT() \ + asm volatile ( "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "mov.w usCriticalNesting, r14 \n\t" \ + "push r14 \n\t" \ + "mov.w pxCurrentTCB, r12 \n\t" \ + "mov.w r1, @r12 \n\t" \ + ); + +/* + * Macro to restore a task context from the task stack. This is effectively + * the reverse of portSAVE_CONTEXT(). First the stack pointer value is + * loaded from the task control block. Next the value for usCriticalNesting + * used by the task is retrieved from the stack - followed by the value of all + * the general purpose msp430 registers. + * + * The bic instruction ensures there are no low power bits set in the status + * register that is about to be popped from the stack. + */ +#define portRESTORE_CONTEXT() \ + asm volatile ( "mov.w pxCurrentTCB, r12 \n\t" \ + "mov.w @r12, r1 \n\t" \ + "pop r15 \n\t" \ + "mov.w r15, usCriticalNesting \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "bic #(0xf0),0(r1) \n\t" \ + "reti \n\t" \ + ); +/*-----------------------------------------------------------*/ + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* + Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be included if required. + + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x3333; + pxTopOfStack--; + */ + + /* The msp430 automatically pushes the PC then SR onto the stack before + executing an ISR. We want the stack to look just as if this has happened + so place a pointer to the start of the task on the stack first - followed + by the flags we want the task to use when it starts up. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Next the general purpose registers. */ + *pxTopOfStack = ( StackType_t ) 0x4444; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x6666; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x7777; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x8888; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x9999; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xaaaa; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xbbbb; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xcccc; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xdddd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xeeee; + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R15. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* The code generated by the mspgcc compiler does not maintain separate + stack and frame pointers. The portENTER_CRITICAL macro cannot therefore + use the stack as per other ports. Instead a variable is used to keep + track of the critical section nesting. This variable has to be stored + as part of the task context and is initially set to zero. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); + + /* Should not get here as the tasks are now running! */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the MSP430 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch called by portYIELD or taskYIELD. + * + * The first thing we do is save the registers so we can use a naked attribute. + */ +void vPortYield( void ) __attribute__ ( ( naked ) ); +void vPortYield( void ) +{ + /* We want the stack of the task being saved to look exactly as if the task + was saved during a pre-emptive RTOS tick ISR. Before calling an ISR the + msp430 places the status register onto the stack. As this is a function + call and not an ISR we have to do this manually. */ + asm volatile ( "push r2" ); + _DINT(); + + /* Save the context of the current task. */ + portSAVE_CONTEXT(); + + /* Switch to the highest priority task that is ready to run. */ + vTaskSwitchContext(); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. This uses timer 0 + * but could alternatively use the watchdog timer or timer 1. + */ +static void prvSetupTimerInterrupt( void ) +{ + /* Ensure the timer is stopped. */ + TACTL = 0; + + /* Run the timer of the ACLK. */ + TACTL = TASSEL_1; + + /* Clear everything to start with. */ + TACTL |= TACLR; + + /* Set the compare match value according to the tick rate we want. */ + TACCR0 = portACLK_FREQUENCY_HZ / configTICK_RATE_HZ; + + /* Enable the interrupts. */ + TACCTL0 = CCIE; + + /* Start up clean. */ + TACTL |= TACLR; + + /* Up mode. */ + TACTL |= MC_1; +} +/*-----------------------------------------------------------*/ + +/* + * The interrupt service routine used depends on whether the pre-emptive + * scheduler is being used or not. + */ + +#if configUSE_PREEMPTION == 1 + + /* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + interrupt (TIMERA0_VECTOR) prvTickISR( void ) __attribute__ ( ( naked ) ); + interrupt (TIMERA0_VECTOR) prvTickISR( void ) + { + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* Increment the tick count then switch to the highest priority task + that is ready to run. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); + } + +#else + + /* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + interrupt (TIMERA0_VECTOR) prvTickISR( void ); + interrupt (TIMERA0_VECTOR) prvTickISR( void ) + { + xTaskIncrementTick(); + } +#endif + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MSP430F449/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MSP430F449/portmacro.h new file mode 100644 index 0000000..e2c0f7e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MSP430F449/portmacro.h @@ -0,0 +1,127 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() asm volatile ( "DINT" ); asm volatile ( "NOP" ) +#define portENABLE_INTERRUPTS() asm volatile ( "EINT" ); asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled ulCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +extern void vPortYield( void ) __attribute__ ( ( naked ) ); +#define portYIELD() vPortYield() +#define portNOP() asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Hardwware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/port.c new file mode 100644 index 0000000..41bd5b8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/port.c @@ -0,0 +1,333 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MicroBlaze port. + *----------------------------------------------------------*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Standard includes. */ +#include + +/* Hardware includes. */ +#include +#include +#include + +#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 to use this port. +#endif + +/* Tasks are started with interrupts enabled. */ +#define portINITIAL_MSR_STATE ( ( StackType_t ) 0x02 ) + +/* Tasks are started with a critical section nesting of 0 - however prior +to the scheduler being commenced we don't want the critical nesting level +to reach zero, so it is initialised to a high value. */ +#define portINITIAL_NESTING_VALUE ( 0xff ) + +/* Our hardware setup only uses one counter. */ +#define portCOUNTER_0 0 + +/* The stack used by the ISR is filled with a known value to assist in +debugging. */ +#define portISR_STACK_FILL_VALUE 0x55555555 + +/* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task +maintains it's own count, so this variable is saved as part of the task +context. */ +volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE; + +/* To limit the amount of stack required by each task, this port uses a +separate stack for interrupts. */ +uint32_t *pulISRStack; + +/*-----------------------------------------------------------*/ + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been made. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +extern void *_SDA2_BASE_, *_SDA_BASE_; +const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_; +const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_; + + /* Place a few bytes of known values on the bottom of the stack. + This is essential for the Microblaze port and these lines must + not be omitted. The parameter value will overwrite the + 0x22222222 value during the function prologue. */ + *pxTopOfStack = ( StackType_t ) 0x11111111; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22222222; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x33333333; + pxTopOfStack--; + + /* First stack an initial value for the critical section nesting. This + is initialised to zero as tasks are started with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0. */ + + /* Place an initial value for all the general purpose registers. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) ulR2; /* R2 - small data area. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0a; /* R10. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0b; /* R11. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0c; /* R12. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) ulR13; /* R13 - small data read write area. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* R14. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0f; /* R15. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R16. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R17. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R18. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R19. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R20. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R21. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x16; /* R22. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x17; /* R23. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x18; /* R24. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R25. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1a; /* R26. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1b; /* R27. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1c; /* R28. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1d; /* R29. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1e; /* R30. */ + pxTopOfStack--; + + /* The MSR is stacked between R30 and R31. */ + *pxTopOfStack = portINITIAL_MSR_STATE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x1f; /* R31. */ + pxTopOfStack--; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void ( __FreeRTOS_interrupt_Handler )( void ); +extern void ( vStartFirstTask )( void ); + + + /* Setup the FreeRTOS interrupt handler. Code copied from crt0.s. */ + asm volatile ( "la r6, r0, __FreeRTOS_interrupt_handler \n\t" \ + "sw r6, r1, r0 \n\t" \ + "lhu r7, r1, r0 \n\t" \ + "shi r7, r0, 0x12 \n\t" \ + "shi r6, r0, 0x16 " ); + + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. */ + prvSetupTimerInterrupt(); + + /* Allocate the stack to be used by the interrupt handler. */ + pulISRStack = ( uint32_t * ) pvPortMalloc( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ); + + /* Restore the context of the first task that is going to run. */ + if( pulISRStack != NULL ) + { + /* Fill the ISR stack with a known value to facilitate debugging. */ + memset( pulISRStack, portISR_STACK_FILL_VALUE, configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ); + pulISRStack += ( configMINIMAL_STACK_SIZE - 1 ); + + /* Kick off the first task. */ + vStartFirstTask(); + } + + /* Should not get here as the tasks are now running! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +void vPortYield( void ) +{ +extern void VPortYieldASM( void ); + + /* Perform the context switch in a critical section to assure it is + not interrupted by the tick ISR. It is not a problem to do this as + each task maintains it's own interrupt status. */ + portENTER_CRITICAL(); + /* Jump directly to the yield function to ensure there is no + compiler generated prologue code. */ + asm volatile ( "bralid r14, VPortYieldASM \n\t" \ + "or r0, r0, r0 \n\t" ); + portEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. + */ +static void prvSetupTimerInterrupt( void ) +{ +XTmrCtr xTimer; +const uint32_t ulCounterValue = configCPU_CLOCK_HZ / configTICK_RATE_HZ; +UBaseType_t uxMask; + + /* The OPB timer1 is used to generate the tick. Use the provided library + functions to enable the timer and set the tick frequency. */ + XTmrCtr_mDisable( XPAR_OPB_TIMER_1_BASEADDR, XPAR_OPB_TIMER_1_DEVICE_ID ); + XTmrCtr_Initialize( &xTimer, XPAR_OPB_TIMER_1_DEVICE_ID ); + XTmrCtr_mSetLoadReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, ulCounterValue ); + XTmrCtr_mSetControlStatusReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, XTC_CSR_LOAD_MASK | XTC_CSR_INT_OCCURED_MASK ); + + /* Set the timer interrupt enable bit while maintaining the other bit + states. */ + uxMask = XIntc_In32( ( XPAR_OPB_INTC_0_BASEADDR + XIN_IER_OFFSET ) ); + uxMask |= XPAR_OPB_TIMER_1_INTERRUPT_MASK; + XIntc_Out32( ( XPAR_OPB_INTC_0_BASEADDR + XIN_IER_OFFSET ), ( uxMask ) ); + + XTmrCtr_Start( &xTimer, XPAR_OPB_TIMER_1_DEVICE_ID ); + XTmrCtr_mSetControlStatusReg(XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, XTC_CSR_ENABLE_TMR_MASK | XTC_CSR_ENABLE_INT_MASK | XTC_CSR_AUTO_RELOAD_MASK | XTC_CSR_DOWN_COUNT_MASK | XTC_CSR_INT_OCCURED_MASK ); + XIntc_mAckIntr( XPAR_INTC_SINGLE_BASEADDR, 1 ); +} +/*-----------------------------------------------------------*/ + +/* + * The interrupt handler placed in the interrupt vector when the scheduler is + * started. The task context has already been saved when this is called. + * This handler determines the interrupt source and calls the relevant + * peripheral handler. + */ +void vTaskISRHandler( void ) +{ +static uint32_t ulPending; + + /* Which interrupts are pending? */ + ulPending = XIntc_In32( ( XPAR_INTC_SINGLE_BASEADDR + XIN_IVR_OFFSET ) ); + + if( ulPending < XPAR_INTC_MAX_NUM_INTR_INPUTS ) + { + static XIntc_VectorTableEntry *pxTablePtr; + static XIntc_Config *pxConfig; + static uint32_t ulInterruptMask; + + ulInterruptMask = ( uint32_t ) 1 << ulPending; + + /* Get the configuration data using the device ID */ + pxConfig = &XIntc_ConfigTable[ ( uint32_t ) XPAR_INTC_SINGLE_DEVICE_ID ]; + + pxTablePtr = &( pxConfig->HandlerTable[ ulPending ] ); + if( pxConfig->AckBeforeService & ( ulInterruptMask ) ) + { + XIntc_mAckIntr( pxConfig->BaseAddress, ulInterruptMask ); + pxTablePtr->Handler( pxTablePtr->CallBackRef ); + } + else + { + pxTablePtr->Handler( pxTablePtr->CallBackRef ); + XIntc_mAckIntr( pxConfig->BaseAddress, ulInterruptMask ); + } + } +} +/*-----------------------------------------------------------*/ + +/* + * Handler for the timer interrupt. + */ +void vTickISR( void *pvBaseAddress ) +{ +uint32_t ulCSR; + + /* Increment the RTOS tick - this might cause a task to unblock. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Clear the timer interrupt */ + ulCSR = XTmrCtr_mGetControlStatusReg(XPAR_OPB_TIMER_1_BASEADDR, 0); + XTmrCtr_mSetControlStatusReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, ulCSR ); +} +/*-----------------------------------------------------------*/ + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/portasm.s new file mode 100644 index 0000000..ddb525e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/portasm.s @@ -0,0 +1,197 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + .extern pxCurrentTCB + .extern vTaskISRHandler + .extern vTaskSwitchContext + .extern uxCriticalNesting + .extern pulISRStack + + .global __FreeRTOS_interrupt_handler + .global VPortYieldASM + .global vStartFirstTask + + +.macro portSAVE_CONTEXT + /* Make room for the context on the stack. */ + addik r1, r1, -132 + /* Save r31 so it can then be used. */ + swi r31, r1, 4 + /* Copy the msr into r31 - this is stacked later. */ + mfs r31, rmsr + /* Stack general registers. */ + swi r30, r1, 12 + swi r29, r1, 16 + swi r28, r1, 20 + swi r27, r1, 24 + swi r26, r1, 28 + swi r25, r1, 32 + swi r24, r1, 36 + swi r23, r1, 40 + swi r22, r1, 44 + swi r21, r1, 48 + swi r20, r1, 52 + swi r19, r1, 56 + swi r18, r1, 60 + swi r17, r1, 64 + swi r16, r1, 68 + swi r15, r1, 72 + swi r13, r1, 80 + swi r12, r1, 84 + swi r11, r1, 88 + swi r10, r1, 92 + swi r9, r1, 96 + swi r8, r1, 100 + swi r7, r1, 104 + swi r6, r1, 108 + swi r5, r1, 112 + swi r4, r1, 116 + swi r3, r1, 120 + swi r2, r1, 124 + /* Stack the critical section nesting value. */ + lwi r3, r0, uxCriticalNesting + swi r3, r1, 128 + /* Save the top of stack value to the TCB. */ + lwi r3, r0, pxCurrentTCB + sw r1, r0, r3 + + .endm + +.macro portRESTORE_CONTEXT + /* Load the top of stack value from the TCB. */ + lwi r3, r0, pxCurrentTCB + lw r1, r0, r3 + /* Restore the general registers. */ + lwi r31, r1, 4 + lwi r30, r1, 12 + lwi r29, r1, 16 + lwi r28, r1, 20 + lwi r27, r1, 24 + lwi r26, r1, 28 + lwi r25, r1, 32 + lwi r24, r1, 36 + lwi r23, r1, 40 + lwi r22, r1, 44 + lwi r21, r1, 48 + lwi r20, r1, 52 + lwi r19, r1, 56 + lwi r18, r1, 60 + lwi r17, r1, 64 + lwi r16, r1, 68 + lwi r15, r1, 72 + lwi r14, r1, 76 + lwi r13, r1, 80 + lwi r12, r1, 84 + lwi r11, r1, 88 + lwi r10, r1, 92 + lwi r9, r1, 96 + lwi r8, r1, 100 + lwi r7, r1, 104 + lwi r6, r1, 108 + lwi r5, r1, 112 + lwi r4, r1, 116 + lwi r2, r1, 124 + + /* Load the critical nesting value. */ + lwi r3, r1, 128 + swi r3, r0, uxCriticalNesting + + /* Obtain the MSR value from the stack. */ + lwi r3, r1, 8 + + /* Are interrupts enabled in the MSR? If so return using an return from + interrupt instruction to ensure interrupts are enabled only once the task + is running again. */ + andi r3, r3, 2 + beqid r3, 36 + or r0, r0, r0 + + /* Reload the rmsr from the stack, clear the enable interrupt bit in the + value before saving back to rmsr register, then return enabling interrupts + as we return. */ + lwi r3, r1, 8 + andi r3, r3, ~2 + mts rmsr, r3 + lwi r3, r1, 120 + addik r1, r1, 132 + rtid r14, 0 + or r0, r0, r0 + + /* Reload the rmsr from the stack, place it in the rmsr register, and + return without enabling interrupts. */ + lwi r3, r1, 8 + mts rmsr, r3 + lwi r3, r1, 120 + addik r1, r1, 132 + rtsd r14, 0 + or r0, r0, r0 + + .endm + + .text + .align 2 + + +__FreeRTOS_interrupt_handler: + portSAVE_CONTEXT + /* Entered via an interrupt so interrupts must be enabled in msr. */ + ori r31, r31, 2 + /* Stack msr. */ + swi r31, r1, 8 + /* Stack the return address. As we entered via an interrupt we do + not need to modify the return address prior to stacking. */ + swi r14, r1, 76 + /* Now switch to use the ISR stack. */ + lwi r3, r0, pulISRStack + add r1, r3, r0 + bralid r15, vTaskISRHandler + or r0, r0, r0 + portRESTORE_CONTEXT + + +VPortYieldASM: + portSAVE_CONTEXT + /* Stack msr. */ + swi r31, r1, 8 + /* Modify the return address so we return to the instruction after the + exception. */ + addi r14, r14, 8 + swi r14, r1, 76 + /* Now switch to use the ISR stack. */ + lwi r3, r0, pulISRStack + add r1, r3, r0 + bralid r15, vTaskSwitchContext + or r0, r0, r0 + portRESTORE_CONTEXT + +vStartFirstTask: + portRESTORE_CONTEXT + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/portmacro.h new file mode 100644 index 0000000..0c1f0bd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlaze/portmacro.h @@ -0,0 +1,126 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +void microblaze_disable_interrupts( void ); +void microblaze_enable_interrupts( void ); +#define portDISABLE_INTERRUPTS() microblaze_disable_interrupts() +#define portENABLE_INTERRUPTS() microblaze_enable_interrupts() +/*-----------------------------------------------------------*/ + +/* Critical section macros. */ +void vPortEnterCritical( void ); +void vPortExitCritical( void ); +#define portENTER_CRITICAL() { \ + extern UBaseType_t uxCriticalNesting; \ + microblaze_disable_interrupts(); \ + uxCriticalNesting++; \ + } + +#define portEXIT_CRITICAL() { \ + extern UBaseType_t uxCriticalNesting; \ + /* Interrupts are disabled, so we can */ \ + /* access the variable directly. */ \ + uxCriticalNesting--; \ + if( uxCriticalNesting == 0 ) \ + { \ + /* The nesting has unwound and we \ + can enable interrupts again. */ \ + portENABLE_INTERRUPTS(); \ + } \ + } + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +void vPortYield( void ); +#define portYIELD() vPortYield() + +void vTaskSwitchContext(); +#define portYIELD_FROM_ISR() vTaskSwitchContext() +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/port.c new file mode 100644 index 0000000..03ff93c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/port.c @@ -0,0 +1,452 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MicroBlaze port. + *----------------------------------------------------------*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Standard includes. */ +#include + +/* Hardware includes. */ +#include +#include +#include + +/* Tasks are started with a critical section nesting of 0 - however, prior to +the scheduler being commenced interrupts should not be enabled, so the critical +nesting variable is initialised to a non-zero value. */ +#define portINITIAL_NESTING_VALUE ( 0xff ) + +/* The bit within the MSR register that enabled/disables interrupts and +exceptions respectively. */ +#define portMSR_IE ( 0x02U ) +#define portMSR_EE ( 0x100U ) + +/* If the floating point unit is included in the MicroBlaze build, then the +FSR register is saved as part of the task context. portINITIAL_FSR is the value +given to the FSR register when the initial context is set up for a task being +created. */ +#define portINITIAL_FSR ( 0U ) +/*-----------------------------------------------------------*/ + +/* + * Initialise the interrupt controller instance. + */ +static int32_t prvInitialiseInterruptController( void ); + +/* Ensure the interrupt controller instance variable is initialised before it is + * used, and that the initialisation only happens once. + */ +static int32_t prvEnsureInterruptControllerIsInitialised( void ); + +/*-----------------------------------------------------------*/ + +/* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task +maintains its own count, so this variable is saved as part of the task +context. */ +volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE; + +/* This port uses a separate stack for interrupts. This prevents the stack of +every task needing to be large enough to hold an entire interrupt stack on top +of the task stack. */ +uint32_t *pulISRStack; + +/* If an interrupt requests a context switch, then ulTaskSwitchRequested will +get set to 1. ulTaskSwitchRequested is inspected just before the main interrupt +handler exits. If, at that time, ulTaskSwitchRequested is set to 1, the kernel +will call vTaskSwitchContext() to ensure the task that runs immediately after +the interrupt exists is the highest priority task that is able to run. This is +an unusual mechanism, but is used for this port because a single interrupt can +cause the servicing of multiple peripherals - and it is inefficient to call +vTaskSwitchContext() multiple times as each peripheral is serviced. */ +volatile uint32_t ulTaskSwitchRequested = 0UL; + +/* The instance of the interrupt controller used by this port. This is required +by the Xilinx library API functions. */ +static XIntc xInterruptControllerInstance; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been made. + * + * See the portable.h header file. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +extern void *_SDA2_BASE_, *_SDA_BASE_; +const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_; +const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_; + + /* Place a few bytes of known values on the bottom of the stack. + This is essential for the Microblaze port and these lines must + not be omitted. */ + *pxTopOfStack = ( StackType_t ) 0x00000000; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00000000; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00000000; + pxTopOfStack--; + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + /* The FSR value placed in the initial task context is just 0. */ + *pxTopOfStack = portINITIAL_FSR; + pxTopOfStack--; + #endif + + /* The MSR value placed in the initial task context should have interrupts + disabled. Each task will enable interrupts automatically when it enters + the running state for the first time. */ + *pxTopOfStack = mfmsr() & ~portMSR_IE; + + #if( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) + { + /* Ensure exceptions are enabled for the task. */ + *pxTopOfStack |= portMSR_EE; + } + #endif + + pxTopOfStack--; + + /* First stack an initial value for the critical section nesting. This + is initialised to zero. */ + *pxTopOfStack = ( StackType_t ) 0x00; + + /* R0 is always zero. */ + /* R1 is the SP. */ + + /* Place an initial value for all the general purpose registers. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) ulR2; /* R2 - read only small data area. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 - return values and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 - return values and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */ + + #ifdef portPRE_LOAD_STACK_FOR_DEBUGGING + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 - other parameters and temporaries. Used as the return address from vPortTaskEntryPoint. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0a; /* R10 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0b; /* R11 - temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0c; /* R12 - temporaries. */ + pxTopOfStack--; + #else + pxTopOfStack-= 8; + #endif + + *pxTopOfStack = ( StackType_t ) ulR13; /* R13 - read/write small data area. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* R14 - return address for interrupt. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; /* R15 - return address for subroutine. */ + + #ifdef portPRE_LOAD_STACK_FOR_DEBUGGING + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R16 - return address for trap (debugger). */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R17 - return address for exceptions, if configured. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R18 - reserved for assembler and compiler temporaries. */ + pxTopOfStack--; + #else + pxTopOfStack -= 4; + #endif + + *pxTopOfStack = ( StackType_t ) 0x00; /* R19 - must be saved across function calls. Callee-save. Seems to be interpreted as the frame pointer. */ + + #ifdef portPRE_LOAD_STACK_FOR_DEBUGGING + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R20 - reserved for storing a pointer to the Global Offset Table (GOT) in Position Independent Code (PIC). Non-volatile in non-PIC code. Must be saved across function calls. Callee-save. Not used by FreeRTOS. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R21 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x16; /* R22 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x17; /* R23 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x18; /* R24 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R25 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1a; /* R26 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1b; /* R27 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1c; /* R28 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1d; /* R29 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1e; /* R30 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1f; /* R31 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + #else + pxTopOfStack -= 13; + #endif + + /* Return a pointer to the top of the stack that has been generated so this + can be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void ( vPortStartFirstTask )( void ); +extern uint32_t _stack[]; + + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. + + This port uses an application defined callback function to install the tick + interrupt handler because the kernel will run on lots of different + MicroBlaze and FPGA configurations - not all of which will have the same + timer peripherals defined or available. An example definition of + vApplicationSetupTimerInterrupt() is provided in the official demo + application that accompanies this port. */ + vApplicationSetupTimerInterrupt(); + + /* Reuse the stack from main() as the stack for the interrupts/exceptions. */ + pulISRStack = ( uint32_t * ) _stack; + + /* Ensure there is enough space for the functions called from the interrupt + service routines to write back into the stack frame of the caller. */ + pulISRStack -= 2; + + /* Restore the context of the first task that is going to run. From here + on, the created tasks will be executing. */ + vPortStartFirstTask(); + + /* Should not get here as the tasks are now running! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +void vPortYield( void ) +{ +extern void VPortYieldASM( void ); + + /* Perform the context switch in a critical section to assure it is + not interrupted by the tick ISR. It is not a problem to do this as + each task maintains its own interrupt status. */ + portENTER_CRITICAL(); + { + /* Jump directly to the yield function to ensure there is no + compiler generated prologue code. */ + asm volatile ( "bralid r14, VPortYieldASM \n\t" \ + "or r0, r0, r0 \n\t" ); + } + portEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +void vPortEnableInterrupt( uint8_t ucInterruptID ) +{ +int32_t lReturn; + + /* An API function is provided to enable an interrupt in the interrupt + controller because the interrupt controller instance variable is private + to this file. */ + lReturn = prvEnsureInterruptControllerIsInitialised(); + if( lReturn == pdPASS ) + { + XIntc_Enable( &xInterruptControllerInstance, ucInterruptID ); + } + + configASSERT( lReturn ); +} +/*-----------------------------------------------------------*/ + +void vPortDisableInterrupt( uint8_t ucInterruptID ) +{ +int32_t lReturn; + + /* An API function is provided to disable an interrupt in the interrupt + controller because the interrupt controller instance variable is private + to this file. */ + lReturn = prvEnsureInterruptControllerIsInitialised(); + + if( lReturn == pdPASS ) + { + XIntc_Disable( &xInterruptControllerInstance, ucInterruptID ); + } + + configASSERT( lReturn ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ) +{ +int32_t lReturn; + + /* An API function is provided to install an interrupt handler because the + interrupt controller instance variable is private to this file. */ + + lReturn = prvEnsureInterruptControllerIsInitialised(); + + if( lReturn == pdPASS ) + { + lReturn = XIntc_Connect( &xInterruptControllerInstance, ucInterruptID, pxHandler, pvCallBackRef ); + } + + if( lReturn == XST_SUCCESS ) + { + lReturn = pdPASS; + } + + configASSERT( lReturn == pdPASS ); + + return lReturn; +} +/*-----------------------------------------------------------*/ + +static int32_t prvEnsureInterruptControllerIsInitialised( void ) +{ +static int32_t lInterruptControllerInitialised = pdFALSE; +int32_t lReturn; + + /* Ensure the interrupt controller instance variable is initialised before + it is used, and that the initialisation only happens once. */ + if( lInterruptControllerInitialised != pdTRUE ) + { + lReturn = prvInitialiseInterruptController(); + + if( lReturn == pdPASS ) + { + lInterruptControllerInitialised = pdTRUE; + } + } + else + { + lReturn = pdPASS; + } + + return lReturn; +} +/*-----------------------------------------------------------*/ + +/* + * Handler for the timer interrupt. This is the handler that the application + * defined callback function vApplicationSetupTimerInterrupt() should install. + */ +void vPortTickISR( void *pvUnused ) +{ +extern void vApplicationClearTimerInterrupt( void ); + + /* Ensure the unused parameter does not generate a compiler warning. */ + ( void ) pvUnused; + + /* This port uses an application defined callback function to clear the tick + interrupt because the kernel will run on lots of different MicroBlaze and + FPGA configurations - not all of which will have the same timer peripherals + defined or available. An example definition of + vApplicationClearTimerInterrupt() is provided in the official demo + application that accompanies this port. */ + vApplicationClearTimerInterrupt(); + + /* Increment the RTOS tick - this might cause a task to unblock. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Force vTaskSwitchContext() to be called as the interrupt exits. */ + ulTaskSwitchRequested = 1; + } +} +/*-----------------------------------------------------------*/ + +static int32_t prvInitialiseInterruptController( void ) +{ +int32_t lStatus; + + lStatus = XIntc_Initialize( &xInterruptControllerInstance, configINTERRUPT_CONTROLLER_TO_USE ); + + if( lStatus == XST_SUCCESS ) + { + /* Initialise the exception table. */ + Xil_ExceptionInit(); + + /* Service all pending interrupts each time the handler is entered. */ + XIntc_SetIntrSvcOption( xInterruptControllerInstance.BaseAddress, XIN_SVC_ALL_ISRS_OPTION ); + + /* Install exception handlers if the MicroBlaze is configured to handle + exceptions, and the application defined constant + configINSTALL_EXCEPTION_HANDLERS is set to 1. */ + #if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) + { + vPortExceptionsInstallHandlers(); + } + #endif /* MICROBLAZE_EXCEPTIONS_ENABLED */ + + /* Start the interrupt controller. Interrupts are enabled when the + scheduler starts. */ + lStatus = XIntc_Start( &xInterruptControllerInstance, XIN_REAL_MODE ); + + if( lStatus == XST_SUCCESS ) + { + lStatus = pdPASS; + } + else + { + lStatus = pdFAIL; + } + } + + configASSERT( lStatus == pdPASS ); + + return lStatus; +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/port_exceptions.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/port_exceptions.c new file mode 100644 index 0000000..47a639d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/port_exceptions.c @@ -0,0 +1,282 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware includes. */ +#include +#include + +/* The Xilinx library defined exception entry point stacks a number of +registers. These definitions are offsets from the stack pointer to the various +stacked register values. */ +#define portexR3_STACK_OFFSET 4 +#define portexR4_STACK_OFFSET 5 +#define portexR5_STACK_OFFSET 6 +#define portexR6_STACK_OFFSET 7 +#define portexR7_STACK_OFFSET 8 +#define portexR8_STACK_OFFSET 9 +#define portexR9_STACK_OFFSET 10 +#define portexR10_STACK_OFFSET 11 +#define portexR11_STACK_OFFSET 12 +#define portexR12_STACK_OFFSET 13 +#define portexR15_STACK_OFFSET 16 +#define portexR18_STACK_OFFSET 19 +#define portexMSR_STACK_OFFSET 20 +#define portexR19_STACK_OFFSET -1 + +/* This is defined to equal the size, in bytes, of the stack frame generated by +the Xilinx standard library exception entry point. It is required to determine +the stack pointer value prior to the exception being entered. */ +#define portexASM_HANDLER_STACK_FRAME_SIZE 84UL + +/* The number of bytes a MicroBlaze instruction consumes. */ +#define portexINSTRUCTION_SIZE 4 + +/* Exclude this entire file if the MicroBlaze is not configured to handle +exceptions, or the application defined configuration constant +configINSTALL_EXCEPTION_HANDLERS is not set to 1. */ +#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) + +/* This variable is set in the exception entry code, before +vPortExceptionHandler is called. */ +uint32_t *pulStackPointerOnFunctionEntry = NULL; + +/* This is the structure that is filled with the MicroBlaze context as it +existed immediately prior to the exception occurrence. A pointer to this +structure is passed into the vApplicationExceptionRegisterDump() callback +function, if one is defined. */ +static xPortRegisterDump xRegisterDump; + +/* This is the FreeRTOS exception handler that is installed for all exception +types. It is called from vPortExceptionHanlderEntry() - which is itself defined +in portasm.S. */ +void vPortExceptionHandler( void *pvExceptionID ); +extern void vPortExceptionHandlerEntry( void *pvExceptionID ); + +/*-----------------------------------------------------------*/ + +/* vApplicationExceptionRegisterDump() is a callback function that the +application can optionally define to receive a populated xPortRegisterDump +structure. If the application chooses not to define a version of +vApplicationExceptionRegisterDump() then this weekly defined default +implementation will be called instead. */ +extern void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) __attribute__((weak)); +void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) +{ + ( void ) xRegisterDump; + + for( ;; ) + { + portNOP(); + } +} +/*-----------------------------------------------------------*/ + +void vPortExceptionHandler( void *pvExceptionID ) +{ +extern void *pxCurrentTCB; + + /* Fill an xPortRegisterDump structure with the MicroBlaze context as it + was immediately before the exception occurrence. */ + + /* First fill in the name and handle of the task that was in the Running + state when the exception occurred. */ + xRegisterDump.xCurrentTaskHandle = pxCurrentTCB; + xRegisterDump.pcCurrentTaskName = pcTaskGetName( NULL ); + + configASSERT( pulStackPointerOnFunctionEntry ); + + /* Obtain the values of registers that were stacked prior to this function + being called, and may have changed since they were stacked. */ + xRegisterDump.ulR3 = pulStackPointerOnFunctionEntry[ portexR3_STACK_OFFSET ]; + xRegisterDump.ulR4 = pulStackPointerOnFunctionEntry[ portexR4_STACK_OFFSET ]; + xRegisterDump.ulR5 = pulStackPointerOnFunctionEntry[ portexR5_STACK_OFFSET ]; + xRegisterDump.ulR6 = pulStackPointerOnFunctionEntry[ portexR6_STACK_OFFSET ]; + xRegisterDump.ulR7 = pulStackPointerOnFunctionEntry[ portexR7_STACK_OFFSET ]; + xRegisterDump.ulR8 = pulStackPointerOnFunctionEntry[ portexR8_STACK_OFFSET ]; + xRegisterDump.ulR9 = pulStackPointerOnFunctionEntry[ portexR9_STACK_OFFSET ]; + xRegisterDump.ulR10 = pulStackPointerOnFunctionEntry[ portexR10_STACK_OFFSET ]; + xRegisterDump.ulR11 = pulStackPointerOnFunctionEntry[ portexR11_STACK_OFFSET ]; + xRegisterDump.ulR12 = pulStackPointerOnFunctionEntry[ portexR12_STACK_OFFSET ]; + xRegisterDump.ulR15_return_address_from_subroutine = pulStackPointerOnFunctionEntry[ portexR15_STACK_OFFSET ]; + xRegisterDump.ulR18 = pulStackPointerOnFunctionEntry[ portexR18_STACK_OFFSET ]; + xRegisterDump.ulR19 = pulStackPointerOnFunctionEntry[ portexR19_STACK_OFFSET ]; + xRegisterDump.ulMSR = pulStackPointerOnFunctionEntry[ portexMSR_STACK_OFFSET ]; + + /* Obtain the value of all other registers. */ + xRegisterDump.ulR2_small_data_area = mfgpr( R2 ); + xRegisterDump.ulR13_read_write_small_data_area = mfgpr( R13 ); + xRegisterDump.ulR14_return_address_from_interrupt = mfgpr( R14 ); + xRegisterDump.ulR16_return_address_from_trap = mfgpr( R16 ); + xRegisterDump.ulR17_return_address_from_exceptions = mfgpr( R17 ); + xRegisterDump.ulR20 = mfgpr( R20 ); + xRegisterDump.ulR21 = mfgpr( R21 ); + xRegisterDump.ulR22 = mfgpr( R22 ); + xRegisterDump.ulR23 = mfgpr( R23 ); + xRegisterDump.ulR24 = mfgpr( R24 ); + xRegisterDump.ulR25 = mfgpr( R25 ); + xRegisterDump.ulR26 = mfgpr( R26 ); + xRegisterDump.ulR27 = mfgpr( R27 ); + xRegisterDump.ulR28 = mfgpr( R28 ); + xRegisterDump.ulR29 = mfgpr( R29 ); + xRegisterDump.ulR30 = mfgpr( R30 ); + xRegisterDump.ulR31 = mfgpr( R31 ); + xRegisterDump.ulR1_SP = ( ( uint32_t ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE; + xRegisterDump.ulEAR = mfear(); + xRegisterDump.ulESR = mfesr(); + xRegisterDump.ulEDR = mfedr(); + + /* Move the saved program counter back to the instruction that was executed + when the exception occurred. This is only valid for certain types of + exception. */ + xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_exceptions - portexINSTRUCTION_SIZE; + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + { + xRegisterDump.ulFSR = mffsr(); + } + #else + { + xRegisterDump.ulFSR = 0UL; + } + #endif + + /* Also fill in a string that describes what type of exception this is. + The string uses the same ID names as defined in the MicroBlaze standard + library exception header files. */ + switch( ( uint32_t ) pvExceptionID ) + { + case XEXC_ID_FSL : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FSL"; + break; + + case XEXC_ID_UNALIGNED_ACCESS : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_UNALIGNED_ACCESS"; + break; + + case XEXC_ID_ILLEGAL_OPCODE : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_ILLEGAL_OPCODE"; + break; + + case XEXC_ID_M_AXI_I_EXCEPTION : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_I_EXCEPTION or XEXC_ID_IPLB_EXCEPTION"; + break; + + case XEXC_ID_M_AXI_D_EXCEPTION : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_D_EXCEPTION or XEXC_ID_DPLB_EXCEPTION"; + break; + + case XEXC_ID_DIV_BY_ZERO : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_DIV_BY_ZERO"; + break; + + case XEXC_ID_STACK_VIOLATION : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_STACK_VIOLATION or XEXC_ID_MMU"; + break; + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + + case XEXC_ID_FPU : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FPU see ulFSR value"; + break; + + #endif /* XPAR_MICROBLAZE_USE_FPU */ + } + + /* vApplicationExceptionRegisterDump() is a callback function that the + application can optionally define to receive the populated xPortRegisterDump + structure. If the application chooses not to define a version of + vApplicationExceptionRegisterDump() then the weekly defined default + implementation within this file will be called instead. */ + vApplicationExceptionRegisterDump( &xRegisterDump ); + + /* Must not attempt to leave this function! */ + for( ;; ) + { + portNOP(); + } +} +/*-----------------------------------------------------------*/ + +void vPortExceptionsInstallHandlers( void ) +{ +static uint32_t ulHandlersAlreadyInstalled = pdFALSE; + + if( ulHandlersAlreadyInstalled == pdFALSE ) + { + ulHandlersAlreadyInstalled = pdTRUE; + + #if XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS == 1 + microblaze_register_exception_handler( XEXC_ID_UNALIGNED_ACCESS, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_UNALIGNED_ACCESS ); + #endif /* XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS*/ + + #if XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_ILLEGAL_OPCODE, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_ILLEGAL_OPCODE ); + #endif /* XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION */ + + #if XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_M_AXI_I_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_I_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_M_AXI_D_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_D_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_IPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_IPLB_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_DPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DPLB_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_DIV_BY_ZERO, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DIV_BY_ZERO ); + #endif /* XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION */ + + #if XPAR_MICROBLAZE_FPU_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_FPU, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FPU ); + #endif /* XPAR_MICROBLAZE_FPU_EXCEPTION */ + + #if XPAR_MICROBLAZE_FSL_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_FSL, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FSL ); + #endif /* XPAR_MICROBLAZE_FSL_EXCEPTION */ + + microblaze_enable_exceptions(); + } +} + +/* Exclude the entire file if the MicroBlaze is not configured to handle +exceptions, or the application defined configuration item +configINSTALL_EXCEPTION_HANDLERS is not set to 1. */ +#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/portasm.S new file mode 100644 index 0000000..9243703 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/portasm.S @@ -0,0 +1,328 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/* Xilinx library includes. */ +#include "microblaze_exceptions_g.h" +#include "xparameters.h" + +/* The context is oversized to allow functions called from the ISR to write +back into the caller stack. */ +#if( XPAR_MICROBLAZE_USE_FPU != 0 ) + #define portCONTEXT_SIZE 136 + #define portMINUS_CONTEXT_SIZE -136 +#else + #define portCONTEXT_SIZE 132 + #define portMINUS_CONTEXT_SIZE -132 +#endif + +/* Offsets from the stack pointer at which saved registers are placed. */ +#define portR31_OFFSET 4 +#define portR30_OFFSET 8 +#define portR29_OFFSET 12 +#define portR28_OFFSET 16 +#define portR27_OFFSET 20 +#define portR26_OFFSET 24 +#define portR25_OFFSET 28 +#define portR24_OFFSET 32 +#define portR23_OFFSET 36 +#define portR22_OFFSET 40 +#define portR21_OFFSET 44 +#define portR20_OFFSET 48 +#define portR19_OFFSET 52 +#define portR18_OFFSET 56 +#define portR17_OFFSET 60 +#define portR16_OFFSET 64 +#define portR15_OFFSET 68 +#define portR14_OFFSET 72 +#define portR13_OFFSET 76 +#define portR12_OFFSET 80 +#define portR11_OFFSET 84 +#define portR10_OFFSET 88 +#define portR9_OFFSET 92 +#define portR8_OFFSET 96 +#define portR7_OFFSET 100 +#define portR6_OFFSET 104 +#define portR5_OFFSET 108 +#define portR4_OFFSET 112 +#define portR3_OFFSET 116 +#define portR2_OFFSET 120 +#define portCRITICAL_NESTING_OFFSET 124 +#define portMSR_OFFSET 128 +#define portFSR_OFFSET 132 + + .extern pxCurrentTCB + .extern XIntc_DeviceInterruptHandler + .extern vTaskSwitchContext + .extern uxCriticalNesting + .extern pulISRStack + .extern ulTaskSwitchRequested + .extern vPortExceptionHandler + .extern pulStackPointerOnFunctionEntry + + .global _interrupt_handler + .global VPortYieldASM + .global vPortStartFirstTask + .global vPortExceptionHandlerEntry + + +.macro portSAVE_CONTEXT + + /* Make room for the context on the stack. */ + addik r1, r1, portMINUS_CONTEXT_SIZE + + /* Stack general registers. */ + swi r31, r1, portR31_OFFSET + swi r30, r1, portR30_OFFSET + swi r29, r1, portR29_OFFSET + swi r28, r1, portR28_OFFSET + swi r27, r1, portR27_OFFSET + swi r26, r1, portR26_OFFSET + swi r25, r1, portR25_OFFSET + swi r24, r1, portR24_OFFSET + swi r23, r1, portR23_OFFSET + swi r22, r1, portR22_OFFSET + swi r21, r1, portR21_OFFSET + swi r20, r1, portR20_OFFSET + swi r19, r1, portR19_OFFSET + swi r18, r1, portR18_OFFSET + swi r17, r1, portR17_OFFSET + swi r16, r1, portR16_OFFSET + swi r15, r1, portR15_OFFSET + /* R14 is saved later as it needs adjustment if a yield is performed. */ + swi r13, r1, portR13_OFFSET + swi r12, r1, portR12_OFFSET + swi r11, r1, portR11_OFFSET + swi r10, r1, portR10_OFFSET + swi r9, r1, portR9_OFFSET + swi r8, r1, portR8_OFFSET + swi r7, r1, portR7_OFFSET + swi r6, r1, portR6_OFFSET + swi r5, r1, portR5_OFFSET + swi r4, r1, portR4_OFFSET + swi r3, r1, portR3_OFFSET + swi r2, r1, portR2_OFFSET + + /* Stack the critical section nesting value. */ + lwi r18, r0, uxCriticalNesting + swi r18, r1, portCRITICAL_NESTING_OFFSET + + /* Stack MSR. */ + mfs r18, rmsr + swi r18, r1, portMSR_OFFSET + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + /* Stack FSR. */ + mfs r18, rfsr + swi r18, r1, portFSR_OFFSET + #endif + + /* Save the top of stack value to the TCB. */ + lwi r3, r0, pxCurrentTCB + sw r1, r0, r3 + + .endm + +.macro portRESTORE_CONTEXT + + /* Load the top of stack value from the TCB. */ + lwi r18, r0, pxCurrentTCB + lw r1, r0, r18 + + /* Restore the general registers. */ + lwi r31, r1, portR31_OFFSET + lwi r30, r1, portR30_OFFSET + lwi r29, r1, portR29_OFFSET + lwi r28, r1, portR28_OFFSET + lwi r27, r1, portR27_OFFSET + lwi r26, r1, portR26_OFFSET + lwi r25, r1, portR25_OFFSET + lwi r24, r1, portR24_OFFSET + lwi r23, r1, portR23_OFFSET + lwi r22, r1, portR22_OFFSET + lwi r21, r1, portR21_OFFSET + lwi r20, r1, portR20_OFFSET + lwi r19, r1, portR19_OFFSET + lwi r17, r1, portR17_OFFSET + lwi r16, r1, portR16_OFFSET + lwi r15, r1, portR15_OFFSET + lwi r14, r1, portR14_OFFSET + lwi r13, r1, portR13_OFFSET + lwi r12, r1, portR12_OFFSET + lwi r11, r1, portR11_OFFSET + lwi r10, r1, portR10_OFFSET + lwi r9, r1, portR9_OFFSET + lwi r8, r1, portR8_OFFSET + lwi r7, r1, portR7_OFFSET + lwi r6, r1, portR6_OFFSET + lwi r5, r1, portR5_OFFSET + lwi r4, r1, portR4_OFFSET + lwi r3, r1, portR3_OFFSET + lwi r2, r1, portR2_OFFSET + + /* Reload the rmsr from the stack. */ + lwi r18, r1, portMSR_OFFSET + mts rmsr, r18 + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + /* Reload the FSR from the stack. */ + lwi r18, r1, portFSR_OFFSET + mts rfsr, r18 + #endif + + /* Load the critical nesting value. */ + lwi r18, r1, portCRITICAL_NESTING_OFFSET + swi r18, r0, uxCriticalNesting + + /* Test the critical nesting value. If it is non zero then the task last + exited the running state using a yield. If it is zero, then the task + last exited the running state through an interrupt. */ + xori r18, r18, 0 + bnei r18, exit_from_yield + + /* r18 was being used as a temporary. Now restore its true value from the + stack. */ + lwi r18, r1, portR18_OFFSET + + /* Remove the stack frame. */ + addik r1, r1, portCONTEXT_SIZE + + /* Return using rtid so interrupts are re-enabled as this function is + exited. */ + rtid r14, 0 + or r0, r0, r0 + + .endm + +/* This function is used to exit portRESTORE_CONTEXT() if the task being +returned to last left the Running state by calling taskYIELD() (rather than +being preempted by an interrupt). */ + .text + .align 4 +exit_from_yield: + + /* r18 was being used as a temporary. Now restore its true value from the + stack. */ + lwi r18, r1, portR18_OFFSET + + /* Remove the stack frame. */ + addik r1, r1, portCONTEXT_SIZE + + /* Return to the task. */ + rtsd r14, 0 + or r0, r0, r0 + + + .text + .align 4 +_interrupt_handler: + + portSAVE_CONTEXT + + /* Stack the return address. */ + swi r14, r1, portR14_OFFSET + + /* Switch to the ISR stack. */ + lwi r1, r0, pulISRStack + + /* The parameter to the interrupt handler. */ + ori r5, r0, configINTERRUPT_CONTROLLER_TO_USE + + /* Execute any pending interrupts. */ + bralid r15, XIntc_DeviceInterruptHandler + or r0, r0, r0 + + /* See if a new task should be selected to execute. */ + lwi r18, r0, ulTaskSwitchRequested + or r18, r18, r0 + + /* If ulTaskSwitchRequested is already zero, then jump straight to + restoring the task that is already in the Running state. */ + beqi r18, task_switch_not_requested + + /* Set ulTaskSwitchRequested back to zero as a task switch is about to be + performed. */ + swi r0, r0, ulTaskSwitchRequested + + /* ulTaskSwitchRequested was not 0 when tested. Select the next task to + execute. */ + bralid r15, vTaskSwitchContext + or r0, r0, r0 + +task_switch_not_requested: + + /* Restore the context of the next task scheduled to execute. */ + portRESTORE_CONTEXT + + + .text + .align 4 +VPortYieldASM: + + portSAVE_CONTEXT + + /* Modify the return address so a return is done to the instruction after + the call to VPortYieldASM. */ + addi r14, r14, 8 + swi r14, r1, portR14_OFFSET + + /* Switch to use the ISR stack. */ + lwi r1, r0, pulISRStack + + /* Select the next task to execute. */ + bralid r15, vTaskSwitchContext + or r0, r0, r0 + + /* Restore the context of the next task scheduled to execute. */ + portRESTORE_CONTEXT + + .text + .align 4 +vPortStartFirstTask: + + portRESTORE_CONTEXT + + + +#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) + + .text + .align 4 +vPortExceptionHandlerEntry: + + /* Take a copy of the stack pointer before vPortExecptionHandler is called, + storing its value prior to the function stack frame being created. */ + swi r1, r0, pulStackPointerOnFunctionEntry + bralid r15, vPortExceptionHandler + or r0, r0, r0 + +#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/portmacro.h new file mode 100644 index 0000000..2985761 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV8/portmacro.h @@ -0,0 +1,369 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* BSP includes. */ +#include +#include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros and functions. */ +void microblaze_disable_interrupts( void ); +void microblaze_enable_interrupts( void ); +#define portDISABLE_INTERRUPTS() microblaze_disable_interrupts() +#define portENABLE_INTERRUPTS() microblaze_enable_interrupts() +/*-----------------------------------------------------------*/ + +/* Critical section macros. */ +void vPortEnterCritical( void ); +void vPortExitCritical( void ); +#define portENTER_CRITICAL() { \ + extern volatile UBaseType_t uxCriticalNesting; \ + microblaze_disable_interrupts(); \ + uxCriticalNesting++; \ + } + +#define portEXIT_CRITICAL() { \ + extern volatile UBaseType_t uxCriticalNesting; \ + /* Interrupts are disabled, so we can */ \ + /* access the variable directly. */ \ + uxCriticalNesting--; \ + if( uxCriticalNesting == 0 ) \ + { \ + /* The nesting has unwound and we \ + can enable interrupts again. */ \ + portENABLE_INTERRUPTS(); \ + } \ + } + +/*-----------------------------------------------------------*/ + +/* The yield macro maps directly to the vPortYield() function. */ +void vPortYield( void ); +#define portYIELD() vPortYield() + +/* portYIELD_FROM_ISR() does not directly call vTaskSwitchContext(), but instead +sets a flag to say that a yield has been requested. The interrupt exit code +then checks this flag, and calls vTaskSwitchContext() before restoring a task +context, if the flag is not false. This is done to prevent multiple calls to +vTaskSwitchContext() being made from a single interrupt, as a single interrupt +can result in multiple peripherals being serviced. */ +extern volatile uint32_t ulTaskSwitchRequested; +#define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) ulTaskSwitchRequested = 1 + +#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + + /* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) ); + return ucReturn; + } + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +/* The following structure is used by the FreeRTOS exception handler. It is +filled with the MicroBlaze context as it was at the time the exception occurred. +This is done as an aid to debugging exception occurrences. */ +typedef struct PORT_REGISTER_DUMP +{ + /* The following structure members hold the values of the MicroBlaze + registers at the time the exception was raised. */ + uint32_t ulR1_SP; + uint32_t ulR2_small_data_area; + uint32_t ulR3; + uint32_t ulR4; + uint32_t ulR5; + uint32_t ulR6; + uint32_t ulR7; + uint32_t ulR8; + uint32_t ulR9; + uint32_t ulR10; + uint32_t ulR11; + uint32_t ulR12; + uint32_t ulR13_read_write_small_data_area; + uint32_t ulR14_return_address_from_interrupt; + uint32_t ulR15_return_address_from_subroutine; + uint32_t ulR16_return_address_from_trap; + uint32_t ulR17_return_address_from_exceptions; /* The exception entry code will copy the BTR into R17 if the exception occurred in the delay slot of a branch instruction. */ + uint32_t ulR18; + uint32_t ulR19; + uint32_t ulR20; + uint32_t ulR21; + uint32_t ulR22; + uint32_t ulR23; + uint32_t ulR24; + uint32_t ulR25; + uint32_t ulR26; + uint32_t ulR27; + uint32_t ulR28; + uint32_t ulR29; + uint32_t ulR30; + uint32_t ulR31; + uint32_t ulPC; + uint32_t ulESR; + uint32_t ulMSR; + uint32_t ulEAR; + uint32_t ulFSR; + uint32_t ulEDR; + + /* A human readable description of the exception cause. The strings used + are the same as the #define constant names found in the + microblaze_exceptions_i.h header file */ + int8_t *pcExceptionCause; + + /* The human readable name of the task that was running at the time the + exception occurred. This is the name that was given to the task when the + task was created using the FreeRTOS xTaskCreate() API function. */ + char *pcCurrentTaskName; + + /* The handle of the task that was running a the time the exception + occurred. */ + void * xCurrentTaskHandle; + +} xPortRegisterDump; + + +/* + * Installs pxHandler as the interrupt handler for the peripheral specified by + * the ucInterruptID parameter. + * + * ucInterruptID: + * + * The ID of the peripheral that will have pxHandler assigned as its interrupt + * handler. Peripheral IDs are defined in the xparameters.h header file, which + * is itself part of the BSP project. For example, in the official demo + * application for this port, xparameters.h defines the following IDs for the + * four possible interrupt sources: + * + * XPAR_INTC_0_UARTLITE_1_VEC_ID - for the UARTlite peripheral. + * XPAR_INTC_0_TMRCTR_0_VEC_ID - for the AXI Timer 0 peripheral. + * XPAR_INTC_0_EMACLITE_0_VEC_ID - for the Ethernet lite peripheral. + * XPAR_INTC_0_GPIO_1_VEC_ID - for the button inputs. + * + * + * pxHandler: + * + * A pointer to the interrupt handler function itself. This must be a void + * function that takes a (void *) parameter. + * + * + * pvCallBackRef: + * + * The parameter passed into the handler function. In many cases this will not + * be used and can be NULL. Some times it is used to pass in a reference to + * the peripheral instance variable, so it can be accessed from inside the + * handler function. + * + * + * pdPASS is returned if the function executes successfully. Any other value + * being returned indicates that the function did not execute correctly. + */ +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ); + + +/* + * Enables the interrupt, within the interrupt controller, for the peripheral + * specified by the ucInterruptID parameter. + * + * ucInterruptID: + * + * The ID of the peripheral that will have its interrupt enabled in the + * interrupt controller. Peripheral IDs are defined in the xparameters.h header + * file, which is itself part of the BSP project. For example, in the official + * demo application for this port, xparameters.h defines the following IDs for + * the four possible interrupt sources: + * + * XPAR_INTC_0_UARTLITE_1_VEC_ID - for the UARTlite peripheral. + * XPAR_INTC_0_TMRCTR_0_VEC_ID - for the AXI Timer 0 peripheral. + * XPAR_INTC_0_EMACLITE_0_VEC_ID - for the Ethernet lite peripheral. + * XPAR_INTC_0_GPIO_1_VEC_ID - for the button inputs. + * + */ +void vPortEnableInterrupt( uint8_t ucInterruptID ); + +/* + * Disables the interrupt, within the interrupt controller, for the peripheral + * specified by the ucInterruptID parameter. + * + * ucInterruptID: + * + * The ID of the peripheral that will have its interrupt disabled in the + * interrupt controller. Peripheral IDs are defined in the xparameters.h header + * file, which is itself part of the BSP project. For example, in the official + * demo application for this port, xparameters.h defines the following IDs for + * the four possible interrupt sources: + * + * XPAR_INTC_0_UARTLITE_1_VEC_ID - for the UARTlite peripheral. + * XPAR_INTC_0_TMRCTR_0_VEC_ID - for the AXI Timer 0 peripheral. + * XPAR_INTC_0_EMACLITE_0_VEC_ID - for the Ethernet lite peripheral. + * XPAR_INTC_0_GPIO_1_VEC_ID - for the button inputs. + * + */ +void vPortDisableInterrupt( uint8_t ucInterruptID ); + +/* + * This is an application defined callback function used to install the tick + * interrupt handler. It is provided as an application callback because the + * kernel will run on lots of different MicroBlaze and FPGA configurations - not + * all of which will have the same timer peripherals defined or available. This + * example uses the AXI Timer 0. If that is available on your hardware platform + * then this example callback implementation should not require modification. + * The name of the interrupt handler that should be installed is vPortTickISR(), + * which the function below declares as an extern. + */ +void vApplicationSetupTimerInterrupt( void ); + +/* + * This is an application defined callback function used to clear whichever + * interrupt was installed by the the vApplicationSetupTimerInterrupt() callback + * function - in this case the interrupt generated by the AXI timer. It is + * provided as an application callback because the kernel will run on lots of + * different MicroBlaze and FPGA configurations - not all of which will have the + * same timer peripherals defined or available. This example uses the AXI Timer 0. + * If that is available on your hardware platform then this example callback + * implementation should not require modification provided the example definition + * of vApplicationSetupTimerInterrupt() is also not modified. + */ +void vApplicationClearTimerInterrupt( void ); + +/* + * vPortExceptionsInstallHandlers() is only available when the MicroBlaze + * is configured to include exception functionality, and + * configINSTALL_EXCEPTION_HANDLERS is set to 1 in FreeRTOSConfig.h. + * + * vPortExceptionsInstallHandlers() installs the FreeRTOS exception handler + * for every possible exception cause. + * + * vPortExceptionsInstallHandlers() can be called explicitly from application + * code. After that is done, the default FreeRTOS exception handler that will + * have been installed can be replaced for any specific exception cause by using + * the standard Xilinx library function microblaze_register_exception_handler(). + * + * If vPortExceptionsInstallHandlers() is not called explicitly by the + * application, it will be called automatically by the kernel the first time + * xPortInstallInterruptHandler() is called. At that time, any exception + * handlers that may have already been installed will be replaced. + * + * See the description of vApplicationExceptionRegisterDump() for information + * on the processing performed by the FreeRTOS exception handler. + */ +void vPortExceptionsInstallHandlers( void ); + +/* + * The FreeRTOS exception handler fills an xPortRegisterDump structure (defined + * in portmacro.h) with the MicroBlaze context, as it was at the time the + * exception occurred. The exception handler then calls + * vApplicationExceptionRegisterDump(), passing in the completed + * xPortRegisterDump structure as its parameter. + * + * The FreeRTOS kernel provides its own implementation of + * vApplicationExceptionRegisterDump(), but the kernel provided implementation + * is declared as being 'weak'. The weak definition allows the application + * writer to provide their own implementation, should they wish to use the + * register dump information. For example, an implementation could be provided + * that wrote the register dump data to a display, or a UART port. + */ +void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ); + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/port.c new file mode 100644 index 0000000..8035415 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/port.c @@ -0,0 +1,460 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MicroBlaze port. + *----------------------------------------------------------*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Standard includes. */ +#include + +/* Hardware includes. */ +#include +#include +#include + +/* Tasks are started with a critical section nesting of 0 - however, prior to +the scheduler being commenced interrupts should not be enabled, so the critical +nesting variable is initialised to a non-zero value. */ +#define portINITIAL_NESTING_VALUE ( 0xff ) + +/* The bit within the MSR register that enabled/disables interrupts and +exceptions respectively. */ +#define portMSR_IE ( 0x02U ) +#define portMSR_EE ( 0x100U ) + +/* If the floating point unit is included in the MicroBlaze build, then the +FSR register is saved as part of the task context. portINITIAL_FSR is the value +given to the FSR register when the initial context is set up for a task being +created. */ +#define portINITIAL_FSR ( 0U ) + +/*-----------------------------------------------------------*/ + +/* + * Initialise the interrupt controller instance. + */ +static int32_t prvInitialiseInterruptController( void ); + +/* Ensure the interrupt controller instance variable is initialised before it is + * used, and that the initialisation only happens once. + */ +static int32_t prvEnsureInterruptControllerIsInitialised( void ); + +/*-----------------------------------------------------------*/ + +/* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task +maintains its own count, so this variable is saved as part of the task +context. */ +volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE; + +/* This port uses a separate stack for interrupts. This prevents the stack of +every task needing to be large enough to hold an entire interrupt stack on top +of the task stack. */ +uint32_t *pulISRStack; + +/* If an interrupt requests a context switch, then ulTaskSwitchRequested will +get set to 1. ulTaskSwitchRequested is inspected just before the main interrupt +handler exits. If, at that time, ulTaskSwitchRequested is set to 1, the kernel +will call vTaskSwitchContext() to ensure the task that runs immediately after +the interrupt exists is the highest priority task that is able to run. This is +an unusual mechanism, but is used for this port because a single interrupt can +cause the servicing of multiple peripherals - and it is inefficient to call +vTaskSwitchContext() multiple times as each peripheral is serviced. */ +volatile uint32_t ulTaskSwitchRequested = 0UL; + +/* The instance of the interrupt controller used by this port. This is required +by the Xilinx library API functions. */ +static XIntc xInterruptControllerInstance; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been made. + * + * See the portable.h header file. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +extern void *_SDA2_BASE_, *_SDA_BASE_; +const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_; +const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_; +extern void _start1( void ); + + /* Place a few bytes of known values on the bottom of the stack. + This is essential for the Microblaze port and these lines must + not be omitted. */ + *pxTopOfStack = ( StackType_t ) 0x00000000; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00000000; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00000000; + pxTopOfStack--; + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + /* The FSR value placed in the initial task context is just 0. */ + *pxTopOfStack = portINITIAL_FSR; + pxTopOfStack--; + #endif + + /* The MSR value placed in the initial task context should have interrupts + disabled. Each task will enable interrupts automatically when it enters + the running state for the first time. */ + *pxTopOfStack = mfmsr() & ~portMSR_IE; + + #if( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) + { + /* Ensure exceptions are enabled for the task. */ + *pxTopOfStack |= portMSR_EE; + } + #endif + + pxTopOfStack--; + + /* First stack an initial value for the critical section nesting. This + is initialised to zero. */ + *pxTopOfStack = ( StackType_t ) 0x00; + + /* R0 is always zero. */ + /* R1 is the SP. */ + + /* Place an initial value for all the general purpose registers. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) ulR2; /* R2 - read only small data area. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 - return values and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 - return values and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */ + + #ifdef portPRE_LOAD_STACK_FOR_DEBUGGING + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; /* R8 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0a; /* R10 - other parameters and temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0b; /* R11 - temporaries. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0c; /* R12 - temporaries. */ + pxTopOfStack--; + #else + pxTopOfStack-= 8; + #endif + + *pxTopOfStack = ( StackType_t ) ulR13; /* R13 - read/write small data area. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* R14 - return address for interrupt. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) _start1; /* R15 - return address for subroutine. */ + + #ifdef portPRE_LOAD_STACK_FOR_DEBUGGING + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R16 - return address for trap (debugger). */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R17 - return address for exceptions, if configured. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R18 - reserved for assembler and compiler temporaries. */ + pxTopOfStack--; + #else + pxTopOfStack -= 4; + #endif + + *pxTopOfStack = ( StackType_t ) 0x00; /* R19 - must be saved across function calls. Callee-save. Seems to be interpreted as the frame pointer. */ + + #ifdef portPRE_LOAD_STACK_FOR_DEBUGGING + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R20 - reserved for storing a pointer to the Global Offset Table (GOT) in Position Independent Code (PIC). Non-volatile in non-PIC code. Must be saved across function calls. Callee-save. Not used by FreeRTOS. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R21 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x16; /* R22 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x17; /* R23 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x18; /* R24 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R25 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1a; /* R26 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1b; /* R27 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1c; /* R28 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1d; /* R29 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1e; /* R30 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1f; /* R31 - must be saved across function calls. Callee-save. */ + pxTopOfStack--; + #else + pxTopOfStack -= 13; + #endif + + /* Return a pointer to the top of the stack that has been generated so this + can be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void ( vPortStartFirstTask )( void ); +extern uint32_t _stack[]; + + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. + + This port uses an application defined callback function to install the tick + interrupt handler because the kernel will run on lots of different + MicroBlaze and FPGA configurations - not all of which will have the same + timer peripherals defined or available. An example definition of + vApplicationSetupTimerInterrupt() is provided in the official demo + application that accompanies this port. */ + vApplicationSetupTimerInterrupt(); + + /* Reuse the stack from main() as the stack for the interrupts/exceptions. */ + pulISRStack = ( uint32_t * ) _stack; + + /* Ensure there is enough space for the functions called from the interrupt + service routines to write back into the stack frame of the caller. */ + pulISRStack -= 2; + + /* Restore the context of the first task that is going to run. From here + on, the created tasks will be executing. */ + vPortStartFirstTask(); + + /* Should not get here as the tasks are now running! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +void vPortYield( void ) +{ +extern void VPortYieldASM( void ); + + /* Perform the context switch in a critical section to assure it is + not interrupted by the tick ISR. It is not a problem to do this as + each task maintains its own interrupt status. */ + portENTER_CRITICAL(); + { + /* Jump directly to the yield function to ensure there is no + compiler generated prologue code. */ + asm volatile ( "bralid r14, VPortYieldASM \n\t" \ + "or r0, r0, r0 \n\t" ); + } + portEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +void vPortEnableInterrupt( uint8_t ucInterruptID ) +{ +int32_t lReturn; + + /* An API function is provided to enable an interrupt in the interrupt + controller because the interrupt controller instance variable is private + to this file. */ + lReturn = prvEnsureInterruptControllerIsInitialised(); + if( lReturn == pdPASS ) + { + /* Critical section protects read/modify/writer operation inside + XIntc_Enable(). */ + portENTER_CRITICAL(); + { + XIntc_Enable( &xInterruptControllerInstance, ucInterruptID ); + } + portEXIT_CRITICAL(); + } + + configASSERT( lReturn ); +} +/*-----------------------------------------------------------*/ + +void vPortDisableInterrupt( uint8_t ucInterruptID ) +{ +int32_t lReturn; + + /* An API function is provided to disable an interrupt in the interrupt + controller because the interrupt controller instance variable is private + to this file. */ + lReturn = prvEnsureInterruptControllerIsInitialised(); + + if( lReturn == pdPASS ) + { + XIntc_Disable( &xInterruptControllerInstance, ucInterruptID ); + } + + configASSERT( lReturn ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ) +{ +int32_t lReturn; + + /* An API function is provided to install an interrupt handler because the + interrupt controller instance variable is private to this file. */ + + lReturn = prvEnsureInterruptControllerIsInitialised(); + + if( lReturn == pdPASS ) + { + lReturn = XIntc_Connect( &xInterruptControllerInstance, ucInterruptID, pxHandler, pvCallBackRef ); + } + + if( lReturn == XST_SUCCESS ) + { + lReturn = pdPASS; + } + + configASSERT( lReturn == pdPASS ); + + return lReturn; +} +/*-----------------------------------------------------------*/ + +static int32_t prvEnsureInterruptControllerIsInitialised( void ) +{ +static int32_t lInterruptControllerInitialised = pdFALSE; +int32_t lReturn; + + /* Ensure the interrupt controller instance variable is initialised before + it is used, and that the initialisation only happens once. */ + if( lInterruptControllerInitialised != pdTRUE ) + { + lReturn = prvInitialiseInterruptController(); + + if( lReturn == pdPASS ) + { + lInterruptControllerInitialised = pdTRUE; + } + } + else + { + lReturn = pdPASS; + } + + return lReturn; +} +/*-----------------------------------------------------------*/ + +/* + * Handler for the timer interrupt. This is the handler that the application + * defined callback function vApplicationSetupTimerInterrupt() should install. + */ +void vPortTickISR( void *pvUnused ) +{ +extern void vApplicationClearTimerInterrupt( void ); + + /* Ensure the unused parameter does not generate a compiler warning. */ + ( void ) pvUnused; + + /* This port uses an application defined callback function to clear the tick + interrupt because the kernel will run on lots of different MicroBlaze and + FPGA configurations - not all of which will have the same timer peripherals + defined or available. An example definition of + vApplicationClearTimerInterrupt() is provided in the official demo + application that accompanies this port. */ + vApplicationClearTimerInterrupt(); + + /* Increment the RTOS tick - this might cause a task to unblock. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Force vTaskSwitchContext() to be called as the interrupt exits. */ + ulTaskSwitchRequested = 1; + } +} +/*-----------------------------------------------------------*/ + +static int32_t prvInitialiseInterruptController( void ) +{ +int32_t lStatus; + + lStatus = XIntc_Initialize( &xInterruptControllerInstance, configINTERRUPT_CONTROLLER_TO_USE ); + + if( lStatus == XST_SUCCESS ) + { + /* Initialise the exception table. */ + Xil_ExceptionInit(); + + /* Service all pending interrupts each time the handler is entered. */ + XIntc_SetIntrSvcOption( xInterruptControllerInstance.BaseAddress, XIN_SVC_ALL_ISRS_OPTION ); + + /* Install exception handlers if the MicroBlaze is configured to handle + exceptions, and the application defined constant + configINSTALL_EXCEPTION_HANDLERS is set to 1. */ + #if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) + { + vPortExceptionsInstallHandlers(); + } + #endif /* MICROBLAZE_EXCEPTIONS_ENABLED */ + + /* Start the interrupt controller. Interrupts are enabled when the + scheduler starts. */ + lStatus = XIntc_Start( &xInterruptControllerInstance, XIN_REAL_MODE ); + + if( lStatus == XST_SUCCESS ) + { + lStatus = pdPASS; + } + else + { + lStatus = pdFAIL; + } + } + + configASSERT( lStatus == pdPASS ); + + return lStatus; +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/port_exceptions.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/port_exceptions.c new file mode 100644 index 0000000..47a639d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/port_exceptions.c @@ -0,0 +1,282 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware includes. */ +#include +#include + +/* The Xilinx library defined exception entry point stacks a number of +registers. These definitions are offsets from the stack pointer to the various +stacked register values. */ +#define portexR3_STACK_OFFSET 4 +#define portexR4_STACK_OFFSET 5 +#define portexR5_STACK_OFFSET 6 +#define portexR6_STACK_OFFSET 7 +#define portexR7_STACK_OFFSET 8 +#define portexR8_STACK_OFFSET 9 +#define portexR9_STACK_OFFSET 10 +#define portexR10_STACK_OFFSET 11 +#define portexR11_STACK_OFFSET 12 +#define portexR12_STACK_OFFSET 13 +#define portexR15_STACK_OFFSET 16 +#define portexR18_STACK_OFFSET 19 +#define portexMSR_STACK_OFFSET 20 +#define portexR19_STACK_OFFSET -1 + +/* This is defined to equal the size, in bytes, of the stack frame generated by +the Xilinx standard library exception entry point. It is required to determine +the stack pointer value prior to the exception being entered. */ +#define portexASM_HANDLER_STACK_FRAME_SIZE 84UL + +/* The number of bytes a MicroBlaze instruction consumes. */ +#define portexINSTRUCTION_SIZE 4 + +/* Exclude this entire file if the MicroBlaze is not configured to handle +exceptions, or the application defined configuration constant +configINSTALL_EXCEPTION_HANDLERS is not set to 1. */ +#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) + +/* This variable is set in the exception entry code, before +vPortExceptionHandler is called. */ +uint32_t *pulStackPointerOnFunctionEntry = NULL; + +/* This is the structure that is filled with the MicroBlaze context as it +existed immediately prior to the exception occurrence. A pointer to this +structure is passed into the vApplicationExceptionRegisterDump() callback +function, if one is defined. */ +static xPortRegisterDump xRegisterDump; + +/* This is the FreeRTOS exception handler that is installed for all exception +types. It is called from vPortExceptionHanlderEntry() - which is itself defined +in portasm.S. */ +void vPortExceptionHandler( void *pvExceptionID ); +extern void vPortExceptionHandlerEntry( void *pvExceptionID ); + +/*-----------------------------------------------------------*/ + +/* vApplicationExceptionRegisterDump() is a callback function that the +application can optionally define to receive a populated xPortRegisterDump +structure. If the application chooses not to define a version of +vApplicationExceptionRegisterDump() then this weekly defined default +implementation will be called instead. */ +extern void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) __attribute__((weak)); +void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) +{ + ( void ) xRegisterDump; + + for( ;; ) + { + portNOP(); + } +} +/*-----------------------------------------------------------*/ + +void vPortExceptionHandler( void *pvExceptionID ) +{ +extern void *pxCurrentTCB; + + /* Fill an xPortRegisterDump structure with the MicroBlaze context as it + was immediately before the exception occurrence. */ + + /* First fill in the name and handle of the task that was in the Running + state when the exception occurred. */ + xRegisterDump.xCurrentTaskHandle = pxCurrentTCB; + xRegisterDump.pcCurrentTaskName = pcTaskGetName( NULL ); + + configASSERT( pulStackPointerOnFunctionEntry ); + + /* Obtain the values of registers that were stacked prior to this function + being called, and may have changed since they were stacked. */ + xRegisterDump.ulR3 = pulStackPointerOnFunctionEntry[ portexR3_STACK_OFFSET ]; + xRegisterDump.ulR4 = pulStackPointerOnFunctionEntry[ portexR4_STACK_OFFSET ]; + xRegisterDump.ulR5 = pulStackPointerOnFunctionEntry[ portexR5_STACK_OFFSET ]; + xRegisterDump.ulR6 = pulStackPointerOnFunctionEntry[ portexR6_STACK_OFFSET ]; + xRegisterDump.ulR7 = pulStackPointerOnFunctionEntry[ portexR7_STACK_OFFSET ]; + xRegisterDump.ulR8 = pulStackPointerOnFunctionEntry[ portexR8_STACK_OFFSET ]; + xRegisterDump.ulR9 = pulStackPointerOnFunctionEntry[ portexR9_STACK_OFFSET ]; + xRegisterDump.ulR10 = pulStackPointerOnFunctionEntry[ portexR10_STACK_OFFSET ]; + xRegisterDump.ulR11 = pulStackPointerOnFunctionEntry[ portexR11_STACK_OFFSET ]; + xRegisterDump.ulR12 = pulStackPointerOnFunctionEntry[ portexR12_STACK_OFFSET ]; + xRegisterDump.ulR15_return_address_from_subroutine = pulStackPointerOnFunctionEntry[ portexR15_STACK_OFFSET ]; + xRegisterDump.ulR18 = pulStackPointerOnFunctionEntry[ portexR18_STACK_OFFSET ]; + xRegisterDump.ulR19 = pulStackPointerOnFunctionEntry[ portexR19_STACK_OFFSET ]; + xRegisterDump.ulMSR = pulStackPointerOnFunctionEntry[ portexMSR_STACK_OFFSET ]; + + /* Obtain the value of all other registers. */ + xRegisterDump.ulR2_small_data_area = mfgpr( R2 ); + xRegisterDump.ulR13_read_write_small_data_area = mfgpr( R13 ); + xRegisterDump.ulR14_return_address_from_interrupt = mfgpr( R14 ); + xRegisterDump.ulR16_return_address_from_trap = mfgpr( R16 ); + xRegisterDump.ulR17_return_address_from_exceptions = mfgpr( R17 ); + xRegisterDump.ulR20 = mfgpr( R20 ); + xRegisterDump.ulR21 = mfgpr( R21 ); + xRegisterDump.ulR22 = mfgpr( R22 ); + xRegisterDump.ulR23 = mfgpr( R23 ); + xRegisterDump.ulR24 = mfgpr( R24 ); + xRegisterDump.ulR25 = mfgpr( R25 ); + xRegisterDump.ulR26 = mfgpr( R26 ); + xRegisterDump.ulR27 = mfgpr( R27 ); + xRegisterDump.ulR28 = mfgpr( R28 ); + xRegisterDump.ulR29 = mfgpr( R29 ); + xRegisterDump.ulR30 = mfgpr( R30 ); + xRegisterDump.ulR31 = mfgpr( R31 ); + xRegisterDump.ulR1_SP = ( ( uint32_t ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE; + xRegisterDump.ulEAR = mfear(); + xRegisterDump.ulESR = mfesr(); + xRegisterDump.ulEDR = mfedr(); + + /* Move the saved program counter back to the instruction that was executed + when the exception occurred. This is only valid for certain types of + exception. */ + xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_exceptions - portexINSTRUCTION_SIZE; + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + { + xRegisterDump.ulFSR = mffsr(); + } + #else + { + xRegisterDump.ulFSR = 0UL; + } + #endif + + /* Also fill in a string that describes what type of exception this is. + The string uses the same ID names as defined in the MicroBlaze standard + library exception header files. */ + switch( ( uint32_t ) pvExceptionID ) + { + case XEXC_ID_FSL : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FSL"; + break; + + case XEXC_ID_UNALIGNED_ACCESS : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_UNALIGNED_ACCESS"; + break; + + case XEXC_ID_ILLEGAL_OPCODE : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_ILLEGAL_OPCODE"; + break; + + case XEXC_ID_M_AXI_I_EXCEPTION : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_I_EXCEPTION or XEXC_ID_IPLB_EXCEPTION"; + break; + + case XEXC_ID_M_AXI_D_EXCEPTION : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_D_EXCEPTION or XEXC_ID_DPLB_EXCEPTION"; + break; + + case XEXC_ID_DIV_BY_ZERO : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_DIV_BY_ZERO"; + break; + + case XEXC_ID_STACK_VIOLATION : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_STACK_VIOLATION or XEXC_ID_MMU"; + break; + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + + case XEXC_ID_FPU : + xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FPU see ulFSR value"; + break; + + #endif /* XPAR_MICROBLAZE_USE_FPU */ + } + + /* vApplicationExceptionRegisterDump() is a callback function that the + application can optionally define to receive the populated xPortRegisterDump + structure. If the application chooses not to define a version of + vApplicationExceptionRegisterDump() then the weekly defined default + implementation within this file will be called instead. */ + vApplicationExceptionRegisterDump( &xRegisterDump ); + + /* Must not attempt to leave this function! */ + for( ;; ) + { + portNOP(); + } +} +/*-----------------------------------------------------------*/ + +void vPortExceptionsInstallHandlers( void ) +{ +static uint32_t ulHandlersAlreadyInstalled = pdFALSE; + + if( ulHandlersAlreadyInstalled == pdFALSE ) + { + ulHandlersAlreadyInstalled = pdTRUE; + + #if XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS == 1 + microblaze_register_exception_handler( XEXC_ID_UNALIGNED_ACCESS, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_UNALIGNED_ACCESS ); + #endif /* XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS*/ + + #if XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_ILLEGAL_OPCODE, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_ILLEGAL_OPCODE ); + #endif /* XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION */ + + #if XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_M_AXI_I_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_I_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_M_AXI_D_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_D_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_IPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_IPLB_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_DPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DPLB_EXCEPTION ); + #endif /* XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION */ + + #if XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_DIV_BY_ZERO, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DIV_BY_ZERO ); + #endif /* XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION */ + + #if XPAR_MICROBLAZE_FPU_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_FPU, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FPU ); + #endif /* XPAR_MICROBLAZE_FPU_EXCEPTION */ + + #if XPAR_MICROBLAZE_FSL_EXCEPTION == 1 + microblaze_register_exception_handler( XEXC_ID_FSL, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FSL ); + #endif /* XPAR_MICROBLAZE_FSL_EXCEPTION */ + + microblaze_enable_exceptions(); + } +} + +/* Exclude the entire file if the MicroBlaze is not configured to handle +exceptions, or the application defined configuration item +configINSTALL_EXCEPTION_HANDLERS is not set to 1. */ +#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/portasm.S new file mode 100644 index 0000000..9243703 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/portasm.S @@ -0,0 +1,328 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/* Xilinx library includes. */ +#include "microblaze_exceptions_g.h" +#include "xparameters.h" + +/* The context is oversized to allow functions called from the ISR to write +back into the caller stack. */ +#if( XPAR_MICROBLAZE_USE_FPU != 0 ) + #define portCONTEXT_SIZE 136 + #define portMINUS_CONTEXT_SIZE -136 +#else + #define portCONTEXT_SIZE 132 + #define portMINUS_CONTEXT_SIZE -132 +#endif + +/* Offsets from the stack pointer at which saved registers are placed. */ +#define portR31_OFFSET 4 +#define portR30_OFFSET 8 +#define portR29_OFFSET 12 +#define portR28_OFFSET 16 +#define portR27_OFFSET 20 +#define portR26_OFFSET 24 +#define portR25_OFFSET 28 +#define portR24_OFFSET 32 +#define portR23_OFFSET 36 +#define portR22_OFFSET 40 +#define portR21_OFFSET 44 +#define portR20_OFFSET 48 +#define portR19_OFFSET 52 +#define portR18_OFFSET 56 +#define portR17_OFFSET 60 +#define portR16_OFFSET 64 +#define portR15_OFFSET 68 +#define portR14_OFFSET 72 +#define portR13_OFFSET 76 +#define portR12_OFFSET 80 +#define portR11_OFFSET 84 +#define portR10_OFFSET 88 +#define portR9_OFFSET 92 +#define portR8_OFFSET 96 +#define portR7_OFFSET 100 +#define portR6_OFFSET 104 +#define portR5_OFFSET 108 +#define portR4_OFFSET 112 +#define portR3_OFFSET 116 +#define portR2_OFFSET 120 +#define portCRITICAL_NESTING_OFFSET 124 +#define portMSR_OFFSET 128 +#define portFSR_OFFSET 132 + + .extern pxCurrentTCB + .extern XIntc_DeviceInterruptHandler + .extern vTaskSwitchContext + .extern uxCriticalNesting + .extern pulISRStack + .extern ulTaskSwitchRequested + .extern vPortExceptionHandler + .extern pulStackPointerOnFunctionEntry + + .global _interrupt_handler + .global VPortYieldASM + .global vPortStartFirstTask + .global vPortExceptionHandlerEntry + + +.macro portSAVE_CONTEXT + + /* Make room for the context on the stack. */ + addik r1, r1, portMINUS_CONTEXT_SIZE + + /* Stack general registers. */ + swi r31, r1, portR31_OFFSET + swi r30, r1, portR30_OFFSET + swi r29, r1, portR29_OFFSET + swi r28, r1, portR28_OFFSET + swi r27, r1, portR27_OFFSET + swi r26, r1, portR26_OFFSET + swi r25, r1, portR25_OFFSET + swi r24, r1, portR24_OFFSET + swi r23, r1, portR23_OFFSET + swi r22, r1, portR22_OFFSET + swi r21, r1, portR21_OFFSET + swi r20, r1, portR20_OFFSET + swi r19, r1, portR19_OFFSET + swi r18, r1, portR18_OFFSET + swi r17, r1, portR17_OFFSET + swi r16, r1, portR16_OFFSET + swi r15, r1, portR15_OFFSET + /* R14 is saved later as it needs adjustment if a yield is performed. */ + swi r13, r1, portR13_OFFSET + swi r12, r1, portR12_OFFSET + swi r11, r1, portR11_OFFSET + swi r10, r1, portR10_OFFSET + swi r9, r1, portR9_OFFSET + swi r8, r1, portR8_OFFSET + swi r7, r1, portR7_OFFSET + swi r6, r1, portR6_OFFSET + swi r5, r1, portR5_OFFSET + swi r4, r1, portR4_OFFSET + swi r3, r1, portR3_OFFSET + swi r2, r1, portR2_OFFSET + + /* Stack the critical section nesting value. */ + lwi r18, r0, uxCriticalNesting + swi r18, r1, portCRITICAL_NESTING_OFFSET + + /* Stack MSR. */ + mfs r18, rmsr + swi r18, r1, portMSR_OFFSET + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + /* Stack FSR. */ + mfs r18, rfsr + swi r18, r1, portFSR_OFFSET + #endif + + /* Save the top of stack value to the TCB. */ + lwi r3, r0, pxCurrentTCB + sw r1, r0, r3 + + .endm + +.macro portRESTORE_CONTEXT + + /* Load the top of stack value from the TCB. */ + lwi r18, r0, pxCurrentTCB + lw r1, r0, r18 + + /* Restore the general registers. */ + lwi r31, r1, portR31_OFFSET + lwi r30, r1, portR30_OFFSET + lwi r29, r1, portR29_OFFSET + lwi r28, r1, portR28_OFFSET + lwi r27, r1, portR27_OFFSET + lwi r26, r1, portR26_OFFSET + lwi r25, r1, portR25_OFFSET + lwi r24, r1, portR24_OFFSET + lwi r23, r1, portR23_OFFSET + lwi r22, r1, portR22_OFFSET + lwi r21, r1, portR21_OFFSET + lwi r20, r1, portR20_OFFSET + lwi r19, r1, portR19_OFFSET + lwi r17, r1, portR17_OFFSET + lwi r16, r1, portR16_OFFSET + lwi r15, r1, portR15_OFFSET + lwi r14, r1, portR14_OFFSET + lwi r13, r1, portR13_OFFSET + lwi r12, r1, portR12_OFFSET + lwi r11, r1, portR11_OFFSET + lwi r10, r1, portR10_OFFSET + lwi r9, r1, portR9_OFFSET + lwi r8, r1, portR8_OFFSET + lwi r7, r1, portR7_OFFSET + lwi r6, r1, portR6_OFFSET + lwi r5, r1, portR5_OFFSET + lwi r4, r1, portR4_OFFSET + lwi r3, r1, portR3_OFFSET + lwi r2, r1, portR2_OFFSET + + /* Reload the rmsr from the stack. */ + lwi r18, r1, portMSR_OFFSET + mts rmsr, r18 + + #if( XPAR_MICROBLAZE_USE_FPU != 0 ) + /* Reload the FSR from the stack. */ + lwi r18, r1, portFSR_OFFSET + mts rfsr, r18 + #endif + + /* Load the critical nesting value. */ + lwi r18, r1, portCRITICAL_NESTING_OFFSET + swi r18, r0, uxCriticalNesting + + /* Test the critical nesting value. If it is non zero then the task last + exited the running state using a yield. If it is zero, then the task + last exited the running state through an interrupt. */ + xori r18, r18, 0 + bnei r18, exit_from_yield + + /* r18 was being used as a temporary. Now restore its true value from the + stack. */ + lwi r18, r1, portR18_OFFSET + + /* Remove the stack frame. */ + addik r1, r1, portCONTEXT_SIZE + + /* Return using rtid so interrupts are re-enabled as this function is + exited. */ + rtid r14, 0 + or r0, r0, r0 + + .endm + +/* This function is used to exit portRESTORE_CONTEXT() if the task being +returned to last left the Running state by calling taskYIELD() (rather than +being preempted by an interrupt). */ + .text + .align 4 +exit_from_yield: + + /* r18 was being used as a temporary. Now restore its true value from the + stack. */ + lwi r18, r1, portR18_OFFSET + + /* Remove the stack frame. */ + addik r1, r1, portCONTEXT_SIZE + + /* Return to the task. */ + rtsd r14, 0 + or r0, r0, r0 + + + .text + .align 4 +_interrupt_handler: + + portSAVE_CONTEXT + + /* Stack the return address. */ + swi r14, r1, portR14_OFFSET + + /* Switch to the ISR stack. */ + lwi r1, r0, pulISRStack + + /* The parameter to the interrupt handler. */ + ori r5, r0, configINTERRUPT_CONTROLLER_TO_USE + + /* Execute any pending interrupts. */ + bralid r15, XIntc_DeviceInterruptHandler + or r0, r0, r0 + + /* See if a new task should be selected to execute. */ + lwi r18, r0, ulTaskSwitchRequested + or r18, r18, r0 + + /* If ulTaskSwitchRequested is already zero, then jump straight to + restoring the task that is already in the Running state. */ + beqi r18, task_switch_not_requested + + /* Set ulTaskSwitchRequested back to zero as a task switch is about to be + performed. */ + swi r0, r0, ulTaskSwitchRequested + + /* ulTaskSwitchRequested was not 0 when tested. Select the next task to + execute. */ + bralid r15, vTaskSwitchContext + or r0, r0, r0 + +task_switch_not_requested: + + /* Restore the context of the next task scheduled to execute. */ + portRESTORE_CONTEXT + + + .text + .align 4 +VPortYieldASM: + + portSAVE_CONTEXT + + /* Modify the return address so a return is done to the instruction after + the call to VPortYieldASM. */ + addi r14, r14, 8 + swi r14, r1, portR14_OFFSET + + /* Switch to use the ISR stack. */ + lwi r1, r0, pulISRStack + + /* Select the next task to execute. */ + bralid r15, vTaskSwitchContext + or r0, r0, r0 + + /* Restore the context of the next task scheduled to execute. */ + portRESTORE_CONTEXT + + .text + .align 4 +vPortStartFirstTask: + + portRESTORE_CONTEXT + + + +#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) + + .text + .align 4 +vPortExceptionHandlerEntry: + + /* Take a copy of the stack pointer before vPortExecptionHandler is called, + storing its value prior to the function stack frame being created. */ + swi r1, r0, pulStackPointerOnFunctionEntry + bralid r15, vPortExceptionHandler + or r0, r0, r0 + +#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/portmacro.h new file mode 100644 index 0000000..2985761 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/MicroBlazeV9/portmacro.h @@ -0,0 +1,369 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* BSP includes. */ +#include +#include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros and functions. */ +void microblaze_disable_interrupts( void ); +void microblaze_enable_interrupts( void ); +#define portDISABLE_INTERRUPTS() microblaze_disable_interrupts() +#define portENABLE_INTERRUPTS() microblaze_enable_interrupts() +/*-----------------------------------------------------------*/ + +/* Critical section macros. */ +void vPortEnterCritical( void ); +void vPortExitCritical( void ); +#define portENTER_CRITICAL() { \ + extern volatile UBaseType_t uxCriticalNesting; \ + microblaze_disable_interrupts(); \ + uxCriticalNesting++; \ + } + +#define portEXIT_CRITICAL() { \ + extern volatile UBaseType_t uxCriticalNesting; \ + /* Interrupts are disabled, so we can */ \ + /* access the variable directly. */ \ + uxCriticalNesting--; \ + if( uxCriticalNesting == 0 ) \ + { \ + /* The nesting has unwound and we \ + can enable interrupts again. */ \ + portENABLE_INTERRUPTS(); \ + } \ + } + +/*-----------------------------------------------------------*/ + +/* The yield macro maps directly to the vPortYield() function. */ +void vPortYield( void ); +#define portYIELD() vPortYield() + +/* portYIELD_FROM_ISR() does not directly call vTaskSwitchContext(), but instead +sets a flag to say that a yield has been requested. The interrupt exit code +then checks this flag, and calls vTaskSwitchContext() before restoring a task +context, if the flag is not false. This is done to prevent multiple calls to +vTaskSwitchContext() being made from a single interrupt, as a single interrupt +can result in multiple peripherals being serviced. */ +extern volatile uint32_t ulTaskSwitchRequested; +#define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) ulTaskSwitchRequested = 1 + +#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + + /* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) ); + return ucReturn; + } + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +/* The following structure is used by the FreeRTOS exception handler. It is +filled with the MicroBlaze context as it was at the time the exception occurred. +This is done as an aid to debugging exception occurrences. */ +typedef struct PORT_REGISTER_DUMP +{ + /* The following structure members hold the values of the MicroBlaze + registers at the time the exception was raised. */ + uint32_t ulR1_SP; + uint32_t ulR2_small_data_area; + uint32_t ulR3; + uint32_t ulR4; + uint32_t ulR5; + uint32_t ulR6; + uint32_t ulR7; + uint32_t ulR8; + uint32_t ulR9; + uint32_t ulR10; + uint32_t ulR11; + uint32_t ulR12; + uint32_t ulR13_read_write_small_data_area; + uint32_t ulR14_return_address_from_interrupt; + uint32_t ulR15_return_address_from_subroutine; + uint32_t ulR16_return_address_from_trap; + uint32_t ulR17_return_address_from_exceptions; /* The exception entry code will copy the BTR into R17 if the exception occurred in the delay slot of a branch instruction. */ + uint32_t ulR18; + uint32_t ulR19; + uint32_t ulR20; + uint32_t ulR21; + uint32_t ulR22; + uint32_t ulR23; + uint32_t ulR24; + uint32_t ulR25; + uint32_t ulR26; + uint32_t ulR27; + uint32_t ulR28; + uint32_t ulR29; + uint32_t ulR30; + uint32_t ulR31; + uint32_t ulPC; + uint32_t ulESR; + uint32_t ulMSR; + uint32_t ulEAR; + uint32_t ulFSR; + uint32_t ulEDR; + + /* A human readable description of the exception cause. The strings used + are the same as the #define constant names found in the + microblaze_exceptions_i.h header file */ + int8_t *pcExceptionCause; + + /* The human readable name of the task that was running at the time the + exception occurred. This is the name that was given to the task when the + task was created using the FreeRTOS xTaskCreate() API function. */ + char *pcCurrentTaskName; + + /* The handle of the task that was running a the time the exception + occurred. */ + void * xCurrentTaskHandle; + +} xPortRegisterDump; + + +/* + * Installs pxHandler as the interrupt handler for the peripheral specified by + * the ucInterruptID parameter. + * + * ucInterruptID: + * + * The ID of the peripheral that will have pxHandler assigned as its interrupt + * handler. Peripheral IDs are defined in the xparameters.h header file, which + * is itself part of the BSP project. For example, in the official demo + * application for this port, xparameters.h defines the following IDs for the + * four possible interrupt sources: + * + * XPAR_INTC_0_UARTLITE_1_VEC_ID - for the UARTlite peripheral. + * XPAR_INTC_0_TMRCTR_0_VEC_ID - for the AXI Timer 0 peripheral. + * XPAR_INTC_0_EMACLITE_0_VEC_ID - for the Ethernet lite peripheral. + * XPAR_INTC_0_GPIO_1_VEC_ID - for the button inputs. + * + * + * pxHandler: + * + * A pointer to the interrupt handler function itself. This must be a void + * function that takes a (void *) parameter. + * + * + * pvCallBackRef: + * + * The parameter passed into the handler function. In many cases this will not + * be used and can be NULL. Some times it is used to pass in a reference to + * the peripheral instance variable, so it can be accessed from inside the + * handler function. + * + * + * pdPASS is returned if the function executes successfully. Any other value + * being returned indicates that the function did not execute correctly. + */ +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ); + + +/* + * Enables the interrupt, within the interrupt controller, for the peripheral + * specified by the ucInterruptID parameter. + * + * ucInterruptID: + * + * The ID of the peripheral that will have its interrupt enabled in the + * interrupt controller. Peripheral IDs are defined in the xparameters.h header + * file, which is itself part of the BSP project. For example, in the official + * demo application for this port, xparameters.h defines the following IDs for + * the four possible interrupt sources: + * + * XPAR_INTC_0_UARTLITE_1_VEC_ID - for the UARTlite peripheral. + * XPAR_INTC_0_TMRCTR_0_VEC_ID - for the AXI Timer 0 peripheral. + * XPAR_INTC_0_EMACLITE_0_VEC_ID - for the Ethernet lite peripheral. + * XPAR_INTC_0_GPIO_1_VEC_ID - for the button inputs. + * + */ +void vPortEnableInterrupt( uint8_t ucInterruptID ); + +/* + * Disables the interrupt, within the interrupt controller, for the peripheral + * specified by the ucInterruptID parameter. + * + * ucInterruptID: + * + * The ID of the peripheral that will have its interrupt disabled in the + * interrupt controller. Peripheral IDs are defined in the xparameters.h header + * file, which is itself part of the BSP project. For example, in the official + * demo application for this port, xparameters.h defines the following IDs for + * the four possible interrupt sources: + * + * XPAR_INTC_0_UARTLITE_1_VEC_ID - for the UARTlite peripheral. + * XPAR_INTC_0_TMRCTR_0_VEC_ID - for the AXI Timer 0 peripheral. + * XPAR_INTC_0_EMACLITE_0_VEC_ID - for the Ethernet lite peripheral. + * XPAR_INTC_0_GPIO_1_VEC_ID - for the button inputs. + * + */ +void vPortDisableInterrupt( uint8_t ucInterruptID ); + +/* + * This is an application defined callback function used to install the tick + * interrupt handler. It is provided as an application callback because the + * kernel will run on lots of different MicroBlaze and FPGA configurations - not + * all of which will have the same timer peripherals defined or available. This + * example uses the AXI Timer 0. If that is available on your hardware platform + * then this example callback implementation should not require modification. + * The name of the interrupt handler that should be installed is vPortTickISR(), + * which the function below declares as an extern. + */ +void vApplicationSetupTimerInterrupt( void ); + +/* + * This is an application defined callback function used to clear whichever + * interrupt was installed by the the vApplicationSetupTimerInterrupt() callback + * function - in this case the interrupt generated by the AXI timer. It is + * provided as an application callback because the kernel will run on lots of + * different MicroBlaze and FPGA configurations - not all of which will have the + * same timer peripherals defined or available. This example uses the AXI Timer 0. + * If that is available on your hardware platform then this example callback + * implementation should not require modification provided the example definition + * of vApplicationSetupTimerInterrupt() is also not modified. + */ +void vApplicationClearTimerInterrupt( void ); + +/* + * vPortExceptionsInstallHandlers() is only available when the MicroBlaze + * is configured to include exception functionality, and + * configINSTALL_EXCEPTION_HANDLERS is set to 1 in FreeRTOSConfig.h. + * + * vPortExceptionsInstallHandlers() installs the FreeRTOS exception handler + * for every possible exception cause. + * + * vPortExceptionsInstallHandlers() can be called explicitly from application + * code. After that is done, the default FreeRTOS exception handler that will + * have been installed can be replaced for any specific exception cause by using + * the standard Xilinx library function microblaze_register_exception_handler(). + * + * If vPortExceptionsInstallHandlers() is not called explicitly by the + * application, it will be called automatically by the kernel the first time + * xPortInstallInterruptHandler() is called. At that time, any exception + * handlers that may have already been installed will be replaced. + * + * See the description of vApplicationExceptionRegisterDump() for information + * on the processing performed by the FreeRTOS exception handler. + */ +void vPortExceptionsInstallHandlers( void ); + +/* + * The FreeRTOS exception handler fills an xPortRegisterDump structure (defined + * in portmacro.h) with the MicroBlaze context, as it was at the time the + * exception occurred. The exception handler then calls + * vApplicationExceptionRegisterDump(), passing in the completed + * xPortRegisterDump structure as its parameter. + * + * The FreeRTOS kernel provides its own implementation of + * vApplicationExceptionRegisterDump(), but the kernel provided implementation + * is declared as being 'weak'. The weak definition allows the application + * writer to provide their own implementation, should they wish to use the + * register dump information. For example, an implementation could be provided + * that wrote the register dump data to a display, or a UART port. + */ +void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ); + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/port.c new file mode 100644 index 0000000..1d2da1e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/port.c @@ -0,0 +1,203 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the NIOS2 port. + *----------------------------------------------------------*/ + +/* Standard Includes. */ +#include +#include + +/* Altera includes. */ +#include "sys/alt_irq.h" +#include "altera_avalon_timer_regs.h" +#include "priv/alt_irq_table.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Interrupts are enabled. */ +#define portINITIAL_ESTATUS ( StackType_t ) 0x01 + +/*-----------------------------------------------------------*/ + +/* + * Setup the timer to generate the tick interrupts. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * Call back for the alarm function. + */ +void vPortSysTickHandler( void * context, alt_u32 id ); + +/*-----------------------------------------------------------*/ + +static void prvReadGp( uint32_t *ulValue ) +{ + asm( "stw gp, (%0)" :: "r"(ulValue) ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxFramePointer = pxTopOfStack - 1; +StackType_t xGlobalPointer; + + prvReadGp( &xGlobalPointer ); + + /* End of stack marker. */ + *pxTopOfStack = 0xdeadbeef; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) pxFramePointer; + pxTopOfStack--; + + *pxTopOfStack = xGlobalPointer; + + /* Space for R23 to R16. */ + pxTopOfStack -= 9; + + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_ESTATUS; + + /* Space for R15 to R5. */ + pxTopOfStack -= 12; + + *pxTopOfStack = ( StackType_t ) pvParameters; + + /* Space for R3 to R1, muldiv and RA. */ + pxTopOfStack -= 5; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + asm volatile ( " movia r2, restore_sp_from_pxCurrentTCB \n" + " jmp r2 " ); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the NIOS2 port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +void prvSetupTimerInterrupt( void ) +{ + /* Try to register the interrupt handler. */ + if ( -EINVAL == alt_irq_register( SYS_CLK_IRQ, 0x0, vPortSysTickHandler ) ) + { + /* Failed to install the Interrupt Handler. */ + asm( "break" ); + } + else + { + /* Configure SysTick to interrupt at the requested rate. */ + IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_STOP_MSK ); + IOWR_ALTERA_AVALON_TIMER_PERIODL( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) & 0xFFFF ); + IOWR_ALTERA_AVALON_TIMER_PERIODH( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) >> 16 ); + IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_CONT_MSK | ALTERA_AVALON_TIMER_CONTROL_START_MSK | ALTERA_AVALON_TIMER_CONTROL_ITO_MSK ); + } + + /* Clear any already pending interrupts generated by the Timer. */ + IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK ); +} +/*-----------------------------------------------------------*/ + +void vPortSysTickHandler( void * context, alt_u32 id ) +{ + /* Increment the kernel tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Clear the interrupt. */ + IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK ); +} +/*-----------------------------------------------------------*/ + +/** This function is a re-implementation of the Altera provided function. + * The function is re-implemented to prevent it from enabling an interrupt + * when it is registered. Interrupts should only be enabled after the FreeRTOS.org + * kernel has its scheduler started so that contexts are saved and switched + * correctly. + */ +int alt_irq_register( alt_u32 id, void* context, void (*handler)(void*, alt_u32) ) +{ + int rc = -EINVAL; + alt_irq_context status; + + if (id < ALT_NIRQ) + { + /* + * interrupts are disabled while the handler tables are updated to ensure + * that an interrupt doesn't occur while the tables are in an inconsistent + * state. + */ + + status = alt_irq_disable_all (); + + alt_irq[id].handler = handler; + alt_irq[id].context = context; + + rc = (handler) ? alt_irq_enable (id): alt_irq_disable (id); + + /* alt_irq_enable_all(status); This line is removed to prevent the interrupt from being immediately enabled. */ + } + + return rc; +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/port_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/port_asm.S new file mode 100644 index 0000000..e04aac1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/port_asm.S @@ -0,0 +1,149 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +.extern vTaskSwitchContext + +.set noat + +# Exported to start the first task. +.globl restore_sp_from_pxCurrentTCB + +# Entry point for exceptions. +.section .exceptions.entry, "xa" + +# Save the entire context of a task. +save_context: + addi ea, ea, -4 # Point to the next instruction. + addi sp, sp, -116 # Create space on the stack. + stw ra, 0(sp) + # Leave a gap for muldiv 0 + stw at, 8(sp) + stw r2, 12(sp) + stw r3, 16(sp) + stw r4, 20(sp) + stw r5, 24(sp) + stw r6, 28(sp) + stw r7, 32(sp) + stw r8, 36(sp) + stw r9, 40(sp) + stw r10, 44(sp) + stw r11, 48(sp) + stw r12, 52(sp) + stw r13, 56(sp) + stw r14, 60(sp) + stw r15, 64(sp) + rdctl r5, estatus # Save the eStatus + stw r5, 68(sp) + stw ea, 72(sp) # Save the PC + stw r16, 76(sp) # Save the remaining registers + stw r17, 80(sp) + stw r18, 84(sp) + stw r19, 88(sp) + stw r20, 92(sp) + stw r21, 96(sp) + stw r22, 100(sp) + stw r23, 104(sp) + stw gp, 108(sp) + stw fp, 112(sp) + +save_sp_to_pxCurrentTCB: + movia et, pxCurrentTCB # Load the address of the pxCurrentTCB pointer + ldw et, (et) # Load the value of the pxCurrentTCB pointer + stw sp, (et) # Store the stack pointer into the top of the TCB + + .section .exceptions.irqtest, "xa" +hw_irq_test: + /* + * Test to see if the exception was a software exception or caused + * by an external interrupt, and vector accordingly. + */ + rdctl r4, ipending # Load the Pending Interrupts indication + rdctl r5, estatus # Load the eStatus (enabled interrupts). + andi r2, r5, 1 # Are interrupts enabled globally. + beq r2, zero, soft_exceptions # Interrupts are not enabled. + beq r4, zero, soft_exceptions # There are no interrupts triggered. + + .section .exceptions.irqhandler, "xa" +hw_irq_handler: + call alt_irq_handler # Call the alt_irq_handler to deliver to the registered interrupt handler. + + .section .exceptions.irqreturn, "xa" +restore_sp_from_pxCurrentTCB: + movia et, pxCurrentTCB # Load the address of the pxCurrentTCB pointer + ldw et, (et) # Load the value of the pxCurrentTCB pointer + ldw sp, (et) # Load the stack pointer with the top value of the TCB + +restore_context: + ldw ra, 0(sp) # Restore the registers. + # Leave a gap for muldiv 0. + ldw at, 8(sp) + ldw r2, 12(sp) + ldw r3, 16(sp) + ldw r4, 20(sp) + ldw r5, 24(sp) + ldw r6, 28(sp) + ldw r7, 32(sp) + ldw r8, 36(sp) + ldw r9, 40(sp) + ldw r10, 44(sp) + ldw r11, 48(sp) + ldw r12, 52(sp) + ldw r13, 56(sp) + ldw r14, 60(sp) + ldw r15, 64(sp) + ldw et, 68(sp) # Load the eStatus + wrctl estatus, et # Write the eStatus + ldw ea, 72(sp) # Load the Program Counter + ldw r16, 76(sp) + ldw r17, 80(sp) + ldw r18, 84(sp) + ldw r19, 88(sp) + ldw r20, 92(sp) + ldw r21, 96(sp) + ldw r22, 100(sp) + ldw r23, 104(sp) + ldw gp, 108(sp) + ldw fp, 112(sp) + addi sp, sp, 116 # Release stack space + + eret # Return to address ea, loading eStatus into Status. + + .section .exceptions.soft, "xa" +soft_exceptions: + ldw et, 0(ea) # Load the instruction where the interrupt occured. + movhi at, %hi(0x003B683A) # Load the registers with the trap instruction code + ori at, at, %lo(0x003B683A) + cmpne et, et, at # Compare the trap instruction code to the last excuted instruction + beq et, r0, call_scheduler # its a trap so switchcontext + break # This is an un-implemented instruction or muldiv problem. + br restore_context # its something else + +call_scheduler: + addi ea, ea, 4 # A trap was called, increment the program counter so it is not called again. + stw ea, 72(sp) # Save the new program counter to the context. + call vTaskSwitchContext # Pick the next context. + br restore_sp_from_pxCurrentTCB # Switch in the task context and restore. diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/portmacro.h new file mode 100644 index 0000000..5d47cf8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/NiosII/portmacro.h @@ -0,0 +1,109 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include "sys/alt_irq.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() asm volatile ( "NOP" ) +#define portCRITICAL_NESTING_IN_TCB 1 +/*-----------------------------------------------------------*/ + +extern void vTaskSwitchContext( void ); +#define portYIELD() asm volatile ( "trap" ); +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vTaskSwitchContext() + + +/* Include the port_asm.S file where the Context saving/restoring is defined. */ +__asm__( "\n\t.globl save_context" ); + +/*-----------------------------------------------------------*/ + +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); + +#define portDISABLE_INTERRUPTS() alt_irq_disable_all() +#define portENABLE_INTERRUPTS() alt_irq_enable_all( 0x01 ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/FPU_Macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/FPU_Macros.h new file mode 100644 index 0000000..dfd1e49 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/FPU_Macros.h @@ -0,0 +1,45 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* When switching out a task, if the task tag contains a buffer address then +save the flop context into the buffer. */ +#define traceTASK_SWITCHED_OUT() \ + if( pxCurrentTCB->pxTaskTag != NULL ) \ + { \ + extern void vPortSaveFPURegisters( void * ); \ + vPortSaveFPURegisters( ( void * ) ( pxCurrentTCB->pxTaskTag ) ); \ + } + +/* When switching in a task, if the task tag contains a buffer address then +load the flop context from the buffer. */ +#define traceTASK_SWITCHED_IN() \ + if( pxCurrentTCB->pxTaskTag != NULL ) \ + { \ + extern void vPortRestoreFPURegisters( void * ); \ + vPortRestoreFPURegisters( ( void * ) ( pxCurrentTCB->pxTaskTag ) ); \ + } + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/port.c new file mode 100644 index 0000000..f0f9b2a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/port.c @@ -0,0 +1,260 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PPC405 port. + *----------------------------------------------------------*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "xtime_l.h" +#include "xintc.h" +#include "xintc_i.h" + +/*-----------------------------------------------------------*/ + +/* Definitions to set the initial MSR of each task. */ +#define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL ) +#define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL ) +#define portMACHINE_CHECK_ENABLE ( 1UL << 12UL ) + +#if configUSE_FPU == 1 + #define portAPU_PRESENT ( 1UL << 25UL ) + #define portFCM_FPU_PRESENT ( 1UL << 13UL ) +#else + #define portAPU_PRESENT ( 0UL ) + #define portFCM_FPU_PRESENT ( 0UL ) +#endif + +#define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT ) + + +extern const unsigned _SDA_BASE_; +extern const unsigned _SDA2_BASE_; + +/*-----------------------------------------------------------*/ + +/* + * Setup the system timer to generate the tick interrupt. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * The handler for the tick interrupt - defined in portasm.s. + */ +extern void vPortTickISR( void ); + +/* + * The handler for the yield function - defined in portasm.s. + */ +extern void vPortYield( void ); + +/* + * Function to start the scheduler running by starting the highest + * priority task that has thus far been created. + */ +extern void vPortStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* Structure used to hold the state of the interrupt controller. */ +static XIntc xInterruptController; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if the task had been + * interrupted. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Place a known value at the bottom of the stack for debugging. */ + *pxTopOfStack = 0xDEADBEEF; + pxTopOfStack--; + + /* EABI stack frame. */ + pxTopOfStack -= 20; /* Previous backchain and LR, R31 to R4 inclusive. */ + + /* Parameters in R13. */ + *pxTopOfStack = ( StackType_t ) &_SDA_BASE_; /* address of the first small data area */ + pxTopOfStack -= 10; + + /* Parameters in R3. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* Parameters in R2. */ + *pxTopOfStack = ( StackType_t ) &_SDA2_BASE_; /* address of the second small data area */ + pxTopOfStack--; + + /* R1 is the stack pointer so is omitted. */ + + *pxTopOfStack = 0x10000001UL;; /* R0. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* USPRG0. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* CR. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* XER. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* CTR. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) vPortEndScheduler; /* LR. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* SRR0. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_MSR;/* SRR1. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) vPortEndScheduler;/* Next LR. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL;/* Backchain. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + prvSetupTimerInterrupt(); + XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 ); + vPortStartFirstTask(); + + /* Should not get here as the tasks are now running! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ + for( ;; ); +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. + */ +static void prvSetupTimerInterrupt( void ) +{ +const uint32_t ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL ); + + XTime_PITClearInterrupt(); + XTime_FITClearInterrupt(); + XTime_WDTClearInterrupt(); + XTime_WDTDisableInterrupt(); + XTime_FITDisableInterrupt(); + + XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 ); + + XTime_PITEnableAutoReload(); + XTime_PITSetInterval( ulInterval ); + XTime_PITEnableInterrupt(); +} +/*-----------------------------------------------------------*/ + +void vPortISRHandler( void *pvNullDoNotUse ) +{ +uint32_t ulInterruptStatus, ulInterruptMask = 1UL; +BaseType_t xInterruptNumber; +XIntc_Config *pxInterruptController; +XIntc_VectorTableEntry *pxTable; + + /* Just to remove compiler warning. */ + ( void ) pvNullDoNotUse; + + /* Get the configuration by using the device ID - in this case it is + assumed that only one interrupt controller is being used. */ + pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ]; + + /* Which interrupts are pending? */ + ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress ); + + for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ ) + { + if( ulInterruptStatus & 0x01UL ) + { + /* Clear the pending interrupt. */ + XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask ); + + /* Call the registered handler. */ + pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] ); + pxTable->Handler( pxTable->CallBackRef ); + } + + /* Check the next interrupt. */ + ulInterruptMask <<= 0x01UL; + ulInterruptStatus >>= 0x01UL; + + /* Have we serviced all interrupts? */ + if( ulInterruptStatus == 0UL ) + { + break; + } + } +} +/*-----------------------------------------------------------*/ + +void vPortSetupInterruptController( void ) +{ +extern void vPortISRWrapper( void ); + + /* Perform all library calls necessary to initialise the exception table + and interrupt controller. This assumes only one interrupt controller is in + use. */ + XExc_mDisableExceptions( XEXC_NON_CRITICAL ); + XExc_Init(); + + /* The library functions save the context - we then jump to a wrapper to + save the stack into the TCB. The wrapper then calls the handler defined + above. */ + XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL ); + XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID ); + XIntc_Start( &xInterruptController, XIN_REAL_MODE ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ) +{ +BaseType_t xReturn = pdFAIL; + + /* This function is defined here so the scope of xInterruptController can + remain within this file. */ + + if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) ) + { + XIntc_Enable( &xInterruptController, ucInterruptID ); + xReturn = pdPASS; + } + + return xReturn; +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/portasm.S new file mode 100644 index 0000000..409964f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/portasm.S @@ -0,0 +1,382 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern xTaskIncrementTick + .extern vPortISRHandler + + .global vPortStartFirstTask + .global vPortYield + .global vPortTickISR + .global vPortISRWrapper + .global vPortSaveFPURegisters + .global vPortRestoreFPURegisters + +.set BChainField, 0 +.set NextLRField, BChainField + 4 +.set MSRField, NextLRField + 4 +.set PCField, MSRField + 4 +.set LRField, PCField + 4 +.set CTRField, LRField + 4 +.set XERField, CTRField + 4 +.set CRField, XERField + 4 +.set USPRG0Field, CRField + 4 +.set r0Field, USPRG0Field + 4 +.set r2Field, r0Field + 4 +.set r3r31Field, r2Field + 4 +.set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4 + + +.macro portSAVE_STACK_POINTER_AND_LR + + /* Get the address of the TCB. */ + xor R0, R0, R0 + addis R2, R0, pxCurrentTCB@ha + lwz R2, pxCurrentTCB@l( R2 ) + + /* Store the stack pointer into the TCB */ + stw SP, 0( R2 ) + + /* Save the link register */ + stwu R1, -24( R1 ) + mflr R0 + stw R31, 20( R1 ) + stw R0, 28( R1 ) + mr R31, r1 + +.endm + +.macro portRESTORE_STACK_POINTER_AND_LR + + /* Restore the link register */ + lwz R11, 0( R1 ) + lwz R0, 4( R11 ) + mtlr R0 + lwz R31, -4( R11 ) + mr R1, R11 + + /* Get the address of the TCB. */ + xor R0, R0, R0 + addis SP, R0, pxCurrentTCB@ha + lwz SP, pxCurrentTCB@l( R1 ) + + /* Get the task stack pointer from the TCB. */ + lwz SP, 0( SP ) + +.endm + + +vPortStartFirstTask: + + /* Get the address of the TCB. */ + xor R0, R0, R0 + addis SP, R0, pxCurrentTCB@ha + lwz SP, pxCurrentTCB@l( SP ) + + /* Get the task stack pointer from the TCB. */ + lwz SP, 0( SP ) + + /* Restore MSR register to SRR1. */ + lwz R0, MSRField(R1) + mtsrr1 R0 + + /* Restore current PC location to SRR0. */ + lwz R0, PCField(R1) + mtsrr0 R0 + + /* Save USPRG0 register */ + lwz R0, USPRG0Field(R1) + mtspr 0x100,R0 + + /* Restore Condition register */ + lwz R0, CRField(R1) + mtcr R0 + + /* Restore Fixed Point Exception register */ + lwz R0, XERField(R1) + mtxer R0 + + /* Restore Counter register */ + lwz R0, CTRField(R1) + mtctr R0 + + /* Restore Link register */ + lwz R0, LRField(R1) + mtlr R0 + + /* Restore remaining GPR registers. */ + lmw R3,r3r31Field(R1) + + /* Restore r0 and r2. */ + lwz R0, r0Field(R1) + lwz R2, r2Field(R1) + + /* Remove frame from stack */ + addi R1,R1,IFrameSize + + /* Return into the first task */ + rfi + + + +vPortYield: + + portSAVE_STACK_POINTER_AND_LR + bl vTaskSwitchContext + portRESTORE_STACK_POINTER_AND_LR + blr + +vPortTickISR: + + portSAVE_STACK_POINTER_AND_LR + bl xTaskIncrementTick + + #if configUSE_PREEMPTION == 1 + bl vTaskSwitchContext + #endif + + /* Clear the interrupt */ + lis R0, 2048 + mttsr R0 + + portRESTORE_STACK_POINTER_AND_LR + blr + +vPortISRWrapper: + + portSAVE_STACK_POINTER_AND_LR + bl vPortISRHandler + portRESTORE_STACK_POINTER_AND_LR + blr + +#if configUSE_FPU == 1 + +vPortSaveFPURegisters: + + /* Enable APU and mark FPU as present. */ + mfmsr r0 + xor r30, r30, r30 + oris r30, r30, 512 + ori r30, r30, 8192 + or r0, r0, r30 + mtmsr r0 + +#ifdef USE_DP_FPU + + /* Buffer address is in r3. Save each flop register into an offset from + this buffer address. */ + stfd f0, 0(r3) + stfd f1, 8(r3) + stfd f2, 16(r3) + stfd f3, 24(r3) + stfd f4, 32(r3) + stfd f5, 40(r3) + stfd f6, 48(r3) + stfd f7, 56(r3) + stfd f8, 64(r3) + stfd f9, 72(r3) + stfd f10, 80(r3) + stfd f11, 88(r3) + stfd f12, 96(r3) + stfd f13, 104(r3) + stfd f14, 112(r3) + stfd f15, 120(r3) + stfd f16, 128(r3) + stfd f17, 136(r3) + stfd f18, 144(r3) + stfd f19, 152(r3) + stfd f20, 160(r3) + stfd f21, 168(r3) + stfd f22, 176(r3) + stfd f23, 184(r3) + stfd f24, 192(r3) + stfd f25, 200(r3) + stfd f26, 208(r3) + stfd f27, 216(r3) + stfd f28, 224(r3) + stfd f29, 232(r3) + stfd f30, 240(r3) + stfd f31, 248(r3) + + /* Also save the FPSCR. */ + mffs f31 + stfs f31, 256(r3) + +#else + + /* Buffer address is in r3. Save each flop register into an offset from + this buffer address. */ + stfs f0, 0(r3) + stfs f1, 4(r3) + stfs f2, 8(r3) + stfs f3, 12(r3) + stfs f4, 16(r3) + stfs f5, 20(r3) + stfs f6, 24(r3) + stfs f7, 28(r3) + stfs f8, 32(r3) + stfs f9, 36(r3) + stfs f10, 40(r3) + stfs f11, 44(r3) + stfs f12, 48(r3) + stfs f13, 52(r3) + stfs f14, 56(r3) + stfs f15, 60(r3) + stfs f16, 64(r3) + stfs f17, 68(r3) + stfs f18, 72(r3) + stfs f19, 76(r3) + stfs f20, 80(r3) + stfs f21, 84(r3) + stfs f22, 88(r3) + stfs f23, 92(r3) + stfs f24, 96(r3) + stfs f25, 100(r3) + stfs f26, 104(r3) + stfs f27, 108(r3) + stfs f28, 112(r3) + stfs f29, 116(r3) + stfs f30, 120(r3) + stfs f31, 124(r3) + + /* Also save the FPSCR. */ + mffs f31 + stfs f31, 128(r3) + +#endif + + blr + +#endif /* configUSE_FPU. */ + + +#if configUSE_FPU == 1 + +vPortRestoreFPURegisters: + + /* Enable APU and mark FPU as present. */ + mfmsr r0 + xor r30, r30, r30 + oris r30, r30, 512 + ori r30, r30, 8192 + or r0, r0, r30 + mtmsr r0 + +#ifdef USE_DP_FPU + + /* Buffer address is in r3. Restore each flop register from an offset + into this buffer. + + First the FPSCR. */ + lfs f31, 256(r3) + mtfsf f31, 7 + + lfd f0, 0(r3) + lfd f1, 8(r3) + lfd f2, 16(r3) + lfd f3, 24(r3) + lfd f4, 32(r3) + lfd f5, 40(r3) + lfd f6, 48(r3) + lfd f7, 56(r3) + lfd f8, 64(r3) + lfd f9, 72(r3) + lfd f10, 80(r3) + lfd f11, 88(r3) + lfd f12, 96(r3) + lfd f13, 104(r3) + lfd f14, 112(r3) + lfd f15, 120(r3) + lfd f16, 128(r3) + lfd f17, 136(r3) + lfd f18, 144(r3) + lfd f19, 152(r3) + lfd f20, 160(r3) + lfd f21, 168(r3) + lfd f22, 176(r3) + lfd f23, 184(r3) + lfd f24, 192(r3) + lfd f25, 200(r3) + lfd f26, 208(r3) + lfd f27, 216(r3) + lfd f28, 224(r3) + lfd f29, 232(r3) + lfd f30, 240(r3) + lfd f31, 248(r3) + +#else + + /* Buffer address is in r3. Restore each flop register from an offset + into this buffer. + + First the FPSCR. */ + lfs f31, 128(r3) + mtfsf f31, 7 + + lfs f0, 0(r3) + lfs f1, 4(r3) + lfs f2, 8(r3) + lfs f3, 12(r3) + lfs f4, 16(r3) + lfs f5, 20(r3) + lfs f6, 24(r3) + lfs f7, 28(r3) + lfs f8, 32(r3) + lfs f9, 36(r3) + lfs f10, 40(r3) + lfs f11, 44(r3) + lfs f12, 48(r3) + lfs f13, 52(r3) + lfs f14, 56(r3) + lfs f15, 60(r3) + lfs f16, 64(r3) + lfs f17, 68(r3) + lfs f18, 72(r3) + lfs f19, 76(r3) + lfs f20, 80(r3) + lfs f21, 84(r3) + lfs f22, 88(r3) + lfs f23, 92(r3) + lfs f24, 96(r3) + lfs f25, 100(r3) + lfs f26, 104(r3) + lfs f27, 108(r3) + lfs f28, 112(r3) + lfs f29, 116(r3) + lfs f30, 120(r3) + lfs f31, 124(r3) + +#endif + + blr + +#endif /* configUSE_FPU. */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/portmacro.h new file mode 100644 index 0000000..6d1eb6e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC405_Xilinx/portmacro.h @@ -0,0 +1,118 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include "xexception_l.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* This port uses the critical nesting count from the TCB rather than +maintaining a separate value and then saving this value in the task stack. */ +#define portCRITICAL_NESTING_IN_TCB 1 + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() XExc_mDisableExceptions( XEXC_NON_CRITICAL ); +#define portENABLE_INTERRUPTS() XExc_mEnableExceptions( XEXC_NON_CRITICAL ); + +/*-----------------------------------------------------------*/ + +/* Critical section macros. */ +void vTaskEnterCritical( void ); +void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +void vPortYield( void ); +#define portYIELD() asm volatile ( "SC \n\t NOP" ) +#define portYIELD_FROM_ISR() vTaskSwitchContext() + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() asm volatile ( "NOP" ) + +/* There are 32 * 32bit floating point regieters, plus the FPSCR to save. */ +#define portNO_FLOP_REGISTERS_TO_SAVE ( 32 + 1 ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Port specific interrupt handling functions. */ +void vPortSetupInterruptController( void ); +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ); + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/FPU_Macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/FPU_Macros.h new file mode 100644 index 0000000..dfd1e49 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/FPU_Macros.h @@ -0,0 +1,45 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* When switching out a task, if the task tag contains a buffer address then +save the flop context into the buffer. */ +#define traceTASK_SWITCHED_OUT() \ + if( pxCurrentTCB->pxTaskTag != NULL ) \ + { \ + extern void vPortSaveFPURegisters( void * ); \ + vPortSaveFPURegisters( ( void * ) ( pxCurrentTCB->pxTaskTag ) ); \ + } + +/* When switching in a task, if the task tag contains a buffer address then +load the flop context from the buffer. */ +#define traceTASK_SWITCHED_IN() \ + if( pxCurrentTCB->pxTaskTag != NULL ) \ + { \ + extern void vPortRestoreFPURegisters( void * ); \ + vPortRestoreFPURegisters( ( void * ) ( pxCurrentTCB->pxTaskTag ) ); \ + } + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/port.c new file mode 100644 index 0000000..ebaa68e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/port.c @@ -0,0 +1,260 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PPC440 port. + *----------------------------------------------------------*/ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "xtime_l.h" +#include "xintc.h" +#include "xintc_i.h" + +/*-----------------------------------------------------------*/ + +/* Definitions to set the initial MSR of each task. */ +#define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL ) +#define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL ) +#define portMACHINE_CHECK_ENABLE ( 1UL << 12UL ) + +#if configUSE_FPU == 1 + #define portAPU_PRESENT ( 1UL << 25UL ) + #define portFCM_FPU_PRESENT ( 1UL << 13UL ) +#else + #define portAPU_PRESENT ( 0UL ) + #define portFCM_FPU_PRESENT ( 0UL ) +#endif + +#define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT ) + + +extern const unsigned _SDA_BASE_; +extern const unsigned _SDA2_BASE_; + +/*-----------------------------------------------------------*/ + +/* + * Setup the system timer to generate the tick interrupt. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * The handler for the tick interrupt - defined in portasm.s. + */ +extern void vPortTickISR( void ); + +/* + * The handler for the yield function - defined in portasm.s. + */ +extern void vPortYield( void ); + +/* + * Function to start the scheduler running by starting the highest + * priority task that has thus far been created. + */ +extern void vPortStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* Structure used to hold the state of the interrupt controller. */ +static XIntc xInterruptController; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if the task had been + * interrupted. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Place a known value at the bottom of the stack for debugging. */ + *pxTopOfStack = 0xDEADBEEF; + pxTopOfStack--; + + /* EABI stack frame. */ + pxTopOfStack -= 20; /* Previous backchain and LR, R31 to R4 inclusive. */ + + /* Parameters in R13. */ + *pxTopOfStack = ( StackType_t ) &_SDA_BASE_; /* address of the first small data area */ + pxTopOfStack -= 10; + + /* Parameters in R3. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* Parameters in R2. */ + *pxTopOfStack = ( StackType_t ) &_SDA2_BASE_; /* address of the second small data area */ + pxTopOfStack--; + + /* R1 is the stack pointer so is omitted. */ + + *pxTopOfStack = 0x10000001UL;; /* R0. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* USPRG0. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* CR. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* XER. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL; /* CTR. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) vPortEndScheduler; /* LR. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* SRR0. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_MSR;/* SRR1. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) vPortEndScheduler;/* Next LR. */ + pxTopOfStack--; + *pxTopOfStack = 0x00000000UL;/* Backchain. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + prvSetupTimerInterrupt(); + XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 ); + vPortStartFirstTask(); + + /* Should not get here as the tasks are now running! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ + for( ;; ); +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. + */ +static void prvSetupTimerInterrupt( void ) +{ +const uint32_t ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL ); + + XTime_DECClearInterrupt(); + XTime_FITClearInterrupt(); + XTime_WDTClearInterrupt(); + XTime_WDTDisableInterrupt(); + XTime_FITDisableInterrupt(); + + XExc_RegisterHandler( XEXC_ID_DEC_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 ); + + XTime_DECEnableAutoReload(); + XTime_DECSetInterval( ulInterval ); + XTime_DECEnableInterrupt(); +} +/*-----------------------------------------------------------*/ + +void vPortISRHandler( void *pvNullDoNotUse ) +{ +uint32_t ulInterruptStatus, ulInterruptMask = 1UL; +BaseType_t xInterruptNumber; +XIntc_Config *pxInterruptController; +XIntc_VectorTableEntry *pxTable; + + /* Just to remove compiler warning. */ + ( void ) pvNullDoNotUse; + + /* Get the configuration by using the device ID - in this case it is + assumed that only one interrupt controller is being used. */ + pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ]; + + /* Which interrupts are pending? */ + ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress ); + + for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ ) + { + if( ulInterruptStatus & 0x01UL ) + { + /* Clear the pending interrupt. */ + XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask ); + + /* Call the registered handler. */ + pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] ); + pxTable->Handler( pxTable->CallBackRef ); + } + + /* Check the next interrupt. */ + ulInterruptMask <<= 0x01UL; + ulInterruptStatus >>= 0x01UL; + + /* Have we serviced all interrupts? */ + if( ulInterruptStatus == 0UL ) + { + break; + } + } +} +/*-----------------------------------------------------------*/ + +void vPortSetupInterruptController( void ) +{ +extern void vPortISRWrapper( void ); + + /* Perform all library calls necessary to initialise the exception table + and interrupt controller. This assumes only one interrupt controller is in + use. */ + XExc_mDisableExceptions( XEXC_NON_CRITICAL ); + XExc_Init(); + + /* The library functions save the context - we then jump to a wrapper to + save the stack into the TCB. The wrapper then calls the handler defined + above. */ + XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL ); + XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID ); + XIntc_Start( &xInterruptController, XIN_REAL_MODE ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ) +{ +BaseType_t xReturn = pdFAIL; + + /* This function is defined here so the scope of xInterruptController can + remain within this file. */ + + if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) ) + { + XIntc_Enable( &xInterruptController, ucInterruptID ); + xReturn = pdPASS; + } + + return xReturn; +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/portasm.S new file mode 100644 index 0000000..409964f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/portasm.S @@ -0,0 +1,382 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern xTaskIncrementTick + .extern vPortISRHandler + + .global vPortStartFirstTask + .global vPortYield + .global vPortTickISR + .global vPortISRWrapper + .global vPortSaveFPURegisters + .global vPortRestoreFPURegisters + +.set BChainField, 0 +.set NextLRField, BChainField + 4 +.set MSRField, NextLRField + 4 +.set PCField, MSRField + 4 +.set LRField, PCField + 4 +.set CTRField, LRField + 4 +.set XERField, CTRField + 4 +.set CRField, XERField + 4 +.set USPRG0Field, CRField + 4 +.set r0Field, USPRG0Field + 4 +.set r2Field, r0Field + 4 +.set r3r31Field, r2Field + 4 +.set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4 + + +.macro portSAVE_STACK_POINTER_AND_LR + + /* Get the address of the TCB. */ + xor R0, R0, R0 + addis R2, R0, pxCurrentTCB@ha + lwz R2, pxCurrentTCB@l( R2 ) + + /* Store the stack pointer into the TCB */ + stw SP, 0( R2 ) + + /* Save the link register */ + stwu R1, -24( R1 ) + mflr R0 + stw R31, 20( R1 ) + stw R0, 28( R1 ) + mr R31, r1 + +.endm + +.macro portRESTORE_STACK_POINTER_AND_LR + + /* Restore the link register */ + lwz R11, 0( R1 ) + lwz R0, 4( R11 ) + mtlr R0 + lwz R31, -4( R11 ) + mr R1, R11 + + /* Get the address of the TCB. */ + xor R0, R0, R0 + addis SP, R0, pxCurrentTCB@ha + lwz SP, pxCurrentTCB@l( R1 ) + + /* Get the task stack pointer from the TCB. */ + lwz SP, 0( SP ) + +.endm + + +vPortStartFirstTask: + + /* Get the address of the TCB. */ + xor R0, R0, R0 + addis SP, R0, pxCurrentTCB@ha + lwz SP, pxCurrentTCB@l( SP ) + + /* Get the task stack pointer from the TCB. */ + lwz SP, 0( SP ) + + /* Restore MSR register to SRR1. */ + lwz R0, MSRField(R1) + mtsrr1 R0 + + /* Restore current PC location to SRR0. */ + lwz R0, PCField(R1) + mtsrr0 R0 + + /* Save USPRG0 register */ + lwz R0, USPRG0Field(R1) + mtspr 0x100,R0 + + /* Restore Condition register */ + lwz R0, CRField(R1) + mtcr R0 + + /* Restore Fixed Point Exception register */ + lwz R0, XERField(R1) + mtxer R0 + + /* Restore Counter register */ + lwz R0, CTRField(R1) + mtctr R0 + + /* Restore Link register */ + lwz R0, LRField(R1) + mtlr R0 + + /* Restore remaining GPR registers. */ + lmw R3,r3r31Field(R1) + + /* Restore r0 and r2. */ + lwz R0, r0Field(R1) + lwz R2, r2Field(R1) + + /* Remove frame from stack */ + addi R1,R1,IFrameSize + + /* Return into the first task */ + rfi + + + +vPortYield: + + portSAVE_STACK_POINTER_AND_LR + bl vTaskSwitchContext + portRESTORE_STACK_POINTER_AND_LR + blr + +vPortTickISR: + + portSAVE_STACK_POINTER_AND_LR + bl xTaskIncrementTick + + #if configUSE_PREEMPTION == 1 + bl vTaskSwitchContext + #endif + + /* Clear the interrupt */ + lis R0, 2048 + mttsr R0 + + portRESTORE_STACK_POINTER_AND_LR + blr + +vPortISRWrapper: + + portSAVE_STACK_POINTER_AND_LR + bl vPortISRHandler + portRESTORE_STACK_POINTER_AND_LR + blr + +#if configUSE_FPU == 1 + +vPortSaveFPURegisters: + + /* Enable APU and mark FPU as present. */ + mfmsr r0 + xor r30, r30, r30 + oris r30, r30, 512 + ori r30, r30, 8192 + or r0, r0, r30 + mtmsr r0 + +#ifdef USE_DP_FPU + + /* Buffer address is in r3. Save each flop register into an offset from + this buffer address. */ + stfd f0, 0(r3) + stfd f1, 8(r3) + stfd f2, 16(r3) + stfd f3, 24(r3) + stfd f4, 32(r3) + stfd f5, 40(r3) + stfd f6, 48(r3) + stfd f7, 56(r3) + stfd f8, 64(r3) + stfd f9, 72(r3) + stfd f10, 80(r3) + stfd f11, 88(r3) + stfd f12, 96(r3) + stfd f13, 104(r3) + stfd f14, 112(r3) + stfd f15, 120(r3) + stfd f16, 128(r3) + stfd f17, 136(r3) + stfd f18, 144(r3) + stfd f19, 152(r3) + stfd f20, 160(r3) + stfd f21, 168(r3) + stfd f22, 176(r3) + stfd f23, 184(r3) + stfd f24, 192(r3) + stfd f25, 200(r3) + stfd f26, 208(r3) + stfd f27, 216(r3) + stfd f28, 224(r3) + stfd f29, 232(r3) + stfd f30, 240(r3) + stfd f31, 248(r3) + + /* Also save the FPSCR. */ + mffs f31 + stfs f31, 256(r3) + +#else + + /* Buffer address is in r3. Save each flop register into an offset from + this buffer address. */ + stfs f0, 0(r3) + stfs f1, 4(r3) + stfs f2, 8(r3) + stfs f3, 12(r3) + stfs f4, 16(r3) + stfs f5, 20(r3) + stfs f6, 24(r3) + stfs f7, 28(r3) + stfs f8, 32(r3) + stfs f9, 36(r3) + stfs f10, 40(r3) + stfs f11, 44(r3) + stfs f12, 48(r3) + stfs f13, 52(r3) + stfs f14, 56(r3) + stfs f15, 60(r3) + stfs f16, 64(r3) + stfs f17, 68(r3) + stfs f18, 72(r3) + stfs f19, 76(r3) + stfs f20, 80(r3) + stfs f21, 84(r3) + stfs f22, 88(r3) + stfs f23, 92(r3) + stfs f24, 96(r3) + stfs f25, 100(r3) + stfs f26, 104(r3) + stfs f27, 108(r3) + stfs f28, 112(r3) + stfs f29, 116(r3) + stfs f30, 120(r3) + stfs f31, 124(r3) + + /* Also save the FPSCR. */ + mffs f31 + stfs f31, 128(r3) + +#endif + + blr + +#endif /* configUSE_FPU. */ + + +#if configUSE_FPU == 1 + +vPortRestoreFPURegisters: + + /* Enable APU and mark FPU as present. */ + mfmsr r0 + xor r30, r30, r30 + oris r30, r30, 512 + ori r30, r30, 8192 + or r0, r0, r30 + mtmsr r0 + +#ifdef USE_DP_FPU + + /* Buffer address is in r3. Restore each flop register from an offset + into this buffer. + + First the FPSCR. */ + lfs f31, 256(r3) + mtfsf f31, 7 + + lfd f0, 0(r3) + lfd f1, 8(r3) + lfd f2, 16(r3) + lfd f3, 24(r3) + lfd f4, 32(r3) + lfd f5, 40(r3) + lfd f6, 48(r3) + lfd f7, 56(r3) + lfd f8, 64(r3) + lfd f9, 72(r3) + lfd f10, 80(r3) + lfd f11, 88(r3) + lfd f12, 96(r3) + lfd f13, 104(r3) + lfd f14, 112(r3) + lfd f15, 120(r3) + lfd f16, 128(r3) + lfd f17, 136(r3) + lfd f18, 144(r3) + lfd f19, 152(r3) + lfd f20, 160(r3) + lfd f21, 168(r3) + lfd f22, 176(r3) + lfd f23, 184(r3) + lfd f24, 192(r3) + lfd f25, 200(r3) + lfd f26, 208(r3) + lfd f27, 216(r3) + lfd f28, 224(r3) + lfd f29, 232(r3) + lfd f30, 240(r3) + lfd f31, 248(r3) + +#else + + /* Buffer address is in r3. Restore each flop register from an offset + into this buffer. + + First the FPSCR. */ + lfs f31, 128(r3) + mtfsf f31, 7 + + lfs f0, 0(r3) + lfs f1, 4(r3) + lfs f2, 8(r3) + lfs f3, 12(r3) + lfs f4, 16(r3) + lfs f5, 20(r3) + lfs f6, 24(r3) + lfs f7, 28(r3) + lfs f8, 32(r3) + lfs f9, 36(r3) + lfs f10, 40(r3) + lfs f11, 44(r3) + lfs f12, 48(r3) + lfs f13, 52(r3) + lfs f14, 56(r3) + lfs f15, 60(r3) + lfs f16, 64(r3) + lfs f17, 68(r3) + lfs f18, 72(r3) + lfs f19, 76(r3) + lfs f20, 80(r3) + lfs f21, 84(r3) + lfs f22, 88(r3) + lfs f23, 92(r3) + lfs f24, 96(r3) + lfs f25, 100(r3) + lfs f26, 104(r3) + lfs f27, 108(r3) + lfs f28, 112(r3) + lfs f29, 116(r3) + lfs f30, 120(r3) + lfs f31, 124(r3) + +#endif + + blr + +#endif /* configUSE_FPU. */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/portmacro.h new file mode 100644 index 0000000..6d1eb6e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/PPC440_Xilinx/portmacro.h @@ -0,0 +1,118 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include "xexception_l.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* This port uses the critical nesting count from the TCB rather than +maintaining a separate value and then saving this value in the task stack. */ +#define portCRITICAL_NESTING_IN_TCB 1 + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() XExc_mDisableExceptions( XEXC_NON_CRITICAL ); +#define portENABLE_INTERRUPTS() XExc_mEnableExceptions( XEXC_NON_CRITICAL ); + +/*-----------------------------------------------------------*/ + +/* Critical section macros. */ +void vTaskEnterCritical( void ); +void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +void vPortYield( void ); +#define portYIELD() asm volatile ( "SC \n\t NOP" ) +#define portYIELD_FROM_ISR() vTaskSwitchContext() + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() asm volatile ( "NOP" ) + +/* There are 32 * 32bit floating point regieters, plus the FPSCR to save. */ +#define portNO_FLOP_REGISTERS_TO_SAVE ( 32 + 1 ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Port specific interrupt handling functions. */ +void vPortSetupInterruptController( void ); +BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef ); + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/Documentation.url b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/Documentation.url new file mode 100644 index 0000000..c7819d5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/Documentation.url @@ -0,0 +1,5 @@ +[{000214A0-0000-0000-C000-000000000046}] +Prop3=19,11 +[InternetShortcut] +IDList= +URL=https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/Pulpino_Vega_RV32M1RM/freertos_risc_v_chip_specific_extensions.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/Pulpino_Vega_RV32M1RM/freertos_risc_v_chip_specific_extensions.h new file mode 100644 index 0000000..bbf4bf1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/Pulpino_Vega_RV32M1RM/freertos_risc_v_chip_specific_extensions.h @@ -0,0 +1,109 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and t + + o permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ + +/* + * This freertos_risc_v_chip_specific_extensions.h is for use with Pulpino Ri5cy + * devices, developed and tested using the Vega board RV32M1RM. + */ + +#ifndef __FREERTOS_RISC_V_EXTENSIONS_H__ +#define __FREERTOS_RISC_V_EXTENSIONS_H__ + +#define portasmHAS_MTIME 0 + +/* Constants to define the additional registers found on the Pulpino RI5KY. */ +#define lpstart0 0x7b0 +#define lpend0 0x7b1 +#define lpcount0 0x7b2 +#define lpstart1 0x7b4 +#define lpend1 0x7b5 +#define lpcount1 0x7b6 + +/* Six additional registers to save and restore, as per the #defines above. */ +#define portasmADDITIONAL_CONTEXT_SIZE 6 /* Must be even number on 32-bit cores. */ + +/* Save additional registers found on the Pulpino. */ +.macro portasmSAVE_ADDITIONAL_REGISTERS + addi sp, sp, -(portasmADDITIONAL_CONTEXT_SIZE * portWORD_SIZE) /* Make room for the additional registers. */ + csrr t0, lpstart0 /* Load additional registers into accessible temporary registers. */ + csrr t1, lpend0 + csrr t2, lpcount0 + csrr t3, lpstart1 + csrr t4, lpend1 + csrr t5, lpcount1 + sw t0, 1 * portWORD_SIZE( sp ) + sw t1, 2 * portWORD_SIZE( sp ) + sw t2, 3 * portWORD_SIZE( sp ) + sw t3, 4 * portWORD_SIZE( sp ) + sw t4, 5 * portWORD_SIZE( sp ) + sw t5, 6 * portWORD_SIZE( sp ) + .endm + +/* Restore the additional registers found on the Pulpino. */ +.macro portasmRESTORE_ADDITIONAL_REGISTERS + lw t0, 1 * portWORD_SIZE( sp ) /* Load additional registers into accessible temporary registers. */ + lw t1, 2 * portWORD_SIZE( sp ) + lw t2, 3 * portWORD_SIZE( sp ) + lw t3, 4 * portWORD_SIZE( sp ) + lw t4, 5 * portWORD_SIZE( sp ) + lw t5, 6 * portWORD_SIZE( sp ) + csrw lpstart0, t0 + csrw lpend0, t1 + csrw lpcount0, t2 + csrw lpstart1, t3 + csrw lpend1, t4 + csrw lpcount1, t5 + addi sp, sp, (portasmADDITIONAL_CONTEXT_SIZE * portWORD_SIZE )/* Remove space added for additional registers. */ + .endm + +#endif /* __FREERTOS_RISC_V_EXTENSIONS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions/freertos_risc_v_chip_specific_extensions.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions/freertos_risc_v_chip_specific_extensions.h new file mode 100644 index 0000000..bd1ba21 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions/freertos_risc_v_chip_specific_extensions.h @@ -0,0 +1,68 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ + + +#ifndef __FREERTOS_RISC_V_EXTENSIONS_H__ +#define __FREERTOS_RISC_V_EXTENSIONS_H__ + +#define portasmHAS_SIFIVE_CLINT 1 +#define portasmHAS_MTIME 1 +#define portasmADDITIONAL_CONTEXT_SIZE 0 /* Must be even number on 32-bit cores. */ + +.macro portasmSAVE_ADDITIONAL_REGISTERS + /* No additional registers to save, so this macro does nothing. */ + .endm + +.macro portasmRESTORE_ADDITIONAL_REGISTERS + /* No additional registers to restore, so this macro does nothing. */ + .endm + +#endif /* __FREERTOS_RISC_V_EXTENSIONS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/readme.txt new file mode 100644 index 0000000..69d98d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/chip_specific_extensions/readme.txt @@ -0,0 +1,23 @@ +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/port.c new file mode 100644 index 0000000..8a8970c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/port.c @@ -0,0 +1,212 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the RISC-V RV32 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "portmacro.h" + +/* Standard includes. */ +#include "string.h" + +#ifdef configCLINT_BASE_ADDRESS + #warning The configCLINT_BASE_ADDRESS constant has been deprecated. configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS are currently being derived from the (possibly 0) configCLINT_BASE_ADDRESS setting. Please update to define configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS dirctly in place of configCLINT_BASE_ADDRESS. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef configMTIME_BASE_ADDRESS + #warning configMTIME_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtime register then set configMTIME_BASE_ADDRESS to the mapped address. Otherwise set configMTIME_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef configMTIMECMP_BASE_ADDRESS + #warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +/* Let the user override the pre-loading of the initial LR with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS +to use a statically allocated array as the interrupt stack. Alternative leave +configISR_STACK_SIZE_WORDS undefined and update the linker script so that a +linker variable names __freertos_irq_stack_top has the same value as the top +of the stack used by main. Using the linker script method will repurpose the +stack that was used by main before the scheduler was started for use as the +interrupt stack after the scheduler has started. */ +#ifdef configISR_STACK_SIZE_WORDS + static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 }; + const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] ); + + /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for + the task stacks, and so will legitimately appear in many positions within + the ISR stack. */ + #define portISR_STACK_FILL_BYTE 0xee +#else + extern const uint32_t __freertos_irq_stack_top[]; + const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top; +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) __attribute__(( weak )); + +/*-----------------------------------------------------------*/ + +/* Used to program the machine timer compare register. */ +uint64_t ullNextTime = 0ULL; +const uint64_t *pullNextTime = &ullNextTime; +const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */ +uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS; +volatile uint64_t * pullMachineTimerCompareRegister = NULL; + +/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task +stack checking. A problem in the ISR stack will trigger an assert, not call the +stack overflow hook function (because the stack overflow hook is specific to a +task stack, not the ISR stack). */ +#if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) + #warning This path not tested, or even compiled yet. + + static const uint8_t ucExpectedStackBytes[] = { + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ + + #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) +#else + /* Define the function away. */ + #define portCHECK_ISR_STACK() +#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + +/*-----------------------------------------------------------*/ + +#if( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) + + void vPortSetupTimerInterrupt( void ) + { + uint32_t ulCurrentTimeHigh, ulCurrentTimeLow; + volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte typer so high 32-bit word is 4 bytes up. */ + volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS ); + volatile uint32_t ulHartId; + + __asm volatile( "csrr %0, mhartid" : "=r"( ulHartId ) ); + pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) ); + + do + { + ulCurrentTimeHigh = *pulTimeHigh; + ulCurrentTimeLow = *pulTimeLow; + } while( ulCurrentTimeHigh != *pulTimeHigh ); + + ullNextTime = ( uint64_t ) ulCurrentTimeHigh; + ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */ + ullNextTime |= ( uint64_t ) ulCurrentTimeLow; + ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; + *pullMachineTimerCompareRegister = ullNextTime; + + /* Prepare the time to use after the next tick interrupt. */ + ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; + } + +#endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIME_BASE_ADDRESS != 0 ) */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void xPortStartFirstTask( void ); + + #if( configASSERT_DEFINED == 1 ) + { + volatile uint32_t mtvec = 0; + + /* Check the least significant two bits of mtvec are 00 - indicating + single vector mode. */ + __asm volatile( "csrr %0, mtvec" : "=r"( mtvec ) ); + configASSERT( ( mtvec & 0x03UL ) == 0 ); + + /* Check alignment of the interrupt stack - which is the same as the + stack that was being used by main() prior to the scheduler being + started. */ + configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 ); + + #ifdef configISR_STACK_SIZE_WORDS + { + memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); + } + #endif /* configISR_STACK_SIZE_WORDS */ + } + #endif /* configASSERT_DEFINED */ + + /* If there is a CLINT then it is ok to use the default implementation + in this file, otherwise vPortSetupTimerInterrupt() must be implemented to + configure whichever clock is to be used to generate the tick interrupt. */ + vPortSetupTimerInterrupt(); + + #if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) ) + { + /* Enable mtime and external interrupts. 1<<7 for timer interrupt, 1<<11 + for external interrupt. _RB_ What happens here when mtime is not present as + with pulpino? */ + __asm volatile( "csrs mie, %0" :: "r"(0x880) ); + } + #else + { + /* Enable external interrupts. */ + __asm volatile( "csrs mie, %0" :: "r"(0x800) ); + } + #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */ + + xPortStartFirstTask(); + + /* Should not get here as after calling xPortStartFirstTask() only tasks + should be executing. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ + for( ;; ); +} + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/portASM.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/portASM.S new file mode 100644 index 0000000..8b68684 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/portASM.S @@ -0,0 +1,443 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code which tailors the port to a specific RISC-V chip: + * + * + The code that is common to all RISC-V chips is implemented in + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S. There is only one + * portASM.S file because the same file is used no matter which RISC-V chip is + * in use. + * + * + The code that tailors the kernel's RISC-V port to a specific RISC-V + * chip is implemented in freertos_risc_v_chip_specific_extensions.h. There + * is one freertos_risc_v_chip_specific_extensions.h that can be used with any + * RISC-V chip that both includes a standard CLINT and does not add to the + * base set of RISC-V registers. There are additional + * freertos_risc_v_chip_specific_extensions.h files for RISC-V implementations + * that do not include a standard CLINT or do add to the base set of RISC-V + * registers. + * + * CARE MUST BE TAKEN TO INCLDUE THE CORRECT + * freertos_risc_v_chip_specific_extensions.h HEADER FILE FOR THE CHIP + * IN USE. To include the correct freertos_risc_v_chip_specific_extensions.h + * header file ensure the path to the correct header file is in the assembler's + * include path. + * + * This freertos_risc_v_chip_specific_extensions.h is for use on RISC-V chips + * that include a standard CLINT and do not add to the base set of RISC-V + * registers. + * + */ +#if __riscv_xlen == 64 + #define portWORD_SIZE 8 + #define store_x sd + #define load_x ld +#elif __riscv_xlen == 32 + #define store_x sw + #define load_x lw + #define portWORD_SIZE 4 +#else + #error Assembler did not define __riscv_xlen +#endif + +#include "freertos_risc_v_chip_specific_extensions.h" + +/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line +definitions. */ +#if defined( portasmHAS_CLINT ) && defined( portasmHAS_MTIME ) + #error The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME. portasmHAS_CLINT and portasmHAS_MTIME cannot both be defined at once. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifdef portasmHAS_CLINT + #warning The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT. For now portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT are derived from portasmHAS_CLINT. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html + #define portasmHAS_MTIME portasmHAS_CLINT + #define portasmHAS_SIFIVE_CLINT portasmHAS_CLINT +#endif + +#ifndef portasmHAS_MTIME + #error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef portasmHANDLE_INTERRUPT + #error portasmHANDLE_INTERRUPT must be defined to the function to be called to handle external/peripheral interrupts. portasmHANDLE_INTERRUPT can be defined on the assembler command line or in the appropriate freertos_risc_v_chip_specific_extensions.h header file. https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef portasmHAS_SIFIVE_CLINT + #define portasmHAS_SIFIVE_CLINT 0 +#endif + +/* Only the standard core registers are stored by default. Any additional +registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and +portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip +specific version of freertos_risc_v_chip_specific_extensions.h. See the notes +at the top of this file. */ +#define portCONTEXT_SIZE ( 30 * portWORD_SIZE ) + +.global xPortStartFirstTask +.global freertos_risc_v_trap_handler +.global pxPortInitialiseStack +.extern pxCurrentTCB +.extern ulPortTrapHandler +.extern vTaskSwitchContext +.extern xTaskIncrementTick +.extern Timer_IRQHandler +.extern pullMachineTimerCompareRegister +.extern pullNextTime +.extern uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */ +.extern xISRStackTop +.extern portasmHANDLE_INTERRUPT + +/*-----------------------------------------------------------*/ + +.align 8 +.func +freertos_risc_v_trap_handler: + addi sp, sp, -portCONTEXT_SIZE + store_x x1, 1 * portWORD_SIZE( sp ) + store_x x5, 2 * portWORD_SIZE( sp ) + store_x x6, 3 * portWORD_SIZE( sp ) + store_x x7, 4 * portWORD_SIZE( sp ) + store_x x8, 5 * portWORD_SIZE( sp ) + store_x x9, 6 * portWORD_SIZE( sp ) + store_x x10, 7 * portWORD_SIZE( sp ) + store_x x11, 8 * portWORD_SIZE( sp ) + store_x x12, 9 * portWORD_SIZE( sp ) + store_x x13, 10 * portWORD_SIZE( sp ) + store_x x14, 11 * portWORD_SIZE( sp ) + store_x x15, 12 * portWORD_SIZE( sp ) + store_x x16, 13 * portWORD_SIZE( sp ) + store_x x17, 14 * portWORD_SIZE( sp ) + store_x x18, 15 * portWORD_SIZE( sp ) + store_x x19, 16 * portWORD_SIZE( sp ) + store_x x20, 17 * portWORD_SIZE( sp ) + store_x x21, 18 * portWORD_SIZE( sp ) + store_x x22, 19 * portWORD_SIZE( sp ) + store_x x23, 20 * portWORD_SIZE( sp ) + store_x x24, 21 * portWORD_SIZE( sp ) + store_x x25, 22 * portWORD_SIZE( sp ) + store_x x26, 23 * portWORD_SIZE( sp ) + store_x x27, 24 * portWORD_SIZE( sp ) + store_x x28, 25 * portWORD_SIZE( sp ) + store_x x29, 26 * portWORD_SIZE( sp ) + store_x x30, 27 * portWORD_SIZE( sp ) + store_x x31, 28 * portWORD_SIZE( sp ) + + csrr t0, mstatus /* Required for MPIE bit. */ + store_x t0, 29 * portWORD_SIZE( sp ) + + portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */ + + load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */ + store_x sp, 0( t0 ) /* Write sp to first TCB member. */ + + csrr a0, mcause + csrr a1, mepc + +test_if_asynchronous: + srli a2, a0, __riscv_xlen - 1 /* MSB of mcause is 1 if handing an asynchronous interrupt - shift to LSB to clear other bits. */ + beq a2, x0, handle_synchronous /* Branch past interrupt handing if not asynchronous. */ + store_x a1, 0( sp ) /* Asynch so save unmodified exception return address. */ + +handle_asynchronous: + +#if( portasmHAS_MTIME != 0 ) + + test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */ + + addi t0, x0, 1 + + slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */ + addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */ + bne a0, t1, test_if_external_interrupt + + load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */ + load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */ + + #if( __riscv_xlen == 32 ) + + /* Update the 64-bit mtimer compare match value in two 32-bit writes. */ + li t4, -1 + lw t2, 0(t1) /* Load the low word of ullNextTime into t2. */ + lw t3, 4(t1) /* Load the high word of ullNextTime into t3. */ + sw t4, 0(t0) /* Low word no smaller than old value to start with - will be overwritten below. */ + sw t3, 4(t0) /* Store high word of ullNextTime into compare register. No smaller than new value. */ + sw t2, 0(t0) /* Store low word of ullNextTime into compare register. */ + lw t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */ + add t4, t0, t2 /* Add the low word of ullNextTime to the timer increments for one tick (assumes timer increment for one tick fits in 32-bits). */ + sltu t5, t4, t2 /* See if the sum of low words overflowed (what about the zero case?). */ + add t6, t3, t5 /* Add overflow to high word of ullNextTime. */ + sw t4, 0(t1) /* Store new low word of ullNextTime. */ + sw t6, 4(t1) /* Store new high word of ullNextTime. */ + + #endif /* __riscv_xlen == 32 */ + + #if( __riscv_xlen == 64 ) + + /* Update the 64-bit mtimer compare match value. */ + ld t2, 0(t1) /* Load ullNextTime into t2. */ + sd t2, 0(t0) /* Store ullNextTime into compare register. */ + ld t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */ + add t4, t0, t2 /* Add ullNextTime to the timer increments for one tick. */ + sd t4, 0(t1) /* Store ullNextTime. */ + + #endif /* __riscv_xlen == 64 */ + + load_x sp, xISRStackTop /* Switch to ISR stack before function call. */ + jal xTaskIncrementTick + beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */ + jal vTaskSwitchContext + j processed_source + + test_if_external_interrupt: /* If there is a CLINT and the mtimer interrupt is not pending then check to see if an external interrupt is pending. */ + addi t1, t1, 4 /* 0x80000007 + 4 = 0x8000000b == Machine external interrupt. */ + bne a0, t1, as_yet_unhandled /* Something as yet unhandled. */ + +#endif /* portasmHAS_MTIME */ + + load_x sp, xISRStackTop /* Switch to ISR stack before function call. */ + jal portasmHANDLE_INTERRUPT /* Jump to the interrupt handler if there is no CLINT or if there is a CLINT and it has been determined that an external interrupt is pending. */ + j processed_source + +handle_synchronous: + addi a1, a1, 4 /* Synchronous so updated exception return address to the instruction after the instruction that generated the exeption. */ + store_x a1, 0( sp ) /* Save updated exception return address. */ + +test_if_environment_call: + li t0, 11 /* 11 == environment call. */ + bne a0, t0, is_exception /* Not an M environment call, so some other exception. */ + load_x sp, xISRStackTop /* Switch to ISR stack before function call. */ + jal vTaskSwitchContext + j processed_source + +is_exception: + csrr t0, mcause /* For viewing in the debugger only. */ + csrr t1, mepc /* For viewing in the debugger only */ + csrr t2, mstatus + j is_exception /* No other exceptions handled yet. */ + +as_yet_unhandled: + csrr t0, mcause /* For viewing in the debugger only. */ + j as_yet_unhandled + +processed_source: + load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */ + load_x sp, 0( t1 ) /* Read sp from first TCB member. */ + + /* Load mret with the address of the next instruction in the task to run next. */ + load_x t0, 0( sp ) + csrw mepc, t0 + + portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */ + + /* Load mstatus with the interrupt enable bits used by the task. */ + load_x t0, 29 * portWORD_SIZE( sp ) + csrw mstatus, t0 /* Required for MPIE bit. */ + + load_x x1, 1 * portWORD_SIZE( sp ) + load_x x5, 2 * portWORD_SIZE( sp ) /* t0 */ + load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */ + load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */ + load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */ + load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */ + load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */ + load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */ + load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */ + load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */ + load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */ + load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */ + load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */ + load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */ + load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */ + load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */ + load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */ + load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */ + load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */ + load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */ + load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */ + load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */ + load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */ + load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */ + load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */ + load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */ + load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */ + load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */ + addi sp, sp, portCONTEXT_SIZE + + mret + .endfunc +/*-----------------------------------------------------------*/ + +.align 8 +.func +xPortStartFirstTask: + +#if( portasmHAS_SIFIVE_CLINT != 0 ) + /* If there is a clint then interrupts can branch directly to the FreeRTOS + trap handler. Otherwise the interrupt controller will need to be configured + outside of this file. */ + la t0, freertos_risc_v_trap_handler + csrw mtvec, t0 +#endif /* portasmHAS_CLILNT */ + + load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */ + load_x sp, 0( sp ) /* Read sp from first TCB member. */ + + load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */ + + portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */ + + load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */ + load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */ + load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */ + load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */ + load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */ + load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */ + load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */ + load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */ + load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */ + load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */ + load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */ + load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */ + load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */ + load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */ + load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */ + load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */ + load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */ + load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */ + load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */ + load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */ + load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */ + load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */ + load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */ + load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */ + load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */ + load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */ + + load_x x5, 29 * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0) */ + addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */ + csrrw x0, mstatus, x5 /* Interrupts enabled from here! */ + load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */ + + addi sp, sp, portCONTEXT_SIZE + ret + .endfunc +/*-----------------------------------------------------------*/ + +/* + * Unlike other ports pxPortInitialiseStack() is written in assembly code as it + * needs access to the portasmADDITIONAL_CONTEXT_SIZE constant. The prototype + * for the function is as per the other ports: + * StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ); + * + * As per the standard RISC-V ABI pxTopcOfStack is passed in in a0, pxCode in + * a1, and pvParameters in a2. The new top of stack is passed out in a0. + * + * RISC-V maps registers to ABI names as follows (X1 to X31 integer registers + * for the 'I' profile, X1 to X15 for the 'E' profile, currently I assumed). + * + * Register ABI Name Description Saver + * x0 zero Hard-wired zero - + * x1 ra Return address Caller + * x2 sp Stack pointer Callee + * x3 gp Global pointer - + * x4 tp Thread pointer - + * x5-7 t0-2 Temporaries Caller + * x8 s0/fp Saved register/Frame pointer Callee + * x9 s1 Saved register Callee + * x10-11 a0-1 Function Arguments/return values Caller + * x12-17 a2-7 Function arguments Caller + * x18-27 s2-11 Saved registers Callee + * x28-31 t3-6 Temporaries Caller + * + * The RISC-V context is saved t FreeRTOS tasks in the following stack frame, + * where the global and thread pointers are currently assumed to be constant so + * are not saved: + * + * mstatus + * x31 + * x30 + * x29 + * x28 + * x27 + * x26 + * x25 + * x24 + * x23 + * x22 + * x21 + * x20 + * x19 + * x18 + * x17 + * x16 + * x15 + * x14 + * x13 + * x12 + * x11 + * pvParameters + * x9 + * x8 + * x7 + * x6 + * x5 + * portTASK_RETURN_ADDRESS + * [chip specific registers go here] + * pxCode + */ +.align 8 +.func +pxPortInitialiseStack: + + csrr t0, mstatus /* Obtain current mstatus value. */ + andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */ + addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */ + slli t1, t1, 4 + or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */ + + addi a0, a0, -portWORD_SIZE + store_x t0, 0(a0) /* mstatus onto the stack. */ + addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */ + store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */ + addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */ + store_x x0, 0(a0) /* Return address onto the stack, could be portTASK_RETURN_ADDRESS */ + addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */ +chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */ + beq t0, x0, 1f /* No more chip specific registers to save. */ + addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */ + store_x x0, 0(a0) /* Give the chip specific register an initial value of zero. */ + addi t0, t0, -1 /* Decrement the count of chip specific registers remaining. */ + j chip_specific_stack_frame /* Until no more chip specific registers. */ +1: + addi a0, a0, -portWORD_SIZE + store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */ + ret + .endfunc +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/portmacro.h new file mode 100644 index 0000000..803c16c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/portmacro.h @@ -0,0 +1,186 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#if __riscv_xlen == 64 + #define portSTACK_TYPE uint64_t + #define portBASE_TYPE int64_t + #define portUBASE_TYPE uint64_t + #define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL + #define portPOINTER_SIZE_TYPE uint64_t +#elif __riscv_xlen == 32 + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE int32_t + #define portUBASE_TYPE uint32_t + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#else + #error Assembler did not define __riscv_xlen +#endif + + +typedef portSTACK_TYPE StackType_t; +typedef portBASE_TYPE BaseType_t; +typedef portUBASE_TYPE UBaseType_t; +typedef portUBASE_TYPE TickType_t; + +/* Legacy type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do +not need to be guarded with a critical section. */ +#define portTICK_TYPE_IS_ATOMIC 1 +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#ifdef __riscv64 + #error This is the RV32 port that has not yet been adapted for 64. + #define portBYTE_ALIGNMENT 16 +#else + #define portBYTE_ALIGNMENT 16 +#endif +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ +extern void vTaskSwitchContext( void ); +#define portYIELD() __asm volatile( "ecall" ); +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vTaskSwitchContext() +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ +#define portCRITICAL_NESTING_IN_TCB 1 +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); + +#define portSET_INTERRUPT_MASK_FROM_ISR() 0 +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue +#define portDISABLE_INTERRUPTS() __asm volatile( "csrc mstatus, 8" ) +#define portENABLE_INTERRUPTS() __asm volatile( "csrs mstatus, 8" ) +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - __builtin_clz( uxReadyPriorities ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not necessary for to use this port. They are defined so the common demo files +(which build with all the ports) will build. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/*-----------------------------------------------------------*/ + +#define portNOP() __asm volatile ( " nop " ) + +#define portINLINE __inline + +#ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__(( always_inline)) +#endif + +#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + + +/* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the +configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For +backward compatibility derive the newer definitions from the old if the old +definition is found. */ +#if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 ) + /* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate + there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP + addresses to 0. */ + #define configMTIME_BASE_ADDRESS ( 0 ) + #define configMTIMECMP_BASE_ADDRESS ( 0 ) +#elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) + /* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of + the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses + from the CLINT address. */ + #define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL ) + #define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL ) +#elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS ) + #error configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/readme.txt new file mode 100644 index 0000000..69d98d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RISC-V/readme.txt @@ -0,0 +1,23 @@ +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/isr_support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/isr_support.h new file mode 100644 index 0000000..37a8f3e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/isr_support.h @@ -0,0 +1,126 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Variables used by scheduler */ + .extern _pxCurrentTCB + .extern _usCriticalNesting + +/* + * portSAVE_CONTEXT MACRO + * Saves the context of the general purpose registers, CS and ES (only in far + * memory mode) registers the usCriticalNesting Value and the Stack Pointer + * of the active Task onto the task stack + */ + .macro portSAVE_CONTEXT + + SEL RB0 + + /* Save AX Register to stack. */ + PUSH AX + PUSH HL + /* Save CS register. */ + MOV A, CS + XCH A, X + /* Save ES register. */ + MOV A, ES + PUSH AX + /* Save the remaining general purpose registers from bank 0. */ + PUSH DE + PUSH BC + /* Save the other register banks - only necessary in the GCC port. */ + SEL RB1 + PUSH AX + PUSH BC + PUSH DE + PUSH HL + SEL RB2 + PUSH AX + PUSH BC + PUSH DE + PUSH HL + /* Registers in bank 3 are for ISR use only so don't need saving. */ + SEL RB0 + /* Save the usCriticalNesting value. */ + MOVW AX, !_usCriticalNesting + PUSH AX + /* Save the Stack pointer. */ + MOVW AX, !_pxCurrentTCB + MOVW HL, AX + MOVW AX, SP + MOVW [HL], AX + /* Switch stack pointers. */ + movw sp,#_stack /* Set stack pointer */ + + .endm + + +/* + * portRESTORE_CONTEXT MACRO + * Restores the task Stack Pointer then use this to restore usCriticalNesting, + * general purpose registers and the CS and ES (only in far memory mode) + * of the selected task from the task stack + */ +.macro portRESTORE_CONTEXT MACRO + SEL RB0 + /* Restore the Stack pointer. */ + MOVW AX, !_pxCurrentTCB + MOVW HL, AX + MOVW AX, [HL] + MOVW SP, AX + /* Restore usCriticalNesting value. */ + POP AX + MOVW !_usCriticalNesting, AX + /* Restore the alternative register banks - only necessary in the GCC + port. Register bank 3 is dedicated for interrupts use so is not saved or + restored. */ + SEL RB2 + POP HL + POP DE + POP BC + POP AX + SEL RB1 + POP HL + POP DE + POP BC + POP AX + SEL RB0 + /* Restore the necessary general purpose registers. */ + POP BC + POP DE + /* Restore the ES register. */ + POP AX + MOV ES, A + /* Restore the CS register. */ + XCH A, X + MOV CS, A + /* Restore general purpose register HL. */ + POP HL + /* Restore AX. */ + POP AX + + .endm + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/port.c new file mode 100644 index 0000000..6fc711c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/port.c @@ -0,0 +1,211 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* The critical nesting value is initialised to a non zero value to ensure +interrupts don't accidentally become enabled before the scheduler is started. */ +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) + +/* Initial PSW value allocated to a newly created task. + * 11000110 + * ||||||||-------------- Fill byte + * |||||||--------------- Carry Flag cleared + * |||||----------------- In-service priority Flags set to low level + * ||||------------------ Register bank Select 0 Flag cleared + * |||------------------- Auxiliary Carry Flag cleared + * ||-------------------- Register bank Select 1 Flag cleared + * |--------------------- Zero Flag set + * ---------------------- Global Interrupt Flag set (enabled) + */ +#define portPSW ( 0xc6UL ) + +/* Each task maintains a count of the critical section nesting depth. Each time +a critical section is entered the count is incremented. Each time a critical +section is exited the count is decremented - with interrupts only being +re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as that could cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; + +/*-----------------------------------------------------------*/ + +/* + * Sets up the periodic ISR used for the RTOS tick. + */ +__attribute__((weak)) void vApplicationSetupTimerInterrupt( void ); + +/* + * Starts the scheduler by loading the context of the first task to run. + * (defined in portasm.S). + */ +extern void vPortStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t *pulLocal; + + /* Stack type and pointers to the stack type are both 2 bytes. */ + + /* Parameters are passed in on the stack, and written using a 32bit value + hence a space is left for the second two bytes. */ + pxTopOfStack--; + + /* Write in the parameter value. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* The return address, leaving space for the first two bytes of the + 32-bit value. */ + pxTopOfStack--; + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( uint32_t ) 0; + pxTopOfStack--; + + /* The start address / PSW value is also written in as a 32bit value, + so leave a space for the second two bytes. */ + pxTopOfStack--; + + /* Task function start address combined with the PSW. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); + pxTopOfStack--; + + /* An initial value for the AX register. */ + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + + /* An initial value for the HL register. */ + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + + /* CS and ES registers. */ + *pxTopOfStack = ( StackType_t ) 0x0F00; + pxTopOfStack--; + + /* The remaining general purpose registers bank 0 (DE and BC) and the other + two register banks...register bank 3 is dedicated for use by interrupts so + is not saved as part of the task context. */ + pxTopOfStack -= 10; + + /* Finally the critical section nesting count is set to zero when the task + first starts. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack that has beene generated so it + can be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. */ + vApplicationSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + vPortStartFirstTask(); + + /* Execution should not reach here as the tasks are now running! */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the RL78 port will get stopped. */ +} +/*-----------------------------------------------------------*/ + +__attribute__((weak)) void vApplicationSetupTimerInterrupt( void ) +{ +const uint16_t usClockHz = 15000UL; /* Internal clock. */ +const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL; + + /* Use the internal 15K clock. */ + OSMC = ( unsigned char ) 0x16; + + #ifdef RTCEN + { + /* Supply the interval timer clock. */ + RTCEN = ( unsigned char ) 1U; + + /* Disable INTIT interrupt. */ + ITMK = ( unsigned char ) 1; + + /* Disable ITMC operation. */ + ITMC = ( unsigned char ) 0x0000; + + /* Clear INIT interrupt. */ + ITIF = ( unsigned char ) 0; + + /* Set interval and enable interrupt operation. */ + ITMC = usCompareMatch | 0x8000U; + + /* Enable INTIT interrupt. */ + ITMK = ( unsigned char ) 0; + } + #endif + + #ifdef TMKAEN + { + /* Supply the interval timer clock. */ + TMKAEN = ( unsigned char ) 1U; + + /* Disable INTIT interrupt. */ + TMKAMK = ( unsigned char ) 1; + + /* Disable ITMC operation. */ + ITMC = ( unsigned char ) 0x0000; + + /* Clear INIT interrupt. */ + TMKAIF = ( unsigned char ) 0; + + /* Set interval and enable interrupt operation. */ + ITMC = usCompareMatch | 0x8000U; + + /* Enable INTIT interrupt. */ + TMKAMK = ( unsigned char ) 0; + } + #endif +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/portasm.S new file mode 100644 index 0000000..3242f6f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/portasm.S @@ -0,0 +1,80 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" +#include "ISR_Support.h" + + .global _vPortYield + .global _vPortStartFirstTask + .global _vPortTickISR + + .extern _vTaskSwitchContext + .extern _xTaskIncrementTick + + .text + .align 2 + +/* FreeRTOS yield handler. This is installed as the BRK software interrupt +handler. */ +_vPortYield: + /* Save the context of the current task. */ + portSAVE_CONTEXT + /* Call the scheduler to select the next task. */ + call !!_vTaskSwitchContext + /* Restore the context of the next task to run. */ + portRESTORE_CONTEXT + retb + + +/* Starts the scheduler by restoring the context of the task that will execute +first. */ + .align 2 +_vPortStartFirstTask: + /* Restore the context of whichever task will execute first. */ + portRESTORE_CONTEXT + /* An interrupt stack frame is used so the task is started using RETI. */ + reti + +/* FreeRTOS tick handler. This is installed as the interval timer interrupt +handler. */ + .align 2 +_vPortTickISR: + + /* Save the context of the currently executing task. */ + portSAVE_CONTEXT + /* Call the RTOS tick function. */ + call !!_xTaskIncrementTick +#if configUSE_PREEMPTION == 1 + /* Select the next task to run. */ + call !!_vTaskSwitchContext +#endif + /* Retore the context of whichever task will run next. */ + portRESTORE_CONTEXT + reti + + .end + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/portmacro.h new file mode 100644 index 0000000..6d16f35 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RL78/portmacro.h @@ -0,0 +1,121 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() __asm volatile ( "DI" ) +#define portENABLE_INTERRUPTS() __asm volatile ( "EI" ) +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( unsigned short ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled ulCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portYIELD() __asm volatile ( "BRK" ) +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken ) vTaskSwitchContext() +#define portNOP() __asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Hardwware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/port.c new file mode 100644 index 0000000..d5199d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/port.c @@ -0,0 +1,700 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Standard C includes. */ +#include "limits.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) + +/* The peripheral clock is divided by this value before being supplying the +CMT. */ +#if ( configUSE_TICKLESS_IDLE == 0 ) + /* If tickless idle is not used then the divisor can be fixed. */ + #define portCLOCK_DIVISOR 8UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 12000000 ) + #define portCLOCK_DIVISOR 512UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 6000000 ) + #define portCLOCK_DIVISOR 128UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 1000000 ) + #define portCLOCK_DIVISOR 32UL +#else + #define portCLOCK_DIVISOR 8UL +#endif + +/* These macros allow a critical section to be added around the call to +xTaskIncrementTick(), which is only ever called from interrupts at the kernel +priority - ie a known priority. Therefore these local macros are a slight +optimisation compared to calling the global SET/CLEAR_INTERRUPT_MASK macros, +which would require the old IPL to be read first and stored in a local variable. */ +#define portDISABLE_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#define portENABLE_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configKERNEL_INTERRUPT_PRIORITY) ) + +/* Keys required to lock and unlock access to certain system registers +respectively. */ +#define portUNLOCK_KEY 0xA50B +#define portLOCK_KEY 0xA500 + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ) __attribute__((naked)); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vSoftwareInterruptISR, VECT( ICU, SWINT ) ) + R_BSP_ATTRIB_INTERRUPT void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vTickISR, _VECT( configTICK_VECTOR ) ) + R_BSP_ATTRIB_INTERRUPT void vTickISR( void ); /* Do not add __attribute__( ( interrupt ) ). */ + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vTickISR( void ) __attribute__( ( interrupt ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/* + * Sets up the periodic ISR used for the RTOS tick using the CMT. + * The application writer can define configSETUP_TICK_INTERRUPT() (in + * FreeRTOSConfig.h) such that their own tick interrupt configuration is used + * in place of prvSetupTimerInterrupt(). + */ +static void prvSetupTimerInterrupt( void ); +#ifndef configSETUP_TICK_INTERRUPT + /* The user has not provided their own tick interrupt configuration so use + the definition in this file (which uses the interval timer). */ + #define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt() +#endif /* configSETUP_TICK_INTERRUPT */ + +/* + * Called after the sleep mode registers have been configured, prvSleep() + * executes the pre and post sleep macros, and actually calls the wait + * instruction. + */ +#if configUSE_TICKLESS_IDLE == 1 + static void prvSleep( TickType_t xExpectedIdleTime ); +#endif /* configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +/* Used in the context save and restore code. */ +extern void *pxCurrentTCB; + +/* Calculate how many clock increments make up a single tick period. */ +static const uint32_t ulMatchValueForOneTick = ( ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) / configTICK_RATE_HZ ); + +#if configUSE_TICKLESS_IDLE == 1 + + /* Holds the maximum number of ticks that can be suppressed - which is + basically how far into the future an interrupt can be generated. Set + during initialisation. This is the maximum possible value that the + compare match register can hold divided by ulMatchValueForOneTick. */ + static const TickType_t xMaximumPossibleSuppressedTicks = USHRT_MAX / ( ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) / configTICK_RATE_HZ ); + + /* Flag set from the tick interrupt to allow the sleep processing to know if + sleep mode was exited because of a tick interrupt, or an interrupt + generated by something else. */ + static volatile uint32_t ulTickFlag = pdFALSE; + + /* The CMT counter is stopped temporarily each time it is re-programmed. + The following constant offsets the CMT counter match value by the number of + CMT counts that would typically be missed while the counter was stopped to + compensate for the lost time. The large difference between the divided CMT + clock and the CPU clock means it is likely ulStoppedTimerCompensation will + equal zero - and be optimised away. */ + static const uint32_t ulStoppedTimerCompensation = 100UL / ( configCPU_CLOCK_HZ / ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) ); + +#endif + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Offset to end up on 8 byte boundary. */ + pxTopOfStack--; + + /* R0 is not included as it is the stack pointer. */ + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xaaaabbbb; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + /* Leave space for the registers that will get popped from the stack + when the task first starts executing. */ + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate + the tick interrupt. This way the application can decide which + peripheral to use. If tickless mode is used then the default + implementation defined in this file (which uses CMT0) should not be + overridden. */ + configSETUP_TICK_INTERRUPT(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Execution should not reach here as the tasks are now running! + prvSetupTimerInterrupt() is called here to prevent the compiler outputting + a warning about a statically declared function not being referenced in the + case that the application writer has provided their own tick interrupt + configuration routine (and defined configSETUP_TICK_INTERRUPT() such that + their own routine will be called in place of prvSetupTimerInterrupt()). */ + prvSetupTimerInterrupt(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvStartFirstTask( void ) +{ + __asm volatile + ( + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + "SETPSW U \n" \ + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [R15], R15 \n" \ + "MOV.L [R15], R0 \n" \ + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15 \n" \ + + /* R1 to R15 - R0 is not included as it is the SP. */ + "POPM R1-R15 \n" \ + + /* This pops the remaining registers. */ + "RTE \n" \ + "NOP \n" \ + "NOP \n" + ); +} +/*-----------------------------------------------------------*/ + +void vPortSoftwareInterruptISR( void ) +{ + __asm volatile + ( + /* Re-enable interrupts. */ + "SETPSW I \n" \ + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + "PUSH.L R15 \n" \ + + /* Read the user stack pointer. */ + "MVFC USP, R15 \n" \ + + /* Move the address down to the data being moved. */ + "SUB #12, R15 \n" \ + "MVTC R15, USP \n" \ + + /* Copy the data across, R15, then PC, then PSW. */ + "MOV.L [ R0 ], [ R15 ] \n" \ + "MOV.L 4[ R0 ], 4[ R15 ] \n" \ + "MOV.L 8[ R0 ], 8[ R15 ] \n" \ + + /* Move the interrupt stack pointer to its new correct position. */ + "ADD #12, R0 \n" \ + + /* All the rest of the registers are saved directly to the user stack. */ + "SETPSW U \n" \ + + /* Save the rest of the general registers (R15 has been saved already). */ + "PUSHM R1-R14 \n" \ + + /* Save the accumulator. */ + "MVFACHI R15 \n" \ + "PUSH.L R15 \n" \ + + /* Middle word. */ + "MVFACMI R15 \n" \ + + /* Shifted left as it is restored to the low order word. */ + "SHLL #16, R15 \n" \ + "PUSH.L R15 \n" \ + + /* Save the stack pointer to the TCB. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L R0, [ R15 ] \n" \ + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + "MVTIPL %0 \n" \ + + /* Select the next task to run. */ + "BSR.A _vTaskSwitchContext \n" \ + + /* Reset the interrupt mask as no more data structure access is required. */ + "MVTIPL %1 \n" \ + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + "MOV.L #_pxCurrentTCB,R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L [ R15 ], R0 \n" \ + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + "POP R15 \n" \ + "MVTACLO R15 \n" \ + "POP R15 \n" \ + "MVTACHI R15 \n" \ + "POPM R1-R15 \n" \ + "RTE \n" \ + "NOP \n" \ + "NOP " + :: "i"(configMAX_SYSCALL_INTERRUPT_PRIORITY), "i"(configKERNEL_INTERRUPT_PRIORITY) + ); +} +/*-----------------------------------------------------------*/ + +void vPortTickISR( void ) +{ + /* Re-enabled interrupts. */ + __asm volatile( "SETPSW I" ); + + /* Increment the tick, and perform any processing the new tick value + necessitates. Ensure IPL is at the max syscall value first. */ + portDISABLE_INTERRUPTS_FROM_KERNEL_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + portENABLE_INTERRUPTS_FROM_KERNEL_ISR(); + + #if configUSE_TICKLESS_IDLE == 1 + { + /* The CPU woke because of a tick. */ + ulTickFlag = pdTRUE; + + /* If this is the first tick since exiting tickless mode then the CMT + compare match value needs resetting. */ + CMT0.CMCOR = ( uint16_t ) ulMatchValueForOneTick; + } + #endif +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortGetIPL( void ) +{ + __asm volatile + ( + "MVFC PSW, R1 \n" \ + "SHLR #24, R1 \n" \ + "RTS " + ); + + /* This will never get executed, but keeps the compiler from complaining. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortSetIPL( uint32_t ulNewIPL ) +{ + __asm volatile + ( + "PUSH R5 \n" \ + "MVFC PSW, R5 \n" \ + "SHLL #24, R1 \n" \ + "AND #-0F000001H, R5 \n" \ + "OR R1, R5 \n" \ + "MVTC R5, PSW \n" \ + "POP R5 \n" \ + "RTS " + ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Unlock. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Enable CMT0. */ + MSTP( CMT0 ) = 0; + + /* Lock again. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Interrupt on compare match. */ + CMT0.CMCR.BIT.CMIE = 1; + + /* Set the compare match value. */ + CMT0.CMCOR = ( uint16_t ) ulMatchValueForOneTick; + + /* Divide the PCLK. */ + #if portCLOCK_DIVISOR == 512 + { + CMT0.CMCR.BIT.CKS = 3; + } + #elif portCLOCK_DIVISOR == 128 + { + CMT0.CMCR.BIT.CKS = 2; + } + #elif portCLOCK_DIVISOR == 32 + { + CMT0.CMCR.BIT.CKS = 1; + } + #elif portCLOCK_DIVISOR == 8 + { + CMT0.CMCR.BIT.CKS = 0; + } + #else + { + #error Invalid portCLOCK_DIVISOR setting + } + #endif + + /* Enable the interrupt... */ + _IEN( _CMT0_CMI0 ) = 1; + + /* ...and set its priority to the application defined kernel priority. */ + _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the timer. */ + CMT.CMSTR0.BIT.STR0 = 1; +} +/*-----------------------------------------------------------*/ + +#if configUSE_TICKLESS_IDLE == 1 + + static void prvSleep( TickType_t xExpectedIdleTime ) + { + /* Allow the application to define some pre-sleep processing. */ + configPRE_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* xExpectedIdleTime being set to 0 by configPRE_SLEEP_PROCESSING() + means the application defined code has already executed the WAIT + instruction. */ + if( xExpectedIdleTime > 0 ) + { + __asm volatile( "WAIT" ); + } + + /* Allow the application to define some post sleep processing. */ + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if configUSE_TICKLESS_IDLE == 1 + + void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulMatchValue, ulCompleteTickPeriods, ulCurrentCount; + eSleepModeStatus eSleepAction; + + /* THIS FUNCTION IS CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* Make sure the CMT reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Calculate the reload value required to wait xExpectedIdleTime tick + periods. */ + ulMatchValue = ulMatchValueForOneTick * xExpectedIdleTime; + if( ulMatchValue > ulStoppedTimerCompensation ) + { + /* Compensate for the fact that the CMT is going to be stopped + momentarily. */ + ulMatchValue -= ulStoppedTimerCompensation; + } + + /* Stop the CMT momentarily. The time the CMT is stopped for is + accounted for as best it can be, but using the tickless mode will + inevitably result in some tiny drift of the time maintained by the + kernel with respect to calendar time. */ + CMT.CMSTR0.BIT.STR0 = 0; + while( CMT.CMSTR0.BIT.STR0 == 1 ) + { + /* Nothing to do here. */ + } + + /* Critical section using the global interrupt bit as the i bit is + automatically reset by the WAIT instruction. */ + __asm volatile( "CLRPSW i" ); + + /* The tick flag is set to false before sleeping. If it is true when + sleep mode is exited then sleep mode was probably exited because the + tick was suppressed for the entire xExpectedIdleTime period. */ + ulTickFlag = pdFALSE; + + /* If a context switch is pending then abandon the low power entry as + the context switch might have been pended by an external interrupt that + requires processing. */ + eSleepAction = eTaskConfirmSleepModeStatus(); + if( eSleepAction == eAbortSleep ) + { + /* Restart tick. */ + CMT.CMSTR0.BIT.STR0 = 1; + __asm volatile( "SETPSW i" ); + } + else if( eSleepAction == eNoTasksWaitingTimeout ) + { + /* Protection off. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Ready for software standby with all clocks stopped. */ + SYSTEM.SBYCR.BIT.SSBY = 1; + + /* Protection on. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Sleep until something happens. Calling prvSleep() will + automatically reset the i bit in the PSW. */ + prvSleep( xExpectedIdleTime ); + + /* Restart the CMT. */ + CMT.CMSTR0.BIT.STR0 = 1; + } + else + { + /* Protection off. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Ready for deep sleep mode. */ + SYSTEM.MSTPCRC.BIT.DSLPE = 1; + SYSTEM.MSTPCRA.BIT.MSTPA28 = 1; + SYSTEM.SBYCR.BIT.SSBY = 0; + + /* Protection on. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Adjust the match value to take into account that the current + time slice is already partially complete. */ + ulMatchValue -= ( uint32_t ) CMT0.CMCNT; + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + + /* Restart the CMT to count up to the new match value. */ + CMT0.CMCNT = 0; + CMT.CMSTR0.BIT.STR0 = 1; + + /* Sleep until something happens. Calling prvSleep() will + automatically reset the i bit in the PSW. */ + prvSleep( xExpectedIdleTime ); + + /* Stop CMT. Again, the time the SysTick is stopped for is + accounted for as best it can be, but using the tickless mode will + inevitably result in some tiny drift of the time maintained by the + kernel with respect to calendar time. */ + CMT.CMSTR0.BIT.STR0 = 0; + while( CMT.CMSTR0.BIT.STR0 == 1 ) + { + /* Nothing to do here. */ + } + + ulCurrentCount = ( uint32_t ) CMT0.CMCNT; + + if( ulTickFlag != pdFALSE ) + { + /* The tick interrupt has already executed, although because + this function is called with the scheduler suspended the actual + tick processing will not occur until after this function has + exited. Reset the match value with whatever remains of this + tick period. */ + ulMatchValue = ulMatchValueForOneTick - ulCurrentCount; + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + + /* The tick interrupt handler will already have pended the tick + processing in the kernel. As the pending tick will be + processed as soon as this function exits, the tick value + maintained by the tick is stepped forward by one less than the + time spent sleeping. The actual stepping of the tick appears + later in this function. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + How many complete tick periods passed while the processor was + sleeping? */ + ulCompleteTickPeriods = ulCurrentCount / ulMatchValueForOneTick; + + /* The match value is set to whatever fraction of a single tick + period remains. */ + ulMatchValue = ulCurrentCount - ( ulCompleteTickPeriods * ulMatchValueForOneTick ); + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + } + + /* Restart the CMT so it runs up to the match value. The match value + will get set to the value required to generate exactly one tick period + the next time the CMT interrupt executes. */ + CMT0.CMCNT = 0; + CMT.CMSTR0.BIT.STR0 = 1; + + /* Wind the tick forward by the number of tick periods that the CPU + remained in a low power state. */ + vTaskStepTick( ulCompleteTickPeriods ); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/portmacro.h new file mode 100644 index 0000000..bd85457 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/portmacro.h @@ -0,0 +1,149 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ +#ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 +#endif + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __asm volatile( "NOP" ) + +/* Save clobbered register, set ITU SWINR (at address 0x872E0), read the value +back to ensure it is set before continuing, then restore the clobbered +register. */ +#define portYIELD() \ + __asm volatile \ + ( \ + "MOV.L #0x872E0, r5 \n\t" \ + "MOV.B #1, [r5] \n\t" \ + "MOV.L [r5], r5 \n\t" \ + ::: "r5" \ + ) + +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) { portYIELD(); } + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __asm volatile ( "MVTIPL #0" ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( ulPortGetIPL() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( ulPortGetIPL() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#else + #define portDISABLE_INTERRUPTS() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +uint32_t ulPortGetIPL( void ) __attribute__((naked)); +void vPortSetIPL( uint32_t ulNewIPL ) __attribute__((naked)); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortGetIPL(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) vPortSetIPL( uxSavedInterruptStatus ) + +/* Tickless idle/low power functionality. */ +#if configUSE_TICKLESS_IDLE == 1 + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +#endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX100/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX200/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX200/port.c new file mode 100644 index 0000000..905a82b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX200/port.c @@ -0,0 +1,435 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/* These macros allow a critical section to be added around the call to +xTaskIncrementTick(), which is only ever called from interrupts at the kernel +priority - ie a known priority. Therefore these local macros are a slight +optimisation compared to calling the global SET/CLEAR_INTERRUPT_MASK macros, +which would require the old IPL to be read first and stored in a local variable. */ +#define portMASK_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#define portUNMASK_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configKERNEL_INTERRUPT_PRIORITY) ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ) __attribute__((naked)); + + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vSoftwareInterruptISR, VECT( ICU, SWINT ) ) + R_BSP_ATTRIB_INTERRUPT void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vTickISR, _VECT( configTICK_VECTOR ) ) + R_BSP_ATTRIB_INTERRUPT void vTickISR( void ); /* Do not add __attribute__( ( interrupt ) ). */ + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vTickISR( void ) __attribute__( ( interrupt ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +extern void *pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 1. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvStartFirstTask( void ) +{ + __asm volatile + ( + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + "SETPSW U \n" \ + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [R15], R15 \n" \ + "MOV.L [R15], R0 \n" \ + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n" \ + "POP R15 \n" \ + + /* Floating point status word. */ + "MVTC R15, FPSW \n" \ + + /* R1 to R15 - R0 is not included as it is the SP. */ + "POPM R1-R15 \n" \ + + /* This pops the remaining registers. */ + "RTE \n" \ + "NOP \n" \ + "NOP \n" + ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + __asm volatile + ( + /* Re-enable interrupts. */ + "SETPSW I \n" \ + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + "PUSH.L R15 \n" \ + + /* Read the user stack pointer. */ + "MVFC USP, R15 \n" \ + + /* Move the address down to the data being moved. */ + "SUB #12, R15 \n" \ + "MVTC R15, USP \n" \ + + /* Copy the data across, R15, then PC, then PSW. */ + "MOV.L [ R0 ], [ R15 ] \n" \ + "MOV.L 4[ R0 ], 4[ R15 ] \n" \ + "MOV.L 8[ R0 ], 8[ R15 ] \n" \ + + /* Move the interrupt stack pointer to its new correct position. */ + "ADD #12, R0 \n" \ + + /* All the rest of the registers are saved directly to the user stack. */ + "SETPSW U \n" \ + + /* Save the rest of the general registers (R15 has been saved already). */ + "PUSHM R1-R14 \n" \ + + /* Save the FPSW and accumulator. */ + "MVFC FPSW, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACGU #0, A1, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACHI #0, A1, R15 \n" \ + "PUSH.L R15 \n" \ + /* Low order word. */ + "MVFACLO #0, A1, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACGU #0, A0, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACHI #0, A0, R15 \n" \ + "PUSH.L R15 \n" \ + /* Low order word. */ + "MVFACLO #0, A0, R15 \n" \ + "PUSH.L R15 \n" \ + + /* Save the stack pointer to the TCB. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L R0, [ R15 ] \n" \ + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + "MVTIPL %0 \n" \ + + /* Select the next task to run. */ + "BSR.A _vTaskSwitchContext \n" \ + + /* Reset the interrupt mask as no more data structure access is required. */ + "MVTIPL %1 \n" \ + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + "MOV.L #_pxCurrentTCB,R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L [ R15 ], R0 \n" \ + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n" \ + "POP R15 \n" \ + "MVTC R15, FPSW \n" \ + "POPM R1-R15 \n" \ + "RTE \n" \ + "NOP \n" \ + "NOP " + :: "i"(configMAX_SYSCALL_INTERRUPT_PRIORITY), "i"(configKERNEL_INTERRUPT_PRIORITY) + ); +} +/*-----------------------------------------------------------*/ + +void vTickISR( void ) +{ + /* Re-enabled interrupts. */ + __asm volatile( "SETPSW I" ); + + /* Increment the tick, and perform any processing the new tick value + necessitates. Ensure IPL is at the max syscall value first. */ + portMASK_INTERRUPTS_FROM_KERNEL_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + portUNMASK_INTERRUPTS_FROM_KERNEL_ISR(); +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortGetIPL( void ) +{ + __asm volatile + ( + "MVFC PSW, R1 \n" \ + "SHLR #24, R1 \n" \ + "RTS " + ); + + /* This will never get executed, but keeps the compiler from complaining. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortSetIPL( uint32_t ulNewIPL ) +{ + __asm volatile + ( + "PUSH R5 \n" \ + "MVFC PSW, R5 \n" \ + "SHLL #24, R1 \n" \ + "AND #-0F000001H, R5 \n" \ + "OR R1, R5 \n" \ + "MVTC R5, PSW \n" \ + "POP R5 \n" \ + "RTS " + ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX200/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX200/portmacro.h new file mode 100644 index 0000000..03cf6cb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX200/portmacro.h @@ -0,0 +1,144 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ +#ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 +#endif + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __asm volatile( "NOP" ) + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" +where portITU_SWINTR is the location of the software interrupt register +(0x000872E0). Don't rely on the assembler to select a register, so instead +save and restore clobbered registers manually. */ +#define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n" \ + "MOV.L #0x872E0, R10 \n" \ + "MOV.B #0x1, [R10] \n" \ + "MOV.L [R10], R10 \n" \ + "POP R10 \n" \ + ) + +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __asm volatile ( "MVTIPL #0" ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( ulPortGetIPL() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( ulPortGetIPL() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#else + #define portDISABLE_INTERRUPTS() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +uint32_t ulPortGetIPL( void ) __attribute__((naked)); +void vPortSetIPL( uint32_t ulNewIPL ) __attribute__((naked)); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortGetIPL(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) vPortSetIPL( uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/port.c new file mode 100644 index 0000000..fe01a5a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/port.c @@ -0,0 +1,388 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/* These macros allow a critical section to be added around the call to +xTaskIncrementTick(), which is only ever called from interrupts at the kernel +priority - ie a known priority. Therefore these local macros are a slight +optimisation compared to calling the global SET/CLEAR_INTERRUPT_MASK macros, +which would require the old IPL to be read first and stored in a local variable. */ +#define portDISABLE_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#define portENABLE_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configKERNEL_INTERRUPT_PRIORITY) ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ) __attribute__((naked)); +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vSoftwareInterruptISR, VECT( ICU, SWINT ) ) + R_BSP_ATTRIB_INTERRUPT void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vTickISR, _VECT( configTICK_VECTOR ) ) + R_BSP_ATTRIB_INTERRUPT void vTickISR( void ); /* Do not add __attribute__( ( interrupt ) ). */ + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vTickISR( void ) __attribute__( ( interrupt ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +extern void *pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvStartFirstTask( void ) +{ + __asm volatile + ( + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + "SETPSW U \n" \ + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [R15], R15 \n" \ + "MOV.L [R15], R0 \n" \ + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15 \n" \ + "POP R15 \n" \ + + /* Floating point status word. */ + "MVTC R15, FPSW \n" \ + + /* R1 to R15 - R0 is not included as it is the SP. */ + "POPM R1-R15 \n" \ + + /* This pops the remaining registers. */ + "RTE \n" \ + "NOP \n" \ + "NOP \n" + ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + __asm volatile + ( + /* Re-enable interrupts. */ + "SETPSW I \n" \ + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + "PUSH.L R15 \n" \ + + /* Read the user stack pointer. */ + "MVFC USP, R15 \n" \ + + /* Move the address down to the data being moved. */ + "SUB #12, R15 \n" \ + "MVTC R15, USP \n" \ + + /* Copy the data across, R15, then PC, then PSW. */ + "MOV.L [ R0 ], [ R15 ] \n" \ + "MOV.L 4[ R0 ], 4[ R15 ] \n" \ + "MOV.L 8[ R0 ], 8[ R15 ] \n" \ + + /* Move the interrupt stack pointer to its new correct position. */ + "ADD #12, R0 \n" \ + + /* All the rest of the registers are saved directly to the user stack. */ + "SETPSW U \n" \ + + /* Save the rest of the general registers (R15 has been saved already). */ + "PUSHM R1-R14 \n" \ + + /* Save the FPSW and accumulator. */ + "MVFC FPSW, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACHI R15 \n" \ + "PUSH.L R15 \n" \ + + /* Middle word. */ + "MVFACMI R15 \n" \ + + /* Shifted left as it is restored to the low order word. */ + "SHLL #16, R15 \n" \ + "PUSH.L R15 \n" \ + + /* Save the stack pointer to the TCB. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L R0, [ R15 ] \n" \ + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + "MVTIPL %0 \n" \ + + /* Select the next task to run. */ + "BSR.A _vTaskSwitchContext \n" \ + + /* Reset the interrupt mask as no more data structure access is required. */ + "MVTIPL %1 \n" \ + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + "MOV.L #_pxCurrentTCB,R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L [ R15 ], R0 \n" \ + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + "POP R15 \n" \ + "MVTACLO R15 \n" \ + "POP R15 \n" \ + "MVTACHI R15 \n" \ + "POP R15 \n" \ + "MVTC R15, FPSW \n" \ + "POPM R1-R15 \n" \ + "RTE \n" \ + "NOP \n" \ + "NOP " + :: "i"(configMAX_SYSCALL_INTERRUPT_PRIORITY), "i"(configKERNEL_INTERRUPT_PRIORITY) + ); +} +/*-----------------------------------------------------------*/ + +void vTickISR( void ) +{ + /* Re-enabled interrupts. */ + __asm volatile( "SETPSW I" ); + + /* Increment the tick, and perform any processing the new tick value + necessitates. Ensure IPL is at the max syscall value first. */ + portDISABLE_INTERRUPTS_FROM_KERNEL_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + portENABLE_INTERRUPTS_FROM_KERNEL_ISR(); +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortGetIPL( void ) +{ + __asm volatile + ( + "MVFC PSW, R1 \n" \ + "SHLR #24, R1 \n" \ + "RTS " + ); + + /* This will never get executed, but keeps the compiler from complaining. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortSetIPL( uint32_t ulNewIPL ) +{ + /* Avoid compiler warning about unreferenced parameter. */ + ( void ) ulNewIPL; + + __asm volatile + ( + "PUSH R5 \n" \ + "MVFC PSW, R5 \n" \ + "SHLL #24, R1 \n" \ + "AND #-0F000001H, R5 \n" \ + "OR R1, R5 \n" \ + "MVTC R5, PSW \n" \ + "POP R5 \n" \ + "RTS " + ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/portmacro.h new file mode 100644 index 0000000..c21caed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/portmacro.h @@ -0,0 +1,144 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ +#ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 +#endif + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __asm volatile( "NOP" ) + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" +where portITU_SWINTR is the location of the software interrupt register +(0x000872E0). Don't rely on the assembler to select a register, so instead +save and restore clobbered registers manually. */ +#define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n" \ + "MOV.L #0x872E0, R10 \n" \ + "MOV.B #0x1, [R10] \n" \ + "MOV.L [R10], R10 \n" \ + "POP R10 \n" \ + ) + +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __asm volatile ( "MVTIPL #0" ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( ulPortGetIPL() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( ulPortGetIPL() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#else + #define portDISABLE_INTERRUPTS() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +uint32_t ulPortGetIPL( void ) __attribute__((naked)); +void vPortSetIPL( uint32_t ulNewIPL ) __attribute__((naked)); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortGetIPL(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) vPortSetIPL( uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/port.c new file mode 100644 index 0000000..d7bb4ed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/port.c @@ -0,0 +1,432 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/* These macros allow a critical section to be added around the call to +xTaskIncrementTick(), which is only ever called from interrupts at the kernel +priority - ie a known priority. Therefore these local macros are a slight +optimisation compared to calling the global SET/CLEAR_INTERRUPT_MASK macros, +which would require the old IPL to be read first and stored in a local variable. */ +#define portMASK_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#define portUNMASK_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i"(configKERNEL_INTERRUPT_PRIORITY) ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ) __attribute__((naked)); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) +R_BSP_PRAGMA_INTERRUPT( vSoftwareInterruptISR, VECT( ICU, SWINT ) ) +R_BSP_ATTRIB_INTERRUPT void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ +void vSoftwareInterruptISR( void ) __attribute__((naked)); +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vTickISR, _VECT( configTICK_VECTOR ) ) + R_BSP_ATTRIB_INTERRUPT void vTickISR( void ); /* Do not add __attribute__( ( interrupt ) ). */ + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vTickISR( void ) __attribute__( ( interrupt ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ +/*-----------------------------------------------------------*/ + +extern void *pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 1. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvStartFirstTask( void ) +{ + __asm volatile + ( + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + "SETPSW U \n" \ + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [R15], R15 \n" \ + "MOV.L [R15], R0 \n" \ + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n" \ + "POP R15 \n" \ + + /* Floating point status word. */ + "MVTC R15, FPSW \n" \ + + /* R1 to R15 - R0 is not included as it is the SP. */ + "POPM R1-R15 \n" \ + + /* This pops the remaining registers. */ + "RTE \n" \ + "NOP \n" \ + "NOP \n" + ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + __asm volatile + ( + /* Re-enable interrupts. */ + "SETPSW I \n" \ + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + "PUSH.L R15 \n" \ + + /* Read the user stack pointer. */ + "MVFC USP, R15 \n" \ + + /* Move the address down to the data being moved. */ + "SUB #12, R15 \n" \ + "MVTC R15, USP \n" \ + + /* Copy the data across, R15, then PC, then PSW. */ + "MOV.L [ R0 ], [ R15 ] \n" \ + "MOV.L 4[ R0 ], 4[ R15 ] \n" \ + "MOV.L 8[ R0 ], 8[ R15 ] \n" \ + + /* Move the interrupt stack pointer to its new correct position. */ + "ADD #12, R0 \n" \ + + /* All the rest of the registers are saved directly to the user stack. */ + "SETPSW U \n" \ + + /* Save the rest of the general registers (R15 has been saved already). */ + "PUSHM R1-R14 \n" \ + + /* Save the FPSW and accumulator. */ + "MVFC FPSW, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACGU #0, A1, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACHI #0, A1, R15 \n" \ + "PUSH.L R15 \n" \ + /* Low order word. */ + "MVFACLO #0, A1, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACGU #0, A0, R15 \n" \ + "PUSH.L R15 \n" \ + "MVFACHI #0, A0, R15 \n" \ + "PUSH.L R15 \n" \ + /* Low order word. */ + "MVFACLO #0, A0, R15 \n" \ + "PUSH.L R15 \n" \ + + /* Save the stack pointer to the TCB. */ + "MOV.L #_pxCurrentTCB, R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L R0, [ R15 ] \n" \ + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + "MVTIPL %0 \n" \ + + /* Select the next task to run. */ + "BSR.A _vTaskSwitchContext \n" \ + + /* Reset the interrupt mask as no more data structure access is required. */ + "MVTIPL %1 \n" \ + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + "MOV.L #_pxCurrentTCB,R15 \n" \ + "MOV.L [ R15 ], R15 \n" \ + "MOV.L [ R15 ], R0 \n" \ + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n" \ + "POP R15 \n" \ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n" \ + "POP R15 \n" \ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n" \ + "POP R15 \n" \ + "MVTC R15, FPSW \n" \ + "POPM R1-R15 \n" \ + "RTE \n" \ + "NOP \n" \ + "NOP " + :: "i"(configMAX_SYSCALL_INTERRUPT_PRIORITY), "i"(configKERNEL_INTERRUPT_PRIORITY) + ); +} +/*-----------------------------------------------------------*/ + +void vTickISR( void ) +{ + /* Re-enabled interrupts. */ + __asm volatile( "SETPSW I" ); + + /* Increment the tick, and perform any processing the new tick value + necessitates. Ensure IPL is at the max syscall value first. */ + portMASK_INTERRUPTS_FROM_KERNEL_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + portUNMASK_INTERRUPTS_FROM_KERNEL_ISR(); +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortGetIPL( void ) +{ + __asm volatile + ( + "MVFC PSW, R1 \n" \ + "SHLR #24, R1 \n" \ + "RTS " + ); + + /* This will never get executed, but keeps the compiler from complaining. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortSetIPL( uint32_t ulNewIPL ) +{ + /* Avoid compiler warning about unreferenced parameter. */ + ( void ) ulNewIPL; + + __asm volatile + ( + "PUSH R5 \n" \ + "MVFC PSW, R5 \n" \ + "SHLL #24, R1 \n" \ + "AND #-0F000001H, R5 \n" \ + "OR R1, R5 \n" \ + "MVTC R5, PSW \n" \ + "POP R5 \n" \ + "RTS " + ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/portmacro.h new file mode 100644 index 0000000..c21caed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/portmacro.h @@ -0,0 +1,144 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ +#ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 +#endif + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __asm volatile( "NOP" ) + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" +where portITU_SWINTR is the location of the software interrupt register +(0x000872E0). Don't rely on the assembler to select a register, so instead +save and restore clobbered registers manually. */ +#define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n" \ + "MOV.L #0x872E0, R10 \n" \ + "MOV.B #0x1, [R10] \n" \ + "MOV.L [R10], R10 \n" \ + "POP R10 \n" \ + ) + +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __asm volatile ( "MVTIPL #0" ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( ulPortGetIPL() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( ulPortGetIPL() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#else + #define portDISABLE_INTERRUPTS() __asm volatile ( "MVTIPL %0" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +uint32_t ulPortGetIPL( void ) __attribute__((naked)); +void vPortSetIPL( uint32_t ulNewIPL ) __attribute__((naked)); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortGetIPL(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) vPortSetIPL( uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX600v2/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/port.c new file mode 100644 index 0000000..1a77b58 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/port.c @@ -0,0 +1,621 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the RXv3 DPFPU port. +*----------------------------------------------------------*/ + +#warning Testing for DFPU support in this port is not yet complete + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore + * PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) +#define portINITIAL_DPSW ( ( StackType_t ) 0x00000100 ) +#define portINITIAL_DCMR ( ( StackType_t ) 0x00000000 ) +#define portINITIAL_DECNT ( ( StackType_t ) 0x00000001 ) + +/* Tasks are not created with a DPFPU context, but can be given a DPFPU context + * after they have been created. A variable is stored as part of the tasks context + * that holds portNO_DPFPU_CONTEXT if the task does not have a DPFPU context, or + * any other value if the task does have a DPFPU context. */ +#define portNO_DPFPU_CONTEXT ( ( StackType_t ) 0 ) +#define portHAS_DPFPU_CONTEXT ( ( StackType_t ) 1 ) + +/* The space on the stack required to hold the DPFPU data registers. This is 16 + * 64-bit registers. */ +#define portDPFPU_DATA_REGISTER_WORDS ( 16 * 2 ) + +/* These macros allow a critical section to be added around the call to + * xTaskIncrementTick(), which is only ever called from interrupts at the kernel + * priority - ie a known priority. Therefore these local macros are a slight + * optimisation compared to calling the global SET/CLEAR_INTERRUPT_MASK macros, + * which would require the old IPL to be read first and stored in a local variable. */ +#define portMASK_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) +#define portUNMASK_INTERRUPTS_FROM_KERNEL_ISR() __asm volatile ( "MVTIPL %0" ::"i" ( configKERNEL_INTERRUPT_PRIORITY ) ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ) __attribute__( ( naked ) ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vSoftwareInterruptISR, VECT( ICU, SWINT ) ) + R_BSP_ATTRIB_INTERRUPT void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vSoftwareInterruptISR( void ) __attribute__( ( naked ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + R_BSP_PRAGMA_INTERRUPT( vTickISR, _VECT( configTICK_VECTOR ) ) + R_BSP_ATTRIB_INTERRUPT void vTickISR( void ); /* Do not add __attribute__( ( interrupt ) ). */ + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + void vTickISR( void ) __attribute__( ( interrupt ) ); + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +/* Saved as part of the task context. If ulPortTaskHasDPFPUContext is non-zero + * then a DPFPU context must be saved and restored for the task. */ +#if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + StackType_t ulPortTaskHasDPFPUContext = portNO_DPFPU_CONTEXT; + +#endif /* configUSE_TASK_DPFPU_SUPPORT */ + +/* This is accessed by the inline assembler functions so is file scope for + * convenience. */ +extern void * pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + * value. Otherwise code space can be saved by just setting the registers + * that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ + { + pxTopOfStack -= 15; + } + #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 0. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + { + /* The task will start without a DPFPU context. A task that + * uses the DPFPU hardware must call vPortTaskUsesDPFPU() before + * executing any floating point instructions. */ + pxTopOfStack--; + *pxTopOfStack = portNO_DPFPU_CONTEXT; + } + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + { + /* The task will start with a DPFPU context. Leave enough + * space for the registers - and ensure they are initialised if desired. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1515.1515; /* DR15. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1414.1414; /* DR14. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1313.1313; /* DR13. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1212.1212; /* DR12. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1111.1111; /* DR11. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1010.1010; /* DR10. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 909.0909; /* DR9. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 808.0808; /* DR8. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 707.0707; /* DR7. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 606.0606; /* DR6. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 505.0505; /* DR5. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 404.0404; /* DR4. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 303.0303; /* DR3. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 202.0202; /* DR2. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 101.0101; /* DR1. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 9876.54321;/* DR0. */ + } + #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ + { + pxTopOfStack -= portDPFPU_DATA_REGISTER_WORDS; + memset( pxTopOfStack, 0x00, portDPFPU_DATA_REGISTER_WORDS * sizeof( StackType_t ) ); + } + #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DECNT; /* DECNT. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DCMR; /* DCMR. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DPSW; /* DPSW. */ + } + #elif ( configUSE_TASK_DPFPU_SUPPORT == 0 ) + { + /* Omit DPFPU support. */ + } + #else /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + { + #error Invalid configUSE_TASK_DPFPU_SUPPORT setting - configUSE_TASK_DPFPU_SUPPORT must be set to 0, 1, 2, or left undefined. + } + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + void vPortTaskUsesDPFPU( void ) + { + /* A task is registering the fact that it needs a DPFPU context. Set the + * DPFPU flag (which is saved as part of the task context). */ + ulPortTaskHasDPFPUContext = portHAS_DPFPU_CONTEXT; + } + +#endif /* configUSE_TASK_DPFPU_SUPPORT */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + * tick interrupt. This way the application can decide which peripheral to + * use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvStartFirstTask( void ) +{ + __asm volatile + ( + + /* When starting the scheduler there is nothing that needs moving to the + * interrupt stack because the function is not called from an interrupt. + * Just ensure the current stack is the user stack. */ + "SETPSW U \n"\ + + + /* Obtain the location of the stack associated with which ever task + * pxCurrentTCB is currently pointing to. */ + "MOV.L #_pxCurrentTCB, R15 \n"\ + "MOV.L [R15], R15 \n"\ + "MOV.L [R15], R0 \n"\ + + + /* Restore the registers from the stack of the task pointed to by + * pxCurrentTCB. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* The restored ulPortTaskHasDPFPUContext is to be zero here. + * So, it is never necessary to restore the DPFPU context here. */ + "POP R15 \n"\ + "MOV.L #_ulPortTaskHasDPFPUContext, R14 \n"\ + "MOV.L R15, [R14] \n"\ + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Restore the DPFPU context. */ + "DPOPM.L DPSW-DECNT \n"\ + "DPOPM.D DR0-DR15 \n"\ + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n"\ + "POP R15 \n"\ + + /* Floating point status word. */ + "MVTC R15, FPSW \n"\ + + /* R1 to R15 - R0 is not included as it is the SP. */ + "POPM R1-R15 \n"\ + + /* This pops the remaining registers. */ + "RTE \n"\ + "NOP \n"\ + "NOP \n" + ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + __asm volatile + ( + /* Re-enable interrupts. */ + "SETPSW I \n"\ + + + /* Move the data that was automatically pushed onto the interrupt stack when + * the interrupt occurred from the interrupt stack to the user stack. + * + * R15 is saved before it is clobbered. */ + "PUSH.L R15 \n"\ + + /* Read the user stack pointer. */ + "MVFC USP, R15 \n"\ + + /* Move the address down to the data being moved. */ + "SUB #12, R15 \n"\ + "MVTC R15, USP \n"\ + + /* Copy the data across, R15, then PC, then PSW. */ + "MOV.L [ R0 ], [ R15 ] \n"\ + "MOV.L 4[ R0 ], 4[ R15 ] \n"\ + "MOV.L 8[ R0 ], 8[ R15 ] \n"\ + + /* Move the interrupt stack pointer to its new correct position. */ + "ADD #12, R0 \n"\ + + /* All the rest of the registers are saved directly to the user stack. */ + "SETPSW U \n"\ + + /* Save the rest of the general registers (R15 has been saved already). */ + "PUSHM R1-R14 \n"\ + + /* Save the FPSW and accumulators. */ + "MVFC FPSW, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACGU #0, A1, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACHI #0, A1, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACLO #0, A1, R15 \n" /* Low order word. */ \ + "PUSH.L R15 \n"\ + "MVFACGU #0, A0, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACHI #0, A0, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACLO #0, A0, R15 \n" /* Low order word. */ \ + "PUSH.L R15 \n"\ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* Does the task have a DPFPU context that needs saving? If + * ulPortTaskHasDPFPUContext is 0 then no. */ + "MOV.L #_ulPortTaskHasDPFPUContext, R15 \n"\ + "MOV.L [R15], R15 \n"\ + "CMP #0, R15 \n"\ + + /* Save the DPFPU context, if any. */ + "BEQ.B ?+ \n"\ + "DPUSHM.D DR0-DR15 \n"\ + "DPUSHM.L DPSW-DECNT \n"\ + "?: \n"\ + + /* Save ulPortTaskHasDPFPUContext itself. */ + "PUSH.L R15 \n"\ + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Save the DPFPU context, always. */ + "DPUSHM.D DR0-DR15 \n"\ + "DPUSHM.L DPSW-DECNT \n"\ + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + + /* Save the stack pointer to the TCB. */ + "MOV.L #_pxCurrentTCB, R15 \n"\ + "MOV.L [ R15 ], R15 \n"\ + "MOV.L R0, [ R15 ] \n"\ + + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + * structures are being accessed. */ + "MVTIPL %0 \n"\ + + /* Select the next task to run. */ + "BSR.A _vTaskSwitchContext \n"\ + + /* Reset the interrupt mask as no more data structure access is required. */ + "MVTIPL %1 \n"\ + + + /* Load the stack pointer of the task that is now selected as the Running + * state task from its TCB. */ + "MOV.L #_pxCurrentTCB,R15 \n"\ + "MOV.L [ R15 ], R15 \n"\ + "MOV.L [ R15 ], R0 \n"\ + + + /* Restore the context of the new task. The PSW (Program Status Word) and + * PC will be popped by the RTE instruction. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* Is there a DPFPU context to restore? If the restored + * ulPortTaskHasDPFPUContext is zero then no. */ + "POP R15 \n"\ + "MOV.L #_ulPortTaskHasDPFPUContext, R14 \n"\ + "MOV.L R15, [R14] \n"\ + "CMP #0, R15 \n"\ + + /* Restore the DPFPU context, if any. */ + "BEQ.B ?+ \n"\ + "DPOPM.L DPSW-DECNT \n"\ + "DPOPM.D DR0-DR15 \n"\ + "?: \n"\ + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Restore the DPFPU context, always. */ + "DPOPM.L DPSW-DECNT \n"\ + "DPOPM.D DR0-DR15 \n"\ + + #endif /* if( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n"\ + "POP R15 \n"\ + "MVTC R15, FPSW \n"\ + "POPM R1-R15 \n"\ + "RTE \n"\ + "NOP \n"\ + "NOP " + ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ), "i" ( configKERNEL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +void vTickISR( void ) +{ + /* Re-enabled interrupts. */ + __asm volatile ( "SETPSW I"); + + /* Increment the tick, and perform any processing the new tick value + * necessitates. Ensure IPL is at the max syscall value first. */ + portMASK_INTERRUPTS_FROM_KERNEL_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + portUNMASK_INTERRUPTS_FROM_KERNEL_ISR(); +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortGetIPL( void ) +{ + __asm volatile + ( + "MVFC PSW, R1 \n"\ + "SHLR #24, R1 \n"\ + "RTS " + ); + + /* This will never get executed, but keeps the compiler from complaining. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortSetIPL( uint32_t ulNewIPL ) +{ + /* Avoid compiler warning about unreferenced parameter. */ + ( void ) ulNewIPL; + + __asm volatile + ( + "PUSH R5 \n"\ + "MVFC PSW, R5 \n"\ + "SHLL #24, R1 \n"\ + "AND #-0F000001H, R5 \n"\ + "OR R1, R5 \n"\ + "MVTC R5, PSW \n"\ + "POP R5 \n"\ + "RTS " + ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/portmacro.h new file mode 100644 index 0000000..c8191ea --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/portmacro.h @@ -0,0 +1,186 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ + #ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 + #endif + +/* If configUSE_TASK_DPFPU_SUPPORT is set to 1 (or undefined) then each task will + * be created without a DPFPU context, and a task must call vTaskUsesDPFPU() before + * making use of any DPFPU registers. If configUSE_TASK_DPFPU_SUPPORT is set to 2 then + * tasks are created with a DPFPU context by default, and calling vTaskUsesDPFPU() has + * no effect. If configUSE_TASK_DPFPU_SUPPORT is set to 0 then tasks never take care + * of any DPFPU context (even if DPFPU registers are used). */ + #ifndef configUSE_TASK_DPFPU_SUPPORT + #define configUSE_TASK_DPFPU_SUPPORT 1 + #endif + +/*-----------------------------------------------------------*/ + +/* Type definitions - these are a bit legacy and not really used now, other than + * portSTACK_TYPE and portBASE_TYPE. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ + #define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ + #define portSTACK_GROWTH -1 + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portNOP() __asm volatile ( "NOP" ) + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" + * where portITU_SWINTR is the location of the software interrupt register + * (0x000872E0). Don't rely on the assembler to select a register, so instead + * save and restore clobbered registers manually. */ + #define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n"\ + "MOV.L #0x872E0, R10 \n"\ + "MOV.B #0x1, [R10] \n"\ + "CMP [R10].UB, R10 \n"\ + "POP R10 \n"\ + :::"cc" \ + ) + + #define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) portYIELD() + +/* Workaround to reduce errors/warnings caused by e2 studio CDT's INDEXER and CODAN. */ + #ifdef __CDT_PARSER__ + #ifndef __asm + #define __asm asm + #endif + #ifndef __attribute__ + #define __attribute__( ... ) + #endif + #endif + +/* These macros should not be called directly, but through the + * taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is + * performed if configASSERT() is defined to ensure an assertion handler does not + * inadvertently attempt to lower the IPL when the call to assert was triggered + * because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY + * when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API + * functions are those that end in FromISR. FreeRTOS maintains a separate + * interrupt API to ensure API function and interrupt entry is as fast and as + * simple as possible. */ + #define portENABLE_INTERRUPTS() __asm volatile ( "MVTIPL #0") + #ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( ulPortGetIPL() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( ulPortGetIPL() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __asm volatile ( "MVTIPL %0"::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #else + #define portDISABLE_INTERRUPTS() __asm volatile ( "MVTIPL %0"::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #endif + +/* Critical nesting counts are stored in the TCB. */ + #define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ + extern void vTaskEnterCritical( void ); + extern void vTaskExitCritical( void ); + #define portENTER_CRITICAL() vTaskEnterCritical() + #define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ + uint32_t ulPortGetIPL( void ) __attribute__( ( naked ) ); + void vPortSetIPL( uint32_t ulNewIPL ) __attribute__( ( naked ) ); + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortGetIPL(); portDISABLE_INTERRUPTS() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) vPortSetIPL( uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/*-----------------------------------------------------------*/ + +/* If configUSE_TASK_DPFPU_SUPPORT is set to 1 (or left undefined) then tasks are + * created without a DPFPU context and must call vPortTaskUsesDPFPU() to give + * themselves a DPFPU context before using any DPFPU instructions. If + * configUSE_TASK_DPFPU_SUPPORT is set to 2 then all tasks will have a DPFPU context + * by default. */ + #if( configUSE_TASK_DPFPU_SUPPORT == 1 ) + void vPortTaskUsesDPFPU( void ); + #else +/* Each task has a DPFPU context already, so define this function away to + * nothing to prevent it being called accidentally. */ + #define vPortTaskUsesDPFPU() + #endif + #define portTASK_USES_DPFPU() vPortTaskUsesDPFPU() + +/* Definition to allow compatibility with existing FreeRTOS Demo using flop.c. */ + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesDPFPU() + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/RX700v3_DPFPU/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/port.c new file mode 100644 index 0000000..0594172 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/port.c @@ -0,0 +1,197 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ST STR75x ARM7 + * port. + *----------------------------------------------------------*/ + +/* Library includes. */ +#include "75x_tb.h" +#include "75x_eic.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the initial stack. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* Prescale used on the timer clock when calculating the tick period. */ +#define portPRESCALE 20 + + +/*-----------------------------------------------------------*/ + +/* Setup the TB to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + #ifdef THUMB_INTERWORK + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + #endif + + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortISRStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortISRStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +EIC_IRQInitTypeDef EIC_IRQInitStructure; +TB_InitTypeDef TB_InitStructure; + + /* Setup the EIC for the TB. */ + EIC_IRQInitStructure.EIC_IRQChannelCmd = ENABLE; + EIC_IRQInitStructure.EIC_IRQChannel = TB_IRQChannel; + EIC_IRQInitStructure.EIC_IRQChannelPriority = 1; + EIC_IRQInit(&EIC_IRQInitStructure); + + /* Setup the TB for the generation of the tick interrupt. */ + TB_InitStructure.TB_Mode = TB_Mode_Timing; + TB_InitStructure.TB_CounterMode = TB_CounterMode_Down; + TB_InitStructure.TB_Prescaler = portPRESCALE - 1; + TB_InitStructure.TB_AutoReload = ( ( configCPU_CLOCK_HZ / portPRESCALE ) / configTICK_RATE_HZ ); + TB_Init(&TB_InitStructure); + + /* Enable TB Update interrupt */ + TB_ITConfig(TB_IT_Update, ENABLE); + + /* Clear TB Update interrupt pending bit */ + TB_ClearITPendingBit(TB_IT_Update); + + /* Enable TB */ + TB_Cmd(ENABLE); +} +/*-----------------------------------------------------------*/ + + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/portISR.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/portISR.c new file mode 100644 index 0000000..f2a6f02 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/portISR.c @@ -0,0 +1,182 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Components that can be compiled to either ARM or THUMB mode are + * contained in port.c The ISR routines, which can only be compiled + * to ARM mode, are contained in this file. + *----------------------------------------------------------*/ + +/* +*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +volatile uint32_t ulCriticalNesting = 9999UL; + +/*-----------------------------------------------------------*/ + +/* + * The scheduler can only be started from ARM mode, hence the inclusion of this + * function here. + */ +void vPortISRStartFirstTask( void ); +/*-----------------------------------------------------------*/ + +void vPortISRStartFirstTask( void ) +{ + /* Simply start the scheduler. This is included here as it can only be + called from ARM mode. */ + asm volatile ( \ + "LDR R0, =pxCurrentTCB \n\t" \ + "LDR R0, [R0] \n\t" \ + "LDR LR, [R0] \n\t" \ + \ + /* The critical nesting depth is the first item on the stack. */ \ + /* Load it into the ulCriticalNesting variable. */ \ + "LDR R0, =ulCriticalNesting \n\t" \ + "LDMFD LR!, {R1} \n\t" \ + "STR R1, [R0] \n\t" \ + \ + /* Get the SPSR from the stack. */ \ + "LDMFD LR!, {R0} \n\t" \ + "MSR SPSR, R0 \n\t" \ + \ + /* Restore all system mode registers for the task. */ \ + "LDMFD LR, {R0-R14}^ \n\t" \ + "NOP \n\t" \ + \ + /* Restore the return address. */ \ + "LDR LR, [LR, #+60] \n\t" \ + \ + /* And return - correcting the offset in the LR to obtain the */ \ + /* correct address. */ \ + "SUBS PC, LR, #4 \n\t" \ + ); +} +/*-----------------------------------------------------------*/ + +void vPortTickISR( void ) +{ + /* Increment the RTOS tick count, then look for the highest priority + task that is ready to run. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Ready for the next interrupt. */ + TB_ClearITPendingBit( TB_IT_Update ); +} + +/*-----------------------------------------------------------*/ + +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions here to + * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then + * the utilities are defined as macros in portmacro.h - as per other ports. + */ +#ifdef THUMB_INTERWORK + + void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + void vPortDisableInterruptsFromThumb( void ) + { + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + + void vPortEnableInterruptsFromThumb( void ) + { + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0} \n\t" /* Pop R0. */ + "BX R14" ); /* Return back to thumb. */ + } + +#endif /* THUMB_INTERWORK */ +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable interrupts as per portEXIT_CRITICAL(). */ + asm volatile ( + "STMDB SP!, {R0} \n\t" /* Push R0. */ + "MRS R0, CPSR \n\t" /* Get CPSR. */ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ + "LDMIA SP!, {R0}" ); /* Pop R0. */ + } + } +} + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/portmacro.h new file mode 100644 index 0000000..825620f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/STR75x/portmacro.h @@ -0,0 +1,141 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm volatile ( "SWI 0" ) +#define portNOP() asm volatile ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +/* + * The interrupt management utilities can only be called from ARM mode. When + * THUMB_INTERWORK is defined the utilities are defined as functions in + * portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not + * defined then the utilities are defined as macros here - as per other ports. + */ + +#ifdef THUMB_INTERWORK + + extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); + extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); + + #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() + #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() + +#else + + #define portDISABLE_INTERRUPTS() \ + asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + + #define portENABLE_INTERRUPTS() \ + asm volatile ( \ + "STMDB SP!, {R0} \n\t" /* Push R0. */ \ + "MRS R0, CPSR \n\t" /* Get CPSR. */ \ + "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ + "MSR CPSR, R0 \n\t" /* Write back modified value. */ \ + "LDMIA SP!, {R0} " ) /* Pop R0. */ + +#endif /* THUMB_INTERWORK */ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/port.c new file mode 100644 index 0000000..3d8c32d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/port.c @@ -0,0 +1,541 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include +#include + +/* TriCore specific includes. */ +#include +#include +#include +#include + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "list.h" + +#if configCHECK_FOR_STACK_OVERFLOW > 0 + #error "Stack checking cannot be used with this port, as, unlike most ports, the pxTopOfStack member of the TCB is consumed CSA. CSA starvation, loosely equivalent to stack overflow, will result in a trap exception." + /* The stack pointer is accessible using portCSA_TO_ADDRESS( portCSA_TO_ADDRESS( pxCurrentTCB->pxTopOfStack )[ 0 ] )[ 2 ]; */ +#endif /* configCHECK_FOR_STACK_OVERFLOW */ + + +/*-----------------------------------------------------------*/ + +/* System register Definitions. */ +#define portSYSTEM_PROGRAM_STATUS_WORD ( 0x000008FFUL ) /* Supervisor Mode, MPU Register Set 0 and Call Depth Counting disabled. */ +#define portINITIAL_PRIVILEGED_PROGRAM_STATUS_WORD ( 0x000014FFUL ) /* IO Level 1, MPU Register Set 1 and Call Depth Counting disabled. */ +#define portINITIAL_UNPRIVILEGED_PROGRAM_STATUS_WORD ( 0x000010FFUL ) /* IO Level 0, MPU Register Set 1 and Call Depth Counting disabled. */ +#define portINITIAL_PCXI_UPPER_CONTEXT_WORD ( 0x00C00000UL ) /* The lower 20 bits identify the CSA address. */ +#define portINITIAL_SYSCON ( 0x00000000UL ) /* MPU Disable. */ + +/* CSA manipulation macros. */ +#define portCSA_FCX_MASK ( 0x000FFFFFUL ) + +/* OS Interrupt and Trap mechanisms. */ +#define portRESTORE_PSW_MASK ( ~( 0x000000FFUL ) ) +#define portSYSCALL_TRAP ( 6 ) + +/* Each CSA contains 16 words of data. */ +#define portNUM_WORDS_IN_CSA ( 16 ) + +/* The interrupt enable bit in the PCP_SRC register. */ +#define portENABLE_CPU_INTERRUPT ( 1U << 12U ) +/*-----------------------------------------------------------*/ + +/* + * Perform any hardware configuration necessary to generate the tick interrupt. + */ +static void prvSystemTickHandler( int ) __attribute__((longcall)); +static void prvSetupTimerInterrupt( void ); + +/* + * Trap handler for yields. + */ +static void prvTrapYield( int iTrapIdentification ); + +/* + * Priority 1 interrupt handler for yields pended from an interrupt. + */ +static void prvInterruptYield( int iTrapIdentification ); + +/*-----------------------------------------------------------*/ + +/* This reference is required by the save/restore context macros. */ +extern volatile uint32_t *pxCurrentTCB; + +/* Precalculate the compare match value at compile time. */ +static const uint32_t ulCompareMatchValue = ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ); + +/*-----------------------------------------------------------*/ + +StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t *pulUpperCSA = NULL; +uint32_t *pulLowerCSA = NULL; + + /* 16 Address Registers (4 Address registers are global), 16 Data + Registers, and 3 System Registers. + + There are 3 registers that track the CSAs. + FCX points to the head of globally free set of CSAs. + PCX for the task needs to point to Lower->Upper->NULL arrangement. + LCX points to the last free CSA so that corrective action can be taken. + + Need two CSAs to store the context of a task. + The upper context contains D8-D15, A10-A15, PSW and PCXI->NULL. + The lower context contains D0-D7, A2-A7, A11 and PCXI->UpperContext. + The pxCurrentTCB->pxTopOfStack points to the Lower Context RSLCX matching the initial BISR. + The Lower Context points to the Upper Context ready for the return from the interrupt handler. + + The Real stack pointer for the task is stored in the A10 which is restored + with the upper context. */ + + /* Have to disable interrupts here because the CSAs are going to be + manipulated. */ + portENTER_CRITICAL(); + { + /* DSync to ensure that buffering is not a problem. */ + _dsync(); + + /* Consume two free CSAs. */ + pulLowerCSA = portCSA_TO_ADDRESS( __MFCR( $FCX ) ); + if( NULL != pulLowerCSA ) + { + /* The Lower Links to the Upper. */ + pulUpperCSA = portCSA_TO_ADDRESS( pulLowerCSA[ 0 ] ); + } + + /* Check that we have successfully reserved two CSAs. */ + if( ( NULL != pulLowerCSA ) && ( NULL != pulUpperCSA ) ) + { + /* Remove the two consumed CSAs from the free CSA list. */ + _disable(); + _dsync(); + _mtcr( $FCX, pulUpperCSA[ 0 ] ); + _isync(); + _enable(); + } + else + { + /* Simply trigger a context list depletion trap. */ + _svlcx(); + } + } + portEXIT_CRITICAL(); + + /* Clear the upper CSA. */ + memset( pulUpperCSA, 0, portNUM_WORDS_IN_CSA * sizeof( uint32_t ) ); + + /* Upper Context. */ + pulUpperCSA[ 2 ] = ( uint32_t )pxTopOfStack; /* A10; Stack Return aka Stack Pointer */ + pulUpperCSA[ 1 ] = portSYSTEM_PROGRAM_STATUS_WORD; /* PSW */ + + /* Clear the lower CSA. */ + memset( pulLowerCSA, 0, portNUM_WORDS_IN_CSA * sizeof( uint32_t ) ); + + /* Lower Context. */ + pulLowerCSA[ 8 ] = ( uint32_t ) pvParameters; /* A4; Address Type Parameter Register */ + pulLowerCSA[ 1 ] = ( uint32_t ) pxCode; /* A11; Return Address aka RA */ + + /* PCXI pointing to the Upper context. */ + pulLowerCSA[ 0 ] = ( portINITIAL_PCXI_UPPER_CONTEXT_WORD | ( uint32_t ) portADDRESS_TO_CSA( pulUpperCSA ) ); + + /* Save the link to the CSA in the top of stack. */ + pxTopOfStack = (uint32_t * ) portADDRESS_TO_CSA( pulLowerCSA ); + + /* DSync to ensure that buffering is not a problem. */ + _dsync(); + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +int32_t xPortStartScheduler( void ) +{ +extern void vTrapInstallHandlers( void ); +uint32_t ulMFCR = 0UL; +uint32_t *pulUpperCSA = NULL; +uint32_t *pulLowerCSA = NULL; + + /* Interrupts at or below configMAX_SYSCALL_INTERRUPT_PRIORITY are disable + when this function is called. */ + + /* Set-up the timer interrupt. */ + prvSetupTimerInterrupt(); + + /* Install the Trap Handlers. */ + vTrapInstallHandlers(); + + /* Install the Syscall Handler for yield calls. */ + if( 0 == _install_trap_handler( portSYSCALL_TRAP, prvTrapYield ) ) + { + /* Failed to install the yield handler, force an assert. */ + configASSERT( ( ( volatile void * ) NULL ) ); + } + + /* Enable then install the priority 1 interrupt for pending context + switches from an ISR. See mod_SRC in the TriCore manual. */ + CPU_SRC0.reg = ( portENABLE_CPU_INTERRUPT ) | ( configKERNEL_YIELD_PRIORITY ); + if( 0 == _install_int_handler( configKERNEL_YIELD_PRIORITY, prvInterruptYield, 0 ) ) + { + /* Failed to install the yield handler, force an assert. */ + configASSERT( ( ( volatile void * ) NULL ) ); + } + + _disable(); + + /* Load the initial SYSCON. */ + _mtcr( $SYSCON, portINITIAL_SYSCON ); + _isync(); + + /* ENDINIT has already been applied in the 'cstart.c' code. */ + + /* Clear the PSW.CDC to enable the use of an RFE without it generating an + exception because this code is not genuinely in an exception. */ + ulMFCR = __MFCR( $PSW ); + ulMFCR &= portRESTORE_PSW_MASK; + _dsync(); + _mtcr( $PSW, ulMFCR ); + _isync(); + + /* Finally, perform the equivalent of a portRESTORE_CONTEXT() */ + pulLowerCSA = portCSA_TO_ADDRESS( ( *pxCurrentTCB ) ); + pulUpperCSA = portCSA_TO_ADDRESS( pulLowerCSA[0] ); + _dsync(); + _mtcr( $PCXI, *pxCurrentTCB ); + _isync(); + _nop(); + _rslcx(); + _nop(); + + /* Return to the first task selected to execute. */ + __asm volatile( "rfe" ); + + /* Will not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Set-up the clock divider. */ + unlock_wdtcon(); + { + /* Wait until access to Endint protected register is enabled. */ + while( 0 != ( WDT_CON0.reg & 0x1UL ) ); + + /* RMC == 1 so STM Clock == FPI */ + STM_CLC.reg = ( 1UL << 8 ); + } + lock_wdtcon(); + + /* Determine how many bits are used without changing other bits in the CMCON register. */ + STM_CMCON.reg &= ~( 0x1fUL ); + STM_CMCON.reg |= ( 0x1fUL - __CLZ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) ); + + /* Take into account the current time so a tick doesn't happen immediately. */ + STM_CMP0.reg = ulCompareMatchValue + STM_TIM0.reg; + + if( 0 != _install_int_handler( configKERNEL_INTERRUPT_PRIORITY, prvSystemTickHandler, 0 ) ) + { + /* Set-up the interrupt. */ + STM_SRC0.reg = ( configKERNEL_INTERRUPT_PRIORITY | 0x00005000UL ); + + /* Enable the Interrupt. */ + STM_ISRR.reg &= ~( 0x03UL ); + STM_ISRR.reg |= 0x1UL; + STM_ISRR.reg &= ~( 0x07UL ); + STM_ICR.reg |= 0x1UL; + } + else + { + /* Failed to install the Tick Interrupt. */ + configASSERT( ( ( volatile void * ) NULL ) ); + } +} +/*-----------------------------------------------------------*/ + +static void prvSystemTickHandler( int iArg ) +{ +uint32_t ulSavedInterruptMask; +uint32_t *pxUpperCSA = NULL; +uint32_t xUpperCSA = 0UL; +extern volatile uint32_t *pxCurrentTCB; +int32_t lYieldRequired; + + /* Just to avoid compiler warnings about unused parameters. */ + ( void ) iArg; + + /* Clear the interrupt source. */ + STM_ISRR.reg = 1UL; + + /* Reload the Compare Match register for X ticks into the future. + + If critical section or interrupt nesting budgets are exceeded, then + it is possible that the calculated next compare match value is in the + past. If this occurs (unlikely), it is possible that the resulting + time slippage will exceed a single tick period. Any adverse effect of + this is time bounded by the fact that only the first n bits of the 56 bit + STM timer are being used for a compare match, so another compare match + will occur after an overflow in just those n bits (not the entire 56 bits). + As an example, if the peripheral clock is 75MHz, and the tick rate is 1KHz, + a missed tick could result in the next tick interrupt occurring within a + time that is 1.7 times the desired period. The fact that this is greater + than a single tick period is an effect of using a timer that cannot be + automatically reset, in hardware, by the occurrence of a tick interrupt. + Changing the tick source to a timer that has an automatic reset on compare + match (such as a GPTA timer) will reduce the maximum possible additional + period to exactly 1 times the desired period. */ + STM_CMP0.reg += ulCompareMatchValue; + + /* Kernel API calls require Critical Sections. */ + ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the Tick. */ + lYieldRequired = xTaskIncrementTick(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); + + if( lYieldRequired != pdFALSE ) + { + /* Save the context of a task. + The upper context is automatically saved when entering a trap or interrupt. + Need to save the lower context as well and copy the PCXI CSA ID into + pxCurrentTCB->pxTopOfStack. Only Lower Context CSA IDs may be saved to the + TCB of a task. + + Call vTaskSwitchContext to select the next task, note that this changes the + value of pxCurrentTCB so that it needs to be reloaded. + + Call vPortSetMPURegisterSetOne to change the MPU mapping for the task + that has just been switched in. + + Load the context of the task. + Need to restore the lower context by loading the CSA from + pxCurrentTCB->pxTopOfStack into PCXI (effectively changing the call stack). + In the Interrupt handler post-amble, RSLCX will restore the lower context + of the task. RFE will restore the upper context of the task, jump to the + return address and restore the previous state of interrupts being + enabled/disabled. */ + _disable(); + _dsync(); + xUpperCSA = __MFCR( $PCXI ); + pxUpperCSA = portCSA_TO_ADDRESS( xUpperCSA ); + *pxCurrentTCB = pxUpperCSA[ 0 ]; + vTaskSwitchContext(); + pxUpperCSA[ 0 ] = *pxCurrentTCB; + CPU_SRC0.bits.SETR = 0; + _isync(); + } +} +/*-----------------------------------------------------------*/ + +/* + * When a task is deleted, it is yielded permanently until the IDLE task + * has an opportunity to reclaim the memory that that task was using. + * Typically, the memory used by a task is the TCB and Stack but in the + * TriCore this includes the CSAs that were consumed as part of the Call + * Stack. These CSAs can only be returned to the Globally Free Pool when + * they are not part of the current Call Stack, hence, delaying the + * reclamation until the IDLE task is freeing the task's other resources. + * This function uses the head of the linked list of CSAs (from when the + * task yielded for the last time) and finds the tail (the very bottom of + * the call stack) and inserts this list at the head of the Free list, + * attaching the existing Free List to the tail of the reclaimed call stack. + * + * NOTE: the IDLE task needs processing time to complete this function + * and in heavily loaded systems, the Free CSAs may be consumed faster + * than they can be freed assuming that tasks are being spawned and + * deleted frequently. + */ +void vPortReclaimCSA( uint32_t *pxTCB ) +{ +uint32_t pxHeadCSA, pxTailCSA, pxFreeCSA; +uint32_t *pulNextCSA; + + /* A pointer to the first CSA in the list of CSAs consumed by the task is + stored in the first element of the tasks TCB structure (where the stack + pointer would be on a traditional stack based architecture). */ + pxHeadCSA = ( *pxTCB ) & portCSA_FCX_MASK; + + /* Mask off everything in the CSA link field other than the address. If + the address is NULL, then the CSA is not linking anywhere and there is + nothing to do. */ + pxTailCSA = pxHeadCSA; + + /* Convert the link value to contain just a raw address and store this + in a local variable. */ + pulNextCSA = portCSA_TO_ADDRESS( pxTailCSA ); + + /* Iterate over the CSAs that were consumed as part of the task. The + first field in the CSA is the pointer to then next CSA. Mask off + everything in the pointer to the next CSA, other than the link address. + If this is NULL, then the CSA currently being pointed to is the last in + the chain. */ + while( 0UL != ( pulNextCSA[ 0 ] & portCSA_FCX_MASK ) ) + { + /* Clear all bits of the pointer to the next in the chain, other + than the address bits themselves. */ + pulNextCSA[ 0 ] = pulNextCSA[ 0 ] & portCSA_FCX_MASK; + + /* Move the pointer to point to the next CSA in the list. */ + pxTailCSA = pulNextCSA[ 0 ]; + + /* Update the local pointer to the CSA. */ + pulNextCSA = portCSA_TO_ADDRESS( pxTailCSA ); + } + + _disable(); + { + /* Look up the current free CSA head. */ + _dsync(); + pxFreeCSA = __MFCR( $FCX ); + + /* Join the current Free onto the Tail of what is being reclaimed. */ + portCSA_TO_ADDRESS( pxTailCSA )[ 0 ] = pxFreeCSA; + + /* Move the head of the reclaimed into the Free. */ + _dsync(); + _mtcr( $FCX, pxHeadCSA ); + _isync(); + } + _enable(); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Nothing to do. Unlikely to want to end. */ +} +/*-----------------------------------------------------------*/ + +static void prvTrapYield( int iTrapIdentification ) +{ +uint32_t *pxUpperCSA = NULL; +uint32_t xUpperCSA = 0UL; +extern volatile uint32_t *pxCurrentTCB; + + switch( iTrapIdentification ) + { + case portSYSCALL_TASK_YIELD: + /* Save the context of a task. + The upper context is automatically saved when entering a trap or interrupt. + Need to save the lower context as well and copy the PCXI CSA ID into + pxCurrentTCB->pxTopOfStack. Only Lower Context CSA IDs may be saved to the + TCB of a task. + + Call vTaskSwitchContext to select the next task, note that this changes the + value of pxCurrentTCB so that it needs to be reloaded. + + Call vPortSetMPURegisterSetOne to change the MPU mapping for the task + that has just been switched in. + + Load the context of the task. + Need to restore the lower context by loading the CSA from + pxCurrentTCB->pxTopOfStack into PCXI (effectively changing the call stack). + In the Interrupt handler post-amble, RSLCX will restore the lower context + of the task. RFE will restore the upper context of the task, jump to the + return address and restore the previous state of interrupts being + enabled/disabled. */ + _disable(); + _dsync(); + xUpperCSA = __MFCR( $PCXI ); + pxUpperCSA = portCSA_TO_ADDRESS( xUpperCSA ); + *pxCurrentTCB = pxUpperCSA[ 0 ]; + vTaskSwitchContext(); + pxUpperCSA[ 0 ] = *pxCurrentTCB; + CPU_SRC0.bits.SETR = 0; + _isync(); + break; + + default: + /* Unimplemented trap called. */ + configASSERT( ( ( volatile void * ) NULL ) ); + break; + } +} +/*-----------------------------------------------------------*/ + +static void prvInterruptYield( int iId ) +{ +uint32_t *pxUpperCSA = NULL; +uint32_t xUpperCSA = 0UL; +extern volatile uint32_t *pxCurrentTCB; + + /* Just to remove compiler warnings. */ + ( void ) iId; + + /* Save the context of a task. + The upper context is automatically saved when entering a trap or interrupt. + Need to save the lower context as well and copy the PCXI CSA ID into + pxCurrentTCB->pxTopOfStack. Only Lower Context CSA IDs may be saved to the + TCB of a task. + + Call vTaskSwitchContext to select the next task, note that this changes the + value of pxCurrentTCB so that it needs to be reloaded. + + Call vPortSetMPURegisterSetOne to change the MPU mapping for the task + that has just been switched in. + + Load the context of the task. + Need to restore the lower context by loading the CSA from + pxCurrentTCB->pxTopOfStack into PCXI (effectively changing the call stack). + In the Interrupt handler post-amble, RSLCX will restore the lower context + of the task. RFE will restore the upper context of the task, jump to the + return address and restore the previous state of interrupts being + enabled/disabled. */ + _disable(); + _dsync(); + xUpperCSA = __MFCR( $PCXI ); + pxUpperCSA = portCSA_TO_ADDRESS( xUpperCSA ); + *pxCurrentTCB = pxUpperCSA[ 0 ]; + vTaskSwitchContext(); + pxUpperCSA[ 0 ] = *pxCurrentTCB; + CPU_SRC0.bits.SETR = 0; + _isync(); +} +/*-----------------------------------------------------------*/ + +uint32_t uxPortSetInterruptMaskFromISR( void ) +{ +uint32_t uxReturn = 0UL; + + _disable(); + uxReturn = __MFCR( $ICR ); + _mtcr( $ICR, ( ( uxReturn & ~portCCPN_MASK ) | configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); + _isync(); + _enable(); + + /* Return just the interrupt mask bits. */ + return ( uxReturn & portCCPN_MASK ); +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/portmacro.h new file mode 100644 index 0000000..521d788 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/portmacro.h @@ -0,0 +1,173 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* System Includes. */ +#include +#include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*---------------------------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() __asm volatile( " nop " ) +#define portCRITICAL_NESTING_IN_TCB 1 +#define portRESTORE_FIRST_TASK_PRIORITY_LEVEL 1 + + +/*---------------------------------------------------------------------------*/ + +typedef struct MPU_SETTINGS { uint32_t ulNotUsed; } xMPU_SETTINGS; + +/* Define away the instruction from the Restore Context Macro. */ +#define portPRIVILEGE_BIT 0x0UL + +#define portCCPN_MASK ( 0x000000FFUL ) + +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() +/*---------------------------------------------------------------------------*/ + +/* CSA Manipulation. */ +#define portCSA_TO_ADDRESS( pCSA ) ( ( uint32_t * )( ( ( ( pCSA ) & 0x000F0000 ) << 12 ) | ( ( ( pCSA ) & 0x0000FFFF ) << 6 ) ) ) +#define portADDRESS_TO_CSA( pAddress ) ( ( uint32_t )( ( ( ( (uint32_t)( pAddress ) ) & 0xF0000000 ) >> 12 ) | ( ( ( uint32_t )( pAddress ) & 0x003FFFC0 ) >> 6 ) ) ) +/*---------------------------------------------------------------------------*/ + +#define portYIELD() _syscall( 0 ) +/* Port Restore is implicit in the platform when the function is returned from the original PSW is automatically replaced. */ +#define portSYSCALL_TASK_YIELD 0 +#define portSYSCALL_RAISE_PRIORITY 1 +/*---------------------------------------------------------------------------*/ + +/* Critical section management. */ + +/* Set ICR.CCPN to configMAX_SYSCALL_INTERRUPT_PRIORITY. */ +#define portDISABLE_INTERRUPTS() { \ + uint32_t ulICR; \ + _disable(); \ + ulICR = __MFCR( $ICR ); /* Get current ICR value. */ \ + ulICR &= ~portCCPN_MASK; /* Clear down mask bits. */ \ + ulICR |= configMAX_SYSCALL_INTERRUPT_PRIORITY; /* Set mask bits to required priority mask. */ \ + _mtcr( $ICR, ulICR ); /* Write back updated ICR. */ \ + _isync(); \ + _enable(); \ + } + +/* Clear ICR.CCPN to allow all interrupt priorities. */ +#define portENABLE_INTERRUPTS() { \ + uint32_t ulICR; \ + _disable(); \ + ulICR = __MFCR( $ICR ); /* Get current ICR value. */ \ + ulICR &= ~portCCPN_MASK; /* Clear down mask bits. */ \ + _mtcr( $ICR, ulICR ); /* Write back updated ICR. */ \ + _isync(); \ + _enable(); \ + } + +/* Set ICR.CCPN to uxSavedMaskValue. */ +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedMaskValue ) { \ + uint32_t ulICR; \ + _disable(); \ + ulICR = __MFCR( $ICR ); /* Get current ICR value. */ \ + ulICR &= ~portCCPN_MASK; /* Clear down mask bits. */ \ + ulICR |= uxSavedMaskValue; /* Set mask bits to previously saved mask value. */ \ + _mtcr( $ICR, ulICR ); /* Write back updated ICR. */ \ + _isync(); \ + _enable(); \ + } + + +/* Set ICR.CCPN to configMAX_SYSCALL_INTERRUPT_PRIORITY */ +extern uint32_t uxPortSetInterruptMaskFromISR( void ); +#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR() + +/* Pend a priority 1 interrupt, which will take care of the context switch. */ +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken != pdFALSE ) { CPU_SRC0.bits.SETR = 1; _isync(); } + +/*---------------------------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*---------------------------------------------------------------------------*/ + +/* + * Port specific clean up macro required to free the CSAs that were consumed by + * a task that has since been deleted. + */ +void vPortReclaimCSA( uint32_t *pxTCB ); +#define portCLEAN_UP_TCB( pxTCB ) vPortReclaimCSA( ( uint32_t * ) ( pxTCB ) ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/porttrap.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/porttrap.c new file mode 100644 index 0000000..a53e95f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/GCC/TriCore_1782/porttrap.c @@ -0,0 +1,281 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Kernel includes. */ +#include "FreeRTOS.h" + +/* Machine includes */ +#include +#include +#include +/*---------------------------------------------------------------------------*/ + +/* + * This reference is required by the Save/Restore Context Macros. + */ +extern volatile uint32_t *pxCurrentTCB; +/*-----------------------------------------------------------*/ + +/* + * This file contains base definitions for all of the possible traps in the system. + * It is suggested to provide implementations for all of the traps but for + * the time being they simply trigger a DEBUG instruction so that it is easy + * to see what caused a particular trap. + * + * Trap Class 6, the SYSCALL, is used exclusively by the operating system. + */ + +/* The Trap Classes. */ +#define portMMU_TRAP 0 +#define portIPT_TRAP 1 +#define portIE_TRAP 2 +#define portCM_TRAP 3 +#define portSBP_TRAP 4 +#define portASSERT_TRAP 5 +#define portNMI_TRAP 7 + +/* MMU Trap Identifications. */ +#define portTIN_MMU_VIRTUAL_ADDRESS_FILL 0 +#define portTIN_MMU_VIRTUAL_ADDRESS_PROTECTION 1 + +/* Internal Protection Trap Identifications. */ +#define portTIN_IPT_PRIVILIGED_INSTRUCTION 1 +#define portTIN_IPT_MEMORY_PROTECTION_READ 2 +#define portTIN_IPT_MEMORY_PROTECTION_WRITE 3 +#define portTIN_IPT_MEMORY_PROTECTION_EXECUTION 4 +#define portTIN_IPT_MEMORY_PROTECTION_PERIPHERAL_ACCESS 5 +#define portTIN_IPT_MEMORY_PROTECTION_NULL_ADDRESS 6 +#define portTIN_IPT_MEMORY_PROTECTION_GLOBAL_REGISTER_WRITE_PROTECTION 7 + +/* Instruction Error Trap Identifications. */ +#define portTIN_IE_ILLEGAL_OPCODE 1 +#define portTIN_IE_UNIMPLEMENTED_OPCODE 2 +#define portTIN_IE_INVALID_OPERAND 3 +#define portTIN_IE_DATA_ADDRESS_ALIGNMENT 4 +#define portTIN_IE_INVALID_LOCAL_MEMORY_ADDRESS 5 + +/* Context Management Trap Identifications. */ +#define portTIN_CM_FREE_CONTEXT_LIST_DEPLETION 1 +#define portTIN_CM_CALL_DEPTH_OVERFLOW 2 +#define portTIN_CM_CALL_DEPTH_UNDEFLOW 3 +#define portTIN_CM_FREE_CONTEXT_LIST_UNDERFLOW 4 +#define portTIN_CM_CALL_STACK_UNDERFLOW 5 +#define portTIN_CM_CONTEXT_TYPE 6 +#define portTIN_CM_NESTING_ERROR 7 + +/* System Bus and Peripherals Trap Identifications. */ +#define portTIN_SBP_PROGRAM_FETCH_SYNCHRONOUS_ERROR 1 +#define portTIN_SBP_DATA_ACCESS_SYNCHRONOUS_ERROR 2 +#define portTIN_SBP_DATA_ACCESS_ASYNCHRONOUS_ERROR 3 +#define portTIN_SBP_COPROCESSOR_TRAP_ASYNCHRONOUS_ERROR 4 +#define portTIN_SBP_PROGRAM_MEMORY_INTEGRITY_ERROR 5 +#define portTIN_SBP_DATA_MEMORY_INTEGRITY_ERROR 6 + +/* Assertion Trap Identifications. */ +#define portTIN_ASSERT_ARITHMETIC_OVERFLOW 1 +#define portTIN_ASSERT_STICKY_ARITHMETIC_OVERFLOW 2 + +/* Non-maskable Interrupt Trap Identifications. */ +#define portTIN_NMI_NON_MASKABLE_INTERRUPT 0 +/*---------------------------------------------------------------------------*/ + +void vMMUTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +void vInternalProtectionTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +void vInstructionErrorTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +void vContextManagementTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +void vSystemBusAndPeripheralsTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +void vAssertionTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +void vNonMaskableInterruptTrap( int iTrapIdentification ) __attribute__( ( longcall, weak ) ); +/*---------------------------------------------------------------------------*/ + +void vTrapInstallHandlers( void ) +{ + if( 0 == _install_trap_handler ( portMMU_TRAP, vMMUTrap ) ) + { + _debug(); + } + + if( 0 == _install_trap_handler ( portIPT_TRAP, vInternalProtectionTrap ) ) + { + _debug(); + } + + if( 0 == _install_trap_handler ( portIE_TRAP, vInstructionErrorTrap ) ) + { + _debug(); + } + + if( 0 == _install_trap_handler ( portCM_TRAP, vContextManagementTrap ) ) + { + _debug(); + } + + if( 0 == _install_trap_handler ( portSBP_TRAP, vSystemBusAndPeripheralsTrap ) ) + { + _debug(); + } + + if( 0 == _install_trap_handler ( portASSERT_TRAP, vAssertionTrap ) ) + { + _debug(); + } + + if( 0 == _install_trap_handler ( portNMI_TRAP, vNonMaskableInterruptTrap ) ) + { + _debug(); + } +} +/*-----------------------------------------------------------*/ + +void vMMUTrap( int iTrapIdentification ) +{ + switch( iTrapIdentification ) + { + case portTIN_MMU_VIRTUAL_ADDRESS_FILL: + case portTIN_MMU_VIRTUAL_ADDRESS_PROTECTION: + default: + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ + +void vInternalProtectionTrap( int iTrapIdentification ) +{ + /* Deliberate fall through to default. */ + switch( iTrapIdentification ) + { + case portTIN_IPT_PRIVILIGED_INSTRUCTION: + /* Instruction is not allowed at current execution level, eg DISABLE at User-0. */ + + case portTIN_IPT_MEMORY_PROTECTION_READ: + /* Load word using invalid address. */ + + case portTIN_IPT_MEMORY_PROTECTION_WRITE: + /* Store Word using invalid address. */ + + case portTIN_IPT_MEMORY_PROTECTION_EXECUTION: + /* PC jumped to an address outside of the valid range. */ + + case portTIN_IPT_MEMORY_PROTECTION_PERIPHERAL_ACCESS: + /* Access to a peripheral denied at current execution level. */ + + case portTIN_IPT_MEMORY_PROTECTION_NULL_ADDRESS: + /* NULL Pointer. */ + + case portTIN_IPT_MEMORY_PROTECTION_GLOBAL_REGISTER_WRITE_PROTECTION: + /* Tried to modify a global address pointer register. */ + + default: + + pxCurrentTCB[ 0 ] = __MFCR( $PCXI ); + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ + +void vInstructionErrorTrap( int iTrapIdentification ) +{ + /* Deliberate fall through to default. */ + switch( iTrapIdentification ) + { + case portTIN_IE_ILLEGAL_OPCODE: + case portTIN_IE_UNIMPLEMENTED_OPCODE: + case portTIN_IE_INVALID_OPERAND: + case portTIN_IE_DATA_ADDRESS_ALIGNMENT: + case portTIN_IE_INVALID_LOCAL_MEMORY_ADDRESS: + default: + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ + +void vContextManagementTrap( int iTrapIdentification ) +{ + /* Deliberate fall through to default. */ + switch( iTrapIdentification ) + { + case portTIN_CM_FREE_CONTEXT_LIST_DEPLETION: + case portTIN_CM_CALL_DEPTH_OVERFLOW: + case portTIN_CM_CALL_DEPTH_UNDEFLOW: + case portTIN_CM_FREE_CONTEXT_LIST_UNDERFLOW: + case portTIN_CM_CALL_STACK_UNDERFLOW: + case portTIN_CM_CONTEXT_TYPE: + case portTIN_CM_NESTING_ERROR: + default: + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ + +void vSystemBusAndPeripheralsTrap( int iTrapIdentification ) +{ + /* Deliberate fall through to default. */ + switch( iTrapIdentification ) + { + case portTIN_SBP_PROGRAM_FETCH_SYNCHRONOUS_ERROR: + case portTIN_SBP_DATA_ACCESS_SYNCHRONOUS_ERROR: + case portTIN_SBP_DATA_ACCESS_ASYNCHRONOUS_ERROR: + case portTIN_SBP_COPROCESSOR_TRAP_ASYNCHRONOUS_ERROR: + case portTIN_SBP_PROGRAM_MEMORY_INTEGRITY_ERROR: + case portTIN_SBP_DATA_MEMORY_INTEGRITY_ERROR: + default: + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ + +void vAssertionTrap( int iTrapIdentification ) +{ + /* Deliberate fall through to default. */ + switch( iTrapIdentification ) + { + case portTIN_ASSERT_ARITHMETIC_OVERFLOW: + case portTIN_ASSERT_STICKY_ARITHMETIC_OVERFLOW: + default: + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ + +void vNonMaskableInterruptTrap( int iTrapIdentification ) +{ + /* Deliberate fall through to default. */ + switch( iTrapIdentification ) + { + case portTIN_NMI_NON_MASKABLE_INTERRUPT: + default: + _debug(); + break; + } +} +/*---------------------------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/ISR_Support.h new file mode 100644 index 0000000..9e39621 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/ISR_Support.h @@ -0,0 +1,82 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +#include "FreeRTOSConfig.h" + +; Variables used by scheduler +;------------------------------------------------------------------------------ + EXTERN pxCurrentTCB + EXTERN usCriticalNesting + +;------------------------------------------------------------------------------ +; portSAVE_CONTEXT MACRO +; Saves the context of the general purpose registers, CS and ES (only in far +; memory mode) registers the usCriticalNesting Value and the Stack Pointer +; of the active Task onto the task stack +;------------------------------------------------------------------------------ +portSAVE_CONTEXT MACRO + + PUSH AX ; Save AX Register to stack. + PUSH HL + MOV A, CS ; Save CS register. + XCH A, X + MOV A, ES ; Save ES register. + PUSH AX + PUSH DE ; Save the remaining general purpose registers. + PUSH BC + MOVW AX, usCriticalNesting ; Save the usCriticalNesting value. + PUSH AX + MOVW AX, pxCurrentTCB ; Save the Stack pointer. + MOVW HL, AX + MOVW AX, SP + MOVW [HL], AX + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; portRESTORE_CONTEXT MACRO +; Restores the task Stack Pointer then use this to restore usCriticalNesting, +; general purpose registers and the CS and ES (only in far memory mode) +; of the selected task from the task stack +;------------------------------------------------------------------------------ +portRESTORE_CONTEXT MACRO + MOVW AX, pxCurrentTCB ; Restore the Stack pointer. + MOVW HL, AX + MOVW AX, [HL] + MOVW SP, AX + POP AX ; Restore usCriticalNesting value. + MOVW usCriticalNesting, AX + POP BC ; Restore the necessary general purpose registers. + POP DE + POP AX ; Restore the ES register. + MOV ES, A + XCH A, X ; Restore the CS register. + MOV CS, A + POP HL ; Restore general purpose register HL. + POP AX ; Restore AX. + ENDM +;------------------------------------------------------------------------------ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/port.c new file mode 100644 index 0000000..fea8b79 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/port.c @@ -0,0 +1,225 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* The critical nesting value is initialised to a non zero value to ensure +interrupts don't accidentally become enabled before the scheduler is started. */ +#define portINITIAL_CRITICAL_NESTING (( uint16_t ) 10) + +/* Initial PSW value allocated to a newly created task. + * 1100011000000000 + * ||||||||-------------- Fill byte + * |||||||--------------- Carry Flag cleared + * |||||----------------- In-service priority Flags set to low level + * ||||------------------ Register bank Select 0 Flag cleared + * |||------------------- Auxiliary Carry Flag cleared + * ||-------------------- Register bank Select 1 Flag cleared + * |--------------------- Zero Flag set + * ---------------------- Global Interrupt Flag set (enabled) + */ +#define portPSW (0xc6UL) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Most ports implement critical sections by placing the interrupt flags on +the stack before disabling interrupts. Exiting the critical section is then +simply a case of popping the flags from the stack. As 78K0 IAR does not use +a frame pointer this cannot be done as modifying the stack will clobber all +the stack variables. Instead each task maintains a count of the critical +section nesting depth. Each time a critical section is entered the count is +incremented. Each time a critical section is left the count is decremented - +with interrupts only being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + +/* + * Sets up the periodic ISR used for the RTOS tick. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t *pulLocal; + + #if configMEMORY_MODE == 1 + { + /* Parameters are passed in on the stack, and written using a 32bit value + hence a space is left for the second two bytes. */ + pxTopOfStack--; + + /* Write in the parameter value. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( uint32_t ) pvParameters; + pxTopOfStack--; + + /* These values are just spacers. The return address of the function + would normally be written here. */ + *pxTopOfStack = ( StackType_t ) 0xcdcd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xcdcd; + pxTopOfStack--; + + /* The start address / PSW value is also written in as a 32bit value, + so leave a space for the second two bytes. */ + pxTopOfStack--; + + /* Task function start address combined with the PSW. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); + pxTopOfStack--; + + /* An initial value for the AX register. */ + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + } + #else + { + /* Task function address is written to the stack first. As it is + written as a 32bit value a space is left on the stack for the second + two bytes. */ + pxTopOfStack--; + + /* Task function start address combined with the PSW. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); + pxTopOfStack--; + + /* The parameter is passed in AX. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + } + #endif + + /* An initial value for the HL register. */ + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + + /* CS and ES registers. */ + *pxTopOfStack = ( StackType_t ) 0x0F00; + pxTopOfStack--; + + /* Finally the remaining general purpose registers DE and BC */ + *pxTopOfStack = ( StackType_t ) 0xDEDE; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBCBC; + pxTopOfStack--; + + /* Finally the critical section nesting count is set to zero when the task + first starts. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + vPortStart(); + + /* Should not get here as the tasks are now running! */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the 78K0R port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Setup channel 5 of the TAU to generate the tick interrupt. */ + + /* First the Timer Array Unit has to be enabled. */ + TAU0EN = 1; + + /* To configure the Timer Array Unit all Channels have to first be stopped. */ + TT0 = 0xff; + + /* Interrupt of Timer Array Unit Channel 5 is disabled to set the interrupt + priority. */ + TMMK05 = 1; + + /* Clear Timer Array Unit Channel 5 interrupt flag. */ + TMIF05 = 0; + + /* Set Timer Array Unit Channel 5 interrupt priority */ + TMPR005 = 0; + TMPR105 = 0; + + /* Set Timer Array Unit Channel 5 Mode as interval timer. */ + TMR05 = 0x0000; + + /* Set the compare match value according to the tick rate we want. */ + TDR05 = ( TickType_t ) ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); + + /* Set Timer Array Unit Channel 5 output mode */ + TOM0 &= ~0x0020; + + /* Set Timer Array Unit Channel 5 output level */ + TOL0 &= ~0x0020; + + /* Set Timer Array Unit Channel 5 output enable */ + TOE0 &= ~0x0020; + + /* Interrupt of Timer Array Unit Channel 5 enabled */ + TMMK05 = 0; + + /* Start Timer Array Unit Channel 5.*/ + TS0 |= 0x0020; +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/portasm.s26 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/portasm.s26 new file mode 100644 index 0000000..408f18b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/portasm.s26 @@ -0,0 +1,138 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +#include "ISR_Support.h" +;------------------------------------------------------------------------------ + +#if __CORE__ != __78K0R__ + #error "This file is only for 78K0R Devices" +#endif + +#define CS 0xFFFFC +#define ES 0xFFFFD + +; Functions implemented in this file +;------------------------------------------------------------------------------ + PUBLIC vPortYield + PUBLIC vPortStart + +; Functions used by scheduler +;------------------------------------------------------------------------------ + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + +; Tick ISR Prototype +;------------------------------------------------------------------------------ +; EXTERN ?CL78K0R_V2_L00 + + PUBWEAK `??MD_INTTM05??INTVEC 68` + PUBLIC MD_INTTM05 + +MD_INTTM05 SYMBOL "MD_INTTM05" +`??MD_INTTM05??INTVEC 68` SYMBOL "??INTVEC 68", MD_INTTM05 + + + +;------------------------------------------------------------------------------ +; Yield to another task. Implemented as a software interrupt. The return +; address and PSW will have been saved to the stack automatically before +; this code runs. +; +; Input: NONE +; +; Call: CALL vPortYield +; +; Output: NONE +; +;------------------------------------------------------------------------------ + RSEG CODE:CODE +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler to select the next task. + portRESTORE_CONTEXT ; Restore the context of the next task to run. + retb + + +;------------------------------------------------------------------------------ +; Restore the context of the first task that is going to run. +; +; Input: NONE +; +; Call: CALL vPortStart +; +; Output: NONE +; +;------------------------------------------------------------------------------ + RSEG CODE:CODE +vPortStart: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; An interrupt stack frame is used so the task + ; is started using a RETI instruction. + +;------------------------------------------------------------------------------ +; Perform the necessary steps of the Tick Count Increment and Task Switch +; depending on the chosen kernel configuration +; +; Input: NONE +; +; Call: ISR +; +; Output: NONE +; +;------------------------------------------------------------------------------ + +MD_INTTM05: + + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. +#if configUSE_PREEMPTION == 1 + call vTaskSwitchContext ; Call the scheduler to select the next task. +#endif + portRESTORE_CONTEXT ; Restore the context of the next task to run. + reti + + + +; REQUIRE ?CL78K0R_V2_L00 + COMMON INTVEC:CODE:ROOT(1) ; Set ISR location to the Interrupt vector table. + ORG 68 +`??MD_INTTM05??INTVEC 68`: + DW MD_INTTM05 + + COMMON INTVEC:CODE:ROOT(1) ; Set ISR location to the Interrupt vector table. + ORG 126 +`??vPortYield??INTVEC 126`: + DW vPortYield + + ; Set value for the usCriticalNesting. + RSEG NEAR_ID:CONST:SORT:NOROOT(1) +`?`: + DW 10 + +;#endif + + END \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/portmacro.h new file mode 100644 index 0000000..1162611 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/78K0R/portmacro.h @@ -0,0 +1,145 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if (configUSE_16_BIT_TICKS==1) + typedef unsigned int TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() __asm ( "DI" ) +#define portENABLE_INTERRUPTS() __asm ( "EI" ) +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled ulCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +extern void vPortStart( void ); +#define portYIELD() __asm( "BRK" ) +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken ) vTaskSwitchContext() +#define portNOP() __asm( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Hardwware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + + +static __interrupt void P0_isr (void); + +/* --------------------------------------------------------------------------*/ +/* Option-bytes and security ID */ +/* --------------------------------------------------------------------------*/ +#define OPT_BYTES_SIZE 4 +#define SECU_ID_SIZE 10 +#define WATCHDOG_DISABLED 0x00 +#define LVI_ENABLED 0xFE +#define LVI_DISABLED 0xFF +#define RESERVED_FF 0xFF +#define OCD_DISABLED 0x04 +#define OCD_ENABLED 0x81 +#define OCD_ENABLED_ERASE 0x80 + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/port.c new file mode 100644 index 0000000..47f88af --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/port.c @@ -0,0 +1,300 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* IAR includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined in FreeRTOSConfig.h to call the function that sets up the tick interrupt. A default that uses the PIT is provided in the official demo application. +#endif + +#ifndef configCLEAR_TICK_INTERRUPT + #error configCLEAR_TICK_INTERRUPT must be defined in FreeRTOSConfig.h to clear which ever interrupt was used to generate the tick interrupt. A default that uses the PIT is provided in the official demo application. +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user +mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero +then a floating point context must be saved and restored for the task. */ +uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +uint32_t ulPortInterruptNesting = 0UL; + + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + The fist real value on the stack is the status register, which is set for + system mode, with interrupts enabled. A few NULLs are added first to ensure + GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + the floating point hardware must call vPortTaskUsesFPU() before executing + any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + /* Only continue if the CPU is not in User mode. The CPU must be in a + Privileged mode for the scheduler to start. */ + __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Start the timer that generates the tick ISR. */ + configSETUP_TICK_INTERRUPT(); + vPortRestoreTaskContext(); + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + a non-privileged mode or the binary point register was not set to its lowest + possible value. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + portDISABLE_INTERRUPTS(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + portENABLE_INTERRUPTS(); + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ +uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) ); +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.h new file mode 100644 index 0000000..6a7709c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.h @@ -0,0 +1,113 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + EXTERN vTaskSwitchContext + EXTERN ulCriticalNesting + EXTERN pxCurrentTCB + EXTERN ulPortTaskHasFPUContext + EXTERN ulAsmAPIPriorityMask + +portSAVE_CONTEXT macro + + ; Save the LR and SPSR onto the system mode stack before switching to + ; system mode to save the remaining system mode registers + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + ; Push the critical nesting count + LDR R2, =ulCriticalNesting + LDR R1, [R2] + PUSH {R1} + + ; Does the task have a floating point context that needs saving? If + ; ulPortTaskHasFPUContext is 0 then no. + LDR R2, =ulPortTaskHasFPUContext + LDR R3, [R2] + CMP R3, #0 + + ; Save the floating point context, if any + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} +#if configFPU_D32 == 1 + VPUSHNE {D16-D31} +#endif ; configFPU_D32 + PUSHNE {R1} + + ; Save ulPortTaskHasFPUContext itself + PUSH {R3} + + ; Save the stack pointer in the TCB + LDR R0, =pxCurrentTCB + LDR R1, [R0] + STR SP, [R1] + + endm + +; /**********************************************************************/ + +portRESTORE_CONTEXT macro + + ; Set the SP to point to the stack of the task being restored. + LDR R0, =pxCurrentTCB + LDR R1, [R0] + LDR SP, [R1] + + ; Is there a floating point context to restore? If the restored + ; ulPortTaskHasFPUContext is zero then no. + LDR R0, =ulPortTaskHasFPUContext + POP {R1} + STR R1, [R0] + CMP R1, #0 + + ; Restore the floating point context, if any + POPNE {R0} +#if configFPU_D32 == 1 + VPOPNE {D16-D31} +#endif ; configFPU_D32 + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + ; Restore the critical section nesting depth + LDR R0, =ulCriticalNesting + POP {R1} + STR R1, [R0] + + ; Restore all system mode registers other than the SP (which is already + ; being used) + POP {R0-R12, R14} + + ; Return to the task code, loading CPSR on the way. CPSR has the interrupt + ; enable bit set appropriately for the task about to execute. + RFEIA sp! + + endm + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.s new file mode 100644 index 0000000..115b705 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.s @@ -0,0 +1,176 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + INCLUDE FreeRTOSConfig.h + INCLUDE portmacro.h + + EXTERN vTaskSwitchContext + EXTERN ulPortYieldRequired + EXTERN ulPortInterruptNesting + EXTERN vApplicationIRQHandler + + PUBLIC FreeRTOS_SWI_Handler + PUBLIC FreeRTOS_IRQ_Handler + PUBLIC vPortRestoreTaskContext + +SYS_MODE EQU 0x1f +SVC_MODE EQU 0x13 +IRQ_MODE EQU 0x12 + + SECTION .text:CODE:ROOT(2) + ARM + + INCLUDE portASM.h + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; SVC handler is used to yield a task. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +FreeRTOS_SWI_Handler + + PRESERVE8 + + ; Save the context of the current task and select a new task to run. + portSAVE_CONTEXT + LDR R0, =vTaskSwitchContext + BLX R0 + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; vPortRestoreTaskContext is used to start the scheduler. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortRestoreTaskContext + + PRESERVE8 + + ; Switch to system mode + CPS #SYS_MODE + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; IRQ interrupt handler used when individual priorities cannot be masked +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +FreeRTOS_IRQ_Handler + + PRESERVE8 + + ; Return to the interrupted instruction. + SUB lr, lr, #4 + + ; Push the return address and SPSR + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + ; Change to supervisor mode to allow reentry. + CPS #SVC_MODE + + ; Push used registers. + PUSH {r0-r4, r12} + + ; Increment nesting count. r3 holds the address of ulPortInterruptNesting + ; for future use. r1 holds the original ulPortInterruptNesting value for + ; future use. + LDR r3, =ulPortInterruptNesting + LDR r1, [r3] + ADD r4, r1, #1 + STR r4, [r3] + + ; Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + ; future use. + MOV r2, sp + AND r2, r2, #4 + SUB sp, sp, r2 + + PUSH {r0-r4, lr} + + ; Call the port part specific handler. + LDR r0, =vApplicationIRQHandler + BLX r0 + POP {r0-r4, lr} + ADD sp, sp, r2 + + CPSID i + + ; Write to the EOI register. + LDR r4, =configEOI_ADDRESS + STR r0, [r4] + + ; Restore the old nesting count + STR r1, [r3] + + ; A context switch is never performed if the nesting count is not 0. + CMP r1, #0 + BNE exit_without_switch + + ; Did the interrupt request a context switch? r1 holds the address of + ; ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + ; use. + LDR r1, =ulPortYieldRequired + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch + ; No context switch. Restore used registers, LR_irq and SPSR before + ; returning. + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit + ; A context switch is to be performed. Clear the context switch pending + ; flag. + MOV r0, #0 + STR r0, [r1] + + ; Restore used registers, LR-irq and SPSR before saving the context + ; to the task stack. + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + ; Call the function that selects the new task to execute. + ; vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + ; instructions, or 8 byte aligned stack allocated data. LR does not need + ; saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. + LDR r0, =vTaskSwitchContext + BLX r0 + + ; Restore the context of, and branch to, the task selected to execute next. + portRESTORE_CONTEXT + + END + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portmacro.h new file mode 100644 index 0000000..66fb730 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portmacro.h @@ -0,0 +1,162 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* IAR includes. */ +#ifdef __ICCARM__ + + #include + + #ifdef __cplusplus + extern "C" { + #endif + + /*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + + /* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + + /*-----------------------------------------------------------*/ + + /* Hardware specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + + /*-----------------------------------------------------------*/ + + /* Task utilities. */ + + /* Called at the end of an ISR that can cause a context switch. */ + #define portEND_SWITCHING_ISR( xSwitchRequired )\ + { \ + extern uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ + } + + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + #define portYIELD() __asm volatile ( "SWI 0" ); __ISB() + + + /*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + extern uint32_t ulPortSetInterruptMask( void ); + extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); + + #define portENTER_CRITICAL() vPortEnterCritical(); + #define portEXIT_CRITICAL() vPortExitCritical(); + #define portDISABLE_INTERRUPTS() __disable_irq(); __DSB(); __ISB() /* No priority mask register so global disable is used. */ + #define portENABLE_INTERRUPTS() __enable_irq() + #define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_state(); __disable_irq() /* No priority mask register so global disable is used. */ + #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) __set_interrupt_state(x) + + /*-----------------------------------------------------------*/ + + /* Task function macros as described on the FreeRTOS.org WEB site. These are + not required for this port but included in case common demo code that uses these + macros is used. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + + /* Prototype of the FreeRTOS tick handler. This must be installed as the + handler for whichever peripheral is used to generate the RTOS tick. */ + void FreeRTOS_Tick_Handler( void ); + + /* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() + before any floating point instructions are executed. */ + void vPortTaskUsesFPU( void ); + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + + /* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __CLZ( uxReadyPriorities ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + #define portNOP() __asm volatile( "NOP" ) + + + #ifdef __cplusplus + } /* extern C */ + #endif + + /* Suppress warnings that are generated by the IAR tools, but cannot be + fixed in the source code because to do so would cause other compilers to + generate warnings. */ + #pragma diag_suppress=Pe191 + #pragma diag_suppress=Pa082 + +#endif /* __ICCARM__ */ + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c new file mode 100644 index 0000000..eb396a2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c @@ -0,0 +1,439 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* IAR includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS + #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET + #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configUNIQUE_INTERRUPT_PRIORITIES + #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif /* configSETUP_TICK_INTERRUPT */ + +#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 + #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/* In case security extensions are implemented. */ +#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) +#endif + +#ifndef configCLEAR_TICK_INTERRUPT + #define configCLEAR_TICK_INTERRUPT() +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* In all GICs 255 can be written to the priority mask register to unmask all +(but the lowest) interrupt priority. */ +#define portUNMASK_VALUE ( 0xFFUL ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary +point is zero. */ +#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user +mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/* Macro to unmask all interrupt priorities. */ +#define portCLEAR_INTERRUPT_MASK() \ +{ \ + __disable_irq(); \ + portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ + __asm( "DSB \n" \ + "ISB \n" ); \ + __enable_irq(); \ +} + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero +then a floating point context must be saved and restored for the task. */ +uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +uint32_t ulPortInterruptNesting = 0UL; + + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + The fist real value on the stack is the status register, which is set for + system mode, with interrupts enabled. A few NULLs are added first to ensure + GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + the floating point hardware must call vPortTaskUsesFPU() before executing + any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + /* Only continue if the CPU is not in User mode. The CPU must be in a + Privileged mode for the scheduler to start. */ + __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Only continue if the binary point value is set to its lowest possible + setting. See the comments in vPortValidateInterruptPriority() below for + more information. */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + + if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ) + { + /* Start the timer that generates the tick ISR. */ + configSETUP_TICK_INTERRUPT(); + + __enable_irq(); + vPortRestoreTaskContext(); + } + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + a non-privileged mode or the binary point register was not set to its lowest + possible value. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + ulPortSetInterruptMask(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portCLEAR_INTERRUPT_MASK(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + /* Set interrupt mask before altering scheduler structures. The tick + handler runs at the lowest priority, so interrupts cannot already be masked, + so there is no need to save and restore the current mask value. */ + __disable_irq(); + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm( "DSB \n" + "ISB \n" ); + __enable_irq(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + /* Ensure all interrupt priorities are active again. */ + portCLEAR_INTERRUPT_MASK(); + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ +uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) ); +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( uint32_t ulNewMaskValue ) +{ + if( ulNewMaskValue == pdFALSE ) + { + portCLEAR_INTERRUPT_MASK(); + } +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortSetInterruptMask( void ) +{ +uint32_t ulReturn; + + __disable_irq(); + if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ) + { + /* Interrupts were already masked. */ + ulReturn = pdTRUE; + } + else + { + ulReturn = pdFALSE; + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm( "DSB \n" + "ISB \n" ); + } + __enable_irq(); + + return ulReturn; +} +/*-----------------------------------------------------------*/ + +#if( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + /* The following assertion will fail if a service routine (ISR) for + an interrupt that has been assigned a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + function. ISR safe FreeRTOS API functions must *only* be called + from interrupts that have been assigned a priority at or below + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + Numerically low interrupt priority numbers represent logically high + interrupt priorities, therefore the priority of the interrupt must + be set to a value equal to or numerically *higher* than + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + FreeRTOS maintains separate thread and ISR API functions to ensure + interrupt entry is as fast and simple as possible. + + The following links provide detailed information: + https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); + + /* Priority grouping: The interrupt controller (GIC) allows the bits + that define each interrupt's priority to be split between bits that + define the interrupt's pre-emption priority bits and bits that define + the interrupt's sub-priority. For simplicity all bits must be defined + to be pre-emption priority bits. The following assertion will fail if + this is not the case (if some bits represent a sub-priority). + + The priority grouping is configured by the GIC's binary point register + (ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest + possible value (which may be above 0). */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + } + +#endif /* configASSERT_DEFINED */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portASM.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portASM.h new file mode 100644 index 0000000..4170c2e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portASM.h @@ -0,0 +1,115 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + EXTERN vTaskSwitchContext + EXTERN ulCriticalNesting + EXTERN pxCurrentTCB + EXTERN ulPortTaskHasFPUContext + EXTERN ulAsmAPIPriorityMask + +portSAVE_CONTEXT macro + + ; Save the LR and SPSR onto the system mode stack before switching to + ; system mode to save the remaining system mode registers + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + ; Push the critical nesting count + LDR R2, =ulCriticalNesting + LDR R1, [R2] + PUSH {R1} + + ; Does the task have a floating point context that needs saving? If + ; ulPortTaskHasFPUContext is 0 then no. + LDR R2, =ulPortTaskHasFPUContext + LDR R3, [R2] + CMP R3, #0 + + ; Save the floating point context, if any + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} + VPUSHNE {D16-D31} + PUSHNE {R1} + + ; Save ulPortTaskHasFPUContext itself + PUSH {R3} + + ; Save the stack pointer in the TCB + LDR R0, =pxCurrentTCB + LDR R1, [R0] + STR SP, [R1] + + endm + +; /**********************************************************************/ + +portRESTORE_CONTEXT macro + + ; Set the SP to point to the stack of the task being restored. + LDR R0, =pxCurrentTCB + LDR R1, [R0] + LDR SP, [R1] + + ; Is there a floating point context to restore? If the restored + ; ulPortTaskHasFPUContext is zero then no. + LDR R0, =ulPortTaskHasFPUContext + POP {R1} + STR R1, [R0] + CMP R1, #0 + + ; Restore the floating point context, if any + POPNE {R0} + VPOPNE {D16-D31} + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + ; Restore the critical section nesting depth + LDR R0, =ulCriticalNesting + POP {R1} + STR R1, [R0] + + ; Ensure the priority mask is correct for the critical nesting depth + LDR R2, =portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS + CMP R1, #0 + MOVEQ R4, #255 + LDRNE R4, =( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) + STR R4, [r2] + + ; Restore all system mode registers other than the SP (which is already + ; being used) + POP {R0-R12, R14} + + ; Return to the task code, loading CPSR on the way. + RFEIA sp! + + endm + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portASM.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portASM.s new file mode 100644 index 0000000..0186eb4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portASM.s @@ -0,0 +1,177 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + INCLUDE FreeRTOSConfig.h + INCLUDE portmacro.h + + EXTERN vApplicationIRQHandler + EXTERN vTaskSwitchContext + EXTERN ulPortYieldRequired + EXTERN ulPortInterruptNesting + + PUBLIC FreeRTOS_SWI_Handler + PUBLIC FreeRTOS_IRQ_Handler + PUBLIC vPortRestoreTaskContext + +SYS_MODE EQU 0x1f +SVC_MODE EQU 0x13 +IRQ_MODE EQU 0x12 + + + SECTION .text:CODE:ROOT(2) + ARM + + INCLUDE portASM.h + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; SVC handler is used to yield a task. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +FreeRTOS_SWI_Handler + + PRESERVE8 + + ; Save the context of the current task and select a new task to run. + portSAVE_CONTEXT + LDR R0, =vTaskSwitchContext + BLX R0 + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; vPortRestoreTaskContext is used to start the scheduler. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortRestoreTaskContext + ; Switch to system mode + CPS #SYS_MODE + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; PL390 GIC interrupt handler +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +FreeRTOS_IRQ_Handler + + ; Return to the interrupted instruction. + SUB lr, lr, #4 + + ; Push the return address and SPSR + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + ; Change to supervisor mode to allow reentry. + CPS #SVC_MODE + + ; Push used registers. + PUSH {r0-r4, r12} + + ; Increment nesting count. r3 holds the address of ulPortInterruptNesting + ; for future use. r1 holds the original ulPortInterruptNesting value for + ; future use. + LDR r3, =ulPortInterruptNesting + LDR r1, [r3] + ADD r4, r1, #1 + STR r4, [r3] + + ; Read value from the interrupt acknowledge register, which is stored in r0 + ; for future parameter and interrupt clearing use. + LDR r2, =portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS + LDR r0, [r2] + + ; Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + ; future use. _RB_ Is this ever necessary if start of stack is 8-byte aligned? + MOV r2, sp + AND r2, r2, #4 + SUB sp, sp, r2 + + ; Call the interrupt handler. r4 is pushed to maintain alignment. + PUSH {r0-r4, lr} + LDR r1, =vApplicationIRQHandler + BLX r1 + POP {r0-r4, lr} + ADD sp, sp, r2 + + CPSID i + + ; Write the value read from ICCIAR to ICCEOIR + LDR r4, =portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS + STR r0, [r4] + + ; Restore the old nesting count + STR r1, [r3] + + ; A context switch is never performed if the nesting count is not 0 + CMP r1, #0 + BNE exit_without_switch + + ; Did the interrupt request a context switch? r1 holds the address of + ; ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + ; use. + LDR r1, =ulPortYieldRequired + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch + ; No context switch. Restore used registers, LR_irq and SPSR before + ; returning. + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit + ; A context switch is to be performed. Clear the context switch pending + ; flag. + MOV r0, #0 + STR r0, [r1] + + ; Restore used registers, LR-irq and SPSR before saving the context + ; to the task stack. + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + ; Call the function that selects the new task to execute. + ; vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + ; instructions, or 8 byte aligned stack allocated data. LR does not need + ; saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. + LDR r0, =vTaskSwitchContext + BLX r0 + + ; Restore the context of, and branch to, the task selected to execute next. + portRESTORE_CONTEXT + + + END + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portmacro.h new file mode 100644 index 0000000..dd78c1a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CA9/portmacro.h @@ -0,0 +1,209 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* IAR includes. */ +#ifdef __ICCARM__ + + #include + + #ifdef __cplusplus + extern "C" { + #endif + + /*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + + /* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + + /*-----------------------------------------------------------*/ + + /* Hardware specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + + /*-----------------------------------------------------------*/ + + /* Task utilities. */ + + /* Called at the end of an ISR that can cause a context switch. */ + #define portEND_SWITCHING_ISR( xSwitchRequired )\ + { \ + extern uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ + } + + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + #define portYIELD() __asm( "SWI 0" ); + + + /*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + extern uint32_t ulPortSetInterruptMask( void ); + extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); + + /* These macros do not globally disable/enable interrupts. They do mask off + interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ + #define portENTER_CRITICAL() vPortEnterCritical(); + #define portEXIT_CRITICAL() vPortExitCritical(); + #define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() + #define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) + + /*-----------------------------------------------------------*/ + + /* Task function macros as described on the FreeRTOS.org WEB site. These are + not required for this port but included in case common demo code that uses these + macros is used. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + + /* Prototype of the FreeRTOS tick handler. This must be installed as the + handler for whichever peripheral is used to generate the RTOS tick. */ + void FreeRTOS_Tick_Handler( void ); + + /* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() + before any floating point instructions are executed. */ + void vPortTaskUsesFPU( void ); + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + + #define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) + #define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + + /* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __CLZ( uxReadyPriorities ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif /* configASSERT */ + + #define portNOP() __asm volatile( "NOP" ) + + + #ifdef __cplusplus + } /* extern C */ + #endif + + /* Suppress warnings that are generated by the IAR tools, but cannot be + fixed in the source code because to do so would cause other compilers to + generate warnings. */ + #pragma diag_suppress=Pe191 + #pragma diag_suppress=Pa082 + +#endif /* __ICCARM__ */ + + +/* The number of bits to shift for an interrupt priority is dependent on the +number of bits implemented by the interrupt controller. */ +#if configUNIQUE_INTERRUPT_PRIORITIES == 16 + #define portPRIORITY_SHIFT 4 + #define portMAX_BINARY_POINT_VALUE 3 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 + #define portPRIORITY_SHIFT 3 + #define portMAX_BINARY_POINT_VALUE 2 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 + #define portPRIORITY_SHIFT 2 + #define portMAX_BINARY_POINT_VALUE 1 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 + #define portPRIORITY_SHIFT 1 + #define portMAX_BINARY_POINT_VALUE 0 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 + #define portPRIORITY_SHIFT 0 + #define portMAX_BINARY_POINT_VALUE 0 +#else + #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware +#endif + +/* Interrupt controller access addresses. */ +#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) +#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) +#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) +#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) + +#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) +#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) +#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) ) +#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) ) + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c new file mode 100644 index 0000000..39d7451 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/port.c @@ -0,0 +1,431 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM0 port. +*----------------------------------------------------------*/ + +/* IAR includes. */ +#include "intrinsics.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is + * defined. The value 255 should also ensure backward compatibility. + * FreeRTOS.org versions prior to V4.3.0 did not include this definition. */ +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 0 +#endif + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#ifndef portMISSED_COUNTS_FACTOR + #define portMISSED_COUNTS_FACTOR ( 45UL ) +#endif + +/* The number of SysTick increments that make up one tick period. */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11..R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET; + + /* Barriers are normally not required but do ensure the code is completely + * within the specified behaviour for the architecture. */ + __DSB(); + __ISB(); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + __DSB(); + __ISB(); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__weak void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR; + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_interrupt() + * call above. */ + __enable_interrupt(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __DSB(); + __WFI(); + __ISB(); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_interrupt(); + __DSB(); + __ISB(); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrpts enabled. */ + __enable_interrupt(); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/portasm.s new file mode 100644 index 0000000..f1fdc17 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/portasm.s @@ -0,0 +1,131 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include + + RSEG CODE:CODE(2) + thumb + + EXTERN vPortYieldFromISR + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + + PUBLIC vSetMSP + PUBLIC xPortPendSVHandler + PUBLIC vPortSVCHandler + PUBLIC vPortStartFirstTask + PUBLIC ulSetInterruptMaskFromISR + PUBLIC vClearInterruptMaskFromISR + +/*-----------------------------------------------------------*/ + +vSetMSP + msr msp, r0 + bx lr + +/*-----------------------------------------------------------*/ + +xPortPendSVHandler: + mrs r0, psp + + ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */ + ldr r2, [r3] + + subs r0, r0, #32 /* Make space for the remaining low registers. */ + str r0, [r2] /* Save the new top of stack. */ + stmia r0!, {r4-r7} /* Store the low registers that are not saved automatically. */ + mov r4, r8 /* Store the high registers. */ + mov r5, r9 + mov r6, r10 + mov r7, r11 + stmia r0!, {r4-r7} + + push {r3, r14} + cpsid i + bl vTaskSwitchContext + cpsie i + pop {r2, r3} /* lr goes in r3. r2 now holds tcb pointer. */ + + ldr r1, [r2] + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ + adds r0, r0, #16 /* Move to the high registers. */ + ldmia r0!, {r4-r7} /* Pop the high registers. */ + mov r8, r4 + mov r9, r5 + mov r10, r6 + mov r11, r7 + + msr psp, r0 /* Remember the new top of stack for the task. */ + + subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */ + ldmia r0!, {r4-r7} /* Pop low registers. */ + + bx r3 + +/*-----------------------------------------------------------*/ + +vPortSVCHandler; + /* This function is no longer used, but retained for backward + compatibility. */ + bx lr + +/*-----------------------------------------------------------*/ + +vPortStartFirstTask + /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector + table offset register that can be used to locate the initial stack value. + Not all M0 parts have the application vector table at address 0. */ + + ldr r3, =pxCurrentTCB /* Obtain location of pxCurrentTCB. */ + ldr r1, [r3] + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + movs r0, #2 /* Switch to the psp stack. */ + msr CONTROL, r0 + isb + pop {r0-r5} /* Pop the registers that are saved automatically. */ + mov lr, r5 /* lr is now in r5. */ + pop {r3} /* The return address is now in r3. */ + pop {r2} /* Pop and discard the XPSR. */ + cpsie i /* The first task has its context and interrupts can be enabled. */ + bx r3 /* Jump to the user defined task code. */ + +/*-----------------------------------------------------------*/ + +ulSetInterruptMaskFromISR + mrs r0, PRIMASK + cpsid i + bx lr + +/*-----------------------------------------------------------*/ + +vClearInterruptMaskFromISR + msr PRIMASK, r0 + bx lr + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/portmacro.h new file mode 100644 index 0000000..5c5cab7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM0/portmacro.h @@ -0,0 +1,128 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + extern void vPortYield( void ); + #define portNVIC_INT_CTRL ( ( volatile uint32_t * ) 0xe000ed04 ) + #define portNVIC_PENDSVSET 0x10000000 + #define portYIELD() vPortYield() + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + extern uint32_t ulSetInterruptMaskFromISR( void ); + extern void vClearInterruptMaskFromISR( uint32_t ulMask ); + + #define portDISABLE_INTERRUPTS() __asm volatile ( "cpsid i" ) + #define portENABLE_INTERRUPTS() __asm volatile ( "cpsie i" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMaskFromISR( x ) + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + + #define portNOP() + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Pa082 + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/port.c new file mode 100644 index 0000000..852a11c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portasm.s new file mode 100644 index 0000000..8003b45 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portasm.s @@ -0,0 +1,377 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + EXTERN pxCurrentTCB + EXTERN xSecureContext + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + EXTERN SecureContext_SaveContext + EXTERN SecureContext_LoadContext + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vPortAllocateSecureContext + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler + PUBLIC vPortFreeSecureContext + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + tst r0, r1 /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + beq running_privileged /* If the result of previous AND operation was 0, branch. */ + movs r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + bx lr /* Return. */ + running_privileged: + movs r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + orrs r0, r1 /* r0 = r0 | r1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vPortAllocateSecureContext: + svc 0 /* Secure context is allocated in the supervisor call. portSVC_ALLOCATE_SECURE_CONTEXT = 0. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r3] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + bics r4, r5 /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + movs r5, #4 /* r5 = 4. */ + str r5, [r2] /* Program RNR = 4. */ + ldmia r3!, {r6,r7} /* Read first set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write first set of RBAR/RLAR registers. */ + movs r5, #5 /* r5 = 5. */ + str r5, [r2] /* Program RNR = 5. */ + ldmia r3!, {r6,r7} /* Read second set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write second set of RBAR/RLAR registers. */ + movs r5, #6 /* r5 = 6. */ + str r5, [r2] /* Program RNR = 6. */ + ldmia r3!, {r6,r7} /* Read third set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write third set of RBAR/RLAR registers. */ + movs r5, #7 /* r5 = 7. */ + str r5, [r2] /* Program RNR = 7. */ + ldmia r3!, {r6,r7} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + orrs r4, r5 /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r4} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + ldr r5, =xSecureContext + str r1, [r5] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + msr control, r3 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r4 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r3} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + ldr r4, =xSecureContext + str r1, [r4] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r3 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + movs r1, #1 /* r1 = 1. */ + bics r0, r1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, PRIMASK + cpsid i + bx lr +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr PRIMASK, r0 + bx lr +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r1, psp /* Read PSP in r1. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + ldr r0, [r2] /* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + + cbz r0, save_ns_context /* No secure context to save. */ + push {r0-r2, r14} + bl SecureContext_SaveContext + pop {r0-r3} /* LR is now in r3. */ + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl save_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ +#if ( configENABLE_MPU == 1 ) + subs r1, r1, #16 /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ +#else /* configENABLE_MPU */ + subs r1, r1, #12 /* Make space for xSecureContext, PSPLIM and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r3} /* Store xSecureContext, PSPLIM and LR on the stack. */ +#endif /* configENABLE_MPU */ + b select_next_task + + save_ns_context: + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ + #if ( configENABLE_MPU == 1 ) + subs r1, r1, #48 /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + adds r1, r1, #16 /* r1 = r1 + 16. */ + stmia r1!, {r4-r7} /* Store the low registers that are not saved automatically. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r1!, {r4-r7} /* Store the high registers that are not saved automatically. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + subs r1, r1, #48 /* r1 = r1 - 48. */ + stmia r1!, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + subs r1, r1, #44 /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r7} /* Store xSecureContext, PSPLIM, LR and the low registers that are not saved automatically. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r1!, {r4-r7} /* Store the high registers that are not saved automatically. */ + #endif /* configENABLE_MPU */ + + select_next_task: + cpsid i + bl vTaskSwitchContext + cpsie i + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r1, [r3] /* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + + #if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + bics r4, r5 /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + movs r5, #4 /* r5 = 4. */ + str r5, [r2] /* Program RNR = 4. */ + ldmia r3!, {r6,r7} /* Read first set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write first set of RBAR/RLAR registers. */ + movs r5, #5 /* r5 = 5. */ + str r5, [r2] /* Program RNR = 5. */ + ldmia r3!, {r6,r7} /* Read second set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write second set of RBAR/RLAR registers. */ + movs r5, #6 /* r5 = 6. */ + str r5, [r2] /* Program RNR = 6. */ + ldmia r3!, {r6,r7} /* Read third set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write third set of RBAR/RLAR registers. */ + movs r5, #7 /* r5 = 7. */ + str r5, [r2] /* Program RNR = 7. */ + ldmia r3!, {r6,r7} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r4, =0xe000ed9c /* r4 = 0xe000ed9c [Location of RBAR]. */ + stmia r4!, {r6,r7} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + movs r5, #1 /* r5 = 1. */ + orrs r4, r5 /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + + #if ( configENABLE_MPU == 1 ) + ldmia r1!, {r0, r2-r4} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + msr control, r3 /* Restore the CONTROL register value for the task. */ + mov lr, r4 /* LR = r4. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r4} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r4} + mov lr, r4 /* LR = r4. */ + lsls r2, r4, #25 /* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #else /* configENABLE_MPU */ + ldmia r1!, {r0, r2-r3} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + mov lr, r3 /* LR = r3. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r3} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r3} + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #endif /* configENABLE_MPU */ + + restore_ns_context: + adds r1, r1, #16 /* Move to the high registers. */ + ldmia r1!, {r4-r7} /* Restore the high registers that are not automatically restored. */ + mov r8, r4 /* r8 = r4. */ + mov r9, r5 /* r9 = r5. */ + mov r10, r6 /* r10 = r6. */ + mov r11, r7 /* r11 = r7. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + subs r1, r1, #32 /* Go back to the low registers. */ + ldmia r1!, {r4-r7} /* Restore the low registers that are not automatically restored. */ + bx lr +/*-----------------------------------------------------------*/ + +SVC_Handler: + movs r0, #4 + mov r1, lr + tst r0, r1 + beq stacking_used_msp + mrs r0, psp + b vPortSVCHandler_C + stacking_used_msp: + mrs r0, msp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + +vPortFreeSecureContext: + ldr r1, [r0] /* The first item in the TCB is the top of the stack. */ + ldr r0, [r1] /* The first item on the stack is the task's xSecureContext. */ + cmp r0, #0 /* Raise svc if task's xSecureContext is not NULL. */ + beq free_secure_context + bx lr /* There is no secure context (xSecureContext is NULL). */ + free_secure_context: + svc 1 /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 1. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portmacro.h new file mode 100644 index 0000000..b36dc1f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context.c new file mode 100644 index 0000000..046bf4e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context.c @@ -0,0 +1,206 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief CONTROL value for privileged tasks. + * + * Bit[0] - 0 --> Thread mode is privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 + +/** + * @brief CONTROL value for un-privileged tasks. + * + * Bit[0] - 1 --> Thread mode is un-privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 +/*-----------------------------------------------------------*/ + +/** + * @brief Structure to represent secure context. + * + * @note Since stack grows down, pucStackStart is the highest address while + * pucStackLimit is the first addess of the allocated memory. + */ +typedef struct SecureContext +{ + uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ + uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ + uint8_t * pucStackStart; /**< First location of the stack memory. */ +} SecureContext_t; +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* No stack for thread mode until a task's context is loaded. */ + secureportSET_PSPLIM( securecontextNO_STACK ); + secureportSET_PSP( securecontextNO_STACK ); + + #if ( configENABLE_MPU == 1 ) + { + /* Configure thread mode to use PSP and to be unprivileged. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); + } + #else /* configENABLE_MPU */ + { + /* Configure thread mode to use PSP and to be privileged.. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); + } + #endif /* configENABLE_MPU */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ) +#else /* configENABLE_MPU */ + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) +#endif /* configENABLE_MPU */ +{ + uint8_t * pucStackMemory = NULL; + uint32_t ulIPSR; + SecureContextHandle_t xSecureContextHandle = NULL; + + #if ( configENABLE_MPU == 1 ) + uint32_t * pulCurrentStackPointer = NULL; + #endif /* configENABLE_MPU */ + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Allocate the context structure. */ + xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) ); + + if( xSecureContextHandle != NULL ) + { + /* Allocate the stack space. */ + pucStackMemory = pvPortMalloc( ulSecureStackSize ); + + if( pucStackMemory != NULL ) + { + /* Since stack grows down, the starting point will be the last + * location. Note that this location is next to the last + * allocated byte because the hardware decrements the stack + * pointer before writing i.e. if stack pointer is 0x2, a push + * operation will decrement the stack pointer to 0x1 and then + * write at 0x1. */ + xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize; + + /* The stack cannot go beyond this location. This value is + * programmed in the PSPLIM register on context switch.*/ + xSecureContextHandle->pucStackLimit = pucStackMemory; + + #if ( configENABLE_MPU == 1 ) + { + /* Store the correct CONTROL value for the task on the stack. + * This value is programmed in the CONTROL register on + * context switch. */ + pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart; + pulCurrentStackPointer--; + + if( ulIsTaskPrivileged ) + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED; + } + else + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED; + } + + /* Store the current stack pointer. This value is programmed in + * the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; + } + #else /* configENABLE_MPU */ + { + /* Current SP is set to the starting of the stack. This + * value programmed in the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart; + } + #endif /* configENABLE_MPU */ + } + else + { + /* Free the context to avoid memory leak and make sure to return + * NULL to indicate failure. */ + vPortFree( xSecureContextHandle ); + xSecureContextHandle = NULL; + } + } + } + + return xSecureContextHandle; +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Ensure that valid parameters are passed. */ + secureportASSERT( xSecureContextHandle != NULL ); + + /* Free the stack space. */ + vPortFree( xSecureContextHandle->pucStackLimit ); + + /* Free the context itself. */ + vPortFree( xSecureContextHandle ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context.h new file mode 100644 index 0000000..532a407 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_CONTEXT_H__ +#define __SECURE_CONTEXT_H__ + +/* Standard includes. */ +#include + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/** + * @brief PSP value when no task's context is loaded. + */ +#define securecontextNO_STACK 0x0 + +/** + * @brief Opaque handle. + */ +struct SecureContext; +typedef struct SecureContext * SecureContextHandle_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Initializes the secure context management system. + * + * PSP is set to NULL and therefore a task must allocate and load a context + * before calling any secure side function in the thread mode. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureContext_Init( void ); + +/** + * @brief Allocates a context on the secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] ulSecureStackSize Size of the stack to allocate on secure side. + * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise. + * + * @return Opaque context handle if context is successfully allocated, NULL + * otherwise. + */ +#if ( configENABLE_MPU == 1 ) + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ); +#else /* configENABLE_MPU */ + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); +#endif /* configENABLE_MPU */ + +/** + * @brief Frees the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the + * context to be freed. + */ +void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Loads the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be loaded. + */ +void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Saves the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be saved. + */ +void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ); + +#endif /* __SECURE_CONTEXT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context_port.c new file mode 100644 index 0000000..455b90c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context_port.c @@ -0,0 +1,48 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/* Functions implemented in assembler file. */ +extern void SecureContext_LoadContextAsm( SecureContextHandle_t xSecureContextHandle ); +extern void SecureContext_SaveContextAsm( SecureContextHandle_t xSecureContextHandle ); + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_LoadContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_SaveContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context_port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context_port_asm.s new file mode 100644 index 0000000..1f793f2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_context_port_asm.s @@ -0,0 +1,76 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + SECTION .text:CODE:NOROOT(2) + THUMB + + PUBLIC SecureContext_LoadContextAsm + PUBLIC SecureContext_SaveContextAsm + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif +/*-----------------------------------------------------------*/ + +SecureContext_LoadContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, load_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + ldmia r0!, {r1, r2} /* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ +#if ( configENABLE_MPU == 1 ) + ldmia r1!, {r3} /* Read CONTROL register value from task's stack. r3 = CONTROL. */ + msr control, r3 /* CONTROL = r3. */ +#endif /* configENABLE_MPU */ + msr psplim, r2 /* PSPLIM = r2. */ + msr psp, r1 /* PSP = r1. */ + + load_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + +SecureContext_SaveContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, save_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + mrs r1, psp /* r1 = PSP. */ +#if ( configENABLE_MPU == 1 ) + mrs r2, control /* r2 = CONTROL. */ + subs r1, r1, #4 /* Make space for the CONTROL value on the stack. */ + str r1, [r0] /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + stmia r1!, {r2} /* Store CONTROL value on the stack. */ +#else /* configENABLE_MPU */ + str r1, [r0] /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ +#endif /* configENABLE_MPU */ + movs r1, #0 /* r1 = securecontextNO_STACK. */ + msr psplim, r1 /* PSPLIM = securecontextNO_STACK. */ + msr psp, r1 /* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + + save_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_heap.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_heap.c new file mode 100644 index 0000000..82dbd9e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_heap.c @@ -0,0 +1,454 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure context heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Total heap size. + */ +#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) + +/* No test marker by default. */ +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif + +/* No tracing by default. */ +#ifndef traceMALLOC + #define traceMALLOC( pvReturn, xWantedSize ) +#endif + +/* No tracing by default. */ +#ifndef traceFREE + #define traceFREE( pv, xBlockSize ) +#endif + +/* Block sizes must not get too small. */ +#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) +/*-----------------------------------------------------------*/ + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#else /* configAPPLICATION_ALLOCATED_HEAP */ + static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/** + * @brief The linked list structure. + * + * This is used to link free blocks in order of their memory address. + */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */ + size_t xBlockSize; /**< The size of the free block. */ +} BlockLink_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Called automatically to setup the required heap structures the first + * time pvPortMalloc() is called. + */ +static void prvHeapInit( void ); + +/** + * @brief Inserts a block of memory that is being freed into the correct + * position in the list of free memory blocks. + * + * The block being freed will be merged with the block in front it and/or the + * block behind it if the memory blocks are adjacent to each other. + * + * @param[in] pxBlockToInsert The block being freed. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ); +/*-----------------------------------------------------------*/ + +/** + * @brief The size of the structure placed at the beginning of each allocated + * memory block must by correctly byte aligned. + */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + +/** + * @brief Create a couple of list links to mark the start and end of the list. + */ +static BlockLink_t xStart, * pxEnd = NULL; + +/** + * @brief Keeps track of the number of free bytes remaining, but says nothing + * about fragmentation. + */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; + +/** + * @brief Gets set to the top bit of an size_t type. + * + * When this bit in the xBlockSize member of an BlockLink_t structure is set + * then the block belongs to the application. When the bit is free the block is + * still part of the free heap space. + */ +static size_t xBlockAllocatedBit = 0; +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + size_t uxAddress; + size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; + + /* Ensure the heap starts on a correctly aligned boundary. */ + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* pxEnd is used to mark the end of the list of free blocks and is inserted + * at the end of the heap space. */ + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space, minus the space taken by pxEnd. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; + pxFirstFreeBlock->pxNextFreeBlock = pxEnd; + + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( pxEnd == NULL ) + { + prvHeapInit(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Check the requested block size is not so large that the top bit is set. + * The top bit of the block size member of the BlockLink_t structure is used + * to determine who owns the block - the application or the kernel, so it + * must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned to the required number of + * bytes. */ + if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. */ + xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); + secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size was + * not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + + /* Calculate the sizes of two blocks split from the single + * block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( pxNewBlockLink ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned by + * the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + + #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */ + + secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + secureportASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + secureportDISABLE_NON_SECURE_INTERRUPTS(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + } + secureportENABLE_NON_SECURE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_heap.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_heap.h new file mode 100644 index 0000000..fa78046 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_heap.h @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_HEAP_H__ +#define __SECURE_HEAP_H__ + +/* Standard includes. */ +#include + +/** + * @brief Allocates memory from heap. + * + * @param[in] xWantedSize The size of the memory to be allocated. + * + * @return Pointer to the memory region if the allocation is successful, NULL + * otherwise. + */ +void * pvPortMalloc( size_t xWantedSize ); + +/** + * @brief Frees the previously allocated memory. + * + * @param[in] pv Pointer to the memory to be freed. + */ +void vPortFree( void * pv ); + +#endif /* __SECURE_HEAP_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_init.c new file mode 100644 index 0000000..4e6018d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_init.c @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure init includes. */ +#include "secure_init.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Constants required to manipulate the SCB. + */ +#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ +#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) +#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) +#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) +#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) + +/** + * @brief Constants required to manipulate the FPU. + */ +#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define secureinitFPCCR_LSPENS_POS ( 29UL ) +#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) +#define secureinitFPCCR_TS_POS ( 26UL ) +#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) + +#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ +#define secureinitNSACR_CP10_POS ( 10UL ) +#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) +#define secureinitNSACR_CP11_POS ( 11UL ) +#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | + ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | + ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); + } +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is + * permitted. CP11 should be programmed to the same value as CP10. */ + *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); + + /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures + * that we can enable/disable lazy stacking in port.c file. */ + *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK ); + + /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP + * registers (S16-S31) are also pushed to stack on exception entry and + * restored on exception return. */ + *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_init.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_init.h new file mode 100644 index 0000000..39deb36 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_init.h @@ -0,0 +1,53 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_INIT_H__ +#define __SECURE_INIT_H__ + +/** + * @brief De-prioritizes the non-secure exceptions. + * + * This is needed to ensure that the non-secure PendSV runs at the lowest + * priority. Context switch is done in the non-secure PendSV handler. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_DePrioritizeNSExceptions( void ); + +/** + * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access. + * + * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point + * Registers are not leaked to the non-secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_EnableNSFPUAccess( void ); + +#endif /* __SECURE_INIT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_port_macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_port_macros.h new file mode 100644 index 0000000..7b8dbed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23/secure/secure_port_macros.h @@ -0,0 +1,133 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_PORT_MACROS_H__ +#define __SECURE_PORT_MACROS_H__ + +/** + * @brief Byte alignment requirements. + */ +#define secureportBYTE_ALIGNMENT 8 +#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) + +/** + * @brief Macro to declare a function as non-secure callable. + */ +#if defined( __IAR_SYSTEMS_ICC__ ) + #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root +#else + #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) ) +#endif + +/** + * @brief Set the secure PRIMASK value. + */ +#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Set the non-secure PRIMASK value. + */ +#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Read the PSP value in the given variable. + */ +#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ + __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) + +/** + * @brief Set the PSP to the given value. + */ +#define secureportSET_PSP( pucCurrentStackPointer ) \ + __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) + +/** + * @brief Set the PSPLIM to the given value. + */ +#define secureportSET_PSPLIM( pucStackLimit ) \ + __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) + +/** + * @brief Set the NonSecure MSP to the given value. + */ +#define secureportSET_MSP_NS( pucMainStackPointer ) \ + __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) + +/** + * @brief Set the CONTROL register to the given value. + */ +#define secureportSET_CONTROL( ulControl ) \ + __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) + +/** + * @brief Read the Interrupt Program Status Register (IPSR) value in the given + * variable. + */ +#define secureportREAD_IPSR( ulIPSR ) \ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) + +/** + * @brief PRIMASK value to enable interrupts. + */ +#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 + +/** + * @brief PRIMASK value to disable interrupts. + */ +#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 + +/** + * @brief Disable secure interrupts. + */ +#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Disable non-secure interrupts. + * + * This effectively disables context switches. + */ +#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Enable non-secure interrupts. + */ +#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) + +/** + * @brief Assert definition. + */ +#define secureportASSERT( x ) \ + if( ( x ) == 0 ) \ + { \ + secureportDISABLE_SECURE_INTERRUPTS(); \ + secureportDISABLE_NON_SECURE_INTERRUPTS(); \ + for( ; ; ) {; } \ + } + +#endif /* __SECURE_PORT_MACROS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/port.c new file mode 100644 index 0000000..852a11c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portasm.s new file mode 100644 index 0000000..6e911bd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portasm.s @@ -0,0 +1,303 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler + +#if ( configENABLE_FPU == 1 ) + #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. +#endif +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + tst r0, r1 /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ + beq running_privileged /* If the result of previous AND operation was 0, branch. */ + movs r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + bx lr /* Return. */ + running_privileged: + movs r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + bx lr /* Return. */ + +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + movs r1, #1 /* r1 = 1. */ + orrs r0, r1 /* r0 = r0 | r1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + bics r3, r4 /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + str r3, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r4, [r1] /* r4 = *r1 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + ldmia r1!, {r5,r6} /* Read first set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write first set of RBAR/RLAR registers. */ + movs r4, #5 /* r4 = 5. */ + str r4, [r2] /* Program RNR = 5. */ + ldmia r1!, {r5,r6} /* Read second set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write second set of RBAR/RLAR registers. */ + movs r4, #6 /* r4 = 6. */ + str r4, [r2] /* Program RNR = 6. */ + ldmia r1!, {r5,r6} /* Read third set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write third set of RBAR/RLAR registers. */ + movs r4, #7 /* r4 = 7. */ + str r4, [r2] /* Program RNR = 7. */ + ldmia r1!, {r5,r6} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + orrs r3, r4 /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + str r3, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r3} /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + msr control, r2 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r3 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r2} /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + bx r2 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + movs r1, #1 /* r1 = 1. */ + bics r0, r1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ + nop +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, PRIMASK + cpsid i + bx lr +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr PRIMASK, r0 + bx lr +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r0, psp /* Read PSP in r0. */ + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ +#if ( configENABLE_MPU == 1 ) + subs r0, r0, #44 /* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + str r0, [r1] /* Save the new top of stack in TCB. */ + mrs r1, psplim /* r1 = PSPLIM. */ + mrs r2, control /* r2 = CONTROL. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r0!, {r1-r7} /* Store on the stack - PSPLIM, CONTROL, LR and low registers that are not automatically saved. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r0!, {r4-r7} /* Store the high registers that are not saved automatically. */ +#else /* configENABLE_MPU */ + subs r0, r0, #40 /* Make space for PSPLIM, LR and the remaining registers on the stack. */ + str r0, [r1] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r0!, {r2-r7} /* Store on the stack - PSPLIM, LR and low registers that are not automatically saved. */ + mov r4, r8 /* r4 = r8. */ + mov r5, r9 /* r5 = r9. */ + mov r6, r10 /* r6 = r10. */ + mov r7, r11 /* r7 = r11. */ + stmia r0!, {r4-r7} /* Store the high registers that are not saved automatically. */ +#endif /* configENABLE_MPU */ + + cpsid i + bl vTaskSwitchContext + cpsie i + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + bics r3, r4 /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ + str r3, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r4, [r1] /* r4 = *r1 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + ldmia r1!, {r5,r6} /* Read first set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write first set of RBAR/RLAR registers. */ + movs r4, #5 /* r4 = 5. */ + str r4, [r2] /* Program RNR = 5. */ + ldmia r1!, {r5,r6} /* Read second set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write second set of RBAR/RLAR registers. */ + movs r4, #6 /* r4 = 6. */ + str r4, [r2] /* Program RNR = 6. */ + ldmia r1!, {r5,r6} /* Read third set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write third set of RBAR/RLAR registers. */ + movs r4, #7 /* r4 = 7. */ + str r4, [r2] /* Program RNR = 7. */ + ldmia r1!, {r5,r6} /* Read fourth set of RBAR/RLAR from TCB. */ + ldr r3, =0xe000ed9c /* r3 = 0xe000ed9c [Location of RBAR]. */ + stmia r3!, {r5,r6} /* Write fourth set of RBAR/RLAR registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + movs r4, #1 /* r4 = 1. */ + orrs r3, r4 /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ + str r3, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + adds r0, r0, #28 /* Move to the high registers. */ + ldmia r0!, {r4-r7} /* Restore the high registers that are not automatically restored. */ + mov r8, r4 /* r8 = r4. */ + mov r9, r5 /* r9 = r5. */ + mov r10, r6 /* r10 = r6. */ + mov r11, r7 /* r11 = r7. */ + msr psp, r0 /* Remember the new top of stack for the task. */ + subs r0, r0, #44 /* Move to the starting of the saved context. */ + ldmia r0!, {r1-r7} /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r7 restored. */ + msr psplim, r1 /* Restore the PSPLIM register value for the task. */ + msr control, r2 /* Restore the CONTROL register value for the task. */ + bx r3 +#else /* configENABLE_MPU */ + adds r0, r0, #24 /* Move to the high registers. */ + ldmia r0!, {r4-r7} /* Restore the high registers that are not automatically restored. */ + mov r8, r4 /* r8 = r4. */ + mov r9, r5 /* r9 = r5. */ + mov r10, r6 /* r10 = r6. */ + mov r11, r7 /* r11 = r7. */ + msr psp, r0 /* Remember the new top of stack for the task. */ + subs r0, r0, #40 /* Move to the starting of the saved context. */ + ldmia r0!, {r2-r7} /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r7 restored. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + bx r3 +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +SVC_Handler: + movs r0, #4 + mov r1, lr + tst r0, r1 + beq stacking_used_msp + mrs r0, psp + b vPortSVCHandler_C + stacking_used_msp: + mrs r0, msp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portmacro.h new file mode 100644 index 0000000..315e712 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ/non_secure/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M23" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) + #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c new file mode 100644 index 0000000..3066af4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c @@ -0,0 +1,608 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM3 port. +*----------------------------------------------------------*/ + +/* IAR includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is + * defined. The value 255 should also ensure backward compatibility. + * FreeRTOS.org versions prior to V4.3.0 did not include this definition. */ +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 255 +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_interrupt() + * call above. */ + __enable_interrupt(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __DSB(); + __WFI(); + __ISB(); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_interrupt(); + __DSB(); + __ISB(); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __enable_interrupt(); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__weak void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/portasm.s new file mode 100644 index 0000000..7c8676c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/portasm.s @@ -0,0 +1,103 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include + + RSEG CODE:CODE(2) + thumb + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + + PUBLIC xPortPendSVHandler + PUBLIC vPortSVCHandler + PUBLIC vPortStartFirstTask + + + +/*-----------------------------------------------------------*/ + +xPortPendSVHandler: + mrs r0, psp + isb + ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */ + ldr r2, [r3] + + stmdb r0!, {r4-r11} /* Save the remaining registers. */ + str r0, [r2] /* Save the new top of stack into the first member of the TCB. */ + + stmdb sp!, {r3, r14} + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r3, r14} + + ldr r1, [r3] + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ + ldmia r0!, {r4-r11} /* Pop the registers. */ + msr psp, r0 + isb + bx r14 + + +/*-----------------------------------------------------------*/ + +vPortSVCHandler: + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r1, [r3] + ldr r0, [r1] + /* Pop the core registers. */ + ldmia r0!, {r4-r11} + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + orr r14, r14, #13 + bx r14 + +/*-----------------------------------------------------------*/ + +vPortStartFirstTask + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + /* Call SVC to start the first task, ensuring interrupts are enabled. */ + cpsie i + cpsie f + dsb + isb + svc 0 + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h new file mode 100644 index 0000000..1d390c0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h @@ -0,0 +1,207 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* IAR includes. */ + #include + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Compiler directives. */ + #define portWEAK_SYMBOL __attribute__( ( weak ) ) + +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + __DSB(); \ + __ISB(); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() \ + { \ + __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ + __DSB(); \ + __ISB(); \ + } + + #define portENABLE_INTERRUPTS() __set_BASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() __get_BASEPRI(); portDISABLE_INTERRUPTS() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) __set_BASEPRI( x ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Pe191 + #pragma diag_suppress=Pa082 + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/port.c new file mode 100644 index 0000000..852a11c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portasm.s new file mode 100644 index 0000000..6b125b2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portasm.s @@ -0,0 +1,345 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +/* Including FreeRTOSConfig.h here will cause build errors if the header file +contains code not understood by the assembler - for example the 'extern' keyword. +To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so +the code is included in C files but excluded by the preprocessor in assembly +files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler. */ +#include "FreeRTOSConfig.h" + + EXTERN pxCurrentTCB + EXTERN xSecureContext + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + EXTERN SecureContext_SaveContext + EXTERN SecureContext_LoadContext + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vPortAllocateSecureContext + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler + PUBLIC vPortFreeSecureContext +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + ite ne + movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is not privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + orr r0, r0, #1 /* r0 = r0 | 1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vPortAllocateSecureContext: + svc 0 /* Secure context is allocated in the supervisor call. portSVC_ALLOCATE_SECURE_CONTEXT = 0. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r3] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r3!, {r4-r11} /* Read 4 set of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r4} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ + ldr r5, =xSecureContext + str r1, [r5] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + msr control, r3 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r4 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r3} /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ + ldr r4, =xSecureContext + str r1, [r4] /* Set xSecureContext to this task's value for the same. */ + msr psplim, r2 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r3 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + bic r0, r0, #1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + cpsie f + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, basepri /* r0 = basepri. Return original basepri value. */ + mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r1 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr basepri, r0 /* basepri = ulMask. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r1, psp /* Read PSP in r1. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + ldr r0, [r2] /* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */ + + cbz r0, save_ns_context /* No secure context to save. */ + push {r0-r2, r14} + bl SecureContext_SaveContext + pop {r0-r3} /* LR is now in r3. */ + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl save_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ +#if ( configENABLE_MPU == 1 ) + subs r1, r1, #16 /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ +#else /* configENABLE_MPU */ + subs r1, r1, #12 /* Make space for xSecureContext, PSPLIM and LR on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmia r1!, {r0, r2-r3} /* Store xSecureContext, PSPLIM and LR on the stack. */ +#endif /* configENABLE_MPU */ + b select_next_task + + save_ns_context: + ldr r3, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r2, [r3] /* Read pxCurrentTCB. */ + #if ( configENABLE_FPU == 1 ) + tst lr, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vstmdbeq r1!, {s16-s31} /* Store the FPU registers which are not saved automatically. */ + #endif /* configENABLE_FPU */ + #if ( configENABLE_MPU == 1 ) + subs r1, r1, #48 /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + adds r1, r1, #16 /* r1 = r1 + 16. */ + stm r1, {r4-r11} /* Store the registers that are not saved automatically. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mrs r3, control /* r3 = CONTROL. */ + mov r4, lr /* r4 = LR/EXC_RETURN. */ + subs r1, r1, #16 /* r1 = r1 - 16. */ + stm r1, {r0, r2-r4} /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ + #else /* configENABLE_MPU */ + subs r1, r1, #44 /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ + str r1, [r2] /* Save the new top of stack in TCB. */ + adds r1, r1, #12 /* r1 = r1 + 12. */ + stm r1, {r4-r11} /* Store the registers that are not saved automatically. */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + subs r1, r1, #12 /* r1 = r1 - 12. */ + stmia r1!, {r0, r2-r3} /* Store xSecureContext, PSPLIM and LR on the stack. */ + #endif /* configENABLE_MPU */ + + select_next_task: + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bl vTaskSwitchContext + mov r0, #0 /* r0 = 0. */ + msr basepri, r0 /* Enable interrupts. */ + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r3, [r2] /* Read pxCurrentTCB. */ + ldr r1, [r3] /* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */ + + #if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r3, #4 /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ + ldr r4, [r3] /* r4 = *r3 i.e. r4 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r4, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r4, #4 /* r4 = 4. */ + str r4, [r2] /* Program RNR = 4. */ + adds r3, #4 /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r3!, {r4-r11} /* Read 4 sets of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + #endif /* configENABLE_MPU */ + + #if ( configENABLE_MPU == 1 ) + ldmia r1!, {r0, r2-r4} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + msr control, r3 /* Restore the CONTROL register value for the task. */ + mov lr, r4 /* LR = r4. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r4} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r4} + mov lr, r4 /* LR = r4. */ + lsls r2, r4, #25 /* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #else /* configENABLE_MPU */ + ldmia r1!, {r0, r2-r3} /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ + mov lr, r3 /* LR = r3. */ + ldr r2, =xSecureContext /* Read the location of xSecureContext i.e. &( xSecureContext ). */ + str r0, [r2] /* Restore the task's xSecureContext. */ + cbz r0, restore_ns_context /* If there is no secure context for the task, restore the non-secure context. */ + push {r1,r3} + bl SecureContext_LoadContext /* Restore the secure context. */ + pop {r1,r3} + mov lr, r3 /* LR = r3. */ + lsls r2, r3, #25 /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */ + bpl restore_ns_context /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr + #endif /* configENABLE_MPU */ + + restore_ns_context: + ldmia r1!, {r4-r11} /* Restore the registers that are not automatically restored. */ + #if ( configENABLE_FPU == 1 ) + tst lr, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vldmiaeq r1!, {s16-s31} /* Restore the FPU registers which are not restored automatically. */ + #endif /* configENABLE_FPU */ + msr psp, r1 /* Remember the new top of stack for the task. */ + bx lr +/*-----------------------------------------------------------*/ + +SVC_Handler: + tst lr, #4 + ite eq + mrseq r0, msp + mrsne r0, psp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + +vPortFreeSecureContext: + /* r0 = uint32_t *pulTCB. */ + ldr r1, [r0] /* The first item in the TCB is the top of the stack. */ + ldr r0, [r1] /* The first item on the stack is the task's xSecureContext. */ + cmp r0, #0 /* Raise svc if task's xSecureContext is not NULL. */ + it ne + svcne 1 /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 1. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portmacro.h new file mode 100644 index 0000000..e3fa10a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/non_secure/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context.c new file mode 100644 index 0000000..046bf4e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context.c @@ -0,0 +1,206 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief CONTROL value for privileged tasks. + * + * Bit[0] - 0 --> Thread mode is privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 + +/** + * @brief CONTROL value for un-privileged tasks. + * + * Bit[0] - 1 --> Thread mode is un-privileged. + * Bit[1] - 1 --> Thread mode uses PSP. + */ +#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 +/*-----------------------------------------------------------*/ + +/** + * @brief Structure to represent secure context. + * + * @note Since stack grows down, pucStackStart is the highest address while + * pucStackLimit is the first addess of the allocated memory. + */ +typedef struct SecureContext +{ + uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ + uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ + uint8_t * pucStackStart; /**< First location of the stack memory. */ +} SecureContext_t; +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* No stack for thread mode until a task's context is loaded. */ + secureportSET_PSPLIM( securecontextNO_STACK ); + secureportSET_PSP( securecontextNO_STACK ); + + #if ( configENABLE_MPU == 1 ) + { + /* Configure thread mode to use PSP and to be unprivileged. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); + } + #else /* configENABLE_MPU */ + { + /* Configure thread mode to use PSP and to be privileged.. */ + secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); + } + #endif /* configENABLE_MPU */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ) +#else /* configENABLE_MPU */ + secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) +#endif /* configENABLE_MPU */ +{ + uint8_t * pucStackMemory = NULL; + uint32_t ulIPSR; + SecureContextHandle_t xSecureContextHandle = NULL; + + #if ( configENABLE_MPU == 1 ) + uint32_t * pulCurrentStackPointer = NULL; + #endif /* configENABLE_MPU */ + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Allocate the context structure. */ + xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) ); + + if( xSecureContextHandle != NULL ) + { + /* Allocate the stack space. */ + pucStackMemory = pvPortMalloc( ulSecureStackSize ); + + if( pucStackMemory != NULL ) + { + /* Since stack grows down, the starting point will be the last + * location. Note that this location is next to the last + * allocated byte because the hardware decrements the stack + * pointer before writing i.e. if stack pointer is 0x2, a push + * operation will decrement the stack pointer to 0x1 and then + * write at 0x1. */ + xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize; + + /* The stack cannot go beyond this location. This value is + * programmed in the PSPLIM register on context switch.*/ + xSecureContextHandle->pucStackLimit = pucStackMemory; + + #if ( configENABLE_MPU == 1 ) + { + /* Store the correct CONTROL value for the task on the stack. + * This value is programmed in the CONTROL register on + * context switch. */ + pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart; + pulCurrentStackPointer--; + + if( ulIsTaskPrivileged ) + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED; + } + else + { + *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED; + } + + /* Store the current stack pointer. This value is programmed in + * the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; + } + #else /* configENABLE_MPU */ + { + /* Current SP is set to the starting of the stack. This + * value programmed in the PSP register on context switch. */ + xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart; + } + #endif /* configENABLE_MPU */ + } + else + { + /* Free the context to avoid memory leak and make sure to return + * NULL to indicate failure. */ + vPortFree( xSecureContextHandle ); + xSecureContextHandle = NULL; + } + } + } + + return xSecureContextHandle; +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* Ensure that valid parameters are passed. */ + secureportASSERT( xSecureContextHandle != NULL ); + + /* Free the stack space. */ + vPortFree( xSecureContextHandle->pucStackLimit ); + + /* Free the context itself. */ + vPortFree( xSecureContextHandle ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context.h new file mode 100644 index 0000000..532a407 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_CONTEXT_H__ +#define __SECURE_CONTEXT_H__ + +/* Standard includes. */ +#include + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" + +/** + * @brief PSP value when no task's context is loaded. + */ +#define securecontextNO_STACK 0x0 + +/** + * @brief Opaque handle. + */ +struct SecureContext; +typedef struct SecureContext * SecureContextHandle_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Initializes the secure context management system. + * + * PSP is set to NULL and therefore a task must allocate and load a context + * before calling any secure side function in the thread mode. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureContext_Init( void ); + +/** + * @brief Allocates a context on the secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] ulSecureStackSize Size of the stack to allocate on secure side. + * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise. + * + * @return Opaque context handle if context is successfully allocated, NULL + * otherwise. + */ +#if ( configENABLE_MPU == 1 ) + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, + uint32_t ulIsTaskPrivileged ); +#else /* configENABLE_MPU */ + SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); +#endif /* configENABLE_MPU */ + +/** + * @brief Frees the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the + * context to be freed. + */ +void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Loads the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be loaded. + */ +void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ); + +/** + * @brief Saves the given context. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + * + * @param[in] xSecureContextHandle Context handle corresponding to the context + * to be saved. + */ +void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ); + +#endif /* __SECURE_CONTEXT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context_port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context_port.c new file mode 100644 index 0000000..455b90c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context_port.c @@ -0,0 +1,48 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Secure context includes. */ +#include "secure_context.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/* Functions implemented in assembler file. */ +extern void SecureContext_LoadContextAsm( SecureContextHandle_t xSecureContextHandle ); +extern void SecureContext_SaveContextAsm( SecureContextHandle_t xSecureContextHandle ); + +secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_LoadContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) +{ + SecureContext_SaveContextAsm( xSecureContextHandle ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context_port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context_port_asm.s new file mode 100644 index 0000000..d2c599d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_context_port_asm.s @@ -0,0 +1,73 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + SECTION .text:CODE:NOROOT(2) + THUMB + + PUBLIC SecureContext_LoadContextAsm + PUBLIC SecureContext_SaveContextAsm +/*-----------------------------------------------------------*/ + +SecureContext_LoadContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, load_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + ldmia r0!, {r1, r2} /* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */ +#if ( configENABLE_MPU == 1 ) + ldmia r1!, {r3} /* Read CONTROL register value from task's stack. r3 = CONTROL. */ + msr control, r3 /* CONTROL = r3. */ +#endif /* configENABLE_MPU */ + msr psplim, r2 /* PSPLIM = r2. */ + msr psp, r1 /* PSP = r1. */ + + load_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + +SecureContext_SaveContextAsm: + /* xSecureContextHandle value is in r0. */ + mrs r1, ipsr /* r1 = IPSR. */ + cbz r1, save_ctx_therad_mode /* Do nothing if the processor is running in the Thread Mode. */ + mrs r1, psp /* r1 = PSP. */ +#if ( configENABLE_FPU == 1 ) + vstmdb r1!, {s0} /* Trigger the defferred stacking of FPU registers. */ + vldmia r1!, {s0} /* Nullify the effect of the pervious statement. */ +#endif /* configENABLE_FPU */ +#if ( configENABLE_MPU == 1 ) + mrs r2, control /* r2 = CONTROL. */ + stmdb r1!, {r2} /* Store CONTROL value on the stack. */ +#endif /* configENABLE_MPU */ + str r1, [r0] /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ + movs r1, #0 /* r1 = securecontextNO_STACK. */ + msr psplim, r1 /* PSPLIM = securecontextNO_STACK. */ + msr psp, r1 /* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */ + + save_ctx_therad_mode: + bx lr +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_heap.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_heap.c new file mode 100644 index 0000000..82dbd9e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_heap.c @@ -0,0 +1,454 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure context heap includes. */ +#include "secure_heap.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Total heap size. + */ +#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) + +/* No test marker by default. */ +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif + +/* No tracing by default. */ +#ifndef traceMALLOC + #define traceMALLOC( pvReturn, xWantedSize ) +#endif + +/* No tracing by default. */ +#ifndef traceFREE + #define traceFREE( pv, xBlockSize ) +#endif + +/* Block sizes must not get too small. */ +#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) +/*-----------------------------------------------------------*/ + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#else /* configAPPLICATION_ALLOCATED_HEAP */ + static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/** + * @brief The linked list structure. + * + * This is used to link free blocks in order of their memory address. + */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */ + size_t xBlockSize; /**< The size of the free block. */ +} BlockLink_t; +/*-----------------------------------------------------------*/ + +/** + * @brief Called automatically to setup the required heap structures the first + * time pvPortMalloc() is called. + */ +static void prvHeapInit( void ); + +/** + * @brief Inserts a block of memory that is being freed into the correct + * position in the list of free memory blocks. + * + * The block being freed will be merged with the block in front it and/or the + * block behind it if the memory blocks are adjacent to each other. + * + * @param[in] pxBlockToInsert The block being freed. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ); +/*-----------------------------------------------------------*/ + +/** + * @brief The size of the structure placed at the beginning of each allocated + * memory block must by correctly byte aligned. + */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + +/** + * @brief Create a couple of list links to mark the start and end of the list. + */ +static BlockLink_t xStart, * pxEnd = NULL; + +/** + * @brief Keeps track of the number of free bytes remaining, but says nothing + * about fragmentation. + */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; + +/** + * @brief Gets set to the top bit of an size_t type. + * + * When this bit in the xBlockSize member of an BlockLink_t structure is set + * then the block belongs to the application. When the bit is free the block is + * still part of the free heap space. + */ +static size_t xBlockAllocatedBit = 0; +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + size_t uxAddress; + size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; + + /* Ensure the heap starts on a correctly aligned boundary. */ + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* pxEnd is used to mark the end of the list of free blocks and is inserted + * at the end of the heap space. */ + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space, minus the space taken by pxEnd. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; + pxFirstFreeBlock->pxNextFreeBlock = pxEnd; + + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( pxEnd == NULL ) + { + prvHeapInit(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Check the requested block size is not so large that the top bit is set. + * The top bit of the block size member of the BlockLink_t structure is used + * to determine who owns the block - the application or the kernel, so it + * must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned to the required number of + * bytes. */ + if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. */ + xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); + secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size was + * not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 ); + + /* Calculate the sizes of two blocks split from the single + * block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( pxNewBlockLink ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned by + * the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + + #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */ + + secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + secureportASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + secureportDISABLE_NON_SECURE_INTERRUPTS(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + } + secureportENABLE_NON_SECURE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_heap.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_heap.h new file mode 100644 index 0000000..fa78046 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_heap.h @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_HEAP_H__ +#define __SECURE_HEAP_H__ + +/* Standard includes. */ +#include + +/** + * @brief Allocates memory from heap. + * + * @param[in] xWantedSize The size of the memory to be allocated. + * + * @return Pointer to the memory region if the allocation is successful, NULL + * otherwise. + */ +void * pvPortMalloc( size_t xWantedSize ); + +/** + * @brief Frees the previously allocated memory. + * + * @param[in] pv Pointer to the memory to be freed. + */ +void vPortFree( void * pv ); + +#endif /* __SECURE_HEAP_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_init.c new file mode 100644 index 0000000..4e6018d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_init.c @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Secure init includes. */ +#include "secure_init.h" + +/* Secure port macros. */ +#include "secure_port_macros.h" + +/** + * @brief Constants required to manipulate the SCB. + */ +#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ +#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) +#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) +#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) +#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) + +/** + * @brief Constants required to manipulate the FPU. + */ +#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define secureinitFPCCR_LSPENS_POS ( 29UL ) +#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) +#define secureinitFPCCR_TS_POS ( 26UL ) +#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) + +#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ +#define secureinitNSACR_CP10_POS ( 10UL ) +#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) +#define secureinitNSACR_CP11_POS ( 11UL ) +#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | + ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | + ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); + } +} +/*-----------------------------------------------------------*/ + +secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) +{ + uint32_t ulIPSR; + + /* Read the Interrupt Program Status Register (IPSR) value. */ + secureportREAD_IPSR( ulIPSR ); + + /* Do nothing if the processor is running in the Thread Mode. IPSR is zero + * when the processor is running in the Thread Mode. */ + if( ulIPSR != 0 ) + { + /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is + * permitted. CP11 should be programmed to the same value as CP10. */ + *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); + + /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures + * that we can enable/disable lazy stacking in port.c file. */ + *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK ); + + /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP + * registers (S16-S31) are also pushed to stack on exception entry and + * restored on exception return. */ + *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); + } +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_init.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_init.h new file mode 100644 index 0000000..39deb36 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_init.h @@ -0,0 +1,53 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_INIT_H__ +#define __SECURE_INIT_H__ + +/** + * @brief De-prioritizes the non-secure exceptions. + * + * This is needed to ensure that the non-secure PendSV runs at the lowest + * priority. Context switch is done in the non-secure PendSV handler. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_DePrioritizeNSExceptions( void ); + +/** + * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access. + * + * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point + * Registers are not leaked to the non-secure side. + * + * @note This function must be called in the handler mode. It is no-op if called + * in the thread mode. + */ +void SecureInit_EnableNSFPUAccess( void ); + +#endif /* __SECURE_INIT_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_port_macros.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_port_macros.h new file mode 100644 index 0000000..7b8dbed --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33/secure/secure_port_macros.h @@ -0,0 +1,133 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __SECURE_PORT_MACROS_H__ +#define __SECURE_PORT_MACROS_H__ + +/** + * @brief Byte alignment requirements. + */ +#define secureportBYTE_ALIGNMENT 8 +#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) + +/** + * @brief Macro to declare a function as non-secure callable. + */ +#if defined( __IAR_SYSTEMS_ICC__ ) + #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root +#else + #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) ) +#endif + +/** + * @brief Set the secure PRIMASK value. + */ +#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Set the non-secure PRIMASK value. + */ +#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ + __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) + +/** + * @brief Read the PSP value in the given variable. + */ +#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ + __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) + +/** + * @brief Set the PSP to the given value. + */ +#define secureportSET_PSP( pucCurrentStackPointer ) \ + __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) + +/** + * @brief Set the PSPLIM to the given value. + */ +#define secureportSET_PSPLIM( pucStackLimit ) \ + __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) + +/** + * @brief Set the NonSecure MSP to the given value. + */ +#define secureportSET_MSP_NS( pucMainStackPointer ) \ + __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) + +/** + * @brief Set the CONTROL register to the given value. + */ +#define secureportSET_CONTROL( ulControl ) \ + __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) + +/** + * @brief Read the Interrupt Program Status Register (IPSR) value in the given + * variable. + */ +#define secureportREAD_IPSR( ulIPSR ) \ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) + +/** + * @brief PRIMASK value to enable interrupts. + */ +#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 + +/** + * @brief PRIMASK value to disable interrupts. + */ +#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 + +/** + * @brief Disable secure interrupts. + */ +#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Disable non-secure interrupts. + * + * This effectively disables context switches. + */ +#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) + +/** + * @brief Enable non-secure interrupts. + */ +#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) + +/** + * @brief Assert definition. + */ +#define secureportASSERT( x ) \ + if( ( x ) == 0 ) \ + { \ + secureportDISABLE_SECURE_INTERRUPTS(); \ + secureportDISABLE_NON_SECURE_INTERRUPTS(); \ + for( ; ; ) {; } \ + } + +#endif /* __SECURE_PORT_MACROS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/port.c new file mode 100644 index 0000000..852a11c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/port.c @@ -0,0 +1,1192 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/* Portasm includes. */ +#include "portasm.h" + +#if ( configENABLE_TRUSTZONE == 1 ) + /* Secure components includes. */ + #include "secure_context.h" + #include "secure_init.h" +#endif /* configENABLE_TRUSTZONE */ + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/** + * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only + * i.e. the processor boots as secure and never jumps to the non-secure side. + * The Trust Zone support in the port must be disabled in order to run FreeRTOS + * on the secure side. The following are the valid configuration seetings: + * + * 1. Run FreeRTOS on the Secure Side: + * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 + * + * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 + * + * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: + * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 + */ +#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) + #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the NVIC. + */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the + * same a the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the SCB. + */ +#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) +#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the FPU. + */ +#define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ +#define portCPACR_CP10_VALUE ( 3UL ) +#define portCPACR_CP11_VALUE portCPACR_CP10_VALUE +#define portCPACR_CP10_POS ( 20UL ) +#define portCPACR_CP11_POS ( 22UL ) + +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ +#define portFPCCR_ASPEN_POS ( 31UL ) +#define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) +#define portFPCCR_LSPEN_POS ( 30UL ) +#define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to manipulate the MPU. + */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) + +#define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) +#define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) + +#define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) +#define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) + +#define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) +#define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) + +#define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) +#define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) + +#define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) +#define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) + +#define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ +#define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ + +#define portMPU_MAIR_ATTR0_POS ( 0UL ) +#define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR1_POS ( 8UL ) +#define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR2_POS ( 16UL ) +#define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR3_POS ( 24UL ) +#define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) + +#define portMPU_MAIR_ATTR4_POS ( 0UL ) +#define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) + +#define portMPU_MAIR_ATTR5_POS ( 8UL ) +#define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) + +#define portMPU_MAIR_ATTR6_POS ( 16UL ) +#define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) + +#define portMPU_MAIR_ATTR7_POS ( 24UL ) +#define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) + +#define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) +#define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) + +#define portMPU_RLAR_REGION_ENABLE ( 1UL ) + +/* Enable privileged access to unmapped region. */ +#define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) + +/* Enable MPU. */ +#define portMPU_ENABLE_BIT ( 1UL << 0UL ) + +/* Expected value of the portMPU_TYPE register. */ +#define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ +/*-----------------------------------------------------------*/ + +/** + * @brief The maximum 24-bit number. + * + * It is needed because the systick is a 24-bit counter. + */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/** + * @brief A fiddle factor to estimate the number of SysTick counts that would + * have occurred while the SysTick counter is stopped during tickless idle + * calculations. + */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Constants required to set up the initial stack. + */ +#define portINITIAL_XPSR ( 0x01000000 ) + +#if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF FD + * 1111 1111 1111 1111 1111 1111 1111 1101 + * + * Bit[6] - 1 --> The exception was taken from the Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 1 --> The exception was taken to the Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#else + +/** + * @brief Initial EXC_RETURN value. + * + * FF FF FF BC + * 1111 1111 1111 1111 1111 1111 1011 1100 + * + * Bit[6] - 0 --> The exception was taken from the Non-Secure state. + * Bit[5] - 1 --> Do not skip stacking of additional state context. + * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. + * Bit[3] - 1 --> Return to the Thread mode. + * Bit[2] - 1 --> Restore registers from the process stack. + * Bit[1] - 0 --> Reserved, 0. + * Bit[0] - 0 --> The exception was taken to the Non-Secure state. + */ + #define portINITIAL_EXC_RETURN ( 0xffffffbc ) +#endif /* configRUN_FREERTOS_SECURE_ONLY */ + +/** + * @brief CONTROL register privileged bit mask. + * + * Bit[0] in CONTROL register tells the privilege: + * Bit[0] = 0 ==> The task is privileged. + * Bit[0] = 1 ==> The task is not privileged. + */ +#define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) + +/** + * @brief Initial CONTROL register values. + */ +#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) +#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) + +/** + * @brief Let the user override the pre-loading of the initial LR with the + * address of prvTaskExitError() in case it messes up unwinding of the stack + * in the debugger. + */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/** + * @brief If portPRELOAD_REGISTERS then registers will be given an initial value + * when a task is created. This helps in debugging at the cost of code size. + */ +#define portPRELOAD_REGISTERS 1 + +/** + * @brief A task is created without a secure context, and must call + * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes + * any secure calls. + */ +#define portNO_SECURE_CONTEXT 0 +/*-----------------------------------------------------------*/ + +/** + * @brief Used to catch tasks that attempt to return from their implementing + * function. + */ +static void prvTaskExitError( void ); + +#if ( configENABLE_MPU == 1 ) + +/** + * @brief Setup the Memory Protection Unit (MPU). + */ + static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + +/** + * @brief Setup the Floating Point Unit (FPU). + */ + static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; +#endif /* configENABLE_FPU */ + +/** + * @brief Setup the timer to generate the tick interrupts. + * + * The implementation in this file is weak to allow application writers to + * change the timer used to generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether the current execution context is interrupt. + * + * @return pdTRUE if the current execution context is interrupt, pdFALSE + * otherwise. + */ +BaseType_t xPortIsInsideInterrupt( void ); + +/** + * @brief Yield the processor. + */ +void vPortYield( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Enter critical section. + */ +void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Exit from critical section. + */ +void vPortExitCritical( void ) PRIVILEGED_FUNCTION; + +/** + * @brief SysTick handler. + */ +void SysTick_Handler( void ) PRIVILEGED_FUNCTION; + +/** + * @brief C part of SVC handler. + */ +portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/** + * @brief Each task maintains its own interrupt status in the critical nesting + * variable. + */ +PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +#if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Saved as part of the task context to indicate which context the + * task is using on the secure side. + */ + PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; +#endif /* configENABLE_TRUSTZONE */ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + +/** + * @brief The number of SysTick increments that make up one tick period. + */ + PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; + +/** + * @brief The maximum number of tick periods that can be suppressed is + * limited by the 24 bit resolution of the SysTick timer. + */ + PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; + +/** + * @brief Compensate for the CPU cycles that pass while the SysTick is + * stopped (low power functionality only). + */ + PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for is + * accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be un-suspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation + * contains its own wait for interrupt or wait for event + * instruction, and so wfi should not be executed again. However, + * the original expected idle time variable must remain unmodified, + * so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "wfi" ); + __asm volatile ( "isb" ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. See comments above + * the cpsid instruction above. */ + __asm volatile ( "cpsie i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will + * increase any slippage between the time maintained by the RTOS and + * calendar time. */ + __asm volatile ( "cpsid i" ::: "memory" ); + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. + * Again, the time the SysTick is stopped for is accounted for as + * best it can be, but using the tickless mode will inevitably + * result in some tiny drift of the time maintained by the kernel + * with respect to calendar time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is + * yet to count to zero (in which case an interrupt other than the + * SysTick must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is + * stepped forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm volatile ( "cpsie i" ::: "memory" ); + } + } +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + volatile uint32_t ulDummy = 0UL; + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, then stop here so + * application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + * started to remove a compiler warning about the function being + * defined but never called. ulDummy is used purely to quieten other + * warnings about code appearing after this function is called - making + * ulDummy volatile makes the compiler think the function could return + * and therefore not output an 'unreachable code' warning for code that + * appears after it. */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_functions_start__; + extern uint32_t * __privileged_functions_end__; + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + extern uint32_t * __unprivileged_flash_start__; + extern uint32_t * __unprivileged_flash_end__; + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else /* if defined( __ARMCC_VERSION ) */ + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + extern uint32_t __unprivileged_flash_start__[]; + extern uint32_t __unprivileged_flash_end__[]; + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Check that the MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* MAIR0 - Index 0. */ + portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + /* MAIR0 - Index 1. */ + portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* Setup privileged flash as Read Only so that privileged tasks can + * read it but not modify. */ + portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged flash as Read Only by both privileged and + * unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup unprivileged syscalls flash as Read Only by both privileged + * and unprivileged tasks. All tasks can read it but no-one can modify. */ + portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_ONLY ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Setup RAM containing kernel data for privileged access only. */ + portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; + portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Enable mem fault. */ + portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; + + /* Enable MPU with privileged background access i.e. unmapped + * regions have privileged access. */ + portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +#if ( configENABLE_FPU == 1 ) + static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ + { + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* Enable non-secure access to the FPU. */ + SecureInit_EnableNSFPUAccess(); + } + #endif /* configENABLE_TRUSTZONE */ + + /* CP10 = 11 ==> Full access to FPU i.e. both privileged and + * unprivileged code should be able to access FPU. CP11 should be + * programmed to the same value as CP10. */ + *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | + ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) + ); + + /* ASPEN = 1 ==> Hardware should automatically preserve floating point + * context on exception entry and restore on exception return. + * LSPEN = 1 ==> Enable lazy context save of FP state. */ + *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); + } +#endif /* configENABLE_FPU */ +/*-----------------------------------------------------------*/ + +void vPortYield( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + + /* Barriers are normally not required but do ensure the code is + * completely within the specified behaviour for the architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ +{ + #if ( configENABLE_MPU == 1 ) + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __syscalls_flash_start__; + extern uint32_t * __syscalls_flash_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + #endif /* configENABLE_MPU */ + + uint32_t ulPC; + + #if ( configENABLE_TRUSTZONE == 1 ) + uint32_t ulR0; + #if ( configENABLE_MPU == 1 ) + uint32_t ulControl, ulIsTaskPrivileged; + #endif /* configENABLE_MPU */ + #endif /* configENABLE_TRUSTZONE */ + uint8_t ucSVCNumber; + + /* Register are stored on the stack in the following order - R0, R1, R2, R3, + * R12, LR, PC, xPSR. */ + ulPC = pulCallerStackAddress[ 6 ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + #if ( configENABLE_TRUSTZONE == 1 ) + case portSVC_ALLOCATE_SECURE_CONTEXT: + + /* R0 contains the stack size passed as parameter to the + * vPortAllocateSecureContext function. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + #if ( configENABLE_MPU == 1 ) + { + /* Read the CONTROL register value. */ + __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); + + /* The task that raised the SVC is privileged if Bit[0] + * in the CONTROL register is 0. */ + ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); + + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged ); + } + #else /* if ( configENABLE_MPU == 1 ) */ + { + /* Allocate and load a context for the secure task. */ + xSecureContext = SecureContext_AllocateContext( ulR0 ); + } + #endif /* configENABLE_MPU */ + + configASSERT( xSecureContext != NULL ); + SecureContext_LoadContext( xSecureContext ); + break; + + case portSVC_FREE_SECURE_CONTEXT: + /* R0 contains the secure context handle to be freed. */ + ulR0 = pulCallerStackAddress[ 0 ]; + + /* Free the secure context. */ + SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 ); + break; + #endif /* configENABLE_TRUSTZONE */ + + case portSVC_START_SCHEDULER: + #if ( configENABLE_TRUSTZONE == 1 ) + { + /* De-prioritize the non-secure exceptions so that the + * non-secure pendSV runs at the lowest priority. */ + SecureInit_DePrioritizeNSExceptions(); + + /* Initialize the secure context management system. */ + SecureContext_Init(); + } + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_FPU == 1 ) + { + /* Setup the Floating Point Unit (FPU). */ + prvSetupFPU(); + } + #endif /* configENABLE_FPU */ + + /* Setup the context of the first task so that the first task starts + * executing. */ + vRestoreContextOfFirstTask(); + break; + + #if ( configENABLE_MPU == 1 ) + case portSVC_RAISE_PRIVILEGE: + + /* Only raise the privilege, if the svc was raised from any of + * the system calls. */ + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + vRaisePrivilege(); + } + break; + #endif /* configENABLE_MPU */ + + default: + /* Incorrect SVC call. */ + configASSERT( pdFALSE ); + } +} +/*-----------------------------------------------------------*/ +/* *INDENT-OFF* */ +#if ( configENABLE_MPU == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) /* PRIVILEGED_FUNCTION */ +#endif /* configENABLE_MPU */ +/* *INDENT-ON* */ +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + #if ( portPRELOAD_REGISTERS == 0 ) + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ + *pxTopOfStack = portINITIAL_EXC_RETURN; + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #else /* portPRELOAD_REGISTERS */ + { + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ + + #if ( configENABLE_MPU == 1 ) + { + pxTopOfStack--; + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ + } + } + #endif /* configENABLE_MPU */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ + + #if ( configENABLE_TRUSTZONE == 1 ) + { + pxTopOfStack--; + *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ + } + #endif /* configENABLE_TRUSTZONE */ + } + #endif /* portPRELOAD_REGISTERS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + #if ( configENABLE_MPU == 1 ) + { + /* Setup the Memory Protection Unit (MPU). */ + prvSetupMPU(); + } + #endif /* configENABLE_MPU */ + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialize the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Start the first task. */ + vStartFirstTask(); + + /* Should never get here as the tasks will now be executing. Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. Call + * vTaskSwitchContext() so link time optimization does not remove the + * symbol. */ + vTaskSwitchContext(); + prvTaskExitError(); + + /* Should not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +#if ( configENABLE_MPU == 1 ) + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) + { + uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; + int32_t lIndex = 0; + + #if defined( __ARMCC_VERSION ) + + /* Declaration when these variable are defined in code instead of being + * exported from linker scripts. */ + extern uint32_t * __privileged_sram_start__; + extern uint32_t * __privileged_sram_end__; + #else + /* Declaration when these variable are exported from linker scripts. */ + extern uint32_t __privileged_sram_start__[]; + extern uint32_t __privileged_sram_end__[]; + #endif /* defined( __ARMCC_VERSION ) */ + + /* Setup MAIR0. */ + xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); + xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); + + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that + * the stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; + ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; + + /* If the stack is within the privileged SRAM, do not protect it + * using a separate MPU region. This is needed because privileged + * SRAM is already protected using an MPU region and ARMv8-M does + * not allow overlapping MPU regions. */ + if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && + ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) + { + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; + } + else + { + /* Define the region that allows access to the stack. */ + ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ) | + ( portMPU_REGION_READ_WRITE ) | + ( portMPU_REGION_EXECUTE_NEVER ); + + xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_ATTR_INDEX0 ) | + ( portMPU_RLAR_REGION_ENABLE ); + } + } + + /* User supplied configurable regions. */ + for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) + { + /* If xRegions is NULL i.e. the task has not specified any MPU + * region, the else part ensures that all the configurable MPU + * regions are invalidated. */ + if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) + { + /* Translate the generic region definition contained in xRegions + * into the ARMv8 specific MPU settings that are then stored in + * xMPUSettings. */ + ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; + ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; + ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; + + /* Start address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | + ( portMPU_REGION_NON_SHAREABLE ); + + /* RO/RW. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); + } + else + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); + } + + /* XN. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) + { + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); + } + + /* End Address. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | + ( portMPU_RLAR_REGION_ENABLE ); + + /* Normal memory/ Device memory. */ + if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) + { + /* Attr1 in MAIR0 is configured as device memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; + } + else + { + /* Attr1 in MAIR0 is configured as normal memory. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; + } + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; + xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; + } + + lIndex++; + } + } +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. Interrupt Program + * Status Register (IPSR) holds the exception number of the currently-executing + * exception or zero for Thread mode.*/ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portasm.h new file mode 100644 index 0000000..b01f171 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portasm.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef __PORT_ASM_H__ +#define __PORT_ASM_H__ + +/* Scheduler includes. */ +#include "FreeRTOS.h" + +/* MPU wrappers includes. */ +#include "mpu_wrappers.h" + +/** + * @brief Restore the context of the first task so that the first task starts + * executing. + */ +void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); + +/** + * @brief Raises the privilege level by clearing the bit 0 of the CONTROL + * register. + * + * @note This is a privileged function and should only be called from the kenrel + * code. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ) __attribute__( ( naked ) ); + +/** + * @brief Starts the first task. + */ +void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Disables interrupts. + */ +uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Enables interrupts. + */ +void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief PendSV Exception handler. + */ +void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief SVC Handler. + */ +void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +/** + * @brief Allocate a Secure context for the calling task. + * + * @param[in] ulSecureStackSize The size of the stack to be allocated on the + * secure side for the calling task. + */ +void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) ); + +/** + * @brief Free the task's secure context. + * + * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. + */ +void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; + +#endif /* __PORT_ASM_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portasm.s new file mode 100644 index 0000000..b65f0f4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portasm.s @@ -0,0 +1,261 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +/* Including FreeRTOSConfig.h here will cause build errors if the header file +contains code not understood by the assembler - for example the 'extern' keyword. +To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so +the code is included in C files but excluded by the preprocessor in assembly +files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler. */ +#include "FreeRTOSConfig.h" + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + PUBLIC vRestoreContextOfFirstTask + PUBLIC vRaisePrivilege + PUBLIC vStartFirstTask + PUBLIC ulSetInterruptMask + PUBLIC vClearInterruptMask + PUBLIC PendSV_Handler + PUBLIC SVC_Handler +/*-----------------------------------------------------------*/ + +/*---------------- Unprivileged Functions -------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION .text:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + ite ne + movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is not privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + orr r0, r0, #1 /* r0 = r0 | 1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +/*----------------- Privileged Functions --------------------*/ + +/*-----------------------------------------------------------*/ + + SECTION privileged_functions:CODE:NOROOT(2) + THUMB +/*-----------------------------------------------------------*/ + +vRestoreContextOfFirstTask: + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r3, [r1] /* r3 = *r1 i.e. r3 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r3, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r3, #4 /* r3 = 4. */ + str r3, [r2] /* Program RNR = 4. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r1!, {r4-r11} /* Read 4 sets of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldm r0!, {r1-r3} /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + msr control, r2 /* Set this task's CONTROL value. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r3 /* Finally, branch to EXC_RETURN. */ +#else /* configENABLE_MPU */ + ldm r0!, {r1-r2} /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ + msr psplim, r1 /* Set this task's PSPLIM value. */ + movs r1, #2 /* r1 = 2. */ + msr CONTROL, r1 /* Switch to use PSP in the thread mode. */ + adds r0, #32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + isb + mov r0, #0 + msr basepri, r0 /* Ensure that interrupts are enabled when the first task starts. */ + bx r2 /* Finally, branch to EXC_RETURN. */ +#endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +vRaisePrivilege: + mrs r0, control /* Read the CONTROL register. */ + bic r0, r0, #1 /* Clear the bit 0. */ + msr control, r0 /* Write back the new CONTROL value. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + +vStartFirstTask: + ldr r0, =0xe000ed08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [r0] /* Read the VTOR register which gives the address of vector table. */ + ldr r0, [r0] /* The first entry in vector table is stack pointer. */ + msr msp, r0 /* Set the MSP back to the start of the stack. */ + cpsie i /* Globally enable interrupts. */ + cpsie f + dsb + isb + svc 2 /* System call to start the first task. portSVC_START_SCHEDULER = 2. */ +/*-----------------------------------------------------------*/ + +ulSetInterruptMask: + mrs r0, basepri /* r0 = basepri. Return original basepri value. */ + mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r1 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vClearInterruptMask: + msr basepri, r0 /* basepri = ulMask. */ + dsb + isb + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +PendSV_Handler: + mrs r0, psp /* Read PSP in r0. */ +#if ( configENABLE_FPU == 1 ) + tst lr, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vstmdbeq r0!, {s16-s31} /* Store the FPU registers which are not saved automatically. */ +#endif /* configENABLE_FPU */ +#if ( configENABLE_MPU == 1 ) + mrs r1, psplim /* r1 = PSPLIM. */ + mrs r2, control /* r2 = CONTROL. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmdb r0!, {r1-r11} /* Store on the stack - PSPLIM, CONTROL, LR and registers that are not automatically saved. */ +#else /* configENABLE_MPU */ + mrs r2, psplim /* r2 = PSPLIM. */ + mov r3, lr /* r3 = LR/EXC_RETURN. */ + stmdb r0!, {r2-r11} /* Store on the stack - PSPLIM, LR and registers that are not automatically. */ +#endif /* configENABLE_MPU */ + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + str r0, [r1] /* Save the new top of stack in TCB. */ + + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + dsb + isb + bl vTaskSwitchContext + mov r0, #0 /* r0 = 0. */ + msr basepri, r0 /* Enable interrupts. */ + + ldr r2, =pxCurrentTCB /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ + ldr r1, [r2] /* Read pxCurrentTCB. */ + ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ + +#if ( configENABLE_MPU == 1 ) + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + bic r4, r4, #1 /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */ + str r4, [r2] /* Disable MPU. */ + + adds r1, #4 /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ + ldr r3, [r1] /* r3 = *r1 i.e. r3 = MAIR0. */ + ldr r2, =0xe000edc0 /* r2 = 0xe000edc0 [Location of MAIR0]. */ + str r3, [r2] /* Program MAIR0. */ + ldr r2, =0xe000ed98 /* r2 = 0xe000ed98 [Location of RNR]. */ + movs r3, #4 /* r3 = 4. */ + str r3, [r2] /* Program RNR = 4. */ + adds r1, #4 /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ + ldr r2, =0xe000ed9c /* r2 = 0xe000ed9c [Location of RBAR]. */ + ldmia r1!, {r4-r11} /* Read 4 sets of RBAR/RLAR registers from TCB. */ + stmia r2!, {r4-r11} /* Write 4 set of RBAR/RLAR registers using alias registers. */ + + ldr r2, =0xe000ed94 /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ + ldr r4, [r2] /* Read the value of MPU_CTRL. */ + orr r4, r4, #1 /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */ + str r4, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_MPU == 1 ) + ldmia r0!, {r1-r11} /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */ +#else /* configENABLE_MPU */ + ldmia r0!, {r2-r11} /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */ +#endif /* configENABLE_MPU */ + +#if ( configENABLE_FPU == 1 ) + tst r3, #0x10 /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */ + it eq + vldmiaeq r0!, {s16-s31} /* Restore the FPU registers which are not restored automatically. */ +#endif /* configENABLE_FPU */ + + #if ( configENABLE_MPU == 1 ) + msr psplim, r1 /* Restore the PSPLIM register value for the task. */ + msr control, r2 /* Restore the CONTROL register value for the task. */ +#else /* configENABLE_MPU */ + msr psplim, r2 /* Restore the PSPLIM register value for the task. */ +#endif /* configENABLE_MPU */ + msr psp, r0 /* Remember the new top of stack for the task. */ + bx r3 +/*-----------------------------------------------------------*/ + +SVC_Handler: + tst lr, #4 + ite eq + mrseq r0, msp + mrsne r0, psp + b vPortSVCHandler_C +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portmacro.h new file mode 100644 index 0000000..e3fa10a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM33_NTZ/non_secure/portmacro.h @@ -0,0 +1,319 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*------------------------------------------------------------------------------ + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *------------------------------------------------------------------------------ + */ + + #ifndef configENABLE_FPU + #error configENABLE_FPU must be defined in FreeRTOSConfig.h. Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU. + #endif /* configENABLE_FPU */ + + #ifndef configENABLE_MPU + #error configENABLE_MPU must be defined in FreeRTOSConfig.h. Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU. + #endif /* configENABLE_MPU */ + + #ifndef configENABLE_TRUSTZONE + #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h. Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone. + #endif /* configENABLE_TRUSTZONE */ + +/*-----------------------------------------------------------*/ + +/** + * @brief Type definitions. + */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/** + * Architecture specifics. + */ + #define portARCH_NAME "Cortex-M33" + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() + #define portINLINE __inline + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + #define portHAS_STACK_OVERFLOW_CHECKING 1 + #define portDONT_DISCARD __root +/*-----------------------------------------------------------*/ + +/** + * @brief Extern declarations. + */ + extern BaseType_t xPortIsInsideInterrupt( void ); + + extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; + + extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; + extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; + + extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; + + #if ( configENABLE_TRUSTZONE == 1 ) + extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ + extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; + #endif /* configENABLE_TRUSTZONE */ + + #if ( configENABLE_MPU == 1 ) + extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; + extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief MPU specific constants. + */ + #if ( configENABLE_MPU == 1 ) + #define portUSING_MPU_WRAPPERS 1 + #define portPRIVILEGE_BIT ( 0x80000000UL ) + #else + #define portPRIVILEGE_BIT ( 0x0UL ) + #endif /* configENABLE_MPU */ + + +/* MPU regions. */ + #define portPRIVILEGED_FLASH_REGION ( 0UL ) + #define portUNPRIVILEGED_FLASH_REGION ( 1UL ) + #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) + #define portPRIVILEGED_RAM_REGION ( 3UL ) + #define portSTACK_REGION ( 4UL ) + #define portFIRST_CONFIGURABLE_REGION ( 5UL ) + #define portLAST_CONFIGURABLE_REGION ( 7UL ) + #define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) + #define portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */ + +/* Device memory attributes used in MPU_MAIR registers. + * + * 8-bit values encoded as follows: + * Bit[7:4] - 0000 - Device Memory + * Bit[3:2] - 00 --> Device-nGnRnE + * 01 --> Device-nGnRE + * 10 --> Device-nGRE + * 11 --> Device-GRE + * Bit[1:0] - 00, Reserved. + */ + #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ + #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ + #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ + #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ + +/* Normal memory attributes used in MPU_MAIR registers. */ + #define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ + #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */ + +/* Attributes used in MPU_RBAR registers. */ + #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) + #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) + #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) + + #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) + #define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) + #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) + #define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) + + #define portMPU_REGION_EXECUTE_NEVER ( 1UL ) +/*-----------------------------------------------------------*/ + +/** + * @brief Settings to define an MPU region. + */ + typedef struct MPURegionSettings + { + uint32_t ulRBAR; /**< RBAR for the region. */ + uint32_t ulRLAR; /**< RLAR for the region. */ + } MPURegionSettings_t; + +/** + * @brief MPU settings as stored in the TCB. + */ + typedef struct MPU_SETTINGS + { + uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ + MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */ + } xMPU_SETTINGS; +/*-----------------------------------------------------------*/ + +/** + * @brief SVC numbers. + */ + #define portSVC_ALLOCATE_SECURE_CONTEXT 0 + #define portSVC_FREE_SECURE_CONTEXT 1 + #define portSVC_START_SCHEDULER 2 + #define portSVC_RAISE_PRIVILEGE 3 +/*-----------------------------------------------------------*/ + +/** + * @brief Scheduler utilities. + */ + #define portYIELD() vPortYield() + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/** + * @brief Critical section management. + */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) + #define portDISABLE_INTERRUPTS() ulSetInterruptMask() + #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/** + * @brief Tickless idle/low power functionality. + */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/** + * @brief Task function macros as described on the FreeRTOS.org WEB site. + */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #if ( configENABLE_TRUSTZONE == 1 ) + +/** + * @brief Allocate a secure context for the task. + * + * Tasks are not created with a secure context. Any task that is going to call + * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a + * secure context before it calls any secure function. + * + * @param[in] ulSecureStackSize The size of the secure stack to be allocated. + */ + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize ) + +/** + * @brief Called when a task is deleted to delete the task's secure context, + * if it has one. + * + * @param[in] pxTCB The TCB of the task being deleted. + */ + #define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) + #else + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portCLEAN_UP_TCB( pxTCB ) + #endif /* configENABLE_TRUSTZONE */ +/*-----------------------------------------------------------*/ + + #if ( configENABLE_MPU == 1 ) + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ + #define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + * + * The SVC handler checks that the SVC was raised from a system call and only + * then it raises the privilege. If this is called from any other place, + * the privilege is not raised. + */ + #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ + #define portRESET_PRIVILEGE() vResetPrivilege() + #else + #define portIS_PRIVILEGED() + #define portRAISE_PRIVILEGE() + #define portRESET_PRIVILEGE() + #endif /* configENABLE_MPU */ +/*-----------------------------------------------------------*/ + +/** + * @brief Barriers. + */ + #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Be006 + #pragma diag_suppress=Pa082 +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c new file mode 100644 index 0000000..3da7fe2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c @@ -0,0 +1,645 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F port. +*----------------------------------------------------------*/ + +/* IAR includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __ARMVFP__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7 + * r0p1 port. */ +#define portCPUID ( *( ( volatile uint32_t * ) 0xE000ed00 ) ) +#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL ) +#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ); + +/* + * Turn the VFP on. + */ +extern void vPortEnableVFP( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + /* This port can be used on all revisions of the Cortex-M7 core other than + * the r0p1 parts. r0p1 parts should use the port from the + * /source/portable/GCC/ARM_CM7/r0p1 directory. */ + configASSERT( portCPUID != portCORTEX_M7_r0p1_ID ); + configASSERT( portCPUID != portCORTEX_M7_r0p0_ID ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_interrupt() + * call above. */ + __enable_interrupt(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __DSB(); + __WFI(); + __ISB(); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_interrupt(); + __DSB(); + __ISB(); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __enable_interrupt(); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__weak void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/portasm.s new file mode 100644 index 0000000..768b62f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/portasm.s @@ -0,0 +1,149 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include + + RSEG CODE:CODE(2) + thumb + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + + PUBLIC xPortPendSVHandler + PUBLIC vPortSVCHandler + PUBLIC vPortStartFirstTask + PUBLIC vPortEnableVFP + + +/*-----------------------------------------------------------*/ + +xPortPendSVHandler: + mrs r0, psp + isb + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r2, [r3] + + /* Is the task using the FPU context? If so, push high vfp registers. */ + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + /* Save the core registers. */ + stmdb r0!, {r4-r11, r14} + + /* Save the new top of stack into the first member of the TCB. */ + str r0, [r2] + + stmdb sp!, {r0, r3} + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r0, r3} + + /* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [r3] + ldr r0, [r1] + + /* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + + /* Is the task using the FPU context? If so, pop the high vfp registers + too. */ + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */ + #if WORKAROUND_PMU_CM001 == 1 + push { r14 } + pop { pc } + #endif + #endif + + bx r14 + + +/*-----------------------------------------------------------*/ + +vPortSVCHandler: + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r1, [r3] + ldr r0, [r1] + /* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + bx r14 + +/*-----------------------------------------------------------*/ + +vPortStartFirstTask + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + /* Clear the bit that indicates the FPU is in use in case the FPU was used + before the scheduler was started - which would otherwise result in the + unnecessary leaving of space in the SVC stack for lazy saving of FPU + registers. */ + mov r0, #0 + msr control, r0 + /* Call SVC to start the first task. */ + cpsie i + cpsie f + dsb + isb + svc 0 + +/*-----------------------------------------------------------*/ + +vPortEnableVFP: + /* The FPU enable bits are in the CPACR. */ + ldr.w r0, =0xE000ED88 + ldr r1, [r0] + + /* Enable CP10 and CP11 coprocessors, then save back. */ + orr r1, r1, #( 0xf << 20 ) + str r1, [r0] + bx r14 + + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..3b44bc8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h @@ -0,0 +1,206 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* IAR includes. */ + #include + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Compiler directives. */ + #define portWEAK_SYMBOL __attribute__( ( weak ) ) + +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + __DSB(); \ + __ISB(); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() \ + { \ + __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ + __DSB(); \ + __ISB(); \ + } + + #define portENABLE_INTERRUPTS() __set_BASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() __get_BASEPRI(); portDISABLE_INTERRUPTS() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) __set_BASEPRI( x ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Pe191 + #pragma diag_suppress=Pa082 + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/port.c new file mode 100644 index 0000000..56ff07c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/port.c @@ -0,0 +1,771 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F MPU port. +*----------------------------------------------------------*/ + +/* IAR includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#ifndef __ARMVFP__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) ) +#define portNVIC_SYS_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) ) +#define portNVIC_MEM_FAULT_ENABLE ( 1UL << 16UL ) + +/* Constants required to access and manipulate the MPU. */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_REGION_BASE_ADDRESS_REG ( *( ( volatile uint32_t * ) 0xe000ed9C ) ) +#define portMPU_REGION_ATTRIBUTE_REG ( *( ( volatile uint32_t * ) 0xe000edA0 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portEXPECTED_MPU_TYPE_VALUE ( portTOTAL_NUM_REGIONS << 8UL ) +#define portMPU_ENABLE ( 0x01UL ) +#define portMPU_BACKGROUND_ENABLE ( 1UL << 2UL ) +#define portPRIVILEGED_EXECUTION_START_ADDRESS ( 0UL ) +#define portMPU_REGION_VALID ( 0x10UL ) +#define portMPU_REGION_ENABLE ( 0x01UL ) +#define portPERIPHERALS_START_ADDRESS 0x40000000UL +#define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL + +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7 + * r0p1 port. */ +#define portCPUID ( *( ( volatile uint32_t * ) 0xE000ed00 ) ) +#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL ) +#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) +#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) +#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 ) +#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 ) + +/* Offsets in the stack to the parameters when inside the SVC handler. */ +#define portOFFSET_TO_PC ( 6 ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Configure a number of standard MPU regions that are used by all tasks. + */ +static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; + +/* + * Return the smallest MPU region size that a given number of bytes will fit + * into. The region size is returned as the value that should be programmed + * into the region attribute register for that region. + */ +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION; + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ) PRIVILEGED_FUNCTION; + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ) PRIVILEGED_FUNCTION; + +/* + * Turn the VFP on. + */ +extern void vPortEnableVFP( void ); + +/* + * The C portion of the SVC handler. + */ +void vPortSVCHandler_C( uint32_t * pulParam ); + +/* + * Called from the SVC handler used to start the scheduler. + */ +extern void vPortRestoreContextOfFirstTask( void ) PRIVILEGED_FUNCTION; + +/** + * @brief Calls the port specific code to raise the privilege. + * + * @return pdFALSE if privilege was raised, pdTRUE otherwise. + */ +extern BaseType_t xPortRaisePrivilege( void ); + +/** + * @brief If xRunningPrivileged is not pdTRUE, calls the port specific + * code to reset the privilege, otherwise does nothing. + */ +extern void vPortResetPrivilege( BaseType_t xRunningPrivileged ); +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED; + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED; + } + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler_C( uint32_t * pulParam ) +{ + uint8_t ucSVCNumber; + uint32_t ulPC; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + extern uint32_t __syscalls_flash_start__[]; + extern uint32_t __syscalls_flash_end__[]; + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + /* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR. The first + * argument (r0) is pulParam[ 0 ]. */ + ulPC = pulParam[ portOFFSET_TO_PC ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + case portSVC_START_SCHEDULER: + portNVIC_SHPR2_REG |= portNVIC_SVC_PRI; + vPortRestoreContextOfFirstTask(); + break; + + case portSVC_YIELD: + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required + * but do ensure the code is completely + * within the specified behaviour for the + * architecture. */ + __asm volatile ( "dsb" ::: "memory" ); + __asm volatile ( "isb" ); + + break; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + case portSVC_RAISE_PRIVILEGE: /* Only raise the privilege, if the + * svc was raised from any of the + * system calls. */ + + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + __asm volatile + ( + " mrs r1, control \n"/* Obtain current control value. */ + " bic r1, r1, #1 \n"/* Set privilege bit. */ + " msr control, r1 \n"/* Write back new control value. */ + ::: "r1", "memory" + ); + } + + break; + #else /* if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + case portSVC_RAISE_PRIVILEGE: + __asm volatile + ( + " mrs r1, control \n"/* Obtain current control value. */ + " bic r1, r1, #1 \n"/* Set privilege bit. */ + " msr control, r1 \n"/* Write back new control value. */ + ::: "r1", "memory" + ); + break; + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + default: /* Unknown SVC call. */ + break; + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + /* This port can be used on all revisions of the Cortex-M7 core other than + * the r0p1 parts. r0p1 parts should use the port from the + * /source/portable/GCC/ARM_CM7/r0p1 directory. */ + configASSERT( portCPUID != portCORTEX_M7_r0p1_ID ); + configASSERT( portCPUID != portCORTEX_M7_r0p0_ID ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Configure the regions in the MPU that are common to all tasks. */ + prvSetupMPU(); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + vPortResetPrivilege( xRunningPrivileged ); + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + configASSERT( uxCriticalNesting ); + + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__weak void vPortSetupTimerInterrupt( void ) +{ + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupMPU( void ) +{ + extern uint32_t __privileged_functions_start__[]; + extern uint32_t __privileged_functions_end__[]; + extern uint32_t __FLASH_segment_start__[]; + extern uint32_t __FLASH_segment_end__[]; + extern uint32_t __privileged_data_start__[]; + extern uint32_t __privileged_data_end__[]; + + /* The only permitted number of regions are 8 or 16. */ + configASSERT( ( portTOTAL_NUM_REGIONS == 8 ) || ( portTOTAL_NUM_REGIONS == 16 ) ); + + /* Ensure that the configTOTAL_MPU_REGIONS is configured correctly. */ + configASSERT( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ); + + /* Check the expected MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* First setup the unprivileged flash for unprivileged read only access. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portUNPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_ONLY ) | + ( ( configTEX_S_C_B_FLASH & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged flash for privileged only access. This is where + * the kernel code is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_functions_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_ONLY ) | + ( ( configTEX_S_C_B_FLASH & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __privileged_functions_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged data RAM region. This is where the kernel data + * is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_RAM_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* By default allow everything to access the general peripherals. The + * system peripherals and registers are protected. */ + portMPU_REGION_BASE_ADDRESS_REG = ( portPERIPHERALS_START_ADDRESS ) | + ( portMPU_REGION_VALID ) | + ( portGENERAL_PERIPHERALS_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) | + ( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) | + ( portMPU_REGION_ENABLE ); + + /* Enable the memory fault exception. */ + portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE; + + /* Enable the MPU with the background region configured. */ + portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE ); + } +} +/*-----------------------------------------------------------*/ + +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) +{ + uint32_t ulRegionSize, ulReturnValue = 4; + + /* 32 is the smallest region size, 31 is the largest valid value for + * ulReturnValue. */ + for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) ) + { + if( ulActualSizeInBytes <= ulRegionSize ) + { + break; + } + else + { + ulReturnValue++; + } + } + + /* Shift the code by one before returning so it can be written directly + * into the the correct bit position of the attribute register. */ + return( ulReturnValue << 1UL ); +} +/*-----------------------------------------------------------*/ + +void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) +{ + extern uint32_t __SRAM_segment_start__[]; + extern uint32_t __SRAM_segment_end__[]; + extern uint32_t __privileged_data_start__[]; + extern uint32_t __privileged_data_end__[]; + int32_t lIndex; + uint32_t ul; + + if( xRegions == NULL ) + { + /* No MPU regions are specified so allow access to all RAM. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Re-instate the privileged only RAM region as xRegion[ 0 ] will have + * just removed the privileged only parameters. */ + xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress = + ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + 1 ); + + xMPUSettings->xRegion[ 1 ].ulRegionAttribute = + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* Invalidate all other regions. */ + for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + } + else + { + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that the + * stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + /* Define the region that allows access to the stack. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) pxBottomOfStack ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); /* Region number. */ + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | /* Read and write. */ + ( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( portMPU_REGION_ENABLE ); + } + + lIndex = 0; + + for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL ) + { + /* Translate the generic region definition contained in + * xRegions into the CM4 specific MPU settings that are then + * stored in xMPUSettings. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = + ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + ul ); /* Region number. */ + + xMPUSettings->xRegion[ ul ].ulRegionAttribute = + ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) | + ( xRegions[ lIndex ].ulParameters ) | + ( portMPU_REGION_ENABLE ); + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + + lIndex++; + } + } +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/portasm.s new file mode 100644 index 0000000..e86f5dc --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/portasm.s @@ -0,0 +1,257 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +/* Including FreeRTOSConfig.h here will cause build errors if the header file +contains code not understood by the assembler - for example the 'extern' keyword. +To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so +the code is included in C files but excluded by the preprocessor in assembly +files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler. */ +#include + + RSEG CODE:CODE(2) + thumb + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + EXTERN vPortSVCHandler_C + + PUBLIC xPortPendSVHandler + PUBLIC vPortSVCHandler + PUBLIC vPortStartFirstTask + PUBLIC vPortEnableVFP + PUBLIC vPortRestoreContextOfFirstTask + PUBLIC xIsPrivileged + PUBLIC vResetPrivilege + +/*-----------------------------------------------------------*/ + +xPortPendSVHandler: + mrs r0, psp + isb + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r2, [r3] + + /* Is the task using the FPU context? If so, push high vfp registers. */ + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + /* Save the core registers. */ + mrs r1, control + stmdb r0!, {r1, r4-r11, r14} + + /* Save the new top of stack into the first member of the TCB. */ + str r0, [r2] + + stmdb sp!, {r0, r3} + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r0, r3} + + /* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [r3] + ldr r0, [r1] + /* Move onto the second item in the TCB... */ + add r1, r1, #4 + + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + bic r3, r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + str r3, [r2] /* Disable MPU. */ + + /* Region Base Address register. */ + ldr r2, =0xe000ed9c + /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */ + ldmia r1!, {r4-r11} + /* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */ + stmia r2, {r4-r11} + + #ifdef configTOTAL_MPU_REGIONS + #if ( configTOTAL_MPU_REGIONS == 16 ) + /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */ + ldmia r1!, {r4-r11} + /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */ + stmia r2, {r4-r11} + /* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */ + ldmia r1!, {r4-r11} + /* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */ + stmia r2, {r4-r11} + #endif /* configTOTAL_MPU_REGIONS == 16. */ + #endif /* configTOTAL_MPU_REGIONS */ + + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + orr r3, r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + str r3, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + + /* Pop the registers that are not automatically saved on exception entry. */ + ldmia r0!, {r3-r11, r14} + msr control, r3 + + /* Is the task using the FPU context? If so, pop the high vfp registers + too. */ + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + + bx r14 + + +/*-----------------------------------------------------------*/ + +vPortSVCHandler: + #ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */ + tst lr, #4 + ite eq + mrseq r0, msp + mrsne r0, psp + #else + mrs r0, psp + #endif + b vPortSVCHandler_C + +/*-----------------------------------------------------------*/ + +vPortStartFirstTask: + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + /* Clear the bit that indicates the FPU is in use in case the FPU was used + before the scheduler was started - which would otherwise result in the + unnecessary leaving of space in the SVC stack for lazy saving of FPU + registers. */ + mov r0, #0 + msr control, r0 + /* Call SVC to start the first task. */ + cpsie i + cpsie f + dsb + isb + svc 0 + +/*-----------------------------------------------------------*/ + +vPortRestoreContextOfFirstTask: + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + /* Restore the context. */ + ldr r3, =pxCurrentTCB + ldr r1, [r3] + /* The first item in the TCB is the task top of stack. */ + ldr r0, [r1] + /* Move onto the second item in the TCB... */ + add r1, r1, #4 + + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + bic r3, r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + str r3, [r2] /* Disable MPU. */ + + /* Region Base Address register. */ + ldr r2, =0xe000ed9c + /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */ + ldmia r1!, {r4-r11} + /* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */ + stmia r2, {r4-r11} + + #ifdef configTOTAL_MPU_REGIONS + #if ( configTOTAL_MPU_REGIONS == 16 ) + /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */ + ldmia r1!, {r4-r11} + /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */ + stmia r2, {r4-r11} + /* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */ + ldmia r1!, {r4-r11} + /* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */ + stmia r2, {r4-r11} + #endif /* configTOTAL_MPU_REGIONS == 16. */ + #endif /* configTOTAL_MPU_REGIONS */ + + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [r2] /* Read the value of MPU_CTRL. */ + orr r3, r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + str r3, [r2] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + + /* Pop the registers that are not automatically saved on exception entry. */ + ldmia r0!, {r3-r11, r14} + msr control, r3 + /* Restore the task stack pointer. */ + msr psp, r0 + mov r0, #0 + msr basepri, r0 + bx r14 + +/*-----------------------------------------------------------*/ + +vPortEnableVFP: + /* The FPU enable bits are in the CPACR. */ + ldr.w r0, =0xE000ED88 + ldr r1, [r0] + + /* Enable CP10 and CP11 coprocessors, then save back. */ + orr r1, r1, #( 0xf << 20 ) + str r1, [r0] + bx r14 + +/*-----------------------------------------------------------*/ + +xIsPrivileged: + mrs r0, control /* r0 = CONTROL. */ + tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + ite ne + movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + bx lr /* Return. */ +/*-----------------------------------------------------------*/ + +vResetPrivilege: + mrs r0, control /* r0 = CONTROL. */ + orr r0, r0, #1 /* r0 = r0 | 1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return to the caller. */ +/*-----------------------------------------------------------*/ + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/portmacro.h new file mode 100644 index 0000000..d7cadbe --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM4F_MPU/portmacro.h @@ -0,0 +1,356 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* IAR includes. */ +#include + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* MPU specific constants. */ +#define portUSING_MPU_WRAPPERS 1 +#define portPRIVILEGE_BIT ( 0x80000000UL ) + +#define portMPU_REGION_READ_WRITE ( 0x03UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 0x05UL << 24UL ) +#define portMPU_REGION_READ_ONLY ( 0x06UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0x01UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY ( 0x02UL << 24UL ) +#define portMPU_REGION_CACHEABLE_BUFFERABLE ( 0x07UL << 16UL ) +#define portMPU_REGION_EXECUTE_NEVER ( 0x01UL << 28UL ) + +/* Location of the TEX,S,C,B bits in the MPU Region Attribute and Size + * Register (RASR). */ +#define portMPU_RASR_TEX_S_C_B_LOCATION ( 16UL ) +#define portMPU_RASR_TEX_S_C_B_MASK ( 0x3FUL ) + +/* MPU settings that can be overriden in FreeRTOSConfig.h. */ +#ifndef configTOTAL_MPU_REGIONS + /* Define to 8 for backward compatibility. */ + #define configTOTAL_MPU_REGIONS ( 8UL ) +#endif + +/* + * The TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits define the + * memory type, and where necessary the cacheable and shareable properties + * of the memory region. + * + * The TEX, C, and B bits together indicate the memory type of the region, + * and: + * - For Normal memory, the cacheable properties of the region. + * - For Device memory, whether the region is shareable. + * + * For Normal memory regions, the S bit indicates whether the region is + * shareable. For Strongly-ordered and Device memory, the S bit is ignored. + * + * See the following two tables for setting TEX, S, C and B bits for + * unprivileged flash, privileged flash and privileged RAM regions. + * + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | TEX | C | B | Memory type | Description or Normal region cacheability | Shareable? | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 0 | 0 | Strongly-ordered | Strongly ordered | Shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 0 | 1 | Device | Shared device | Shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 1 | 0 | Normal | Outer and inner write-through; no write allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 1 | 1 | Normal | Outer and inner write-back; no write allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 0 | 0 | Normal | Outer and inner Non-cacheable | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 0 | 1 | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 1 | 0 | IMPLEMENTATION DEFINED | IMPLEMENTATION DEFINED | IMPLEMENTATION DEFINED | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 1 | 1 | Normal | Outer and inner write-back; write and read allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 0 | 0 | Device | Non-shared device | Not shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 0 | 1 | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 1 | X | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 011 | X | X | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 1BB | A | A | Normal | Cached memory, with AA and BB indicating the inner and | Reserved | + | | | | | outer cacheability rules that must be exported on the | | + | | | | | bus. See the table below for the cacheability policy | | + | | | | | encoding. memory, BB=Outer policy, AA=Inner policy. | | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | + +-----------------------------------------+----------------------------------------+ + | AA or BB subfield of {TEX,C,B} encoding | Cacheability policy | + +-----------------------------------------+----------------------------------------+ + | 00 | Non-cacheable | + +-----------------------------------------+----------------------------------------+ + | 01 | Write-back, write and read allocate | + +-----------------------------------------+----------------------------------------+ + | 10 | Write-through, no write allocate | + +-----------------------------------------+----------------------------------------+ + | 11 | Write-back, no write allocate | + +-----------------------------------------+----------------------------------------+ + */ + +/* TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for flash + * region. */ +#ifndef configTEX_S_C_B_FLASH + /* Default to TEX=000, S=1, C=1, B=1 for backward compatibility. */ + #define configTEX_S_C_B_FLASH ( 0x07UL ) +#endif + +/* TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for RAM + * region. */ +#ifndef configTEX_S_C_B_SRAM + /* Default to TEX=000, S=1, C=1, B=1 for backward compatibility. */ + #define configTEX_S_C_B_SRAM ( 0x07UL ) +#endif + +#define portUNPRIVILEGED_FLASH_REGION ( 0UL ) +#define portPRIVILEGED_FLASH_REGION ( 1UL ) +#define portPRIVILEGED_RAM_REGION ( 2UL ) +#define portGENERAL_PERIPHERALS_REGION ( 3UL ) +#define portSTACK_REGION ( 4UL ) +#define portFIRST_CONFIGURABLE_REGION ( 5UL ) +#define portTOTAL_NUM_REGIONS ( configTOTAL_MPU_REGIONS ) +#define portNUM_CONFIGURABLE_REGIONS ( portTOTAL_NUM_REGIONS - portFIRST_CONFIGURABLE_REGION ) +#define portLAST_CONFIGURABLE_REGION ( portTOTAL_NUM_REGIONS - 1UL ) + +#define portSWITCH_TO_USER_MODE() __asm volatile ( " mrs r0, control \n orr r0, r0, #1 \n msr control, r0 " ::: "r0", "memory" ) + +typedef struct MPU_REGION_REGISTERS +{ + uint32_t ulRegionBaseAddress; + uint32_t ulRegionAttribute; +} xMPU_REGION_REGISTERS; + +/* Plus 1 to create space for the stack region. */ +typedef struct MPU_SETTINGS +{ + xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS ]; +} xMPU_SETTINGS; + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* SVC numbers for various services. */ +#define portSVC_START_SCHEDULER 0 +#define portSVC_YIELD 1 +#define portSVC_RAISE_PRIVILEGE 2 + +/* Scheduler utilities. */ + +#define portYIELD() __asm volatile ( " SVC %0 \n"::"i" ( portSVC_YIELD ) : "memory" ) +#define portYIELD_WITHIN_API() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + __DSB(); \ + __ISB(); \ + } + +#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) +#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD_WITHIN_API() +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() \ + { \ + __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ + __DSB(); \ + __ISB(); \ + } + +#define portENABLE_INTERRUPTS() __set_BASEPRI( 0 ) +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +#define portSET_INTERRUPT_MASK_FROM_ISR() __get_BASEPRI(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) __set_BASEPRI( x ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +#ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() +#endif + +/* portNOP() is not required by this port. */ +#define portNOP() + +#define portINLINE __inline + +#ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) +#endif + +/*-----------------------------------------------------------*/ + +portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} + + +/*-----------------------------------------------------------*/ + +extern BaseType_t xIsPrivileged( void ); +extern void vResetPrivilege( void ); + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +#define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + */ +#define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ +#define portRESET_PRIVILEGE() vResetPrivilege() +/*-----------------------------------------------------------*/ + +#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY + #warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html" + #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0 +#endif +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ +#pragma diag_suppress=Pe191 +#pragma diag_suppress=Pa082 +#pragma diag_suppress=Be006 +/*-----------------------------------------------------------*/ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/ReadMe.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/ReadMe.txt new file mode 100644 index 0000000..2116456 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/ReadMe.txt @@ -0,0 +1,18 @@ +There are two options for running FreeRTOS on ARM Cortex-M7 microcontrollers. +The best option depends on the revision of the ARM Cortex-M7 core in use. The +revision is specified by an 'r' number, and a 'p' number, so will look something +like 'r0p1'. Check the documentation for the microcontroller in use to find the +revision of the Cortex-M7 core used in that microcontroller. If in doubt, use +the FreeRTOS port provided specifically for r0p1 revisions, as that can be used +with all core revisions. + +The first option is to use the ARM Cortex-M4F port, and the second option is to +use the Cortex-M7 r0p1 port - the latter containing a minor errata workaround. + +If the revision of the ARM Cortex-M7 core is not r0p1 then either option can be +used, but it is recommended to use the FreeRTOS ARM Cortex-M4F port located in +the /FreeRTOS/Source/portable/IAR/ARM_CM4F directory. + +If the revision of the ARM Cortex-M7 core is r0p1 then use the FreeRTOS ARM +Cortex-M7 r0p1 port located in the /FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1 +directory. \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/port.c new file mode 100644 index 0000000..9dbec79 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/port.c @@ -0,0 +1,633 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM7 port. +*----------------------------------------------------------*/ + +/* IAR includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __ARMVFP__ + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortSysTickHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +extern void vPortStartFirstTask( void ); + +/* + * Turn the VFP on. + */ +extern void vPortEnableVFP( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known. */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_interrupt() + * call above. */ + __enable_interrupt(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __DSB(); + __WFI(); + __ISB(); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_interrupt(); + __DSB(); + __ISB(); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_interrupt(); + __DSB(); + __ISB(); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __enable_interrupt(); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__weak void vPortSetupTimerInterrupt( void ) +{ + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/portasm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/portasm.s new file mode 100644 index 0000000..786e0c9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/portasm.s @@ -0,0 +1,151 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include + + RSEG CODE:CODE(2) + thumb + + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + + PUBLIC xPortPendSVHandler + PUBLIC vPortSVCHandler + PUBLIC vPortStartFirstTask + PUBLIC vPortEnableVFP + + +/*-----------------------------------------------------------*/ + +xPortPendSVHandler: + mrs r0, psp + isb + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r2, [r3] + + /* Is the task using the FPU context? If so, push high vfp registers. */ + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + /* Save the core registers. */ + stmdb r0!, {r4-r11, r14} + + /* Save the new top of stack into the first member of the TCB. */ + str r0, [r2] + + stmdb sp!, {r0, r3} + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + cpsid i + msr basepri, r0 + dsb + isb + cpsie i + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r0, r3} + + /* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [r3] + ldr r0, [r1] + + /* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + + /* Is the task using the FPU context? If so, pop the high vfp registers + too. */ + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */ + #if WORKAROUND_PMU_CM001 == 1 + push { r14 } + pop { pc } + #endif + #endif + + bx r14 + + +/*-----------------------------------------------------------*/ + +vPortSVCHandler: + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r1, [r3] + ldr r0, [r1] + /* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + bx r14 + +/*-----------------------------------------------------------*/ + +vPortStartFirstTask + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + /* Clear the bit that indicates the FPU is in use in case the FPU was used + before the scheduler was started - which would otherwise result in the + unnecessary leaving of space in the SVC stack for lazy saving of FPU + registers. */ + mov r0, #0 + msr control, r0 + /* Call SVC to start the first task. */ + cpsie i + cpsie f + dsb + isb + svc 0 + +/*-----------------------------------------------------------*/ + +vPortEnableVFP: + /* The FPU enable bits are in the CPACR. */ + ldr.w r0, =0xE000ED88 + ldr r1, [r0] + + /* Enable CP10 and CP11 coprocessors, then save back. */ + orr r1, r1, #( 0xf << 20 ) + str r1, [r0] + bx r14 + + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/portmacro.h new file mode 100644 index 0000000..ed86473 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CM7/r0p1/portmacro.h @@ -0,0 +1,209 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* IAR includes. */ + #include + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Compiler directives. */ + #define portWEAK_SYMBOL __attribute__( ( weak ) ) + +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + __DSB(); \ + __ISB(); \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( ( uint32_t ) __CLZ( ( uxReadyPriorities ) ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() \ + { \ + /* Errata work around. */ \ + __disable_interrupt(); \ + __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ + __DSB(); \ + __ISB(); \ + __enable_interrupt(); \ + } + + #define portENABLE_INTERRUPTS() __set_BASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() __get_BASEPRI(); portDISABLE_INTERRUPTS() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) __set_BASEPRI( x ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__( ( always_inline ) ) + #endif + +/*-----------------------------------------------------------*/ + + portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/*-----------------------------------------------------------*/ + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in + * the source code because to do so would cause other compilers to generate + * warnings. */ + #pragma diag_suppress=Pe191 + #pragma diag_suppress=Pa082 + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/port.c new file mode 100644 index 0000000..abcc155 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/port.c @@ -0,0 +1,316 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined in FreeRTOSConfig.h to call the function that sets up the tick interrupt. +#endif + +#ifndef configCLEAR_TICK_INTERRUPT + #error configCLEAR_TICK_INTERRUPT must be defined in FreeRTOSConfig.h to clear which ever interrupt was used to generate the tick interrupt. +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user +mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/* Let the user override the pre-loading of the initial LR with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then +a floating point context must be saved and restored for the task. */ +volatile uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +volatile uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +volatile uint32_t ulPortInterruptNesting = 0UL; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + The fist real value on the stack is the status register, which is set for + system mode, with interrupts enabled. A few NULLs are added first to ensure + GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + the floating point hardware must call vPortTaskUsesFPU() before executing + any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + /* Only continue if the CPU is not in User mode. The CPU must be in a + Privileged mode for the scheduler to start. */ + __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Start the timer that generates the tick ISR. */ + portDISABLE_INTERRUPTS(); + configSETUP_TICK_INTERRUPT(); + + /* Start the first task executing. */ + vPortRestoreTaskContext(); + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + a non-privileged mode or the binary point register was not set to its lowest + possible value. prvTaskExitError() is referenced to prevent a compiler + warning about it being defined but not referenced in the case that the user + defines their own exit address. */ + ( void ) prvTaskExitError; + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ +uint32_t ulInterruptStatus; + + ulInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulInterruptStatus ); + + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ +uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm volatile ( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) ); +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/portASM.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/portASM.s new file mode 100644 index 0000000..3c9f0f8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/portASM.s @@ -0,0 +1,247 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +#include "FreeRTOSConfig.h" + + SECTION .text:CODE:ROOT(2) + arm + + /* Variables and functions. */ + EXTERN pxCurrentTCB + EXTERN vTaskSwitchContext + EXTERN vApplicationIRQHandler + EXTERN ulPortInterruptNesting + EXTERN ulPortTaskHasFPUContext + EXTERN ulPortYieldRequired + EXTERN ulCriticalNesting + + PUBLIC FreeRTOS_IRQ_Handler + PUBLIC FreeRTOS_SVC_Handler + PUBLIC vPortRestoreTaskContext + +SYS_MODE EQU 0x1f +SVC_MODE EQU 0x13 +IRQ_MODE EQU 0x12 + +portSAVE_CONTEXT MACRO + + /* Save the LR and SPSR onto the system mode stack before switching to + system mode to save the remaining system mode registers. */ + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + /* Push the critical nesting count. */ + LDR R2, =ulCriticalNesting + LDR R1, [R2] + PUSH {R1} + + /* Does the task have a floating point context that needs saving? If + ulPortTaskHasFPUContext is 0 then no. */ + LDR R2, =ulPortTaskHasFPUContext + LDR R3, [R2] + CMP R3, #0 + + /* Save the floating point context, if any. */ + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} +#if configFPU_D32 == 1 + VPUSHNE {D16-D31} +#endif /* configFPU_D32 */ + PUSHNE {R1} + + /* Save ulPortTaskHasFPUContext itself. */ + PUSH {R3} + + /* Save the stack pointer in the TCB. */ + LDR R0, =pxCurrentTCB + LDR R1, [R0] + STR SP, [R1] + + ENDM + +; /**********************************************************************/ + +portRESTORE_CONTEXT MACRO + + /* Set the SP to point to the stack of the task being restored. */ + LDR R0, =pxCurrentTCB + LDR R1, [R0] + LDR SP, [R1] + + /* Is there a floating point context to restore? If the restored + ulPortTaskHasFPUContext is zero then no. */ + LDR R0, =ulPortTaskHasFPUContext + POP {R1} + STR R1, [R0] + CMP R1, #0 + + /* Restore the floating point context, if any. */ + POPNE {R0} +#if configFPU_D32 == 1 + VPOPNE {D16-D31} +#endif /* configFPU_D32 */ + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + /* Restore the critical section nesting depth. */ + LDR R0, =ulCriticalNesting + POP {R1} + STR R1, [R0] + + /* Restore all system mode registers other than the SP (which is already + being used). */ + POP {R0-R12, R14} + + /* Return to the task code, loading CPSR on the way. */ + RFEIA sp! + + ENDM + + + + +/****************************************************************************** + * SVC handler is used to yield. + *****************************************************************************/ +FreeRTOS_SVC_Handler: + /* Save the context of the current task and select a new task to run. */ + portSAVE_CONTEXT + LDR R0, =vTaskSwitchContext + BLX R0 + portRESTORE_CONTEXT + + +/****************************************************************************** + * vPortRestoreTaskContext is used to start the scheduler. + *****************************************************************************/ +vPortRestoreTaskContext: + /* Switch to system mode. */ + CPS #SYS_MODE + portRESTORE_CONTEXT + +FreeRTOS_IRQ_Handler: + /* Return to the interrupted instruction. */ + SUB lr, lr, #4 + + /* Push the return address and SPSR. */ + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + /* Change to supervisor mode to allow reentry. */ + CPS #SVC_MODE + + /* Push used registers. */ + PUSH {r0-r3, r12} + + /* Increment nesting count. r3 holds the address of ulPortInterruptNesting + for future use. r1 holds the original ulPortInterruptNesting value for + future use. */ + LDR r3, =ulPortInterruptNesting + LDR r1, [r3] + ADD r0, r1, #1 + STR r0, [r3] + + /* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + future use. */ + MOV r0, sp + AND r2, r0, #4 + SUB sp, sp, r2 + + /* Call the interrupt handler. */ + PUSH {r0-r3, lr} + LDR r1, =vApplicationIRQHandler + BLX r1 + POP {r0-r3, lr} + ADD sp, sp, r2 + + CPSID i + DSB + ISB + + /* Write to the EOI register. */ + LDR r2, =configEOI_ADDRESS + STR r0, [r2] + + /* Restore the old nesting count. */ + STR r1, [r3] + + /* A context switch is never performed if the nesting count is not 0. */ + CMP r1, #0 + BNE exit_without_switch + + /* Did the interrupt request a context switch? r1 holds the address of + ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + use. */ + LDR r1, =ulPortYieldRequired + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch: + /* No context switch. Restore used registers, LR_irq and SPSR before + returning. */ + POP {r0-r3, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit: + /* A context swtich is to be performed. Clear the context switch pending + flag. */ + MOV r0, #0 + STR r0, [r1] + + /* Restore used registers, LR-irq and SPSR before saving the context + to the task stack. */ + POP {r0-r3, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + /* Call the function that selects the new task to execute. + vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + instructions, or 8 byte aligned stack allocated data. LR does not need + saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */ + LDR R0, =vTaskSwitchContext + BLX R0 + + /* Restore the context of, and branch to, the task selected to execute + next. */ + portRESTORE_CONTEXT + + END + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/portmacro.h new file mode 100644 index 0000000..32f9397 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ARM_CRx_No_GIC/portmacro.h @@ -0,0 +1,181 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus + extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +typedef uint32_t TickType_t; +#define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do +not need to be guarded with a critical section. */ +#define portTICK_TYPE_IS_ATOMIC 1 + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Called at the end of an ISR that can cause a context switch. */ +#define portEND_SWITCHING_ISR( xSwitchRequired )\ +{ \ +extern volatile uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ +} + +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +#define portYIELD() __asm volatile ( "SWI 0 \n" \ + "ISB " ); + + +/*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern uint32_t ulPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); +extern void vPortInstallFreeRTOSVectorTable( void ); + +/* The I bit within the CPSR. */ +#define portINTERRUPT_ENABLE_BIT ( 1 << 7 ) + +/* In the absence of a priority mask register, these functions and macros +globally enable and disable interrupts. */ +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +#define portENABLE_INTERRUPTS() __asm volatile ( "CPSIE i \n" ); +#define portDISABLE_INTERRUPTS() __asm volatile ( "CPSID i \n" \ + "DSB \n" \ + "ISB " ); +#pragma inline +static inline uint32_t portINLINE_SET_INTERRUPT_MASK_FROM_ISR( void ) +{ +volatile uint32_t ulCPSR; + + __asm volatile ( "MRS %0, CPSR" : "=r" (ulCPSR) ); + ulCPSR &= portINTERRUPT_ENABLE_BIT; + portDISABLE_INTERRUPTS(); + return ulCPSR; +} + +#define portSET_INTERRUPT_MASK_FROM_ISR() portINLINE_SET_INTERRUPT_MASK_FROM_ISR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) if( x == 0 ) portENABLE_INTERRUPTS() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not required for this port but included in case common demo code that uses these +macros is used. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Prototype of the FreeRTOS tick handler. This must be installed as the +handler for whichever peripheral is used to generate the RTOS tick. */ +void FreeRTOS_Tick_Handler( void ); + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() +before any floating point instructions are executed. */ +void vPortTaskUsesFPU( void ); +#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + +#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) +#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __CLZ( uxReadyPriorities ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#define portNOP() __asm volatile( "NOP" ) +#define portINLINE inline + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in +the source code because to do so would cause other compilers to generate +warnings. */ +#pragma diag_suppress=Pe191 +#pragma diag_suppress=Pa082 + +#ifdef __cplusplus + } /* extern C */ +#endif + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/port.c new file mode 100644 index 0000000..d04a293 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/port.c @@ -0,0 +1,339 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include + +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the AVR/IAR port. + *----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 ) + +/* Hardware constants for timer 1. */ +#define portCLEAR_COUNTER_ON_MATCH ( ( uint8_t ) 0x08 ) +#define portPRESCALE_64 ( ( uint8_t ) 0x03 ) +#define portCLOCK_PRESCALER ( ( uint32_t ) 64 ) +#define portCOMPARE_MATCH_A_INTERRUPT_ENABLE ( ( uint8_t ) 0x10 ) + +/* The number of bytes used on the hardware stack by the task start address. */ +#define portBYTES_USED_BY_RETURN_ADDRESS ( 2 ) +/*-----------------------------------------------------------*/ + +/* Stores the critical section nesting. This must not be initialised to 0. +It will be initialised when a task starts. */ +#define portNO_CRITICAL_NESTING ( ( UBaseType_t ) 0 ) +UBaseType_t uxCriticalNesting = 0x50; + + +/* + * Perform hardware setup to enable ticks from timer 1, compare match A. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * The IAR compiler does not have full support for inline assembler, so + * these are defined in the portmacro assembler file. + */ +extern void vPortYieldFromTick( void ); +extern void vPortStart( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint16_t usAddress; +StackType_t *pxTopOfHardwareStack; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x11; + pxTopOfStack--; + *pxTopOfStack = 0x22; + pxTopOfStack--; + *pxTopOfStack = 0x33; + pxTopOfStack--; + + /* Remember where the top of the hardware stack is - this is required + below. */ + pxTopOfHardwareStack = pxTopOfStack; + + + /* Simulate how the stack would look after a call to vPortYield(). */ + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + + + /* The IAR compiler requires two stacks per task. First there is the + hardware call stack which uses the AVR stack pointer. Second there is the + software stack (local variables, parameter passing, etc.) which uses the + AVR Y register. + + This function places both stacks within the memory block passed in as the + first parameter. The hardware stack is placed at the bottom of the memory + block. A gap is then left for the hardware stack to grow. Next the software + stack is placed. The amount of space between the software and hardware + stacks is defined by configCALL_STACK_SIZE. + + + + The first part of the stack is the hardware stack. Place the start + address of the task on the hardware stack. */ + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + + /* Leave enough space for the hardware stack before starting the software + stack. The '- 2' is because we have already used two spaces for the + address of the start of the task. */ + pxTopOfStack -= ( configCALL_STACK_SIZE - 2 ); + + + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Next place the address of the hardware stack. This is required so + the AVR stack pointer can be restored to point to the hardware stack. */ + pxTopOfHardwareStack -= portBYTES_USED_BY_RETURN_ADDRESS; + usAddress = ( uint16_t ) pxTopOfHardwareStack; + + /* SPL */ + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* SPH */ + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + + + + /* Now the remaining registers. */ + *pxTopOfStack = ( StackType_t ) 0x01; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R15 */ + pxTopOfStack--; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x18; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23; /* R23 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x24; /* R24 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x25; /* R25 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27; /* R27 */ + pxTopOfStack--; + + /* The Y register is not stored as it is used as the software stack and + gets saved into the task control block. */ + + *pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x031; /* R31 */ + + pxTopOfStack--; + *pxTopOfStack = portNO_CRITICAL_NESTING; /* Critical nesting is zero when the task starts. */ + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. + Normally we would just call portRESTORE_CONTEXT() here, but as the IAR + compiler does not fully support inline assembler we have to make a call.*/ + vPortStart(); + + /* Should not get here! */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the AVR port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Setup timer 1 compare match A to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; +uint8_t ucHighByte, ucLowByte; + + /* Using 16bit timer 1 to generate the tick. Correct fuses must be + selected for the configCPU_CLOCK_HZ clock. */ + + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* We only have 16 bits so have to scale to get our required tick rate. */ + ulCompareMatch /= portCLOCK_PRESCALER; + + /* Adjust for correct value. */ + ulCompareMatch -= ( uint32_t ) 1; + + /* Setup compare match value for compare match A. Interrupts are disabled + before this is called so we need not worry here. */ + ucLowByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff ); + ulCompareMatch >>= 8; + ucHighByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff ); + OCR1AH = ucHighByte; + OCR1AL = ucLowByte; + + /* Setup clock source and compare match behaviour. */ + ucLowByte = portCLEAR_COUNTER_ON_MATCH | portPRESCALE_64; + TCCR1B = ucLowByte; + + /* Enable the interrupt - this is okay as interrupt are currently globally + disabled. */ + TIMSK |= portCOMPARE_MATCH_A_INTERRUPT_ENABLE; +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + + /* + * Tick ISR for preemptive scheduler. We can use a __task attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + __task void SIG_OUTPUT_COMPARE1A( void ) + { + vPortYieldFromTick(); + asm( "reti" ); + } + +#else + + /* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + * + * THE INTERRUPT VECTOR IS POPULATED IN portmacro.s90. DO NOT INSTALL + * IT HERE USING THE USUAL PRAGMA. + */ + __interrupt void SIG_OUTPUT_COMPARE1A( void ) + { + xTaskIncrementTick(); + } +#endif +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + if( uxCriticalNesting == portNO_CRITICAL_NESTING ) + { + portENABLE_INTERRUPTS(); + } +} + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/portmacro.h new file mode 100644 index 0000000..97695e2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/portmacro.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.2.3 + + + portCPU_CLOSK_HZ definition changed to 8MHz base 10, previously it + base 16. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#define portDISABLE_INTERRUPTS() asm( "cli" ) +#define portENABLE_INTERRUPTS() asm( "sei" ) +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm( "nop" ) +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +void vPortYield( void ); +#define portYIELD() vPortYield() + +#ifdef IAR_MEGA_AVR + #define outb( PORT, VALUE ) PORT = VALUE +#endif +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/portmacro.s90 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/portmacro.s90 new file mode 100644 index 0000000..35f5828 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/ATMega323/portmacro.s90 @@ -0,0 +1,245 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +#include + +; Declare all extern symbols here - including any ISRs that are referenced in +; the vector table. + +; ISR functions +; ------------- +EXTERN SIG_OUTPUT_COMPARE1A +EXTERN SIG_UART_RECV +EXTERN SIG_UART_DATA + + +; Functions used by scheduler +; --------------------------- +EXTERN vTaskSwitchContext +EXTERN pxCurrentTCB +EXTERN xTaskIncrementTick +EXTERN uxCriticalNesting + +; Functions implemented in this file +; ---------------------------------- +PUBLIC vPortYield +PUBLIC vPortYieldFromTick +PUBLIC vPortStart + + +; Interrupt vector table. +; ----------------------- +; +; For simplicity the RTOS tick interrupt routine uses the __task keyword. +; As the IAR compiler does not permit a function to be declared using both +; __task and __interrupt, the use of __task necessitates that the interrupt +; vector table be setup manually. +; +; To write an ISR, implement the ISR function using the __interrupt keyword +; but do not install the interrupt using the "#pragma vector=ABC" method. +; Instead manually place the name of the ISR in the vector table using an +; ORG and jmp instruction as demonstrated below. +; You will also have to add an EXTERN statement at the top of the file. + + ASEG + + + ORG TIMER1_COMPA_vect ; Vector address + jmp SIG_OUTPUT_COMPARE1A ; ISR + + ORG USART_RXC_vect ; Vector address + jmp SIG_UART_RECV ; ISR + + ORG USART_UDRE_vect ; Vector address + jmp SIG_UART_DATA ; ISR + + + RSEG CODE + + + +; Saving and Restoring a Task Context and Task Switching +; ------------------------------------------------------ +; +; The IAR compiler does not fully support inline assembler, so saving and +; restoring a task context has to be written in an asm file. +; +; vPortYield() and vPortYieldFromTick() are usually written in C. Doing +; so in this case would required calls to be made to portSAVE_CONTEXT() and +; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch +; function would require two extra jump and return instructions over the +; WinAVR equivalent. +; +; To avoid this I have opted to implement both vPortYield() and +; vPortYieldFromTick() in this assembly file. For convenience +; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros. + +portSAVE_CONTEXT MACRO + st -y, r0 ; First save the r0 register - we need to use this. + in r0, SREG ; Obtain the SREG value so we can disable interrupts... + cli ; ... as soon as possible. + st -y, r0 ; Store the SREG as it was before we disabled interrupts. + + in r0, SPL ; Next store the hardware stack pointer. The IAR... + st -y, r0 ; ... compiler uses the hardware stack as a call stack ... + in r0, SPH ; ... only. + st -y, r0 + + st -y, r1 ; Now store the rest of the registers. Dont store the ... + st -y, r2 ; ... the Y register here as it is used as the software + st -y, r3 ; stack pointer and will get saved into the TCB. + st -y, r4 + st -y, r5 + st -y, r6 + st -y, r7 + st -y, r8 + st -y, r9 + st -y, r10 + st -y, r11 + st -y, r12 + st -y, r13 + st -y, r14 + st -y, r15 + st -y, r16 + st -y, r17 + st -y, r18 + st -y, r19 + st -y, r20 + st -y, r21 + st -y, r22 + st -y, r23 + st -y, r24 + st -y, r25 + st -y, r26 + st -y, r27 + st -y, r30 + st -y, r31 + lds r0, uxCriticalNesting + st -y, r0 ; Store the critical nesting counter. + + lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ... + lds r27, pxCurrentTCB + 1 ; ... register) into the TCB. + st x+, r28 + st x+, r29 + + ENDM + + +portRESTORE_CONTEXT MACRO + lds r26, pxCurrentTCB + lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ... + ld r28, x+ ; the TCB into the software stack pointer (... + ld r29, x+ ; ... the Y register). + + ld r0, y+ + sts uxCriticalNesting, r0 + ld r31, y+ ; Restore the registers down to R0. The Y + ld r30, y+ ; register is missing from this list as it + ld r27, y+ ; has already been restored. + ld r26, y+ + ld r25, y+ + ld r24, y+ + ld r23, y+ + ld r22, y+ + ld r21, y+ + ld r20, y+ + ld r19, y+ + ld r18, y+ + ld r17, y+ + ld r16, y+ + ld r15, y+ + ld r14, y+ + ld r13, y+ + ld r12, y+ + ld r11, y+ + ld r10, y+ + ld r9, y+ + ld r8, y+ + ld r7, y+ + ld r6, y+ + ld r5, y+ + ld r4, y+ + ld r3, y+ + ld r2, y+ + ld r1, y+ + + ld r0, y+ ; The next thing on the stack is the ... + out SPH, r0 ; ... hardware stack pointer. + ld r0, y+ + out SPL, r0 + + ld r0, y+ ; Next there is the SREG register. + out SREG, r0 + + ld r0, y+ ; Finally we have finished with r0, so restore r0. + + ENDM + + + +; vPortYield() and vPortYieldFromTick() +; ------------------------------------- +; +; Manual and preemptive context switch functions respectively. +; The IAR compiler does not fully support inline assembler, +; so these are implemented here rather than the more usually +; place of within port.c. + +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ret ; ... scheduler decided should run. + +vPortYieldFromTick: + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. + tst r16 + breq SkipTaskSwitch + call vTaskSwitchContext ; Call the scheduler. +SkipTaskSwitch: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ret ; ... scheduler decided should run. + +; vPortStart() +; ------------ +; +; Again due to the lack of inline assembler, this is required +; to get access to the portRESTORE_CONTEXT macro. + +vPortStart: + portRESTORE_CONTEXT + ret + + +; Just a filler for unused interrupt vectors. +vNoISR: + reti + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/exception.s82 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/exception.s82 new file mode 100644 index 0000000..30e0967 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/exception.s82 @@ -0,0 +1,311 @@ +/*This file is prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief Exception and interrupt vectors. + * + * This file maps all events supported by an AVR32UC. + * + * - Compiler: IAR EWAVR32 + * - Supported devices: All AVR32UC devices with an INTC module can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support + * + ******************************************************************************/ + +/* Copyright (c) 2007, Atmel Corporation All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. The name of ATMEL may not be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND + * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, + * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#include +#include "intc.h" + + +//! @{ +//! \verbatim + + +// Start of Exception Vector Table. + + // EVBA must be aligned with a power of two strictly greater than the EVBA- + // relative offset of the last vector. + COMMON EVTAB:CODE:ROOT(9) + + + // Force EVBA initialization. + EXTERN ??init_EVBA + REQUIRE ??init_EVBA + + // Export symbol. + PUBLIC ??EVBA + PUBLIC _evba +??EVBA: +_evba: + + ORG 0x000 + // Unrecoverable Exception. +_handle_Unrecoverable_Exception: + rjmp $ + + ORG 0x004 + // TLB Multiple Hit: UNUSED IN AVR32UC. +_handle_TLB_Multiple_Hit: + rjmp $ + + ORG 0x008 + // Bus Error Data Fetch. +_handle_Bus_Error_Data_Fetch: + rjmp $ + + ORG 0x00C + // Bus Error Instruction Fetch. +_handle_Bus_Error_Instruction_Fetch: + rjmp $ + + ORG 0x010 + // NMI. +_handle_NMI: + rjmp $ + + ORG 0x014 + // Instruction Address. +_handle_Instruction_Address: + rjmp $ + + ORG 0x018 + // ITLB Protection. +_handle_ITLB_Protection: + rjmp $ + + ORG 0x01C + // Breakpoint. +_handle_Breakpoint: + rjmp $ + + ORG 0x020 + // Illegal Opcode. +_handle_Illegal_Opcode: + rjmp $ + + ORG 0x024 + // Unimplemented Instruction. +_handle_Unimplemented_Instruction: + rjmp $ + + ORG 0x028 + // Privilege Violation. +_handle_Privilege_Violation: + rjmp $ + + ORG 0x02C + // Floating-Point: UNUSED IN AVR32UC. +_handle_Floating_Point: + rjmp $ + + ORG 0x030 + // Coprocessor Absent: UNUSED IN AVR32UC. +_handle_Coprocessor_Absent: + rjmp $ + + ORG 0x034 + // Data Address (Read). +_handle_Data_Address_Read: + rjmp $ + + ORG 0x038 + // Data Address (Write). +_handle_Data_Address_Write: + rjmp $ + + ORG 0x03C + // DTLB Protection (Read). +_handle_DTLB_Protection_Read: + rjmp $ + + ORG 0x040 + // DTLB Protection (Write). +_handle_DTLB_Protection_Write: + rjmp $ + + ORG 0x044 + // DTLB Modified: UNUSED IN AVR32UC. +_handle_DTLB_Modified: + rjmp $ + + ORG 0x050 + // ITLB Miss: UNUSED IN AVR32UC. +_handle_ITLB_Miss: + rjmp $ + + ORG 0x060 + // DTLB Miss (Read): UNUSED IN AVR32UC. +_handle_DTLB_Miss_Read: + rjmp $ + + ORG 0x070 + // DTLB Miss (Write): UNUSED IN AVR32UC. +_handle_DTLB_Miss_Write: + rjmp $ + + ORG 0x100 + // Supervisor Call. +_handle_Supervisor_Call: + lddpc pc, __SCALLYield + + +// Interrupt support. +// The interrupt controller must provide the offset address relative to EVBA. +// Important note: +// All interrupts call a C function named _get_interrupt_handler. +// This function will read group and interrupt line number to then return in +// R12 a pointer to a user-provided interrupt handler. + + ALIGN 2 + +_int0: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 110b + brlo _int0_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int0_normal: +#endif + mov r12, 0 // Pass the int_lev parameter to the _get_interrupt_handler function. + mcall __get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + +_int1: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 110b + brlo _int1_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int1_normal: +#endif + mov r12, 1 // Pass the int_lev parameter to the _get_interrupt_handler function. + mcall __get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + +_int2: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 110b + brlo _int2_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int2_normal: +#endif + mov r12, 2 // Pass the int_lev parameter to the _get_interrupt_handler function. + mcall __get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + +_int3: + // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the + // CPU upon interrupt entry. +#if 1 // B1832: interrupt stack changed to exception stack if exception is detected. + mfsr r12, AVR32_SR + bfextu r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE + cp.w r12, 110b + brlo _int3_normal + lddsp r12, sp[0 * 4] + stdsp sp[6 * 4], r12 + lddsp r12, sp[1 * 4] + stdsp sp[7 * 4], r12 + lddsp r12, sp[3 * 4] + sub sp, -6 * 4 + rete +_int3_normal: +#endif + mov r12, 3 // Pass the int_lev parameter to the _get_interrupt_handler function. + mcall __get_interrupt_handler + cp.w r12, 0 // Get the pointer to the interrupt handler returned by the function. + movne pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler. + rete // If this was a spurious interrupt (R12 == NULL), return from event handler. + + +// Constant data area. + + ALIGN 2 + + // Import symbols. + EXTERN SCALLYield + EXTERN _get_interrupt_handler +__SCALLYield: + DC32 SCALLYield +__get_interrupt_handler: + DC32 _get_interrupt_handler + + // Values to store in the interrupt priority registers for the various interrupt priority levels. + // The interrupt priority registers contain the interrupt priority level and + // the EVBA-relative interrupt vector offset. + PUBLIC ipr_val +ipr_val: + DC32 (INT0 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int0 - _evba),\ + (INT1 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int1 - _evba),\ + (INT2 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int2 - _evba),\ + (INT3 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int3 - _evba) + + + END + + +//! \endverbatim +//! @} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/port.c new file mode 100644 index 0000000..c5dab49 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/port.c @@ -0,0 +1,407 @@ +/*This file has been prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief FreeRTOS port source for AVR32 UC3. + * + * - Compiler: IAR EWAVR32 + * - Supported devices: All AVR32 devices can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support/ + * + *****************************************************************************/ + +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* AVR32 UC3 includes. */ +#include +#include +#include "gpio.h" + +#if configDBG + #include "usart.h" +#endif + +#if( configTICK_USE_TC==1 ) + #include "tc.h" +#endif + + +/* Constants required to setup the task context. */ +#define portINITIAL_SR ( ( StackType_t ) 0x00400000 ) /* AVR32 : [M2:M0]=001 I1M=0 I0M=0, GM=0 */ +#define portINSTRUCTION_SIZE ( ( StackType_t ) 0 ) + +/* Each task maintains its own critical nesting variable. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +#if( configTICK_USE_TC==0 ) + static void prvScheduleNextTick( void ); +#else + static void prvClearTcInt( void ); +#endif + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/*-----------------------------------------------------------*/ + +/* + * Low-level initialization routine called during startup, before the main + * function. + */ +int __low_level_init(void) +{ + #if configHEAP_INIT + #pragma segment = "HEAP" + BaseType_t *pxMem; + #endif + + /* Enable exceptions. */ + ENABLE_ALL_EXCEPTIONS(); + + /* Initialize interrupt handling. */ + INTC_init_interrupts(); + + #if configHEAP_INIT + { + /* Initialize the heap used by malloc. */ + for( pxMem = __segment_begin( "HEAP" ); pxMem < ( BaseType_t * ) __segment_end( "HEAP" ); ) + { + *pxMem++ = 0xA5A5A5A5; + } + } + #endif + + /* Code section present if and only if the debug trace is activated. */ + #if configDBG + { + static const gpio_map_t DBG_USART_GPIO_MAP = + { + { configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION }, + { configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION } + }; + + static const usart_options_t DBG_USART_OPTIONS = + { + .baudrate = configDBG_USART_BAUDRATE, + .charlength = 8, + .paritytype = USART_NO_PARITY, + .stopbits = USART_1_STOPBIT, + .channelmode = USART_NORMAL_CHMODE + }; + + /* Initialize the USART used for the debug trace with the configured parameters. */ + extern volatile avr32_usart_t *volatile stdio_usart_base; + stdio_usart_base = configDBG_USART; + gpio_enable_module( DBG_USART_GPIO_MAP, + sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) ); + usart_init_rs232(configDBG_USART, &DBG_USART_OPTIONS, configCPU_CLOCK_HZ); + } + #endif + + /* Request initialization of data segments. */ + return 1; +} +/*-----------------------------------------------------------*/ + +/* Added as there is no such function in FreeRTOS. */ +void *pvPortRealloc( void *pv, size_t xWantedSize ) +{ +void *pvReturn; + + vTaskSuspendAll(); + { + pvReturn = realloc( pv, xWantedSize ); + } + xTaskResumeAll(); + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +/* The cooperative scheduler requires a normal IRQ service routine to +simply increment the system tick. */ +/* The preemptive scheduler is defined as "naked" as the full context is saved +on entry as part of the context switch. */ +#pragma shadow_registers = full // Naked. +static void vTick( void ) +{ + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT_OS_INT(); + + #if( configTICK_USE_TC==1 ) + /* Clear the interrupt flag. */ + prvClearTcInt(); + #else + /* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ) + clock cycles from now. */ + prvScheduleNextTick(); + #endif + + /* Because FreeRTOS is not supposed to run with nested interrupts, put all OS + calls in a critical section . */ + portENTER_CRITICAL(); + xTaskIncrementTick(); + portEXIT_CRITICAL(); + + /* Restore the context of the "elected task". */ + portRESTORE_CONTEXT_OS_INT(); +} +/*-----------------------------------------------------------*/ + +#pragma shadow_registers = full // Naked. +void SCALLYield( void ) +{ + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT_SCALL(); + vTaskSwitchContext(); + portRESTORE_CONTEXT_SCALL(); +} +/*-----------------------------------------------------------*/ + +/* The code generated by the GCC compiler uses the stack in different ways at +different optimisation levels. The interrupt flags can therefore not always +be saved to the stack. Instead the critical section nesting level is stored +in a variable, which is then saved as part of the stack context. */ +#pragma optimize = no_inline +void vPortEnterCritical( void ) +{ + /* Disable interrupts */ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +#pragma optimize = no_inline +void vPortExitCritical( void ) +{ + if(ulCriticalNesting > portNO_CRITICAL_NESTING) + { + ulCriticalNesting--; + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable all interrupt/exception. */ + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* When the task starts, it will expect to find the function parameter in R12. */ + pxTopOfStack--; + *pxTopOfStack-- = ( StackType_t ) 0x08080808; /* R8 */ + *pxTopOfStack-- = ( StackType_t ) 0x09090909; /* R9 */ + *pxTopOfStack-- = ( StackType_t ) 0x0A0A0A0A; /* R10 */ + *pxTopOfStack-- = ( StackType_t ) 0x0B0B0B0B; /* R11 */ + *pxTopOfStack-- = ( StackType_t ) pvParameters; /* R12 */ + *pxTopOfStack-- = ( StackType_t ) 0xDEADBEEF; /* R14/LR */ + *pxTopOfStack-- = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; /* R15/PC */ + *pxTopOfStack-- = ( StackType_t ) portINITIAL_SR; /* SR */ + *pxTopOfStack-- = ( StackType_t ) 0xFF0000FF; /* R0 */ + *pxTopOfStack-- = ( StackType_t ) 0x01010101; /* R1 */ + *pxTopOfStack-- = ( StackType_t ) 0x02020202; /* R2 */ + *pxTopOfStack-- = ( StackType_t ) 0x03030303; /* R3 */ + *pxTopOfStack-- = ( StackType_t ) 0x04040404; /* R4 */ + *pxTopOfStack-- = ( StackType_t ) 0x05050505; /* R5 */ + *pxTopOfStack-- = ( StackType_t ) 0x06060606; /* R6 */ + *pxTopOfStack-- = ( StackType_t ) 0x07070707; /* R7 */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING; /* ulCriticalNesting */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + portRESTORE_CONTEXT(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the AVR32 port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ) +clock cycles from now. */ +#if( configTICK_USE_TC==0 ) + static void prvScheduleFirstTick(void) + { + uint32_t lCycles; + + lCycles = Get_system_register(AVR32_COUNT); + lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ); + // If lCycles ends up to be 0, make it 1 so that the COMPARE and exception + // generation feature does not get disabled. + if(0 == lCycles) + { + lCycles++; + } + Set_system_register(AVR32_COMPARE, lCycles); + } + + #pragma optimize = no_inline + static void prvScheduleNextTick(void) + { + uint32_t lCycles, lCount; + + lCycles = Get_system_register(AVR32_COMPARE); + lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ); + // If lCycles ends up to be 0, make it 1 so that the COMPARE and exception + // generation feature does not get disabled. + if(0 == lCycles) + { + lCycles++; + } + lCount = Get_system_register(AVR32_COUNT); + if( lCycles < lCount ) + { // We missed a tick, recover for the next. + lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ); + } + Set_system_register(AVR32_COMPARE, lCycles); + } +#else + #pragma optimize = no_inline + static void prvClearTcInt(void) + { + AVR32_TC.channel[configTICK_TC_CHANNEL].sr; + } +#endif +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt(void) +{ + #if( configTICK_USE_TC==1 ) + + volatile avr32_tc_t *tc = &AVR32_TC; + + // Options for waveform genration. + tc_waveform_opt_t waveform_opt = + { + .channel = configTICK_TC_CHANNEL, /* Channel selection. */ + + .bswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOB. */ + .beevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOB. */ + .bcpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOB. */ + .bcpb = TC_EVT_EFFECT_NOOP, /* RB compare effect on TIOB. */ + + .aswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOA. */ + .aeevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOA. */ + .acpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOA: toggle. */ + .acpa = TC_EVT_EFFECT_NOOP, /* RA compare effect on TIOA: toggle (other possibilities are none, set and clear). */ + + .wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,/* Waveform selection: Up mode without automatic trigger on RC compare. */ + .enetrg = FALSE, /* External event trigger enable. */ + .eevt = 0, /* External event selection. */ + .eevtedg = TC_SEL_NO_EDGE, /* External event edge selection. */ + .cpcdis = FALSE, /* Counter disable when RC compare. */ + .cpcstop = FALSE, /* Counter clock stopped with RC compare. */ + + .burst = FALSE, /* Burst signal selection. */ + .clki = FALSE, /* Clock inversion. */ + .tcclks = TC_CLOCK_SOURCE_TC2 /* Internal source clock 2. */ + }; + + tc_interrupt_t tc_interrupt = + { + .etrgs=0, + .ldrbs=0, + .ldras=0, + .cpcs =1, + .cpbs =0, + .cpas =0, + .lovrs=0, + .covfs=0, + }; + + #endif + + /* Disable all interrupt/exception. */ + portDISABLE_INTERRUPTS(); + + /* Register the compare interrupt handler to the interrupt controller and + enable the compare interrupt. */ + + #if( configTICK_USE_TC==1 ) + { + INTC_register_interrupt((__int_handler)&vTick, configTICK_TC_IRQ, INT0); + + /* Initialize the timer/counter. */ + tc_init_waveform(tc, &waveform_opt); + + /* Set the compare triggers. + Remember TC counter is 16-bits, so counting second is not possible! + That's why we configure it to count ms. */ + tc_write_rc( tc, configTICK_TC_CHANNEL, ( configPBA_CLOCK_HZ / 4) / configTICK_RATE_HZ ); + + tc_configure_interrupts( tc, configTICK_TC_CHANNEL, &tc_interrupt ); + + /* Start the timer/counter. */ + tc_start(tc, configTICK_TC_CHANNEL); + } + #else + { + INTC_register_interrupt((__int_handler)&vTick, AVR32_CORE_COMPARE_IRQ, INT0); + prvScheduleFirstTick(); + } + #endif +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/portmacro.h new file mode 100644 index 0000000..8961f46 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/portmacro.h @@ -0,0 +1,655 @@ +/*This file has been prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief FreeRTOS port header for AVR32 UC3. + * + * - Compiler: IAR EWAVR32 + * - Supported devices: All AVR32 devices can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com + * Support and FAQ: https://www.microchip.com/support + * + *****************************************************************************/ + +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ +#include +#include "intc.h" +#include "compiler.h" + +#ifdef __cplusplus +extern "C" { +#endif + + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#define TASK_DELAY_MS(x) ( (x) /portTICK_PERIOD_MS ) +#define TASK_DELAY_S(x) ( (x)*1000 /portTICK_PERIOD_MS ) +#define TASK_DELAY_MIN(x) ( (x)*60*1000/portTICK_PERIOD_MS ) + +#define configTICK_TC_IRQ ATPASTE2(AVR32_TC_IRQ, configTICK_TC_CHANNEL) + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() {__asm__ __volatile__ ("nop");} +/*-----------------------------------------------------------*/ + + +/*-----------------------------------------------------------*/ + +/* INTC-specific. */ +#define DISABLE_ALL_EXCEPTIONS() Disable_global_exception() +#define ENABLE_ALL_EXCEPTIONS() Enable_global_exception() + +#define DISABLE_ALL_INTERRUPTS() Disable_global_interrupt() +#define ENABLE_ALL_INTERRUPTS() Enable_global_interrupt() + +#define DISABLE_INT_LEVEL(int_lev) Disable_interrupt_level(int_lev) +#define ENABLE_INT_LEVEL(int_lev) Enable_interrupt_level(int_lev) + + +/* + * Debug trace. + * Activated if and only if configDBG is nonzero. + * Prints a formatted string to stdout. + * The current source file name and line number are output with a colon before + * the formatted string. + * A carriage return and a linefeed are appended to the output. + * stdout is redirected to the USART configured by configDBG_USART. + * The parameters are the same as for the standard printf function. + * There is no return value. + * SHALL NOT BE CALLED FROM WITHIN AN INTERRUPT as fputs and printf use malloc, + * which is interrupt-unsafe with the current __malloc_lock and __malloc_unlock. + */ +#if configDBG + #define portDBG_TRACE(...) \ + { \ + fputs(__FILE__ ":" ASTRINGZ(__LINE__) ": ", stdout); \ + printf(__VA_ARGS__); \ + fputs("\r\n", stdout); \ + } +#else + #define portDBG_TRACE(...) +#endif + + +/* Critical section management. */ +#define portDISABLE_INTERRUPTS() DISABLE_ALL_INTERRUPTS() +#define portENABLE_INTERRUPTS() ENABLE_ALL_INTERRUPTS() + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); + + +/* Added as there is no such function in FreeRTOS. */ +extern void *pvPortRealloc( void *pv, size_t xSize ); +/*-----------------------------------------------------------*/ + + +/*=============================================================================================*/ + +/* + * Restore Context for cases other than INTi. + */ +#define portRESTORE_CONTEXT() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + __asm__ __volatile__ ( \ + /* Set SP to point to new stack */ \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0] \n\t"\ + \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + /* R0-R7 should not be used below this line */ \ + /* Skip PC and SR (will do it at the end) */ \ + "sub sp, -2*4 \n\t"\ + /* Restore R8..R12 and LR */ \ + "ldm sp++, r8-r12, lr \n\t"\ + /* Restore SR */ \ + "ld.w r0, sp[-8*4] \n\t" /* R0 is modified, is restored later. */\ + "mtsr "ASTRINGZ(AVR32_SR)", r0 \n\t"\ + /* Restore r0 */ \ + "ld.w r0, sp[-9*4] \n\t"\ + /* Restore PC */ \ + "ld.w pc, sp[-7*4]" /* Get PC from stack - PC is the 7th register saved */ \ + ); \ + \ + /* Force import of global symbols from assembly */ \ + ulCriticalNesting; \ + pxCurrentTCB; \ +} + + +/* + * portSAVE_CONTEXT_INT() and portRESTORE_CONTEXT_INT(): for INT0..3 exceptions. + * portSAVE_CONTEXT_SCALL() and portRESTORE_CONTEXT_SCALL(): for the scall exception. + * + * Had to make different versions because registers saved on the system stack + * are not the same between INT0..3 exceptions and the scall exception. + */ + +// Task context stack layout: + // R8 (*) + // R9 (*) + // R10 (*) + // R11 (*) + // R12 (*) + // R14/LR (*) + // R15/PC (*) + // SR (*) + // R0 + // R1 + // R2 + // R3 + // R4 + // R5 + // R6 + // R7 + // ulCriticalNesting +// (*) automatically done for INT0..INT3, but not for SCALL + +/* + * The ISR used for the scheduler tick depends on whether the cooperative or + * the preemptive scheduler is being used. + */ +#if configUSE_PREEMPTION == 0 + +/* + * portSAVE_CONTEXT_OS_INT() for OS Tick exception. + */ +#define portSAVE_CONTEXT_OS_INT() \ +{ \ + /* Save R0..R7 */ \ + __asm__ __volatile__ ("stm --sp, r0-r7"); \ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context save. */ \ +} + +/* + * portRESTORE_CONTEXT_OS_INT() for Tick exception. + */ +#define portRESTORE_CONTEXT_OS_INT() \ +{ \ + __asm__ __volatile__ ( \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context restore. */ \ + "rete" \ + ); \ +} + +#else + +/* + * portSAVE_CONTEXT_OS_INT() for OS Tick exception. + */ +#define portSAVE_CONTEXT_OS_INT() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* When we come here */ \ + /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */ \ + \ + __asm__ __volatile__ ( \ + /* Save R0..R7 */ \ + "stm --sp, r0-r7 \n\t"\ + \ + /* Save ulCriticalNesting variable - R0 is overwritten */ \ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w --sp, r0 \n\t"\ + \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case we don't want to do a task switch because we don't know what the stack */ \ + /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ + /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ + /* will just be restoring the interrupt handler, no way!!! */ \ + /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */ \ + "ld.w r0, sp[9*4] \n\t" /* Read SR in stack */\ + "bfextu r0, r0, 22, 3 \n\t" /* Extract the mode bits to R0. */\ + "cp.w r0, 1 \n\t" /* Compare the mode bits with supervisor mode(b'001) */\ + "brhi LABEL_INT_SKIP_SAVE_CONTEXT_"ASTRINGZ(__LINE__)" \n\t"\ + \ + /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ + /* NOTE: we don't enter a critical section here because all interrupt handlers */ \ + /* MUST perform a SAVE_CONTEXT/RESTORE_CONTEXT in the same way as */ \ + /* portSAVE_CONTEXT_OS_INT/port_RESTORE_CONTEXT_OS_INT if they call OS functions. */ \ + /* => all interrupt handlers must use portENTER_SWITCHING_ISR/portEXIT_SWITCHING_ISR. */ \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w r0[0], sp \n"\ + \ + "LABEL_INT_SKIP_SAVE_CONTEXT_"ASTRINGZ(__LINE__)":" \ + ); \ +} + +/* + * portRESTORE_CONTEXT_OS_INT() for Tick exception. + */ +#define portRESTORE_CONTEXT_OS_INT() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case we don't want to do a task switch because we don't know what the stack */ \ + /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ + /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ + /* will just be restoring the interrupt handler, no way!!! */ \ + __asm__ __volatile__ ( \ + "ld.w r0, sp[9*4] \n\t" /* Read SR in stack */\ + "bfextu r0, r0, 22, 3 \n\t" /* Extract the mode bits to R0. */\ + "cp.w r0, 1 \n\t" /* Compare the mode bits with supervisor mode(b'001) */\ + "brhi LABEL_INT_SKIP_RESTORE_CONTEXT_"ASTRINGZ(__LINE__) \ + ); \ + \ + /* Else */ \ + /* because it is here safe, always call vTaskSwitchContext() since an OS tick occurred. */ \ + /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */\ + portENTER_CRITICAL(); \ + vTaskSwitchContext(); \ + portEXIT_CRITICAL(); \ + \ + /* Restore all registers */ \ + \ + __asm__ __volatile__ ( \ + /* Set SP to point to new stack */ \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0] \n"\ + \ + "LABEL_INT_SKIP_RESTORE_CONTEXT_"ASTRINGZ(__LINE__)": \n\t"\ + \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* Now, the stack should be R8..R12, LR, PC and SR */ \ + "rete" \ + ); \ + \ + /* Force import of global symbols from assembly */ \ + ulCriticalNesting; \ + pxCurrentTCB; \ +} + +#endif + + +/* + * portSAVE_CONTEXT_SCALL() for SupervisorCALL exception. + * + * NOTE: taskYIELD()(== SCALL) MUST NOT be called in a mode > supervisor mode. + * + */ +#define portSAVE_CONTEXT_SCALL() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* Warning: the stack layout after SCALL doesn't match the one after an interrupt. */ \ + /* If SR[M2:M0] == 001 */ \ + /* PC and SR are on the stack. */ \ + /* Else (other modes) */ \ + /* Nothing on the stack. */ \ + \ + /* WARNING NOTE: the else case cannot happen as it is strictly forbidden to call */ \ + /* vTaskDelay() and vTaskDelayUntil() OS functions (that result in a taskYield()) */ \ + /* in an interrupt|exception handler. */ \ + \ + __asm__ __volatile__ ( \ + /* in order to save R0-R7 */ \ + "sub sp, 6*4 \n\t"\ + /* Save R0..R7 */ \ + "stm --sp, r0-r7 \n\t"\ + \ + /* in order to save R8-R12 and LR */ \ + /* do not use SP if interrupts occurs, SP must be left at bottom of stack */ \ + "sub r7, sp,-16*4 \n\t"\ + /* Copy PC and SR in other places in the stack. */ \ + "ld.w r0, r7[-2*4] \n\t" /* Read SR */\ + "st.w r7[-8*4], r0 \n\t" /* Copy SR */\ + "ld.w r0, r7[-1*4] \n\t" /* Read PC */\ + "st.w r7[-7*4], r0 \n\t" /* Copy PC */\ + \ + /* Save R8..R12 and LR on the stack. */ \ + "stm --r7, r8-r12, lr \n\t"\ + \ + /* Arriving here we have the following stack organizations: */ \ + /* R8..R12, LR, PC, SR, R0..R7. */ \ + \ + /* Now we can finalize the save. */ \ + \ + /* Save ulCriticalNesting variable - R0 is overwritten */ \ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w --sp, r0" \ + ); \ + \ + /* Disable the its which may cause a context switch (i.e. cause a change of */ \ + /* pxCurrentTCB). */ \ + /* Basically, all accesses to the pxCurrentTCB structure should be put in a */ \ + /* critical section because it is a global structure. */ \ + portENTER_CRITICAL(); \ + \ + /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ + __asm__ __volatile__ ( \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w r0[0], sp" \ + ); \ +} + +/* + * portRESTORE_CONTEXT() for SupervisorCALL exception. + */ +#define portRESTORE_CONTEXT_SCALL() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* Restore all registers */ \ + \ + /* Set SP to point to new stack */ \ + __asm__ __volatile__ ( \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0]" \ + ); \ + \ + /* Leave pxCurrentTCB variable access critical section */ \ + portEXIT_CRITICAL(); \ + \ + __asm__ __volatile__ ( \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* skip PC and SR */ \ + /* do not use SP if interrupts occurs, SP must be left at bottom of stack */ \ + "sub r7, sp, -10*4 \n\t"\ + /* Restore r8-r12 and LR */ \ + "ldm r7++, r8-r12, lr \n\t"\ + \ + /* RETS will take care of the extra PC and SR restore. */ \ + /* So, we have to prepare the stack for this. */ \ + "ld.w r0, r7[-8*4] \n\t" /* Read SR */\ + "st.w r7[-2*4], r0 \n\t" /* Copy SR */\ + "ld.w r0, r7[-7*4] \n\t" /* Read PC */\ + "st.w r7[-1*4], r0 \n\t" /* Copy PC */\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + "sub sp, -6*4 \n\t"\ + \ + "rets" \ + ); \ + \ + /* Force import of global symbols from assembly */ \ + ulCriticalNesting; \ + pxCurrentTCB; \ +} + + +/* + * The ISR used depends on whether the cooperative or + * the preemptive scheduler is being used. + */ +#if configUSE_PREEMPTION == 0 + +/* + * ISR entry and exit macros. These are only required if a task switch + * is required from the ISR. + */ +#define portENTER_SWITCHING_ISR() \ +{ \ + /* Save R0..R7 */ \ + __asm__ __volatile__ ("stm --sp, r0-r7"); \ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context save. */ \ +} + +/* + * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1 + */ +#define portEXIT_SWITCHING_ISR() \ +{ \ + __asm__ __volatile__ ( \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ + /* there is also no context restore. */ \ + "rete" \ + ); \ +} + +#else + +/* + * ISR entry and exit macros. These are only required if a task switch + * is required from the ISR. + */ +#define portENTER_SWITCHING_ISR() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + /* When we come here */ \ + /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */ \ + \ + __asm__ __volatile__ ( \ + /* Save R0..R7 */ \ + "stm --sp, r0-r7 \n\t"\ + \ + /* Save ulCriticalNesting variable - R0 is overwritten */ \ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w --sp, r0 \n\t"\ + \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case we don't want to do a task switch because we don't know what the stack */ \ + /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ + /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ + /* will just be restoring the interrupt handler, no way!!! */ \ + /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */ \ + "ld.w r0, sp[9*4] \n\t" /* Read SR in stack */\ + "bfextu r0, r0, 22, 3 \n\t" /* Extract the mode bits to R0. */\ + "cp.w r0, 1 \n\t" /* Compare the mode bits with supervisor mode(b'001) */\ + "brhi LABEL_ISR_SKIP_SAVE_CONTEXT_"ASTRINGZ(__LINE__)" \n\t"\ + \ + /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "st.w r0[0], sp \n"\ + \ + "LABEL_ISR_SKIP_SAVE_CONTEXT_"ASTRINGZ(__LINE__)":" \ + ); \ +} + + +/* + * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1 + */ +#define portEXIT_SWITCHING_ISR() \ +{ \ + extern volatile uint32_t ulCriticalNesting; \ + extern volatile void *volatile pxCurrentTCB; \ + \ + __asm__ __volatile__ ( \ + /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ + /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ + /* level and allow other lower interrupt level to occur). */ \ + /* In this case it's of no use to switch context and restore a new SP because we purposedly */ \ + /* did not previously save SP in its TCB. */ \ + "ld.w r0, sp[9*4] \n\t" /* Read SR in stack */\ + "bfextu r0, r0, 22, 3 \n\t" /* Extract the mode bits to R0. */\ + "cp.w r0, 1 \n\t" /* Compare the mode bits with supervisor mode(b'001) */\ + "brhi LABEL_ISR_SKIP_RESTORE_CONTEXT_"ASTRINGZ(__LINE__)" \n\t"\ + \ + /* If a switch is required then we just need to call */ \ + /* vTaskSwitchContext() as the context has already been */ \ + /* saved. */ \ + "cp.w r12, 1 \n\t" /* Check if Switch context is required. */\ + "brne LABEL_ISR_RESTORE_CONTEXT_"ASTRINGZ(__LINE__)":C" \ + ); \ + \ + /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */\ + portENTER_CRITICAL(); \ + vTaskSwitchContext(); \ + portEXIT_CRITICAL(); \ + \ + __asm__ __volatile__ ( \ + "LABEL_ISR_RESTORE_CONTEXT_"ASTRINGZ(__LINE__)": \n\t"\ + /* Restore the context of which ever task is now the highest */ \ + /* priority that is ready to run. */ \ + \ + /* Restore all registers */ \ + \ + /* Set SP to point to new stack */ \ + "mov r8, LWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(pxCurrentTCB)") \n\t"\ + "ld.w r0, r8[0] \n\t"\ + "ld.w sp, r0[0] \n"\ + \ + "LABEL_ISR_SKIP_RESTORE_CONTEXT_"ASTRINGZ(__LINE__)": \n\t"\ + \ + /* Restore ulCriticalNesting variable */ \ + "ld.w r0, sp++ \n\t"\ + "mov r8, LWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "orh r8, HWRD("ASTRINGZ(ulCriticalNesting)") \n\t"\ + "st.w r8[0], r0 \n\t"\ + \ + /* Restore R0..R7 */ \ + "ldm sp++, r0-r7 \n\t"\ + \ + /* Now, the stack should be R8..R12, LR, PC and SR */ \ + "rete" \ + ); \ + \ + /* Force import of global symbols from assembly */ \ + ulCriticalNesting; \ + pxCurrentTCB; \ +} + +#endif + + +#define portYIELD() {__asm__ __volatile__ ("scall");} + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/read.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/read.c new file mode 100644 index 0000000..61b17a4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/read.c @@ -0,0 +1,94 @@ +/*This file is prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief System-specific implementation of the \ref __read function used by + the standard library. + * + * - Compiler: IAR EWAVR32 + * - Supported devices: All AVR32 devices with a USART module can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support/ + * + ******************************************************************************/ + +/* Copyright (c) 2007, Atmel Corporation All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. The name of ATMEL may not be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND + * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, + * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#include +#include +#include "usart.h" + + +_STD_BEGIN + + +#pragma module_name = "?__read" + + +extern volatile avr32_usart_t *volatile stdio_usart_base; + + +/*! \brief Reads a number of bytes, at most \a size, into the memory area + * pointed to by \a buffer. + * + * \param handle File handle to read from. + * \param buffer Pointer to buffer to write read bytes to. + * \param size Number of bytes to read. + * + * \return The number of bytes read, \c 0 at the end of the file, or + * \c _LLIO_ERROR on failure. + */ +size_t __read(int handle, uint8_t *buffer, size_t size) +{ + int nChars = 0; + + // This implementation only reads from stdin. + // For all other file handles, it returns failure. + if (handle != _LLIO_STDIN) + { + return _LLIO_ERROR; + } + + for (; size > 0; --size) + { + int c = usart_getchar(stdio_usart_base); + if (c < 0) + break; + + *buffer++ = c; + ++nChars; + } + + return nChars; +} + + +_STD_END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/write.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/write.c new file mode 100644 index 0000000..a78e0c1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR32_UC3/write.c @@ -0,0 +1,104 @@ +/*This file is prepared for Doxygen automatic documentation generation.*/ +/*! \file ********************************************************************* + * + * \brief System-specific implementation of the \ref __write function used by + the standard library. + * + * - Compiler: IAR EWAVR32 + * - Supported devices: All AVR32 devices with a USART module can be used. + * - AppNote: + * + * \author Atmel Corporation (Now Microchip): + * https://www.microchip.com \n + * Support and FAQ: https://www.microchip.com/support + * + ******************************************************************************/ + +/* Copyright (c) 2007, Atmel Corporation All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. The name of ATMEL may not be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND + * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, + * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#include +#include +#include "usart.h" + + +_STD_BEGIN + + +#pragma module_name = "?__write" + + +//! Pointer to the base of the USART module instance to use for stdio. +__no_init volatile avr32_usart_t *volatile stdio_usart_base; + + +/*! \brief Writes a number of bytes, at most \a size, from the memory area + * pointed to by \a buffer. + * + * If \a buffer is zero then \ref __write performs flushing of internal buffers, + * if any. In this case, \a handle can be \c -1 to indicate that all handles + * should be flushed. + * + * \param handle File handle to write to. + * \param buffer Pointer to buffer to read bytes to write from. + * \param size Number of bytes to write. + * + * \return The number of bytes written, or \c _LLIO_ERROR on failure. + */ +size_t __write(int handle, const uint8_t *buffer, size_t size) +{ + size_t nChars = 0; + + if (buffer == 0) + { + // This means that we should flush internal buffers. + return 0; + } + + // This implementation only writes to stdout and stderr. + // For all other file handles, it returns failure. + if (handle != _LLIO_STDOUT && handle != _LLIO_STDERR) + { + return _LLIO_ERROR; + } + + for (; size != 0; --size) + { + if (usart_putchar(stdio_usart_base, *buffer++) < 0) + { + return _LLIO_ERROR; + } + + ++nChars; + } + + return nChars; +} + + +_STD_END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/port.c new file mode 100644 index 0000000..e72f0ae --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/port.c @@ -0,0 +1,300 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#include +#include "porthardware.h" +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the AVR port. +*----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 ) + +/*-----------------------------------------------------------*/ + + +#define portBYTES_USED_BY_RETURN_ADDRESS 2 +#define portNO_CRITICAL_NESTING ( ( UBaseType_t ) 0 ) + +/* Stores the critical section nesting. This must not be initialised to 0. + * It will be initialised when a task starts. */ +UBaseType_t uxCriticalNesting = 0x50; + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * The IAR compiler does not have full support for inline assembler, so + * these are defined in the portmacro assembler file. + */ +extern void vPortYieldFromTick( void ); +extern void vPortStart( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + uint16_t usAddress; + StackType_t * pxTopOfHardwareStack; + + /* Simulate how the stack would look after a call to vPortYield(). */ + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* The IAR compiler requires two stacks per task. First there is the + * hardware call stack which uses the AVR stack pointer. Second there is the + * software stack (local variables, parameter passing, etc.) which uses the + * AVR Y register. + * This function places both stacks within the memory block passed in as the + * first parameter. The hardware stack is placed at the bottom of the memory + * block. A gap is then left for the hardware stack to grow. Next the software + * stack is placed. The amount of space between the software and hardware + * stacks is defined by configCALL_STACK_SIZE. + * The first part of the stack is the hardware stack. Place the start + * address of the task on the hardware stack. */ + + /* Place a few bytes of known values on the bottom of the stack. + * This is just useful for debugging. */ + /**pxTopOfStack = 0x11; */ + /*pxTopOfStack--; */ + /**pxTopOfStack = 0x22; */ + /*pxTopOfStack--; */ + /**pxTopOfStack = 0x33; */ + /*pxTopOfStack--; */ + + /* Remember where the top of the hardware stack is - this is required + * below. */ + pxTopOfHardwareStack = pxTopOfStack; + + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Leave enough space for the hardware stack before starting the software + * stack. The '- 2' is because we have already used two spaces for the + * address of the start of the task. */ + pxTopOfStack -= ( configCALL_STACK_SIZE - 2 ); + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + * portSAVE_CONTEXT places the flags on the stack immediately after r0 + * to ensure the interrupts get disabled as soon as possible, and so ensuring + * the stack use is minimal should a context switch interrupt occur. */ + + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */ + pxTopOfStack--; + + /* Next place the address of the hardware stack. This is required so + * the AVR stack pointer can be restored to point to the hardware stack. */ + pxTopOfHardwareStack -= portBYTES_USED_BY_RETURN_ADDRESS; + usAddress = ( uint16_t ) pxTopOfHardwareStack; + + /* SPL */ + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* SPH */ + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Now the remaining registers. */ + *pxTopOfStack = ( StackType_t ) 0x01; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R15 */ + pxTopOfStack--; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x18; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23; /* R23 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x24; /* R24 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x25; /* R25 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27; /* R27 */ + pxTopOfStack--; + + /* The Y register is not stored as it is used as the software stack and + * gets saved into the task control block. */ + + *pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x031; /* R31 */ + + pxTopOfStack--; + *pxTopOfStack = portNO_CRITICAL_NESTING; /* Critical nesting is zero when the task starts. */ + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. + * Normally we would just call portRESTORE_CONTEXT() here, but as the IAR + * compiler does not fully support inline assembler we have to make a call.*/ + vPortStart(); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* vPortEndScheduler is not implemented in this port. */ +} + +/*-----------------------------------------------------------*/ + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ + TICK_init(); +} + +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + +/* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + + __task void TICK_INT( void ) + { + vPortYieldFromTick(); + asm ( "reti" ); + } +#else + +/* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + + __interrupt void TICK_INT( void ) + { + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + + xTaskIncrementTick(); + } +#endif /* if configUSE_PREEMPTION == 1 */ + +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} + +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + + if( uxCriticalNesting == portNO_CRITICAL_NESTING ) + { + portENABLE_INTERRUPTS(); + } +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/porthardware.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/porthardware.h new file mode 100644 index 0000000..dbbcd05 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/porthardware.h @@ -0,0 +1,102 @@ +#ifndef PORTHARDWARE_H +#define PORTHARDWARE_H + +#ifndef __IAR_SYSTEMS_ASM__ + #include +#endif +#include "FreeRTOSConfig.h" + +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMER_INSTANCE == 0 ) + + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 1 ) + + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 2 ) + + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 3 ) + + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 4 ) + + #define TICK_INT_vect TCB4_INT_vect + #define INT_FLAGS TCB4_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB4.INTCTRL = TCB_CAPT_bm; \ + TCB4.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 5 ) + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + +/* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ( x ) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() \ + { \ + while( RTC.STATUS > 0 ) {; } \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ( configTICK_RATE_HZ ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } + +#else /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. +#endif /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + +/*-----------------------------------------------------------*/ + +#endif /* PORTHARDWARE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/portmacro.h new file mode 100644 index 0000000..c0bc803 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/portmacro.h @@ -0,0 +1,108 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#define portDISABLE_INTERRUPTS() asm ( "cli" ) +#define portENABLE_INTERRUPTS() asm ( "sei" ) +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm ( "nop" ) +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR( void ); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/portmacro.s90 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/portmacro.s90 new file mode 100644 index 0000000..27400d5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_AVRDx/portmacro.s90 @@ -0,0 +1,253 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; */ + +#include "porthardware.h" + +; Declare all extern symbols here - including any ISRs that are referenced in +; the vector table. + +; ISR functions +; ------------- +EXTERN TICK_INT + +; Functions used by scheduler +; --------------------------- +EXTERN vTaskSwitchContext +EXTERN pxCurrentTCB +EXTERN xTaskIncrementTick +EXTERN uxCriticalNesting + +; Functions implemented in this file +; ---------------------------------- +PUBLIC vPortYield +PUBLIC vPortYieldFromTick +PUBLIC vPortYieldFromISR +PUBLIC vPortStart + +; Interrupt vector table. +; ----------------------- +; +; For simplicity the RTOS tick interrupt routine uses the __task keyword. +; As the IAR compiler does not permit a function to be declared using both +; __task and __interrupt, the use of __task necessitates that the interrupt +; vector table be setup manually. +; +; To write an ISR, implement the ISR function using the __interrupt keyword +; but do not install the interrupt using the "#pragma vector=ABC" method. +; Instead manually place the name of the ISR in the vector table using an +; ORG and jmp instruction as demonstrated below. +; You will also have to add an EXTERN statement at the top of the file. + + ASEG + + ORG TICK_INT_vect ; Vector address + jmp TICK_INT ; ISR + + RSEG CODE + +CLR_INT MACRO FLAG_REG, FLAG_MASK + st -y, r16 + ldi r16, FLAG_MASK + sts FLAG_REG, r16 + ld r16, y+ + + ENDM + +; Saving and Restoring a Task Context and Task Switching +; ------------------------------------------------------ +; +; The IAR compiler does not fully support inline assembler, so saving and +; restoring a task context has to be written in an asm file. +; +; vPortYield() and vPortYieldFromTick() are usually written in C. Doing +; so in this case would required calls to be made to portSAVE_CONTEXT() and +; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch +; function would require two extra jump and return instructions over the +; WinAVR equivalent. +; +; To avoid this I have opted to implement both vPortYield() and +; vPortYieldFromTick() in this assembly file. For convenience +; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros. + +portSAVE_CONTEXT MACRO + st -y, r0 ; First save the r0 register - we need to use this. + in r0, SREG ; Obtain the SREG value so we can disable interrupts... + cli ; ... as soon as possible. + st -y, r0 ; Store the SREG as it was before we disabled interrupts. + + in r0, RAMPZ + st -y, r0 + + in r0, SPL ; Next store the hardware stack pointer. The IAR... + st -y, r0 ; ... compiler uses the hardware stack as a call stack ... + in r0, SPH ; ... only. + st -y, r0 + + st -y, r1 ; Now store the rest of the registers. Dont store the ... + st -y, r2 ; ... the Y register here as it is used as the software + st -y, r3 ; stack pointer and will get saved into the TCB. + st -y, r4 + st -y, r5 + st -y, r6 + st -y, r7 + st -y, r8 + st -y, r9 + st -y, r10 + st -y, r11 + st -y, r12 + st -y, r13 + st -y, r14 + st -y, r15 + st -y, r16 + st -y, r17 + st -y, r18 + st -y, r19 + st -y, r20 + st -y, r21 + st -y, r22 + st -y, r23 + st -y, r24 + st -y, r25 + st -y, r26 + st -y, r27 + st -y, r30 + st -y, r31 + + lds r0, uxCriticalNesting + st -y, r0 ; Store the critical nesting counter. + + lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ... + lds r27, pxCurrentTCB + 1 ; ... register) into the TCB. + st x+, r28 + st x+, r29 + + ENDM + + +portRESTORE_CONTEXT MACRO + lds r26, pxCurrentTCB + lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ... + ld r28, x+ ; the TCB into the software stack pointer (... + ld r29, x+ ; ... the Y register). + + ld r0, y+ + sts uxCriticalNesting, r0 + + ld r31, y+ ; Restore the registers down to R0. The Y + ld r30, y+ ; register is missing from this list as it + ld r27, y+ ; has already been restored. + ld r26, y+ + ld r25, y+ + ld r24, y+ + ld r23, y+ + ld r22, y+ + ld r21, y+ + ld r20, y+ + ld r19, y+ + ld r18, y+ + ld r17, y+ + ld r16, y+ + ld r15, y+ + ld r14, y+ + ld r13, y+ + ld r12, y+ + ld r11, y+ + ld r10, y+ + ld r9, y+ + ld r8, y+ + ld r7, y+ + ld r6, y+ + ld r5, y+ + ld r4, y+ + ld r3, y+ + ld r2, y+ + ld r1, y+ + + ld r0, y+ ; The next thing on the stack is the ... + out SPH, r0 ; ... hardware stack pointer. + ld r0, y+ + out SPL, r0 + + ld r0, y+ + out RAMPZ, r0 + + ld r0, y+ ; Next there is the SREG register. + out SREG, r0 + + ld r0, y+ ; Finally we have finished with r0, so restore r0. + + ENDM + + + +; vPortYield(), vPortYieldFromTick() and vPortYieldFromISR() +; ------------------------------------- +; +; Manual and preemptive context switch functions respectively. +; The IAR compiler does not fully support inline assembler, +; so these are implemented here rather than the more usually +; place of within port.c. + +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ret ; ... scheduler decided should run. + +vPortYieldFromTick: + CLR_INT INT_FLAGS, INT_MASK ; Clear tick interrupt flag + + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. + tst r16 + breq SkipTaskSwitch + call vTaskSwitchContext ; Call the scheduler. + +SkipTaskSwitch: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +vPortYieldFromISR: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +; vPortStart() +; ------------ +; +; Again due to the lack of inline assembler, this is required +; to get access to the portRESTORE_CONTEXT macro. + +vPortStart: + portRESTORE_CONTEXT + ret + +; Just a filler for unused interrupt vectors. +vNoISR: + reti + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/port.c new file mode 100644 index 0000000..8520d41 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/port.c @@ -0,0 +1,298 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#include +#include "porthardware.h" +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the AVR port. +*----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 ) + +/*-----------------------------------------------------------*/ + + +#define portBYTES_USED_BY_RETURN_ADDRESS 2 +#define portNO_CRITICAL_NESTING ( ( UBaseType_t ) 0 ) + +/* Stores the critical section nesting. This must not be initialised to 0. + * It will be initialised when a task starts. */ +UBaseType_t uxCriticalNesting = 0x50; + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * The IAR compiler does not have full support for inline assembler, so + * these are defined in the portmacro assembler file. + */ +extern void vPortYieldFromTick( void ); +extern void vPortStart( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + uint16_t usAddress; + StackType_t * pxTopOfHardwareStack; + + /* Simulate how the stack would look after a call to vPortYield(). */ + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* The IAR compiler requires two stacks per task. First there is the + * hardware call stack which uses the AVR stack pointer. Second there is the + * software stack (local variables, parameter passing, etc.) which uses the + * AVR Y register. + * This function places both stacks within the memory block passed in as the + * first parameter. The hardware stack is placed at the bottom of the memory + * block. A gap is then left for the hardware stack to grow. Next the software + * stack is placed. The amount of space between the software and hardware + * stacks is defined by configCALL_STACK_SIZE. + * The first part of the stack is the hardware stack. Place the start + * address of the task on the hardware stack. */ + + /* Place a few bytes of known values on the bottom of the stack. + * This is just useful for debugging. */ + /**pxTopOfStack = 0x11; */ + /*pxTopOfStack--; */ + /**pxTopOfStack = 0x22; */ + /*pxTopOfStack--; */ + /**pxTopOfStack = 0x33; */ + /*pxTopOfStack--; */ + + /* Remember where the top of the hardware stack is - this is required + * below. */ + pxTopOfHardwareStack = pxTopOfStack; + + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Leave enough space for the hardware stack before starting the software + * stack. The '- 2' is because we have already used two spaces for the + * address of the start of the task. */ + pxTopOfStack -= ( configCALL_STACK_SIZE - 2 ); + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + * portSAVE_CONTEXT places the flags on the stack immediately after r0 + * to ensure the interrupts get disabled as soon as possible, and so ensuring + * the stack use is minimal should a context switch interrupt occur. */ + + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Next place the address of the hardware stack. This is required so + * the AVR stack pointer can be restored to point to the hardware stack. */ + pxTopOfHardwareStack -= portBYTES_USED_BY_RETURN_ADDRESS; + usAddress = ( uint16_t ) pxTopOfHardwareStack; + + /* SPL */ + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* SPH */ + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Now the remaining registers. */ + *pxTopOfStack = ( StackType_t ) 0x01; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R15 */ + pxTopOfStack--; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x18; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23; /* R23 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x24; /* R24 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x25; /* R25 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27; /* R27 */ + pxTopOfStack--; + + /* The Y register is not stored as it is used as the software stack and + * gets saved into the task control block. */ + + *pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x031; /* R31 */ + + pxTopOfStack--; + *pxTopOfStack = portNO_CRITICAL_NESTING; /* Critical nesting is zero when the task starts. */ + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. + * Normally we would just call portRESTORE_CONTEXT() here, but as the IAR + * compiler does not fully support inline assembler we have to make a call.*/ + vPortStart(); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* vPortEndScheduler is not implemented in this port. */ +} + +/*-----------------------------------------------------------*/ + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ + TICK_init(); +} + +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + +/* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + + __task void TICK_INT( void ) + { + vPortYieldFromTick(); + asm ( "reti" ); + } +#else + +/* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + + __interrupt void TICK_INT( void ) + { + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + + xTaskIncrementTick(); + } +#endif /* if configUSE_PREEMPTION == 1 */ + +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} + +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + + if( uxCriticalNesting == portNO_CRITICAL_NESTING ) + { + portENABLE_INTERRUPTS(); + } +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/porthardware.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/porthardware.h new file mode 100644 index 0000000..793d589 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/porthardware.h @@ -0,0 +1,89 @@ +#ifndef PORTHARDWARE_H +#define PORTHARDWARE_H + +#ifndef __IAR_SYSTEMS_ASM__ + #include +#endif +#include "FreeRTOSConfig.h" + +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMER_INSTANCE == 0 ) + + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 1 ) + + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 2 ) + + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 3 ) + + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() \ + { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 4 ) + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + +/* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ( x ) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() \ + { \ + while( RTC.STATUS > 0 ) {; } \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ( configTICK_RATE_HZ ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } + +#else /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. +#endif /* if ( configUSE_TIMER_INSTANCE == 0 ) */ + +/*-----------------------------------------------------------*/ + +#endif /* PORTHARDWARE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/portmacro.h new file mode 100644 index 0000000..c0bc803 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/portmacro.h @@ -0,0 +1,108 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#define portDISABLE_INTERRUPTS() asm ( "cli" ) +#define portENABLE_INTERRUPTS() asm ( "sei" ) +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm ( "nop" ) +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR( void ); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/portmacro.s90 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/portmacro.s90 new file mode 100644 index 0000000..6ffbef0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AVR_Mega0/portmacro.s90 @@ -0,0 +1,248 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +#include "porthardware.h" + +; Declare all extern symbols here - including any ISRs that are referenced in +; the vector table. + +; ISR functions +; ------------- +EXTERN TICK_INT + +; Functions used by scheduler +; --------------------------- +EXTERN vTaskSwitchContext +EXTERN pxCurrentTCB +EXTERN xTaskIncrementTick +EXTERN uxCriticalNesting + +; Functions implemented in this file +; ---------------------------------- +PUBLIC vPortYield +PUBLIC vPortYieldFromTick +PUBLIC vPortYieldFromISR +PUBLIC vPortStart + +; Interrupt vector table. +; ----------------------- +; +; For simplicity the RTOS tick interrupt routine uses the __task keyword. +; As the IAR compiler does not permit a function to be declared using both +; __task and __interrupt, the use of __task necessitates that the interrupt +; vector table be setup manually. +; +; To write an ISR, implement the ISR function using the __interrupt keyword +; but do not install the interrupt using the "#pragma vector=ABC" method. +; Instead manually place the name of the ISR in the vector table using an +; ORG and jmp instruction as demonstrated below. +; You will also have to add an EXTERN statement at the top of the file. + + ASEG + + ORG TICK_INT_vect ; Vector address + jmp TICK_INT ; ISR + + RSEG CODE + +CLR_INT MACRO FLAG_REG, FLAG_MASK + st -y, r16 + ldi r16, FLAG_MASK + sts FLAG_REG, r16 + ld r16, y+ + + ENDM + +; Saving and Restoring a Task Context and Task Switching +; ------------------------------------------------------ +; +; The IAR compiler does not fully support inline assembler, so saving and +; restoring a task context has to be written in an asm file. +; +; vPortYield() and vPortYieldFromTick() are usually written in C. Doing +; so in this case would required calls to be made to portSAVE_CONTEXT() and +; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch +; function would require two extra jump and return instructions over the +; WinAVR equivalent. +; +; To avoid this I have opted to implement both vPortYield() and +; vPortYieldFromTick() in this assembly file. For convenience +; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros. + +portSAVE_CONTEXT MACRO + st -y, r0 ; First save the r0 register - we need to use this. + in r0, SREG ; Obtain the SREG value so we can disable interrupts... + cli ; ... as soon as possible. + st -y, r0 ; Store the SREG as it was before we disabled interrupts. + + in r0, SPL ; Next store the hardware stack pointer. The IAR... + st -y, r0 ; ... compiler uses the hardware stack as a call stack ... + in r0, SPH ; ... only. + st -y, r0 + + st -y, r1 ; Now store the rest of the registers. Dont store the ... + st -y, r2 ; ... the Y register here as it is used as the software + st -y, r3 ; stack pointer and will get saved into the TCB. + st -y, r4 + st -y, r5 + st -y, r6 + st -y, r7 + st -y, r8 + st -y, r9 + st -y, r10 + st -y, r11 + st -y, r12 + st -y, r13 + st -y, r14 + st -y, r15 + st -y, r16 + st -y, r17 + st -y, r18 + st -y, r19 + st -y, r20 + st -y, r21 + st -y, r22 + st -y, r23 + st -y, r24 + st -y, r25 + st -y, r26 + st -y, r27 + st -y, r30 + st -y, r31 + + lds r0, uxCriticalNesting + st -y, r0 ; Store the critical nesting counter. + + lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ... + lds r27, pxCurrentTCB + 1 ; ... register) into the TCB. + st x+, r28 + st x+, r29 + + ENDM + + +portRESTORE_CONTEXT MACRO + lds r26, pxCurrentTCB + lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ... + ld r28, x+ ; the TCB into the software stack pointer (... + ld r29, x+ ; ... the Y register). + + ld r0, y+ + sts uxCriticalNesting, r0 + + ld r31, y+ ; Restore the registers down to R0. The Y + ld r30, y+ ; register is missing from this list as it + ld r27, y+ ; has already been restored. + ld r26, y+ + ld r25, y+ + ld r24, y+ + ld r23, y+ + ld r22, y+ + ld r21, y+ + ld r20, y+ + ld r19, y+ + ld r18, y+ + ld r17, y+ + ld r16, y+ + ld r15, y+ + ld r14, y+ + ld r13, y+ + ld r12, y+ + ld r11, y+ + ld r10, y+ + ld r9, y+ + ld r8, y+ + ld r7, y+ + ld r6, y+ + ld r5, y+ + ld r4, y+ + ld r3, y+ + ld r2, y+ + ld r1, y+ + + ld r0, y+ ; The next thing on the stack is the ... + out SPH, r0 ; ... hardware stack pointer. + ld r0, y+ + out SPL, r0 + + ld r0, y+ ; Next there is the SREG register. + out SREG, r0 + + ld r0, y+ ; Finally we have finished with r0, so restore r0. + + ENDM + + + +; vPortYield(), vPortYieldFromTick() and vPortYieldFromISR() +; ------------------------------------- +; +; Manual and preemptive context switch functions respectively. +; The IAR compiler does not fully support inline assembler, +; so these are implemented here rather than the more usually +; place of within port.c. + +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ret ; ... scheduler decided should run. + +vPortYieldFromTick: + CLR_INT INT_FLAGS, INT_MASK ; Clear tick interrupt flag + + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. + tst r16 + breq SkipTaskSwitch + call vTaskSwitchContext ; Call the scheduler. + +SkipTaskSwitch: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +vPortYieldFromISR: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +; vPortStart() +; ------------ +; +; Again due to the lack of inline assembler, this is required +; to get access to the portRESTORE_CONTEXT macro. + +vPortStart: + portRESTORE_CONTEXT + ret + +; Just a filler for unused interrupt vectors. +vNoISR: + reti + +END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7S64.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7S64.h new file mode 100644 index 0000000..8f9ddb4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7S64.h @@ -0,0 +1,1914 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// The software is delivered "AS IS" without warranty or condition of any +// kind, either express, implied or statutory. This includes without +// limitation any warranty or condition with respect to merchantability or +// fitness for any particular purpose, or against the infringements of +// intellectual property rights of others. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7S64.h +// Object : AT91SAM7S64 definitions +// Generated : AT91 SW Application Group 07/16/2004 (07:43:08) +// +// CVS Reference : /AT91SAM7S64.pl/1.12/Mon Jul 12 13:02:30 2004// +// CVS Reference : /SYSC_SAM7Sxx.pl/1.5/Mon Jul 12 16:22:12 2004// +// CVS Reference : /MC_SAM02.pl/1.3/Wed Mar 10 08:37:04 2004// +// CVS Reference : /UDP_1765B.pl/1.3/Fri Aug 2 14:45:38 2002// +// CVS Reference : /AIC_1796B.pl/1.1.1.1/Fri Jun 28 09:36:48 2002// +// CVS Reference : /lib_pmc_SAM.h/1.6/Tue Apr 27 13:53:52 2004// +// CVS Reference : /PIO_1725D.pl/1.1.1.1/Fri Jun 28 09:36:48 2002// +// CVS Reference : /DBGU_1754A.pl/1.4/Fri Jan 31 12:18:24 2003// +// CVS Reference : /US_1739C.pl/1.2/Mon Jul 12 17:26:24 2004// +// CVS Reference : /SPI2.pl/1.2/Fri Oct 17 08:13:40 2003// +// CVS Reference : /SSC_1762A.pl/1.2/Fri Nov 8 13:26:40 2002// +// CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +// CVS Reference : /TWI_1761B.pl/1.4/Fri Feb 7 10:30:08 2003// +// CVS Reference : /PDC_1734B.pl/1.2/Thu Nov 21 16:38:24 2002// +// CVS Reference : /ADC_SAM.pl/1.7/Fri Oct 17 08:12:38 2003// +// CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +// ---------------------------------------------------------------------------- + +#ifndef AT91SAM7S64_H +#define AT91SAM7S64_H + +typedef volatile unsigned int AT91_REG;// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** +typedef struct _AT91S_SYSC { + AT91_REG SYSC_AIC_SMR[32]; // Source Mode Register + AT91_REG SYSC_AIC_SVR[32]; // Source Vector Register + AT91_REG SYSC_AIC_IVR; // IRQ Vector Register + AT91_REG SYSC_AIC_FVR; // FIQ Vector Register + AT91_REG SYSC_AIC_ISR; // Interrupt Status Register + AT91_REG SYSC_AIC_IPR; // Interrupt Pending Register + AT91_REG SYSC_AIC_IMR; // Interrupt Mask Register + AT91_REG SYSC_AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG SYSC_AIC_IECR; // Interrupt Enable Command Register + AT91_REG SYSC_AIC_IDCR; // Interrupt Disable Command Register + AT91_REG SYSC_AIC_ICCR; // Interrupt Clear Command Register + AT91_REG SYSC_AIC_ISCR; // Interrupt Set Command Register + AT91_REG SYSC_AIC_EOICR; // End of Interrupt Command Register + AT91_REG SYSC_AIC_SPU; // Spurious Vector Register + AT91_REG SYSC_AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG SYSC_AIC_FFER; // Fast Forcing Enable Register + AT91_REG SYSC_AIC_FFDR; // Fast Forcing Disable Register + AT91_REG SYSC_AIC_FFSR; // Fast Forcing Status Register + AT91_REG Reserved2[45]; // + AT91_REG SYSC_DBGU_CR; // Control Register + AT91_REG SYSC_DBGU_MR; // Mode Register + AT91_REG SYSC_DBGU_IER; // Interrupt Enable Register + AT91_REG SYSC_DBGU_IDR; // Interrupt Disable Register + AT91_REG SYSC_DBGU_IMR; // Interrupt Mask Register + AT91_REG SYSC_DBGU_CSR; // Channel Status Register + AT91_REG SYSC_DBGU_RHR; // Receiver Holding Register + AT91_REG SYSC_DBGU_THR; // Transmitter Holding Register + AT91_REG SYSC_DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved3[7]; // + AT91_REG SYSC_DBGU_C1R; // Chip ID1 Register + AT91_REG SYSC_DBGU_C2R; // Chip ID2 Register + AT91_REG SYSC_DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved4[45]; // + AT91_REG SYSC_DBGU_RPR; // Receive Pointer Register + AT91_REG SYSC_DBGU_RCR; // Receive Counter Register + AT91_REG SYSC_DBGU_TPR; // Transmit Pointer Register + AT91_REG SYSC_DBGU_TCR; // Transmit Counter Register + AT91_REG SYSC_DBGU_RNPR; // Receive Next Pointer Register + AT91_REG SYSC_DBGU_RNCR; // Receive Next Counter Register + AT91_REG SYSC_DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG SYSC_DBGU_TNCR; // Transmit Next Counter Register + AT91_REG SYSC_DBGU_PTCR; // PDC Transfer Control Register + AT91_REG SYSC_DBGU_PTSR; // PDC Transfer Status Register + AT91_REG Reserved5[54]; // + AT91_REG SYSC_PIOA_PER; // PIO Enable Register + AT91_REG SYSC_PIOA_PDR; // PIO Disable Register + AT91_REG SYSC_PIOA_PSR; // PIO Status Register + AT91_REG Reserved6[1]; // + AT91_REG SYSC_PIOA_OER; // Output Enable Register + AT91_REG SYSC_PIOA_ODR; // Output Disable Registerr + AT91_REG SYSC_PIOA_OSR; // Output Status Register + AT91_REG Reserved7[1]; // + AT91_REG SYSC_PIOA_IFER; // Input Filter Enable Register + AT91_REG SYSC_PIOA_IFDR; // Input Filter Disable Register + AT91_REG SYSC_PIOA_IFSR; // Input Filter Status Register + AT91_REG Reserved8[1]; // + AT91_REG SYSC_PIOA_SODR; // Set Output Data Register + AT91_REG SYSC_PIOA_CODR; // Clear Output Data Register + AT91_REG SYSC_PIOA_ODSR; // Output Data Status Register + AT91_REG SYSC_PIOA_PDSR; // Pin Data Status Register + AT91_REG SYSC_PIOA_IER; // Interrupt Enable Register + AT91_REG SYSC_PIOA_IDR; // Interrupt Disable Register + AT91_REG SYSC_PIOA_IMR; // Interrupt Mask Register + AT91_REG SYSC_PIOA_ISR; // Interrupt Status Register + AT91_REG SYSC_PIOA_MDER; // Multi-driver Enable Register + AT91_REG SYSC_PIOA_MDDR; // Multi-driver Disable Register + AT91_REG SYSC_PIOA_MDSR; // Multi-driver Status Register + AT91_REG Reserved9[1]; // + AT91_REG SYSC_PIOA_PPUDR; // Pull-up Disable Register + AT91_REG SYSC_PIOA_PPUER; // Pull-up Enable Register + AT91_REG SYSC_PIOA_PPUSR; // Pad Pull-up Status Register + AT91_REG Reserved10[1]; // + AT91_REG SYSC_PIOA_ASR; // Select A Register + AT91_REG SYSC_PIOA_BSR; // Select B Register + AT91_REG SYSC_PIOA_ABSR; // AB Select Status Register + AT91_REG Reserved11[9]; // + AT91_REG SYSC_PIOA_OWER; // Output Write Enable Register + AT91_REG SYSC_PIOA_OWDR; // Output Write Disable Register + AT91_REG SYSC_PIOA_OWSR; // Output Write Status Register + AT91_REG Reserved12[469]; // + AT91_REG SYSC_PMC_SCER; // System Clock Enable Register + AT91_REG SYSC_PMC_SCDR; // System Clock Disable Register + AT91_REG SYSC_PMC_SCSR; // System Clock Status Register + AT91_REG Reserved13[1]; // + AT91_REG SYSC_PMC_PCER; // Peripheral Clock Enable Register + AT91_REG SYSC_PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG SYSC_PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved14[1]; // + AT91_REG SYSC_PMC_MOR; // Main Oscillator Register + AT91_REG SYSC_PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved15[1]; // + AT91_REG SYSC_PMC_PLLR; // PLL Register + AT91_REG SYSC_PMC_MCKR; // Master Clock Register + AT91_REG Reserved16[3]; // + AT91_REG SYSC_PMC_PCKR[8]; // Programmable Clock Register + AT91_REG SYSC_PMC_IER; // Interrupt Enable Register + AT91_REG SYSC_PMC_IDR; // Interrupt Disable Register + AT91_REG SYSC_PMC_SR; // Status Register + AT91_REG SYSC_PMC_IMR; // Interrupt Mask Register + AT91_REG Reserved17[36]; // + AT91_REG SYSC_RSTC_RCR; // Reset Control Register + AT91_REG SYSC_RSTC_RSR; // Reset Status Register + AT91_REG SYSC_RSTC_RMR; // Reset Mode Register + AT91_REG Reserved18[5]; // + AT91_REG SYSC_RTTC_RTMR; // Real-time Mode Register + AT91_REG SYSC_RTTC_RTAR; // Real-time Alarm Register + AT91_REG SYSC_RTTC_RTVR; // Real-time Value Register + AT91_REG SYSC_RTTC_RTSR; // Real-time Status Register + AT91_REG SYSC_PITC_PIMR; // Period Interval Mode Register + AT91_REG SYSC_PITC_PISR; // Period Interval Status Register + AT91_REG SYSC_PITC_PIVR; // Period Interval Value Register + AT91_REG SYSC_PITC_PIIR; // Period Interval Image Register + AT91_REG SYSC_WDTC_WDCR; // Watchdog Control Register + AT91_REG SYSC_WDTC_WDMR; // Watchdog Mode Register + AT91_REG SYSC_WDTC_WDSR; // Watchdog Status Register + AT91_REG Reserved19[5]; // + AT91_REG SYSC_SYSC_VRPM; // Voltage Regulator Power Mode Register +} AT91S_SYSC, *AT91PS_SYSC; + +// -------- VRPM : (SYSC Offset: 0xd60) Voltage Regulator Power Mode Register -------- +#define AT91C_SYSC_PSTDBY ((unsigned int) 0x1 << 0) // (SYSC) Voltage Regulator Power Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +typedef struct _AT91S_AIC { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register +} AT91S_AIC, *AT91PS_AIC; + +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR ((unsigned int) 0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST ((unsigned int) 0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST ((unsigned int) 0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE ((unsigned int) 0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE ((unsigned int) 0x0 << 5) // (AIC) Internal Sources Code Label Level Sensitive +#define AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED ((unsigned int) 0x1 << 5) // (AIC) Internal Sources Code Label Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_HIGH_LEVEL ((unsigned int) 0x2 << 5) // (AIC) External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_POSITIVE_EDGE ((unsigned int) 0x3 << 5) // (AIC) External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ ((unsigned int) 0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ ((unsigned int) 0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT ((unsigned int) 0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK ((unsigned int) 0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +typedef struct _AT91S_DBGU { + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved0[7]; // + AT91_REG DBGU_C1R; // Chip ID1 Register + AT91_REG DBGU_C2R; // Chip ID2 Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved1[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register +} AT91S_DBGU, *AT91PS_DBGU; + +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX ((unsigned int) 0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX ((unsigned int) 0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN ((unsigned int) 0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS ((unsigned int) 0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN ((unsigned int) 0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS ((unsigned int) 0x1 << 7) // (DBGU) Transmitter Disable +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR ((unsigned int) 0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN ((unsigned int) 0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD ((unsigned int) 0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE ((unsigned int) 0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK ((unsigned int) 0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE ((unsigned int) 0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP ((unsigned int) 0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE ((unsigned int) 0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL ((unsigned int) 0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO ((unsigned int) 0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL ((unsigned int) 0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE ((unsigned int) 0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY ((unsigned int) 0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY ((unsigned int) 0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX ((unsigned int) 0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX ((unsigned int) 0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE ((unsigned int) 0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME ((unsigned int) 0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE ((unsigned int) 0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY ((unsigned int) 0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE ((unsigned int) 0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF ((unsigned int) 0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX ((unsigned int) 0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX ((unsigned int) 0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST ((unsigned int) 0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral Data Controller +// ***************************************************************************** +typedef struct _AT91S_PDC { + AT91_REG PDC_RPR; // Receive Pointer Register + AT91_REG PDC_RCR; // Receive Counter Register + AT91_REG PDC_TPR; // Transmit Pointer Register + AT91_REG PDC_TCR; // Transmit Counter Register + AT91_REG PDC_RNPR; // Receive Next Pointer Register + AT91_REG PDC_RNCR; // Receive Next Counter Register + AT91_REG PDC_TNPR; // Transmit Next Pointer Register + AT91_REG PDC_TNCR; // Transmit Next Counter Register + AT91_REG PDC_PTCR; // PDC Transfer Control Register + AT91_REG PDC_PTSR; // PDC Transfer Status Register +} AT91S_PDC, *AT91PS_PDC; + +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN ((unsigned int) 0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS ((unsigned int) 0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN ((unsigned int) 0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS ((unsigned int) 0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +typedef struct _AT91S_PIO { + AT91_REG PIO_PER; // PIO Enable Register + AT91_REG PIO_PDR; // PIO Disable Register + AT91_REG PIO_PSR; // PIO Status Register + AT91_REG Reserved0[1]; // + AT91_REG PIO_OER; // Output Enable Register + AT91_REG PIO_ODR; // Output Disable Registerr + AT91_REG PIO_OSR; // Output Status Register + AT91_REG Reserved1[1]; // + AT91_REG PIO_IFER; // Input Filter Enable Register + AT91_REG PIO_IFDR; // Input Filter Disable Register + AT91_REG PIO_IFSR; // Input Filter Status Register + AT91_REG Reserved2[1]; // + AT91_REG PIO_SODR; // Set Output Data Register + AT91_REG PIO_CODR; // Clear Output Data Register + AT91_REG PIO_ODSR; // Output Data Status Register + AT91_REG PIO_PDSR; // Pin Data Status Register + AT91_REG PIO_IER; // Interrupt Enable Register + AT91_REG PIO_IDR; // Interrupt Disable Register + AT91_REG PIO_IMR; // Interrupt Mask Register + AT91_REG PIO_ISR; // Interrupt Status Register + AT91_REG PIO_MDER; // Multi-driver Enable Register + AT91_REG PIO_MDDR; // Multi-driver Disable Register + AT91_REG PIO_MDSR; // Multi-driver Status Register + AT91_REG Reserved3[1]; // + AT91_REG PIO_PPUDR; // Pull-up Disable Register + AT91_REG PIO_PPUER; // Pull-up Enable Register + AT91_REG PIO_PPUSR; // Pad Pull-up Status Register + AT91_REG Reserved4[1]; // + AT91_REG PIO_ASR; // Select A Register + AT91_REG PIO_BSR; // Select B Register + AT91_REG PIO_ABSR; // AB Select Status Register + AT91_REG Reserved5[9]; // + AT91_REG PIO_OWER; // Output Write Enable Register + AT91_REG PIO_OWDR; // Output Write Disable Register + AT91_REG PIO_OWSR; // Output Write Status Register +} AT91S_PIO, *AT91PS_PIO; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +typedef struct _AT91S_CKGR { + AT91_REG CKGR_MOR; // Main Oscillator Register + AT91_REG CKGR_MCFR; // Main Clock Frequency Register + AT91_REG Reserved0[1]; // + AT91_REG CKGR_PLLR; // PLL Register +} AT91S_CKGR, *AT91PS_CKGR; + +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN ((unsigned int) 0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS ((unsigned int) 0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT ((unsigned int) 0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF ((unsigned int) 0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY ((unsigned int) 0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV ((unsigned int) 0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 ((unsigned int) 0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS ((unsigned int) 0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT ((unsigned int) 0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT ((unsigned int) 0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 ((unsigned int) 0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 ((unsigned int) 0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 ((unsigned int) 0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 ((unsigned int) 0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL ((unsigned int) 0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV ((unsigned int) 0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 ((unsigned int) 0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 ((unsigned int) 0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 ((unsigned int) 0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +typedef struct _AT91S_PMC { + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved0[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved1[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved2[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved3[3]; // + AT91_REG PMC_PCKR[8]; // Programmable Clock Register + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register +} AT91S_PMC, *AT91PS_PMC; + +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK ((unsigned int) 0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP ((unsigned int) 0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 ((unsigned int) 0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 ((unsigned int) 0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 ((unsigned int) 0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 ((unsigned int) 0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS ((unsigned int) 0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK ((unsigned int) 0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK ((unsigned int) 0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK ((unsigned int) 0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES ((unsigned int) 0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK ((unsigned int) 0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 ((unsigned int) 0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 ((unsigned int) 0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 ((unsigned int) 0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 ((unsigned int) 0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 ((unsigned int) 0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 ((unsigned int) 0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS ((unsigned int) 0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK ((unsigned int) 0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY ((unsigned int) 0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY ((unsigned int) 0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY ((unsigned int) 0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY ((unsigned int) 0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY ((unsigned int) 0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RSTC { + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register +} AT91S_RSTC, *AT91PS_RSTC; + +// -------- SYSC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_SYSC_PROCRST ((unsigned int) 0x1 << 0) // (RSTC) Processor Reset +#define AT91C_SYSC_ICERST ((unsigned int) 0x1 << 1) // (RSTC) ICE Interface Reset +#define AT91C_SYSC_PERRST ((unsigned int) 0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_SYSC_EXTRST ((unsigned int) 0x1 << 3) // (RSTC) External Reset +#define AT91C_SYSC_KEY ((unsigned int) 0xFF << 24) // (RSTC) Password +// -------- SYSC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_SYSC_URSTS ((unsigned int) 0x1 << 0) // (RSTC) User Reset Status +#define AT91C_SYSC_BODSTS ((unsigned int) 0x1 << 1) // (RSTC) Brown-out Detection Status +#define AT91C_SYSC_RSTTYP ((unsigned int) 0x7 << 8) // (RSTC) Reset Type +#define AT91C_SYSC_RSTTYP_POWERUP ((unsigned int) 0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_SYSC_RSTTYP_WATCHDOG ((unsigned int) 0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_SYSC_RSTTYP_SOFTWARE ((unsigned int) 0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_SYSC_RSTTYP_USER ((unsigned int) 0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_SYSC_RSTTYP_BROWNOUT ((unsigned int) 0x5 << 8) // (RSTC) Brown-out Reset. +#define AT91C_SYSC_NRSTL ((unsigned int) 0x1 << 16) // (RSTC) NRST pin level +#define AT91C_SYSC_SRCMP ((unsigned int) 0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- SYSC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_SYSC_URSTEN ((unsigned int) 0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_SYSC_URSTIEN ((unsigned int) 0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_SYSC_ERSTL ((unsigned int) 0xF << 8) // (RSTC) User Reset Enable +#define AT91C_SYSC_BODIEN ((unsigned int) 0x1 << 16) // (RSTC) Brown-out Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RTTC { + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register +} AT91S_RTTC, *AT91PS_RTTC; + +// -------- SYSC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_SYSC_RTPRES ((unsigned int) 0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_SYSC_ALMIEN ((unsigned int) 0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_SYSC_RTTINCIEN ((unsigned int) 0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_SYSC_RTTRST ((unsigned int) 0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- SYSC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_SYSC_ALMV ((unsigned int) 0x0 << 0) // (RTTC) Alarm Value +// -------- SYSC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_SYSC_CRTV ((unsigned int) 0x0 << 0) // (RTTC) Current Real-time Value +// -------- SYSC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_SYSC_ALMS ((unsigned int) 0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_SYSC_RTTINC ((unsigned int) 0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PITC { + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register +} AT91S_PITC, *AT91PS_PITC; + +// -------- SYSC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_SYSC_PIV ((unsigned int) 0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_SYSC_PITEN ((unsigned int) 0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_SYSC_PITIEN ((unsigned int) 0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- SYSC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_SYSC_PITS ((unsigned int) 0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- SYSC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_SYSC_CPIV ((unsigned int) 0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_SYSC_PICNT ((unsigned int) 0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- SYSC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_WDTC { + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register +} AT91S_WDTC, *AT91PS_WDTC; + +// -------- SYSC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_SYSC_WDRSTT ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Restart +// -------- SYSC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_SYSC_WDV ((unsigned int) 0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_SYSC_WDFIEN ((unsigned int) 0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_SYSC_WDRSTEN ((unsigned int) 0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_SYSC_WDRPROC ((unsigned int) 0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_SYSC_WDDIS ((unsigned int) 0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_SYSC_WDD ((unsigned int) 0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_SYSC_WDDBGHLT ((unsigned int) 0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_SYSC_WDIDLEHLT ((unsigned int) 0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- SYSC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_SYSC_WDUNF ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_SYSC_WDERR ((unsigned int) 0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +typedef struct _AT91S_MC { + AT91_REG MC_RCR; // MC Remap Control Register + AT91_REG MC_ASR; // MC Abort Status Register + AT91_REG MC_AASR; // MC Abort Address Status Register + AT91_REG Reserved0[21]; // + AT91_REG MC_FMR; // MC Flash Mode Register + AT91_REG MC_FCR; // MC Flash Command Register + AT91_REG MC_FSR; // MC Flash Status Register +} AT91S_MC, *AT91PS_MC; + +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB ((unsigned int) 0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD ((unsigned int) 0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD ((unsigned int) 0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ ((unsigned int) 0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE ((unsigned int) 0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD ((unsigned int) 0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD ((unsigned int) 0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP ((unsigned int) 0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR ((unsigned int) 0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW ((unsigned int) 0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH ((unsigned int) 0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 ((unsigned int) 0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 ((unsigned int) 0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 ((unsigned int) 0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 ((unsigned int) 0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY ((unsigned int) 0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE ((unsigned int) 0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE ((unsigned int) 0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP ((unsigned int) 0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS ((unsigned int) 0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS ((unsigned int) 0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS ((unsigned int) 0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS ((unsigned int) 0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS ((unsigned int) 0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN ((unsigned int) 0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD ((unsigned int) 0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG ((unsigned int) 0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK ((unsigned int) 0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK ((unsigned int) 0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK ((unsigned int) 0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL ((unsigned int) 0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM ((unsigned int) 0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM ((unsigned int) 0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY ((unsigned int) 0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN ((unsigned int) 0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY ((unsigned int) 0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY ((unsigned int) 0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 ((unsigned int) 0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 ((unsigned int) 0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 ((unsigned int) 0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 ((unsigned int) 0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 ((unsigned int) 0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 ((unsigned int) 0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 ((unsigned int) 0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 ((unsigned int) 0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 ((unsigned int) 0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 ((unsigned int) 0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 ((unsigned int) 0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 ((unsigned int) 0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 ((unsigned int) 0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 ((unsigned int) 0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 ((unsigned int) 0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 ((unsigned int) 0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 ((unsigned int) 0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 ((unsigned int) 0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 ((unsigned int) 0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 ((unsigned int) 0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 ((unsigned int) 0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 ((unsigned int) 0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 ((unsigned int) 0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 ((unsigned int) 0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +typedef struct _AT91S_SPI { + AT91_REG SPI_CR; // Control Register + AT91_REG SPI_MR; // Mode Register + AT91_REG SPI_RDR; // Receive Data Register + AT91_REG SPI_TDR; // Transmit Data Register + AT91_REG SPI_SR; // Status Register + AT91_REG SPI_IER; // Interrupt Enable Register + AT91_REG SPI_IDR; // Interrupt Disable Register + AT91_REG SPI_IMR; // Interrupt Mask Register + AT91_REG Reserved0[4]; // + AT91_REG SPI_CSR[4]; // Chip Select Register + AT91_REG Reserved1[48]; // + AT91_REG SPI_RPR; // Receive Pointer Register + AT91_REG SPI_RCR; // Receive Counter Register + AT91_REG SPI_TPR; // Transmit Pointer Register + AT91_REG SPI_TCR; // Transmit Counter Register + AT91_REG SPI_RNPR; // Receive Next Pointer Register + AT91_REG SPI_RNCR; // Receive Next Counter Register + AT91_REG SPI_TNPR; // Transmit Next Pointer Register + AT91_REG SPI_TNCR; // Transmit Next Counter Register + AT91_REG SPI_PTCR; // PDC Transfer Control Register + AT91_REG SPI_PTSR; // PDC Transfer Status Register +} AT91S_SPI, *AT91PS_SPI; + +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN ((unsigned int) 0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS ((unsigned int) 0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST ((unsigned int) 0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER ((unsigned int) 0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR ((unsigned int) 0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS ((unsigned int) 0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED ((unsigned int) 0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE ((unsigned int) 0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC ((unsigned int) 0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV ((unsigned int) 0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS ((unsigned int) 0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB ((unsigned int) 0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS ((unsigned int) 0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD ((unsigned int) 0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD ((unsigned int) 0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF ((unsigned int) 0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE ((unsigned int) 0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF ((unsigned int) 0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES ((unsigned int) 0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX ((unsigned int) 0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX ((unsigned int) 0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF ((unsigned int) 0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE ((unsigned int) 0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR ((unsigned int) 0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY ((unsigned int) 0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS ((unsigned int) 0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL ((unsigned int) 0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA ((unsigned int) 0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT ((unsigned int) 0x1 << 2) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS ((unsigned int) 0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 ((unsigned int) 0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 ((unsigned int) 0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 ((unsigned int) 0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 ((unsigned int) 0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 ((unsigned int) 0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 ((unsigned int) 0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 ((unsigned int) 0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 ((unsigned int) 0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 ((unsigned int) 0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR ((unsigned int) 0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS ((unsigned int) 0xFF << 16) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBCT ((unsigned int) 0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +typedef struct _AT91S_ADC { + AT91_REG ADC_CR; // ADC Control Register + AT91_REG ADC_MR; // ADC Mode Register + AT91_REG Reserved0[2]; // + AT91_REG ADC_CHER; // ADC Channel Enable Register + AT91_REG ADC_CHDR; // ADC Channel Disable Register + AT91_REG ADC_CHSR; // ADC Channel Status Register + AT91_REG ADC_SR; // ADC Status Register + AT91_REG ADC_LCDR; // ADC Last Converted Data Register + AT91_REG ADC_IER; // ADC Interrupt Enable Register + AT91_REG ADC_IDR; // ADC Interrupt Disable Register + AT91_REG ADC_IMR; // ADC Interrupt Mask Register + AT91_REG ADC_CDR0; // ADC Channel Data Register 0 + AT91_REG ADC_CDR1; // ADC Channel Data Register 1 + AT91_REG ADC_CDR2; // ADC Channel Data Register 2 + AT91_REG ADC_CDR3; // ADC Channel Data Register 3 + AT91_REG ADC_CDR4; // ADC Channel Data Register 4 + AT91_REG ADC_CDR5; // ADC Channel Data Register 5 + AT91_REG ADC_CDR6; // ADC Channel Data Register 6 + AT91_REG ADC_CDR7; // ADC Channel Data Register 7 + AT91_REG Reserved1[44]; // + AT91_REG ADC_RPR; // Receive Pointer Register + AT91_REG ADC_RCR; // Receive Counter Register + AT91_REG ADC_TPR; // Transmit Pointer Register + AT91_REG ADC_TCR; // Transmit Counter Register + AT91_REG ADC_RNPR; // Receive Next Pointer Register + AT91_REG ADC_RNCR; // Receive Next Counter Register + AT91_REG ADC_TNPR; // Transmit Next Pointer Register + AT91_REG ADC_TNCR; // Transmit Next Counter Register + AT91_REG ADC_PTCR; // PDC Transfer Control Register + AT91_REG ADC_PTSR; // PDC Transfer Status Register +} AT91S_ADC, *AT91PS_ADC; + +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST ((unsigned int) 0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START ((unsigned int) 0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN ((unsigned int) 0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS ((unsigned int) 0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN ((unsigned int) 0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL ((unsigned int) 0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 ((unsigned int) 0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 ((unsigned int) 0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 ((unsigned int) 0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 ((unsigned int) 0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 ((unsigned int) 0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 ((unsigned int) 0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT ((unsigned int) 0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES ((unsigned int) 0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT ((unsigned int) 0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT ((unsigned int) 0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE ((unsigned int) 0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL ((unsigned int) 0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP ((unsigned int) 0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM ((unsigned int) 0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 ((unsigned int) 0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 ((unsigned int) 0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 ((unsigned int) 0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 ((unsigned int) 0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 ((unsigned int) 0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 ((unsigned int) 0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 ((unsigned int) 0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 ((unsigned int) 0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 ((unsigned int) 0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 ((unsigned int) 0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 ((unsigned int) 0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 ((unsigned int) 0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 ((unsigned int) 0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 ((unsigned int) 0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 ((unsigned int) 0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 ((unsigned int) 0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 ((unsigned int) 0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 ((unsigned int) 0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 ((unsigned int) 0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 ((unsigned int) 0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 ((unsigned int) 0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 ((unsigned int) 0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 ((unsigned int) 0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 ((unsigned int) 0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY ((unsigned int) 0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE ((unsigned int) 0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX ((unsigned int) 0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF ((unsigned int) 0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA ((unsigned int) 0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA ((unsigned int) 0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +typedef struct _AT91S_SSC { + AT91_REG SSC_CR; // Control Register + AT91_REG SSC_CMR; // Clock Mode Register + AT91_REG Reserved0[2]; // + AT91_REG SSC_RCMR; // Receive Clock ModeRegister + AT91_REG SSC_RFMR; // Receive Frame Mode Register + AT91_REG SSC_TCMR; // Transmit Clock Mode Register + AT91_REG SSC_TFMR; // Transmit Frame Mode Register + AT91_REG SSC_RHR; // Receive Holding Register + AT91_REG SSC_THR; // Transmit Holding Register + AT91_REG Reserved1[2]; // + AT91_REG SSC_RSHR; // Receive Sync Holding Register + AT91_REG SSC_TSHR; // Transmit Sync Holding Register + AT91_REG SSC_RC0R; // Receive Compare 0 Register + AT91_REG SSC_RC1R; // Receive Compare 1 Register + AT91_REG SSC_SR; // Status Register + AT91_REG SSC_IER; // Interrupt Enable Register + AT91_REG SSC_IDR; // Interrupt Disable Register + AT91_REG SSC_IMR; // Interrupt Mask Register + AT91_REG Reserved2[44]; // + AT91_REG SSC_RPR; // Receive Pointer Register + AT91_REG SSC_RCR; // Receive Counter Register + AT91_REG SSC_TPR; // Transmit Pointer Register + AT91_REG SSC_TCR; // Transmit Counter Register + AT91_REG SSC_RNPR; // Receive Next Pointer Register + AT91_REG SSC_RNCR; // Receive Next Counter Register + AT91_REG SSC_TNPR; // Transmit Next Pointer Register + AT91_REG SSC_TNCR; // Transmit Next Counter Register + AT91_REG SSC_PTCR; // PDC Transfer Control Register + AT91_REG SSC_PTSR; // PDC Transfer Status Register +} AT91S_SSC, *AT91PS_SSC; + +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN ((unsigned int) 0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS ((unsigned int) 0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN ((unsigned int) 0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS ((unsigned int) 0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST ((unsigned int) 0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS ((unsigned int) 0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV ((unsigned int) 0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK ((unsigned int) 0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK ((unsigned int) 0x2) // (SSC) RK pin +#define AT91C_SSC_CKO ((unsigned int) 0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE ((unsigned int) 0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS ((unsigned int) 0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX ((unsigned int) 0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI ((unsigned int) 0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_CKG ((unsigned int) 0x3 << 6) // (SSC) Receive/Transmit Clock Gating Selection +#define AT91C_SSC_CKG_NONE ((unsigned int) 0x0 << 6) // (SSC) Receive/Transmit Clock Gating: None, continuous clock +#define AT91C_SSC_CKG_LOW ((unsigned int) 0x1 << 6) // (SSC) Receive/Transmit Clock enabled only if RF Low +#define AT91C_SSC_CKG_HIGH ((unsigned int) 0x2 << 6) // (SSC) Receive/Transmit Clock enabled only if RF High +#define AT91C_SSC_START ((unsigned int) 0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS ((unsigned int) 0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX ((unsigned int) 0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF ((unsigned int) 0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF ((unsigned int) 0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF ((unsigned int) 0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF ((unsigned int) 0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF ((unsigned int) 0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF ((unsigned int) 0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 ((unsigned int) 0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STOP ((unsigned int) 0x1 << 12) // (SSC) Receive Stop Selection +#define AT91C_SSC_STTOUT ((unsigned int) 0x1 << 15) // (SSC) Receive/Transmit Start Output Selection +#define AT91C_SSC_STTDLY ((unsigned int) 0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD ((unsigned int) 0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN ((unsigned int) 0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP ((unsigned int) 0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF ((unsigned int) 0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB ((unsigned int) 0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN ((unsigned int) 0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS ((unsigned int) 0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE ((unsigned int) 0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE ((unsigned int) 0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE ((unsigned int) 0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW ((unsigned int) 0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH ((unsigned int) 0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE ((unsigned int) 0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE ((unsigned int) 0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF ((unsigned int) 0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN ((unsigned int) 0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY ((unsigned int) 0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY ((unsigned int) 0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX ((unsigned int) 0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE ((unsigned int) 0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY ((unsigned int) 0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN ((unsigned int) 0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX ((unsigned int) 0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF ((unsigned int) 0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_CP0 ((unsigned int) 0x1 << 8) // (SSC) Compare 0 +#define AT91C_SSC_CP1 ((unsigned int) 0x1 << 9) // (SSC) Compare 1 +#define AT91C_SSC_TXSYN ((unsigned int) 0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN ((unsigned int) 0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA ((unsigned int) 0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA ((unsigned int) 0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +typedef struct _AT91S_USART { + AT91_REG US_CR; // Control Register + AT91_REG US_MR; // Mode Register + AT91_REG US_IER; // Interrupt Enable Register + AT91_REG US_IDR; // Interrupt Disable Register + AT91_REG US_IMR; // Interrupt Mask Register + AT91_REG US_CSR; // Channel Status Register + AT91_REG US_RHR; // Receiver Holding Register + AT91_REG US_THR; // Transmitter Holding Register + AT91_REG US_BRGR; // Baud Rate Generator Register + AT91_REG US_RTOR; // Receiver Time-out Register + AT91_REG US_TTGR; // Transmitter Time-guard Register + AT91_REG Reserved0[5]; // + AT91_REG US_FIDI; // FI_DI_Ratio Register + AT91_REG US_NER; // Nb Errors Register + AT91_REG US_XXR; // XON_XOFF Register + AT91_REG US_IF; // IRDA_FILTER Register + AT91_REG Reserved1[44]; // + AT91_REG US_RPR; // Receive Pointer Register + AT91_REG US_RCR; // Receive Counter Register + AT91_REG US_TPR; // Transmit Pointer Register + AT91_REG US_TCR; // Transmit Counter Register + AT91_REG US_RNPR; // Receive Next Pointer Register + AT91_REG US_RNCR; // Receive Next Counter Register + AT91_REG US_TNPR; // Transmit Next Pointer Register + AT91_REG US_TNCR; // Transmit Next Counter Register + AT91_REG US_PTCR; // PDC Transfer Control Register + AT91_REG US_PTSR; // PDC Transfer Status Register +} AT91S_USART, *AT91PS_USART; + +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTSTA ((unsigned int) 0x1 << 8) // (USART) Reset Status Bits +#define AT91C_US_STTBRK ((unsigned int) 0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK ((unsigned int) 0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO ((unsigned int) 0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA ((unsigned int) 0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT ((unsigned int) 0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK ((unsigned int) 0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO ((unsigned int) 0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN ((unsigned int) 0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS ((unsigned int) 0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN ((unsigned int) 0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS ((unsigned int) 0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE ((unsigned int) 0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL ((unsigned int) 0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 ((unsigned int) 0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH ((unsigned int) 0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM ((unsigned int) 0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 ((unsigned int) 0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 ((unsigned int) 0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA ((unsigned int) 0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH ((unsigned int) 0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS ((unsigned int) 0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK ((unsigned int) 0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 ((unsigned int) 0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW ((unsigned int) 0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT ((unsigned int) 0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL ((unsigned int) 0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS ((unsigned int) 0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS ((unsigned int) 0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS ((unsigned int) 0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS ((unsigned int) 0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC ((unsigned int) 0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP ((unsigned int) 0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT ((unsigned int) 0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT ((unsigned int) 0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT ((unsigned int) 0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF ((unsigned int) 0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 ((unsigned int) 0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO ((unsigned int) 0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER ((unsigned int) 0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK ((unsigned int) 0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK ((unsigned int) 0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER ((unsigned int) 0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER ((unsigned int) 0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK ((unsigned int) 0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT ((unsigned int) 0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION ((unsigned int) 0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK ((unsigned int) 0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC ((unsigned int) 0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC ((unsigned int) 0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC ((unsigned int) 0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC ((unsigned int) 0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI ((unsigned int) 0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR ((unsigned int) 0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD ((unsigned int) 0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS ((unsigned int) 0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +typedef struct _AT91S_TWI { + AT91_REG TWI_CR; // Control Register + AT91_REG TWI_MMR; // Master Mode Register + AT91_REG TWI_SMR; // Slave Mode Register + AT91_REG TWI_IADR; // Internal Address Register + AT91_REG TWI_CWGR; // Clock Waveform Generator Register + AT91_REG Reserved0[3]; // + AT91_REG TWI_SR; // Status Register + AT91_REG TWI_IER; // Interrupt Enable Register + AT91_REG TWI_IDR; // Interrupt Disable Register + AT91_REG TWI_IMR; // Interrupt Mask Register + AT91_REG TWI_RHR; // Receive Holding Register + AT91_REG TWI_THR; // Transmit Holding Register +} AT91S_TWI, *AT91PS_TWI; + +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START ((unsigned int) 0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP ((unsigned int) 0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN ((unsigned int) 0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS ((unsigned int) 0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SVEN ((unsigned int) 0x1 << 4) // (TWI) TWI Slave Transfer Enabled +#define AT91C_TWI_SVDIS ((unsigned int) 0x1 << 5) // (TWI) TWI Slave Transfer Disabled +#define AT91C_TWI_SWRST ((unsigned int) 0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ ((unsigned int) 0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO ((unsigned int) 0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE ((unsigned int) 0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE ((unsigned int) 0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE ((unsigned int) 0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD ((unsigned int) 0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR ((unsigned int) 0x7F << 16) // (TWI) Device Address +// -------- TWI_SMR : (TWI Offset: 0x8) TWI Slave Mode Register -------- +#define AT91C_TWI_SADR ((unsigned int) 0x7F << 16) // (TWI) Slave Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV ((unsigned int) 0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV ((unsigned int) 0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV ((unsigned int) 0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP ((unsigned int) 0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY ((unsigned int) 0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY ((unsigned int) 0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_SVREAD ((unsigned int) 0x1 << 3) // (TWI) Slave Read +#define AT91C_TWI_SVACC ((unsigned int) 0x1 << 4) // (TWI) Slave Access +#define AT91C_TWI_GCACC ((unsigned int) 0x1 << 5) // (TWI) General Call Access +#define AT91C_TWI_OVRE ((unsigned int) 0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE ((unsigned int) 0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK ((unsigned int) 0x1 << 8) // (TWI) Not Acknowledged +#define AT91C_TWI_ARBLST ((unsigned int) 0x1 << 9) // (TWI) Arbitration Lost +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +typedef struct _AT91S_TC { + AT91_REG TC_CCR; // Channel Control Register + AT91_REG TC_CMR; // Channel Mode Register (Capture Mode / Waveform Mode) + AT91_REG Reserved0[2]; // + AT91_REG TC_CV; // Counter Value + AT91_REG TC_RA; // Register A + AT91_REG TC_RB; // Register B + AT91_REG TC_RC; // Register C + AT91_REG TC_SR; // Status Register + AT91_REG TC_IER; // Interrupt Enable Register + AT91_REG TC_IDR; // Interrupt Disable Register + AT91_REG TC_IMR; // Interrupt Mask Register +} AT91S_TC, *AT91PS_TC; + +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN ((unsigned int) 0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS ((unsigned int) 0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG ((unsigned int) 0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS ((unsigned int) 0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK ((unsigned int) 0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK ((unsigned int) 0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK ((unsigned int) 0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK ((unsigned int) 0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK ((unsigned int) 0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 ((unsigned int) 0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 ((unsigned int) 0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 ((unsigned int) 0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI ((unsigned int) 0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST ((unsigned int) 0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE ((unsigned int) 0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 ((unsigned int) 0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 ((unsigned int) 0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 ((unsigned int) 0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_LDBDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_CPCDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_ETRGEDG ((unsigned int) 0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG ((unsigned int) 0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_ABETRG ((unsigned int) 0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_EEVT ((unsigned int) 0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_NONE ((unsigned int) 0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_RISING ((unsigned int) 0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_FALLING ((unsigned int) 0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_BOTH ((unsigned int) 0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ENETRG ((unsigned int) 0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL ((unsigned int) 0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP ((unsigned int) 0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN ((unsigned int) 0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO ((unsigned int) 0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO ((unsigned int) 0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG ((unsigned int) 0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE ((unsigned int) 0x1 << 15) // (TC) +#define AT91C_TC_LDRA ((unsigned int) 0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE ((unsigned int) 0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING ((unsigned int) 0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING ((unsigned int) 0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH ((unsigned int) 0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPA ((unsigned int) 0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE ((unsigned int) 0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET ((unsigned int) 0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR ((unsigned int) 0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE ((unsigned int) 0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRB ((unsigned int) 0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE ((unsigned int) 0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING ((unsigned int) 0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING ((unsigned int) 0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH ((unsigned int) 0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC ((unsigned int) 0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE ((unsigned int) 0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET ((unsigned int) 0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR ((unsigned int) 0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE ((unsigned int) 0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_AEEVT ((unsigned int) 0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE ((unsigned int) 0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET ((unsigned int) 0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR ((unsigned int) 0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE ((unsigned int) 0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG ((unsigned int) 0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE ((unsigned int) 0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET ((unsigned int) 0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR ((unsigned int) 0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE ((unsigned int) 0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB ((unsigned int) 0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE ((unsigned int) 0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET ((unsigned int) 0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR ((unsigned int) 0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE ((unsigned int) 0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC ((unsigned int) 0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE ((unsigned int) 0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET ((unsigned int) 0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR ((unsigned int) 0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE ((unsigned int) 0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT ((unsigned int) 0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE ((unsigned int) 0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET ((unsigned int) 0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR ((unsigned int) 0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE ((unsigned int) 0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG ((unsigned int) 0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE ((unsigned int) 0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET ((unsigned int) 0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR ((unsigned int) 0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE ((unsigned int) 0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS ((unsigned int) 0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS ((unsigned int) 0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS ((unsigned int) 0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS ((unsigned int) 0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS ((unsigned int) 0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS ((unsigned int) 0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS ((unsigned int) 0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRCS ((unsigned int) 0x1 << 7) // (TC) External Trigger +#define AT91C_TC_ETRGS ((unsigned int) 0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA ((unsigned int) 0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB ((unsigned int) 0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +typedef struct _AT91S_TCB { + AT91S_TC TCB_TC0; // TC Channel 0 + AT91_REG Reserved0[4]; // + AT91S_TC TCB_TC1; // TC Channel 1 + AT91_REG Reserved1[4]; // + AT91S_TC TCB_TC2; // TC Channel 2 + AT91_REG Reserved2[4]; // + AT91_REG TCB_BCR; // TC Block Control Register + AT91_REG TCB_BMR; // TC Block Mode Register +} AT91S_TCB, *AT91PS_TCB; + +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC ((unsigned int) 0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S ((unsigned int) 0x1 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 ((unsigned int) 0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE ((unsigned int) 0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 ((unsigned int) 0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 ((unsigned int) 0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S ((unsigned int) 0x1 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 ((unsigned int) 0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE ((unsigned int) 0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 ((unsigned int) 0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 ((unsigned int) 0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S ((unsigned int) 0x1 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 ((unsigned int) 0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE ((unsigned int) 0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 ((unsigned int) 0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA2 ((unsigned int) 0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC_CH { + AT91_REG PWMC_CMR; // Channel Mode Register + AT91_REG PWMC_CDTYR; // Channel Duty Cycle Register + AT91_REG PWMC_CPRDR; // Channel Period Register + AT91_REG PWMC_CCNTR; // Channel Counter Register + AT91_REG PWMC_CUPDR; // Channel Update Register + AT91_REG PWMC_Reserved[3]; // Reserved +} AT91S_PWMC_CH, *AT91PS_PWMC_CH; + +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE ((unsigned int) 0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK ((unsigned int) 0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA ((unsigned int) 0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB ((unsigned int) 0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG ((unsigned int) 0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL ((unsigned int) 0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD ((unsigned int) 0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC { + AT91_REG PWMC_MR; // PWMC Mode Register + AT91_REG PWMC_ENA; // PWMC Enable Register + AT91_REG PWMC_DIS; // PWMC Disable Register + AT91_REG PWMC_SR; // PWMC Status Register + AT91_REG PWMC_IER; // PWMC Interrupt Enable Register + AT91_REG PWMC_IDR; // PWMC Interrupt Disable Register + AT91_REG PWMC_IMR; // PWMC Interrupt Mask Register + AT91_REG PWMC_ISR; // PWMC Interrupt Status Register + AT91_REG Reserved0[55]; // + AT91_REG PWMC_VR; // PWMC Version Register + AT91_REG Reserved1[64]; // + AT91S_PWMC_CH PWMC_CH[32]; // PWMC Channel 0 +} AT91S_PWMC, *AT91PS_PWMC; + +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA ((unsigned int) 0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA ((unsigned int) 0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK ((unsigned int) 0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB ((unsigned int) 0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB ((unsigned int) 0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK ((unsigned int) 0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 ((unsigned int) 0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 ((unsigned int) 0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 ((unsigned int) 0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 ((unsigned int) 0x1 << 3) // (PWMC) Channel ID 3 +#define AT91C_PWMC_CHID4 ((unsigned int) 0x1 << 4) // (PWMC) Channel ID 4 +#define AT91C_PWMC_CHID5 ((unsigned int) 0x1 << 5) // (PWMC) Channel ID 5 +#define AT91C_PWMC_CHID6 ((unsigned int) 0x1 << 6) // (PWMC) Channel ID 6 +#define AT91C_PWMC_CHID7 ((unsigned int) 0x1 << 7) // (PWMC) Channel ID 7 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +typedef struct _AT91S_UDP { + AT91_REG UDP_NUM; // Frame Number Register + AT91_REG UDP_GLBSTATE; // Global State Register + AT91_REG UDP_FADDR; // Function Address Register + AT91_REG Reserved0[1]; // + AT91_REG UDP_IER; // Interrupt Enable Register + AT91_REG UDP_IDR; // Interrupt Disable Register + AT91_REG UDP_IMR; // Interrupt Mask Register + AT91_REG UDP_ISR; // Interrupt Status Register + AT91_REG UDP_ICR; // Interrupt Clear Register + AT91_REG Reserved1[1]; // + AT91_REG UDP_RSTEP; // Reset Endpoint Register + AT91_REG Reserved2[1]; // + AT91_REG UDP_CSR[8]; // Endpoint Control and Status Register + AT91_REG UDP_FDR[8]; // Endpoint FIFO Data Register +} AT91S_UDP, *AT91PS_UDP; + +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM ((unsigned int) 0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR ((unsigned int) 0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK ((unsigned int) 0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN ((unsigned int) 0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG ((unsigned int) 0x1 << 1) // (UDP) Configured +#define AT91C_UDP_RMWUPE ((unsigned int) 0x1 << 2) // (UDP) Remote Wake Up Enable +#define AT91C_UDP_RSMINPR ((unsigned int) 0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD ((unsigned int) 0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN ((unsigned int) 0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 ((unsigned int) 0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 ((unsigned int) 0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 ((unsigned int) 0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 ((unsigned int) 0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 ((unsigned int) 0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 ((unsigned int) 0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_EPINT6 ((unsigned int) 0x1 << 6) // (UDP) Endpoint 6 Interrupt +#define AT91C_UDP_EPINT7 ((unsigned int) 0x1 << 7) // (UDP) Endpoint 7 Interrupt +#define AT91C_UDP_RXSUSP ((unsigned int) 0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM ((unsigned int) 0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM ((unsigned int) 0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT ((unsigned int) 0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP ((unsigned int) 0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES ((unsigned int) 0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 ((unsigned int) 0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 ((unsigned int) 0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 ((unsigned int) 0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 ((unsigned int) 0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 ((unsigned int) 0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 ((unsigned int) 0x1 << 5) // (UDP) Reset Endpoint 5 +#define AT91C_UDP_EP6 ((unsigned int) 0x1 << 6) // (UDP) Reset Endpoint 6 +#define AT91C_UDP_EP7 ((unsigned int) 0x1 << 7) // (UDP) Reset Endpoint 7 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP ((unsigned int) 0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 ((unsigned int) 0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP ((unsigned int) 0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR ((unsigned int) 0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY ((unsigned int) 0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL ((unsigned int) 0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 ((unsigned int) 0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR ((unsigned int) 0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE ((unsigned int) 0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL ((unsigned int) 0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT ((unsigned int) 0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT ((unsigned int) 0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT ((unsigned int) 0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN ((unsigned int) 0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN ((unsigned int) 0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN ((unsigned int) 0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE ((unsigned int) 0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS ((unsigned int) 0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT ((unsigned int) 0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7S64 +// ***************************************************************************** +// ========== Register definition for SYSC peripheral ========== +#define AT91C_SYSC_SYSC_VRPM ((AT91_REG *) 0xFFFFFD60) // (SYSC) Voltage Regulator Power Mode Register +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_ICCR ((AT91_REG *) 0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_IECR ((AT91_REG *) 0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_SMR ((AT91_REG *) 0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_ISCR ((AT91_REG *) 0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_EOICR ((AT91_REG *) 0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_DCR ((AT91_REG *) 0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_FFER ((AT91_REG *) 0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_SVR ((AT91_REG *) 0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_SPU ((AT91_REG *) 0xFFFFF134) // (AIC) Spurious Vector Register +#define AT91C_AIC_FFDR ((AT91_REG *) 0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_FVR ((AT91_REG *) 0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_FFSR ((AT91_REG *) 0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_IMR ((AT91_REG *) 0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_ISR ((AT91_REG *) 0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IVR ((AT91_REG *) 0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_IDCR ((AT91_REG *) 0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_CISR ((AT91_REG *) 0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IPR ((AT91_REG *) 0xFFFFF10C) // (AIC) Interrupt Pending Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_C2R ((AT91_REG *) 0xFFFFF244) // (DBGU) Chip ID2 Register +#define AT91C_DBGU_THR ((AT91_REG *) 0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_CSR ((AT91_REG *) 0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_IDR ((AT91_REG *) 0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_MR ((AT91_REG *) 0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_FNTR ((AT91_REG *) 0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_C1R ((AT91_REG *) 0xFFFFF240) // (DBGU) Chip ID1 Register +#define AT91C_DBGU_BRGR ((AT91_REG *) 0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_RHR ((AT91_REG *) 0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IMR ((AT91_REG *) 0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_IER ((AT91_REG *) 0xFFFFF208) // (DBGU) Interrupt Enable Register +#define AT91C_DBGU_CR ((AT91_REG *) 0xFFFFF200) // (DBGU) Control Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TNCR ((AT91_REG *) 0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +#define AT91C_DBGU_RNCR ((AT91_REG *) 0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR ((AT91_REG *) 0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR ((AT91_REG *) 0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_RCR ((AT91_REG *) 0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_TCR ((AT91_REG *) 0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RPR ((AT91_REG *) 0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_TPR ((AT91_REG *) 0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RNPR ((AT91_REG *) 0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR ((AT91_REG *) 0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_IMR ((AT91_REG *) 0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_IER ((AT91_REG *) 0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_OWDR ((AT91_REG *) 0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_ISR ((AT91_REG *) 0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_PPUDR ((AT91_REG *) 0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_MDSR ((AT91_REG *) 0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_MDER ((AT91_REG *) 0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PER ((AT91_REG *) 0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_PSR ((AT91_REG *) 0xFFFFF408) // (PIOA) PIO Status Register +#define AT91C_PIOA_OER ((AT91_REG *) 0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_BSR ((AT91_REG *) 0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_PPUER ((AT91_REG *) 0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_MDDR ((AT91_REG *) 0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_PDR ((AT91_REG *) 0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_ODR ((AT91_REG *) 0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_IFDR ((AT91_REG *) 0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_ABSR ((AT91_REG *) 0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_ASR ((AT91_REG *) 0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_PPUSR ((AT91_REG *) 0xFFFFF468) // (PIOA) Pad Pull-up Status Register +#define AT91C_PIOA_ODSR ((AT91_REG *) 0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_SODR ((AT91_REG *) 0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_IFSR ((AT91_REG *) 0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_IFER ((AT91_REG *) 0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_OSR ((AT91_REG *) 0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_IDR ((AT91_REG *) 0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_PDSR ((AT91_REG *) 0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_CODR ((AT91_REG *) 0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_OWSR ((AT91_REG *) 0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_OWER ((AT91_REG *) 0xFFFFF4A0) // (PIOA) Output Write Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_PLLR ((AT91_REG *) 0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR ((AT91_REG *) 0xFFFFFC24) // (CKGR) Main Clock Frequency Register +#define AT91C_CKGR_MOR ((AT91_REG *) 0xFFFFFC20) // (CKGR) Main Oscillator Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_SCSR ((AT91_REG *) 0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_SCER ((AT91_REG *) 0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR ((AT91_REG *) 0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IDR ((AT91_REG *) 0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_PCDR ((AT91_REG *) 0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCDR ((AT91_REG *) 0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_SR ((AT91_REG *) 0xFFFFFC68) // (PMC) Status Register +#define AT91C_PMC_IER ((AT91_REG *) 0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_MCKR ((AT91_REG *) 0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_MOR ((AT91_REG *) 0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PCER ((AT91_REG *) 0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCSR ((AT91_REG *) 0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_PLLR ((AT91_REG *) 0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_MCFR ((AT91_REG *) 0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_PCKR ((AT91_REG *) 0xFFFFFC40) // (PMC) Programmable Clock Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RSR ((AT91_REG *) 0xFFFFFD04) // (RSTC) Reset Status Register +#define AT91C_RSTC_RMR ((AT91_REG *) 0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RCR ((AT91_REG *) 0xFFFFFD00) // (RSTC) Reset Control Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR ((AT91_REG *) 0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTAR ((AT91_REG *) 0xFFFFFD24) // (RTTC) Real-time Alarm Register +#define AT91C_RTTC_RTVR ((AT91_REG *) 0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTMR ((AT91_REG *) 0xFFFFFD20) // (RTTC) Real-time Mode Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIIR ((AT91_REG *) 0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PISR ((AT91_REG *) 0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIVR ((AT91_REG *) 0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PIMR ((AT91_REG *) 0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDMR ((AT91_REG *) 0xFFFFFD44) // (WDTC) Watchdog Mode Register +#define AT91C_WDTC_WDSR ((AT91_REG *) 0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDCR ((AT91_REG *) 0xFFFFFD40) // (WDTC) Watchdog Control Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_FCR ((AT91_REG *) 0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_ASR ((AT91_REG *) 0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_FSR ((AT91_REG *) 0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR ((AT91_REG *) 0xFFFFFF60) // (MC) MC Flash Mode Register +#define AT91C_MC_AASR ((AT91_REG *) 0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_RCR ((AT91_REG *) 0xFFFFFF00) // (MC) MC Remap Control Register +// ========== Register definition for PDC_SPI peripheral ========== +#define AT91C_SPI_PTCR ((AT91_REG *) 0xFFFE0120) // (PDC_SPI) PDC Transfer Control Register +#define AT91C_SPI_TNPR ((AT91_REG *) 0xFFFE0118) // (PDC_SPI) Transmit Next Pointer Register +#define AT91C_SPI_RNPR ((AT91_REG *) 0xFFFE0110) // (PDC_SPI) Receive Next Pointer Register +#define AT91C_SPI_TPR ((AT91_REG *) 0xFFFE0108) // (PDC_SPI) Transmit Pointer Register +#define AT91C_SPI_RPR ((AT91_REG *) 0xFFFE0100) // (PDC_SPI) Receive Pointer Register +#define AT91C_SPI_PTSR ((AT91_REG *) 0xFFFE0124) // (PDC_SPI) PDC Transfer Status Register +#define AT91C_SPI_TNCR ((AT91_REG *) 0xFFFE011C) // (PDC_SPI) Transmit Next Counter Register +#define AT91C_SPI_RNCR ((AT91_REG *) 0xFFFE0114) // (PDC_SPI) Receive Next Counter Register +#define AT91C_SPI_TCR ((AT91_REG *) 0xFFFE010C) // (PDC_SPI) Transmit Counter Register +#define AT91C_SPI_RCR ((AT91_REG *) 0xFFFE0104) // (PDC_SPI) Receive Counter Register +// ========== Register definition for SPI peripheral ========== +#define AT91C_SPI_CSR ((AT91_REG *) 0xFFFE0030) // (SPI) Chip Select Register +#define AT91C_SPI_IDR ((AT91_REG *) 0xFFFE0018) // (SPI) Interrupt Disable Register +#define AT91C_SPI_SR ((AT91_REG *) 0xFFFE0010) // (SPI) Status Register +#define AT91C_SPI_RDR ((AT91_REG *) 0xFFFE0008) // (SPI) Receive Data Register +#define AT91C_SPI_CR ((AT91_REG *) 0xFFFE0000) // (SPI) Control Register +#define AT91C_SPI_IMR ((AT91_REG *) 0xFFFE001C) // (SPI) Interrupt Mask Register +#define AT91C_SPI_IER ((AT91_REG *) 0xFFFE0014) // (SPI) Interrupt Enable Register +#define AT91C_SPI_TDR ((AT91_REG *) 0xFFFE000C) // (SPI) Transmit Data Register +#define AT91C_SPI_MR ((AT91_REG *) 0xFFFE0004) // (SPI) Mode Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTCR ((AT91_REG *) 0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR ((AT91_REG *) 0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_RNPR ((AT91_REG *) 0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_TPR ((AT91_REG *) 0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RPR ((AT91_REG *) 0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_PTSR ((AT91_REG *) 0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_TNCR ((AT91_REG *) 0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNCR ((AT91_REG *) 0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_TCR ((AT91_REG *) 0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_RCR ((AT91_REG *) 0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_IMR ((AT91_REG *) 0xFFFD802C) // (ADC) ADC Interrupt Mask Register +#define AT91C_ADC_CDR4 ((AT91_REG *) 0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR2 ((AT91_REG *) 0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR0 ((AT91_REG *) 0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR7 ((AT91_REG *) 0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR1 ((AT91_REG *) 0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_CDR3 ((AT91_REG *) 0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR5 ((AT91_REG *) 0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_MR ((AT91_REG *) 0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_CDR6 ((AT91_REG *) 0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_CR ((AT91_REG *) 0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CHER ((AT91_REG *) 0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR ((AT91_REG *) 0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_IER ((AT91_REG *) 0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_SR ((AT91_REG *) 0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CHDR ((AT91_REG *) 0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_IDR ((AT91_REG *) 0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_LCDR ((AT91_REG *) 0xFFFD8020) // (ADC) ADC Last Converted Data Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_PTCR ((AT91_REG *) 0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TNPR ((AT91_REG *) 0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_RNPR ((AT91_REG *) 0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TPR ((AT91_REG *) 0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_RPR ((AT91_REG *) 0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_PTSR ((AT91_REG *) 0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +#define AT91C_SSC_TNCR ((AT91_REG *) 0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RNCR ((AT91_REG *) 0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TCR ((AT91_REG *) 0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR ((AT91_REG *) 0xFFFD4104) // (PDC_SSC) Receive Counter Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RFMR ((AT91_REG *) 0xFFFD4014) // (SSC) Receive Frame Mode Register +#define AT91C_SSC_CMR ((AT91_REG *) 0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_IDR ((AT91_REG *) 0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_SR ((AT91_REG *) 0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_RC0R ((AT91_REG *) 0xFFFD4038) // (SSC) Receive Compare 0 Register +#define AT91C_SSC_RSHR ((AT91_REG *) 0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_RHR ((AT91_REG *) 0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_TCMR ((AT91_REG *) 0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_RCMR ((AT91_REG *) 0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_CR ((AT91_REG *) 0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR ((AT91_REG *) 0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_IER ((AT91_REG *) 0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_RC1R ((AT91_REG *) 0xFFFD403C) // (SSC) Receive Compare 1 Register +#define AT91C_SSC_TSHR ((AT91_REG *) 0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_THR ((AT91_REG *) 0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_TFMR ((AT91_REG *) 0xFFFD401C) // (SSC) Transmit Frame Mode Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_PTSR ((AT91_REG *) 0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNCR ((AT91_REG *) 0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_RNCR ((AT91_REG *) 0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_TCR ((AT91_REG *) 0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_RCR ((AT91_REG *) 0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_PTCR ((AT91_REG *) 0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TNPR ((AT91_REG *) 0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RNPR ((AT91_REG *) 0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_TPR ((AT91_REG *) 0xFFFC4108) // (PDC_US1) Transmit Pointer Register +#define AT91C_US1_RPR ((AT91_REG *) 0xFFFC4100) // (PDC_US1) Receive Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_XXR ((AT91_REG *) 0xFFFC4048) // (US1) XON_XOFF Register +#define AT91C_US1_RHR ((AT91_REG *) 0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_IMR ((AT91_REG *) 0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_IER ((AT91_REG *) 0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_CR ((AT91_REG *) 0xFFFC4000) // (US1) Control Register +#define AT91C_US1_RTOR ((AT91_REG *) 0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_THR ((AT91_REG *) 0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_CSR ((AT91_REG *) 0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR ((AT91_REG *) 0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_FIDI ((AT91_REG *) 0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_BRGR ((AT91_REG *) 0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_TTGR ((AT91_REG *) 0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_IF ((AT91_REG *) 0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER ((AT91_REG *) 0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_MR ((AT91_REG *) 0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_PTCR ((AT91_REG *) 0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_TNPR ((AT91_REG *) 0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR ((AT91_REG *) 0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TPR ((AT91_REG *) 0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RPR ((AT91_REG *) 0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_PTSR ((AT91_REG *) 0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR ((AT91_REG *) 0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_RNCR ((AT91_REG *) 0xFFFC0114) // (PDC_US0) Receive Next Counter Register +#define AT91C_US0_TCR ((AT91_REG *) 0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_RCR ((AT91_REG *) 0xFFFC0104) // (PDC_US0) Receive Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_TTGR ((AT91_REG *) 0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_BRGR ((AT91_REG *) 0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_RHR ((AT91_REG *) 0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IMR ((AT91_REG *) 0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_NER ((AT91_REG *) 0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_RTOR ((AT91_REG *) 0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_XXR ((AT91_REG *) 0xFFFC0048) // (US0) XON_XOFF Register +#define AT91C_US0_FIDI ((AT91_REG *) 0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_CR ((AT91_REG *) 0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IER ((AT91_REG *) 0xFFFC0008) // (US0) Interrupt Enable Register +#define AT91C_US0_IF ((AT91_REG *) 0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_MR ((AT91_REG *) 0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_IDR ((AT91_REG *) 0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_CSR ((AT91_REG *) 0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_THR ((AT91_REG *) 0xFFFC001C) // (US0) Transmitter Holding Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_RHR ((AT91_REG *) 0xFFFB8030) // (TWI) Receive Holding Register +#define AT91C_TWI_IDR ((AT91_REG *) 0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_SR ((AT91_REG *) 0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_CWGR ((AT91_REG *) 0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_SMR ((AT91_REG *) 0xFFFB8008) // (TWI) Slave Mode Register +#define AT91C_TWI_CR ((AT91_REG *) 0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_THR ((AT91_REG *) 0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IMR ((AT91_REG *) 0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_IER ((AT91_REG *) 0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_IADR ((AT91_REG *) 0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR ((AT91_REG *) 0xFFFB8004) // (TWI) Master Mode Register +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_IMR ((AT91_REG *) 0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_IER ((AT91_REG *) 0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_RC ((AT91_REG *) 0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_RA ((AT91_REG *) 0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_CMR ((AT91_REG *) 0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_IDR ((AT91_REG *) 0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_SR ((AT91_REG *) 0xFFFA00A0) // (TC2) Status Register +#define AT91C_TC2_RB ((AT91_REG *) 0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_CV ((AT91_REG *) 0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_CCR ((AT91_REG *) 0xFFFA0080) // (TC2) Channel Control Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_IMR ((AT91_REG *) 0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_IER ((AT91_REG *) 0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_RC ((AT91_REG *) 0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_RA ((AT91_REG *) 0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_CMR ((AT91_REG *) 0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_IDR ((AT91_REG *) 0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR ((AT91_REG *) 0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_RB ((AT91_REG *) 0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CV ((AT91_REG *) 0xFFFA0050) // (TC1) Counter Value +#define AT91C_TC1_CCR ((AT91_REG *) 0xFFFA0040) // (TC1) Channel Control Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_IMR ((AT91_REG *) 0xFFFA002C) // (TC0) Interrupt Mask Register +#define AT91C_TC0_IER ((AT91_REG *) 0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RC ((AT91_REG *) 0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RA ((AT91_REG *) 0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_CMR ((AT91_REG *) 0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IDR ((AT91_REG *) 0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_SR ((AT91_REG *) 0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RB ((AT91_REG *) 0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CV ((AT91_REG *) 0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_CCR ((AT91_REG *) 0xFFFA0000) // (TC0) Channel Control Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR ((AT91_REG *) 0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR ((AT91_REG *) 0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_CH3_CUPDR ((AT91_REG *) 0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_CH3_CPRDR ((AT91_REG *) 0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_CH3_CMR ((AT91_REG *) 0xFFFCC260) // (PWMC_CH3) Channel Mode Register +#define AT91C_CH3_Reserved ((AT91_REG *) 0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_CH3_CCNTR ((AT91_REG *) 0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_CH3_CDTYR ((AT91_REG *) 0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_CH2_CUPDR ((AT91_REG *) 0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_CH2_CPRDR ((AT91_REG *) 0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_CH2_CMR ((AT91_REG *) 0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_CH2_Reserved ((AT91_REG *) 0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_CH2_CCNTR ((AT91_REG *) 0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_CH2_CDTYR ((AT91_REG *) 0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_CH1_CUPDR ((AT91_REG *) 0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_CH1_CPRDR ((AT91_REG *) 0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_CH1_CMR ((AT91_REG *) 0xFFFCC220) // (PWMC_CH1) Channel Mode Register +#define AT91C_CH1_Reserved ((AT91_REG *) 0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_CH1_CCNTR ((AT91_REG *) 0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_CH1_CDTYR ((AT91_REG *) 0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_CH0_CUPDR ((AT91_REG *) 0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_CH0_CPRDR ((AT91_REG *) 0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_CH0_CMR ((AT91_REG *) 0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_CH0_Reserved ((AT91_REG *) 0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_CH0_CCNTR ((AT91_REG *) 0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +#define AT91C_CH0_CDTYR ((AT91_REG *) 0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_VR ((AT91_REG *) 0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR ((AT91_REG *) 0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_IDR ((AT91_REG *) 0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_SR ((AT91_REG *) 0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_ENA ((AT91_REG *) 0xFFFCC004) // (PWMC) PWMC Enable Register +#define AT91C_PWMC_IMR ((AT91_REG *) 0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR ((AT91_REG *) 0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_DIS ((AT91_REG *) 0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER ((AT91_REG *) 0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_ISR ((AT91_REG *) 0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_IDR ((AT91_REG *) 0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_GLBSTATE ((AT91_REG *) 0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_FDR ((AT91_REG *) 0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_CSR ((AT91_REG *) 0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_RSTEP ((AT91_REG *) 0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_ICR ((AT91_REG *) 0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_IMR ((AT91_REG *) 0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_IER ((AT91_REG *) 0xFFFB0010) // (UDP) Interrupt Enable Register +#define AT91C_UDP_FADDR ((AT91_REG *) 0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM ((AT91_REG *) 0xFFFB0000) // (UDP) Frame Number Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_PIO_PA0 ((unsigned int) 1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_PWM0 ((unsigned int) AT91C_PIO_PA0) // PWM Channel 0 +#define AT91C_PA0_TIOA0 ((unsigned int) AT91C_PIO_PA0) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PIO_PA1 ((unsigned int) 1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_PWM1 ((unsigned int) AT91C_PIO_PA1) // PWM Channel 1 +#define AT91C_PA1_TIOB0 ((unsigned int) AT91C_PIO_PA1) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PIO_PA10 ((unsigned int) 1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_DTXD ((unsigned int) AT91C_PIO_PA10) // DBGU Debug Transmit Data +#define AT91C_PA10_NPCS2 ((unsigned int) AT91C_PIO_PA10) // SPI Peripheral Chip Select 2 +#define AT91C_PIO_PA11 ((unsigned int) 1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_NPCS0 ((unsigned int) AT91C_PIO_PA11) // SPI Peripheral Chip Select 0 +#define AT91C_PA11_PWM0 ((unsigned int) AT91C_PIO_PA11) // PWM Channel 0 +#define AT91C_PIO_PA12 ((unsigned int) 1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_MISO ((unsigned int) AT91C_PIO_PA12) // SPI Master In Slave +#define AT91C_PA12_PWM1 ((unsigned int) AT91C_PIO_PA12) // PWM Channel 1 +#define AT91C_PIO_PA13 ((unsigned int) 1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_MOSI ((unsigned int) AT91C_PIO_PA13) // SPI Master Out Slave +#define AT91C_PA13_PWM2 ((unsigned int) AT91C_PIO_PA13) // PWM Channel 2 +#define AT91C_PIO_PA14 ((unsigned int) 1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_SPCK ((unsigned int) AT91C_PIO_PA14) // SPI Serial Clock +#define AT91C_PA14_PWM3 ((unsigned int) AT91C_PIO_PA14) // PWM Channel 3 +#define AT91C_PIO_PA15 ((unsigned int) 1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_TF ((unsigned int) AT91C_PIO_PA15) // SSC Transmit Frame Sync +#define AT91C_PA15_TIOA1 ((unsigned int) AT91C_PIO_PA15) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PIO_PA16 ((unsigned int) 1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_TK ((unsigned int) AT91C_PIO_PA16) // SSC Transmit Clock +#define AT91C_PA16_TIOB1 ((unsigned int) AT91C_PIO_PA16) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PIO_PA17 ((unsigned int) 1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_TD ((unsigned int) AT91C_PIO_PA17) // SSC Transmit data +#define AT91C_PA17_PCK1 ((unsigned int) AT91C_PIO_PA17) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA18 ((unsigned int) 1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_RD ((unsigned int) AT91C_PIO_PA18) // SSC Receive Data +#define AT91C_PA18_PCK2 ((unsigned int) AT91C_PIO_PA18) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA19 ((unsigned int) 1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_RK ((unsigned int) AT91C_PIO_PA19) // SSC Receive Clock +#define AT91C_PA19_FIQ ((unsigned int) AT91C_PIO_PA19) // AIC Fast Interrupt Input +#define AT91C_PIO_PA2 ((unsigned int) 1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_PWM2 ((unsigned int) AT91C_PIO_PA2) // PWM Channel 2 +#define AT91C_PA2_SCK0 ((unsigned int) AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PIO_PA20 ((unsigned int) 1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_RF ((unsigned int) AT91C_PIO_PA20) // SSC Receive Frame Sync +#define AT91C_PA20_IRQ0 ((unsigned int) AT91C_PIO_PA20) // External Interrupt 0 +#define AT91C_PIO_PA21 ((unsigned int) 1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_RXD1 ((unsigned int) AT91C_PIO_PA21) // USART 1 Receive Data +#define AT91C_PA21_PCK1 ((unsigned int) AT91C_PIO_PA21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA22 ((unsigned int) 1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TXD1 ((unsigned int) AT91C_PIO_PA22) // USART 1 Transmit Data +#define AT91C_PA22_NPCS3 ((unsigned int) AT91C_PIO_PA22) // SPI Peripheral Chip Select 3 +#define AT91C_PIO_PA23 ((unsigned int) 1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_SCK1 ((unsigned int) AT91C_PIO_PA23) // USART 1 Serial Clock +#define AT91C_PA23_PWM0 ((unsigned int) AT91C_PIO_PA23) // PWM Channel 0 +#define AT91C_PIO_PA24 ((unsigned int) 1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RTS1 ((unsigned int) AT91C_PIO_PA24) // USART 1 Ready To Send +#define AT91C_PA24_PWM1 ((unsigned int) AT91C_PIO_PA24) // PWM Channel 1 +#define AT91C_PIO_PA25 ((unsigned int) 1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_CTS1 ((unsigned int) AT91C_PIO_PA25) // USART 1 Clear To Send +#define AT91C_PA25_PWM2 ((unsigned int) AT91C_PIO_PA25) // PWM Channel 2 +#define AT91C_PIO_PA26 ((unsigned int) 1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_DCD1 ((unsigned int) AT91C_PIO_PA26) // USART 1 Data Carrier Detect +#define AT91C_PA26_TIOA2 ((unsigned int) AT91C_PIO_PA26) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PIO_PA27 ((unsigned int) 1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DTR1 ((unsigned int) AT91C_PIO_PA27) // USART 1 Data Terminal ready +#define AT91C_PA27_TIOB2 ((unsigned int) AT91C_PIO_PA27) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PIO_PA28 ((unsigned int) 1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DSR1 ((unsigned int) AT91C_PIO_PA28) // USART 1 Data Set ready +#define AT91C_PA28_TCLK1 ((unsigned int) AT91C_PIO_PA28) // Timer Counter 1 external clock input +#define AT91C_PIO_PA29 ((unsigned int) 1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_RI1 ((unsigned int) AT91C_PIO_PA29) // USART 1 Ring Indicator +#define AT91C_PA29_TCLK2 ((unsigned int) AT91C_PIO_PA29) // Timer Counter 2 external clock input +#define AT91C_PIO_PA3 ((unsigned int) 1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_TWD ((unsigned int) AT91C_PIO_PA3) // TWI Two-wire Serial Data +#define AT91C_PA3_NPCS3 ((unsigned int) AT91C_PIO_PA3) // SPI Peripheral Chip Select 3 +#define AT91C_PIO_PA30 ((unsigned int) 1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ1 ((unsigned int) AT91C_PIO_PA30) // External Interrupt 1 +#define AT91C_PA30_NPCS2 ((unsigned int) AT91C_PIO_PA30) // SPI Peripheral Chip Select 2 +#define AT91C_PIO_PA31 ((unsigned int) 1 << 31) // Pin Controlled by PA31 +#define AT91C_PA31_NPCS1 ((unsigned int) AT91C_PIO_PA31) // SPI Peripheral Chip Select 1 +#define AT91C_PA31_PCK2 ((unsigned int) AT91C_PIO_PA31) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 ((unsigned int) 1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_TWCK ((unsigned int) AT91C_PIO_PA4) // TWI Two-wire Serial Clock +#define AT91C_PA4_TCLK0 ((unsigned int) AT91C_PIO_PA4) // Timer Counter 0 external clock input +#define AT91C_PIO_PA5 ((unsigned int) 1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD0 ((unsigned int) AT91C_PIO_PA5) // USART 0 Receive Data +#define AT91C_PA5_NPCS3 ((unsigned int) AT91C_PIO_PA5) // SPI Peripheral Chip Select 3 +#define AT91C_PIO_PA6 ((unsigned int) 1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD0 ((unsigned int) AT91C_PIO_PA6) // USART 0 Transmit Data +#define AT91C_PA6_PCK0 ((unsigned int) AT91C_PIO_PA6) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PA7 ((unsigned int) 1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_RTS0 ((unsigned int) AT91C_PIO_PA7) // USART 0 Ready To Send +#define AT91C_PA7_PWM3 ((unsigned int) AT91C_PIO_PA7) // PWM Channel 3 +#define AT91C_PIO_PA8 ((unsigned int) 1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_CTS0 ((unsigned int) AT91C_PIO_PA8) // USART 0 Clear To Send +#define AT91C_PA8_ADTRG ((unsigned int) AT91C_PIO_PA8) // ADC External Trigger +#define AT91C_PIO_PA9 ((unsigned int) 1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_DRXD ((unsigned int) AT91C_PIO_PA9) // DBGU Debug Receive Data +#define AT91C_PA9_NPCS1 ((unsigned int) AT91C_PIO_PA9) // SPI Peripheral Chip Select 1 + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_ID_FIQ ((unsigned int) 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ((unsigned int) 1) // System Peripheral +#define AT91C_ID_PIOA ((unsigned int) 2) // Parallel IO Controller +#define AT91C_ID_3_Reserved ((unsigned int) 3) // Reserved +#define AT91C_ID_ADC ((unsigned int) 4) // Analog-to-Digital Converter +#define AT91C_ID_SPI ((unsigned int) 5) // Serial Peripheral Interface +#define AT91C_ID_US0 ((unsigned int) 6) // USART 0 +#define AT91C_ID_US1 ((unsigned int) 7) // USART 1 +#define AT91C_ID_SSC ((unsigned int) 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ((unsigned int) 9) // Two-Wire Interface +#define AT91C_ID_PWMC ((unsigned int) 10) // PWM Controller +#define AT91C_ID_UDP ((unsigned int) 11) // USB Device Port +#define AT91C_ID_TC0 ((unsigned int) 12) // Timer Counter 0 +#define AT91C_ID_TC1 ((unsigned int) 13) // Timer Counter 1 +#define AT91C_ID_TC2 ((unsigned int) 14) // Timer Counter 2 +#define AT91C_ID_15_Reserved ((unsigned int) 15) // Reserved +#define AT91C_ID_16_Reserved ((unsigned int) 16) // Reserved +#define AT91C_ID_17_Reserved ((unsigned int) 17) // Reserved +#define AT91C_ID_18_Reserved ((unsigned int) 18) // Reserved +#define AT91C_ID_19_Reserved ((unsigned int) 19) // Reserved +#define AT91C_ID_20_Reserved ((unsigned int) 20) // Reserved +#define AT91C_ID_21_Reserved ((unsigned int) 21) // Reserved +#define AT91C_ID_22_Reserved ((unsigned int) 22) // Reserved +#define AT91C_ID_23_Reserved ((unsigned int) 23) // Reserved +#define AT91C_ID_24_Reserved ((unsigned int) 24) // Reserved +#define AT91C_ID_25_Reserved ((unsigned int) 25) // Reserved +#define AT91C_ID_26_Reserved ((unsigned int) 26) // Reserved +#define AT91C_ID_27_Reserved ((unsigned int) 27) // Reserved +#define AT91C_ID_28_Reserved ((unsigned int) 28) // Reserved +#define AT91C_ID_29_Reserved ((unsigned int) 29) // Reserved +#define AT91C_ID_IRQ0 ((unsigned int) 30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 ((unsigned int) 31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_BASE_SYSC ((AT91PS_SYSC) 0xFFFFF000) // (SYSC) Base Address +#define AT91C_BASE_AIC ((AT91PS_AIC) 0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_DBGU ((AT91PS_DBGU) 0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PDC_DBGU ((AT91PS_PDC) 0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_PIOA ((AT91PS_PIO) 0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_CKGR ((AT91PS_CKGR) 0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC ((AT91PS_PMC) 0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC ((AT91PS_RSTC) 0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC ((AT91PS_RTTC) 0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC ((AT91PS_PITC) 0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC ((AT91PS_WDTC) 0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_MC ((AT91PS_MC) 0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI ((AT91PS_PDC) 0xFFFE0100) // (PDC_SPI) Base Address +#define AT91C_BASE_SPI ((AT91PS_SPI) 0xFFFE0000) // (SPI) Base Address +#define AT91C_BASE_PDC_ADC ((AT91PS_PDC) 0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC ((AT91PS_ADC) 0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_SSC ((AT91PS_PDC) 0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC ((AT91PS_SSC) 0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_PDC_US1 ((AT91PS_PDC) 0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 ((AT91PS_USART) 0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 ((AT91PS_PDC) 0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 ((AT91PS_USART) 0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_TWI ((AT91PS_TWI) 0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_TC2 ((AT91PS_TC) 0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TC1 ((AT91PS_TC) 0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC0 ((AT91PS_TC) 0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TCB ((AT91PS_TCB) 0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_PWMC_CH3 ((AT91PS_PWMC_CH) 0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 ((AT91PS_PWMC_CH) 0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 ((AT91PS_PWMC_CH) 0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 ((AT91PS_PWMC_CH) 0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC ((AT91PS_PWMC) 0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP ((AT91PS_UDP) 0xFFFB0000) // (UDP) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_ISRAM ((char *) 0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE ((unsigned int) 0x00004000) // Internal SRAM size in byte (16 Kbyte) +#define AT91C_IFLASH ((char *) 0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE ((unsigned int) 0x00010000) // Internal ROM size in byte (64 Kbyte) + +#endif diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7S64_inc.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7S64_inc.h new file mode 100644 index 0000000..7d2657a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7S64_inc.h @@ -0,0 +1,1812 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// The software is delivered "AS IS" without warranty or condition of any +// kind, either express, implied or statutory. This includes without +// limitation any warranty or condition with respect to merchantability or +// fitness for any particular purpose, or against the infringements of +// intellectual property rights of others. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7S64.h +// Object : AT91SAM7S64 definitions +// Generated : AT91 SW Application Group 07/16/2004 (07:43:09) +// +// CVS Reference : /AT91SAM7S64.pl/1.12/Mon Jul 12 13:02:30 2004// +// CVS Reference : /SYSC_SAM7Sxx.pl/1.5/Mon Jul 12 16:22:12 2004// +// CVS Reference : /MC_SAM02.pl/1.3/Wed Mar 10 08:37:04 2004// +// CVS Reference : /UDP_1765B.pl/1.3/Fri Aug 2 14:45:38 2002// +// CVS Reference : /AIC_1796B.pl/1.1.1.1/Fri Jun 28 09:36:48 2002// +// CVS Reference : /lib_pmc_SAM.h/1.6/Tue Apr 27 13:53:52 2004// +// CVS Reference : /PIO_1725D.pl/1.1.1.1/Fri Jun 28 09:36:48 2002// +// CVS Reference : /DBGU_1754A.pl/1.4/Fri Jan 31 12:18:24 2003// +// CVS Reference : /US_1739C.pl/1.2/Mon Jul 12 17:26:24 2004// +// CVS Reference : /SPI2.pl/1.2/Fri Oct 17 08:13:40 2003// +// CVS Reference : /SSC_1762A.pl/1.2/Fri Nov 8 13:26:40 2002// +// CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +// CVS Reference : /TWI_1761B.pl/1.4/Fri Feb 7 10:30:08 2003// +// CVS Reference : /PDC_1734B.pl/1.2/Thu Nov 21 16:38:24 2002// +// CVS Reference : /ADC_SAM.pl/1.7/Fri Oct 17 08:12:38 2003// +// CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +// ---------------------------------------------------------------------------- + +// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** +// *** Register offset in AT91S_SYSC structure *** +#define SYSC_AIC_SMR ( 0) // Source Mode Register +#define SYSC_AIC_SVR (128) // Source Vector Register +#define SYSC_AIC_IVR (256) // IRQ Vector Register +#define SYSC_AIC_FVR (260) // FIQ Vector Register +#define SYSC_AIC_ISR (264) // Interrupt Status Register +#define SYSC_AIC_IPR (268) // Interrupt Pending Register +#define SYSC_AIC_IMR (272) // Interrupt Mask Register +#define SYSC_AIC_CISR (276) // Core Interrupt Status Register +#define SYSC_AIC_IECR (288) // Interrupt Enable Command Register +#define SYSC_AIC_IDCR (292) // Interrupt Disable Command Register +#define SYSC_AIC_ICCR (296) // Interrupt Clear Command Register +#define SYSC_AIC_ISCR (300) // Interrupt Set Command Register +#define SYSC_AIC_EOICR (304) // End of Interrupt Command Register +#define SYSC_AIC_SPU (308) // Spurious Vector Register +#define SYSC_AIC_DCR (312) // Debug Control Register (Protect) +#define SYSC_AIC_FFER (320) // Fast Forcing Enable Register +#define SYSC_AIC_FFDR (324) // Fast Forcing Disable Register +#define SYSC_AIC_FFSR (328) // Fast Forcing Status Register +#define SYSC_DBGU_CR (512) // Control Register +#define SYSC_DBGU_MR (516) // Mode Register +#define SYSC_DBGU_IER (520) // Interrupt Enable Register +#define SYSC_DBGU_IDR (524) // Interrupt Disable Register +#define SYSC_DBGU_IMR (528) // Interrupt Mask Register +#define SYSC_DBGU_CSR (532) // Channel Status Register +#define SYSC_DBGU_RHR (536) // Receiver Holding Register +#define SYSC_DBGU_THR (540) // Transmitter Holding Register +#define SYSC_DBGU_BRGR (544) // Baud Rate Generator Register +#define SYSC_DBGU_C1R (576) // Chip ID1 Register +#define SYSC_DBGU_C2R (580) // Chip ID2 Register +#define SYSC_DBGU_FNTR (584) // Force NTRST Register +#define SYSC_DBGU_RPR (768) // Receive Pointer Register +#define SYSC_DBGU_RCR (772) // Receive Counter Register +#define SYSC_DBGU_TPR (776) // Transmit Pointer Register +#define SYSC_DBGU_TCR (780) // Transmit Counter Register +#define SYSC_DBGU_RNPR (784) // Receive Next Pointer Register +#define SYSC_DBGU_RNCR (788) // Receive Next Counter Register +#define SYSC_DBGU_TNPR (792) // Transmit Next Pointer Register +#define SYSC_DBGU_TNCR (796) // Transmit Next Counter Register +#define SYSC_DBGU_PTCR (800) // PDC Transfer Control Register +#define SYSC_DBGU_PTSR (804) // PDC Transfer Status Register +#define SYSC_PIOA_PER (1024) // PIO Enable Register +#define SYSC_PIOA_PDR (1028) // PIO Disable Register +#define SYSC_PIOA_PSR (1032) // PIO Status Register +#define SYSC_PIOA_OER (1040) // Output Enable Register +#define SYSC_PIOA_ODR (1044) // Output Disable Registerr +#define SYSC_PIOA_OSR (1048) // Output Status Register +#define SYSC_PIOA_IFER (1056) // Input Filter Enable Register +#define SYSC_PIOA_IFDR (1060) // Input Filter Disable Register +#define SYSC_PIOA_IFSR (1064) // Input Filter Status Register +#define SYSC_PIOA_SODR (1072) // Set Output Data Register +#define SYSC_PIOA_CODR (1076) // Clear Output Data Register +#define SYSC_PIOA_ODSR (1080) // Output Data Status Register +#define SYSC_PIOA_PDSR (1084) // Pin Data Status Register +#define SYSC_PIOA_IER (1088) // Interrupt Enable Register +#define SYSC_PIOA_IDR (1092) // Interrupt Disable Register +#define SYSC_PIOA_IMR (1096) // Interrupt Mask Register +#define SYSC_PIOA_ISR (1100) // Interrupt Status Register +#define SYSC_PIOA_MDER (1104) // Multi-driver Enable Register +#define SYSC_PIOA_MDDR (1108) // Multi-driver Disable Register +#define SYSC_PIOA_MDSR (1112) // Multi-driver Status Register +#define SYSC_PIOA_PPUDR (1120) // Pull-up Disable Register +#define SYSC_PIOA_PPUER (1124) // Pull-up Enable Register +#define SYSC_PIOA_PPUSR (1128) // Pad Pull-up Status Register +#define SYSC_PIOA_ASR (1136) // Select A Register +#define SYSC_PIOA_BSR (1140) // Select B Register +#define SYSC_PIOA_ABSR (1144) // AB Select Status Register +#define SYSC_PIOA_OWER (1184) // Output Write Enable Register +#define SYSC_PIOA_OWDR (1188) // Output Write Disable Register +#define SYSC_PIOA_OWSR (1192) // Output Write Status Register +#define SYSC_PMC_SCER (3072) // System Clock Enable Register +#define SYSC_PMC_SCDR (3076) // System Clock Disable Register +#define SYSC_PMC_SCSR (3080) // System Clock Status Register +#define SYSC_PMC_PCER (3088) // Peripheral Clock Enable Register +#define SYSC_PMC_PCDR (3092) // Peripheral Clock Disable Register +#define SYSC_PMC_PCSR (3096) // Peripheral Clock Status Register +#define SYSC_PMC_MOR (3104) // Main Oscillator Register +#define SYSC_PMC_MCFR (3108) // Main Clock Frequency Register +#define SYSC_PMC_PLLR (3116) // PLL Register +#define SYSC_PMC_MCKR (3120) // Master Clock Register +#define SYSC_PMC_PCKR (3136) // Programmable Clock Register +#define SYSC_PMC_IER (3168) // Interrupt Enable Register +#define SYSC_PMC_IDR (3172) // Interrupt Disable Register +#define SYSC_PMC_SR (3176) // Status Register +#define SYSC_PMC_IMR (3180) // Interrupt Mask Register +#define SYSC_RSTC_RCR (3328) // Reset Control Register +#define SYSC_RSTC_RSR (3332) // Reset Status Register +#define SYSC_RSTC_RMR (3336) // Reset Mode Register +#define SYSC_RTTC_RTMR (3360) // Real-time Mode Register +#define SYSC_RTTC_RTAR (3364) // Real-time Alarm Register +#define SYSC_RTTC_RTVR (3368) // Real-time Value Register +#define SYSC_RTTC_RTSR (3372) // Real-time Status Register +#define SYSC_PITC_PIMR (3376) // Period Interval Mode Register +#define SYSC_PITC_PISR (3380) // Period Interval Status Register +#define SYSC_PITC_PIVR (3384) // Period Interval Value Register +#define SYSC_PITC_PIIR (3388) // Period Interval Image Register +#define SYSC_WDTC_WDCR (3392) // Watchdog Control Register +#define SYSC_WDTC_WDMR (3396) // Watchdog Mode Register +#define SYSC_WDTC_WDSR (3400) // Watchdog Status Register +#define SYSC_SYSC_VRPM (3424) // Voltage Regulator Power Mode Register +// -------- VRPM : (SYSC Offset: 0xd60) Voltage Regulator Power Mode Register -------- +#define AT91C_SYSC_PSTDBY (0x1 << 0) // (SYSC) Voltage Regulator Power Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +// *** Register offset in AT91S_AIC structure *** +#define AIC_SMR ( 0) // Source Mode Register +#define AIC_SVR (128) // Source Vector Register +#define AIC_IVR (256) // IRQ Vector Register +#define AIC_FVR (260) // FIQ Vector Register +#define AIC_ISR (264) // Interrupt Status Register +#define AIC_IPR (268) // Interrupt Pending Register +#define AIC_IMR (272) // Interrupt Mask Register +#define AIC_CISR (276) // Core Interrupt Status Register +#define AIC_IECR (288) // Interrupt Enable Command Register +#define AIC_IDCR (292) // Interrupt Disable Command Register +#define AIC_ICCR (296) // Interrupt Clear Command Register +#define AIC_ISCR (300) // Interrupt Set Command Register +#define AIC_EOICR (304) // End of Interrupt Command Register +#define AIC_SPU (308) // Spurious Vector Register +#define AIC_DCR (312) // Debug Control Register (Protect) +#define AIC_FFER (320) // Fast Forcing Enable Register +#define AIC_FFDR (324) // Fast Forcing Disable Register +#define AIC_FFSR (328) // Fast Forcing Status Register +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR (0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST (0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST (0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE (0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE (0x0 << 5) // (AIC) Internal Sources Code Label Level Sensitive +#define AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED (0x1 << 5) // (AIC) Internal Sources Code Label Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_HIGH_LEVEL (0x2 << 5) // (AIC) External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_POSITIVE_EDGE (0x3 << 5) // (AIC) External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ (0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ (0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT (0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK (0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +// *** Register offset in AT91S_DBGU structure *** +#define DBGU_CR ( 0) // Control Register +#define DBGU_MR ( 4) // Mode Register +#define DBGU_IER ( 8) // Interrupt Enable Register +#define DBGU_IDR (12) // Interrupt Disable Register +#define DBGU_IMR (16) // Interrupt Mask Register +#define DBGU_CSR (20) // Channel Status Register +#define DBGU_RHR (24) // Receiver Holding Register +#define DBGU_THR (28) // Transmitter Holding Register +#define DBGU_BRGR (32) // Baud Rate Generator Register +#define DBGU_C1R (64) // Chip ID1 Register +#define DBGU_C2R (68) // Chip ID2 Register +#define DBGU_FNTR (72) // Force NTRST Register +#define DBGU_RPR (256) // Receive Pointer Register +#define DBGU_RCR (260) // Receive Counter Register +#define DBGU_TPR (264) // Transmit Pointer Register +#define DBGU_TCR (268) // Transmit Counter Register +#define DBGU_RNPR (272) // Receive Next Pointer Register +#define DBGU_RNCR (276) // Receive Next Counter Register +#define DBGU_TNPR (280) // Transmit Next Pointer Register +#define DBGU_TNCR (284) // Transmit Next Counter Register +#define DBGU_PTCR (288) // PDC Transfer Control Register +#define DBGU_PTSR (292) // PDC Transfer Status Register +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX (0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX (0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN (0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS (0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN (0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS (0x1 << 7) // (DBGU) Transmitter Disable +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR (0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN (0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD (0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE (0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK (0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE (0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP (0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE (0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL (0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO (0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL (0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE (0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY (0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY (0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX (0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX (0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE (0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME (0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE (0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY (0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE (0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF (0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX (0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX (0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST (0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral Data Controller +// ***************************************************************************** +// *** Register offset in AT91S_PDC structure *** +#define PDC_RPR ( 0) // Receive Pointer Register +#define PDC_RCR ( 4) // Receive Counter Register +#define PDC_TPR ( 8) // Transmit Pointer Register +#define PDC_TCR (12) // Transmit Counter Register +#define PDC_RNPR (16) // Receive Next Pointer Register +#define PDC_RNCR (20) // Receive Next Counter Register +#define PDC_TNPR (24) // Transmit Next Pointer Register +#define PDC_TNCR (28) // Transmit Next Counter Register +#define PDC_PTCR (32) // PDC Transfer Control Register +#define PDC_PTSR (36) // PDC Transfer Status Register +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN (0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS (0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN (0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS (0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +// *** Register offset in AT91S_PIO structure *** +#define PIO_PER ( 0) // PIO Enable Register +#define PIO_PDR ( 4) // PIO Disable Register +#define PIO_PSR ( 8) // PIO Status Register +#define PIO_OER (16) // Output Enable Register +#define PIO_ODR (20) // Output Disable Registerr +#define PIO_OSR (24) // Output Status Register +#define PIO_IFER (32) // Input Filter Enable Register +#define PIO_IFDR (36) // Input Filter Disable Register +#define PIO_IFSR (40) // Input Filter Status Register +#define PIO_SODR (48) // Set Output Data Register +#define PIO_CODR (52) // Clear Output Data Register +#define PIO_ODSR (56) // Output Data Status Register +#define PIO_PDSR (60) // Pin Data Status Register +#define PIO_IER (64) // Interrupt Enable Register +#define PIO_IDR (68) // Interrupt Disable Register +#define PIO_IMR (72) // Interrupt Mask Register +#define PIO_ISR (76) // Interrupt Status Register +#define PIO_MDER (80) // Multi-driver Enable Register +#define PIO_MDDR (84) // Multi-driver Disable Register +#define PIO_MDSR (88) // Multi-driver Status Register +#define PIO_PPUDR (96) // Pull-up Disable Register +#define PIO_PPUER (100) // Pull-up Enable Register +#define PIO_PPUSR (104) // Pad Pull-up Status Register +#define PIO_ASR (112) // Select A Register +#define PIO_BSR (116) // Select B Register +#define PIO_ABSR (120) // AB Select Status Register +#define PIO_OWER (160) // Output Write Enable Register +#define PIO_OWDR (164) // Output Write Disable Register +#define PIO_OWSR (168) // Output Write Status Register + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +// *** Register offset in AT91S_CKGR structure *** +#define CKGR_MOR ( 0) // Main Oscillator Register +#define CKGR_MCFR ( 4) // Main Clock Frequency Register +#define CKGR_PLLR (12) // PLL Register +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN (0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS (0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT (0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF (0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY (0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV (0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 (0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS (0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT (0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT (0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 (0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 (0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 (0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 (0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL (0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV (0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 (0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 (0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 (0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +// *** Register offset in AT91S_PMC structure *** +#define PMC_SCER ( 0) // System Clock Enable Register +#define PMC_SCDR ( 4) // System Clock Disable Register +#define PMC_SCSR ( 8) // System Clock Status Register +#define PMC_PCER (16) // Peripheral Clock Enable Register +#define PMC_PCDR (20) // Peripheral Clock Disable Register +#define PMC_PCSR (24) // Peripheral Clock Status Register +#define PMC_MOR (32) // Main Oscillator Register +#define PMC_MCFR (36) // Main Clock Frequency Register +#define PMC_PLLR (44) // PLL Register +#define PMC_MCKR (48) // Master Clock Register +#define PMC_PCKR (64) // Programmable Clock Register +#define PMC_IER (96) // Interrupt Enable Register +#define PMC_IDR (100) // Interrupt Disable Register +#define PMC_SR (104) // Status Register +#define PMC_IMR (108) // Interrupt Mask Register +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK (0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP (0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 (0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 (0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 (0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 (0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS (0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK (0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK (0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK (0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES (0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK (0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 (0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 (0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 (0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 (0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 (0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 (0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS (0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK (0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY (0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY (0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY (0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY (0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY (0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_RSTC structure *** +#define RSTC_RCR ( 0) // Reset Control Register +#define RSTC_RSR ( 4) // Reset Status Register +#define RSTC_RMR ( 8) // Reset Mode Register +// -------- SYSC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_SYSC_PROCRST (0x1 << 0) // (RSTC) Processor Reset +#define AT91C_SYSC_ICERST (0x1 << 1) // (RSTC) ICE Interface Reset +#define AT91C_SYSC_PERRST (0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_SYSC_EXTRST (0x1 << 3) // (RSTC) External Reset +#define AT91C_SYSC_KEY (0xFF << 24) // (RSTC) Password +// -------- SYSC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_SYSC_URSTS (0x1 << 0) // (RSTC) User Reset Status +#define AT91C_SYSC_BODSTS (0x1 << 1) // (RSTC) Brown-out Detection Status +#define AT91C_SYSC_RSTTYP (0x7 << 8) // (RSTC) Reset Type +#define AT91C_SYSC_RSTTYP_POWERUP (0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_SYSC_RSTTYP_WATCHDOG (0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_SYSC_RSTTYP_SOFTWARE (0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_SYSC_RSTTYP_USER (0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_SYSC_RSTTYP_BROWNOUT (0x5 << 8) // (RSTC) Brown-out Reset. +#define AT91C_SYSC_NRSTL (0x1 << 16) // (RSTC) NRST pin level +#define AT91C_SYSC_SRCMP (0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- SYSC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_SYSC_URSTEN (0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_SYSC_URSTIEN (0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_SYSC_ERSTL (0xF << 8) // (RSTC) User Reset Enable +#define AT91C_SYSC_BODIEN (0x1 << 16) // (RSTC) Brown-out Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_RTTC structure *** +#define RTTC_RTMR ( 0) // Real-time Mode Register +#define RTTC_RTAR ( 4) // Real-time Alarm Register +#define RTTC_RTVR ( 8) // Real-time Value Register +#define RTTC_RTSR (12) // Real-time Status Register +// -------- SYSC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_SYSC_RTPRES (0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_SYSC_ALMIEN (0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_SYSC_RTTINCIEN (0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_SYSC_RTTRST (0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- SYSC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_SYSC_ALMV (0x0 << 0) // (RTTC) Alarm Value +// -------- SYSC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_SYSC_CRTV (0x0 << 0) // (RTTC) Current Real-time Value +// -------- SYSC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_SYSC_ALMS (0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_SYSC_RTTINC (0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_PITC structure *** +#define PITC_PIMR ( 0) // Period Interval Mode Register +#define PITC_PISR ( 4) // Period Interval Status Register +#define PITC_PIVR ( 8) // Period Interval Value Register +#define PITC_PIIR (12) // Period Interval Image Register +// -------- SYSC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_SYSC_PIV (0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_SYSC_PITEN (0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_SYSC_PITIEN (0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- SYSC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_SYSC_PITS (0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- SYSC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_SYSC_CPIV (0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_SYSC_PICNT (0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- SYSC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_WDTC structure *** +#define WDTC_WDCR ( 0) // Watchdog Control Register +#define WDTC_WDMR ( 4) // Watchdog Mode Register +#define WDTC_WDSR ( 8) // Watchdog Status Register +// -------- SYSC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_SYSC_WDRSTT (0x1 << 0) // (WDTC) Watchdog Restart +// -------- SYSC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_SYSC_WDV (0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_SYSC_WDFIEN (0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_SYSC_WDRSTEN (0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_SYSC_WDRPROC (0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_SYSC_WDDIS (0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_SYSC_WDD (0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_SYSC_WDDBGHLT (0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_SYSC_WDIDLEHLT (0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- SYSC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_SYSC_WDUNF (0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_SYSC_WDERR (0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_MC structure *** +#define MC_RCR ( 0) // MC Remap Control Register +#define MC_ASR ( 4) // MC Abort Status Register +#define MC_AASR ( 8) // MC Abort Address Status Register +#define MC_FMR (96) // MC Flash Mode Register +#define MC_FCR (100) // MC Flash Command Register +#define MC_FSR (104) // MC Flash Status Register +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB (0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD (0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD (0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ (0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE (0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD (0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD (0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP (0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR (0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW (0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH (0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 (0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 (0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 (0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 (0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY (0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE (0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE (0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP (0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS (0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS (0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS (0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS (0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS (0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN (0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD (0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG (0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK (0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK (0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK (0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL (0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM (0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM (0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY (0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN (0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY (0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY (0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 (0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 (0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 (0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 (0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 (0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 (0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 (0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 (0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 (0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 (0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 (0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 (0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 (0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 (0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 (0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 (0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 (0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 (0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 (0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 (0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 (0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 (0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 (0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 (0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +// *** Register offset in AT91S_SPI structure *** +#define SPI_CR ( 0) // Control Register +#define SPI_MR ( 4) // Mode Register +#define SPI_RDR ( 8) // Receive Data Register +#define SPI_TDR (12) // Transmit Data Register +#define SPI_SR (16) // Status Register +#define SPI_IER (20) // Interrupt Enable Register +#define SPI_IDR (24) // Interrupt Disable Register +#define SPI_IMR (28) // Interrupt Mask Register +#define SPI_CSR (48) // Chip Select Register +#define SPI_RPR (256) // Receive Pointer Register +#define SPI_RCR (260) // Receive Counter Register +#define SPI_TPR (264) // Transmit Pointer Register +#define SPI_TCR (268) // Transmit Counter Register +#define SPI_RNPR (272) // Receive Next Pointer Register +#define SPI_RNCR (276) // Receive Next Counter Register +#define SPI_TNPR (280) // Transmit Next Pointer Register +#define SPI_TNCR (284) // Transmit Next Counter Register +#define SPI_PTCR (288) // PDC Transfer Control Register +#define SPI_PTSR (292) // PDC Transfer Status Register +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN (0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS (0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST (0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER (0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR (0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS (0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED (0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE (0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC (0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV (0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS (0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB (0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS (0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS (0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD (0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS (0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD (0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS (0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF (0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE (0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF (0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES (0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX (0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX (0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF (0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE (0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR (0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY (0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS (0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL (0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA (0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT (0x1 << 2) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS (0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 (0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 (0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 (0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 (0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 (0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 (0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 (0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 (0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 (0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR (0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS (0xFF << 16) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBCT (0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +// *** Register offset in AT91S_ADC structure *** +#define ADC_CR ( 0) // ADC Control Register +#define ADC_MR ( 4) // ADC Mode Register +#define ADC_CHER (16) // ADC Channel Enable Register +#define ADC_CHDR (20) // ADC Channel Disable Register +#define ADC_CHSR (24) // ADC Channel Status Register +#define ADC_SR (28) // ADC Status Register +#define ADC_LCDR (32) // ADC Last Converted Data Register +#define ADC_IER (36) // ADC Interrupt Enable Register +#define ADC_IDR (40) // ADC Interrupt Disable Register +#define ADC_IMR (44) // ADC Interrupt Mask Register +#define ADC_CDR0 (48) // ADC Channel Data Register 0 +#define ADC_CDR1 (52) // ADC Channel Data Register 1 +#define ADC_CDR2 (56) // ADC Channel Data Register 2 +#define ADC_CDR3 (60) // ADC Channel Data Register 3 +#define ADC_CDR4 (64) // ADC Channel Data Register 4 +#define ADC_CDR5 (68) // ADC Channel Data Register 5 +#define ADC_CDR6 (72) // ADC Channel Data Register 6 +#define ADC_CDR7 (76) // ADC Channel Data Register 7 +#define ADC_RPR (256) // Receive Pointer Register +#define ADC_RCR (260) // Receive Counter Register +#define ADC_TPR (264) // Transmit Pointer Register +#define ADC_TCR (268) // Transmit Counter Register +#define ADC_RNPR (272) // Receive Next Pointer Register +#define ADC_RNCR (276) // Receive Next Counter Register +#define ADC_TNPR (280) // Transmit Next Pointer Register +#define ADC_TNCR (284) // Transmit Next Counter Register +#define ADC_PTCR (288) // PDC Transfer Control Register +#define ADC_PTSR (292) // PDC Transfer Status Register +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST (0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START (0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN (0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS (0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN (0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL (0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 (0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 (0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 (0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 (0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 (0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 (0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT (0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES (0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT (0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT (0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP (0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE (0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE (0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL (0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP (0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM (0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 (0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 (0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 (0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 (0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 (0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 (0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 (0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 (0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 (0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 (0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 (0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 (0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 (0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 (0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 (0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 (0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 (0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 (0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 (0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 (0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 (0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 (0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 (0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 (0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY (0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE (0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX (0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF (0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA (0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA (0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_SSC structure *** +#define SSC_CR ( 0) // Control Register +#define SSC_CMR ( 4) // Clock Mode Register +#define SSC_RCMR (16) // Receive Clock ModeRegister +#define SSC_RFMR (20) // Receive Frame Mode Register +#define SSC_TCMR (24) // Transmit Clock Mode Register +#define SSC_TFMR (28) // Transmit Frame Mode Register +#define SSC_RHR (32) // Receive Holding Register +#define SSC_THR (36) // Transmit Holding Register +#define SSC_RSHR (48) // Receive Sync Holding Register +#define SSC_TSHR (52) // Transmit Sync Holding Register +#define SSC_RC0R (56) // Receive Compare 0 Register +#define SSC_RC1R (60) // Receive Compare 1 Register +#define SSC_SR (64) // Status Register +#define SSC_IER (68) // Interrupt Enable Register +#define SSC_IDR (72) // Interrupt Disable Register +#define SSC_IMR (76) // Interrupt Mask Register +#define SSC_RPR (256) // Receive Pointer Register +#define SSC_RCR (260) // Receive Counter Register +#define SSC_TPR (264) // Transmit Pointer Register +#define SSC_TCR (268) // Transmit Counter Register +#define SSC_RNPR (272) // Receive Next Pointer Register +#define SSC_RNCR (276) // Receive Next Counter Register +#define SSC_TNPR (280) // Transmit Next Pointer Register +#define SSC_TNCR (284) // Transmit Next Counter Register +#define SSC_PTCR (288) // PDC Transfer Control Register +#define SSC_PTSR (292) // PDC Transfer Status Register +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN (0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS (0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN (0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS (0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST (0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS (0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV (0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK (0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK (0x2) // (SSC) RK pin +#define AT91C_SSC_CKO (0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE (0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS (0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX (0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI (0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_CKG (0x3 << 6) // (SSC) Receive/Transmit Clock Gating Selection +#define AT91C_SSC_CKG_NONE (0x0 << 6) // (SSC) Receive/Transmit Clock Gating: None, continuous clock +#define AT91C_SSC_CKG_LOW (0x1 << 6) // (SSC) Receive/Transmit Clock enabled only if RF Low +#define AT91C_SSC_CKG_HIGH (0x2 << 6) // (SSC) Receive/Transmit Clock enabled only if RF High +#define AT91C_SSC_START (0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS (0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX (0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF (0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF (0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF (0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF (0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF (0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF (0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 (0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STOP (0x1 << 12) // (SSC) Receive Stop Selection +#define AT91C_SSC_STTOUT (0x1 << 15) // (SSC) Receive/Transmit Start Output Selection +#define AT91C_SSC_STTDLY (0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD (0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN (0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP (0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF (0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB (0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN (0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS (0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE (0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE (0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE (0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW (0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH (0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE (0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE (0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF (0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN (0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY (0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY (0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX (0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE (0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY (0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN (0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX (0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF (0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_CP0 (0x1 << 8) // (SSC) Compare 0 +#define AT91C_SSC_CP1 (0x1 << 9) // (SSC) Compare 1 +#define AT91C_SSC_TXSYN (0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN (0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA (0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA (0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +// *** Register offset in AT91S_USART structure *** +#define US_CR ( 0) // Control Register +#define US_MR ( 4) // Mode Register +#define US_IER ( 8) // Interrupt Enable Register +#define US_IDR (12) // Interrupt Disable Register +#define US_IMR (16) // Interrupt Mask Register +#define US_CSR (20) // Channel Status Register +#define US_RHR (24) // Receiver Holding Register +#define US_THR (28) // Transmitter Holding Register +#define US_BRGR (32) // Baud Rate Generator Register +#define US_RTOR (36) // Receiver Time-out Register +#define US_TTGR (40) // Transmitter Time-guard Register +#define US_FIDI (64) // FI_DI_Ratio Register +#define US_NER (68) // Nb Errors Register +#define US_XXR (72) // XON_XOFF Register +#define US_IF (76) // IRDA_FILTER Register +#define US_RPR (256) // Receive Pointer Register +#define US_RCR (260) // Receive Counter Register +#define US_TPR (264) // Transmit Pointer Register +#define US_TCR (268) // Transmit Counter Register +#define US_RNPR (272) // Receive Next Pointer Register +#define US_RNCR (276) // Receive Next Counter Register +#define US_TNPR (280) // Transmit Next Pointer Register +#define US_TNCR (284) // Transmit Next Counter Register +#define US_PTCR (288) // PDC Transfer Control Register +#define US_PTSR (292) // PDC Transfer Status Register +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTSTA (0x1 << 8) // (USART) Reset Status Bits +#define AT91C_US_STTBRK (0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK (0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO (0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA (0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT (0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK (0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO (0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN (0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS (0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN (0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS (0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE (0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL (0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 (0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH (0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM (0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 (0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 (0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA (0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH (0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS (0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK (0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 (0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW (0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT (0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL (0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS (0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS (0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS (0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS (0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC (0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP (0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT (0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT (0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT (0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF (0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 (0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO (0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER (0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK (0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK (0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER (0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER (0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK (0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT (0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION (0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK (0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC (0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC (0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC (0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC (0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI (0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR (0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD (0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS (0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +// *** Register offset in AT91S_TWI structure *** +#define TWI_CR ( 0) // Control Register +#define TWI_MMR ( 4) // Master Mode Register +#define TWI_SMR ( 8) // Slave Mode Register +#define TWI_IADR (12) // Internal Address Register +#define TWI_CWGR (16) // Clock Waveform Generator Register +#define TWI_SR (32) // Status Register +#define TWI_IER (36) // Interrupt Enable Register +#define TWI_IDR (40) // Interrupt Disable Register +#define TWI_IMR (44) // Interrupt Mask Register +#define TWI_RHR (48) // Receive Holding Register +#define TWI_THR (52) // Transmit Holding Register +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START (0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP (0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN (0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS (0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SVEN (0x1 << 4) // (TWI) TWI Slave Transfer Enabled +#define AT91C_TWI_SVDIS (0x1 << 5) // (TWI) TWI Slave Transfer Disabled +#define AT91C_TWI_SWRST (0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ (0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO (0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE (0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE (0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE (0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD (0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR (0x7F << 16) // (TWI) Device Address +// -------- TWI_SMR : (TWI Offset: 0x8) TWI Slave Mode Register -------- +#define AT91C_TWI_SADR (0x7F << 16) // (TWI) Slave Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV (0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV (0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV (0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP (0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY (0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY (0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_SVREAD (0x1 << 3) // (TWI) Slave Read +#define AT91C_TWI_SVACC (0x1 << 4) // (TWI) Slave Access +#define AT91C_TWI_GCACC (0x1 << 5) // (TWI) General Call Access +#define AT91C_TWI_OVRE (0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE (0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK (0x1 << 8) // (TWI) Not Acknowledged +#define AT91C_TWI_ARBLST (0x1 << 9) // (TWI) Arbitration Lost +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +// *** Register offset in AT91S_TC structure *** +#define TC_CCR ( 0) // Channel Control Register +#define TC_CMR ( 4) // Channel Mode Register (Capture Mode / Waveform Mode) +#define TC_CV (16) // Counter Value +#define TC_RA (20) // Register A +#define TC_RB (24) // Register B +#define TC_RC (28) // Register C +#define TC_SR (32) // Status Register +#define TC_IER (36) // Interrupt Enable Register +#define TC_IDR (40) // Interrupt Disable Register +#define TC_IMR (44) // Interrupt Mask Register +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN (0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS (0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG (0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS (0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK (0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK (0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK (0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK (0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK (0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 (0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 (0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 (0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI (0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST (0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE (0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 (0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 (0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 (0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP (0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP (0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_LDBDIS (0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_CPCDIS (0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_ETRGEDG (0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE (0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING (0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING (0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH (0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG (0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE (0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING (0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING (0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH (0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_ABETRG (0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_EEVT (0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_NONE (0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_RISING (0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_FALLING (0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_BOTH (0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ENETRG (0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL (0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP (0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN (0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO (0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO (0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG (0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE (0x1 << 15) // (TC) +#define AT91C_TC_LDRA (0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE (0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING (0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING (0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH (0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPA (0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE (0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET (0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR (0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE (0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRB (0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE (0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING (0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING (0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH (0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC (0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE (0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET (0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR (0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE (0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_AEEVT (0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE (0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET (0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR (0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE (0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG (0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE (0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET (0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR (0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE (0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB (0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE (0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET (0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR (0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE (0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC (0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE (0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET (0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR (0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE (0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT (0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE (0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET (0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR (0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE (0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG (0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE (0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET (0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR (0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE (0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS (0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS (0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS (0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS (0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS (0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS (0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS (0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRCS (0x1 << 7) // (TC) External Trigger +#define AT91C_TC_ETRGS (0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA (0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB (0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +// *** Register offset in AT91S_TCB structure *** +#define TCB_TC0 ( 0) // TC Channel 0 +#define TCB_TC1 (64) // TC Channel 1 +#define TCB_TC2 (128) // TC Channel 2 +#define TCB_BCR (192) // TC Block Control Register +#define TCB_BMR (196) // TC Block Mode Register +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC (0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S (0x1 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 (0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE (0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 (0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 (0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S (0x1 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 (0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE (0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 (0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 (0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S (0x1 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 (0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE (0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 (0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA2 (0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +// *** Register offset in AT91S_PWMC_CH structure *** +#define PWMC_CMR ( 0) // Channel Mode Register +#define PWMC_CDTYR ( 4) // Channel Duty Cycle Register +#define PWMC_CPRDR ( 8) // Channel Period Register +#define PWMC_CCNTR (12) // Channel Counter Register +#define PWMC_CUPDR (16) // Channel Update Register +#define PWMC_Reserved (20) // Reserved +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE (0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK (0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA (0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB (0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG (0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL (0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD (0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY (0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD (0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT (0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD (0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_PWMC structure *** +#define PWMC_MR ( 0) // PWMC Mode Register +#define PWMC_ENA ( 4) // PWMC Enable Register +#define PWMC_DIS ( 8) // PWMC Disable Register +#define PWMC_SR (12) // PWMC Status Register +#define PWMC_IER (16) // PWMC Interrupt Enable Register +#define PWMC_IDR (20) // PWMC Interrupt Disable Register +#define PWMC_IMR (24) // PWMC Interrupt Mask Register +#define PWMC_ISR (28) // PWMC Interrupt Status Register +#define PWMC_VR (252) // PWMC Version Register +#define PWMC_CH (512) // PWMC Channel 0 +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA (0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA (0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK (0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB (0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB (0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK (0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 (0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 (0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 (0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 (0x1 << 3) // (PWMC) Channel ID 3 +#define AT91C_PWMC_CHID4 (0x1 << 4) // (PWMC) Channel ID 4 +#define AT91C_PWMC_CHID5 (0x1 << 5) // (PWMC) Channel ID 5 +#define AT91C_PWMC_CHID6 (0x1 << 6) // (PWMC) Channel ID 6 +#define AT91C_PWMC_CHID7 (0x1 << 7) // (PWMC) Channel ID 7 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +// *** Register offset in AT91S_UDP structure *** +#define UDP_NUM ( 0) // Frame Number Register +#define UDP_GLBSTATE ( 4) // Global State Register +#define UDP_FADDR ( 8) // Function Address Register +#define UDP_IER (16) // Interrupt Enable Register +#define UDP_IDR (20) // Interrupt Disable Register +#define UDP_IMR (24) // Interrupt Mask Register +#define UDP_ISR (28) // Interrupt Status Register +#define UDP_ICR (32) // Interrupt Clear Register +#define UDP_RSTEP (40) // Reset Endpoint Register +#define UDP_CSR (48) // Endpoint Control and Status Register +#define UDP_FDR (80) // Endpoint FIFO Data Register +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM (0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR (0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK (0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN (0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG (0x1 << 1) // (UDP) Configured +#define AT91C_UDP_RMWUPE (0x1 << 2) // (UDP) Remote Wake Up Enable +#define AT91C_UDP_RSMINPR (0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD (0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN (0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 (0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 (0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 (0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 (0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 (0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 (0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_EPINT6 (0x1 << 6) // (UDP) Endpoint 6 Interrupt +#define AT91C_UDP_EPINT7 (0x1 << 7) // (UDP) Endpoint 7 Interrupt +#define AT91C_UDP_RXSUSP (0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM (0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM (0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT (0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP (0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES (0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 (0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 (0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 (0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 (0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 (0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 (0x1 << 5) // (UDP) Reset Endpoint 5 +#define AT91C_UDP_EP6 (0x1 << 6) // (UDP) Reset Endpoint 6 +#define AT91C_UDP_EP7 (0x1 << 7) // (UDP) Reset Endpoint 7 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP (0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 (0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP (0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR (0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY (0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL (0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 (0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR (0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE (0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL (0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT (0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT (0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT (0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN (0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN (0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN (0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE (0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS (0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT (0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7S64 +// ***************************************************************************** +// ========== Register definition for SYSC peripheral ========== +#define AT91C_SYSC_SYSC_VRPM (0xFFFFFD60) // (SYSC) Voltage Regulator Power Mode Register +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_ICCR (0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_IECR (0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_SMR (0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_ISCR (0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_EOICR (0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_DCR (0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_FFER (0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_SVR (0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_SPU (0xFFFFF134) // (AIC) Spurious Vector Register +#define AT91C_AIC_FFDR (0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_FVR (0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_FFSR (0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_IMR (0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_ISR (0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IVR (0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_IDCR (0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_CISR (0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IPR (0xFFFFF10C) // (AIC) Interrupt Pending Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_C2R (0xFFFFF244) // (DBGU) Chip ID2 Register +#define AT91C_DBGU_THR (0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_CSR (0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_IDR (0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_MR (0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_FNTR (0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_C1R (0xFFFFF240) // (DBGU) Chip ID1 Register +#define AT91C_DBGU_BRGR (0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_RHR (0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IMR (0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_IER (0xFFFFF208) // (DBGU) Interrupt Enable Register +#define AT91C_DBGU_CR (0xFFFFF200) // (DBGU) Control Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TNCR (0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +#define AT91C_DBGU_RNCR (0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR (0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR (0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_RCR (0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_TCR (0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RPR (0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_TPR (0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RNPR (0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR (0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_IMR (0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_IER (0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_OWDR (0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_ISR (0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_PPUDR (0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_MDSR (0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_MDER (0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PER (0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_PSR (0xFFFFF408) // (PIOA) PIO Status Register +#define AT91C_PIOA_OER (0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_BSR (0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_PPUER (0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_MDDR (0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_PDR (0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_ODR (0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_IFDR (0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_ABSR (0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_ASR (0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_PPUSR (0xFFFFF468) // (PIOA) Pad Pull-up Status Register +#define AT91C_PIOA_ODSR (0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_SODR (0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_IFSR (0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_IFER (0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_OSR (0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_IDR (0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_PDSR (0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_CODR (0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_OWSR (0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_OWER (0xFFFFF4A0) // (PIOA) Output Write Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_PLLR (0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR (0xFFFFFC24) // (CKGR) Main Clock Frequency Register +#define AT91C_CKGR_MOR (0xFFFFFC20) // (CKGR) Main Oscillator Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_SCSR (0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_SCER (0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR (0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IDR (0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_PCDR (0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCDR (0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_SR (0xFFFFFC68) // (PMC) Status Register +#define AT91C_PMC_IER (0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_MCKR (0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_MOR (0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PCER (0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCSR (0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_PLLR (0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_MCFR (0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_PCKR (0xFFFFFC40) // (PMC) Programmable Clock Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RSR (0xFFFFFD04) // (RSTC) Reset Status Register +#define AT91C_RSTC_RMR (0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RCR (0xFFFFFD00) // (RSTC) Reset Control Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR (0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTAR (0xFFFFFD24) // (RTTC) Real-time Alarm Register +#define AT91C_RTTC_RTVR (0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTMR (0xFFFFFD20) // (RTTC) Real-time Mode Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIIR (0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PISR (0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIVR (0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PIMR (0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDMR (0xFFFFFD44) // (WDTC) Watchdog Mode Register +#define AT91C_WDTC_WDSR (0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDCR (0xFFFFFD40) // (WDTC) Watchdog Control Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_FCR (0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_ASR (0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_FSR (0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR (0xFFFFFF60) // (MC) MC Flash Mode Register +#define AT91C_MC_AASR (0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_RCR (0xFFFFFF00) // (MC) MC Remap Control Register +// ========== Register definition for PDC_SPI peripheral ========== +#define AT91C_SPI_PTCR (0xFFFE0120) // (PDC_SPI) PDC Transfer Control Register +#define AT91C_SPI_TNPR (0xFFFE0118) // (PDC_SPI) Transmit Next Pointer Register +#define AT91C_SPI_RNPR (0xFFFE0110) // (PDC_SPI) Receive Next Pointer Register +#define AT91C_SPI_TPR (0xFFFE0108) // (PDC_SPI) Transmit Pointer Register +#define AT91C_SPI_RPR (0xFFFE0100) // (PDC_SPI) Receive Pointer Register +#define AT91C_SPI_PTSR (0xFFFE0124) // (PDC_SPI) PDC Transfer Status Register +#define AT91C_SPI_TNCR (0xFFFE011C) // (PDC_SPI) Transmit Next Counter Register +#define AT91C_SPI_RNCR (0xFFFE0114) // (PDC_SPI) Receive Next Counter Register +#define AT91C_SPI_TCR (0xFFFE010C) // (PDC_SPI) Transmit Counter Register +#define AT91C_SPI_RCR (0xFFFE0104) // (PDC_SPI) Receive Counter Register +// ========== Register definition for SPI peripheral ========== +#define AT91C_SPI_CSR (0xFFFE0030) // (SPI) Chip Select Register +#define AT91C_SPI_IDR (0xFFFE0018) // (SPI) Interrupt Disable Register +#define AT91C_SPI_SR (0xFFFE0010) // (SPI) Status Register +#define AT91C_SPI_RDR (0xFFFE0008) // (SPI) Receive Data Register +#define AT91C_SPI_CR (0xFFFE0000) // (SPI) Control Register +#define AT91C_SPI_IMR (0xFFFE001C) // (SPI) Interrupt Mask Register +#define AT91C_SPI_IER (0xFFFE0014) // (SPI) Interrupt Enable Register +#define AT91C_SPI_TDR (0xFFFE000C) // (SPI) Transmit Data Register +#define AT91C_SPI_MR (0xFFFE0004) // (SPI) Mode Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTCR (0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR (0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_RNPR (0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_TPR (0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RPR (0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_PTSR (0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_TNCR (0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNCR (0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_TCR (0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_RCR (0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_IMR (0xFFFD802C) // (ADC) ADC Interrupt Mask Register +#define AT91C_ADC_CDR4 (0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR2 (0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR0 (0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR7 (0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR1 (0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_CDR3 (0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR5 (0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_MR (0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_CDR6 (0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_CR (0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CHER (0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR (0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_IER (0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_SR (0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CHDR (0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_IDR (0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_LCDR (0xFFFD8020) // (ADC) ADC Last Converted Data Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_PTCR (0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TNPR (0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_RNPR (0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TPR (0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_RPR (0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_PTSR (0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +#define AT91C_SSC_TNCR (0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RNCR (0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TCR (0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR (0xFFFD4104) // (PDC_SSC) Receive Counter Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RFMR (0xFFFD4014) // (SSC) Receive Frame Mode Register +#define AT91C_SSC_CMR (0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_IDR (0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_SR (0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_RC0R (0xFFFD4038) // (SSC) Receive Compare 0 Register +#define AT91C_SSC_RSHR (0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_RHR (0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_TCMR (0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_RCMR (0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_CR (0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR (0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_IER (0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_RC1R (0xFFFD403C) // (SSC) Receive Compare 1 Register +#define AT91C_SSC_TSHR (0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_THR (0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_TFMR (0xFFFD401C) // (SSC) Transmit Frame Mode Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_PTSR (0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNCR (0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_RNCR (0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_TCR (0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_RCR (0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_PTCR (0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TNPR (0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RNPR (0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_TPR (0xFFFC4108) // (PDC_US1) Transmit Pointer Register +#define AT91C_US1_RPR (0xFFFC4100) // (PDC_US1) Receive Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_XXR (0xFFFC4048) // (US1) XON_XOFF Register +#define AT91C_US1_RHR (0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_IMR (0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_IER (0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_CR (0xFFFC4000) // (US1) Control Register +#define AT91C_US1_RTOR (0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_THR (0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_CSR (0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR (0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_FIDI (0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_BRGR (0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_TTGR (0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_IF (0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER (0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_MR (0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_PTCR (0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_TNPR (0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR (0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TPR (0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RPR (0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_PTSR (0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR (0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_RNCR (0xFFFC0114) // (PDC_US0) Receive Next Counter Register +#define AT91C_US0_TCR (0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_RCR (0xFFFC0104) // (PDC_US0) Receive Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_TTGR (0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_BRGR (0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_RHR (0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IMR (0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_NER (0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_RTOR (0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_XXR (0xFFFC0048) // (US0) XON_XOFF Register +#define AT91C_US0_FIDI (0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_CR (0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IER (0xFFFC0008) // (US0) Interrupt Enable Register +#define AT91C_US0_IF (0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_MR (0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_IDR (0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_CSR (0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_THR (0xFFFC001C) // (US0) Transmitter Holding Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_RHR (0xFFFB8030) // (TWI) Receive Holding Register +#define AT91C_TWI_IDR (0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_SR (0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_CWGR (0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_SMR (0xFFFB8008) // (TWI) Slave Mode Register +#define AT91C_TWI_CR (0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_THR (0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IMR (0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_IER (0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_IADR (0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR (0xFFFB8004) // (TWI) Master Mode Register +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_IMR (0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_IER (0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_RC (0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_RA (0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_CMR (0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_IDR (0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_SR (0xFFFA00A0) // (TC2) Status Register +#define AT91C_TC2_RB (0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_CV (0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_CCR (0xFFFA0080) // (TC2) Channel Control Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_IMR (0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_IER (0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_RC (0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_RA (0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_CMR (0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_IDR (0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR (0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_RB (0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CV (0xFFFA0050) // (TC1) Counter Value +#define AT91C_TC1_CCR (0xFFFA0040) // (TC1) Channel Control Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_IMR (0xFFFA002C) // (TC0) Interrupt Mask Register +#define AT91C_TC0_IER (0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RC (0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RA (0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_CMR (0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IDR (0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_SR (0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RB (0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CV (0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_CCR (0xFFFA0000) // (TC0) Channel Control Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR (0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR (0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_CH3_CUPDR (0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_CH3_CPRDR (0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_CH3_CMR (0xFFFCC260) // (PWMC_CH3) Channel Mode Register +#define AT91C_CH3_Reserved (0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_CH3_CCNTR (0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_CH3_CDTYR (0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_CH2_CUPDR (0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_CH2_CPRDR (0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_CH2_CMR (0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_CH2_Reserved (0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_CH2_CCNTR (0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_CH2_CDTYR (0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_CH1_CUPDR (0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_CH1_CPRDR (0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_CH1_CMR (0xFFFCC220) // (PWMC_CH1) Channel Mode Register +#define AT91C_CH1_Reserved (0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_CH1_CCNTR (0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_CH1_CDTYR (0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_CH0_CUPDR (0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_CH0_CPRDR (0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_CH0_CMR (0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_CH0_Reserved (0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_CH0_CCNTR (0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +#define AT91C_CH0_CDTYR (0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_VR (0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR (0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_IDR (0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_SR (0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_ENA (0xFFFCC004) // (PWMC) PWMC Enable Register +#define AT91C_PWMC_IMR (0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR (0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_DIS (0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER (0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_ISR (0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_IDR (0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_GLBSTATE (0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_FDR (0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_CSR (0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_RSTEP (0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_ICR (0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_IMR (0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_IER (0xFFFB0010) // (UDP) Interrupt Enable Register +#define AT91C_UDP_FADDR (0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM (0xFFFB0000) // (UDP) Frame Number Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_PIO_PA0 (1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_PWM0 (AT91C_PIO_PA0) // PWM Channel 0 +#define AT91C_PA0_TIOA0 (AT91C_PIO_PA0) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PIO_PA1 (1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_PWM1 (AT91C_PIO_PA1) // PWM Channel 1 +#define AT91C_PA1_TIOB0 (AT91C_PIO_PA1) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PIO_PA10 (1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_DTXD (AT91C_PIO_PA10) // DBGU Debug Transmit Data +#define AT91C_PA10_NPCS2 (AT91C_PIO_PA10) // SPI Peripheral Chip Select 2 +#define AT91C_PIO_PA11 (1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_NPCS0 (AT91C_PIO_PA11) // SPI Peripheral Chip Select 0 +#define AT91C_PA11_PWM0 (AT91C_PIO_PA11) // PWM Channel 0 +#define AT91C_PIO_PA12 (1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_MISO (AT91C_PIO_PA12) // SPI Master In Slave +#define AT91C_PA12_PWM1 (AT91C_PIO_PA12) // PWM Channel 1 +#define AT91C_PIO_PA13 (1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_MOSI (AT91C_PIO_PA13) // SPI Master Out Slave +#define AT91C_PA13_PWM2 (AT91C_PIO_PA13) // PWM Channel 2 +#define AT91C_PIO_PA14 (1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_SPCK (AT91C_PIO_PA14) // SPI Serial Clock +#define AT91C_PA14_PWM3 (AT91C_PIO_PA14) // PWM Channel 3 +#define AT91C_PIO_PA15 (1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_TF (AT91C_PIO_PA15) // SSC Transmit Frame Sync +#define AT91C_PA15_TIOA1 (AT91C_PIO_PA15) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PIO_PA16 (1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_TK (AT91C_PIO_PA16) // SSC Transmit Clock +#define AT91C_PA16_TIOB1 (AT91C_PIO_PA16) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PIO_PA17 (1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_TD (AT91C_PIO_PA17) // SSC Transmit data +#define AT91C_PA17_PCK1 (AT91C_PIO_PA17) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA18 (1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_RD (AT91C_PIO_PA18) // SSC Receive Data +#define AT91C_PA18_PCK2 (AT91C_PIO_PA18) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA19 (1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_RK (AT91C_PIO_PA19) // SSC Receive Clock +#define AT91C_PA19_FIQ (AT91C_PIO_PA19) // AIC Fast Interrupt Input +#define AT91C_PIO_PA2 (1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_PWM2 (AT91C_PIO_PA2) // PWM Channel 2 +#define AT91C_PA2_SCK0 (AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PIO_PA20 (1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_RF (AT91C_PIO_PA20) // SSC Receive Frame Sync +#define AT91C_PA20_IRQ0 (AT91C_PIO_PA20) // External Interrupt 0 +#define AT91C_PIO_PA21 (1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_RXD1 (AT91C_PIO_PA21) // USART 1 Receive Data +#define AT91C_PA21_PCK1 (AT91C_PIO_PA21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA22 (1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TXD1 (AT91C_PIO_PA22) // USART 1 Transmit Data +#define AT91C_PA22_NPCS3 (AT91C_PIO_PA22) // SPI Peripheral Chip Select 3 +#define AT91C_PIO_PA23 (1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_SCK1 (AT91C_PIO_PA23) // USART 1 Serial Clock +#define AT91C_PA23_PWM0 (AT91C_PIO_PA23) // PWM Channel 0 +#define AT91C_PIO_PA24 (1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RTS1 (AT91C_PIO_PA24) // USART 1 Ready To Send +#define AT91C_PA24_PWM1 (AT91C_PIO_PA24) // PWM Channel 1 +#define AT91C_PIO_PA25 (1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_CTS1 (AT91C_PIO_PA25) // USART 1 Clear To Send +#define AT91C_PA25_PWM2 (AT91C_PIO_PA25) // PWM Channel 2 +#define AT91C_PIO_PA26 (1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_DCD1 (AT91C_PIO_PA26) // USART 1 Data Carrier Detect +#define AT91C_PA26_TIOA2 (AT91C_PIO_PA26) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PIO_PA27 (1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DTR1 (AT91C_PIO_PA27) // USART 1 Data Terminal ready +#define AT91C_PA27_TIOB2 (AT91C_PIO_PA27) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PIO_PA28 (1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DSR1 (AT91C_PIO_PA28) // USART 1 Data Set ready +#define AT91C_PA28_TCLK1 (AT91C_PIO_PA28) // Timer Counter 1 external clock input +#define AT91C_PIO_PA29 (1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_RI1 (AT91C_PIO_PA29) // USART 1 Ring Indicator +#define AT91C_PA29_TCLK2 (AT91C_PIO_PA29) // Timer Counter 2 external clock input +#define AT91C_PIO_PA3 (1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_TWD (AT91C_PIO_PA3) // TWI Two-wire Serial Data +#define AT91C_PA3_NPCS3 (AT91C_PIO_PA3) // SPI Peripheral Chip Select 3 +#define AT91C_PIO_PA30 (1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ1 (AT91C_PIO_PA30) // External Interrupt 1 +#define AT91C_PA30_NPCS2 (AT91C_PIO_PA30) // SPI Peripheral Chip Select 2 +#define AT91C_PIO_PA31 (1 << 31) // Pin Controlled by PA31 +#define AT91C_PA31_NPCS1 (AT91C_PIO_PA31) // SPI Peripheral Chip Select 1 +#define AT91C_PA31_PCK2 (AT91C_PIO_PA31) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 (1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_TWCK (AT91C_PIO_PA4) // TWI Two-wire Serial Clock +#define AT91C_PA4_TCLK0 (AT91C_PIO_PA4) // Timer Counter 0 external clock input +#define AT91C_PIO_PA5 (1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD0 (AT91C_PIO_PA5) // USART 0 Receive Data +#define AT91C_PA5_NPCS3 (AT91C_PIO_PA5) // SPI Peripheral Chip Select 3 +#define AT91C_PIO_PA6 (1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD0 (AT91C_PIO_PA6) // USART 0 Transmit Data +#define AT91C_PA6_PCK0 (AT91C_PIO_PA6) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PA7 (1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_RTS0 (AT91C_PIO_PA7) // USART 0 Ready To Send +#define AT91C_PA7_PWM3 (AT91C_PIO_PA7) // PWM Channel 3 +#define AT91C_PIO_PA8 (1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_CTS0 (AT91C_PIO_PA8) // USART 0 Clear To Send +#define AT91C_PA8_ADTRG (AT91C_PIO_PA8) // ADC External Trigger +#define AT91C_PIO_PA9 (1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_DRXD (AT91C_PIO_PA9) // DBGU Debug Receive Data +#define AT91C_PA9_NPCS1 (AT91C_PIO_PA9) // SPI Peripheral Chip Select 1 + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_ID_FIQ ( 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ( 1) // System Peripheral +#define AT91C_ID_PIOA ( 2) // Parallel IO Controller +#define AT91C_ID_3_Reserved ( 3) // Reserved +#define AT91C_ID_ADC ( 4) // Analog-to-Digital Converter +#define AT91C_ID_SPI ( 5) // Serial Peripheral Interface +#define AT91C_ID_US0 ( 6) // USART 0 +#define AT91C_ID_US1 ( 7) // USART 1 +#define AT91C_ID_SSC ( 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ( 9) // Two-Wire Interface +#define AT91C_ID_PWMC (10) // PWM Controller +#define AT91C_ID_UDP (11) // USB Device Port +#define AT91C_ID_TC0 (12) // Timer Counter 0 +#define AT91C_ID_TC1 (13) // Timer Counter 1 +#define AT91C_ID_TC2 (14) // Timer Counter 2 +#define AT91C_ID_15_Reserved (15) // Reserved +#define AT91C_ID_16_Reserved (16) // Reserved +#define AT91C_ID_17_Reserved (17) // Reserved +#define AT91C_ID_18_Reserved (18) // Reserved +#define AT91C_ID_19_Reserved (19) // Reserved +#define AT91C_ID_20_Reserved (20) // Reserved +#define AT91C_ID_21_Reserved (21) // Reserved +#define AT91C_ID_22_Reserved (22) // Reserved +#define AT91C_ID_23_Reserved (23) // Reserved +#define AT91C_ID_24_Reserved (24) // Reserved +#define AT91C_ID_25_Reserved (25) // Reserved +#define AT91C_ID_26_Reserved (26) // Reserved +#define AT91C_ID_27_Reserved (27) // Reserved +#define AT91C_ID_28_Reserved (28) // Reserved +#define AT91C_ID_29_Reserved (29) // Reserved +#define AT91C_ID_IRQ0 (30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 (31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_BASE_SYSC (0xFFFFF000) // (SYSC) Base Address +#define AT91C_BASE_AIC (0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_DBGU (0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PDC_DBGU (0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_PIOA (0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_CKGR (0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC (0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC (0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC (0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC (0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC (0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_MC (0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI (0xFFFE0100) // (PDC_SPI) Base Address +#define AT91C_BASE_SPI (0xFFFE0000) // (SPI) Base Address +#define AT91C_BASE_PDC_ADC (0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC (0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_SSC (0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC (0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_PDC_US1 (0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 (0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 (0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 (0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_TWI (0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_TC2 (0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TC1 (0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC0 (0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TCB (0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_PWMC_CH3 (0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 (0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 (0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 (0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC (0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP (0xFFFB0000) // (UDP) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7S64 +// ***************************************************************************** +#define AT91C_ISRAM (0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE (0x00004000) // Internal SRAM size in byte (16 Kbyte) +#define AT91C_IFLASH (0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE (0x00010000) // Internal ROM size in byte (64 Kbyte) + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X128.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X128.h new file mode 100644 index 0000000..ae4f35f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X128.h @@ -0,0 +1,2715 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +// DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +// OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7X128.h +// Object : AT91SAM7X128 definitions +// Generated : AT91 SW Application Group 05/20/2005 (16:22:23) +// +// CVS Reference : /AT91SAM7X128.pl/1.14/Tue May 10 12:12:05 2005// +// CVS Reference : /SYS_SAM7X.pl/1.3/Tue Feb 1 17:01:43 2005// +// CVS Reference : /MC_SAM7X.pl/1.2/Fri May 20 14:13:04 2005// +// CVS Reference : /PMC_SAM7X.pl/1.4/Tue Feb 8 13:58:10 2005// +// CVS Reference : /RSTC_SAM7X.pl/1.1/Tue Feb 1 16:16:26 2005// +// CVS Reference : /UDP_SAM7X.pl/1.1/Tue May 10 11:35:35 2005// +// CVS Reference : /PWM_SAM7X.pl/1.1/Tue May 10 11:53:07 2005// +// CVS Reference : /AIC_6075B.pl/1.3/Fri May 20 14:01:30 2005// +// CVS Reference : /PIO_6057A.pl/1.2/Thu Feb 3 10:18:28 2005// +// CVS Reference : /RTTC_6081A.pl/1.2/Tue Nov 9 14:43:58 2004// +// CVS Reference : /PITC_6079A.pl/1.2/Tue Nov 9 14:43:56 2004// +// CVS Reference : /WDTC_6080A.pl/1.3/Tue Nov 9 14:44:00 2004// +// CVS Reference : /VREG_6085B.pl/1.1/Tue Feb 1 16:05:48 2005// +// CVS Reference : /PDC_6074C.pl/1.2/Thu Feb 3 08:48:54 2005// +// CVS Reference : /DBGU_6059D.pl/1.1/Mon Jan 31 13:15:32 2005// +// CVS Reference : /SPI_6088D.pl/1.3/Fri May 20 14:08:59 2005// +// CVS Reference : /US_6089C.pl/1.1/Mon Jul 12 18:23:26 2004// +// CVS Reference : /SSC_6078A.pl/1.1/Tue Jul 13 07:45:40 2004// +// CVS Reference : /TWI_6061A.pl/1.1/Tue Jul 13 07:38:06 2004// +// CVS Reference : /TC_6082A.pl/1.7/Fri Mar 11 12:52:17 2005// +// CVS Reference : /CAN_6019B.pl/1.1/Tue Mar 8 12:42:22 2005// +// CVS Reference : /EMACB_6119A.pl/1.5/Thu Feb 3 15:52:04 2005// +// CVS Reference : /ADC_6051C.pl/1.1/Fri Oct 17 09:12:38 2003// +// CVS Reference : /AES_6149A.pl/1.10/Mon Feb 7 09:44:25 2005// +// CVS Reference : /DES3_6150A.pl/1.1/Mon Jan 17 08:34:31 2005// +// ---------------------------------------------------------------------------- + +#ifndef AT91SAM7X128_H +#define AT91SAM7X128_H + +typedef volatile unsigned int AT91_REG;// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** +typedef struct _AT91S_SYS { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register + AT91_REG Reserved2[45]; // + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved3[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved4[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register + AT91_REG Reserved5[54]; // + AT91_REG PIOA_PER; // PIO Enable Register + AT91_REG PIOA_PDR; // PIO Disable Register + AT91_REG PIOA_PSR; // PIO Status Register + AT91_REG Reserved6[1]; // + AT91_REG PIOA_OER; // Output Enable Register + AT91_REG PIOA_ODR; // Output Disable Registerr + AT91_REG PIOA_OSR; // Output Status Register + AT91_REG Reserved7[1]; // + AT91_REG PIOA_IFER; // Input Filter Enable Register + AT91_REG PIOA_IFDR; // Input Filter Disable Register + AT91_REG PIOA_IFSR; // Input Filter Status Register + AT91_REG Reserved8[1]; // + AT91_REG PIOA_SODR; // Set Output Data Register + AT91_REG PIOA_CODR; // Clear Output Data Register + AT91_REG PIOA_ODSR; // Output Data Status Register + AT91_REG PIOA_PDSR; // Pin Data Status Register + AT91_REG PIOA_IER; // Interrupt Enable Register + AT91_REG PIOA_IDR; // Interrupt Disable Register + AT91_REG PIOA_IMR; // Interrupt Mask Register + AT91_REG PIOA_ISR; // Interrupt Status Register + AT91_REG PIOA_MDER; // Multi-driver Enable Register + AT91_REG PIOA_MDDR; // Multi-driver Disable Register + AT91_REG PIOA_MDSR; // Multi-driver Status Register + AT91_REG Reserved9[1]; // + AT91_REG PIOA_PPUDR; // Pull-up Disable Register + AT91_REG PIOA_PPUER; // Pull-up Enable Register + AT91_REG PIOA_PPUSR; // Pull-up Status Register + AT91_REG Reserved10[1]; // + AT91_REG PIOA_ASR; // Select A Register + AT91_REG PIOA_BSR; // Select B Register + AT91_REG PIOA_ABSR; // AB Select Status Register + AT91_REG Reserved11[9]; // + AT91_REG PIOA_OWER; // Output Write Enable Register + AT91_REG PIOA_OWDR; // Output Write Disable Register + AT91_REG PIOA_OWSR; // Output Write Status Register + AT91_REG Reserved12[85]; // + AT91_REG PIOB_PER; // PIO Enable Register + AT91_REG PIOB_PDR; // PIO Disable Register + AT91_REG PIOB_PSR; // PIO Status Register + AT91_REG Reserved13[1]; // + AT91_REG PIOB_OER; // Output Enable Register + AT91_REG PIOB_ODR; // Output Disable Registerr + AT91_REG PIOB_OSR; // Output Status Register + AT91_REG Reserved14[1]; // + AT91_REG PIOB_IFER; // Input Filter Enable Register + AT91_REG PIOB_IFDR; // Input Filter Disable Register + AT91_REG PIOB_IFSR; // Input Filter Status Register + AT91_REG Reserved15[1]; // + AT91_REG PIOB_SODR; // Set Output Data Register + AT91_REG PIOB_CODR; // Clear Output Data Register + AT91_REG PIOB_ODSR; // Output Data Status Register + AT91_REG PIOB_PDSR; // Pin Data Status Register + AT91_REG PIOB_IER; // Interrupt Enable Register + AT91_REG PIOB_IDR; // Interrupt Disable Register + AT91_REG PIOB_IMR; // Interrupt Mask Register + AT91_REG PIOB_ISR; // Interrupt Status Register + AT91_REG PIOB_MDER; // Multi-driver Enable Register + AT91_REG PIOB_MDDR; // Multi-driver Disable Register + AT91_REG PIOB_MDSR; // Multi-driver Status Register + AT91_REG Reserved16[1]; // + AT91_REG PIOB_PPUDR; // Pull-up Disable Register + AT91_REG PIOB_PPUER; // Pull-up Enable Register + AT91_REG PIOB_PPUSR; // Pull-up Status Register + AT91_REG Reserved17[1]; // + AT91_REG PIOB_ASR; // Select A Register + AT91_REG PIOB_BSR; // Select B Register + AT91_REG PIOB_ABSR; // AB Select Status Register + AT91_REG Reserved18[9]; // + AT91_REG PIOB_OWER; // Output Write Enable Register + AT91_REG PIOB_OWDR; // Output Write Disable Register + AT91_REG PIOB_OWSR; // Output Write Status Register + AT91_REG Reserved19[341]; // + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved20[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved21[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved22[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved23[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved24[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register + AT91_REG Reserved25[36]; // + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register + AT91_REG Reserved26[5]; // + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register + AT91_REG Reserved27[5]; // + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_SYS, *AT91PS_SYS; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +typedef struct _AT91S_AIC { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register +} AT91S_AIC, *AT91PS_AIC; + +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR ((unsigned int) 0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST ((unsigned int) 0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST ((unsigned int) 0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE ((unsigned int) 0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL ((unsigned int) 0x0 << 5) // (AIC) Internal Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL ((unsigned int) 0x0 << 5) // (AIC) External Sources Code Label Low-level Sensitive +#define AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) Internal Sources Code Label Positive Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) External Sources Code Label Negative Edge triggered +#define AT91C_AIC_SRCTYPE_HIGH_LEVEL ((unsigned int) 0x2 << 5) // (AIC) Internal Or External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_POSITIVE_EDGE ((unsigned int) 0x3 << 5) // (AIC) Internal Or External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ ((unsigned int) 0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ ((unsigned int) 0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT ((unsigned int) 0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK ((unsigned int) 0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// ***************************************************************************** +typedef struct _AT91S_PDC { + AT91_REG PDC_RPR; // Receive Pointer Register + AT91_REG PDC_RCR; // Receive Counter Register + AT91_REG PDC_TPR; // Transmit Pointer Register + AT91_REG PDC_TCR; // Transmit Counter Register + AT91_REG PDC_RNPR; // Receive Next Pointer Register + AT91_REG PDC_RNCR; // Receive Next Counter Register + AT91_REG PDC_TNPR; // Transmit Next Pointer Register + AT91_REG PDC_TNCR; // Transmit Next Counter Register + AT91_REG PDC_PTCR; // PDC Transfer Control Register + AT91_REG PDC_PTSR; // PDC Transfer Status Register +} AT91S_PDC, *AT91PS_PDC; + +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN ((unsigned int) 0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS ((unsigned int) 0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN ((unsigned int) 0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS ((unsigned int) 0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +typedef struct _AT91S_DBGU { + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved0[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved1[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register +} AT91S_DBGU, *AT91PS_DBGU; + +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX ((unsigned int) 0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX ((unsigned int) 0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN ((unsigned int) 0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS ((unsigned int) 0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN ((unsigned int) 0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS ((unsigned int) 0x1 << 7) // (DBGU) Transmitter Disable +#define AT91C_US_RSTSTA ((unsigned int) 0x1 << 8) // (DBGU) Reset Status Bits +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR ((unsigned int) 0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN ((unsigned int) 0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD ((unsigned int) 0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE ((unsigned int) 0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK ((unsigned int) 0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE ((unsigned int) 0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP ((unsigned int) 0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE ((unsigned int) 0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL ((unsigned int) 0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO ((unsigned int) 0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL ((unsigned int) 0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE ((unsigned int) 0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY ((unsigned int) 0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY ((unsigned int) 0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX ((unsigned int) 0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX ((unsigned int) 0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE ((unsigned int) 0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME ((unsigned int) 0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE ((unsigned int) 0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY ((unsigned int) 0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE ((unsigned int) 0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF ((unsigned int) 0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX ((unsigned int) 0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX ((unsigned int) 0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST ((unsigned int) 0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +typedef struct _AT91S_PIO { + AT91_REG PIO_PER; // PIO Enable Register + AT91_REG PIO_PDR; // PIO Disable Register + AT91_REG PIO_PSR; // PIO Status Register + AT91_REG Reserved0[1]; // + AT91_REG PIO_OER; // Output Enable Register + AT91_REG PIO_ODR; // Output Disable Registerr + AT91_REG PIO_OSR; // Output Status Register + AT91_REG Reserved1[1]; // + AT91_REG PIO_IFER; // Input Filter Enable Register + AT91_REG PIO_IFDR; // Input Filter Disable Register + AT91_REG PIO_IFSR; // Input Filter Status Register + AT91_REG Reserved2[1]; // + AT91_REG PIO_SODR; // Set Output Data Register + AT91_REG PIO_CODR; // Clear Output Data Register + AT91_REG PIO_ODSR; // Output Data Status Register + AT91_REG PIO_PDSR; // Pin Data Status Register + AT91_REG PIO_IER; // Interrupt Enable Register + AT91_REG PIO_IDR; // Interrupt Disable Register + AT91_REG PIO_IMR; // Interrupt Mask Register + AT91_REG PIO_ISR; // Interrupt Status Register + AT91_REG PIO_MDER; // Multi-driver Enable Register + AT91_REG PIO_MDDR; // Multi-driver Disable Register + AT91_REG PIO_MDSR; // Multi-driver Status Register + AT91_REG Reserved3[1]; // + AT91_REG PIO_PPUDR; // Pull-up Disable Register + AT91_REG PIO_PPUER; // Pull-up Enable Register + AT91_REG PIO_PPUSR; // Pull-up Status Register + AT91_REG Reserved4[1]; // + AT91_REG PIO_ASR; // Select A Register + AT91_REG PIO_BSR; // Select B Register + AT91_REG PIO_ABSR; // AB Select Status Register + AT91_REG Reserved5[9]; // + AT91_REG PIO_OWER; // Output Write Enable Register + AT91_REG PIO_OWDR; // Output Write Disable Register + AT91_REG PIO_OWSR; // Output Write Status Register +} AT91S_PIO, *AT91PS_PIO; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +typedef struct _AT91S_CKGR { + AT91_REG CKGR_MOR; // Main Oscillator Register + AT91_REG CKGR_MCFR; // Main Clock Frequency Register + AT91_REG Reserved0[1]; // + AT91_REG CKGR_PLLR; // PLL Register +} AT91S_CKGR, *AT91PS_CKGR; + +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN ((unsigned int) 0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS ((unsigned int) 0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT ((unsigned int) 0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF ((unsigned int) 0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY ((unsigned int) 0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV ((unsigned int) 0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 ((unsigned int) 0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS ((unsigned int) 0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT ((unsigned int) 0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT ((unsigned int) 0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 ((unsigned int) 0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 ((unsigned int) 0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 ((unsigned int) 0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 ((unsigned int) 0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL ((unsigned int) 0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV ((unsigned int) 0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 ((unsigned int) 0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 ((unsigned int) 0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 ((unsigned int) 0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +typedef struct _AT91S_PMC { + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved0[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved1[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved2[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved3[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved4[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register +} AT91S_PMC, *AT91PS_PMC; + +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK ((unsigned int) 0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP ((unsigned int) 0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 ((unsigned int) 0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 ((unsigned int) 0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 ((unsigned int) 0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 ((unsigned int) 0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS ((unsigned int) 0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK ((unsigned int) 0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK ((unsigned int) 0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK ((unsigned int) 0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES ((unsigned int) 0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK ((unsigned int) 0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 ((unsigned int) 0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 ((unsigned int) 0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 ((unsigned int) 0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 ((unsigned int) 0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 ((unsigned int) 0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 ((unsigned int) 0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS ((unsigned int) 0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK ((unsigned int) 0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY ((unsigned int) 0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY ((unsigned int) 0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY ((unsigned int) 0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY ((unsigned int) 0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY ((unsigned int) 0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RSTC { + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register +} AT91S_RSTC, *AT91PS_RSTC; + +// -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_RSTC_PROCRST ((unsigned int) 0x1 << 0) // (RSTC) Processor Reset +#define AT91C_RSTC_PERRST ((unsigned int) 0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_RSTC_EXTRST ((unsigned int) 0x1 << 3) // (RSTC) External Reset +#define AT91C_RSTC_KEY ((unsigned int) 0xFF << 24) // (RSTC) Password +// -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_RSTC_URSTS ((unsigned int) 0x1 << 0) // (RSTC) User Reset Status +#define AT91C_RSTC_BODSTS ((unsigned int) 0x1 << 1) // (RSTC) Brownout Detection Status +#define AT91C_RSTC_RSTTYP ((unsigned int) 0x7 << 8) // (RSTC) Reset Type +#define AT91C_RSTC_RSTTYP_POWERUP ((unsigned int) 0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WAKEUP ((unsigned int) 0x1 << 8) // (RSTC) WakeUp Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WATCHDOG ((unsigned int) 0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_RSTC_RSTTYP_SOFTWARE ((unsigned int) 0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_RSTC_RSTTYP_USER ((unsigned int) 0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_RSTC_RSTTYP_BROWNOUT ((unsigned int) 0x5 << 8) // (RSTC) Brownout Reset occured. +#define AT91C_RSTC_NRSTL ((unsigned int) 0x1 << 16) // (RSTC) NRST pin level +#define AT91C_RSTC_SRCMP ((unsigned int) 0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_RSTC_URSTEN ((unsigned int) 0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_RSTC_URSTIEN ((unsigned int) 0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_RSTC_ERSTL ((unsigned int) 0xF << 8) // (RSTC) User Reset Enable +#define AT91C_RSTC_BODIEN ((unsigned int) 0x1 << 16) // (RSTC) Brownout Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RTTC { + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register +} AT91S_RTTC, *AT91PS_RTTC; + +// -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_RTTC_RTPRES ((unsigned int) 0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_RTTC_ALMIEN ((unsigned int) 0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_RTTC_RTTINCIEN ((unsigned int) 0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_RTTC_RTTRST ((unsigned int) 0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_RTTC_ALMV ((unsigned int) 0x0 << 0) // (RTTC) Alarm Value +// -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_RTTC_CRTV ((unsigned int) 0x0 << 0) // (RTTC) Current Real-time Value +// -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_RTTC_ALMS ((unsigned int) 0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_RTTC_RTTINC ((unsigned int) 0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PITC { + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register +} AT91S_PITC, *AT91PS_PITC; + +// -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_PITC_PIV ((unsigned int) 0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_PITC_PITEN ((unsigned int) 0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_PITC_PITIEN ((unsigned int) 0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_PITC_PITS ((unsigned int) 0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_PITC_CPIV ((unsigned int) 0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_PITC_PICNT ((unsigned int) 0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_WDTC { + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register +} AT91S_WDTC, *AT91PS_WDTC; + +// -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_WDTC_WDRSTT ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Restart +#define AT91C_WDTC_KEY ((unsigned int) 0xFF << 24) // (WDTC) Watchdog KEY Password +// -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_WDTC_WDV ((unsigned int) 0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDFIEN ((unsigned int) 0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_WDTC_WDRSTEN ((unsigned int) 0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_WDTC_WDRPROC ((unsigned int) 0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDDIS ((unsigned int) 0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_WDTC_WDD ((unsigned int) 0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_WDTC_WDDBGHLT ((unsigned int) 0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_WDTC_WDIDLEHLT ((unsigned int) 0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_WDTC_WDUNF ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_WDTC_WDERR ((unsigned int) 0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// ***************************************************************************** +typedef struct _AT91S_VREG { + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_VREG, *AT91PS_VREG; + +// -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +#define AT91C_VREG_PSTDBY ((unsigned int) 0x1 << 0) // (VREG) Voltage Regulator Power Standby Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +typedef struct _AT91S_MC { + AT91_REG MC_RCR; // MC Remap Control Register + AT91_REG MC_ASR; // MC Abort Status Register + AT91_REG MC_AASR; // MC Abort Address Status Register + AT91_REG Reserved0[21]; // + AT91_REG MC_FMR; // MC Flash Mode Register + AT91_REG MC_FCR; // MC Flash Command Register + AT91_REG MC_FSR; // MC Flash Status Register +} AT91S_MC, *AT91PS_MC; + +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB ((unsigned int) 0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD ((unsigned int) 0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD ((unsigned int) 0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ ((unsigned int) 0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE ((unsigned int) 0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD ((unsigned int) 0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD ((unsigned int) 0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP ((unsigned int) 0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR ((unsigned int) 0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW ((unsigned int) 0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH ((unsigned int) 0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 ((unsigned int) 0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 ((unsigned int) 0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 ((unsigned int) 0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 ((unsigned int) 0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY ((unsigned int) 0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE ((unsigned int) 0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE ((unsigned int) 0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP ((unsigned int) 0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS ((unsigned int) 0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS ((unsigned int) 0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS ((unsigned int) 0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS ((unsigned int) 0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS ((unsigned int) 0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN ((unsigned int) 0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD ((unsigned int) 0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG ((unsigned int) 0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK ((unsigned int) 0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK ((unsigned int) 0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK ((unsigned int) 0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL ((unsigned int) 0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM ((unsigned int) 0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM ((unsigned int) 0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY ((unsigned int) 0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN ((unsigned int) 0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY ((unsigned int) 0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY ((unsigned int) 0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 ((unsigned int) 0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 ((unsigned int) 0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 ((unsigned int) 0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 ((unsigned int) 0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 ((unsigned int) 0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 ((unsigned int) 0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 ((unsigned int) 0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 ((unsigned int) 0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 ((unsigned int) 0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 ((unsigned int) 0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 ((unsigned int) 0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 ((unsigned int) 0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 ((unsigned int) 0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 ((unsigned int) 0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 ((unsigned int) 0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 ((unsigned int) 0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 ((unsigned int) 0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 ((unsigned int) 0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 ((unsigned int) 0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 ((unsigned int) 0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 ((unsigned int) 0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 ((unsigned int) 0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 ((unsigned int) 0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 ((unsigned int) 0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +typedef struct _AT91S_SPI { + AT91_REG SPI_CR; // Control Register + AT91_REG SPI_MR; // Mode Register + AT91_REG SPI_RDR; // Receive Data Register + AT91_REG SPI_TDR; // Transmit Data Register + AT91_REG SPI_SR; // Status Register + AT91_REG SPI_IER; // Interrupt Enable Register + AT91_REG SPI_IDR; // Interrupt Disable Register + AT91_REG SPI_IMR; // Interrupt Mask Register + AT91_REG Reserved0[4]; // + AT91_REG SPI_CSR[4]; // Chip Select Register + AT91_REG Reserved1[48]; // + AT91_REG SPI_RPR; // Receive Pointer Register + AT91_REG SPI_RCR; // Receive Counter Register + AT91_REG SPI_TPR; // Transmit Pointer Register + AT91_REG SPI_TCR; // Transmit Counter Register + AT91_REG SPI_RNPR; // Receive Next Pointer Register + AT91_REG SPI_RNCR; // Receive Next Counter Register + AT91_REG SPI_TNPR; // Transmit Next Pointer Register + AT91_REG SPI_TNCR; // Transmit Next Counter Register + AT91_REG SPI_PTCR; // PDC Transfer Control Register + AT91_REG SPI_PTSR; // PDC Transfer Status Register +} AT91S_SPI, *AT91PS_SPI; + +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN ((unsigned int) 0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS ((unsigned int) 0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST ((unsigned int) 0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER ((unsigned int) 0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR ((unsigned int) 0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS ((unsigned int) 0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED ((unsigned int) 0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE ((unsigned int) 0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC ((unsigned int) 0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV ((unsigned int) 0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS ((unsigned int) 0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB ((unsigned int) 0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS ((unsigned int) 0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD ((unsigned int) 0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD ((unsigned int) 0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF ((unsigned int) 0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE ((unsigned int) 0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF ((unsigned int) 0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES ((unsigned int) 0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX ((unsigned int) 0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX ((unsigned int) 0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF ((unsigned int) 0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE ((unsigned int) 0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR ((unsigned int) 0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY ((unsigned int) 0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS ((unsigned int) 0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL ((unsigned int) 0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA ((unsigned int) 0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT ((unsigned int) 0x1 << 3) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS ((unsigned int) 0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 ((unsigned int) 0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 ((unsigned int) 0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 ((unsigned int) 0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 ((unsigned int) 0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 ((unsigned int) 0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 ((unsigned int) 0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 ((unsigned int) 0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 ((unsigned int) 0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 ((unsigned int) 0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR ((unsigned int) 0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS ((unsigned int) 0xFF << 16) // (SPI) Delay Before SPCK +#define AT91C_SPI_DLYBCT ((unsigned int) 0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +typedef struct _AT91S_USART { + AT91_REG US_CR; // Control Register + AT91_REG US_MR; // Mode Register + AT91_REG US_IER; // Interrupt Enable Register + AT91_REG US_IDR; // Interrupt Disable Register + AT91_REG US_IMR; // Interrupt Mask Register + AT91_REG US_CSR; // Channel Status Register + AT91_REG US_RHR; // Receiver Holding Register + AT91_REG US_THR; // Transmitter Holding Register + AT91_REG US_BRGR; // Baud Rate Generator Register + AT91_REG US_RTOR; // Receiver Time-out Register + AT91_REG US_TTGR; // Transmitter Time-guard Register + AT91_REG Reserved0[5]; // + AT91_REG US_FIDI; // FI_DI_Ratio Register + AT91_REG US_NER; // Nb Errors Register + AT91_REG Reserved1[1]; // + AT91_REG US_IF; // IRDA_FILTER Register + AT91_REG Reserved2[44]; // + AT91_REG US_RPR; // Receive Pointer Register + AT91_REG US_RCR; // Receive Counter Register + AT91_REG US_TPR; // Transmit Pointer Register + AT91_REG US_TCR; // Transmit Counter Register + AT91_REG US_RNPR; // Receive Next Pointer Register + AT91_REG US_RNCR; // Receive Next Counter Register + AT91_REG US_TNPR; // Transmit Next Pointer Register + AT91_REG US_TNCR; // Transmit Next Counter Register + AT91_REG US_PTCR; // PDC Transfer Control Register + AT91_REG US_PTSR; // PDC Transfer Status Register +} AT91S_USART, *AT91PS_USART; + +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_STTBRK ((unsigned int) 0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK ((unsigned int) 0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO ((unsigned int) 0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA ((unsigned int) 0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT ((unsigned int) 0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK ((unsigned int) 0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO ((unsigned int) 0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN ((unsigned int) 0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS ((unsigned int) 0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN ((unsigned int) 0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS ((unsigned int) 0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE ((unsigned int) 0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL ((unsigned int) 0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 ((unsigned int) 0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH ((unsigned int) 0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM ((unsigned int) 0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 ((unsigned int) 0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 ((unsigned int) 0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA ((unsigned int) 0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH ((unsigned int) 0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS ((unsigned int) 0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK ((unsigned int) 0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 ((unsigned int) 0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW ((unsigned int) 0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT ((unsigned int) 0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL ((unsigned int) 0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS ((unsigned int) 0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS ((unsigned int) 0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS ((unsigned int) 0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS ((unsigned int) 0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC ((unsigned int) 0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP ((unsigned int) 0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT ((unsigned int) 0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT ((unsigned int) 0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT ((unsigned int) 0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF ((unsigned int) 0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 ((unsigned int) 0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO ((unsigned int) 0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER ((unsigned int) 0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK ((unsigned int) 0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK ((unsigned int) 0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER ((unsigned int) 0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER ((unsigned int) 0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK ((unsigned int) 0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT ((unsigned int) 0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION ((unsigned int) 0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK ((unsigned int) 0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC ((unsigned int) 0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC ((unsigned int) 0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC ((unsigned int) 0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC ((unsigned int) 0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI ((unsigned int) 0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR ((unsigned int) 0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD ((unsigned int) 0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS ((unsigned int) 0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +typedef struct _AT91S_SSC { + AT91_REG SSC_CR; // Control Register + AT91_REG SSC_CMR; // Clock Mode Register + AT91_REG Reserved0[2]; // + AT91_REG SSC_RCMR; // Receive Clock ModeRegister + AT91_REG SSC_RFMR; // Receive Frame Mode Register + AT91_REG SSC_TCMR; // Transmit Clock Mode Register + AT91_REG SSC_TFMR; // Transmit Frame Mode Register + AT91_REG SSC_RHR; // Receive Holding Register + AT91_REG SSC_THR; // Transmit Holding Register + AT91_REG Reserved1[2]; // + AT91_REG SSC_RSHR; // Receive Sync Holding Register + AT91_REG SSC_TSHR; // Transmit Sync Holding Register + AT91_REG Reserved2[2]; // + AT91_REG SSC_SR; // Status Register + AT91_REG SSC_IER; // Interrupt Enable Register + AT91_REG SSC_IDR; // Interrupt Disable Register + AT91_REG SSC_IMR; // Interrupt Mask Register + AT91_REG Reserved3[44]; // + AT91_REG SSC_RPR; // Receive Pointer Register + AT91_REG SSC_RCR; // Receive Counter Register + AT91_REG SSC_TPR; // Transmit Pointer Register + AT91_REG SSC_TCR; // Transmit Counter Register + AT91_REG SSC_RNPR; // Receive Next Pointer Register + AT91_REG SSC_RNCR; // Receive Next Counter Register + AT91_REG SSC_TNPR; // Transmit Next Pointer Register + AT91_REG SSC_TNCR; // Transmit Next Counter Register + AT91_REG SSC_PTCR; // PDC Transfer Control Register + AT91_REG SSC_PTSR; // PDC Transfer Status Register +} AT91S_SSC, *AT91PS_SSC; + +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN ((unsigned int) 0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS ((unsigned int) 0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN ((unsigned int) 0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS ((unsigned int) 0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST ((unsigned int) 0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS ((unsigned int) 0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV ((unsigned int) 0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK ((unsigned int) 0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK ((unsigned int) 0x2) // (SSC) RK pin +#define AT91C_SSC_CKO ((unsigned int) 0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE ((unsigned int) 0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS ((unsigned int) 0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX ((unsigned int) 0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI ((unsigned int) 0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_START ((unsigned int) 0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS ((unsigned int) 0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX ((unsigned int) 0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF ((unsigned int) 0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF ((unsigned int) 0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF ((unsigned int) 0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF ((unsigned int) 0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF ((unsigned int) 0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF ((unsigned int) 0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 ((unsigned int) 0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STTDLY ((unsigned int) 0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD ((unsigned int) 0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN ((unsigned int) 0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP ((unsigned int) 0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF ((unsigned int) 0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB ((unsigned int) 0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN ((unsigned int) 0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS ((unsigned int) 0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE ((unsigned int) 0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE ((unsigned int) 0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE ((unsigned int) 0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW ((unsigned int) 0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH ((unsigned int) 0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE ((unsigned int) 0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE ((unsigned int) 0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF ((unsigned int) 0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN ((unsigned int) 0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY ((unsigned int) 0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY ((unsigned int) 0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX ((unsigned int) 0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE ((unsigned int) 0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY ((unsigned int) 0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN ((unsigned int) 0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX ((unsigned int) 0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF ((unsigned int) 0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_TXSYN ((unsigned int) 0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN ((unsigned int) 0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA ((unsigned int) 0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA ((unsigned int) 0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +typedef struct _AT91S_TWI { + AT91_REG TWI_CR; // Control Register + AT91_REG TWI_MMR; // Master Mode Register + AT91_REG Reserved0[1]; // + AT91_REG TWI_IADR; // Internal Address Register + AT91_REG TWI_CWGR; // Clock Waveform Generator Register + AT91_REG Reserved1[3]; // + AT91_REG TWI_SR; // Status Register + AT91_REG TWI_IER; // Interrupt Enable Register + AT91_REG TWI_IDR; // Interrupt Disable Register + AT91_REG TWI_IMR; // Interrupt Mask Register + AT91_REG TWI_RHR; // Receive Holding Register + AT91_REG TWI_THR; // Transmit Holding Register +} AT91S_TWI, *AT91PS_TWI; + +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START ((unsigned int) 0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP ((unsigned int) 0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN ((unsigned int) 0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS ((unsigned int) 0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SWRST ((unsigned int) 0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ ((unsigned int) 0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO ((unsigned int) 0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE ((unsigned int) 0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE ((unsigned int) 0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE ((unsigned int) 0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD ((unsigned int) 0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR ((unsigned int) 0x7F << 16) // (TWI) Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV ((unsigned int) 0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV ((unsigned int) 0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV ((unsigned int) 0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP ((unsigned int) 0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY ((unsigned int) 0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY ((unsigned int) 0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_OVRE ((unsigned int) 0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE ((unsigned int) 0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK ((unsigned int) 0x1 << 8) // (TWI) Not Acknowledged +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC_CH { + AT91_REG PWMC_CMR; // Channel Mode Register + AT91_REG PWMC_CDTYR; // Channel Duty Cycle Register + AT91_REG PWMC_CPRDR; // Channel Period Register + AT91_REG PWMC_CCNTR; // Channel Counter Register + AT91_REG PWMC_CUPDR; // Channel Update Register + AT91_REG PWMC_Reserved[3]; // Reserved +} AT91S_PWMC_CH, *AT91PS_PWMC_CH; + +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE ((unsigned int) 0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK ((unsigned int) 0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA ((unsigned int) 0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB ((unsigned int) 0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG ((unsigned int) 0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL ((unsigned int) 0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD ((unsigned int) 0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC { + AT91_REG PWMC_MR; // PWMC Mode Register + AT91_REG PWMC_ENA; // PWMC Enable Register + AT91_REG PWMC_DIS; // PWMC Disable Register + AT91_REG PWMC_SR; // PWMC Status Register + AT91_REG PWMC_IER; // PWMC Interrupt Enable Register + AT91_REG PWMC_IDR; // PWMC Interrupt Disable Register + AT91_REG PWMC_IMR; // PWMC Interrupt Mask Register + AT91_REG PWMC_ISR; // PWMC Interrupt Status Register + AT91_REG Reserved0[55]; // + AT91_REG PWMC_VR; // PWMC Version Register + AT91_REG Reserved1[64]; // + AT91S_PWMC_CH PWMC_CH[4]; // PWMC Channel +} AT91S_PWMC, *AT91PS_PWMC; + +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA ((unsigned int) 0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA ((unsigned int) 0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK ((unsigned int) 0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB ((unsigned int) 0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB ((unsigned int) 0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK ((unsigned int) 0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 ((unsigned int) 0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 ((unsigned int) 0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 ((unsigned int) 0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 ((unsigned int) 0x1 << 3) // (PWMC) Channel ID 3 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +typedef struct _AT91S_UDP { + AT91_REG UDP_NUM; // Frame Number Register + AT91_REG UDP_GLBSTATE; // Global State Register + AT91_REG UDP_FADDR; // Function Address Register + AT91_REG Reserved0[1]; // + AT91_REG UDP_IER; // Interrupt Enable Register + AT91_REG UDP_IDR; // Interrupt Disable Register + AT91_REG UDP_IMR; // Interrupt Mask Register + AT91_REG UDP_ISR; // Interrupt Status Register + AT91_REG UDP_ICR; // Interrupt Clear Register + AT91_REG Reserved1[1]; // + AT91_REG UDP_RSTEP; // Reset Endpoint Register + AT91_REG Reserved2[1]; // + AT91_REG UDP_CSR[6]; // Endpoint Control and Status Register + AT91_REG Reserved3[2]; // + AT91_REG UDP_FDR[6]; // Endpoint FIFO Data Register + AT91_REG Reserved4[3]; // + AT91_REG UDP_TXVC; // Transceiver Control Register +} AT91S_UDP, *AT91PS_UDP; + +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM ((unsigned int) 0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR ((unsigned int) 0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK ((unsigned int) 0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN ((unsigned int) 0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG ((unsigned int) 0x1 << 1) // (UDP) Configured +#define AT91C_UDP_ESR ((unsigned int) 0x1 << 2) // (UDP) Enable Send Resume +#define AT91C_UDP_RSMINPR ((unsigned int) 0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +#define AT91C_UDP_RMWUPE ((unsigned int) 0x1 << 4) // (UDP) Remote Wake Up Enable +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD ((unsigned int) 0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN ((unsigned int) 0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 ((unsigned int) 0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 ((unsigned int) 0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 ((unsigned int) 0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 ((unsigned int) 0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 ((unsigned int) 0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 ((unsigned int) 0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_RXSUSP ((unsigned int) 0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM ((unsigned int) 0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM ((unsigned int) 0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT ((unsigned int) 0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP ((unsigned int) 0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES ((unsigned int) 0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 ((unsigned int) 0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 ((unsigned int) 0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 ((unsigned int) 0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 ((unsigned int) 0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 ((unsigned int) 0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 ((unsigned int) 0x1 << 5) // (UDP) Reset Endpoint 5 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP ((unsigned int) 0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 ((unsigned int) 0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP ((unsigned int) 0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR ((unsigned int) 0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY ((unsigned int) 0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL ((unsigned int) 0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 ((unsigned int) 0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR ((unsigned int) 0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE ((unsigned int) 0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL ((unsigned int) 0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT ((unsigned int) 0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT ((unsigned int) 0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT ((unsigned int) 0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN ((unsigned int) 0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN ((unsigned int) 0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN ((unsigned int) 0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE ((unsigned int) 0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS ((unsigned int) 0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT ((unsigned int) 0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO +// -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +#define AT91C_UDP_TXVDIS ((unsigned int) 0x1 << 8) // (UDP) +#define AT91C_UDP_PUON ((unsigned int) 0x1 << 9) // (UDP) Pull-up ON + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +typedef struct _AT91S_TC { + AT91_REG TC_CCR; // Channel Control Register + AT91_REG TC_CMR; // Channel Mode Register (Capture Mode / Waveform Mode) + AT91_REG Reserved0[2]; // + AT91_REG TC_CV; // Counter Value + AT91_REG TC_RA; // Register A + AT91_REG TC_RB; // Register B + AT91_REG TC_RC; // Register C + AT91_REG TC_SR; // Status Register + AT91_REG TC_IER; // Interrupt Enable Register + AT91_REG TC_IDR; // Interrupt Disable Register + AT91_REG TC_IMR; // Interrupt Mask Register +} AT91S_TC, *AT91PS_TC; + +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN ((unsigned int) 0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS ((unsigned int) 0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG ((unsigned int) 0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS ((unsigned int) 0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK ((unsigned int) 0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK ((unsigned int) 0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK ((unsigned int) 0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK ((unsigned int) 0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK ((unsigned int) 0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 ((unsigned int) 0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 ((unsigned int) 0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 ((unsigned int) 0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI ((unsigned int) 0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST ((unsigned int) 0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE ((unsigned int) 0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 ((unsigned int) 0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 ((unsigned int) 0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 ((unsigned int) 0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_CPCDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_LDBDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_ETRGEDG ((unsigned int) 0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG ((unsigned int) 0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVT ((unsigned int) 0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_TIOB ((unsigned int) 0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_XC0 ((unsigned int) 0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_XC1 ((unsigned int) 0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_XC2 ((unsigned int) 0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ABETRG ((unsigned int) 0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_ENETRG ((unsigned int) 0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL ((unsigned int) 0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP ((unsigned int) 0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN ((unsigned int) 0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO ((unsigned int) 0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO ((unsigned int) 0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG ((unsigned int) 0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE ((unsigned int) 0x1 << 15) // (TC) +#define AT91C_TC_ACPA ((unsigned int) 0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE ((unsigned int) 0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET ((unsigned int) 0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR ((unsigned int) 0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE ((unsigned int) 0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRA ((unsigned int) 0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE ((unsigned int) 0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING ((unsigned int) 0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING ((unsigned int) 0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH ((unsigned int) 0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC ((unsigned int) 0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE ((unsigned int) 0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET ((unsigned int) 0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR ((unsigned int) 0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE ((unsigned int) 0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_LDRB ((unsigned int) 0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE ((unsigned int) 0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING ((unsigned int) 0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING ((unsigned int) 0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH ((unsigned int) 0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_AEEVT ((unsigned int) 0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE ((unsigned int) 0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET ((unsigned int) 0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR ((unsigned int) 0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE ((unsigned int) 0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG ((unsigned int) 0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE ((unsigned int) 0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET ((unsigned int) 0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR ((unsigned int) 0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE ((unsigned int) 0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB ((unsigned int) 0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE ((unsigned int) 0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET ((unsigned int) 0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR ((unsigned int) 0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE ((unsigned int) 0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC ((unsigned int) 0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE ((unsigned int) 0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET ((unsigned int) 0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR ((unsigned int) 0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE ((unsigned int) 0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT ((unsigned int) 0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE ((unsigned int) 0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET ((unsigned int) 0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR ((unsigned int) 0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE ((unsigned int) 0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG ((unsigned int) 0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE ((unsigned int) 0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET ((unsigned int) 0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR ((unsigned int) 0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE ((unsigned int) 0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS ((unsigned int) 0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS ((unsigned int) 0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS ((unsigned int) 0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS ((unsigned int) 0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS ((unsigned int) 0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS ((unsigned int) 0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS ((unsigned int) 0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRGS ((unsigned int) 0x1 << 7) // (TC) External Trigger +#define AT91C_TC_CLKSTA ((unsigned int) 0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA ((unsigned int) 0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB ((unsigned int) 0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +typedef struct _AT91S_TCB { + AT91S_TC TCB_TC0; // TC Channel 0 + AT91_REG Reserved0[4]; // + AT91S_TC TCB_TC1; // TC Channel 1 + AT91_REG Reserved1[4]; // + AT91S_TC TCB_TC2; // TC Channel 2 + AT91_REG Reserved2[4]; // + AT91_REG TCB_BCR; // TC Block Control Register + AT91_REG TCB_BMR; // TC Block Mode Register +} AT91S_TCB, *AT91PS_TCB; + +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC ((unsigned int) 0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S ((unsigned int) 0x3 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 ((unsigned int) 0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE ((unsigned int) 0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 ((unsigned int) 0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 ((unsigned int) 0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S ((unsigned int) 0x3 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 ((unsigned int) 0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE ((unsigned int) 0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 ((unsigned int) 0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 ((unsigned int) 0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S ((unsigned int) 0x3 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 ((unsigned int) 0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE ((unsigned int) 0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 ((unsigned int) 0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA1 ((unsigned int) 0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// ***************************************************************************** +typedef struct _AT91S_CAN_MB { + AT91_REG CAN_MB_MMR; // MailBox Mode Register + AT91_REG CAN_MB_MAM; // MailBox Acceptance Mask Register + AT91_REG CAN_MB_MID; // MailBox ID Register + AT91_REG CAN_MB_MFID; // MailBox Family ID Register + AT91_REG CAN_MB_MSR; // MailBox Status Register + AT91_REG CAN_MB_MDL; // MailBox Data Low Register + AT91_REG CAN_MB_MDH; // MailBox Data High Register + AT91_REG CAN_MB_MCR; // MailBox Control Register +} AT91S_CAN_MB, *AT91PS_CAN_MB; + +// -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +#define AT91C_CAN_MTIMEMARK ((unsigned int) 0xFFFF << 0) // (CAN_MB) Mailbox Timemark +#define AT91C_CAN_PRIOR ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Priority +#define AT91C_CAN_MOT ((unsigned int) 0x7 << 24) // (CAN_MB) Mailbox Object Type +#define AT91C_CAN_MOT_DIS ((unsigned int) 0x0 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RX ((unsigned int) 0x1 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RXOVERWRITE ((unsigned int) 0x2 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_TX ((unsigned int) 0x3 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_CONSUMER ((unsigned int) 0x4 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_PRODUCER ((unsigned int) 0x5 << 24) // (CAN_MB) +// -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +#define AT91C_CAN_MIDvB ((unsigned int) 0x3FFFF << 0) // (CAN_MB) Complementary bits for identifier in extended mode +#define AT91C_CAN_MIDvA ((unsigned int) 0x7FF << 18) // (CAN_MB) Identifier for standard frame mode +#define AT91C_CAN_MIDE ((unsigned int) 0x1 << 29) // (CAN_MB) Identifier Version +// -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +#define AT91C_CAN_MTIMESTAMP ((unsigned int) 0xFFFF << 0) // (CAN_MB) Timer Value +#define AT91C_CAN_MDLC ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Data Length Code +#define AT91C_CAN_MRTR ((unsigned int) 0x1 << 20) // (CAN_MB) Mailbox Remote Transmission Request +#define AT91C_CAN_MABT ((unsigned int) 0x1 << 22) // (CAN_MB) Mailbox Message Abort +#define AT91C_CAN_MRDY ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Ready +#define AT91C_CAN_MMI ((unsigned int) 0x1 << 24) // (CAN_MB) Mailbox Message Ignored +// -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +#define AT91C_CAN_MACR ((unsigned int) 0x1 << 22) // (CAN_MB) Abort Request for Mailbox +#define AT91C_CAN_MTCR ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Transfer Command + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network Interface +// ***************************************************************************** +typedef struct _AT91S_CAN { + AT91_REG CAN_MR; // Mode Register + AT91_REG CAN_IER; // Interrupt Enable Register + AT91_REG CAN_IDR; // Interrupt Disable Register + AT91_REG CAN_IMR; // Interrupt Mask Register + AT91_REG CAN_SR; // Status Register + AT91_REG CAN_BR; // Baudrate Register + AT91_REG CAN_TIM; // Timer Register + AT91_REG CAN_TIMESTP; // Time Stamp Register + AT91_REG CAN_ECR; // Error Counter Register + AT91_REG CAN_TCR; // Transfer Command Register + AT91_REG CAN_ACR; // Abort Command Register + AT91_REG Reserved0[52]; // + AT91_REG CAN_VR; // Version Register + AT91_REG Reserved1[64]; // + AT91S_CAN_MB CAN_MB0; // CAN Mailbox 0 + AT91S_CAN_MB CAN_MB1; // CAN Mailbox 1 + AT91S_CAN_MB CAN_MB2; // CAN Mailbox 2 + AT91S_CAN_MB CAN_MB3; // CAN Mailbox 3 + AT91S_CAN_MB CAN_MB4; // CAN Mailbox 4 + AT91S_CAN_MB CAN_MB5; // CAN Mailbox 5 + AT91S_CAN_MB CAN_MB6; // CAN Mailbox 6 + AT91S_CAN_MB CAN_MB7; // CAN Mailbox 7 + AT91S_CAN_MB CAN_MB8; // CAN Mailbox 8 + AT91S_CAN_MB CAN_MB9; // CAN Mailbox 9 + AT91S_CAN_MB CAN_MB10; // CAN Mailbox 10 + AT91S_CAN_MB CAN_MB11; // CAN Mailbox 11 + AT91S_CAN_MB CAN_MB12; // CAN Mailbox 12 + AT91S_CAN_MB CAN_MB13; // CAN Mailbox 13 + AT91S_CAN_MB CAN_MB14; // CAN Mailbox 14 + AT91S_CAN_MB CAN_MB15; // CAN Mailbox 15 +} AT91S_CAN, *AT91PS_CAN; + +// -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +#define AT91C_CAN_CANEN ((unsigned int) 0x1 << 0) // (CAN) CAN Controller Enable +#define AT91C_CAN_LPM ((unsigned int) 0x1 << 1) // (CAN) Disable/Enable Low Power Mode +#define AT91C_CAN_ABM ((unsigned int) 0x1 << 2) // (CAN) Disable/Enable Autobaud/Listen Mode +#define AT91C_CAN_OVL ((unsigned int) 0x1 << 3) // (CAN) Disable/Enable Overload Frame +#define AT91C_CAN_TEOF ((unsigned int) 0x1 << 4) // (CAN) Time Stamp messages at each end of Frame +#define AT91C_CAN_TTM ((unsigned int) 0x1 << 5) // (CAN) Disable/Enable Time Trigger Mode +#define AT91C_CAN_TIMFRZ ((unsigned int) 0x1 << 6) // (CAN) Enable Timer Freeze +#define AT91C_CAN_DRPT ((unsigned int) 0x1 << 7) // (CAN) Disable Repeat +// -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +#define AT91C_CAN_MB0 ((unsigned int) 0x1 << 0) // (CAN) Mailbox 0 Flag +#define AT91C_CAN_MB1 ((unsigned int) 0x1 << 1) // (CAN) Mailbox 1 Flag +#define AT91C_CAN_MB2 ((unsigned int) 0x1 << 2) // (CAN) Mailbox 2 Flag +#define AT91C_CAN_MB3 ((unsigned int) 0x1 << 3) // (CAN) Mailbox 3 Flag +#define AT91C_CAN_MB4 ((unsigned int) 0x1 << 4) // (CAN) Mailbox 4 Flag +#define AT91C_CAN_MB5 ((unsigned int) 0x1 << 5) // (CAN) Mailbox 5 Flag +#define AT91C_CAN_MB6 ((unsigned int) 0x1 << 6) // (CAN) Mailbox 6 Flag +#define AT91C_CAN_MB7 ((unsigned int) 0x1 << 7) // (CAN) Mailbox 7 Flag +#define AT91C_CAN_MB8 ((unsigned int) 0x1 << 8) // (CAN) Mailbox 8 Flag +#define AT91C_CAN_MB9 ((unsigned int) 0x1 << 9) // (CAN) Mailbox 9 Flag +#define AT91C_CAN_MB10 ((unsigned int) 0x1 << 10) // (CAN) Mailbox 10 Flag +#define AT91C_CAN_MB11 ((unsigned int) 0x1 << 11) // (CAN) Mailbox 11 Flag +#define AT91C_CAN_MB12 ((unsigned int) 0x1 << 12) // (CAN) Mailbox 12 Flag +#define AT91C_CAN_MB13 ((unsigned int) 0x1 << 13) // (CAN) Mailbox 13 Flag +#define AT91C_CAN_MB14 ((unsigned int) 0x1 << 14) // (CAN) Mailbox 14 Flag +#define AT91C_CAN_MB15 ((unsigned int) 0x1 << 15) // (CAN) Mailbox 15 Flag +#define AT91C_CAN_ERRA ((unsigned int) 0x1 << 16) // (CAN) Error Active Mode Flag +#define AT91C_CAN_WARN ((unsigned int) 0x1 << 17) // (CAN) Warning Limit Flag +#define AT91C_CAN_ERRP ((unsigned int) 0x1 << 18) // (CAN) Error Passive Mode Flag +#define AT91C_CAN_BOFF ((unsigned int) 0x1 << 19) // (CAN) Bus Off Mode Flag +#define AT91C_CAN_SLEEP ((unsigned int) 0x1 << 20) // (CAN) Sleep Flag +#define AT91C_CAN_WAKEUP ((unsigned int) 0x1 << 21) // (CAN) Wakeup Flag +#define AT91C_CAN_TOVF ((unsigned int) 0x1 << 22) // (CAN) Timer Overflow Flag +#define AT91C_CAN_TSTP ((unsigned int) 0x1 << 23) // (CAN) Timestamp Flag +#define AT91C_CAN_CERR ((unsigned int) 0x1 << 24) // (CAN) CRC Error +#define AT91C_CAN_SERR ((unsigned int) 0x1 << 25) // (CAN) Stuffing Error +#define AT91C_CAN_AERR ((unsigned int) 0x1 << 26) // (CAN) Acknowledgment Error +#define AT91C_CAN_FERR ((unsigned int) 0x1 << 27) // (CAN) Form Error +#define AT91C_CAN_BERR ((unsigned int) 0x1 << 28) // (CAN) Bit Error +// -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +#define AT91C_CAN_RBSY ((unsigned int) 0x1 << 29) // (CAN) Receiver Busy +#define AT91C_CAN_TBSY ((unsigned int) 0x1 << 30) // (CAN) Transmitter Busy +#define AT91C_CAN_OVLY ((unsigned int) 0x1 << 31) // (CAN) Overload Busy +// -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +#define AT91C_CAN_PHASE2 ((unsigned int) 0x7 << 0) // (CAN) Phase 2 segment +#define AT91C_CAN_PHASE1 ((unsigned int) 0x7 << 4) // (CAN) Phase 1 segment +#define AT91C_CAN_PROPAG ((unsigned int) 0x7 << 8) // (CAN) Programmation time segment +#define AT91C_CAN_SYNC ((unsigned int) 0x3 << 12) // (CAN) Re-synchronization jump width segment +#define AT91C_CAN_BRP ((unsigned int) 0x7F << 16) // (CAN) Baudrate Prescaler +#define AT91C_CAN_SMP ((unsigned int) 0x1 << 24) // (CAN) Sampling mode +// -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +#define AT91C_CAN_TIMER ((unsigned int) 0xFFFF << 0) // (CAN) Timer field +// -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +#define AT91C_CAN_REC ((unsigned int) 0xFF << 0) // (CAN) Receive Error Counter +#define AT91C_CAN_TEC ((unsigned int) 0xFF << 16) // (CAN) Transmit Error Counter +// -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +#define AT91C_CAN_TIMRST ((unsigned int) 0x1 << 31) // (CAN) Timer Reset Field +// -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// ***************************************************************************** +typedef struct _AT91S_EMAC { + AT91_REG EMAC_NCR; // Network Control Register + AT91_REG EMAC_NCFGR; // Network Configuration Register + AT91_REG EMAC_NSR; // Network Status Register + AT91_REG Reserved0[2]; // + AT91_REG EMAC_TSR; // Transmit Status Register + AT91_REG EMAC_RBQP; // Receive Buffer Queue Pointer + AT91_REG EMAC_TBQP; // Transmit Buffer Queue Pointer + AT91_REG EMAC_RSR; // Receive Status Register + AT91_REG EMAC_ISR; // Interrupt Status Register + AT91_REG EMAC_IER; // Interrupt Enable Register + AT91_REG EMAC_IDR; // Interrupt Disable Register + AT91_REG EMAC_IMR; // Interrupt Mask Register + AT91_REG EMAC_MAN; // PHY Maintenance Register + AT91_REG EMAC_PTR; // Pause Time Register + AT91_REG EMAC_PFR; // Pause Frames received Register + AT91_REG EMAC_FTO; // Frames Transmitted OK Register + AT91_REG EMAC_SCF; // Single Collision Frame Register + AT91_REG EMAC_MCF; // Multiple Collision Frame Register + AT91_REG EMAC_FRO; // Frames Received OK Register + AT91_REG EMAC_FCSE; // Frame Check Sequence Error Register + AT91_REG EMAC_ALE; // Alignment Error Register + AT91_REG EMAC_DTF; // Deferred Transmission Frame Register + AT91_REG EMAC_LCOL; // Late Collision Register + AT91_REG EMAC_ECOL; // Excessive Collision Register + AT91_REG EMAC_TUND; // Transmit Underrun Error Register + AT91_REG EMAC_CSE; // Carrier Sense Error Register + AT91_REG EMAC_RRE; // Receive Ressource Error Register + AT91_REG EMAC_ROV; // Receive Overrun Errors Register + AT91_REG EMAC_RSE; // Receive Symbol Errors Register + AT91_REG EMAC_ELE; // Excessive Length Errors Register + AT91_REG EMAC_RJA; // Receive Jabbers Register + AT91_REG EMAC_USF; // Undersize Frames Register + AT91_REG EMAC_STE; // SQE Test Error Register + AT91_REG EMAC_RLE; // Receive Length Field Mismatch Register + AT91_REG EMAC_TPF; // Transmitted Pause Frames Register + AT91_REG EMAC_HRB; // Hash Address Bottom[31:0] + AT91_REG EMAC_HRT; // Hash Address Top[63:32] + AT91_REG EMAC_SA1L; // Specific Address 1 Bottom, First 4 bytes + AT91_REG EMAC_SA1H; // Specific Address 1 Top, Last 2 bytes + AT91_REG EMAC_SA2L; // Specific Address 2 Bottom, First 4 bytes + AT91_REG EMAC_SA2H; // Specific Address 2 Top, Last 2 bytes + AT91_REG EMAC_SA3L; // Specific Address 3 Bottom, First 4 bytes + AT91_REG EMAC_SA3H; // Specific Address 3 Top, Last 2 bytes + AT91_REG EMAC_SA4L; // Specific Address 4 Bottom, First 4 bytes + AT91_REG EMAC_SA4H; // Specific Address 4 Top, Last 2 bytes + AT91_REG EMAC_TID; // Type ID Checking Register + AT91_REG EMAC_TPQ; // Transmit Pause Quantum Register + AT91_REG EMAC_USRIO; // USER Input/Output Register + AT91_REG EMAC_WOL; // Wake On LAN Register + AT91_REG Reserved1[13]; // + AT91_REG EMAC_REV; // Revision Register +} AT91S_EMAC, *AT91PS_EMAC; + +// -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +#define AT91C_EMAC_LB ((unsigned int) 0x1 << 0) // (EMAC) Loopback. Optional. When set, loopback signal is at high level. +#define AT91C_EMAC_LLB ((unsigned int) 0x1 << 1) // (EMAC) Loopback local. +#define AT91C_EMAC_RE ((unsigned int) 0x1 << 2) // (EMAC) Receive enable. +#define AT91C_EMAC_TE ((unsigned int) 0x1 << 3) // (EMAC) Transmit enable. +#define AT91C_EMAC_MPE ((unsigned int) 0x1 << 4) // (EMAC) Management port enable. +#define AT91C_EMAC_CLRSTAT ((unsigned int) 0x1 << 5) // (EMAC) Clear statistics registers. +#define AT91C_EMAC_INCSTAT ((unsigned int) 0x1 << 6) // (EMAC) Increment statistics registers. +#define AT91C_EMAC_WESTAT ((unsigned int) 0x1 << 7) // (EMAC) Write enable for statistics registers. +#define AT91C_EMAC_BP ((unsigned int) 0x1 << 8) // (EMAC) Back pressure. +#define AT91C_EMAC_TSTART ((unsigned int) 0x1 << 9) // (EMAC) Start Transmission. +#define AT91C_EMAC_THALT ((unsigned int) 0x1 << 10) // (EMAC) Transmission Halt. +#define AT91C_EMAC_TPFR ((unsigned int) 0x1 << 11) // (EMAC) Transmit pause frame +#define AT91C_EMAC_TZQ ((unsigned int) 0x1 << 12) // (EMAC) Transmit zero quantum pause frame +// -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +#define AT91C_EMAC_SPD ((unsigned int) 0x1 << 0) // (EMAC) Speed. +#define AT91C_EMAC_FD ((unsigned int) 0x1 << 1) // (EMAC) Full duplex. +#define AT91C_EMAC_JFRAME ((unsigned int) 0x1 << 3) // (EMAC) Jumbo Frames. +#define AT91C_EMAC_CAF ((unsigned int) 0x1 << 4) // (EMAC) Copy all frames. +#define AT91C_EMAC_NBC ((unsigned int) 0x1 << 5) // (EMAC) No broadcast. +#define AT91C_EMAC_MTI ((unsigned int) 0x1 << 6) // (EMAC) Multicast hash event enable +#define AT91C_EMAC_UNI ((unsigned int) 0x1 << 7) // (EMAC) Unicast hash enable. +#define AT91C_EMAC_BIG ((unsigned int) 0x1 << 8) // (EMAC) Receive 1522 bytes. +#define AT91C_EMAC_EAE ((unsigned int) 0x1 << 9) // (EMAC) External address match enable. +#define AT91C_EMAC_CLK ((unsigned int) 0x3 << 10) // (EMAC) +#define AT91C_EMAC_CLK_HCLK_8 ((unsigned int) 0x0 << 10) // (EMAC) HCLK divided by 8 +#define AT91C_EMAC_CLK_HCLK_16 ((unsigned int) 0x1 << 10) // (EMAC) HCLK divided by 16 +#define AT91C_EMAC_CLK_HCLK_32 ((unsigned int) 0x2 << 10) // (EMAC) HCLK divided by 32 +#define AT91C_EMAC_CLK_HCLK_64 ((unsigned int) 0x3 << 10) // (EMAC) HCLK divided by 64 +#define AT91C_EMAC_RTY ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PAE ((unsigned int) 0x1 << 13) // (EMAC) +#define AT91C_EMAC_RBOF ((unsigned int) 0x3 << 14) // (EMAC) +#define AT91C_EMAC_RBOF_OFFSET_0 ((unsigned int) 0x0 << 14) // (EMAC) no offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_1 ((unsigned int) 0x1 << 14) // (EMAC) one byte offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_2 ((unsigned int) 0x2 << 14) // (EMAC) two bytes offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_3 ((unsigned int) 0x3 << 14) // (EMAC) three bytes offset from start of receive buffer +#define AT91C_EMAC_RLCE ((unsigned int) 0x1 << 16) // (EMAC) Receive Length field Checking Enable +#define AT91C_EMAC_DRFCS ((unsigned int) 0x1 << 17) // (EMAC) Discard Receive FCS +#define AT91C_EMAC_EFRHD ((unsigned int) 0x1 << 18) // (EMAC) +#define AT91C_EMAC_IRXFCS ((unsigned int) 0x1 << 19) // (EMAC) Ignore RX FCS +// -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +#define AT91C_EMAC_LINKR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_MDIO ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_IDLE ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +#define AT91C_EMAC_UBR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_COL ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RLES ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TGO ((unsigned int) 0x1 << 3) // (EMAC) Transmit Go +#define AT91C_EMAC_BEX ((unsigned int) 0x1 << 4) // (EMAC) Buffers exhausted mid frame +#define AT91C_EMAC_COMP ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_UND ((unsigned int) 0x1 << 6) // (EMAC) +// -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +#define AT91C_EMAC_BNA ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_REC ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_OVR ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +#define AT91C_EMAC_MFD ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_RCOMP ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RXUBR ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TXUBR ((unsigned int) 0x1 << 3) // (EMAC) +#define AT91C_EMAC_TUNDR ((unsigned int) 0x1 << 4) // (EMAC) +#define AT91C_EMAC_RLEX ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_TXERR ((unsigned int) 0x1 << 6) // (EMAC) +#define AT91C_EMAC_TCOMP ((unsigned int) 0x1 << 7) // (EMAC) +#define AT91C_EMAC_LINK ((unsigned int) 0x1 << 9) // (EMAC) +#define AT91C_EMAC_ROVR ((unsigned int) 0x1 << 10) // (EMAC) +#define AT91C_EMAC_HRESP ((unsigned int) 0x1 << 11) // (EMAC) +#define AT91C_EMAC_PFRE ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PTZ ((unsigned int) 0x1 << 13) // (EMAC) +// -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +#define AT91C_EMAC_DATA ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_CODE ((unsigned int) 0x3 << 16) // (EMAC) +#define AT91C_EMAC_REGA ((unsigned int) 0x1F << 18) // (EMAC) +#define AT91C_EMAC_PHYA ((unsigned int) 0x1F << 23) // (EMAC) +#define AT91C_EMAC_RW ((unsigned int) 0x3 << 28) // (EMAC) +#define AT91C_EMAC_SOF ((unsigned int) 0x3 << 30) // (EMAC) +// -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +#define AT91C_EMAC_RMII ((unsigned int) 0x1 << 0) // (EMAC) Reduce MII +// -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +#define AT91C_EMAC_IP ((unsigned int) 0xFFFF << 0) // (EMAC) ARP request IP address +#define AT91C_EMAC_MAG ((unsigned int) 0x1 << 16) // (EMAC) Magic packet event enable +#define AT91C_EMAC_ARP ((unsigned int) 0x1 << 17) // (EMAC) ARP request event enable +#define AT91C_EMAC_SA1 ((unsigned int) 0x1 << 18) // (EMAC) Specific address register 1 event enable +// -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +#define AT91C_EMAC_REVREF ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_PARTREF ((unsigned int) 0xFFFF << 16) // (EMAC) + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +typedef struct _AT91S_ADC { + AT91_REG ADC_CR; // ADC Control Register + AT91_REG ADC_MR; // ADC Mode Register + AT91_REG Reserved0[2]; // + AT91_REG ADC_CHER; // ADC Channel Enable Register + AT91_REG ADC_CHDR; // ADC Channel Disable Register + AT91_REG ADC_CHSR; // ADC Channel Status Register + AT91_REG ADC_SR; // ADC Status Register + AT91_REG ADC_LCDR; // ADC Last Converted Data Register + AT91_REG ADC_IER; // ADC Interrupt Enable Register + AT91_REG ADC_IDR; // ADC Interrupt Disable Register + AT91_REG ADC_IMR; // ADC Interrupt Mask Register + AT91_REG ADC_CDR0; // ADC Channel Data Register 0 + AT91_REG ADC_CDR1; // ADC Channel Data Register 1 + AT91_REG ADC_CDR2; // ADC Channel Data Register 2 + AT91_REG ADC_CDR3; // ADC Channel Data Register 3 + AT91_REG ADC_CDR4; // ADC Channel Data Register 4 + AT91_REG ADC_CDR5; // ADC Channel Data Register 5 + AT91_REG ADC_CDR6; // ADC Channel Data Register 6 + AT91_REG ADC_CDR7; // ADC Channel Data Register 7 + AT91_REG Reserved1[44]; // + AT91_REG ADC_RPR; // Receive Pointer Register + AT91_REG ADC_RCR; // Receive Counter Register + AT91_REG ADC_TPR; // Transmit Pointer Register + AT91_REG ADC_TCR; // Transmit Counter Register + AT91_REG ADC_RNPR; // Receive Next Pointer Register + AT91_REG ADC_RNCR; // Receive Next Counter Register + AT91_REG ADC_TNPR; // Transmit Next Pointer Register + AT91_REG ADC_TNCR; // Transmit Next Counter Register + AT91_REG ADC_PTCR; // PDC Transfer Control Register + AT91_REG ADC_PTSR; // PDC Transfer Status Register +} AT91S_ADC, *AT91PS_ADC; + +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST ((unsigned int) 0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START ((unsigned int) 0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN ((unsigned int) 0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS ((unsigned int) 0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN ((unsigned int) 0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL ((unsigned int) 0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 ((unsigned int) 0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 ((unsigned int) 0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 ((unsigned int) 0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 ((unsigned int) 0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 ((unsigned int) 0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 ((unsigned int) 0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT ((unsigned int) 0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES ((unsigned int) 0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT ((unsigned int) 0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT ((unsigned int) 0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE ((unsigned int) 0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL ((unsigned int) 0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP ((unsigned int) 0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM ((unsigned int) 0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 ((unsigned int) 0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 ((unsigned int) 0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 ((unsigned int) 0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 ((unsigned int) 0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 ((unsigned int) 0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 ((unsigned int) 0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 ((unsigned int) 0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 ((unsigned int) 0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 ((unsigned int) 0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 ((unsigned int) 0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 ((unsigned int) 0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 ((unsigned int) 0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 ((unsigned int) 0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 ((unsigned int) 0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 ((unsigned int) 0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 ((unsigned int) 0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 ((unsigned int) 0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 ((unsigned int) 0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 ((unsigned int) 0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 ((unsigned int) 0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 ((unsigned int) 0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 ((unsigned int) 0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 ((unsigned int) 0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 ((unsigned int) 0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY ((unsigned int) 0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE ((unsigned int) 0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX ((unsigned int) 0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF ((unsigned int) 0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA ((unsigned int) 0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA ((unsigned int) 0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_AES { + AT91_REG AES_CR; // Control Register + AT91_REG AES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG AES_IER; // Interrupt Enable Register + AT91_REG AES_IDR; // Interrupt Disable Register + AT91_REG AES_IMR; // Interrupt Mask Register + AT91_REG AES_ISR; // Interrupt Status Register + AT91_REG AES_KEYWxR[4]; // Key Word x Register + AT91_REG Reserved1[4]; // + AT91_REG AES_IDATAxR[4]; // Input Data x Register + AT91_REG AES_ODATAxR[4]; // Output Data x Register + AT91_REG AES_IVxR[4]; // Initialization Vector x Register + AT91_REG Reserved2[35]; // + AT91_REG AES_VR; // AES Version Register + AT91_REG AES_RPR; // Receive Pointer Register + AT91_REG AES_RCR; // Receive Counter Register + AT91_REG AES_TPR; // Transmit Pointer Register + AT91_REG AES_TCR; // Transmit Counter Register + AT91_REG AES_RNPR; // Receive Next Pointer Register + AT91_REG AES_RNCR; // Receive Next Counter Register + AT91_REG AES_TNPR; // Transmit Next Pointer Register + AT91_REG AES_TNCR; // Transmit Next Counter Register + AT91_REG AES_PTCR; // PDC Transfer Control Register + AT91_REG AES_PTSR; // PDC Transfer Status Register +} AT91S_AES, *AT91PS_AES; + +// -------- AES_CR : (AES Offset: 0x0) Control Register -------- +#define AT91C_AES_START ((unsigned int) 0x1 << 0) // (AES) Starts Processing +#define AT91C_AES_SWRST ((unsigned int) 0x1 << 8) // (AES) Software Reset +#define AT91C_AES_LOADSEED ((unsigned int) 0x1 << 16) // (AES) Random Number Generator Seed Loading +// -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +#define AT91C_AES_CIPHER ((unsigned int) 0x1 << 0) // (AES) Processing Mode +#define AT91C_AES_PROCDLY ((unsigned int) 0xF << 4) // (AES) Processing Delay +#define AT91C_AES_SMOD ((unsigned int) 0x3 << 8) // (AES) Start Mode +#define AT91C_AES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +#define AT91C_AES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +#define AT91C_AES_SMOD_PDC ((unsigned int) 0x2 << 8) // (AES) PDC Mode (cf datasheet). +#define AT91C_AES_OPMOD ((unsigned int) 0x7 << 12) // (AES) Operation Mode +#define AT91C_AES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (AES) ECB Electronic CodeBook mode. +#define AT91C_AES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (AES) CBC Cipher Block Chaining mode. +#define AT91C_AES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (AES) OFB Output Feedback mode. +#define AT91C_AES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (AES) CFB Cipher Feedback mode. +#define AT91C_AES_OPMOD_CTR ((unsigned int) 0x4 << 12) // (AES) CTR Counter mode. +#define AT91C_AES_LOD ((unsigned int) 0x1 << 15) // (AES) Last Output Data Mode +#define AT91C_AES_CFBS ((unsigned int) 0x7 << 16) // (AES) Cipher Feedback Data Size +#define AT91C_AES_CFBS_128_BIT ((unsigned int) 0x0 << 16) // (AES) 128-bit. +#define AT91C_AES_CFBS_64_BIT ((unsigned int) 0x1 << 16) // (AES) 64-bit. +#define AT91C_AES_CFBS_32_BIT ((unsigned int) 0x2 << 16) // (AES) 32-bit. +#define AT91C_AES_CFBS_16_BIT ((unsigned int) 0x3 << 16) // (AES) 16-bit. +#define AT91C_AES_CFBS_8_BIT ((unsigned int) 0x4 << 16) // (AES) 8-bit. +#define AT91C_AES_CKEY ((unsigned int) 0xF << 20) // (AES) Countermeasure Key +#define AT91C_AES_CTYPE ((unsigned int) 0x1F << 24) // (AES) Countermeasure Type +#define AT91C_AES_CTYPE_TYPE1_EN ((unsigned int) 0x1 << 24) // (AES) Countermeasure type 1 is enabled. +#define AT91C_AES_CTYPE_TYPE2_EN ((unsigned int) 0x2 << 24) // (AES) Countermeasure type 2 is enabled. +#define AT91C_AES_CTYPE_TYPE3_EN ((unsigned int) 0x4 << 24) // (AES) Countermeasure type 3 is enabled. +#define AT91C_AES_CTYPE_TYPE4_EN ((unsigned int) 0x8 << 24) // (AES) Countermeasure type 4 is enabled. +#define AT91C_AES_CTYPE_TYPE5_EN ((unsigned int) 0x10 << 24) // (AES) Countermeasure type 5 is enabled. +// -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_AES_DATRDY ((unsigned int) 0x1 << 0) // (AES) DATRDY +#define AT91C_AES_ENDRX ((unsigned int) 0x1 << 1) // (AES) PDC Read Buffer End +#define AT91C_AES_ENDTX ((unsigned int) 0x1 << 2) // (AES) PDC Write Buffer End +#define AT91C_AES_RXBUFF ((unsigned int) 0x1 << 3) // (AES) PDC Read Buffer Full +#define AT91C_AES_TXBUFE ((unsigned int) 0x1 << 4) // (AES) PDC Write Buffer Empty +#define AT91C_AES_URAD ((unsigned int) 0x1 << 8) // (AES) Unspecified Register Access Detection +// -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_AES_URAT ((unsigned int) 0x7 << 12) // (AES) Unspecified Register Access Type Status +#define AT91C_AES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (AES) Input data register written during the data processing in PDC mode. +#define AT91C_AES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (AES) Output data register read during the data processing. +#define AT91C_AES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (AES) Mode register written during the data processing. +#define AT91C_AES_URAT_OUT_DAT_READ_SUBKEY ((unsigned int) 0x3 << 12) // (AES) Output data register read during the sub-keys generation. +#define AT91C_AES_URAT_MODEREG_WRITE_SUBKEY ((unsigned int) 0x4 << 12) // (AES) Mode register written during the sub-keys generation. +#define AT91C_AES_URAT_WO_REG_READ ((unsigned int) 0x5 << 12) // (AES) Write-only register read access. + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_TDES { + AT91_REG TDES_CR; // Control Register + AT91_REG TDES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG TDES_IER; // Interrupt Enable Register + AT91_REG TDES_IDR; // Interrupt Disable Register + AT91_REG TDES_IMR; // Interrupt Mask Register + AT91_REG TDES_ISR; // Interrupt Status Register + AT91_REG TDES_KEY1WxR[2]; // Key 1 Word x Register + AT91_REG TDES_KEY2WxR[2]; // Key 2 Word x Register + AT91_REG TDES_KEY3WxR[2]; // Key 3 Word x Register + AT91_REG Reserved1[2]; // + AT91_REG TDES_IDATAxR[2]; // Input Data x Register + AT91_REG Reserved2[2]; // + AT91_REG TDES_ODATAxR[2]; // Output Data x Register + AT91_REG Reserved3[2]; // + AT91_REG TDES_IVxR[2]; // Initialization Vector x Register + AT91_REG Reserved4[37]; // + AT91_REG TDES_VR; // TDES Version Register + AT91_REG TDES_RPR; // Receive Pointer Register + AT91_REG TDES_RCR; // Receive Counter Register + AT91_REG TDES_TPR; // Transmit Pointer Register + AT91_REG TDES_TCR; // Transmit Counter Register + AT91_REG TDES_RNPR; // Receive Next Pointer Register + AT91_REG TDES_RNCR; // Receive Next Counter Register + AT91_REG TDES_TNPR; // Transmit Next Pointer Register + AT91_REG TDES_TNCR; // Transmit Next Counter Register + AT91_REG TDES_PTCR; // PDC Transfer Control Register + AT91_REG TDES_PTSR; // PDC Transfer Status Register +} AT91S_TDES, *AT91PS_TDES; + +// -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +#define AT91C_TDES_START ((unsigned int) 0x1 << 0) // (TDES) Starts Processing +#define AT91C_TDES_SWRST ((unsigned int) 0x1 << 8) // (TDES) Software Reset +// -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +#define AT91C_TDES_CIPHER ((unsigned int) 0x1 << 0) // (TDES) Processing Mode +#define AT91C_TDES_TDESMOD ((unsigned int) 0x1 << 1) // (TDES) Single or Triple DES Mode +#define AT91C_TDES_KEYMOD ((unsigned int) 0x1 << 4) // (TDES) Key Mode +#define AT91C_TDES_SMOD ((unsigned int) 0x3 << 8) // (TDES) Start Mode +#define AT91C_TDES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +#define AT91C_TDES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +#define AT91C_TDES_SMOD_PDC ((unsigned int) 0x2 << 8) // (TDES) PDC Mode (cf datasheet). +#define AT91C_TDES_OPMOD ((unsigned int) 0x3 << 12) // (TDES) Operation Mode +#define AT91C_TDES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (TDES) ECB Electronic CodeBook mode. +#define AT91C_TDES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (TDES) CBC Cipher Block Chaining mode. +#define AT91C_TDES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (TDES) OFB Output Feedback mode. +#define AT91C_TDES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (TDES) CFB Cipher Feedback mode. +#define AT91C_TDES_LOD ((unsigned int) 0x1 << 15) // (TDES) Last Output Data Mode +#define AT91C_TDES_CFBS ((unsigned int) 0x3 << 16) // (TDES) Cipher Feedback Data Size +#define AT91C_TDES_CFBS_64_BIT ((unsigned int) 0x0 << 16) // (TDES) 64-bit. +#define AT91C_TDES_CFBS_32_BIT ((unsigned int) 0x1 << 16) // (TDES) 32-bit. +#define AT91C_TDES_CFBS_16_BIT ((unsigned int) 0x2 << 16) // (TDES) 16-bit. +#define AT91C_TDES_CFBS_8_BIT ((unsigned int) 0x3 << 16) // (TDES) 8-bit. +// -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_TDES_DATRDY ((unsigned int) 0x1 << 0) // (TDES) DATRDY +#define AT91C_TDES_ENDRX ((unsigned int) 0x1 << 1) // (TDES) PDC Read Buffer End +#define AT91C_TDES_ENDTX ((unsigned int) 0x1 << 2) // (TDES) PDC Write Buffer End +#define AT91C_TDES_RXBUFF ((unsigned int) 0x1 << 3) // (TDES) PDC Read Buffer Full +#define AT91C_TDES_TXBUFE ((unsigned int) 0x1 << 4) // (TDES) PDC Write Buffer Empty +#define AT91C_TDES_URAD ((unsigned int) 0x1 << 8) // (TDES) Unspecified Register Access Detection +// -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_TDES_URAT ((unsigned int) 0x3 << 12) // (TDES) Unspecified Register Access Type Status +#define AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (TDES) Input data register written during the data processing in PDC mode. +#define AT91C_TDES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (TDES) Output data register read during the data processing. +#define AT91C_TDES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (TDES) Mode register written during the data processing. +#define AT91C_TDES_URAT_WO_REG_READ ((unsigned int) 0x3 << 12) // (TDES) Write-only register read access. + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7X128 +// ***************************************************************************** +// ========== Register definition for SYS peripheral ========== +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_IVR ((AT91_REG *) 0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_SMR ((AT91_REG *) 0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_FVR ((AT91_REG *) 0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_DCR ((AT91_REG *) 0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_EOICR ((AT91_REG *) 0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_SVR ((AT91_REG *) 0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_FFSR ((AT91_REG *) 0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_ICCR ((AT91_REG *) 0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_ISR ((AT91_REG *) 0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IMR ((AT91_REG *) 0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_IPR ((AT91_REG *) 0xFFFFF10C) // (AIC) Interrupt Pending Register +#define AT91C_AIC_FFER ((AT91_REG *) 0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_IECR ((AT91_REG *) 0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_ISCR ((AT91_REG *) 0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_FFDR ((AT91_REG *) 0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_CISR ((AT91_REG *) 0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IDCR ((AT91_REG *) 0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_SPU ((AT91_REG *) 0xFFFFF134) // (AIC) Spurious Vector Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TCR ((AT91_REG *) 0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RNPR ((AT91_REG *) 0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR ((AT91_REG *) 0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +#define AT91C_DBGU_TPR ((AT91_REG *) 0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RPR ((AT91_REG *) 0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_RCR ((AT91_REG *) 0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_RNCR ((AT91_REG *) 0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR ((AT91_REG *) 0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR ((AT91_REG *) 0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_TNCR ((AT91_REG *) 0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_EXID ((AT91_REG *) 0xFFFFF244) // (DBGU) Chip ID Extension Register +#define AT91C_DBGU_BRGR ((AT91_REG *) 0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_IDR ((AT91_REG *) 0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_CSR ((AT91_REG *) 0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_CIDR ((AT91_REG *) 0xFFFFF240) // (DBGU) Chip ID Register +#define AT91C_DBGU_MR ((AT91_REG *) 0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_IMR ((AT91_REG *) 0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_CR ((AT91_REG *) 0xFFFFF200) // (DBGU) Control Register +#define AT91C_DBGU_FNTR ((AT91_REG *) 0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_THR ((AT91_REG *) 0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_RHR ((AT91_REG *) 0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IER ((AT91_REG *) 0xFFFFF208) // (DBGU) Interrupt Enable Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_ODR ((AT91_REG *) 0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_SODR ((AT91_REG *) 0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_ISR ((AT91_REG *) 0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_ABSR ((AT91_REG *) 0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_IER ((AT91_REG *) 0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_PPUDR ((AT91_REG *) 0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_IMR ((AT91_REG *) 0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_PER ((AT91_REG *) 0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_IFDR ((AT91_REG *) 0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_OWDR ((AT91_REG *) 0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_MDSR ((AT91_REG *) 0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_IDR ((AT91_REG *) 0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_ODSR ((AT91_REG *) 0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_PPUSR ((AT91_REG *) 0xFFFFF468) // (PIOA) Pull-up Status Register +#define AT91C_PIOA_OWSR ((AT91_REG *) 0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_BSR ((AT91_REG *) 0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_OWER ((AT91_REG *) 0xFFFFF4A0) // (PIOA) Output Write Enable Register +#define AT91C_PIOA_IFER ((AT91_REG *) 0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_PDSR ((AT91_REG *) 0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_PPUER ((AT91_REG *) 0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_OSR ((AT91_REG *) 0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_ASR ((AT91_REG *) 0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_MDDR ((AT91_REG *) 0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_CODR ((AT91_REG *) 0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_MDER ((AT91_REG *) 0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PDR ((AT91_REG *) 0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_IFSR ((AT91_REG *) 0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_OER ((AT91_REG *) 0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_PSR ((AT91_REG *) 0xFFFFF408) // (PIOA) PIO Status Register +// ========== Register definition for PIOB peripheral ========== +#define AT91C_PIOB_OWDR ((AT91_REG *) 0xFFFFF6A4) // (PIOB) Output Write Disable Register +#define AT91C_PIOB_MDER ((AT91_REG *) 0xFFFFF650) // (PIOB) Multi-driver Enable Register +#define AT91C_PIOB_PPUSR ((AT91_REG *) 0xFFFFF668) // (PIOB) Pull-up Status Register +#define AT91C_PIOB_IMR ((AT91_REG *) 0xFFFFF648) // (PIOB) Interrupt Mask Register +#define AT91C_PIOB_ASR ((AT91_REG *) 0xFFFFF670) // (PIOB) Select A Register +#define AT91C_PIOB_PPUDR ((AT91_REG *) 0xFFFFF660) // (PIOB) Pull-up Disable Register +#define AT91C_PIOB_PSR ((AT91_REG *) 0xFFFFF608) // (PIOB) PIO Status Register +#define AT91C_PIOB_IER ((AT91_REG *) 0xFFFFF640) // (PIOB) Interrupt Enable Register +#define AT91C_PIOB_CODR ((AT91_REG *) 0xFFFFF634) // (PIOB) Clear Output Data Register +#define AT91C_PIOB_OWER ((AT91_REG *) 0xFFFFF6A0) // (PIOB) Output Write Enable Register +#define AT91C_PIOB_ABSR ((AT91_REG *) 0xFFFFF678) // (PIOB) AB Select Status Register +#define AT91C_PIOB_IFDR ((AT91_REG *) 0xFFFFF624) // (PIOB) Input Filter Disable Register +#define AT91C_PIOB_PDSR ((AT91_REG *) 0xFFFFF63C) // (PIOB) Pin Data Status Register +#define AT91C_PIOB_IDR ((AT91_REG *) 0xFFFFF644) // (PIOB) Interrupt Disable Register +#define AT91C_PIOB_OWSR ((AT91_REG *) 0xFFFFF6A8) // (PIOB) Output Write Status Register +#define AT91C_PIOB_PDR ((AT91_REG *) 0xFFFFF604) // (PIOB) PIO Disable Register +#define AT91C_PIOB_ODR ((AT91_REG *) 0xFFFFF614) // (PIOB) Output Disable Registerr +#define AT91C_PIOB_IFSR ((AT91_REG *) 0xFFFFF628) // (PIOB) Input Filter Status Register +#define AT91C_PIOB_PPUER ((AT91_REG *) 0xFFFFF664) // (PIOB) Pull-up Enable Register +#define AT91C_PIOB_SODR ((AT91_REG *) 0xFFFFF630) // (PIOB) Set Output Data Register +#define AT91C_PIOB_ISR ((AT91_REG *) 0xFFFFF64C) // (PIOB) Interrupt Status Register +#define AT91C_PIOB_ODSR ((AT91_REG *) 0xFFFFF638) // (PIOB) Output Data Status Register +#define AT91C_PIOB_OSR ((AT91_REG *) 0xFFFFF618) // (PIOB) Output Status Register +#define AT91C_PIOB_MDSR ((AT91_REG *) 0xFFFFF658) // (PIOB) Multi-driver Status Register +#define AT91C_PIOB_IFER ((AT91_REG *) 0xFFFFF620) // (PIOB) Input Filter Enable Register +#define AT91C_PIOB_BSR ((AT91_REG *) 0xFFFFF674) // (PIOB) Select B Register +#define AT91C_PIOB_MDDR ((AT91_REG *) 0xFFFFF654) // (PIOB) Multi-driver Disable Register +#define AT91C_PIOB_OER ((AT91_REG *) 0xFFFFF610) // (PIOB) Output Enable Register +#define AT91C_PIOB_PER ((AT91_REG *) 0xFFFFF600) // (PIOB) PIO Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_MOR ((AT91_REG *) 0xFFFFFC20) // (CKGR) Main Oscillator Register +#define AT91C_CKGR_PLLR ((AT91_REG *) 0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR ((AT91_REG *) 0xFFFFFC24) // (CKGR) Main Clock Frequency Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_IDR ((AT91_REG *) 0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_MOR ((AT91_REG *) 0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PLLR ((AT91_REG *) 0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_PCER ((AT91_REG *) 0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCKR ((AT91_REG *) 0xFFFFFC40) // (PMC) Programmable Clock Register +#define AT91C_PMC_MCKR ((AT91_REG *) 0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_SCDR ((AT91_REG *) 0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_PCDR ((AT91_REG *) 0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCSR ((AT91_REG *) 0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_PCSR ((AT91_REG *) 0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_MCFR ((AT91_REG *) 0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_SCER ((AT91_REG *) 0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR ((AT91_REG *) 0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IER ((AT91_REG *) 0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_SR ((AT91_REG *) 0xFFFFFC68) // (PMC) Status Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RCR ((AT91_REG *) 0xFFFFFD00) // (RSTC) Reset Control Register +#define AT91C_RSTC_RMR ((AT91_REG *) 0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RSR ((AT91_REG *) 0xFFFFFD04) // (RSTC) Reset Status Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR ((AT91_REG *) 0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTMR ((AT91_REG *) 0xFFFFFD20) // (RTTC) Real-time Mode Register +#define AT91C_RTTC_RTVR ((AT91_REG *) 0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTAR ((AT91_REG *) 0xFFFFFD24) // (RTTC) Real-time Alarm Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIVR ((AT91_REG *) 0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PISR ((AT91_REG *) 0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIIR ((AT91_REG *) 0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PIMR ((AT91_REG *) 0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDCR ((AT91_REG *) 0xFFFFFD40) // (WDTC) Watchdog Control Register +#define AT91C_WDTC_WDSR ((AT91_REG *) 0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDMR ((AT91_REG *) 0xFFFFFD44) // (WDTC) Watchdog Mode Register +// ========== Register definition for VREG peripheral ========== +#define AT91C_VREG_MR ((AT91_REG *) 0xFFFFFD60) // (VREG) Voltage Regulator Mode Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_ASR ((AT91_REG *) 0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_RCR ((AT91_REG *) 0xFFFFFF00) // (MC) MC Remap Control Register +#define AT91C_MC_FCR ((AT91_REG *) 0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_AASR ((AT91_REG *) 0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_FSR ((AT91_REG *) 0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR ((AT91_REG *) 0xFFFFFF60) // (MC) MC Flash Mode Register +// ========== Register definition for PDC_SPI1 peripheral ========== +#define AT91C_SPI1_PTCR ((AT91_REG *) 0xFFFE4120) // (PDC_SPI1) PDC Transfer Control Register +#define AT91C_SPI1_RPR ((AT91_REG *) 0xFFFE4100) // (PDC_SPI1) Receive Pointer Register +#define AT91C_SPI1_TNCR ((AT91_REG *) 0xFFFE411C) // (PDC_SPI1) Transmit Next Counter Register +#define AT91C_SPI1_TPR ((AT91_REG *) 0xFFFE4108) // (PDC_SPI1) Transmit Pointer Register +#define AT91C_SPI1_TNPR ((AT91_REG *) 0xFFFE4118) // (PDC_SPI1) Transmit Next Pointer Register +#define AT91C_SPI1_TCR ((AT91_REG *) 0xFFFE410C) // (PDC_SPI1) Transmit Counter Register +#define AT91C_SPI1_RCR ((AT91_REG *) 0xFFFE4104) // (PDC_SPI1) Receive Counter Register +#define AT91C_SPI1_RNPR ((AT91_REG *) 0xFFFE4110) // (PDC_SPI1) Receive Next Pointer Register +#define AT91C_SPI1_RNCR ((AT91_REG *) 0xFFFE4114) // (PDC_SPI1) Receive Next Counter Register +#define AT91C_SPI1_PTSR ((AT91_REG *) 0xFFFE4124) // (PDC_SPI1) PDC Transfer Status Register +// ========== Register definition for SPI1 peripheral ========== +#define AT91C_SPI1_IMR ((AT91_REG *) 0xFFFE401C) // (SPI1) Interrupt Mask Register +#define AT91C_SPI1_IER ((AT91_REG *) 0xFFFE4014) // (SPI1) Interrupt Enable Register +#define AT91C_SPI1_MR ((AT91_REG *) 0xFFFE4004) // (SPI1) Mode Register +#define AT91C_SPI1_RDR ((AT91_REG *) 0xFFFE4008) // (SPI1) Receive Data Register +#define AT91C_SPI1_IDR ((AT91_REG *) 0xFFFE4018) // (SPI1) Interrupt Disable Register +#define AT91C_SPI1_SR ((AT91_REG *) 0xFFFE4010) // (SPI1) Status Register +#define AT91C_SPI1_TDR ((AT91_REG *) 0xFFFE400C) // (SPI1) Transmit Data Register +#define AT91C_SPI1_CR ((AT91_REG *) 0xFFFE4000) // (SPI1) Control Register +#define AT91C_SPI1_CSR ((AT91_REG *) 0xFFFE4030) // (SPI1) Chip Select Register +// ========== Register definition for PDC_SPI0 peripheral ========== +#define AT91C_SPI0_PTCR ((AT91_REG *) 0xFFFE0120) // (PDC_SPI0) PDC Transfer Control Register +#define AT91C_SPI0_TPR ((AT91_REG *) 0xFFFE0108) // (PDC_SPI0) Transmit Pointer Register +#define AT91C_SPI0_TCR ((AT91_REG *) 0xFFFE010C) // (PDC_SPI0) Transmit Counter Register +#define AT91C_SPI0_RCR ((AT91_REG *) 0xFFFE0104) // (PDC_SPI0) Receive Counter Register +#define AT91C_SPI0_PTSR ((AT91_REG *) 0xFFFE0124) // (PDC_SPI0) PDC Transfer Status Register +#define AT91C_SPI0_RNPR ((AT91_REG *) 0xFFFE0110) // (PDC_SPI0) Receive Next Pointer Register +#define AT91C_SPI0_RPR ((AT91_REG *) 0xFFFE0100) // (PDC_SPI0) Receive Pointer Register +#define AT91C_SPI0_TNCR ((AT91_REG *) 0xFFFE011C) // (PDC_SPI0) Transmit Next Counter Register +#define AT91C_SPI0_RNCR ((AT91_REG *) 0xFFFE0114) // (PDC_SPI0) Receive Next Counter Register +#define AT91C_SPI0_TNPR ((AT91_REG *) 0xFFFE0118) // (PDC_SPI0) Transmit Next Pointer Register +// ========== Register definition for SPI0 peripheral ========== +#define AT91C_SPI0_IER ((AT91_REG *) 0xFFFE0014) // (SPI0) Interrupt Enable Register +#define AT91C_SPI0_SR ((AT91_REG *) 0xFFFE0010) // (SPI0) Status Register +#define AT91C_SPI0_IDR ((AT91_REG *) 0xFFFE0018) // (SPI0) Interrupt Disable Register +#define AT91C_SPI0_CR ((AT91_REG *) 0xFFFE0000) // (SPI0) Control Register +#define AT91C_SPI0_MR ((AT91_REG *) 0xFFFE0004) // (SPI0) Mode Register +#define AT91C_SPI0_IMR ((AT91_REG *) 0xFFFE001C) // (SPI0) Interrupt Mask Register +#define AT91C_SPI0_TDR ((AT91_REG *) 0xFFFE000C) // (SPI0) Transmit Data Register +#define AT91C_SPI0_RDR ((AT91_REG *) 0xFFFE0008) // (SPI0) Receive Data Register +#define AT91C_SPI0_CSR ((AT91_REG *) 0xFFFE0030) // (SPI0) Chip Select Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_RNCR ((AT91_REG *) 0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_PTCR ((AT91_REG *) 0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TCR ((AT91_REG *) 0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_PTSR ((AT91_REG *) 0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNPR ((AT91_REG *) 0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RCR ((AT91_REG *) 0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_RNPR ((AT91_REG *) 0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_RPR ((AT91_REG *) 0xFFFC4100) // (PDC_US1) Receive Pointer Register +#define AT91C_US1_TNCR ((AT91_REG *) 0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_TPR ((AT91_REG *) 0xFFFC4108) // (PDC_US1) Transmit Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_IF ((AT91_REG *) 0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER ((AT91_REG *) 0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_RTOR ((AT91_REG *) 0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_CSR ((AT91_REG *) 0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR ((AT91_REG *) 0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_IER ((AT91_REG *) 0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_THR ((AT91_REG *) 0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_TTGR ((AT91_REG *) 0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_RHR ((AT91_REG *) 0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_BRGR ((AT91_REG *) 0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_IMR ((AT91_REG *) 0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_FIDI ((AT91_REG *) 0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_CR ((AT91_REG *) 0xFFFC4000) // (US1) Control Register +#define AT91C_US1_MR ((AT91_REG *) 0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_TNPR ((AT91_REG *) 0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR ((AT91_REG *) 0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TCR ((AT91_REG *) 0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_PTCR ((AT91_REG *) 0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_PTSR ((AT91_REG *) 0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR ((AT91_REG *) 0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_TPR ((AT91_REG *) 0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RCR ((AT91_REG *) 0xFFFC0104) // (PDC_US0) Receive Counter Register +#define AT91C_US0_RPR ((AT91_REG *) 0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_RNCR ((AT91_REG *) 0xFFFC0114) // (PDC_US0) Receive Next Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_BRGR ((AT91_REG *) 0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_NER ((AT91_REG *) 0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_CR ((AT91_REG *) 0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IMR ((AT91_REG *) 0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_FIDI ((AT91_REG *) 0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_TTGR ((AT91_REG *) 0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_MR ((AT91_REG *) 0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_RTOR ((AT91_REG *) 0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_CSR ((AT91_REG *) 0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_RHR ((AT91_REG *) 0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IDR ((AT91_REG *) 0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_THR ((AT91_REG *) 0xFFFC001C) // (US0) Transmitter Holding Register +#define AT91C_US0_IF ((AT91_REG *) 0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_IER ((AT91_REG *) 0xFFFC0008) // (US0) Interrupt Enable Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_TNCR ((AT91_REG *) 0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RPR ((AT91_REG *) 0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_RNCR ((AT91_REG *) 0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TPR ((AT91_REG *) 0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_PTCR ((AT91_REG *) 0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TCR ((AT91_REG *) 0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR ((AT91_REG *) 0xFFFD4104) // (PDC_SSC) Receive Counter Register +#define AT91C_SSC_RNPR ((AT91_REG *) 0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TNPR ((AT91_REG *) 0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_PTSR ((AT91_REG *) 0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RHR ((AT91_REG *) 0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_RSHR ((AT91_REG *) 0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_TFMR ((AT91_REG *) 0xFFFD401C) // (SSC) Transmit Frame Mode Register +#define AT91C_SSC_IDR ((AT91_REG *) 0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_THR ((AT91_REG *) 0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_RCMR ((AT91_REG *) 0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_IER ((AT91_REG *) 0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_TSHR ((AT91_REG *) 0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_SR ((AT91_REG *) 0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_CMR ((AT91_REG *) 0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_TCMR ((AT91_REG *) 0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_CR ((AT91_REG *) 0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR ((AT91_REG *) 0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_RFMR ((AT91_REG *) 0xFFFD4014) // (SSC) Receive Frame Mode Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_IER ((AT91_REG *) 0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_CR ((AT91_REG *) 0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_SR ((AT91_REG *) 0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_IMR ((AT91_REG *) 0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_THR ((AT91_REG *) 0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IDR ((AT91_REG *) 0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_IADR ((AT91_REG *) 0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR ((AT91_REG *) 0xFFFB8004) // (TWI) Master Mode Register +#define AT91C_TWI_CWGR ((AT91_REG *) 0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_RHR ((AT91_REG *) 0xFFFB8030) // (TWI) Receive Holding Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_PWMC_CH3_CUPDR ((AT91_REG *) 0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_PWMC_CH3_Reserved ((AT91_REG *) 0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_PWMC_CH3_CPRDR ((AT91_REG *) 0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_PWMC_CH3_CDTYR ((AT91_REG *) 0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +#define AT91C_PWMC_CH3_CCNTR ((AT91_REG *) 0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_PWMC_CH3_CMR ((AT91_REG *) 0xFFFCC260) // (PWMC_CH3) Channel Mode Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_PWMC_CH2_Reserved ((AT91_REG *) 0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_PWMC_CH2_CMR ((AT91_REG *) 0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_PWMC_CH2_CCNTR ((AT91_REG *) 0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_PWMC_CH2_CPRDR ((AT91_REG *) 0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_PWMC_CH2_CUPDR ((AT91_REG *) 0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_PWMC_CH2_CDTYR ((AT91_REG *) 0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_PWMC_CH1_Reserved ((AT91_REG *) 0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_PWMC_CH1_CUPDR ((AT91_REG *) 0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_PWMC_CH1_CPRDR ((AT91_REG *) 0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_PWMC_CH1_CCNTR ((AT91_REG *) 0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_PWMC_CH1_CDTYR ((AT91_REG *) 0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +#define AT91C_PWMC_CH1_CMR ((AT91_REG *) 0xFFFCC220) // (PWMC_CH1) Channel Mode Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_PWMC_CH0_Reserved ((AT91_REG *) 0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_PWMC_CH0_CPRDR ((AT91_REG *) 0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_PWMC_CH0_CDTYR ((AT91_REG *) 0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +#define AT91C_PWMC_CH0_CMR ((AT91_REG *) 0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_PWMC_CH0_CUPDR ((AT91_REG *) 0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_PWMC_CH0_CCNTR ((AT91_REG *) 0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_IDR ((AT91_REG *) 0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_DIS ((AT91_REG *) 0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER ((AT91_REG *) 0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +#define AT91C_PWMC_VR ((AT91_REG *) 0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR ((AT91_REG *) 0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_SR ((AT91_REG *) 0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_IMR ((AT91_REG *) 0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR ((AT91_REG *) 0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_ENA ((AT91_REG *) 0xFFFCC004) // (PWMC) PWMC Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_IMR ((AT91_REG *) 0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_FADDR ((AT91_REG *) 0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM ((AT91_REG *) 0xFFFB0000) // (UDP) Frame Number Register +#define AT91C_UDP_FDR ((AT91_REG *) 0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_ISR ((AT91_REG *) 0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_CSR ((AT91_REG *) 0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_IDR ((AT91_REG *) 0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_ICR ((AT91_REG *) 0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_RSTEP ((AT91_REG *) 0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_TXVC ((AT91_REG *) 0xFFFB0074) // (UDP) Transceiver Control Register +#define AT91C_UDP_GLBSTATE ((AT91_REG *) 0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_IER ((AT91_REG *) 0xFFFB0010) // (UDP) Interrupt Enable Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_SR ((AT91_REG *) 0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RC ((AT91_REG *) 0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RB ((AT91_REG *) 0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CCR ((AT91_REG *) 0xFFFA0000) // (TC0) Channel Control Register +#define AT91C_TC0_CMR ((AT91_REG *) 0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IER ((AT91_REG *) 0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RA ((AT91_REG *) 0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_IDR ((AT91_REG *) 0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_CV ((AT91_REG *) 0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_IMR ((AT91_REG *) 0xFFFA002C) // (TC0) Interrupt Mask Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_RB ((AT91_REG *) 0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CCR ((AT91_REG *) 0xFFFA0040) // (TC1) Channel Control Register +#define AT91C_TC1_IER ((AT91_REG *) 0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_IDR ((AT91_REG *) 0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR ((AT91_REG *) 0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_CMR ((AT91_REG *) 0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_RA ((AT91_REG *) 0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_RC ((AT91_REG *) 0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_IMR ((AT91_REG *) 0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_CV ((AT91_REG *) 0xFFFA0050) // (TC1) Counter Value +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_CMR ((AT91_REG *) 0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_CCR ((AT91_REG *) 0xFFFA0080) // (TC2) Channel Control Register +#define AT91C_TC2_CV ((AT91_REG *) 0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_RA ((AT91_REG *) 0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_RB ((AT91_REG *) 0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_IDR ((AT91_REG *) 0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_IMR ((AT91_REG *) 0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_RC ((AT91_REG *) 0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_IER ((AT91_REG *) 0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_SR ((AT91_REG *) 0xFFFA00A0) // (TC2) Status Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR ((AT91_REG *) 0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR ((AT91_REG *) 0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for CAN_MB0 peripheral ========== +#define AT91C_CAN_MB0_MDL ((AT91_REG *) 0xFFFD0214) // (CAN_MB0) MailBox Data Low Register +#define AT91C_CAN_MB0_MAM ((AT91_REG *) 0xFFFD0204) // (CAN_MB0) MailBox Acceptance Mask Register +#define AT91C_CAN_MB0_MCR ((AT91_REG *) 0xFFFD021C) // (CAN_MB0) MailBox Control Register +#define AT91C_CAN_MB0_MID ((AT91_REG *) 0xFFFD0208) // (CAN_MB0) MailBox ID Register +#define AT91C_CAN_MB0_MSR ((AT91_REG *) 0xFFFD0210) // (CAN_MB0) MailBox Status Register +#define AT91C_CAN_MB0_MFID ((AT91_REG *) 0xFFFD020C) // (CAN_MB0) MailBox Family ID Register +#define AT91C_CAN_MB0_MDH ((AT91_REG *) 0xFFFD0218) // (CAN_MB0) MailBox Data High Register +#define AT91C_CAN_MB0_MMR ((AT91_REG *) 0xFFFD0200) // (CAN_MB0) MailBox Mode Register +// ========== Register definition for CAN_MB1 peripheral ========== +#define AT91C_CAN_MB1_MDL ((AT91_REG *) 0xFFFD0234) // (CAN_MB1) MailBox Data Low Register +#define AT91C_CAN_MB1_MID ((AT91_REG *) 0xFFFD0228) // (CAN_MB1) MailBox ID Register +#define AT91C_CAN_MB1_MMR ((AT91_REG *) 0xFFFD0220) // (CAN_MB1) MailBox Mode Register +#define AT91C_CAN_MB1_MSR ((AT91_REG *) 0xFFFD0230) // (CAN_MB1) MailBox Status Register +#define AT91C_CAN_MB1_MAM ((AT91_REG *) 0xFFFD0224) // (CAN_MB1) MailBox Acceptance Mask Register +#define AT91C_CAN_MB1_MDH ((AT91_REG *) 0xFFFD0238) // (CAN_MB1) MailBox Data High Register +#define AT91C_CAN_MB1_MCR ((AT91_REG *) 0xFFFD023C) // (CAN_MB1) MailBox Control Register +#define AT91C_CAN_MB1_MFID ((AT91_REG *) 0xFFFD022C) // (CAN_MB1) MailBox Family ID Register +// ========== Register definition for CAN_MB2 peripheral ========== +#define AT91C_CAN_MB2_MCR ((AT91_REG *) 0xFFFD025C) // (CAN_MB2) MailBox Control Register +#define AT91C_CAN_MB2_MDH ((AT91_REG *) 0xFFFD0258) // (CAN_MB2) MailBox Data High Register +#define AT91C_CAN_MB2_MID ((AT91_REG *) 0xFFFD0248) // (CAN_MB2) MailBox ID Register +#define AT91C_CAN_MB2_MDL ((AT91_REG *) 0xFFFD0254) // (CAN_MB2) MailBox Data Low Register +#define AT91C_CAN_MB2_MMR ((AT91_REG *) 0xFFFD0240) // (CAN_MB2) MailBox Mode Register +#define AT91C_CAN_MB2_MAM ((AT91_REG *) 0xFFFD0244) // (CAN_MB2) MailBox Acceptance Mask Register +#define AT91C_CAN_MB2_MFID ((AT91_REG *) 0xFFFD024C) // (CAN_MB2) MailBox Family ID Register +#define AT91C_CAN_MB2_MSR ((AT91_REG *) 0xFFFD0250) // (CAN_MB2) MailBox Status Register +// ========== Register definition for CAN_MB3 peripheral ========== +#define AT91C_CAN_MB3_MFID ((AT91_REG *) 0xFFFD026C) // (CAN_MB3) MailBox Family ID Register +#define AT91C_CAN_MB3_MAM ((AT91_REG *) 0xFFFD0264) // (CAN_MB3) MailBox Acceptance Mask Register +#define AT91C_CAN_MB3_MID ((AT91_REG *) 0xFFFD0268) // (CAN_MB3) MailBox ID Register +#define AT91C_CAN_MB3_MCR ((AT91_REG *) 0xFFFD027C) // (CAN_MB3) MailBox Control Register +#define AT91C_CAN_MB3_MMR ((AT91_REG *) 0xFFFD0260) // (CAN_MB3) MailBox Mode Register +#define AT91C_CAN_MB3_MSR ((AT91_REG *) 0xFFFD0270) // (CAN_MB3) MailBox Status Register +#define AT91C_CAN_MB3_MDL ((AT91_REG *) 0xFFFD0274) // (CAN_MB3) MailBox Data Low Register +#define AT91C_CAN_MB3_MDH ((AT91_REG *) 0xFFFD0278) // (CAN_MB3) MailBox Data High Register +// ========== Register definition for CAN_MB4 peripheral ========== +#define AT91C_CAN_MB4_MID ((AT91_REG *) 0xFFFD0288) // (CAN_MB4) MailBox ID Register +#define AT91C_CAN_MB4_MMR ((AT91_REG *) 0xFFFD0280) // (CAN_MB4) MailBox Mode Register +#define AT91C_CAN_MB4_MDH ((AT91_REG *) 0xFFFD0298) // (CAN_MB4) MailBox Data High Register +#define AT91C_CAN_MB4_MFID ((AT91_REG *) 0xFFFD028C) // (CAN_MB4) MailBox Family ID Register +#define AT91C_CAN_MB4_MSR ((AT91_REG *) 0xFFFD0290) // (CAN_MB4) MailBox Status Register +#define AT91C_CAN_MB4_MCR ((AT91_REG *) 0xFFFD029C) // (CAN_MB4) MailBox Control Register +#define AT91C_CAN_MB4_MDL ((AT91_REG *) 0xFFFD0294) // (CAN_MB4) MailBox Data Low Register +#define AT91C_CAN_MB4_MAM ((AT91_REG *) 0xFFFD0284) // (CAN_MB4) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB5 peripheral ========== +#define AT91C_CAN_MB5_MSR ((AT91_REG *) 0xFFFD02B0) // (CAN_MB5) MailBox Status Register +#define AT91C_CAN_MB5_MCR ((AT91_REG *) 0xFFFD02BC) // (CAN_MB5) MailBox Control Register +#define AT91C_CAN_MB5_MFID ((AT91_REG *) 0xFFFD02AC) // (CAN_MB5) MailBox Family ID Register +#define AT91C_CAN_MB5_MDH ((AT91_REG *) 0xFFFD02B8) // (CAN_MB5) MailBox Data High Register +#define AT91C_CAN_MB5_MID ((AT91_REG *) 0xFFFD02A8) // (CAN_MB5) MailBox ID Register +#define AT91C_CAN_MB5_MMR ((AT91_REG *) 0xFFFD02A0) // (CAN_MB5) MailBox Mode Register +#define AT91C_CAN_MB5_MDL ((AT91_REG *) 0xFFFD02B4) // (CAN_MB5) MailBox Data Low Register +#define AT91C_CAN_MB5_MAM ((AT91_REG *) 0xFFFD02A4) // (CAN_MB5) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB6 peripheral ========== +#define AT91C_CAN_MB6_MFID ((AT91_REG *) 0xFFFD02CC) // (CAN_MB6) MailBox Family ID Register +#define AT91C_CAN_MB6_MID ((AT91_REG *) 0xFFFD02C8) // (CAN_MB6) MailBox ID Register +#define AT91C_CAN_MB6_MAM ((AT91_REG *) 0xFFFD02C4) // (CAN_MB6) MailBox Acceptance Mask Register +#define AT91C_CAN_MB6_MSR ((AT91_REG *) 0xFFFD02D0) // (CAN_MB6) MailBox Status Register +#define AT91C_CAN_MB6_MDL ((AT91_REG *) 0xFFFD02D4) // (CAN_MB6) MailBox Data Low Register +#define AT91C_CAN_MB6_MCR ((AT91_REG *) 0xFFFD02DC) // (CAN_MB6) MailBox Control Register +#define AT91C_CAN_MB6_MDH ((AT91_REG *) 0xFFFD02D8) // (CAN_MB6) MailBox Data High Register +#define AT91C_CAN_MB6_MMR ((AT91_REG *) 0xFFFD02C0) // (CAN_MB6) MailBox Mode Register +// ========== Register definition for CAN_MB7 peripheral ========== +#define AT91C_CAN_MB7_MCR ((AT91_REG *) 0xFFFD02FC) // (CAN_MB7) MailBox Control Register +#define AT91C_CAN_MB7_MDH ((AT91_REG *) 0xFFFD02F8) // (CAN_MB7) MailBox Data High Register +#define AT91C_CAN_MB7_MFID ((AT91_REG *) 0xFFFD02EC) // (CAN_MB7) MailBox Family ID Register +#define AT91C_CAN_MB7_MDL ((AT91_REG *) 0xFFFD02F4) // (CAN_MB7) MailBox Data Low Register +#define AT91C_CAN_MB7_MID ((AT91_REG *) 0xFFFD02E8) // (CAN_MB7) MailBox ID Register +#define AT91C_CAN_MB7_MMR ((AT91_REG *) 0xFFFD02E0) // (CAN_MB7) MailBox Mode Register +#define AT91C_CAN_MB7_MAM ((AT91_REG *) 0xFFFD02E4) // (CAN_MB7) MailBox Acceptance Mask Register +#define AT91C_CAN_MB7_MSR ((AT91_REG *) 0xFFFD02F0) // (CAN_MB7) MailBox Status Register +// ========== Register definition for CAN peripheral ========== +#define AT91C_CAN_TCR ((AT91_REG *) 0xFFFD0024) // (CAN) Transfer Command Register +#define AT91C_CAN_IMR ((AT91_REG *) 0xFFFD000C) // (CAN) Interrupt Mask Register +#define AT91C_CAN_IER ((AT91_REG *) 0xFFFD0004) // (CAN) Interrupt Enable Register +#define AT91C_CAN_ECR ((AT91_REG *) 0xFFFD0020) // (CAN) Error Counter Register +#define AT91C_CAN_TIMESTP ((AT91_REG *) 0xFFFD001C) // (CAN) Time Stamp Register +#define AT91C_CAN_MR ((AT91_REG *) 0xFFFD0000) // (CAN) Mode Register +#define AT91C_CAN_IDR ((AT91_REG *) 0xFFFD0008) // (CAN) Interrupt Disable Register +#define AT91C_CAN_ACR ((AT91_REG *) 0xFFFD0028) // (CAN) Abort Command Register +#define AT91C_CAN_TIM ((AT91_REG *) 0xFFFD0018) // (CAN) Timer Register +#define AT91C_CAN_SR ((AT91_REG *) 0xFFFD0010) // (CAN) Status Register +#define AT91C_CAN_BR ((AT91_REG *) 0xFFFD0014) // (CAN) Baudrate Register +#define AT91C_CAN_VR ((AT91_REG *) 0xFFFD00FC) // (CAN) Version Register +// ========== Register definition for EMAC peripheral ========== +#define AT91C_EMAC_ISR ((AT91_REG *) 0xFFFDC024) // (EMAC) Interrupt Status Register +#define AT91C_EMAC_SA4H ((AT91_REG *) 0xFFFDC0B4) // (EMAC) Specific Address 4 Top, Last 2 bytes +#define AT91C_EMAC_SA1L ((AT91_REG *) 0xFFFDC098) // (EMAC) Specific Address 1 Bottom, First 4 bytes +#define AT91C_EMAC_ELE ((AT91_REG *) 0xFFFDC078) // (EMAC) Excessive Length Errors Register +#define AT91C_EMAC_LCOL ((AT91_REG *) 0xFFFDC05C) // (EMAC) Late Collision Register +#define AT91C_EMAC_RLE ((AT91_REG *) 0xFFFDC088) // (EMAC) Receive Length Field Mismatch Register +#define AT91C_EMAC_WOL ((AT91_REG *) 0xFFFDC0C4) // (EMAC) Wake On LAN Register +#define AT91C_EMAC_DTF ((AT91_REG *) 0xFFFDC058) // (EMAC) Deferred Transmission Frame Register +#define AT91C_EMAC_TUND ((AT91_REG *) 0xFFFDC064) // (EMAC) Transmit Underrun Error Register +#define AT91C_EMAC_NCR ((AT91_REG *) 0xFFFDC000) // (EMAC) Network Control Register +#define AT91C_EMAC_SA4L ((AT91_REG *) 0xFFFDC0B0) // (EMAC) Specific Address 4 Bottom, First 4 bytes +#define AT91C_EMAC_RSR ((AT91_REG *) 0xFFFDC020) // (EMAC) Receive Status Register +#define AT91C_EMAC_SA3L ((AT91_REG *) 0xFFFDC0A8) // (EMAC) Specific Address 3 Bottom, First 4 bytes +#define AT91C_EMAC_TSR ((AT91_REG *) 0xFFFDC014) // (EMAC) Transmit Status Register +#define AT91C_EMAC_IDR ((AT91_REG *) 0xFFFDC02C) // (EMAC) Interrupt Disable Register +#define AT91C_EMAC_RSE ((AT91_REG *) 0xFFFDC074) // (EMAC) Receive Symbol Errors Register +#define AT91C_EMAC_ECOL ((AT91_REG *) 0xFFFDC060) // (EMAC) Excessive Collision Register +#define AT91C_EMAC_TID ((AT91_REG *) 0xFFFDC0B8) // (EMAC) Type ID Checking Register +#define AT91C_EMAC_HRB ((AT91_REG *) 0xFFFDC090) // (EMAC) Hash Address Bottom[31:0] +#define AT91C_EMAC_TBQP ((AT91_REG *) 0xFFFDC01C) // (EMAC) Transmit Buffer Queue Pointer +#define AT91C_EMAC_USRIO ((AT91_REG *) 0xFFFDC0C0) // (EMAC) USER Input/Output Register +#define AT91C_EMAC_PTR ((AT91_REG *) 0xFFFDC038) // (EMAC) Pause Time Register +#define AT91C_EMAC_SA2H ((AT91_REG *) 0xFFFDC0A4) // (EMAC) Specific Address 2 Top, Last 2 bytes +#define AT91C_EMAC_ROV ((AT91_REG *) 0xFFFDC070) // (EMAC) Receive Overrun Errors Register +#define AT91C_EMAC_ALE ((AT91_REG *) 0xFFFDC054) // (EMAC) Alignment Error Register +#define AT91C_EMAC_RJA ((AT91_REG *) 0xFFFDC07C) // (EMAC) Receive Jabbers Register +#define AT91C_EMAC_RBQP ((AT91_REG *) 0xFFFDC018) // (EMAC) Receive Buffer Queue Pointer +#define AT91C_EMAC_TPF ((AT91_REG *) 0xFFFDC08C) // (EMAC) Transmitted Pause Frames Register +#define AT91C_EMAC_NCFGR ((AT91_REG *) 0xFFFDC004) // (EMAC) Network Configuration Register +#define AT91C_EMAC_HRT ((AT91_REG *) 0xFFFDC094) // (EMAC) Hash Address Top[63:32] +#define AT91C_EMAC_USF ((AT91_REG *) 0xFFFDC080) // (EMAC) Undersize Frames Register +#define AT91C_EMAC_FCSE ((AT91_REG *) 0xFFFDC050) // (EMAC) Frame Check Sequence Error Register +#define AT91C_EMAC_TPQ ((AT91_REG *) 0xFFFDC0BC) // (EMAC) Transmit Pause Quantum Register +#define AT91C_EMAC_MAN ((AT91_REG *) 0xFFFDC034) // (EMAC) PHY Maintenance Register +#define AT91C_EMAC_FTO ((AT91_REG *) 0xFFFDC040) // (EMAC) Frames Transmitted OK Register +#define AT91C_EMAC_REV ((AT91_REG *) 0xFFFDC0FC) // (EMAC) Revision Register +#define AT91C_EMAC_IMR ((AT91_REG *) 0xFFFDC030) // (EMAC) Interrupt Mask Register +#define AT91C_EMAC_SCF ((AT91_REG *) 0xFFFDC044) // (EMAC) Single Collision Frame Register +#define AT91C_EMAC_PFR ((AT91_REG *) 0xFFFDC03C) // (EMAC) Pause Frames received Register +#define AT91C_EMAC_MCF ((AT91_REG *) 0xFFFDC048) // (EMAC) Multiple Collision Frame Register +#define AT91C_EMAC_NSR ((AT91_REG *) 0xFFFDC008) // (EMAC) Network Status Register +#define AT91C_EMAC_SA2L ((AT91_REG *) 0xFFFDC0A0) // (EMAC) Specific Address 2 Bottom, First 4 bytes +#define AT91C_EMAC_FRO ((AT91_REG *) 0xFFFDC04C) // (EMAC) Frames Received OK Register +#define AT91C_EMAC_IER ((AT91_REG *) 0xFFFDC028) // (EMAC) Interrupt Enable Register +#define AT91C_EMAC_SA1H ((AT91_REG *) 0xFFFDC09C) // (EMAC) Specific Address 1 Top, Last 2 bytes +#define AT91C_EMAC_CSE ((AT91_REG *) 0xFFFDC068) // (EMAC) Carrier Sense Error Register +#define AT91C_EMAC_SA3H ((AT91_REG *) 0xFFFDC0AC) // (EMAC) Specific Address 3 Top, Last 2 bytes +#define AT91C_EMAC_RRE ((AT91_REG *) 0xFFFDC06C) // (EMAC) Receive Ressource Error Register +#define AT91C_EMAC_STE ((AT91_REG *) 0xFFFDC084) // (EMAC) SQE Test Error Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTSR ((AT91_REG *) 0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_PTCR ((AT91_REG *) 0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR ((AT91_REG *) 0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_TNCR ((AT91_REG *) 0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNPR ((AT91_REG *) 0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_RNCR ((AT91_REG *) 0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_RPR ((AT91_REG *) 0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_TCR ((AT91_REG *) 0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_TPR ((AT91_REG *) 0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RCR ((AT91_REG *) 0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_CDR2 ((AT91_REG *) 0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR3 ((AT91_REG *) 0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR0 ((AT91_REG *) 0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR5 ((AT91_REG *) 0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_CHDR ((AT91_REG *) 0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_SR ((AT91_REG *) 0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CDR4 ((AT91_REG *) 0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR1 ((AT91_REG *) 0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_LCDR ((AT91_REG *) 0xFFFD8020) // (ADC) ADC Last Converted Data Register +#define AT91C_ADC_IDR ((AT91_REG *) 0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_CR ((AT91_REG *) 0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CDR7 ((AT91_REG *) 0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR6 ((AT91_REG *) 0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_IER ((AT91_REG *) 0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_CHER ((AT91_REG *) 0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR ((AT91_REG *) 0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_MR ((AT91_REG *) 0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_IMR ((AT91_REG *) 0xFFFD802C) // (ADC) ADC Interrupt Mask Register +// ========== Register definition for PDC_AES peripheral ========== +#define AT91C_AES_TPR ((AT91_REG *) 0xFFFA4108) // (PDC_AES) Transmit Pointer Register +#define AT91C_AES_PTCR ((AT91_REG *) 0xFFFA4120) // (PDC_AES) PDC Transfer Control Register +#define AT91C_AES_RNPR ((AT91_REG *) 0xFFFA4110) // (PDC_AES) Receive Next Pointer Register +#define AT91C_AES_TNCR ((AT91_REG *) 0xFFFA411C) // (PDC_AES) Transmit Next Counter Register +#define AT91C_AES_TCR ((AT91_REG *) 0xFFFA410C) // (PDC_AES) Transmit Counter Register +#define AT91C_AES_RCR ((AT91_REG *) 0xFFFA4104) // (PDC_AES) Receive Counter Register +#define AT91C_AES_RNCR ((AT91_REG *) 0xFFFA4114) // (PDC_AES) Receive Next Counter Register +#define AT91C_AES_TNPR ((AT91_REG *) 0xFFFA4118) // (PDC_AES) Transmit Next Pointer Register +#define AT91C_AES_RPR ((AT91_REG *) 0xFFFA4100) // (PDC_AES) Receive Pointer Register +#define AT91C_AES_PTSR ((AT91_REG *) 0xFFFA4124) // (PDC_AES) PDC Transfer Status Register +// ========== Register definition for AES peripheral ========== +#define AT91C_AES_IVxR ((AT91_REG *) 0xFFFA4060) // (AES) Initialization Vector x Register +#define AT91C_AES_MR ((AT91_REG *) 0xFFFA4004) // (AES) Mode Register +#define AT91C_AES_VR ((AT91_REG *) 0xFFFA40FC) // (AES) AES Version Register +#define AT91C_AES_ODATAxR ((AT91_REG *) 0xFFFA4050) // (AES) Output Data x Register +#define AT91C_AES_IDATAxR ((AT91_REG *) 0xFFFA4040) // (AES) Input Data x Register +#define AT91C_AES_CR ((AT91_REG *) 0xFFFA4000) // (AES) Control Register +#define AT91C_AES_IDR ((AT91_REG *) 0xFFFA4014) // (AES) Interrupt Disable Register +#define AT91C_AES_IMR ((AT91_REG *) 0xFFFA4018) // (AES) Interrupt Mask Register +#define AT91C_AES_IER ((AT91_REG *) 0xFFFA4010) // (AES) Interrupt Enable Register +#define AT91C_AES_KEYWxR ((AT91_REG *) 0xFFFA4020) // (AES) Key Word x Register +#define AT91C_AES_ISR ((AT91_REG *) 0xFFFA401C) // (AES) Interrupt Status Register +// ========== Register definition for PDC_TDES peripheral ========== +#define AT91C_TDES_RNCR ((AT91_REG *) 0xFFFA8114) // (PDC_TDES) Receive Next Counter Register +#define AT91C_TDES_TCR ((AT91_REG *) 0xFFFA810C) // (PDC_TDES) Transmit Counter Register +#define AT91C_TDES_RCR ((AT91_REG *) 0xFFFA8104) // (PDC_TDES) Receive Counter Register +#define AT91C_TDES_TNPR ((AT91_REG *) 0xFFFA8118) // (PDC_TDES) Transmit Next Pointer Register +#define AT91C_TDES_RNPR ((AT91_REG *) 0xFFFA8110) // (PDC_TDES) Receive Next Pointer Register +#define AT91C_TDES_RPR ((AT91_REG *) 0xFFFA8100) // (PDC_TDES) Receive Pointer Register +#define AT91C_TDES_TNCR ((AT91_REG *) 0xFFFA811C) // (PDC_TDES) Transmit Next Counter Register +#define AT91C_TDES_TPR ((AT91_REG *) 0xFFFA8108) // (PDC_TDES) Transmit Pointer Register +#define AT91C_TDES_PTSR ((AT91_REG *) 0xFFFA8124) // (PDC_TDES) PDC Transfer Status Register +#define AT91C_TDES_PTCR ((AT91_REG *) 0xFFFA8120) // (PDC_TDES) PDC Transfer Control Register +// ========== Register definition for TDES peripheral ========== +#define AT91C_TDES_KEY2WxR ((AT91_REG *) 0xFFFA8028) // (TDES) Key 2 Word x Register +#define AT91C_TDES_KEY3WxR ((AT91_REG *) 0xFFFA8030) // (TDES) Key 3 Word x Register +#define AT91C_TDES_IDR ((AT91_REG *) 0xFFFA8014) // (TDES) Interrupt Disable Register +#define AT91C_TDES_VR ((AT91_REG *) 0xFFFA80FC) // (TDES) TDES Version Register +#define AT91C_TDES_IVxR ((AT91_REG *) 0xFFFA8060) // (TDES) Initialization Vector x Register +#define AT91C_TDES_ODATAxR ((AT91_REG *) 0xFFFA8050) // (TDES) Output Data x Register +#define AT91C_TDES_IMR ((AT91_REG *) 0xFFFA8018) // (TDES) Interrupt Mask Register +#define AT91C_TDES_MR ((AT91_REG *) 0xFFFA8004) // (TDES) Mode Register +#define AT91C_TDES_CR ((AT91_REG *) 0xFFFA8000) // (TDES) Control Register +#define AT91C_TDES_IER ((AT91_REG *) 0xFFFA8010) // (TDES) Interrupt Enable Register +#define AT91C_TDES_ISR ((AT91_REG *) 0xFFFA801C) // (TDES) Interrupt Status Register +#define AT91C_TDES_IDATAxR ((AT91_REG *) 0xFFFA8040) // (TDES) Input Data x Register +#define AT91C_TDES_KEY1WxR ((AT91_REG *) 0xFFFA8020) // (TDES) Key 1 Word x Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_PIO_PA0 ((unsigned int) 1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_RXD0 ((unsigned int) AT91C_PIO_PA0) // USART 0 Receive Data +#define AT91C_PIO_PA1 ((unsigned int) 1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_TXD0 ((unsigned int) AT91C_PIO_PA1) // USART 0 Transmit Data +#define AT91C_PIO_PA10 ((unsigned int) 1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_TWD ((unsigned int) AT91C_PIO_PA10) // TWI Two-wire Serial Data +#define AT91C_PIO_PA11 ((unsigned int) 1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_TWCK ((unsigned int) AT91C_PIO_PA11) // TWI Two-wire Serial Clock +#define AT91C_PIO_PA12 ((unsigned int) 1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_NPCS00 ((unsigned int) AT91C_PIO_PA12) // SPI 0 Peripheral Chip Select 0 +#define AT91C_PIO_PA13 ((unsigned int) 1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_NPCS01 ((unsigned int) AT91C_PIO_PA13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PA13_PCK1 ((unsigned int) AT91C_PIO_PA13) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA14 ((unsigned int) 1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_NPCS02 ((unsigned int) AT91C_PIO_PA14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PA14_IRQ1 ((unsigned int) AT91C_PIO_PA14) // External Interrupt 1 +#define AT91C_PIO_PA15 ((unsigned int) 1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_NPCS03 ((unsigned int) AT91C_PIO_PA15) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PA15_TCLK2 ((unsigned int) AT91C_PIO_PA15) // Timer Counter 2 external clock input +#define AT91C_PIO_PA16 ((unsigned int) 1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_MISO0 ((unsigned int) AT91C_PIO_PA16) // SPI 0 Master In Slave +#define AT91C_PIO_PA17 ((unsigned int) 1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_MOSI0 ((unsigned int) AT91C_PIO_PA17) // SPI 0 Master Out Slave +#define AT91C_PIO_PA18 ((unsigned int) 1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_SPCK0 ((unsigned int) AT91C_PIO_PA18) // SPI 0 Serial Clock +#define AT91C_PIO_PA19 ((unsigned int) 1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_CANRX ((unsigned int) AT91C_PIO_PA19) // CAN Receive +#define AT91C_PIO_PA2 ((unsigned int) 1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_SCK0 ((unsigned int) AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PA2_NPCS11 ((unsigned int) AT91C_PIO_PA2) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA20 ((unsigned int) 1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_CANTX ((unsigned int) AT91C_PIO_PA20) // CAN Transmit +#define AT91C_PIO_PA21 ((unsigned int) 1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_TF ((unsigned int) AT91C_PIO_PA21) // SSC Transmit Frame Sync +#define AT91C_PA21_NPCS10 ((unsigned int) AT91C_PIO_PA21) // SPI 1 Peripheral Chip Select 0 +#define AT91C_PIO_PA22 ((unsigned int) 1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TK ((unsigned int) AT91C_PIO_PA22) // SSC Transmit Clock +#define AT91C_PA22_SPCK1 ((unsigned int) AT91C_PIO_PA22) // SPI 1 Serial Clock +#define AT91C_PIO_PA23 ((unsigned int) 1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_TD ((unsigned int) AT91C_PIO_PA23) // SSC Transmit data +#define AT91C_PA23_MOSI1 ((unsigned int) AT91C_PIO_PA23) // SPI 1 Master Out Slave +#define AT91C_PIO_PA24 ((unsigned int) 1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RD ((unsigned int) AT91C_PIO_PA24) // SSC Receive Data +#define AT91C_PA24_MISO1 ((unsigned int) AT91C_PIO_PA24) // SPI 1 Master In Slave +#define AT91C_PIO_PA25 ((unsigned int) 1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_RK ((unsigned int) AT91C_PIO_PA25) // SSC Receive Clock +#define AT91C_PA25_NPCS11 ((unsigned int) AT91C_PIO_PA25) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA26 ((unsigned int) 1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_RF ((unsigned int) AT91C_PIO_PA26) // SSC Receive Frame Sync +#define AT91C_PA26_NPCS12 ((unsigned int) AT91C_PIO_PA26) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA27 ((unsigned int) 1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DRXD ((unsigned int) AT91C_PIO_PA27) // DBGU Debug Receive Data +#define AT91C_PA27_PCK3 ((unsigned int) AT91C_PIO_PA27) // PMC Programmable Clock Output 3 +#define AT91C_PIO_PA28 ((unsigned int) 1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DTXD ((unsigned int) AT91C_PIO_PA28) // DBGU Debug Transmit Data +#define AT91C_PIO_PA29 ((unsigned int) 1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_FIQ ((unsigned int) AT91C_PIO_PA29) // AIC Fast Interrupt Input +#define AT91C_PA29_NPCS13 ((unsigned int) AT91C_PIO_PA29) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA3 ((unsigned int) 1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_RTS0 ((unsigned int) AT91C_PIO_PA3) // USART 0 Ready To Send +#define AT91C_PA3_NPCS12 ((unsigned int) AT91C_PIO_PA3) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA30 ((unsigned int) 1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ0 ((unsigned int) AT91C_PIO_PA30) // External Interrupt 0 +#define AT91C_PA30_PCK2 ((unsigned int) AT91C_PIO_PA30) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 ((unsigned int) 1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_CTS0 ((unsigned int) AT91C_PIO_PA4) // USART 0 Clear To Send +#define AT91C_PA4_NPCS13 ((unsigned int) AT91C_PIO_PA4) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA5 ((unsigned int) 1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD1 ((unsigned int) AT91C_PIO_PA5) // USART 1 Receive Data +#define AT91C_PIO_PA6 ((unsigned int) 1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD1 ((unsigned int) AT91C_PIO_PA6) // USART 1 Transmit Data +#define AT91C_PIO_PA7 ((unsigned int) 1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_SCK1 ((unsigned int) AT91C_PIO_PA7) // USART 1 Serial Clock +#define AT91C_PA7_NPCS01 ((unsigned int) AT91C_PIO_PA7) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PA8 ((unsigned int) 1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_RTS1 ((unsigned int) AT91C_PIO_PA8) // USART 1 Ready To Send +#define AT91C_PA8_NPCS02 ((unsigned int) AT91C_PIO_PA8) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PA9 ((unsigned int) 1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_CTS1 ((unsigned int) AT91C_PIO_PA9) // USART 1 Clear To Send +#define AT91C_PA9_NPCS03 ((unsigned int) AT91C_PIO_PA9) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB0 ((unsigned int) 1 << 0) // Pin Controlled by PB0 +#define AT91C_PB0_ETXCK_EREFCK ((unsigned int) AT91C_PIO_PB0) // Ethernet MAC Transmit Clock/Reference Clock +#define AT91C_PB0_PCK0 ((unsigned int) AT91C_PIO_PB0) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB1 ((unsigned int) 1 << 1) // Pin Controlled by PB1 +#define AT91C_PB1_ETXEN ((unsigned int) AT91C_PIO_PB1) // Ethernet MAC Transmit Enable +#define AT91C_PIO_PB10 ((unsigned int) 1 << 10) // Pin Controlled by PB10 +#define AT91C_PB10_ETX2 ((unsigned int) AT91C_PIO_PB10) // Ethernet MAC Transmit Data 2 +#define AT91C_PB10_NPCS11 ((unsigned int) AT91C_PIO_PB10) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PB11 ((unsigned int) 1 << 11) // Pin Controlled by PB11 +#define AT91C_PB11_ETX3 ((unsigned int) AT91C_PIO_PB11) // Ethernet MAC Transmit Data 3 +#define AT91C_PB11_NPCS12 ((unsigned int) AT91C_PIO_PB11) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PB12 ((unsigned int) 1 << 12) // Pin Controlled by PB12 +#define AT91C_PB12_ETXER ((unsigned int) AT91C_PIO_PB12) // Ethernet MAC Transmikt Coding Error +#define AT91C_PB12_TCLK0 ((unsigned int) AT91C_PIO_PB12) // Timer Counter 0 external clock input +#define AT91C_PIO_PB13 ((unsigned int) 1 << 13) // Pin Controlled by PB13 +#define AT91C_PB13_ERX2 ((unsigned int) AT91C_PIO_PB13) // Ethernet MAC Receive Data 2 +#define AT91C_PB13_NPCS01 ((unsigned int) AT91C_PIO_PB13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PB14 ((unsigned int) 1 << 14) // Pin Controlled by PB14 +#define AT91C_PB14_ERX3 ((unsigned int) AT91C_PIO_PB14) // Ethernet MAC Receive Data 3 +#define AT91C_PB14_NPCS02 ((unsigned int) AT91C_PIO_PB14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PB15 ((unsigned int) 1 << 15) // Pin Controlled by PB15 +#define AT91C_PB15_ERXDV ((unsigned int) AT91C_PIO_PB15) // Ethernet MAC Receive Data Valid +#define AT91C_PIO_PB16 ((unsigned int) 1 << 16) // Pin Controlled by PB16 +#define AT91C_PB16_ECOL ((unsigned int) AT91C_PIO_PB16) // Ethernet MAC Collision Detected +#define AT91C_PB16_NPCS13 ((unsigned int) AT91C_PIO_PB16) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PB17 ((unsigned int) 1 << 17) // Pin Controlled by PB17 +#define AT91C_PB17_ERXCK ((unsigned int) AT91C_PIO_PB17) // Ethernet MAC Receive Clock +#define AT91C_PB17_NPCS03 ((unsigned int) AT91C_PIO_PB17) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB18 ((unsigned int) 1 << 18) // Pin Controlled by PB18 +#define AT91C_PB18_EF100 ((unsigned int) AT91C_PIO_PB18) // Ethernet MAC Force 100 Mbits/sec +#define AT91C_PB18_ADTRG ((unsigned int) AT91C_PIO_PB18) // ADC External Trigger +#define AT91C_PIO_PB19 ((unsigned int) 1 << 19) // Pin Controlled by PB19 +#define AT91C_PB19_PWM0 ((unsigned int) AT91C_PIO_PB19) // PWM Channel 0 +#define AT91C_PB19_TCLK1 ((unsigned int) AT91C_PIO_PB19) // Timer Counter 1 external clock input +#define AT91C_PIO_PB2 ((unsigned int) 1 << 2) // Pin Controlled by PB2 +#define AT91C_PB2_ETX0 ((unsigned int) AT91C_PIO_PB2) // Ethernet MAC Transmit Data 0 +#define AT91C_PIO_PB20 ((unsigned int) 1 << 20) // Pin Controlled by PB20 +#define AT91C_PB20_PWM1 ((unsigned int) AT91C_PIO_PB20) // PWM Channel 1 +#define AT91C_PB20_PCK0 ((unsigned int) AT91C_PIO_PB20) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB21 ((unsigned int) 1 << 21) // Pin Controlled by PB21 +#define AT91C_PB21_PWM2 ((unsigned int) AT91C_PIO_PB21) // PWM Channel 2 +#define AT91C_PB21_PCK1 ((unsigned int) AT91C_PIO_PB21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PB22 ((unsigned int) 1 << 22) // Pin Controlled by PB22 +#define AT91C_PB22_PWM3 ((unsigned int) AT91C_PIO_PB22) // PWM Channel 3 +#define AT91C_PB22_PCK2 ((unsigned int) AT91C_PIO_PB22) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PB23 ((unsigned int) 1 << 23) // Pin Controlled by PB23 +#define AT91C_PB23_TIOA0 ((unsigned int) AT91C_PIO_PB23) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PB23_DCD1 ((unsigned int) AT91C_PIO_PB23) // USART 1 Data Carrier Detect +#define AT91C_PIO_PB24 ((unsigned int) 1 << 24) // Pin Controlled by PB24 +#define AT91C_PB24_TIOB0 ((unsigned int) AT91C_PIO_PB24) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PB24_DSR1 ((unsigned int) AT91C_PIO_PB24) // USART 1 Data Set ready +#define AT91C_PIO_PB25 ((unsigned int) 1 << 25) // Pin Controlled by PB25 +#define AT91C_PB25_TIOA1 ((unsigned int) AT91C_PIO_PB25) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PB25_DTR1 ((unsigned int) AT91C_PIO_PB25) // USART 1 Data Terminal ready +#define AT91C_PIO_PB26 ((unsigned int) 1 << 26) // Pin Controlled by PB26 +#define AT91C_PB26_TIOB1 ((unsigned int) AT91C_PIO_PB26) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PB26_RI1 ((unsigned int) AT91C_PIO_PB26) // USART 1 Ring Indicator +#define AT91C_PIO_PB27 ((unsigned int) 1 << 27) // Pin Controlled by PB27 +#define AT91C_PB27_TIOA2 ((unsigned int) AT91C_PIO_PB27) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PB27_PWM0 ((unsigned int) AT91C_PIO_PB27) // PWM Channel 0 +#define AT91C_PIO_PB28 ((unsigned int) 1 << 28) // Pin Controlled by PB28 +#define AT91C_PB28_TIOB2 ((unsigned int) AT91C_PIO_PB28) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PB28_PWM1 ((unsigned int) AT91C_PIO_PB28) // PWM Channel 1 +#define AT91C_PIO_PB29 ((unsigned int) 1 << 29) // Pin Controlled by PB29 +#define AT91C_PB29_PCK1 ((unsigned int) AT91C_PIO_PB29) // PMC Programmable Clock Output 1 +#define AT91C_PB29_PWM2 ((unsigned int) AT91C_PIO_PB29) // PWM Channel 2 +#define AT91C_PIO_PB3 ((unsigned int) 1 << 3) // Pin Controlled by PB3 +#define AT91C_PB3_ETX1 ((unsigned int) AT91C_PIO_PB3) // Ethernet MAC Transmit Data 1 +#define AT91C_PIO_PB30 ((unsigned int) 1 << 30) // Pin Controlled by PB30 +#define AT91C_PB30_PCK2 ((unsigned int) AT91C_PIO_PB30) // PMC Programmable Clock Output 2 +#define AT91C_PB30_PWM3 ((unsigned int) AT91C_PIO_PB30) // PWM Channel 3 +#define AT91C_PIO_PB4 ((unsigned int) 1 << 4) // Pin Controlled by PB4 +#define AT91C_PB4_ECRS_ECRSDV ((unsigned int) AT91C_PIO_PB4) // Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +#define AT91C_PIO_PB5 ((unsigned int) 1 << 5) // Pin Controlled by PB5 +#define AT91C_PB5_ERX0 ((unsigned int) AT91C_PIO_PB5) // Ethernet MAC Receive Data 0 +#define AT91C_PIO_PB6 ((unsigned int) 1 << 6) // Pin Controlled by PB6 +#define AT91C_PB6_ERX1 ((unsigned int) AT91C_PIO_PB6) // Ethernet MAC Receive Data 1 +#define AT91C_PIO_PB7 ((unsigned int) 1 << 7) // Pin Controlled by PB7 +#define AT91C_PB7_ERXER ((unsigned int) AT91C_PIO_PB7) // Ethernet MAC Receive Error +#define AT91C_PIO_PB8 ((unsigned int) 1 << 8) // Pin Controlled by PB8 +#define AT91C_PB8_EMDC ((unsigned int) AT91C_PIO_PB8) // Ethernet MAC Management Data Clock +#define AT91C_PIO_PB9 ((unsigned int) 1 << 9) // Pin Controlled by PB9 +#define AT91C_PB9_EMDIO ((unsigned int) AT91C_PIO_PB9) // Ethernet MAC Management Data Input/Output + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_ID_FIQ ((unsigned int) 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ((unsigned int) 1) // System Peripheral +#define AT91C_ID_PIOA ((unsigned int) 2) // Parallel IO Controller A +#define AT91C_ID_PIOB ((unsigned int) 3) // Parallel IO Controller B +#define AT91C_ID_SPI0 ((unsigned int) 4) // Serial Peripheral Interface 0 +#define AT91C_ID_SPI1 ((unsigned int) 5) // Serial Peripheral Interface 1 +#define AT91C_ID_US0 ((unsigned int) 6) // USART 0 +#define AT91C_ID_US1 ((unsigned int) 7) // USART 1 +#define AT91C_ID_SSC ((unsigned int) 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ((unsigned int) 9) // Two-Wire Interface +#define AT91C_ID_PWMC ((unsigned int) 10) // PWM Controller +#define AT91C_ID_UDP ((unsigned int) 11) // USB Device Port +#define AT91C_ID_TC0 ((unsigned int) 12) // Timer Counter 0 +#define AT91C_ID_TC1 ((unsigned int) 13) // Timer Counter 1 +#define AT91C_ID_TC2 ((unsigned int) 14) // Timer Counter 2 +#define AT91C_ID_CAN ((unsigned int) 15) // Control Area Network Controller +#define AT91C_ID_EMAC ((unsigned int) 16) // Ethernet MAC +#define AT91C_ID_ADC ((unsigned int) 17) // Analog-to-Digital Converter +#define AT91C_ID_AES ((unsigned int) 18) // Advanced Encryption Standard 128-bit +#define AT91C_ID_TDES ((unsigned int) 19) // Triple Data Encryption Standard +#define AT91C_ID_20_Reserved ((unsigned int) 20) // Reserved +#define AT91C_ID_21_Reserved ((unsigned int) 21) // Reserved +#define AT91C_ID_22_Reserved ((unsigned int) 22) // Reserved +#define AT91C_ID_23_Reserved ((unsigned int) 23) // Reserved +#define AT91C_ID_24_Reserved ((unsigned int) 24) // Reserved +#define AT91C_ID_25_Reserved ((unsigned int) 25) // Reserved +#define AT91C_ID_26_Reserved ((unsigned int) 26) // Reserved +#define AT91C_ID_27_Reserved ((unsigned int) 27) // Reserved +#define AT91C_ID_28_Reserved ((unsigned int) 28) // Reserved +#define AT91C_ID_29_Reserved ((unsigned int) 29) // Reserved +#define AT91C_ID_IRQ0 ((unsigned int) 30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 ((unsigned int) 31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_BASE_SYS ((AT91PS_SYS) 0xFFFFF000) // (SYS) Base Address +#define AT91C_BASE_AIC ((AT91PS_AIC) 0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_PDC_DBGU ((AT91PS_PDC) 0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_DBGU ((AT91PS_DBGU) 0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PIOA ((AT91PS_PIO) 0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_PIOB ((AT91PS_PIO) 0xFFFFF600) // (PIOB) Base Address +#define AT91C_BASE_CKGR ((AT91PS_CKGR) 0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC ((AT91PS_PMC) 0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC ((AT91PS_RSTC) 0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC ((AT91PS_RTTC) 0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC ((AT91PS_PITC) 0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC ((AT91PS_WDTC) 0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_VREG ((AT91PS_VREG) 0xFFFFFD60) // (VREG) Base Address +#define AT91C_BASE_MC ((AT91PS_MC) 0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI1 ((AT91PS_PDC) 0xFFFE4100) // (PDC_SPI1) Base Address +#define AT91C_BASE_SPI1 ((AT91PS_SPI) 0xFFFE4000) // (SPI1) Base Address +#define AT91C_BASE_PDC_SPI0 ((AT91PS_PDC) 0xFFFE0100) // (PDC_SPI0) Base Address +#define AT91C_BASE_SPI0 ((AT91PS_SPI) 0xFFFE0000) // (SPI0) Base Address +#define AT91C_BASE_PDC_US1 ((AT91PS_PDC) 0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 ((AT91PS_USART) 0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 ((AT91PS_PDC) 0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 ((AT91PS_USART) 0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_PDC_SSC ((AT91PS_PDC) 0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC ((AT91PS_SSC) 0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_TWI ((AT91PS_TWI) 0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_PWMC_CH3 ((AT91PS_PWMC_CH) 0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 ((AT91PS_PWMC_CH) 0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 ((AT91PS_PWMC_CH) 0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 ((AT91PS_PWMC_CH) 0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC ((AT91PS_PWMC) 0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP ((AT91PS_UDP) 0xFFFB0000) // (UDP) Base Address +#define AT91C_BASE_TC0 ((AT91PS_TC) 0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TC1 ((AT91PS_TC) 0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC2 ((AT91PS_TC) 0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TCB ((AT91PS_TCB) 0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_CAN_MB0 ((AT91PS_CAN_MB) 0xFFFD0200) // (CAN_MB0) Base Address +#define AT91C_BASE_CAN_MB1 ((AT91PS_CAN_MB) 0xFFFD0220) // (CAN_MB1) Base Address +#define AT91C_BASE_CAN_MB2 ((AT91PS_CAN_MB) 0xFFFD0240) // (CAN_MB2) Base Address +#define AT91C_BASE_CAN_MB3 ((AT91PS_CAN_MB) 0xFFFD0260) // (CAN_MB3) Base Address +#define AT91C_BASE_CAN_MB4 ((AT91PS_CAN_MB) 0xFFFD0280) // (CAN_MB4) Base Address +#define AT91C_BASE_CAN_MB5 ((AT91PS_CAN_MB) 0xFFFD02A0) // (CAN_MB5) Base Address +#define AT91C_BASE_CAN_MB6 ((AT91PS_CAN_MB) 0xFFFD02C0) // (CAN_MB6) Base Address +#define AT91C_BASE_CAN_MB7 ((AT91PS_CAN_MB) 0xFFFD02E0) // (CAN_MB7) Base Address +#define AT91C_BASE_CAN ((AT91PS_CAN) 0xFFFD0000) // (CAN) Base Address +#define AT91C_BASE_EMAC ((AT91PS_EMAC) 0xFFFDC000) // (EMAC) Base Address +#define AT91C_BASE_PDC_ADC ((AT91PS_PDC) 0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC ((AT91PS_ADC) 0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_AES ((AT91PS_PDC) 0xFFFA4100) // (PDC_AES) Base Address +#define AT91C_BASE_AES ((AT91PS_AES) 0xFFFA4000) // (AES) Base Address +#define AT91C_BASE_PDC_TDES ((AT91PS_PDC) 0xFFFA8100) // (PDC_TDES) Base Address +#define AT91C_BASE_TDES ((AT91PS_TDES) 0xFFFA8000) // (TDES) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_ISRAM ((char *) 0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE ((unsigned int) 0x00008000) // Internal SRAM size in byte (32 Kbyte) +#define AT91C_IFLASH ((char *) 0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE ((unsigned int) 0x00020000) // Internal ROM size in byte (128 Kbyte) + +#endif diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X128_inc.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X128_inc.h new file mode 100644 index 0000000..96b680a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X128_inc.h @@ -0,0 +1,2446 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +// DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +// OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7X128.h +// Object : AT91SAM7X128 definitions +// Generated : AT91 SW Application Group 05/20/2005 (16:22:23) +// +// CVS Reference : /AT91SAM7X128.pl/1.14/Tue May 10 12:12:05 2005// +// CVS Reference : /SYS_SAM7X.pl/1.3/Tue Feb 1 17:01:43 2005// +// CVS Reference : /MC_SAM7X.pl/1.2/Fri May 20 14:13:04 2005// +// CVS Reference : /PMC_SAM7X.pl/1.4/Tue Feb 8 13:58:10 2005// +// CVS Reference : /RSTC_SAM7X.pl/1.1/Tue Feb 1 16:16:26 2005// +// CVS Reference : /UDP_SAM7X.pl/1.1/Tue May 10 11:35:35 2005// +// CVS Reference : /PWM_SAM7X.pl/1.1/Tue May 10 11:53:07 2005// +// CVS Reference : /AIC_6075B.pl/1.3/Fri May 20 14:01:30 2005// +// CVS Reference : /PIO_6057A.pl/1.2/Thu Feb 3 10:18:28 2005// +// CVS Reference : /RTTC_6081A.pl/1.2/Tue Nov 9 14:43:58 2004// +// CVS Reference : /PITC_6079A.pl/1.2/Tue Nov 9 14:43:56 2004// +// CVS Reference : /WDTC_6080A.pl/1.3/Tue Nov 9 14:44:00 2004// +// CVS Reference : /VREG_6085B.pl/1.1/Tue Feb 1 16:05:48 2005// +// CVS Reference : /PDC_6074C.pl/1.2/Thu Feb 3 08:48:54 2005// +// CVS Reference : /DBGU_6059D.pl/1.1/Mon Jan 31 13:15:32 2005// +// CVS Reference : /SPI_6088D.pl/1.3/Fri May 20 14:08:59 2005// +// CVS Reference : /US_6089C.pl/1.1/Mon Jul 12 18:23:26 2004// +// CVS Reference : /SSC_6078A.pl/1.1/Tue Jul 13 07:45:40 2004// +// CVS Reference : /TWI_6061A.pl/1.1/Tue Jul 13 07:38:06 2004// +// CVS Reference : /TC_6082A.pl/1.7/Fri Mar 11 12:52:17 2005// +// CVS Reference : /CAN_6019B.pl/1.1/Tue Mar 8 12:42:22 2005// +// CVS Reference : /EMACB_6119A.pl/1.5/Thu Feb 3 15:52:04 2005// +// CVS Reference : /ADC_6051C.pl/1.1/Fri Oct 17 09:12:38 2003// +// CVS Reference : /AES_6149A.pl/1.10/Mon Feb 7 09:44:25 2005// +// CVS Reference : /DES3_6150A.pl/1.1/Mon Jan 17 08:34:31 2005// +// ---------------------------------------------------------------------------- + +// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +// *** Register offset in AT91S_AIC structure *** +#define AIC_SMR ( 0) // Source Mode Register +#define AIC_SVR (128) // Source Vector Register +#define AIC_IVR (256) // IRQ Vector Register +#define AIC_FVR (260) // FIQ Vector Register +#define AIC_ISR (264) // Interrupt Status Register +#define AIC_IPR (268) // Interrupt Pending Register +#define AIC_IMR (272) // Interrupt Mask Register +#define AIC_CISR (276) // Core Interrupt Status Register +#define AIC_IECR (288) // Interrupt Enable Command Register +#define AIC_IDCR (292) // Interrupt Disable Command Register +#define AIC_ICCR (296) // Interrupt Clear Command Register +#define AIC_ISCR (300) // Interrupt Set Command Register +#define AIC_EOICR (304) // End of Interrupt Command Register +#define AIC_SPU (308) // Spurious Vector Register +#define AIC_DCR (312) // Debug Control Register (Protect) +#define AIC_FFER (320) // Fast Forcing Enable Register +#define AIC_FFDR (324) // Fast Forcing Disable Register +#define AIC_FFSR (328) // Fast Forcing Status Register +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR (0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST (0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST (0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE (0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL (0x0 << 5) // (AIC) Internal Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL (0x0 << 5) // (AIC) External Sources Code Label Low-level Sensitive +#define AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE (0x1 << 5) // (AIC) Internal Sources Code Label Positive Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE (0x1 << 5) // (AIC) External Sources Code Label Negative Edge triggered +#define AT91C_AIC_SRCTYPE_HIGH_LEVEL (0x2 << 5) // (AIC) Internal Or External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_POSITIVE_EDGE (0x3 << 5) // (AIC) Internal Or External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ (0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ (0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT (0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK (0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// ***************************************************************************** +// *** Register offset in AT91S_PDC structure *** +#define PDC_RPR ( 0) // Receive Pointer Register +#define PDC_RCR ( 4) // Receive Counter Register +#define PDC_TPR ( 8) // Transmit Pointer Register +#define PDC_TCR (12) // Transmit Counter Register +#define PDC_RNPR (16) // Receive Next Pointer Register +#define PDC_RNCR (20) // Receive Next Counter Register +#define PDC_TNPR (24) // Transmit Next Pointer Register +#define PDC_TNCR (28) // Transmit Next Counter Register +#define PDC_PTCR (32) // PDC Transfer Control Register +#define PDC_PTSR (36) // PDC Transfer Status Register +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN (0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS (0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN (0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS (0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +// *** Register offset in AT91S_DBGU structure *** +#define DBGU_CR ( 0) // Control Register +#define DBGU_MR ( 4) // Mode Register +#define DBGU_IER ( 8) // Interrupt Enable Register +#define DBGU_IDR (12) // Interrupt Disable Register +#define DBGU_IMR (16) // Interrupt Mask Register +#define DBGU_CSR (20) // Channel Status Register +#define DBGU_RHR (24) // Receiver Holding Register +#define DBGU_THR (28) // Transmitter Holding Register +#define DBGU_BRGR (32) // Baud Rate Generator Register +#define DBGU_CIDR (64) // Chip ID Register +#define DBGU_EXID (68) // Chip ID Extension Register +#define DBGU_FNTR (72) // Force NTRST Register +#define DBGU_RPR (256) // Receive Pointer Register +#define DBGU_RCR (260) // Receive Counter Register +#define DBGU_TPR (264) // Transmit Pointer Register +#define DBGU_TCR (268) // Transmit Counter Register +#define DBGU_RNPR (272) // Receive Next Pointer Register +#define DBGU_RNCR (276) // Receive Next Counter Register +#define DBGU_TNPR (280) // Transmit Next Pointer Register +#define DBGU_TNCR (284) // Transmit Next Counter Register +#define DBGU_PTCR (288) // PDC Transfer Control Register +#define DBGU_PTSR (292) // PDC Transfer Status Register +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX (0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX (0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN (0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS (0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN (0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS (0x1 << 7) // (DBGU) Transmitter Disable +#define AT91C_US_RSTSTA (0x1 << 8) // (DBGU) Reset Status Bits +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR (0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN (0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD (0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE (0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK (0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE (0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP (0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE (0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL (0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO (0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL (0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE (0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY (0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY (0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX (0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX (0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE (0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME (0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE (0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY (0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE (0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF (0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX (0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX (0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST (0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +// *** Register offset in AT91S_PIO structure *** +#define PIO_PER ( 0) // PIO Enable Register +#define PIO_PDR ( 4) // PIO Disable Register +#define PIO_PSR ( 8) // PIO Status Register +#define PIO_OER (16) // Output Enable Register +#define PIO_ODR (20) // Output Disable Registerr +#define PIO_OSR (24) // Output Status Register +#define PIO_IFER (32) // Input Filter Enable Register +#define PIO_IFDR (36) // Input Filter Disable Register +#define PIO_IFSR (40) // Input Filter Status Register +#define PIO_SODR (48) // Set Output Data Register +#define PIO_CODR (52) // Clear Output Data Register +#define PIO_ODSR (56) // Output Data Status Register +#define PIO_PDSR (60) // Pin Data Status Register +#define PIO_IER (64) // Interrupt Enable Register +#define PIO_IDR (68) // Interrupt Disable Register +#define PIO_IMR (72) // Interrupt Mask Register +#define PIO_ISR (76) // Interrupt Status Register +#define PIO_MDER (80) // Multi-driver Enable Register +#define PIO_MDDR (84) // Multi-driver Disable Register +#define PIO_MDSR (88) // Multi-driver Status Register +#define PIO_PPUDR (96) // Pull-up Disable Register +#define PIO_PPUER (100) // Pull-up Enable Register +#define PIO_PPUSR (104) // Pull-up Status Register +#define PIO_ASR (112) // Select A Register +#define PIO_BSR (116) // Select B Register +#define PIO_ABSR (120) // AB Select Status Register +#define PIO_OWER (160) // Output Write Enable Register +#define PIO_OWDR (164) // Output Write Disable Register +#define PIO_OWSR (168) // Output Write Status Register + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +// *** Register offset in AT91S_CKGR structure *** +#define CKGR_MOR ( 0) // Main Oscillator Register +#define CKGR_MCFR ( 4) // Main Clock Frequency Register +#define CKGR_PLLR (12) // PLL Register +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN (0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS (0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT (0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF (0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY (0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV (0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 (0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS (0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT (0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT (0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 (0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 (0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 (0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 (0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL (0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV (0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 (0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 (0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 (0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +// *** Register offset in AT91S_PMC structure *** +#define PMC_SCER ( 0) // System Clock Enable Register +#define PMC_SCDR ( 4) // System Clock Disable Register +#define PMC_SCSR ( 8) // System Clock Status Register +#define PMC_PCER (16) // Peripheral Clock Enable Register +#define PMC_PCDR (20) // Peripheral Clock Disable Register +#define PMC_PCSR (24) // Peripheral Clock Status Register +#define PMC_MOR (32) // Main Oscillator Register +#define PMC_MCFR (36) // Main Clock Frequency Register +#define PMC_PLLR (44) // PLL Register +#define PMC_MCKR (48) // Master Clock Register +#define PMC_PCKR (64) // Programmable Clock Register +#define PMC_IER (96) // Interrupt Enable Register +#define PMC_IDR (100) // Interrupt Disable Register +#define PMC_SR (104) // Status Register +#define PMC_IMR (108) // Interrupt Mask Register +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK (0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP (0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 (0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 (0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 (0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 (0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS (0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK (0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK (0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK (0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES (0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK (0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 (0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 (0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 (0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 (0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 (0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 (0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS (0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK (0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY (0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY (0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY (0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY (0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY (0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_RSTC structure *** +#define RSTC_RCR ( 0) // Reset Control Register +#define RSTC_RSR ( 4) // Reset Status Register +#define RSTC_RMR ( 8) // Reset Mode Register +// -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_RSTC_PROCRST (0x1 << 0) // (RSTC) Processor Reset +#define AT91C_RSTC_PERRST (0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_RSTC_EXTRST (0x1 << 3) // (RSTC) External Reset +#define AT91C_RSTC_KEY (0xFF << 24) // (RSTC) Password +// -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_RSTC_URSTS (0x1 << 0) // (RSTC) User Reset Status +#define AT91C_RSTC_BODSTS (0x1 << 1) // (RSTC) Brownout Detection Status +#define AT91C_RSTC_RSTTYP (0x7 << 8) // (RSTC) Reset Type +#define AT91C_RSTC_RSTTYP_POWERUP (0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WAKEUP (0x1 << 8) // (RSTC) WakeUp Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WATCHDOG (0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_RSTC_RSTTYP_SOFTWARE (0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_RSTC_RSTTYP_USER (0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_RSTC_RSTTYP_BROWNOUT (0x5 << 8) // (RSTC) Brownout Reset occured. +#define AT91C_RSTC_NRSTL (0x1 << 16) // (RSTC) NRST pin level +#define AT91C_RSTC_SRCMP (0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_RSTC_URSTEN (0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_RSTC_URSTIEN (0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_RSTC_ERSTL (0xF << 8) // (RSTC) User Reset Enable +#define AT91C_RSTC_BODIEN (0x1 << 16) // (RSTC) Brownout Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_RTTC structure *** +#define RTTC_RTMR ( 0) // Real-time Mode Register +#define RTTC_RTAR ( 4) // Real-time Alarm Register +#define RTTC_RTVR ( 8) // Real-time Value Register +#define RTTC_RTSR (12) // Real-time Status Register +// -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_RTTC_RTPRES (0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_RTTC_ALMIEN (0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_RTTC_RTTINCIEN (0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_RTTC_RTTRST (0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_RTTC_ALMV (0x0 << 0) // (RTTC) Alarm Value +// -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_RTTC_CRTV (0x0 << 0) // (RTTC) Current Real-time Value +// -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_RTTC_ALMS (0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_RTTC_RTTINC (0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_PITC structure *** +#define PITC_PIMR ( 0) // Period Interval Mode Register +#define PITC_PISR ( 4) // Period Interval Status Register +#define PITC_PIVR ( 8) // Period Interval Value Register +#define PITC_PIIR (12) // Period Interval Image Register +// -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_PITC_PIV (0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_PITC_PITEN (0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_PITC_PITIEN (0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_PITC_PITS (0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_PITC_CPIV (0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_PITC_PICNT (0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_WDTC structure *** +#define WDTC_WDCR ( 0) // Watchdog Control Register +#define WDTC_WDMR ( 4) // Watchdog Mode Register +#define WDTC_WDSR ( 8) // Watchdog Status Register +// -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_WDTC_WDRSTT (0x1 << 0) // (WDTC) Watchdog Restart +#define AT91C_WDTC_KEY (0xFF << 24) // (WDTC) Watchdog KEY Password +// -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_WDTC_WDV (0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDFIEN (0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_WDTC_WDRSTEN (0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_WDTC_WDRPROC (0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDDIS (0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_WDTC_WDD (0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_WDTC_WDDBGHLT (0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_WDTC_WDIDLEHLT (0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_WDTC_WDUNF (0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_WDTC_WDERR (0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_VREG structure *** +#define VREG_MR ( 0) // Voltage Regulator Mode Register +// -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +#define AT91C_VREG_PSTDBY (0x1 << 0) // (VREG) Voltage Regulator Power Standby Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_MC structure *** +#define MC_RCR ( 0) // MC Remap Control Register +#define MC_ASR ( 4) // MC Abort Status Register +#define MC_AASR ( 8) // MC Abort Address Status Register +#define MC_FMR (96) // MC Flash Mode Register +#define MC_FCR (100) // MC Flash Command Register +#define MC_FSR (104) // MC Flash Status Register +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB (0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD (0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD (0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ (0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE (0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD (0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD (0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP (0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR (0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW (0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH (0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 (0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 (0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 (0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 (0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY (0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE (0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE (0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP (0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS (0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS (0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS (0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS (0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS (0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN (0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD (0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG (0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK (0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK (0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK (0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL (0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM (0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM (0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY (0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN (0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY (0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY (0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 (0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 (0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 (0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 (0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 (0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 (0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 (0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 (0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 (0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 (0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 (0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 (0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 (0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 (0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 (0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 (0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 (0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 (0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 (0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 (0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 (0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 (0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 (0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 (0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +// *** Register offset in AT91S_SPI structure *** +#define SPI_CR ( 0) // Control Register +#define SPI_MR ( 4) // Mode Register +#define SPI_RDR ( 8) // Receive Data Register +#define SPI_TDR (12) // Transmit Data Register +#define SPI_SR (16) // Status Register +#define SPI_IER (20) // Interrupt Enable Register +#define SPI_IDR (24) // Interrupt Disable Register +#define SPI_IMR (28) // Interrupt Mask Register +#define SPI_CSR (48) // Chip Select Register +#define SPI_RPR (256) // Receive Pointer Register +#define SPI_RCR (260) // Receive Counter Register +#define SPI_TPR (264) // Transmit Pointer Register +#define SPI_TCR (268) // Transmit Counter Register +#define SPI_RNPR (272) // Receive Next Pointer Register +#define SPI_RNCR (276) // Receive Next Counter Register +#define SPI_TNPR (280) // Transmit Next Pointer Register +#define SPI_TNCR (284) // Transmit Next Counter Register +#define SPI_PTCR (288) // PDC Transfer Control Register +#define SPI_PTSR (292) // PDC Transfer Status Register +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN (0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS (0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST (0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER (0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR (0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS (0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED (0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE (0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC (0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV (0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS (0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB (0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS (0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS (0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD (0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS (0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD (0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS (0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF (0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE (0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF (0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES (0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX (0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX (0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF (0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE (0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR (0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY (0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS (0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL (0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA (0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT (0x1 << 3) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS (0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 (0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 (0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 (0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 (0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 (0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 (0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 (0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 (0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 (0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR (0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS (0xFF << 16) // (SPI) Delay Before SPCK +#define AT91C_SPI_DLYBCT (0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +// *** Register offset in AT91S_USART structure *** +#define US_CR ( 0) // Control Register +#define US_MR ( 4) // Mode Register +#define US_IER ( 8) // Interrupt Enable Register +#define US_IDR (12) // Interrupt Disable Register +#define US_IMR (16) // Interrupt Mask Register +#define US_CSR (20) // Channel Status Register +#define US_RHR (24) // Receiver Holding Register +#define US_THR (28) // Transmitter Holding Register +#define US_BRGR (32) // Baud Rate Generator Register +#define US_RTOR (36) // Receiver Time-out Register +#define US_TTGR (40) // Transmitter Time-guard Register +#define US_FIDI (64) // FI_DI_Ratio Register +#define US_NER (68) // Nb Errors Register +#define US_IF (76) // IRDA_FILTER Register +#define US_RPR (256) // Receive Pointer Register +#define US_RCR (260) // Receive Counter Register +#define US_TPR (264) // Transmit Pointer Register +#define US_TCR (268) // Transmit Counter Register +#define US_RNPR (272) // Receive Next Pointer Register +#define US_RNCR (276) // Receive Next Counter Register +#define US_TNPR (280) // Transmit Next Pointer Register +#define US_TNCR (284) // Transmit Next Counter Register +#define US_PTCR (288) // PDC Transfer Control Register +#define US_PTSR (292) // PDC Transfer Status Register +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_STTBRK (0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK (0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO (0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA (0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT (0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK (0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO (0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN (0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS (0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN (0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS (0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE (0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL (0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 (0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH (0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM (0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 (0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 (0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA (0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH (0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS (0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK (0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 (0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW (0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT (0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL (0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS (0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS (0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS (0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS (0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC (0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP (0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT (0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT (0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT (0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF (0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 (0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO (0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER (0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK (0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK (0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER (0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER (0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK (0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT (0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION (0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK (0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC (0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC (0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC (0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC (0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI (0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR (0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD (0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS (0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_SSC structure *** +#define SSC_CR ( 0) // Control Register +#define SSC_CMR ( 4) // Clock Mode Register +#define SSC_RCMR (16) // Receive Clock ModeRegister +#define SSC_RFMR (20) // Receive Frame Mode Register +#define SSC_TCMR (24) // Transmit Clock Mode Register +#define SSC_TFMR (28) // Transmit Frame Mode Register +#define SSC_RHR (32) // Receive Holding Register +#define SSC_THR (36) // Transmit Holding Register +#define SSC_RSHR (48) // Receive Sync Holding Register +#define SSC_TSHR (52) // Transmit Sync Holding Register +#define SSC_SR (64) // Status Register +#define SSC_IER (68) // Interrupt Enable Register +#define SSC_IDR (72) // Interrupt Disable Register +#define SSC_IMR (76) // Interrupt Mask Register +#define SSC_RPR (256) // Receive Pointer Register +#define SSC_RCR (260) // Receive Counter Register +#define SSC_TPR (264) // Transmit Pointer Register +#define SSC_TCR (268) // Transmit Counter Register +#define SSC_RNPR (272) // Receive Next Pointer Register +#define SSC_RNCR (276) // Receive Next Counter Register +#define SSC_TNPR (280) // Transmit Next Pointer Register +#define SSC_TNCR (284) // Transmit Next Counter Register +#define SSC_PTCR (288) // PDC Transfer Control Register +#define SSC_PTSR (292) // PDC Transfer Status Register +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN (0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS (0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN (0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS (0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST (0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS (0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV (0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK (0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK (0x2) // (SSC) RK pin +#define AT91C_SSC_CKO (0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE (0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS (0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX (0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI (0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_START (0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS (0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX (0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF (0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF (0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF (0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF (0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF (0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF (0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 (0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STTDLY (0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD (0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN (0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP (0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF (0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB (0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN (0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS (0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE (0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE (0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE (0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW (0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH (0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE (0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE (0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF (0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN (0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY (0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY (0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX (0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE (0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY (0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN (0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX (0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF (0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_TXSYN (0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN (0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA (0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA (0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +// *** Register offset in AT91S_TWI structure *** +#define TWI_CR ( 0) // Control Register +#define TWI_MMR ( 4) // Master Mode Register +#define TWI_IADR (12) // Internal Address Register +#define TWI_CWGR (16) // Clock Waveform Generator Register +#define TWI_SR (32) // Status Register +#define TWI_IER (36) // Interrupt Enable Register +#define TWI_IDR (40) // Interrupt Disable Register +#define TWI_IMR (44) // Interrupt Mask Register +#define TWI_RHR (48) // Receive Holding Register +#define TWI_THR (52) // Transmit Holding Register +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START (0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP (0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN (0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS (0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SWRST (0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ (0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO (0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE (0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE (0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE (0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD (0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR (0x7F << 16) // (TWI) Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV (0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV (0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV (0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP (0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY (0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY (0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_OVRE (0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE (0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK (0x1 << 8) // (TWI) Not Acknowledged +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +// *** Register offset in AT91S_PWMC_CH structure *** +#define PWMC_CMR ( 0) // Channel Mode Register +#define PWMC_CDTYR ( 4) // Channel Duty Cycle Register +#define PWMC_CPRDR ( 8) // Channel Period Register +#define PWMC_CCNTR (12) // Channel Counter Register +#define PWMC_CUPDR (16) // Channel Update Register +#define PWMC_Reserved (20) // Reserved +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE (0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK (0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA (0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB (0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG (0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL (0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD (0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY (0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD (0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT (0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD (0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_PWMC structure *** +#define PWMC_MR ( 0) // PWMC Mode Register +#define PWMC_ENA ( 4) // PWMC Enable Register +#define PWMC_DIS ( 8) // PWMC Disable Register +#define PWMC_SR (12) // PWMC Status Register +#define PWMC_IER (16) // PWMC Interrupt Enable Register +#define PWMC_IDR (20) // PWMC Interrupt Disable Register +#define PWMC_IMR (24) // PWMC Interrupt Mask Register +#define PWMC_ISR (28) // PWMC Interrupt Status Register +#define PWMC_VR (252) // PWMC Version Register +#define PWMC_CH (512) // PWMC Channel +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA (0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA (0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK (0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB (0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB (0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK (0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 (0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 (0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 (0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 (0x1 << 3) // (PWMC) Channel ID 3 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +// *** Register offset in AT91S_UDP structure *** +#define UDP_NUM ( 0) // Frame Number Register +#define UDP_GLBSTATE ( 4) // Global State Register +#define UDP_FADDR ( 8) // Function Address Register +#define UDP_IER (16) // Interrupt Enable Register +#define UDP_IDR (20) // Interrupt Disable Register +#define UDP_IMR (24) // Interrupt Mask Register +#define UDP_ISR (28) // Interrupt Status Register +#define UDP_ICR (32) // Interrupt Clear Register +#define UDP_RSTEP (40) // Reset Endpoint Register +#define UDP_CSR (48) // Endpoint Control and Status Register +#define UDP_FDR (80) // Endpoint FIFO Data Register +#define UDP_TXVC (116) // Transceiver Control Register +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM (0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR (0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK (0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN (0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG (0x1 << 1) // (UDP) Configured +#define AT91C_UDP_ESR (0x1 << 2) // (UDP) Enable Send Resume +#define AT91C_UDP_RSMINPR (0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +#define AT91C_UDP_RMWUPE (0x1 << 4) // (UDP) Remote Wake Up Enable +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD (0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN (0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 (0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 (0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 (0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 (0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 (0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 (0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_RXSUSP (0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM (0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM (0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT (0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP (0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES (0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 (0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 (0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 (0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 (0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 (0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 (0x1 << 5) // (UDP) Reset Endpoint 5 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP (0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 (0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP (0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR (0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY (0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL (0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 (0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR (0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE (0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL (0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT (0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT (0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT (0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN (0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN (0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN (0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE (0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS (0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT (0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO +// -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +#define AT91C_UDP_TXVDIS (0x1 << 8) // (UDP) +#define AT91C_UDP_PUON (0x1 << 9) // (UDP) Pull-up ON + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +// *** Register offset in AT91S_TC structure *** +#define TC_CCR ( 0) // Channel Control Register +#define TC_CMR ( 4) // Channel Mode Register (Capture Mode / Waveform Mode) +#define TC_CV (16) // Counter Value +#define TC_RA (20) // Register A +#define TC_RB (24) // Register B +#define TC_RC (28) // Register C +#define TC_SR (32) // Status Register +#define TC_IER (36) // Interrupt Enable Register +#define TC_IDR (40) // Interrupt Disable Register +#define TC_IMR (44) // Interrupt Mask Register +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN (0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS (0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG (0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS (0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK (0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK (0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK (0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK (0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK (0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 (0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 (0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 (0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI (0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST (0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE (0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 (0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 (0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 (0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP (0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP (0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_CPCDIS (0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_LDBDIS (0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_ETRGEDG (0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE (0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING (0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING (0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH (0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG (0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE (0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING (0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING (0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH (0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVT (0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_TIOB (0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_XC0 (0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_XC1 (0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_XC2 (0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ABETRG (0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_ENETRG (0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL (0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP (0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN (0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO (0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO (0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG (0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE (0x1 << 15) // (TC) +#define AT91C_TC_ACPA (0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE (0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET (0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR (0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE (0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRA (0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE (0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING (0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING (0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH (0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC (0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE (0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET (0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR (0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE (0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_LDRB (0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE (0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING (0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING (0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH (0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_AEEVT (0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE (0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET (0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR (0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE (0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG (0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE (0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET (0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR (0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE (0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB (0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE (0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET (0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR (0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE (0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC (0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE (0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET (0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR (0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE (0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT (0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE (0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET (0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR (0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE (0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG (0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE (0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET (0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR (0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE (0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS (0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS (0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS (0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS (0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS (0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS (0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS (0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRGS (0x1 << 7) // (TC) External Trigger +#define AT91C_TC_CLKSTA (0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA (0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB (0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +// *** Register offset in AT91S_TCB structure *** +#define TCB_TC0 ( 0) // TC Channel 0 +#define TCB_TC1 (64) // TC Channel 1 +#define TCB_TC2 (128) // TC Channel 2 +#define TCB_BCR (192) // TC Block Control Register +#define TCB_BMR (196) // TC Block Mode Register +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC (0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S (0x3 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 (0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE (0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 (0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 (0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S (0x3 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 (0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE (0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 (0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 (0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S (0x3 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 (0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE (0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 (0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA1 (0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// ***************************************************************************** +// *** Register offset in AT91S_CAN_MB structure *** +#define CAN_MB_MMR ( 0) // MailBox Mode Register +#define CAN_MB_MAM ( 4) // MailBox Acceptance Mask Register +#define CAN_MB_MID ( 8) // MailBox ID Register +#define CAN_MB_MFID (12) // MailBox Family ID Register +#define CAN_MB_MSR (16) // MailBox Status Register +#define CAN_MB_MDL (20) // MailBox Data Low Register +#define CAN_MB_MDH (24) // MailBox Data High Register +#define CAN_MB_MCR (28) // MailBox Control Register +// -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +#define AT91C_CAN_MTIMEMARK (0xFFFF << 0) // (CAN_MB) Mailbox Timemark +#define AT91C_CAN_PRIOR (0xF << 16) // (CAN_MB) Mailbox Priority +#define AT91C_CAN_MOT (0x7 << 24) // (CAN_MB) Mailbox Object Type +#define AT91C_CAN_MOT_DIS (0x0 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RX (0x1 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RXOVERWRITE (0x2 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_TX (0x3 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_CONSUMER (0x4 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_PRODUCER (0x5 << 24) // (CAN_MB) +// -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +#define AT91C_CAN_MIDvB (0x3FFFF << 0) // (CAN_MB) Complementary bits for identifier in extended mode +#define AT91C_CAN_MIDvA (0x7FF << 18) // (CAN_MB) Identifier for standard frame mode +#define AT91C_CAN_MIDE (0x1 << 29) // (CAN_MB) Identifier Version +// -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +#define AT91C_CAN_MTIMESTAMP (0xFFFF << 0) // (CAN_MB) Timer Value +#define AT91C_CAN_MDLC (0xF << 16) // (CAN_MB) Mailbox Data Length Code +#define AT91C_CAN_MRTR (0x1 << 20) // (CAN_MB) Mailbox Remote Transmission Request +#define AT91C_CAN_MABT (0x1 << 22) // (CAN_MB) Mailbox Message Abort +#define AT91C_CAN_MRDY (0x1 << 23) // (CAN_MB) Mailbox Ready +#define AT91C_CAN_MMI (0x1 << 24) // (CAN_MB) Mailbox Message Ignored +// -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +#define AT91C_CAN_MACR (0x1 << 22) // (CAN_MB) Abort Request for Mailbox +#define AT91C_CAN_MTCR (0x1 << 23) // (CAN_MB) Mailbox Transfer Command + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network Interface +// ***************************************************************************** +// *** Register offset in AT91S_CAN structure *** +#define CAN_MR ( 0) // Mode Register +#define CAN_IER ( 4) // Interrupt Enable Register +#define CAN_IDR ( 8) // Interrupt Disable Register +#define CAN_IMR (12) // Interrupt Mask Register +#define CAN_SR (16) // Status Register +#define CAN_BR (20) // Baudrate Register +#define CAN_TIM (24) // Timer Register +#define CAN_TIMESTP (28) // Time Stamp Register +#define CAN_ECR (32) // Error Counter Register +#define CAN_TCR (36) // Transfer Command Register +#define CAN_ACR (40) // Abort Command Register +#define CAN_VR (252) // Version Register +#define CAN_MB0 (512) // CAN Mailbox 0 +#define CAN_MB1 (544) // CAN Mailbox 1 +#define CAN_MB2 (576) // CAN Mailbox 2 +#define CAN_MB3 (608) // CAN Mailbox 3 +#define CAN_MB4 (640) // CAN Mailbox 4 +#define CAN_MB5 (672) // CAN Mailbox 5 +#define CAN_MB6 (704) // CAN Mailbox 6 +#define CAN_MB7 (736) // CAN Mailbox 7 +#define CAN_MB8 (768) // CAN Mailbox 8 +#define CAN_MB9 (800) // CAN Mailbox 9 +#define CAN_MB10 (832) // CAN Mailbox 10 +#define CAN_MB11 (864) // CAN Mailbox 11 +#define CAN_MB12 (896) // CAN Mailbox 12 +#define CAN_MB13 (928) // CAN Mailbox 13 +#define CAN_MB14 (960) // CAN Mailbox 14 +#define CAN_MB15 (992) // CAN Mailbox 15 +// -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +#define AT91C_CAN_CANEN (0x1 << 0) // (CAN) CAN Controller Enable +#define AT91C_CAN_LPM (0x1 << 1) // (CAN) Disable/Enable Low Power Mode +#define AT91C_CAN_ABM (0x1 << 2) // (CAN) Disable/Enable Autobaud/Listen Mode +#define AT91C_CAN_OVL (0x1 << 3) // (CAN) Disable/Enable Overload Frame +#define AT91C_CAN_TEOF (0x1 << 4) // (CAN) Time Stamp messages at each end of Frame +#define AT91C_CAN_TTM (0x1 << 5) // (CAN) Disable/Enable Time Trigger Mode +#define AT91C_CAN_TIMFRZ (0x1 << 6) // (CAN) Enable Timer Freeze +#define AT91C_CAN_DRPT (0x1 << 7) // (CAN) Disable Repeat +// -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +#define AT91C_CAN_MB0 (0x1 << 0) // (CAN) Mailbox 0 Flag +#define AT91C_CAN_MB1 (0x1 << 1) // (CAN) Mailbox 1 Flag +#define AT91C_CAN_MB2 (0x1 << 2) // (CAN) Mailbox 2 Flag +#define AT91C_CAN_MB3 (0x1 << 3) // (CAN) Mailbox 3 Flag +#define AT91C_CAN_MB4 (0x1 << 4) // (CAN) Mailbox 4 Flag +#define AT91C_CAN_MB5 (0x1 << 5) // (CAN) Mailbox 5 Flag +#define AT91C_CAN_MB6 (0x1 << 6) // (CAN) Mailbox 6 Flag +#define AT91C_CAN_MB7 (0x1 << 7) // (CAN) Mailbox 7 Flag +#define AT91C_CAN_MB8 (0x1 << 8) // (CAN) Mailbox 8 Flag +#define AT91C_CAN_MB9 (0x1 << 9) // (CAN) Mailbox 9 Flag +#define AT91C_CAN_MB10 (0x1 << 10) // (CAN) Mailbox 10 Flag +#define AT91C_CAN_MB11 (0x1 << 11) // (CAN) Mailbox 11 Flag +#define AT91C_CAN_MB12 (0x1 << 12) // (CAN) Mailbox 12 Flag +#define AT91C_CAN_MB13 (0x1 << 13) // (CAN) Mailbox 13 Flag +#define AT91C_CAN_MB14 (0x1 << 14) // (CAN) Mailbox 14 Flag +#define AT91C_CAN_MB15 (0x1 << 15) // (CAN) Mailbox 15 Flag +#define AT91C_CAN_ERRA (0x1 << 16) // (CAN) Error Active Mode Flag +#define AT91C_CAN_WARN (0x1 << 17) // (CAN) Warning Limit Flag +#define AT91C_CAN_ERRP (0x1 << 18) // (CAN) Error Passive Mode Flag +#define AT91C_CAN_BOFF (0x1 << 19) // (CAN) Bus Off Mode Flag +#define AT91C_CAN_SLEEP (0x1 << 20) // (CAN) Sleep Flag +#define AT91C_CAN_WAKEUP (0x1 << 21) // (CAN) Wakeup Flag +#define AT91C_CAN_TOVF (0x1 << 22) // (CAN) Timer Overflow Flag +#define AT91C_CAN_TSTP (0x1 << 23) // (CAN) Timestamp Flag +#define AT91C_CAN_CERR (0x1 << 24) // (CAN) CRC Error +#define AT91C_CAN_SERR (0x1 << 25) // (CAN) Stuffing Error +#define AT91C_CAN_AERR (0x1 << 26) // (CAN) Acknowledgment Error +#define AT91C_CAN_FERR (0x1 << 27) // (CAN) Form Error +#define AT91C_CAN_BERR (0x1 << 28) // (CAN) Bit Error +// -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +#define AT91C_CAN_RBSY (0x1 << 29) // (CAN) Receiver Busy +#define AT91C_CAN_TBSY (0x1 << 30) // (CAN) Transmitter Busy +#define AT91C_CAN_OVLY (0x1 << 31) // (CAN) Overload Busy +// -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +#define AT91C_CAN_PHASE2 (0x7 << 0) // (CAN) Phase 2 segment +#define AT91C_CAN_PHASE1 (0x7 << 4) // (CAN) Phase 1 segment +#define AT91C_CAN_PROPAG (0x7 << 8) // (CAN) Programmation time segment +#define AT91C_CAN_SYNC (0x3 << 12) // (CAN) Re-synchronization jump width segment +#define AT91C_CAN_BRP (0x7F << 16) // (CAN) Baudrate Prescaler +#define AT91C_CAN_SMP (0x1 << 24) // (CAN) Sampling mode +// -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +#define AT91C_CAN_TIMER (0xFFFF << 0) // (CAN) Timer field +// -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +#define AT91C_CAN_REC (0xFF << 0) // (CAN) Receive Error Counter +#define AT91C_CAN_TEC (0xFF << 16) // (CAN) Transmit Error Counter +// -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +#define AT91C_CAN_TIMRST (0x1 << 31) // (CAN) Timer Reset Field +// -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// ***************************************************************************** +// *** Register offset in AT91S_EMAC structure *** +#define EMAC_NCR ( 0) // Network Control Register +#define EMAC_NCFGR ( 4) // Network Configuration Register +#define EMAC_NSR ( 8) // Network Status Register +#define EMAC_TSR (20) // Transmit Status Register +#define EMAC_RBQP (24) // Receive Buffer Queue Pointer +#define EMAC_TBQP (28) // Transmit Buffer Queue Pointer +#define EMAC_RSR (32) // Receive Status Register +#define EMAC_ISR (36) // Interrupt Status Register +#define EMAC_IER (40) // Interrupt Enable Register +#define EMAC_IDR (44) // Interrupt Disable Register +#define EMAC_IMR (48) // Interrupt Mask Register +#define EMAC_MAN (52) // PHY Maintenance Register +#define EMAC_PTR (56) // Pause Time Register +#define EMAC_PFR (60) // Pause Frames received Register +#define EMAC_FTO (64) // Frames Transmitted OK Register +#define EMAC_SCF (68) // Single Collision Frame Register +#define EMAC_MCF (72) // Multiple Collision Frame Register +#define EMAC_FRO (76) // Frames Received OK Register +#define EMAC_FCSE (80) // Frame Check Sequence Error Register +#define EMAC_ALE (84) // Alignment Error Register +#define EMAC_DTF (88) // Deferred Transmission Frame Register +#define EMAC_LCOL (92) // Late Collision Register +#define EMAC_ECOL (96) // Excessive Collision Register +#define EMAC_TUND (100) // Transmit Underrun Error Register +#define EMAC_CSE (104) // Carrier Sense Error Register +#define EMAC_RRE (108) // Receive Ressource Error Register +#define EMAC_ROV (112) // Receive Overrun Errors Register +#define EMAC_RSE (116) // Receive Symbol Errors Register +#define EMAC_ELE (120) // Excessive Length Errors Register +#define EMAC_RJA (124) // Receive Jabbers Register +#define EMAC_USF (128) // Undersize Frames Register +#define EMAC_STE (132) // SQE Test Error Register +#define EMAC_RLE (136) // Receive Length Field Mismatch Register +#define EMAC_TPF (140) // Transmitted Pause Frames Register +#define EMAC_HRB (144) // Hash Address Bottom[31:0] +#define EMAC_HRT (148) // Hash Address Top[63:32] +#define EMAC_SA1L (152) // Specific Address 1 Bottom, First 4 bytes +#define EMAC_SA1H (156) // Specific Address 1 Top, Last 2 bytes +#define EMAC_SA2L (160) // Specific Address 2 Bottom, First 4 bytes +#define EMAC_SA2H (164) // Specific Address 2 Top, Last 2 bytes +#define EMAC_SA3L (168) // Specific Address 3 Bottom, First 4 bytes +#define EMAC_SA3H (172) // Specific Address 3 Top, Last 2 bytes +#define EMAC_SA4L (176) // Specific Address 4 Bottom, First 4 bytes +#define EMAC_SA4H (180) // Specific Address 4 Top, Last 2 bytes +#define EMAC_TID (184) // Type ID Checking Register +#define EMAC_TPQ (188) // Transmit Pause Quantum Register +#define EMAC_USRIO (192) // USER Input/Output Register +#define EMAC_WOL (196) // Wake On LAN Register +#define EMAC_REV (252) // Revision Register +// -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +#define AT91C_EMAC_LB (0x1 << 0) // (EMAC) Loopback. Optional. When set, loopback signal is at high level. +#define AT91C_EMAC_LLB (0x1 << 1) // (EMAC) Loopback local. +#define AT91C_EMAC_RE (0x1 << 2) // (EMAC) Receive enable. +#define AT91C_EMAC_TE (0x1 << 3) // (EMAC) Transmit enable. +#define AT91C_EMAC_MPE (0x1 << 4) // (EMAC) Management port enable. +#define AT91C_EMAC_CLRSTAT (0x1 << 5) // (EMAC) Clear statistics registers. +#define AT91C_EMAC_INCSTAT (0x1 << 6) // (EMAC) Increment statistics registers. +#define AT91C_EMAC_WESTAT (0x1 << 7) // (EMAC) Write enable for statistics registers. +#define AT91C_EMAC_BP (0x1 << 8) // (EMAC) Back pressure. +#define AT91C_EMAC_TSTART (0x1 << 9) // (EMAC) Start Transmission. +#define AT91C_EMAC_THALT (0x1 << 10) // (EMAC) Transmission Halt. +#define AT91C_EMAC_TPFR (0x1 << 11) // (EMAC) Transmit pause frame +#define AT91C_EMAC_TZQ (0x1 << 12) // (EMAC) Transmit zero quantum pause frame +// -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +#define AT91C_EMAC_SPD (0x1 << 0) // (EMAC) Speed. +#define AT91C_EMAC_FD (0x1 << 1) // (EMAC) Full duplex. +#define AT91C_EMAC_JFRAME (0x1 << 3) // (EMAC) Jumbo Frames. +#define AT91C_EMAC_CAF (0x1 << 4) // (EMAC) Copy all frames. +#define AT91C_EMAC_NBC (0x1 << 5) // (EMAC) No broadcast. +#define AT91C_EMAC_MTI (0x1 << 6) // (EMAC) Multicast hash event enable +#define AT91C_EMAC_UNI (0x1 << 7) // (EMAC) Unicast hash enable. +#define AT91C_EMAC_BIG (0x1 << 8) // (EMAC) Receive 1522 bytes. +#define AT91C_EMAC_EAE (0x1 << 9) // (EMAC) External address match enable. +#define AT91C_EMAC_CLK (0x3 << 10) // (EMAC) +#define AT91C_EMAC_CLK_HCLK_8 (0x0 << 10) // (EMAC) HCLK divided by 8 +#define AT91C_EMAC_CLK_HCLK_16 (0x1 << 10) // (EMAC) HCLK divided by 16 +#define AT91C_EMAC_CLK_HCLK_32 (0x2 << 10) // (EMAC) HCLK divided by 32 +#define AT91C_EMAC_CLK_HCLK_64 (0x3 << 10) // (EMAC) HCLK divided by 64 +#define AT91C_EMAC_RTY (0x1 << 12) // (EMAC) +#define AT91C_EMAC_PAE (0x1 << 13) // (EMAC) +#define AT91C_EMAC_RBOF (0x3 << 14) // (EMAC) +#define AT91C_EMAC_RBOF_OFFSET_0 (0x0 << 14) // (EMAC) no offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_1 (0x1 << 14) // (EMAC) one byte offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_2 (0x2 << 14) // (EMAC) two bytes offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_3 (0x3 << 14) // (EMAC) three bytes offset from start of receive buffer +#define AT91C_EMAC_RLCE (0x1 << 16) // (EMAC) Receive Length field Checking Enable +#define AT91C_EMAC_DRFCS (0x1 << 17) // (EMAC) Discard Receive FCS +#define AT91C_EMAC_EFRHD (0x1 << 18) // (EMAC) +#define AT91C_EMAC_IRXFCS (0x1 << 19) // (EMAC) Ignore RX FCS +// -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +#define AT91C_EMAC_LINKR (0x1 << 0) // (EMAC) +#define AT91C_EMAC_MDIO (0x1 << 1) // (EMAC) +#define AT91C_EMAC_IDLE (0x1 << 2) // (EMAC) +// -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +#define AT91C_EMAC_UBR (0x1 << 0) // (EMAC) +#define AT91C_EMAC_COL (0x1 << 1) // (EMAC) +#define AT91C_EMAC_RLES (0x1 << 2) // (EMAC) +#define AT91C_EMAC_TGO (0x1 << 3) // (EMAC) Transmit Go +#define AT91C_EMAC_BEX (0x1 << 4) // (EMAC) Buffers exhausted mid frame +#define AT91C_EMAC_COMP (0x1 << 5) // (EMAC) +#define AT91C_EMAC_UND (0x1 << 6) // (EMAC) +// -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +#define AT91C_EMAC_BNA (0x1 << 0) // (EMAC) +#define AT91C_EMAC_REC (0x1 << 1) // (EMAC) +#define AT91C_EMAC_OVR (0x1 << 2) // (EMAC) +// -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +#define AT91C_EMAC_MFD (0x1 << 0) // (EMAC) +#define AT91C_EMAC_RCOMP (0x1 << 1) // (EMAC) +#define AT91C_EMAC_RXUBR (0x1 << 2) // (EMAC) +#define AT91C_EMAC_TXUBR (0x1 << 3) // (EMAC) +#define AT91C_EMAC_TUNDR (0x1 << 4) // (EMAC) +#define AT91C_EMAC_RLEX (0x1 << 5) // (EMAC) +#define AT91C_EMAC_TXERR (0x1 << 6) // (EMAC) +#define AT91C_EMAC_TCOMP (0x1 << 7) // (EMAC) +#define AT91C_EMAC_LINK (0x1 << 9) // (EMAC) +#define AT91C_EMAC_ROVR (0x1 << 10) // (EMAC) +#define AT91C_EMAC_HRESP (0x1 << 11) // (EMAC) +#define AT91C_EMAC_PFRE (0x1 << 12) // (EMAC) +#define AT91C_EMAC_PTZ (0x1 << 13) // (EMAC) +// -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +#define AT91C_EMAC_DATA (0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_CODE (0x3 << 16) // (EMAC) +#define AT91C_EMAC_REGA (0x1F << 18) // (EMAC) +#define AT91C_EMAC_PHYA (0x1F << 23) // (EMAC) +#define AT91C_EMAC_RW (0x3 << 28) // (EMAC) +#define AT91C_EMAC_SOF (0x3 << 30) // (EMAC) +// -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +#define AT91C_EMAC_RMII (0x1 << 0) // (EMAC) Reduce MII +// -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +#define AT91C_EMAC_IP (0xFFFF << 0) // (EMAC) ARP request IP address +#define AT91C_EMAC_MAG (0x1 << 16) // (EMAC) Magic packet event enable +#define AT91C_EMAC_ARP (0x1 << 17) // (EMAC) ARP request event enable +#define AT91C_EMAC_SA1 (0x1 << 18) // (EMAC) Specific address register 1 event enable +// -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +#define AT91C_EMAC_REVREF (0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_PARTREF (0xFFFF << 16) // (EMAC) + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +// *** Register offset in AT91S_ADC structure *** +#define ADC_CR ( 0) // ADC Control Register +#define ADC_MR ( 4) // ADC Mode Register +#define ADC_CHER (16) // ADC Channel Enable Register +#define ADC_CHDR (20) // ADC Channel Disable Register +#define ADC_CHSR (24) // ADC Channel Status Register +#define ADC_SR (28) // ADC Status Register +#define ADC_LCDR (32) // ADC Last Converted Data Register +#define ADC_IER (36) // ADC Interrupt Enable Register +#define ADC_IDR (40) // ADC Interrupt Disable Register +#define ADC_IMR (44) // ADC Interrupt Mask Register +#define ADC_CDR0 (48) // ADC Channel Data Register 0 +#define ADC_CDR1 (52) // ADC Channel Data Register 1 +#define ADC_CDR2 (56) // ADC Channel Data Register 2 +#define ADC_CDR3 (60) // ADC Channel Data Register 3 +#define ADC_CDR4 (64) // ADC Channel Data Register 4 +#define ADC_CDR5 (68) // ADC Channel Data Register 5 +#define ADC_CDR6 (72) // ADC Channel Data Register 6 +#define ADC_CDR7 (76) // ADC Channel Data Register 7 +#define ADC_RPR (256) // Receive Pointer Register +#define ADC_RCR (260) // Receive Counter Register +#define ADC_TPR (264) // Transmit Pointer Register +#define ADC_TCR (268) // Transmit Counter Register +#define ADC_RNPR (272) // Receive Next Pointer Register +#define ADC_RNCR (276) // Receive Next Counter Register +#define ADC_TNPR (280) // Transmit Next Pointer Register +#define ADC_TNCR (284) // Transmit Next Counter Register +#define ADC_PTCR (288) // PDC Transfer Control Register +#define ADC_PTSR (292) // PDC Transfer Status Register +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST (0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START (0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN (0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS (0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN (0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL (0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 (0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 (0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 (0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 (0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 (0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 (0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT (0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES (0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT (0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT (0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP (0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE (0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE (0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL (0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP (0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM (0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 (0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 (0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 (0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 (0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 (0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 (0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 (0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 (0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 (0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 (0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 (0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 (0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 (0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 (0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 (0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 (0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 (0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 (0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 (0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 (0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 (0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 (0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 (0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 (0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY (0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE (0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX (0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF (0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA (0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA (0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// ***************************************************************************** +// *** Register offset in AT91S_AES structure *** +#define AES_CR ( 0) // Control Register +#define AES_MR ( 4) // Mode Register +#define AES_IER (16) // Interrupt Enable Register +#define AES_IDR (20) // Interrupt Disable Register +#define AES_IMR (24) // Interrupt Mask Register +#define AES_ISR (28) // Interrupt Status Register +#define AES_KEYWxR (32) // Key Word x Register +#define AES_IDATAxR (64) // Input Data x Register +#define AES_ODATAxR (80) // Output Data x Register +#define AES_IVxR (96) // Initialization Vector x Register +#define AES_VR (252) // AES Version Register +#define AES_RPR (256) // Receive Pointer Register +#define AES_RCR (260) // Receive Counter Register +#define AES_TPR (264) // Transmit Pointer Register +#define AES_TCR (268) // Transmit Counter Register +#define AES_RNPR (272) // Receive Next Pointer Register +#define AES_RNCR (276) // Receive Next Counter Register +#define AES_TNPR (280) // Transmit Next Pointer Register +#define AES_TNCR (284) // Transmit Next Counter Register +#define AES_PTCR (288) // PDC Transfer Control Register +#define AES_PTSR (292) // PDC Transfer Status Register +// -------- AES_CR : (AES Offset: 0x0) Control Register -------- +#define AT91C_AES_START (0x1 << 0) // (AES) Starts Processing +#define AT91C_AES_SWRST (0x1 << 8) // (AES) Software Reset +#define AT91C_AES_LOADSEED (0x1 << 16) // (AES) Random Number Generator Seed Loading +// -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +#define AT91C_AES_CIPHER (0x1 << 0) // (AES) Processing Mode +#define AT91C_AES_PROCDLY (0xF << 4) // (AES) Processing Delay +#define AT91C_AES_SMOD (0x3 << 8) // (AES) Start Mode +#define AT91C_AES_SMOD_MANUAL (0x0 << 8) // (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +#define AT91C_AES_SMOD_AUTO (0x1 << 8) // (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +#define AT91C_AES_SMOD_PDC (0x2 << 8) // (AES) PDC Mode (cf datasheet). +#define AT91C_AES_OPMOD (0x7 << 12) // (AES) Operation Mode +#define AT91C_AES_OPMOD_ECB (0x0 << 12) // (AES) ECB Electronic CodeBook mode. +#define AT91C_AES_OPMOD_CBC (0x1 << 12) // (AES) CBC Cipher Block Chaining mode. +#define AT91C_AES_OPMOD_OFB (0x2 << 12) // (AES) OFB Output Feedback mode. +#define AT91C_AES_OPMOD_CFB (0x3 << 12) // (AES) CFB Cipher Feedback mode. +#define AT91C_AES_OPMOD_CTR (0x4 << 12) // (AES) CTR Counter mode. +#define AT91C_AES_LOD (0x1 << 15) // (AES) Last Output Data Mode +#define AT91C_AES_CFBS (0x7 << 16) // (AES) Cipher Feedback Data Size +#define AT91C_AES_CFBS_128_BIT (0x0 << 16) // (AES) 128-bit. +#define AT91C_AES_CFBS_64_BIT (0x1 << 16) // (AES) 64-bit. +#define AT91C_AES_CFBS_32_BIT (0x2 << 16) // (AES) 32-bit. +#define AT91C_AES_CFBS_16_BIT (0x3 << 16) // (AES) 16-bit. +#define AT91C_AES_CFBS_8_BIT (0x4 << 16) // (AES) 8-bit. +#define AT91C_AES_CKEY (0xF << 20) // (AES) Countermeasure Key +#define AT91C_AES_CTYPE (0x1F << 24) // (AES) Countermeasure Type +#define AT91C_AES_CTYPE_TYPE1_EN (0x1 << 24) // (AES) Countermeasure type 1 is enabled. +#define AT91C_AES_CTYPE_TYPE2_EN (0x2 << 24) // (AES) Countermeasure type 2 is enabled. +#define AT91C_AES_CTYPE_TYPE3_EN (0x4 << 24) // (AES) Countermeasure type 3 is enabled. +#define AT91C_AES_CTYPE_TYPE4_EN (0x8 << 24) // (AES) Countermeasure type 4 is enabled. +#define AT91C_AES_CTYPE_TYPE5_EN (0x10 << 24) // (AES) Countermeasure type 5 is enabled. +// -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_AES_DATRDY (0x1 << 0) // (AES) DATRDY +#define AT91C_AES_ENDRX (0x1 << 1) // (AES) PDC Read Buffer End +#define AT91C_AES_ENDTX (0x1 << 2) // (AES) PDC Write Buffer End +#define AT91C_AES_RXBUFF (0x1 << 3) // (AES) PDC Read Buffer Full +#define AT91C_AES_TXBUFE (0x1 << 4) // (AES) PDC Write Buffer Empty +#define AT91C_AES_URAD (0x1 << 8) // (AES) Unspecified Register Access Detection +// -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_AES_URAT (0x7 << 12) // (AES) Unspecified Register Access Type Status +#define AT91C_AES_URAT_IN_DAT_WRITE_DATPROC (0x0 << 12) // (AES) Input data register written during the data processing in PDC mode. +#define AT91C_AES_URAT_OUT_DAT_READ_DATPROC (0x1 << 12) // (AES) Output data register read during the data processing. +#define AT91C_AES_URAT_MODEREG_WRITE_DATPROC (0x2 << 12) // (AES) Mode register written during the data processing. +#define AT91C_AES_URAT_OUT_DAT_READ_SUBKEY (0x3 << 12) // (AES) Output data register read during the sub-keys generation. +#define AT91C_AES_URAT_MODEREG_WRITE_SUBKEY (0x4 << 12) // (AES) Mode register written during the sub-keys generation. +#define AT91C_AES_URAT_WO_REG_READ (0x5 << 12) // (AES) Write-only register read access. + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// ***************************************************************************** +// *** Register offset in AT91S_TDES structure *** +#define TDES_CR ( 0) // Control Register +#define TDES_MR ( 4) // Mode Register +#define TDES_IER (16) // Interrupt Enable Register +#define TDES_IDR (20) // Interrupt Disable Register +#define TDES_IMR (24) // Interrupt Mask Register +#define TDES_ISR (28) // Interrupt Status Register +#define TDES_KEY1WxR (32) // Key 1 Word x Register +#define TDES_KEY2WxR (40) // Key 2 Word x Register +#define TDES_KEY3WxR (48) // Key 3 Word x Register +#define TDES_IDATAxR (64) // Input Data x Register +#define TDES_ODATAxR (80) // Output Data x Register +#define TDES_IVxR (96) // Initialization Vector x Register +#define TDES_VR (252) // TDES Version Register +#define TDES_RPR (256) // Receive Pointer Register +#define TDES_RCR (260) // Receive Counter Register +#define TDES_TPR (264) // Transmit Pointer Register +#define TDES_TCR (268) // Transmit Counter Register +#define TDES_RNPR (272) // Receive Next Pointer Register +#define TDES_RNCR (276) // Receive Next Counter Register +#define TDES_TNPR (280) // Transmit Next Pointer Register +#define TDES_TNCR (284) // Transmit Next Counter Register +#define TDES_PTCR (288) // PDC Transfer Control Register +#define TDES_PTSR (292) // PDC Transfer Status Register +// -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +#define AT91C_TDES_START (0x1 << 0) // (TDES) Starts Processing +#define AT91C_TDES_SWRST (0x1 << 8) // (TDES) Software Reset +// -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +#define AT91C_TDES_CIPHER (0x1 << 0) // (TDES) Processing Mode +#define AT91C_TDES_TDESMOD (0x1 << 1) // (TDES) Single or Triple DES Mode +#define AT91C_TDES_KEYMOD (0x1 << 4) // (TDES) Key Mode +#define AT91C_TDES_SMOD (0x3 << 8) // (TDES) Start Mode +#define AT91C_TDES_SMOD_MANUAL (0x0 << 8) // (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +#define AT91C_TDES_SMOD_AUTO (0x1 << 8) // (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +#define AT91C_TDES_SMOD_PDC (0x2 << 8) // (TDES) PDC Mode (cf datasheet). +#define AT91C_TDES_OPMOD (0x3 << 12) // (TDES) Operation Mode +#define AT91C_TDES_OPMOD_ECB (0x0 << 12) // (TDES) ECB Electronic CodeBook mode. +#define AT91C_TDES_OPMOD_CBC (0x1 << 12) // (TDES) CBC Cipher Block Chaining mode. +#define AT91C_TDES_OPMOD_OFB (0x2 << 12) // (TDES) OFB Output Feedback mode. +#define AT91C_TDES_OPMOD_CFB (0x3 << 12) // (TDES) CFB Cipher Feedback mode. +#define AT91C_TDES_LOD (0x1 << 15) // (TDES) Last Output Data Mode +#define AT91C_TDES_CFBS (0x3 << 16) // (TDES) Cipher Feedback Data Size +#define AT91C_TDES_CFBS_64_BIT (0x0 << 16) // (TDES) 64-bit. +#define AT91C_TDES_CFBS_32_BIT (0x1 << 16) // (TDES) 32-bit. +#define AT91C_TDES_CFBS_16_BIT (0x2 << 16) // (TDES) 16-bit. +#define AT91C_TDES_CFBS_8_BIT (0x3 << 16) // (TDES) 8-bit. +// -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_TDES_DATRDY (0x1 << 0) // (TDES) DATRDY +#define AT91C_TDES_ENDRX (0x1 << 1) // (TDES) PDC Read Buffer End +#define AT91C_TDES_ENDTX (0x1 << 2) // (TDES) PDC Write Buffer End +#define AT91C_TDES_RXBUFF (0x1 << 3) // (TDES) PDC Read Buffer Full +#define AT91C_TDES_TXBUFE (0x1 << 4) // (TDES) PDC Write Buffer Empty +#define AT91C_TDES_URAD (0x1 << 8) // (TDES) Unspecified Register Access Detection +// -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_TDES_URAT (0x3 << 12) // (TDES) Unspecified Register Access Type Status +#define AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC (0x0 << 12) // (TDES) Input data register written during the data processing in PDC mode. +#define AT91C_TDES_URAT_OUT_DAT_READ_DATPROC (0x1 << 12) // (TDES) Output data register read during the data processing. +#define AT91C_TDES_URAT_MODEREG_WRITE_DATPROC (0x2 << 12) // (TDES) Mode register written during the data processing. +#define AT91C_TDES_URAT_WO_REG_READ (0x3 << 12) // (TDES) Write-only register read access. + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7X128 +// ***************************************************************************** +// ========== Register definition for SYS peripheral ========== +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_IVR (0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_SMR (0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_FVR (0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_DCR (0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_EOICR (0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_SVR (0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_FFSR (0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_ICCR (0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_ISR (0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IMR (0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_IPR (0xFFFFF10C) // (AIC) Interrupt Pending Register +#define AT91C_AIC_FFER (0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_IECR (0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_ISCR (0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_FFDR (0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_CISR (0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IDCR (0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_SPU (0xFFFFF134) // (AIC) Spurious Vector Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TCR (0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RNPR (0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR (0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +#define AT91C_DBGU_TPR (0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RPR (0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_RCR (0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_RNCR (0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR (0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR (0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_TNCR (0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_EXID (0xFFFFF244) // (DBGU) Chip ID Extension Register +#define AT91C_DBGU_BRGR (0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_IDR (0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_CSR (0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_CIDR (0xFFFFF240) // (DBGU) Chip ID Register +#define AT91C_DBGU_MR (0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_IMR (0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_CR (0xFFFFF200) // (DBGU) Control Register +#define AT91C_DBGU_FNTR (0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_THR (0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_RHR (0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IER (0xFFFFF208) // (DBGU) Interrupt Enable Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_ODR (0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_SODR (0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_ISR (0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_ABSR (0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_IER (0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_PPUDR (0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_IMR (0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_PER (0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_IFDR (0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_OWDR (0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_MDSR (0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_IDR (0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_ODSR (0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_PPUSR (0xFFFFF468) // (PIOA) Pull-up Status Register +#define AT91C_PIOA_OWSR (0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_BSR (0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_OWER (0xFFFFF4A0) // (PIOA) Output Write Enable Register +#define AT91C_PIOA_IFER (0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_PDSR (0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_PPUER (0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_OSR (0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_ASR (0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_MDDR (0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_CODR (0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_MDER (0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PDR (0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_IFSR (0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_OER (0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_PSR (0xFFFFF408) // (PIOA) PIO Status Register +// ========== Register definition for PIOB peripheral ========== +#define AT91C_PIOB_OWDR (0xFFFFF6A4) // (PIOB) Output Write Disable Register +#define AT91C_PIOB_MDER (0xFFFFF650) // (PIOB) Multi-driver Enable Register +#define AT91C_PIOB_PPUSR (0xFFFFF668) // (PIOB) Pull-up Status Register +#define AT91C_PIOB_IMR (0xFFFFF648) // (PIOB) Interrupt Mask Register +#define AT91C_PIOB_ASR (0xFFFFF670) // (PIOB) Select A Register +#define AT91C_PIOB_PPUDR (0xFFFFF660) // (PIOB) Pull-up Disable Register +#define AT91C_PIOB_PSR (0xFFFFF608) // (PIOB) PIO Status Register +#define AT91C_PIOB_IER (0xFFFFF640) // (PIOB) Interrupt Enable Register +#define AT91C_PIOB_CODR (0xFFFFF634) // (PIOB) Clear Output Data Register +#define AT91C_PIOB_OWER (0xFFFFF6A0) // (PIOB) Output Write Enable Register +#define AT91C_PIOB_ABSR (0xFFFFF678) // (PIOB) AB Select Status Register +#define AT91C_PIOB_IFDR (0xFFFFF624) // (PIOB) Input Filter Disable Register +#define AT91C_PIOB_PDSR (0xFFFFF63C) // (PIOB) Pin Data Status Register +#define AT91C_PIOB_IDR (0xFFFFF644) // (PIOB) Interrupt Disable Register +#define AT91C_PIOB_OWSR (0xFFFFF6A8) // (PIOB) Output Write Status Register +#define AT91C_PIOB_PDR (0xFFFFF604) // (PIOB) PIO Disable Register +#define AT91C_PIOB_ODR (0xFFFFF614) // (PIOB) Output Disable Registerr +#define AT91C_PIOB_IFSR (0xFFFFF628) // (PIOB) Input Filter Status Register +#define AT91C_PIOB_PPUER (0xFFFFF664) // (PIOB) Pull-up Enable Register +#define AT91C_PIOB_SODR (0xFFFFF630) // (PIOB) Set Output Data Register +#define AT91C_PIOB_ISR (0xFFFFF64C) // (PIOB) Interrupt Status Register +#define AT91C_PIOB_ODSR (0xFFFFF638) // (PIOB) Output Data Status Register +#define AT91C_PIOB_OSR (0xFFFFF618) // (PIOB) Output Status Register +#define AT91C_PIOB_MDSR (0xFFFFF658) // (PIOB) Multi-driver Status Register +#define AT91C_PIOB_IFER (0xFFFFF620) // (PIOB) Input Filter Enable Register +#define AT91C_PIOB_BSR (0xFFFFF674) // (PIOB) Select B Register +#define AT91C_PIOB_MDDR (0xFFFFF654) // (PIOB) Multi-driver Disable Register +#define AT91C_PIOB_OER (0xFFFFF610) // (PIOB) Output Enable Register +#define AT91C_PIOB_PER (0xFFFFF600) // (PIOB) PIO Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_MOR (0xFFFFFC20) // (CKGR) Main Oscillator Register +#define AT91C_CKGR_PLLR (0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR (0xFFFFFC24) // (CKGR) Main Clock Frequency Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_IDR (0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_MOR (0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PLLR (0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_PCER (0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCKR (0xFFFFFC40) // (PMC) Programmable Clock Register +#define AT91C_PMC_MCKR (0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_SCDR (0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_PCDR (0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCSR (0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_PCSR (0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_MCFR (0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_SCER (0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR (0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IER (0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_SR (0xFFFFFC68) // (PMC) Status Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RCR (0xFFFFFD00) // (RSTC) Reset Control Register +#define AT91C_RSTC_RMR (0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RSR (0xFFFFFD04) // (RSTC) Reset Status Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR (0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTMR (0xFFFFFD20) // (RTTC) Real-time Mode Register +#define AT91C_RTTC_RTVR (0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTAR (0xFFFFFD24) // (RTTC) Real-time Alarm Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIVR (0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PISR (0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIIR (0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PIMR (0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDCR (0xFFFFFD40) // (WDTC) Watchdog Control Register +#define AT91C_WDTC_WDSR (0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDMR (0xFFFFFD44) // (WDTC) Watchdog Mode Register +// ========== Register definition for VREG peripheral ========== +#define AT91C_VREG_MR (0xFFFFFD60) // (VREG) Voltage Regulator Mode Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_ASR (0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_RCR (0xFFFFFF00) // (MC) MC Remap Control Register +#define AT91C_MC_FCR (0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_AASR (0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_FSR (0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR (0xFFFFFF60) // (MC) MC Flash Mode Register +// ========== Register definition for PDC_SPI1 peripheral ========== +#define AT91C_SPI1_PTCR (0xFFFE4120) // (PDC_SPI1) PDC Transfer Control Register +#define AT91C_SPI1_RPR (0xFFFE4100) // (PDC_SPI1) Receive Pointer Register +#define AT91C_SPI1_TNCR (0xFFFE411C) // (PDC_SPI1) Transmit Next Counter Register +#define AT91C_SPI1_TPR (0xFFFE4108) // (PDC_SPI1) Transmit Pointer Register +#define AT91C_SPI1_TNPR (0xFFFE4118) // (PDC_SPI1) Transmit Next Pointer Register +#define AT91C_SPI1_TCR (0xFFFE410C) // (PDC_SPI1) Transmit Counter Register +#define AT91C_SPI1_RCR (0xFFFE4104) // (PDC_SPI1) Receive Counter Register +#define AT91C_SPI1_RNPR (0xFFFE4110) // (PDC_SPI1) Receive Next Pointer Register +#define AT91C_SPI1_RNCR (0xFFFE4114) // (PDC_SPI1) Receive Next Counter Register +#define AT91C_SPI1_PTSR (0xFFFE4124) // (PDC_SPI1) PDC Transfer Status Register +// ========== Register definition for SPI1 peripheral ========== +#define AT91C_SPI1_IMR (0xFFFE401C) // (SPI1) Interrupt Mask Register +#define AT91C_SPI1_IER (0xFFFE4014) // (SPI1) Interrupt Enable Register +#define AT91C_SPI1_MR (0xFFFE4004) // (SPI1) Mode Register +#define AT91C_SPI1_RDR (0xFFFE4008) // (SPI1) Receive Data Register +#define AT91C_SPI1_IDR (0xFFFE4018) // (SPI1) Interrupt Disable Register +#define AT91C_SPI1_SR (0xFFFE4010) // (SPI1) Status Register +#define AT91C_SPI1_TDR (0xFFFE400C) // (SPI1) Transmit Data Register +#define AT91C_SPI1_CR (0xFFFE4000) // (SPI1) Control Register +#define AT91C_SPI1_CSR (0xFFFE4030) // (SPI1) Chip Select Register +// ========== Register definition for PDC_SPI0 peripheral ========== +#define AT91C_SPI0_PTCR (0xFFFE0120) // (PDC_SPI0) PDC Transfer Control Register +#define AT91C_SPI0_TPR (0xFFFE0108) // (PDC_SPI0) Transmit Pointer Register +#define AT91C_SPI0_TCR (0xFFFE010C) // (PDC_SPI0) Transmit Counter Register +#define AT91C_SPI0_RCR (0xFFFE0104) // (PDC_SPI0) Receive Counter Register +#define AT91C_SPI0_PTSR (0xFFFE0124) // (PDC_SPI0) PDC Transfer Status Register +#define AT91C_SPI0_RNPR (0xFFFE0110) // (PDC_SPI0) Receive Next Pointer Register +#define AT91C_SPI0_RPR (0xFFFE0100) // (PDC_SPI0) Receive Pointer Register +#define AT91C_SPI0_TNCR (0xFFFE011C) // (PDC_SPI0) Transmit Next Counter Register +#define AT91C_SPI0_RNCR (0xFFFE0114) // (PDC_SPI0) Receive Next Counter Register +#define AT91C_SPI0_TNPR (0xFFFE0118) // (PDC_SPI0) Transmit Next Pointer Register +// ========== Register definition for SPI0 peripheral ========== +#define AT91C_SPI0_IER (0xFFFE0014) // (SPI0) Interrupt Enable Register +#define AT91C_SPI0_SR (0xFFFE0010) // (SPI0) Status Register +#define AT91C_SPI0_IDR (0xFFFE0018) // (SPI0) Interrupt Disable Register +#define AT91C_SPI0_CR (0xFFFE0000) // (SPI0) Control Register +#define AT91C_SPI0_MR (0xFFFE0004) // (SPI0) Mode Register +#define AT91C_SPI0_IMR (0xFFFE001C) // (SPI0) Interrupt Mask Register +#define AT91C_SPI0_TDR (0xFFFE000C) // (SPI0) Transmit Data Register +#define AT91C_SPI0_RDR (0xFFFE0008) // (SPI0) Receive Data Register +#define AT91C_SPI0_CSR (0xFFFE0030) // (SPI0) Chip Select Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_RNCR (0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_PTCR (0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TCR (0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_PTSR (0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNPR (0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RCR (0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_RNPR (0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_RPR (0xFFFC4100) // (PDC_US1) Receive Pointer Register +#define AT91C_US1_TNCR (0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_TPR (0xFFFC4108) // (PDC_US1) Transmit Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_IF (0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER (0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_RTOR (0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_CSR (0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR (0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_IER (0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_THR (0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_TTGR (0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_RHR (0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_BRGR (0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_IMR (0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_FIDI (0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_CR (0xFFFC4000) // (US1) Control Register +#define AT91C_US1_MR (0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_TNPR (0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR (0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TCR (0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_PTCR (0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_PTSR (0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR (0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_TPR (0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RCR (0xFFFC0104) // (PDC_US0) Receive Counter Register +#define AT91C_US0_RPR (0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_RNCR (0xFFFC0114) // (PDC_US0) Receive Next Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_BRGR (0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_NER (0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_CR (0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IMR (0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_FIDI (0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_TTGR (0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_MR (0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_RTOR (0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_CSR (0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_RHR (0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IDR (0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_THR (0xFFFC001C) // (US0) Transmitter Holding Register +#define AT91C_US0_IF (0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_IER (0xFFFC0008) // (US0) Interrupt Enable Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_TNCR (0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RPR (0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_RNCR (0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TPR (0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_PTCR (0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TCR (0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR (0xFFFD4104) // (PDC_SSC) Receive Counter Register +#define AT91C_SSC_RNPR (0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TNPR (0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_PTSR (0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RHR (0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_RSHR (0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_TFMR (0xFFFD401C) // (SSC) Transmit Frame Mode Register +#define AT91C_SSC_IDR (0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_THR (0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_RCMR (0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_IER (0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_TSHR (0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_SR (0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_CMR (0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_TCMR (0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_CR (0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR (0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_RFMR (0xFFFD4014) // (SSC) Receive Frame Mode Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_IER (0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_CR (0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_SR (0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_IMR (0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_THR (0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IDR (0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_IADR (0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR (0xFFFB8004) // (TWI) Master Mode Register +#define AT91C_TWI_CWGR (0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_RHR (0xFFFB8030) // (TWI) Receive Holding Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_PWMC_CH3_CUPDR (0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_PWMC_CH3_Reserved (0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_PWMC_CH3_CPRDR (0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_PWMC_CH3_CDTYR (0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +#define AT91C_PWMC_CH3_CCNTR (0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_PWMC_CH3_CMR (0xFFFCC260) // (PWMC_CH3) Channel Mode Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_PWMC_CH2_Reserved (0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_PWMC_CH2_CMR (0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_PWMC_CH2_CCNTR (0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_PWMC_CH2_CPRDR (0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_PWMC_CH2_CUPDR (0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_PWMC_CH2_CDTYR (0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_PWMC_CH1_Reserved (0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_PWMC_CH1_CUPDR (0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_PWMC_CH1_CPRDR (0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_PWMC_CH1_CCNTR (0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_PWMC_CH1_CDTYR (0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +#define AT91C_PWMC_CH1_CMR (0xFFFCC220) // (PWMC_CH1) Channel Mode Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_PWMC_CH0_Reserved (0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_PWMC_CH0_CPRDR (0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_PWMC_CH0_CDTYR (0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +#define AT91C_PWMC_CH0_CMR (0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_PWMC_CH0_CUPDR (0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_PWMC_CH0_CCNTR (0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_IDR (0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_DIS (0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER (0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +#define AT91C_PWMC_VR (0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR (0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_SR (0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_IMR (0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR (0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_ENA (0xFFFCC004) // (PWMC) PWMC Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_IMR (0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_FADDR (0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM (0xFFFB0000) // (UDP) Frame Number Register +#define AT91C_UDP_FDR (0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_ISR (0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_CSR (0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_IDR (0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_ICR (0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_RSTEP (0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_TXVC (0xFFFB0074) // (UDP) Transceiver Control Register +#define AT91C_UDP_GLBSTATE (0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_IER (0xFFFB0010) // (UDP) Interrupt Enable Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_SR (0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RC (0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RB (0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CCR (0xFFFA0000) // (TC0) Channel Control Register +#define AT91C_TC0_CMR (0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IER (0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RA (0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_IDR (0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_CV (0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_IMR (0xFFFA002C) // (TC0) Interrupt Mask Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_RB (0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CCR (0xFFFA0040) // (TC1) Channel Control Register +#define AT91C_TC1_IER (0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_IDR (0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR (0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_CMR (0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_RA (0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_RC (0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_IMR (0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_CV (0xFFFA0050) // (TC1) Counter Value +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_CMR (0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_CCR (0xFFFA0080) // (TC2) Channel Control Register +#define AT91C_TC2_CV (0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_RA (0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_RB (0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_IDR (0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_IMR (0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_RC (0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_IER (0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_SR (0xFFFA00A0) // (TC2) Status Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR (0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR (0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for CAN_MB0 peripheral ========== +#define AT91C_CAN_MB0_MDL (0xFFFD0214) // (CAN_MB0) MailBox Data Low Register +#define AT91C_CAN_MB0_MAM (0xFFFD0204) // (CAN_MB0) MailBox Acceptance Mask Register +#define AT91C_CAN_MB0_MCR (0xFFFD021C) // (CAN_MB0) MailBox Control Register +#define AT91C_CAN_MB0_MID (0xFFFD0208) // (CAN_MB0) MailBox ID Register +#define AT91C_CAN_MB0_MSR (0xFFFD0210) // (CAN_MB0) MailBox Status Register +#define AT91C_CAN_MB0_MFID (0xFFFD020C) // (CAN_MB0) MailBox Family ID Register +#define AT91C_CAN_MB0_MDH (0xFFFD0218) // (CAN_MB0) MailBox Data High Register +#define AT91C_CAN_MB0_MMR (0xFFFD0200) // (CAN_MB0) MailBox Mode Register +// ========== Register definition for CAN_MB1 peripheral ========== +#define AT91C_CAN_MB1_MDL (0xFFFD0234) // (CAN_MB1) MailBox Data Low Register +#define AT91C_CAN_MB1_MID (0xFFFD0228) // (CAN_MB1) MailBox ID Register +#define AT91C_CAN_MB1_MMR (0xFFFD0220) // (CAN_MB1) MailBox Mode Register +#define AT91C_CAN_MB1_MSR (0xFFFD0230) // (CAN_MB1) MailBox Status Register +#define AT91C_CAN_MB1_MAM (0xFFFD0224) // (CAN_MB1) MailBox Acceptance Mask Register +#define AT91C_CAN_MB1_MDH (0xFFFD0238) // (CAN_MB1) MailBox Data High Register +#define AT91C_CAN_MB1_MCR (0xFFFD023C) // (CAN_MB1) MailBox Control Register +#define AT91C_CAN_MB1_MFID (0xFFFD022C) // (CAN_MB1) MailBox Family ID Register +// ========== Register definition for CAN_MB2 peripheral ========== +#define AT91C_CAN_MB2_MCR (0xFFFD025C) // (CAN_MB2) MailBox Control Register +#define AT91C_CAN_MB2_MDH (0xFFFD0258) // (CAN_MB2) MailBox Data High Register +#define AT91C_CAN_MB2_MID (0xFFFD0248) // (CAN_MB2) MailBox ID Register +#define AT91C_CAN_MB2_MDL (0xFFFD0254) // (CAN_MB2) MailBox Data Low Register +#define AT91C_CAN_MB2_MMR (0xFFFD0240) // (CAN_MB2) MailBox Mode Register +#define AT91C_CAN_MB2_MAM (0xFFFD0244) // (CAN_MB2) MailBox Acceptance Mask Register +#define AT91C_CAN_MB2_MFID (0xFFFD024C) // (CAN_MB2) MailBox Family ID Register +#define AT91C_CAN_MB2_MSR (0xFFFD0250) // (CAN_MB2) MailBox Status Register +// ========== Register definition for CAN_MB3 peripheral ========== +#define AT91C_CAN_MB3_MFID (0xFFFD026C) // (CAN_MB3) MailBox Family ID Register +#define AT91C_CAN_MB3_MAM (0xFFFD0264) // (CAN_MB3) MailBox Acceptance Mask Register +#define AT91C_CAN_MB3_MID (0xFFFD0268) // (CAN_MB3) MailBox ID Register +#define AT91C_CAN_MB3_MCR (0xFFFD027C) // (CAN_MB3) MailBox Control Register +#define AT91C_CAN_MB3_MMR (0xFFFD0260) // (CAN_MB3) MailBox Mode Register +#define AT91C_CAN_MB3_MSR (0xFFFD0270) // (CAN_MB3) MailBox Status Register +#define AT91C_CAN_MB3_MDL (0xFFFD0274) // (CAN_MB3) MailBox Data Low Register +#define AT91C_CAN_MB3_MDH (0xFFFD0278) // (CAN_MB3) MailBox Data High Register +// ========== Register definition for CAN_MB4 peripheral ========== +#define AT91C_CAN_MB4_MID (0xFFFD0288) // (CAN_MB4) MailBox ID Register +#define AT91C_CAN_MB4_MMR (0xFFFD0280) // (CAN_MB4) MailBox Mode Register +#define AT91C_CAN_MB4_MDH (0xFFFD0298) // (CAN_MB4) MailBox Data High Register +#define AT91C_CAN_MB4_MFID (0xFFFD028C) // (CAN_MB4) MailBox Family ID Register +#define AT91C_CAN_MB4_MSR (0xFFFD0290) // (CAN_MB4) MailBox Status Register +#define AT91C_CAN_MB4_MCR (0xFFFD029C) // (CAN_MB4) MailBox Control Register +#define AT91C_CAN_MB4_MDL (0xFFFD0294) // (CAN_MB4) MailBox Data Low Register +#define AT91C_CAN_MB4_MAM (0xFFFD0284) // (CAN_MB4) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB5 peripheral ========== +#define AT91C_CAN_MB5_MSR (0xFFFD02B0) // (CAN_MB5) MailBox Status Register +#define AT91C_CAN_MB5_MCR (0xFFFD02BC) // (CAN_MB5) MailBox Control Register +#define AT91C_CAN_MB5_MFID (0xFFFD02AC) // (CAN_MB5) MailBox Family ID Register +#define AT91C_CAN_MB5_MDH (0xFFFD02B8) // (CAN_MB5) MailBox Data High Register +#define AT91C_CAN_MB5_MID (0xFFFD02A8) // (CAN_MB5) MailBox ID Register +#define AT91C_CAN_MB5_MMR (0xFFFD02A0) // (CAN_MB5) MailBox Mode Register +#define AT91C_CAN_MB5_MDL (0xFFFD02B4) // (CAN_MB5) MailBox Data Low Register +#define AT91C_CAN_MB5_MAM (0xFFFD02A4) // (CAN_MB5) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB6 peripheral ========== +#define AT91C_CAN_MB6_MFID (0xFFFD02CC) // (CAN_MB6) MailBox Family ID Register +#define AT91C_CAN_MB6_MID (0xFFFD02C8) // (CAN_MB6) MailBox ID Register +#define AT91C_CAN_MB6_MAM (0xFFFD02C4) // (CAN_MB6) MailBox Acceptance Mask Register +#define AT91C_CAN_MB6_MSR (0xFFFD02D0) // (CAN_MB6) MailBox Status Register +#define AT91C_CAN_MB6_MDL (0xFFFD02D4) // (CAN_MB6) MailBox Data Low Register +#define AT91C_CAN_MB6_MCR (0xFFFD02DC) // (CAN_MB6) MailBox Control Register +#define AT91C_CAN_MB6_MDH (0xFFFD02D8) // (CAN_MB6) MailBox Data High Register +#define AT91C_CAN_MB6_MMR (0xFFFD02C0) // (CAN_MB6) MailBox Mode Register +// ========== Register definition for CAN_MB7 peripheral ========== +#define AT91C_CAN_MB7_MCR (0xFFFD02FC) // (CAN_MB7) MailBox Control Register +#define AT91C_CAN_MB7_MDH (0xFFFD02F8) // (CAN_MB7) MailBox Data High Register +#define AT91C_CAN_MB7_MFID (0xFFFD02EC) // (CAN_MB7) MailBox Family ID Register +#define AT91C_CAN_MB7_MDL (0xFFFD02F4) // (CAN_MB7) MailBox Data Low Register +#define AT91C_CAN_MB7_MID (0xFFFD02E8) // (CAN_MB7) MailBox ID Register +#define AT91C_CAN_MB7_MMR (0xFFFD02E0) // (CAN_MB7) MailBox Mode Register +#define AT91C_CAN_MB7_MAM (0xFFFD02E4) // (CAN_MB7) MailBox Acceptance Mask Register +#define AT91C_CAN_MB7_MSR (0xFFFD02F0) // (CAN_MB7) MailBox Status Register +// ========== Register definition for CAN peripheral ========== +#define AT91C_CAN_TCR (0xFFFD0024) // (CAN) Transfer Command Register +#define AT91C_CAN_IMR (0xFFFD000C) // (CAN) Interrupt Mask Register +#define AT91C_CAN_IER (0xFFFD0004) // (CAN) Interrupt Enable Register +#define AT91C_CAN_ECR (0xFFFD0020) // (CAN) Error Counter Register +#define AT91C_CAN_TIMESTP (0xFFFD001C) // (CAN) Time Stamp Register +#define AT91C_CAN_MR (0xFFFD0000) // (CAN) Mode Register +#define AT91C_CAN_IDR (0xFFFD0008) // (CAN) Interrupt Disable Register +#define AT91C_CAN_ACR (0xFFFD0028) // (CAN) Abort Command Register +#define AT91C_CAN_TIM (0xFFFD0018) // (CAN) Timer Register +#define AT91C_CAN_SR (0xFFFD0010) // (CAN) Status Register +#define AT91C_CAN_BR (0xFFFD0014) // (CAN) Baudrate Register +#define AT91C_CAN_VR (0xFFFD00FC) // (CAN) Version Register +// ========== Register definition for EMAC peripheral ========== +#define AT91C_EMAC_ISR (0xFFFDC024) // (EMAC) Interrupt Status Register +#define AT91C_EMAC_SA4H (0xFFFDC0B4) // (EMAC) Specific Address 4 Top, Last 2 bytes +#define AT91C_EMAC_SA1L (0xFFFDC098) // (EMAC) Specific Address 1 Bottom, First 4 bytes +#define AT91C_EMAC_ELE (0xFFFDC078) // (EMAC) Excessive Length Errors Register +#define AT91C_EMAC_LCOL (0xFFFDC05C) // (EMAC) Late Collision Register +#define AT91C_EMAC_RLE (0xFFFDC088) // (EMAC) Receive Length Field Mismatch Register +#define AT91C_EMAC_WOL (0xFFFDC0C4) // (EMAC) Wake On LAN Register +#define AT91C_EMAC_DTF (0xFFFDC058) // (EMAC) Deferred Transmission Frame Register +#define AT91C_EMAC_TUND (0xFFFDC064) // (EMAC) Transmit Underrun Error Register +#define AT91C_EMAC_NCR (0xFFFDC000) // (EMAC) Network Control Register +#define AT91C_EMAC_SA4L (0xFFFDC0B0) // (EMAC) Specific Address 4 Bottom, First 4 bytes +#define AT91C_EMAC_RSR (0xFFFDC020) // (EMAC) Receive Status Register +#define AT91C_EMAC_SA3L (0xFFFDC0A8) // (EMAC) Specific Address 3 Bottom, First 4 bytes +#define AT91C_EMAC_TSR (0xFFFDC014) // (EMAC) Transmit Status Register +#define AT91C_EMAC_IDR (0xFFFDC02C) // (EMAC) Interrupt Disable Register +#define AT91C_EMAC_RSE (0xFFFDC074) // (EMAC) Receive Symbol Errors Register +#define AT91C_EMAC_ECOL (0xFFFDC060) // (EMAC) Excessive Collision Register +#define AT91C_EMAC_TID (0xFFFDC0B8) // (EMAC) Type ID Checking Register +#define AT91C_EMAC_HRB (0xFFFDC090) // (EMAC) Hash Address Bottom[31:0] +#define AT91C_EMAC_TBQP (0xFFFDC01C) // (EMAC) Transmit Buffer Queue Pointer +#define AT91C_EMAC_USRIO (0xFFFDC0C0) // (EMAC) USER Input/Output Register +#define AT91C_EMAC_PTR (0xFFFDC038) // (EMAC) Pause Time Register +#define AT91C_EMAC_SA2H (0xFFFDC0A4) // (EMAC) Specific Address 2 Top, Last 2 bytes +#define AT91C_EMAC_ROV (0xFFFDC070) // (EMAC) Receive Overrun Errors Register +#define AT91C_EMAC_ALE (0xFFFDC054) // (EMAC) Alignment Error Register +#define AT91C_EMAC_RJA (0xFFFDC07C) // (EMAC) Receive Jabbers Register +#define AT91C_EMAC_RBQP (0xFFFDC018) // (EMAC) Receive Buffer Queue Pointer +#define AT91C_EMAC_TPF (0xFFFDC08C) // (EMAC) Transmitted Pause Frames Register +#define AT91C_EMAC_NCFGR (0xFFFDC004) // (EMAC) Network Configuration Register +#define AT91C_EMAC_HRT (0xFFFDC094) // (EMAC) Hash Address Top[63:32] +#define AT91C_EMAC_USF (0xFFFDC080) // (EMAC) Undersize Frames Register +#define AT91C_EMAC_FCSE (0xFFFDC050) // (EMAC) Frame Check Sequence Error Register +#define AT91C_EMAC_TPQ (0xFFFDC0BC) // (EMAC) Transmit Pause Quantum Register +#define AT91C_EMAC_MAN (0xFFFDC034) // (EMAC) PHY Maintenance Register +#define AT91C_EMAC_FTO (0xFFFDC040) // (EMAC) Frames Transmitted OK Register +#define AT91C_EMAC_REV (0xFFFDC0FC) // (EMAC) Revision Register +#define AT91C_EMAC_IMR (0xFFFDC030) // (EMAC) Interrupt Mask Register +#define AT91C_EMAC_SCF (0xFFFDC044) // (EMAC) Single Collision Frame Register +#define AT91C_EMAC_PFR (0xFFFDC03C) // (EMAC) Pause Frames received Register +#define AT91C_EMAC_MCF (0xFFFDC048) // (EMAC) Multiple Collision Frame Register +#define AT91C_EMAC_NSR (0xFFFDC008) // (EMAC) Network Status Register +#define AT91C_EMAC_SA2L (0xFFFDC0A0) // (EMAC) Specific Address 2 Bottom, First 4 bytes +#define AT91C_EMAC_FRO (0xFFFDC04C) // (EMAC) Frames Received OK Register +#define AT91C_EMAC_IER (0xFFFDC028) // (EMAC) Interrupt Enable Register +#define AT91C_EMAC_SA1H (0xFFFDC09C) // (EMAC) Specific Address 1 Top, Last 2 bytes +#define AT91C_EMAC_CSE (0xFFFDC068) // (EMAC) Carrier Sense Error Register +#define AT91C_EMAC_SA3H (0xFFFDC0AC) // (EMAC) Specific Address 3 Top, Last 2 bytes +#define AT91C_EMAC_RRE (0xFFFDC06C) // (EMAC) Receive Ressource Error Register +#define AT91C_EMAC_STE (0xFFFDC084) // (EMAC) SQE Test Error Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTSR (0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_PTCR (0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR (0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_TNCR (0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNPR (0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_RNCR (0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_RPR (0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_TCR (0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_TPR (0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RCR (0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_CDR2 (0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR3 (0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR0 (0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR5 (0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_CHDR (0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_SR (0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CDR4 (0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR1 (0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_LCDR (0xFFFD8020) // (ADC) ADC Last Converted Data Register +#define AT91C_ADC_IDR (0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_CR (0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CDR7 (0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR6 (0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_IER (0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_CHER (0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR (0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_MR (0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_IMR (0xFFFD802C) // (ADC) ADC Interrupt Mask Register +// ========== Register definition for PDC_AES peripheral ========== +#define AT91C_AES_TPR (0xFFFA4108) // (PDC_AES) Transmit Pointer Register +#define AT91C_AES_PTCR (0xFFFA4120) // (PDC_AES) PDC Transfer Control Register +#define AT91C_AES_RNPR (0xFFFA4110) // (PDC_AES) Receive Next Pointer Register +#define AT91C_AES_TNCR (0xFFFA411C) // (PDC_AES) Transmit Next Counter Register +#define AT91C_AES_TCR (0xFFFA410C) // (PDC_AES) Transmit Counter Register +#define AT91C_AES_RCR (0xFFFA4104) // (PDC_AES) Receive Counter Register +#define AT91C_AES_RNCR (0xFFFA4114) // (PDC_AES) Receive Next Counter Register +#define AT91C_AES_TNPR (0xFFFA4118) // (PDC_AES) Transmit Next Pointer Register +#define AT91C_AES_RPR (0xFFFA4100) // (PDC_AES) Receive Pointer Register +#define AT91C_AES_PTSR (0xFFFA4124) // (PDC_AES) PDC Transfer Status Register +// ========== Register definition for AES peripheral ========== +#define AT91C_AES_IVxR (0xFFFA4060) // (AES) Initialization Vector x Register +#define AT91C_AES_MR (0xFFFA4004) // (AES) Mode Register +#define AT91C_AES_VR (0xFFFA40FC) // (AES) AES Version Register +#define AT91C_AES_ODATAxR (0xFFFA4050) // (AES) Output Data x Register +#define AT91C_AES_IDATAxR (0xFFFA4040) // (AES) Input Data x Register +#define AT91C_AES_CR (0xFFFA4000) // (AES) Control Register +#define AT91C_AES_IDR (0xFFFA4014) // (AES) Interrupt Disable Register +#define AT91C_AES_IMR (0xFFFA4018) // (AES) Interrupt Mask Register +#define AT91C_AES_IER (0xFFFA4010) // (AES) Interrupt Enable Register +#define AT91C_AES_KEYWxR (0xFFFA4020) // (AES) Key Word x Register +#define AT91C_AES_ISR (0xFFFA401C) // (AES) Interrupt Status Register +// ========== Register definition for PDC_TDES peripheral ========== +#define AT91C_TDES_RNCR (0xFFFA8114) // (PDC_TDES) Receive Next Counter Register +#define AT91C_TDES_TCR (0xFFFA810C) // (PDC_TDES) Transmit Counter Register +#define AT91C_TDES_RCR (0xFFFA8104) // (PDC_TDES) Receive Counter Register +#define AT91C_TDES_TNPR (0xFFFA8118) // (PDC_TDES) Transmit Next Pointer Register +#define AT91C_TDES_RNPR (0xFFFA8110) // (PDC_TDES) Receive Next Pointer Register +#define AT91C_TDES_RPR (0xFFFA8100) // (PDC_TDES) Receive Pointer Register +#define AT91C_TDES_TNCR (0xFFFA811C) // (PDC_TDES) Transmit Next Counter Register +#define AT91C_TDES_TPR (0xFFFA8108) // (PDC_TDES) Transmit Pointer Register +#define AT91C_TDES_PTSR (0xFFFA8124) // (PDC_TDES) PDC Transfer Status Register +#define AT91C_TDES_PTCR (0xFFFA8120) // (PDC_TDES) PDC Transfer Control Register +// ========== Register definition for TDES peripheral ========== +#define AT91C_TDES_KEY2WxR (0xFFFA8028) // (TDES) Key 2 Word x Register +#define AT91C_TDES_KEY3WxR (0xFFFA8030) // (TDES) Key 3 Word x Register +#define AT91C_TDES_IDR (0xFFFA8014) // (TDES) Interrupt Disable Register +#define AT91C_TDES_VR (0xFFFA80FC) // (TDES) TDES Version Register +#define AT91C_TDES_IVxR (0xFFFA8060) // (TDES) Initialization Vector x Register +#define AT91C_TDES_ODATAxR (0xFFFA8050) // (TDES) Output Data x Register +#define AT91C_TDES_IMR (0xFFFA8018) // (TDES) Interrupt Mask Register +#define AT91C_TDES_MR (0xFFFA8004) // (TDES) Mode Register +#define AT91C_TDES_CR (0xFFFA8000) // (TDES) Control Register +#define AT91C_TDES_IER (0xFFFA8010) // (TDES) Interrupt Enable Register +#define AT91C_TDES_ISR (0xFFFA801C) // (TDES) Interrupt Status Register +#define AT91C_TDES_IDATAxR (0xFFFA8040) // (TDES) Input Data x Register +#define AT91C_TDES_KEY1WxR (0xFFFA8020) // (TDES) Key 1 Word x Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_PIO_PA0 (1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_RXD0 (AT91C_PIO_PA0) // USART 0 Receive Data +#define AT91C_PIO_PA1 (1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_TXD0 (AT91C_PIO_PA1) // USART 0 Transmit Data +#define AT91C_PIO_PA10 (1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_TWD (AT91C_PIO_PA10) // TWI Two-wire Serial Data +#define AT91C_PIO_PA11 (1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_TWCK (AT91C_PIO_PA11) // TWI Two-wire Serial Clock +#define AT91C_PIO_PA12 (1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_NPCS00 (AT91C_PIO_PA12) // SPI 0 Peripheral Chip Select 0 +#define AT91C_PIO_PA13 (1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_NPCS01 (AT91C_PIO_PA13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PA13_PCK1 (AT91C_PIO_PA13) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA14 (1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_NPCS02 (AT91C_PIO_PA14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PA14_IRQ1 (AT91C_PIO_PA14) // External Interrupt 1 +#define AT91C_PIO_PA15 (1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_NPCS03 (AT91C_PIO_PA15) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PA15_TCLK2 (AT91C_PIO_PA15) // Timer Counter 2 external clock input +#define AT91C_PIO_PA16 (1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_MISO0 (AT91C_PIO_PA16) // SPI 0 Master In Slave +#define AT91C_PIO_PA17 (1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_MOSI0 (AT91C_PIO_PA17) // SPI 0 Master Out Slave +#define AT91C_PIO_PA18 (1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_SPCK0 (AT91C_PIO_PA18) // SPI 0 Serial Clock +#define AT91C_PIO_PA19 (1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_CANRX (AT91C_PIO_PA19) // CAN Receive +#define AT91C_PIO_PA2 (1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_SCK0 (AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PA2_NPCS11 (AT91C_PIO_PA2) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA20 (1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_CANTX (AT91C_PIO_PA20) // CAN Transmit +#define AT91C_PIO_PA21 (1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_TF (AT91C_PIO_PA21) // SSC Transmit Frame Sync +#define AT91C_PA21_NPCS10 (AT91C_PIO_PA21) // SPI 1 Peripheral Chip Select 0 +#define AT91C_PIO_PA22 (1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TK (AT91C_PIO_PA22) // SSC Transmit Clock +#define AT91C_PA22_SPCK1 (AT91C_PIO_PA22) // SPI 1 Serial Clock +#define AT91C_PIO_PA23 (1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_TD (AT91C_PIO_PA23) // SSC Transmit data +#define AT91C_PA23_MOSI1 (AT91C_PIO_PA23) // SPI 1 Master Out Slave +#define AT91C_PIO_PA24 (1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RD (AT91C_PIO_PA24) // SSC Receive Data +#define AT91C_PA24_MISO1 (AT91C_PIO_PA24) // SPI 1 Master In Slave +#define AT91C_PIO_PA25 (1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_RK (AT91C_PIO_PA25) // SSC Receive Clock +#define AT91C_PA25_NPCS11 (AT91C_PIO_PA25) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA26 (1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_RF (AT91C_PIO_PA26) // SSC Receive Frame Sync +#define AT91C_PA26_NPCS12 (AT91C_PIO_PA26) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA27 (1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DRXD (AT91C_PIO_PA27) // DBGU Debug Receive Data +#define AT91C_PA27_PCK3 (AT91C_PIO_PA27) // PMC Programmable Clock Output 3 +#define AT91C_PIO_PA28 (1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DTXD (AT91C_PIO_PA28) // DBGU Debug Transmit Data +#define AT91C_PIO_PA29 (1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_FIQ (AT91C_PIO_PA29) // AIC Fast Interrupt Input +#define AT91C_PA29_NPCS13 (AT91C_PIO_PA29) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA3 (1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_RTS0 (AT91C_PIO_PA3) // USART 0 Ready To Send +#define AT91C_PA3_NPCS12 (AT91C_PIO_PA3) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA30 (1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ0 (AT91C_PIO_PA30) // External Interrupt 0 +#define AT91C_PA30_PCK2 (AT91C_PIO_PA30) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 (1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_CTS0 (AT91C_PIO_PA4) // USART 0 Clear To Send +#define AT91C_PA4_NPCS13 (AT91C_PIO_PA4) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA5 (1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD1 (AT91C_PIO_PA5) // USART 1 Receive Data +#define AT91C_PIO_PA6 (1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD1 (AT91C_PIO_PA6) // USART 1 Transmit Data +#define AT91C_PIO_PA7 (1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_SCK1 (AT91C_PIO_PA7) // USART 1 Serial Clock +#define AT91C_PA7_NPCS01 (AT91C_PIO_PA7) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PA8 (1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_RTS1 (AT91C_PIO_PA8) // USART 1 Ready To Send +#define AT91C_PA8_NPCS02 (AT91C_PIO_PA8) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PA9 (1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_CTS1 (AT91C_PIO_PA9) // USART 1 Clear To Send +#define AT91C_PA9_NPCS03 (AT91C_PIO_PA9) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB0 (1 << 0) // Pin Controlled by PB0 +#define AT91C_PB0_ETXCK_EREFCK (AT91C_PIO_PB0) // Ethernet MAC Transmit Clock/Reference Clock +#define AT91C_PB0_PCK0 (AT91C_PIO_PB0) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB1 (1 << 1) // Pin Controlled by PB1 +#define AT91C_PB1_ETXEN (AT91C_PIO_PB1) // Ethernet MAC Transmit Enable +#define AT91C_PIO_PB10 (1 << 10) // Pin Controlled by PB10 +#define AT91C_PB10_ETX2 (AT91C_PIO_PB10) // Ethernet MAC Transmit Data 2 +#define AT91C_PB10_NPCS11 (AT91C_PIO_PB10) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PB11 (1 << 11) // Pin Controlled by PB11 +#define AT91C_PB11_ETX3 (AT91C_PIO_PB11) // Ethernet MAC Transmit Data 3 +#define AT91C_PB11_NPCS12 (AT91C_PIO_PB11) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PB12 (1 << 12) // Pin Controlled by PB12 +#define AT91C_PB12_ETXER (AT91C_PIO_PB12) // Ethernet MAC Transmikt Coding Error +#define AT91C_PB12_TCLK0 (AT91C_PIO_PB12) // Timer Counter 0 external clock input +#define AT91C_PIO_PB13 (1 << 13) // Pin Controlled by PB13 +#define AT91C_PB13_ERX2 (AT91C_PIO_PB13) // Ethernet MAC Receive Data 2 +#define AT91C_PB13_NPCS01 (AT91C_PIO_PB13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PB14 (1 << 14) // Pin Controlled by PB14 +#define AT91C_PB14_ERX3 (AT91C_PIO_PB14) // Ethernet MAC Receive Data 3 +#define AT91C_PB14_NPCS02 (AT91C_PIO_PB14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PB15 (1 << 15) // Pin Controlled by PB15 +#define AT91C_PB15_ERXDV (AT91C_PIO_PB15) // Ethernet MAC Receive Data Valid +#define AT91C_PIO_PB16 (1 << 16) // Pin Controlled by PB16 +#define AT91C_PB16_ECOL (AT91C_PIO_PB16) // Ethernet MAC Collision Detected +#define AT91C_PB16_NPCS13 (AT91C_PIO_PB16) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PB17 (1 << 17) // Pin Controlled by PB17 +#define AT91C_PB17_ERXCK (AT91C_PIO_PB17) // Ethernet MAC Receive Clock +#define AT91C_PB17_NPCS03 (AT91C_PIO_PB17) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB18 (1 << 18) // Pin Controlled by PB18 +#define AT91C_PB18_EF100 (AT91C_PIO_PB18) // Ethernet MAC Force 100 Mbits/sec +#define AT91C_PB18_ADTRG (AT91C_PIO_PB18) // ADC External Trigger +#define AT91C_PIO_PB19 (1 << 19) // Pin Controlled by PB19 +#define AT91C_PB19_PWM0 (AT91C_PIO_PB19) // PWM Channel 0 +#define AT91C_PB19_TCLK1 (AT91C_PIO_PB19) // Timer Counter 1 external clock input +#define AT91C_PIO_PB2 (1 << 2) // Pin Controlled by PB2 +#define AT91C_PB2_ETX0 (AT91C_PIO_PB2) // Ethernet MAC Transmit Data 0 +#define AT91C_PIO_PB20 (1 << 20) // Pin Controlled by PB20 +#define AT91C_PB20_PWM1 (AT91C_PIO_PB20) // PWM Channel 1 +#define AT91C_PB20_PCK0 (AT91C_PIO_PB20) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB21 (1 << 21) // Pin Controlled by PB21 +#define AT91C_PB21_PWM2 (AT91C_PIO_PB21) // PWM Channel 2 +#define AT91C_PB21_PCK1 (AT91C_PIO_PB21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PB22 (1 << 22) // Pin Controlled by PB22 +#define AT91C_PB22_PWM3 (AT91C_PIO_PB22) // PWM Channel 3 +#define AT91C_PB22_PCK2 (AT91C_PIO_PB22) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PB23 (1 << 23) // Pin Controlled by PB23 +#define AT91C_PB23_TIOA0 (AT91C_PIO_PB23) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PB23_DCD1 (AT91C_PIO_PB23) // USART 1 Data Carrier Detect +#define AT91C_PIO_PB24 (1 << 24) // Pin Controlled by PB24 +#define AT91C_PB24_TIOB0 (AT91C_PIO_PB24) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PB24_DSR1 (AT91C_PIO_PB24) // USART 1 Data Set ready +#define AT91C_PIO_PB25 (1 << 25) // Pin Controlled by PB25 +#define AT91C_PB25_TIOA1 (AT91C_PIO_PB25) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PB25_DTR1 (AT91C_PIO_PB25) // USART 1 Data Terminal ready +#define AT91C_PIO_PB26 (1 << 26) // Pin Controlled by PB26 +#define AT91C_PB26_TIOB1 (AT91C_PIO_PB26) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PB26_RI1 (AT91C_PIO_PB26) // USART 1 Ring Indicator +#define AT91C_PIO_PB27 (1 << 27) // Pin Controlled by PB27 +#define AT91C_PB27_TIOA2 (AT91C_PIO_PB27) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PB27_PWM0 (AT91C_PIO_PB27) // PWM Channel 0 +#define AT91C_PIO_PB28 (1 << 28) // Pin Controlled by PB28 +#define AT91C_PB28_TIOB2 (AT91C_PIO_PB28) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PB28_PWM1 (AT91C_PIO_PB28) // PWM Channel 1 +#define AT91C_PIO_PB29 (1 << 29) // Pin Controlled by PB29 +#define AT91C_PB29_PCK1 (AT91C_PIO_PB29) // PMC Programmable Clock Output 1 +#define AT91C_PB29_PWM2 (AT91C_PIO_PB29) // PWM Channel 2 +#define AT91C_PIO_PB3 (1 << 3) // Pin Controlled by PB3 +#define AT91C_PB3_ETX1 (AT91C_PIO_PB3) // Ethernet MAC Transmit Data 1 +#define AT91C_PIO_PB30 (1 << 30) // Pin Controlled by PB30 +#define AT91C_PB30_PCK2 (AT91C_PIO_PB30) // PMC Programmable Clock Output 2 +#define AT91C_PB30_PWM3 (AT91C_PIO_PB30) // PWM Channel 3 +#define AT91C_PIO_PB4 (1 << 4) // Pin Controlled by PB4 +#define AT91C_PB4_ECRS_ECRSDV (AT91C_PIO_PB4) // Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +#define AT91C_PIO_PB5 (1 << 5) // Pin Controlled by PB5 +#define AT91C_PB5_ERX0 (AT91C_PIO_PB5) // Ethernet MAC Receive Data 0 +#define AT91C_PIO_PB6 (1 << 6) // Pin Controlled by PB6 +#define AT91C_PB6_ERX1 (AT91C_PIO_PB6) // Ethernet MAC Receive Data 1 +#define AT91C_PIO_PB7 (1 << 7) // Pin Controlled by PB7 +#define AT91C_PB7_ERXER (AT91C_PIO_PB7) // Ethernet MAC Receive Error +#define AT91C_PIO_PB8 (1 << 8) // Pin Controlled by PB8 +#define AT91C_PB8_EMDC (AT91C_PIO_PB8) // Ethernet MAC Management Data Clock +#define AT91C_PIO_PB9 (1 << 9) // Pin Controlled by PB9 +#define AT91C_PB9_EMDIO (AT91C_PIO_PB9) // Ethernet MAC Management Data Input/Output + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_ID_FIQ ( 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ( 1) // System Peripheral +#define AT91C_ID_PIOA ( 2) // Parallel IO Controller A +#define AT91C_ID_PIOB ( 3) // Parallel IO Controller B +#define AT91C_ID_SPI0 ( 4) // Serial Peripheral Interface 0 +#define AT91C_ID_SPI1 ( 5) // Serial Peripheral Interface 1 +#define AT91C_ID_US0 ( 6) // USART 0 +#define AT91C_ID_US1 ( 7) // USART 1 +#define AT91C_ID_SSC ( 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ( 9) // Two-Wire Interface +#define AT91C_ID_PWMC (10) // PWM Controller +#define AT91C_ID_UDP (11) // USB Device Port +#define AT91C_ID_TC0 (12) // Timer Counter 0 +#define AT91C_ID_TC1 (13) // Timer Counter 1 +#define AT91C_ID_TC2 (14) // Timer Counter 2 +#define AT91C_ID_CAN (15) // Control Area Network Controller +#define AT91C_ID_EMAC (16) // Ethernet MAC +#define AT91C_ID_ADC (17) // Analog-to-Digital Converter +#define AT91C_ID_AES (18) // Advanced Encryption Standard 128-bit +#define AT91C_ID_TDES (19) // Triple Data Encryption Standard +#define AT91C_ID_20_Reserved (20) // Reserved +#define AT91C_ID_21_Reserved (21) // Reserved +#define AT91C_ID_22_Reserved (22) // Reserved +#define AT91C_ID_23_Reserved (23) // Reserved +#define AT91C_ID_24_Reserved (24) // Reserved +#define AT91C_ID_25_Reserved (25) // Reserved +#define AT91C_ID_26_Reserved (26) // Reserved +#define AT91C_ID_27_Reserved (27) // Reserved +#define AT91C_ID_28_Reserved (28) // Reserved +#define AT91C_ID_29_Reserved (29) // Reserved +#define AT91C_ID_IRQ0 (30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 (31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_BASE_SYS (0xFFFFF000) // (SYS) Base Address +#define AT91C_BASE_AIC (0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_PDC_DBGU (0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_DBGU (0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PIOA (0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_PIOB (0xFFFFF600) // (PIOB) Base Address +#define AT91C_BASE_CKGR (0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC (0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC (0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC (0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC (0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC (0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_VREG (0xFFFFFD60) // (VREG) Base Address +#define AT91C_BASE_MC (0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI1 (0xFFFE4100) // (PDC_SPI1) Base Address +#define AT91C_BASE_SPI1 (0xFFFE4000) // (SPI1) Base Address +#define AT91C_BASE_PDC_SPI0 (0xFFFE0100) // (PDC_SPI0) Base Address +#define AT91C_BASE_SPI0 (0xFFFE0000) // (SPI0) Base Address +#define AT91C_BASE_PDC_US1 (0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 (0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 (0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 (0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_PDC_SSC (0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC (0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_TWI (0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_PWMC_CH3 (0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 (0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 (0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 (0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC (0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP (0xFFFB0000) // (UDP) Base Address +#define AT91C_BASE_TC0 (0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TC1 (0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC2 (0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TCB (0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_CAN_MB0 (0xFFFD0200) // (CAN_MB0) Base Address +#define AT91C_BASE_CAN_MB1 (0xFFFD0220) // (CAN_MB1) Base Address +#define AT91C_BASE_CAN_MB2 (0xFFFD0240) // (CAN_MB2) Base Address +#define AT91C_BASE_CAN_MB3 (0xFFFD0260) // (CAN_MB3) Base Address +#define AT91C_BASE_CAN_MB4 (0xFFFD0280) // (CAN_MB4) Base Address +#define AT91C_BASE_CAN_MB5 (0xFFFD02A0) // (CAN_MB5) Base Address +#define AT91C_BASE_CAN_MB6 (0xFFFD02C0) // (CAN_MB6) Base Address +#define AT91C_BASE_CAN_MB7 (0xFFFD02E0) // (CAN_MB7) Base Address +#define AT91C_BASE_CAN (0xFFFD0000) // (CAN) Base Address +#define AT91C_BASE_EMAC (0xFFFDC000) // (EMAC) Base Address +#define AT91C_BASE_PDC_ADC (0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC (0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_AES (0xFFFA4100) // (PDC_AES) Base Address +#define AT91C_BASE_AES (0xFFFA4000) // (AES) Base Address +#define AT91C_BASE_PDC_TDES (0xFFFA8100) // (PDC_TDES) Base Address +#define AT91C_BASE_TDES (0xFFFA8000) // (TDES) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7X128 +// ***************************************************************************** +#define AT91C_ISRAM (0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE (0x00008000) // Internal SRAM size in byte (32 Kbyte) +#define AT91C_IFLASH (0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE (0x00020000) // Internal ROM size in byte (128 Kbyte) + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X256.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X256.h new file mode 100644 index 0000000..6b73f8a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X256.h @@ -0,0 +1,2715 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +// DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +// OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7X256.h +// Object : AT91SAM7X256 definitions +// Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +// +// CVS Reference : /AT91SAM7X256.pl/1.11/Tue May 10 12:15:32 2005// +// CVS Reference : /SYS_SAM7X.pl/1.3/Tue Feb 1 17:01:43 2005// +// CVS Reference : /MC_SAM7X.pl/1.2/Fri May 20 14:13:04 2005// +// CVS Reference : /PMC_SAM7X.pl/1.4/Tue Feb 8 13:58:10 2005// +// CVS Reference : /RSTC_SAM7X.pl/1.1/Tue Feb 1 16:16:26 2005// +// CVS Reference : /UDP_SAM7X.pl/1.1/Tue May 10 11:35:35 2005// +// CVS Reference : /PWM_SAM7X.pl/1.1/Tue May 10 11:53:07 2005// +// CVS Reference : /AIC_6075B.pl/1.3/Fri May 20 14:01:30 2005// +// CVS Reference : /PIO_6057A.pl/1.2/Thu Feb 3 10:18:28 2005// +// CVS Reference : /RTTC_6081A.pl/1.2/Tue Nov 9 14:43:58 2004// +// CVS Reference : /PITC_6079A.pl/1.2/Tue Nov 9 14:43:56 2004// +// CVS Reference : /WDTC_6080A.pl/1.3/Tue Nov 9 14:44:00 2004// +// CVS Reference : /VREG_6085B.pl/1.1/Tue Feb 1 16:05:48 2005// +// CVS Reference : /PDC_6074C.pl/1.2/Thu Feb 3 08:48:54 2005// +// CVS Reference : /DBGU_6059D.pl/1.1/Mon Jan 31 13:15:32 2005// +// CVS Reference : /SPI_6088D.pl/1.3/Fri May 20 14:08:59 2005// +// CVS Reference : /US_6089C.pl/1.1/Mon Jul 12 18:23:26 2004// +// CVS Reference : /SSC_6078A.pl/1.1/Tue Jul 13 07:45:40 2004// +// CVS Reference : /TWI_6061A.pl/1.1/Tue Jul 13 07:38:06 2004// +// CVS Reference : /TC_6082A.pl/1.7/Fri Mar 11 12:52:17 2005// +// CVS Reference : /CAN_6019B.pl/1.1/Tue Mar 8 12:42:22 2005// +// CVS Reference : /EMACB_6119A.pl/1.5/Thu Feb 3 15:52:04 2005// +// CVS Reference : /ADC_6051C.pl/1.1/Fri Oct 17 09:12:38 2003// +// CVS Reference : /AES_6149A.pl/1.10/Mon Feb 7 09:44:25 2005// +// CVS Reference : /DES3_6150A.pl/1.1/Mon Jan 17 08:34:31 2005// +// ---------------------------------------------------------------------------- + +#ifndef AT91SAM7X256_H +#define AT91SAM7X256_H + +typedef volatile unsigned int AT91_REG;// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** +typedef struct _AT91S_SYS { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register + AT91_REG Reserved2[45]; // + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved3[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved4[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register + AT91_REG Reserved5[54]; // + AT91_REG PIOA_PER; // PIO Enable Register + AT91_REG PIOA_PDR; // PIO Disable Register + AT91_REG PIOA_PSR; // PIO Status Register + AT91_REG Reserved6[1]; // + AT91_REG PIOA_OER; // Output Enable Register + AT91_REG PIOA_ODR; // Output Disable Registerr + AT91_REG PIOA_OSR; // Output Status Register + AT91_REG Reserved7[1]; // + AT91_REG PIOA_IFER; // Input Filter Enable Register + AT91_REG PIOA_IFDR; // Input Filter Disable Register + AT91_REG PIOA_IFSR; // Input Filter Status Register + AT91_REG Reserved8[1]; // + AT91_REG PIOA_SODR; // Set Output Data Register + AT91_REG PIOA_CODR; // Clear Output Data Register + AT91_REG PIOA_ODSR; // Output Data Status Register + AT91_REG PIOA_PDSR; // Pin Data Status Register + AT91_REG PIOA_IER; // Interrupt Enable Register + AT91_REG PIOA_IDR; // Interrupt Disable Register + AT91_REG PIOA_IMR; // Interrupt Mask Register + AT91_REG PIOA_ISR; // Interrupt Status Register + AT91_REG PIOA_MDER; // Multi-driver Enable Register + AT91_REG PIOA_MDDR; // Multi-driver Disable Register + AT91_REG PIOA_MDSR; // Multi-driver Status Register + AT91_REG Reserved9[1]; // + AT91_REG PIOA_PPUDR; // Pull-up Disable Register + AT91_REG PIOA_PPUER; // Pull-up Enable Register + AT91_REG PIOA_PPUSR; // Pull-up Status Register + AT91_REG Reserved10[1]; // + AT91_REG PIOA_ASR; // Select A Register + AT91_REG PIOA_BSR; // Select B Register + AT91_REG PIOA_ABSR; // AB Select Status Register + AT91_REG Reserved11[9]; // + AT91_REG PIOA_OWER; // Output Write Enable Register + AT91_REG PIOA_OWDR; // Output Write Disable Register + AT91_REG PIOA_OWSR; // Output Write Status Register + AT91_REG Reserved12[85]; // + AT91_REG PIOB_PER; // PIO Enable Register + AT91_REG PIOB_PDR; // PIO Disable Register + AT91_REG PIOB_PSR; // PIO Status Register + AT91_REG Reserved13[1]; // + AT91_REG PIOB_OER; // Output Enable Register + AT91_REG PIOB_ODR; // Output Disable Registerr + AT91_REG PIOB_OSR; // Output Status Register + AT91_REG Reserved14[1]; // + AT91_REG PIOB_IFER; // Input Filter Enable Register + AT91_REG PIOB_IFDR; // Input Filter Disable Register + AT91_REG PIOB_IFSR; // Input Filter Status Register + AT91_REG Reserved15[1]; // + AT91_REG PIOB_SODR; // Set Output Data Register + AT91_REG PIOB_CODR; // Clear Output Data Register + AT91_REG PIOB_ODSR; // Output Data Status Register + AT91_REG PIOB_PDSR; // Pin Data Status Register + AT91_REG PIOB_IER; // Interrupt Enable Register + AT91_REG PIOB_IDR; // Interrupt Disable Register + AT91_REG PIOB_IMR; // Interrupt Mask Register + AT91_REG PIOB_ISR; // Interrupt Status Register + AT91_REG PIOB_MDER; // Multi-driver Enable Register + AT91_REG PIOB_MDDR; // Multi-driver Disable Register + AT91_REG PIOB_MDSR; // Multi-driver Status Register + AT91_REG Reserved16[1]; // + AT91_REG PIOB_PPUDR; // Pull-up Disable Register + AT91_REG PIOB_PPUER; // Pull-up Enable Register + AT91_REG PIOB_PPUSR; // Pull-up Status Register + AT91_REG Reserved17[1]; // + AT91_REG PIOB_ASR; // Select A Register + AT91_REG PIOB_BSR; // Select B Register + AT91_REG PIOB_ABSR; // AB Select Status Register + AT91_REG Reserved18[9]; // + AT91_REG PIOB_OWER; // Output Write Enable Register + AT91_REG PIOB_OWDR; // Output Write Disable Register + AT91_REG PIOB_OWSR; // Output Write Status Register + AT91_REG Reserved19[341]; // + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved20[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved21[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved22[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved23[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved24[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register + AT91_REG Reserved25[36]; // + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register + AT91_REG Reserved26[5]; // + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register + AT91_REG Reserved27[5]; // + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_SYS, *AT91PS_SYS; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +typedef struct _AT91S_AIC { + AT91_REG AIC_SMR[32]; // Source Mode Register + AT91_REG AIC_SVR[32]; // Source Vector Register + AT91_REG AIC_IVR; // IRQ Vector Register + AT91_REG AIC_FVR; // FIQ Vector Register + AT91_REG AIC_ISR; // Interrupt Status Register + AT91_REG AIC_IPR; // Interrupt Pending Register + AT91_REG AIC_IMR; // Interrupt Mask Register + AT91_REG AIC_CISR; // Core Interrupt Status Register + AT91_REG Reserved0[2]; // + AT91_REG AIC_IECR; // Interrupt Enable Command Register + AT91_REG AIC_IDCR; // Interrupt Disable Command Register + AT91_REG AIC_ICCR; // Interrupt Clear Command Register + AT91_REG AIC_ISCR; // Interrupt Set Command Register + AT91_REG AIC_EOICR; // End of Interrupt Command Register + AT91_REG AIC_SPU; // Spurious Vector Register + AT91_REG AIC_DCR; // Debug Control Register (Protect) + AT91_REG Reserved1[1]; // + AT91_REG AIC_FFER; // Fast Forcing Enable Register + AT91_REG AIC_FFDR; // Fast Forcing Disable Register + AT91_REG AIC_FFSR; // Fast Forcing Status Register +} AT91S_AIC, *AT91PS_AIC; + +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR ((unsigned int) 0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST ((unsigned int) 0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST ((unsigned int) 0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE ((unsigned int) 0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL ((unsigned int) 0x0 << 5) // (AIC) Internal Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL ((unsigned int) 0x0 << 5) // (AIC) External Sources Code Label Low-level Sensitive +#define AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) Internal Sources Code Label Positive Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE ((unsigned int) 0x1 << 5) // (AIC) External Sources Code Label Negative Edge triggered +#define AT91C_AIC_SRCTYPE_HIGH_LEVEL ((unsigned int) 0x2 << 5) // (AIC) Internal Or External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_POSITIVE_EDGE ((unsigned int) 0x3 << 5) // (AIC) Internal Or External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ ((unsigned int) 0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ ((unsigned int) 0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT ((unsigned int) 0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK ((unsigned int) 0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// ***************************************************************************** +typedef struct _AT91S_PDC { + AT91_REG PDC_RPR; // Receive Pointer Register + AT91_REG PDC_RCR; // Receive Counter Register + AT91_REG PDC_TPR; // Transmit Pointer Register + AT91_REG PDC_TCR; // Transmit Counter Register + AT91_REG PDC_RNPR; // Receive Next Pointer Register + AT91_REG PDC_RNCR; // Receive Next Counter Register + AT91_REG PDC_TNPR; // Transmit Next Pointer Register + AT91_REG PDC_TNCR; // Transmit Next Counter Register + AT91_REG PDC_PTCR; // PDC Transfer Control Register + AT91_REG PDC_PTSR; // PDC Transfer Status Register +} AT91S_PDC, *AT91PS_PDC; + +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN ((unsigned int) 0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS ((unsigned int) 0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN ((unsigned int) 0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS ((unsigned int) 0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +typedef struct _AT91S_DBGU { + AT91_REG DBGU_CR; // Control Register + AT91_REG DBGU_MR; // Mode Register + AT91_REG DBGU_IER; // Interrupt Enable Register + AT91_REG DBGU_IDR; // Interrupt Disable Register + AT91_REG DBGU_IMR; // Interrupt Mask Register + AT91_REG DBGU_CSR; // Channel Status Register + AT91_REG DBGU_RHR; // Receiver Holding Register + AT91_REG DBGU_THR; // Transmitter Holding Register + AT91_REG DBGU_BRGR; // Baud Rate Generator Register + AT91_REG Reserved0[7]; // + AT91_REG DBGU_CIDR; // Chip ID Register + AT91_REG DBGU_EXID; // Chip ID Extension Register + AT91_REG DBGU_FNTR; // Force NTRST Register + AT91_REG Reserved1[45]; // + AT91_REG DBGU_RPR; // Receive Pointer Register + AT91_REG DBGU_RCR; // Receive Counter Register + AT91_REG DBGU_TPR; // Transmit Pointer Register + AT91_REG DBGU_TCR; // Transmit Counter Register + AT91_REG DBGU_RNPR; // Receive Next Pointer Register + AT91_REG DBGU_RNCR; // Receive Next Counter Register + AT91_REG DBGU_TNPR; // Transmit Next Pointer Register + AT91_REG DBGU_TNCR; // Transmit Next Counter Register + AT91_REG DBGU_PTCR; // PDC Transfer Control Register + AT91_REG DBGU_PTSR; // PDC Transfer Status Register +} AT91S_DBGU, *AT91PS_DBGU; + +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX ((unsigned int) 0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX ((unsigned int) 0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN ((unsigned int) 0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS ((unsigned int) 0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN ((unsigned int) 0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS ((unsigned int) 0x1 << 7) // (DBGU) Transmitter Disable +#define AT91C_US_RSTSTA ((unsigned int) 0x1 << 8) // (DBGU) Reset Status Bits +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR ((unsigned int) 0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN ((unsigned int) 0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD ((unsigned int) 0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE ((unsigned int) 0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK ((unsigned int) 0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE ((unsigned int) 0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP ((unsigned int) 0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE ((unsigned int) 0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL ((unsigned int) 0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO ((unsigned int) 0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL ((unsigned int) 0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE ((unsigned int) 0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY ((unsigned int) 0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY ((unsigned int) 0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX ((unsigned int) 0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX ((unsigned int) 0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE ((unsigned int) 0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME ((unsigned int) 0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE ((unsigned int) 0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY ((unsigned int) 0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE ((unsigned int) 0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF ((unsigned int) 0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX ((unsigned int) 0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX ((unsigned int) 0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST ((unsigned int) 0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +typedef struct _AT91S_PIO { + AT91_REG PIO_PER; // PIO Enable Register + AT91_REG PIO_PDR; // PIO Disable Register + AT91_REG PIO_PSR; // PIO Status Register + AT91_REG Reserved0[1]; // + AT91_REG PIO_OER; // Output Enable Register + AT91_REG PIO_ODR; // Output Disable Registerr + AT91_REG PIO_OSR; // Output Status Register + AT91_REG Reserved1[1]; // + AT91_REG PIO_IFER; // Input Filter Enable Register + AT91_REG PIO_IFDR; // Input Filter Disable Register + AT91_REG PIO_IFSR; // Input Filter Status Register + AT91_REG Reserved2[1]; // + AT91_REG PIO_SODR; // Set Output Data Register + AT91_REG PIO_CODR; // Clear Output Data Register + AT91_REG PIO_ODSR; // Output Data Status Register + AT91_REG PIO_PDSR; // Pin Data Status Register + AT91_REG PIO_IER; // Interrupt Enable Register + AT91_REG PIO_IDR; // Interrupt Disable Register + AT91_REG PIO_IMR; // Interrupt Mask Register + AT91_REG PIO_ISR; // Interrupt Status Register + AT91_REG PIO_MDER; // Multi-driver Enable Register + AT91_REG PIO_MDDR; // Multi-driver Disable Register + AT91_REG PIO_MDSR; // Multi-driver Status Register + AT91_REG Reserved3[1]; // + AT91_REG PIO_PPUDR; // Pull-up Disable Register + AT91_REG PIO_PPUER; // Pull-up Enable Register + AT91_REG PIO_PPUSR; // Pull-up Status Register + AT91_REG Reserved4[1]; // + AT91_REG PIO_ASR; // Select A Register + AT91_REG PIO_BSR; // Select B Register + AT91_REG PIO_ABSR; // AB Select Status Register + AT91_REG Reserved5[9]; // + AT91_REG PIO_OWER; // Output Write Enable Register + AT91_REG PIO_OWDR; // Output Write Disable Register + AT91_REG PIO_OWSR; // Output Write Status Register +} AT91S_PIO, *AT91PS_PIO; + + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +typedef struct _AT91S_CKGR { + AT91_REG CKGR_MOR; // Main Oscillator Register + AT91_REG CKGR_MCFR; // Main Clock Frequency Register + AT91_REG Reserved0[1]; // + AT91_REG CKGR_PLLR; // PLL Register +} AT91S_CKGR, *AT91PS_CKGR; + +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN ((unsigned int) 0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS ((unsigned int) 0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT ((unsigned int) 0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF ((unsigned int) 0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY ((unsigned int) 0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV ((unsigned int) 0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 ((unsigned int) 0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS ((unsigned int) 0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT ((unsigned int) 0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT ((unsigned int) 0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 ((unsigned int) 0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 ((unsigned int) 0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 ((unsigned int) 0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 ((unsigned int) 0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL ((unsigned int) 0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV ((unsigned int) 0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 ((unsigned int) 0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 ((unsigned int) 0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 ((unsigned int) 0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +typedef struct _AT91S_PMC { + AT91_REG PMC_SCER; // System Clock Enable Register + AT91_REG PMC_SCDR; // System Clock Disable Register + AT91_REG PMC_SCSR; // System Clock Status Register + AT91_REG Reserved0[1]; // + AT91_REG PMC_PCER; // Peripheral Clock Enable Register + AT91_REG PMC_PCDR; // Peripheral Clock Disable Register + AT91_REG PMC_PCSR; // Peripheral Clock Status Register + AT91_REG Reserved1[1]; // + AT91_REG PMC_MOR; // Main Oscillator Register + AT91_REG PMC_MCFR; // Main Clock Frequency Register + AT91_REG Reserved2[1]; // + AT91_REG PMC_PLLR; // PLL Register + AT91_REG PMC_MCKR; // Master Clock Register + AT91_REG Reserved3[3]; // + AT91_REG PMC_PCKR[4]; // Programmable Clock Register + AT91_REG Reserved4[4]; // + AT91_REG PMC_IER; // Interrupt Enable Register + AT91_REG PMC_IDR; // Interrupt Disable Register + AT91_REG PMC_SR; // Status Register + AT91_REG PMC_IMR; // Interrupt Mask Register +} AT91S_PMC, *AT91PS_PMC; + +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK ((unsigned int) 0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP ((unsigned int) 0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 ((unsigned int) 0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 ((unsigned int) 0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 ((unsigned int) 0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 ((unsigned int) 0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS ((unsigned int) 0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK ((unsigned int) 0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK ((unsigned int) 0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK ((unsigned int) 0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES ((unsigned int) 0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK ((unsigned int) 0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 ((unsigned int) 0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 ((unsigned int) 0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 ((unsigned int) 0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 ((unsigned int) 0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 ((unsigned int) 0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 ((unsigned int) 0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS ((unsigned int) 0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK ((unsigned int) 0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY ((unsigned int) 0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY ((unsigned int) 0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY ((unsigned int) 0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY ((unsigned int) 0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY ((unsigned int) 0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RSTC { + AT91_REG RSTC_RCR; // Reset Control Register + AT91_REG RSTC_RSR; // Reset Status Register + AT91_REG RSTC_RMR; // Reset Mode Register +} AT91S_RSTC, *AT91PS_RSTC; + +// -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_RSTC_PROCRST ((unsigned int) 0x1 << 0) // (RSTC) Processor Reset +#define AT91C_RSTC_PERRST ((unsigned int) 0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_RSTC_EXTRST ((unsigned int) 0x1 << 3) // (RSTC) External Reset +#define AT91C_RSTC_KEY ((unsigned int) 0xFF << 24) // (RSTC) Password +// -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_RSTC_URSTS ((unsigned int) 0x1 << 0) // (RSTC) User Reset Status +#define AT91C_RSTC_BODSTS ((unsigned int) 0x1 << 1) // (RSTC) Brownout Detection Status +#define AT91C_RSTC_RSTTYP ((unsigned int) 0x7 << 8) // (RSTC) Reset Type +#define AT91C_RSTC_RSTTYP_POWERUP ((unsigned int) 0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WAKEUP ((unsigned int) 0x1 << 8) // (RSTC) WakeUp Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WATCHDOG ((unsigned int) 0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_RSTC_RSTTYP_SOFTWARE ((unsigned int) 0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_RSTC_RSTTYP_USER ((unsigned int) 0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_RSTC_RSTTYP_BROWNOUT ((unsigned int) 0x5 << 8) // (RSTC) Brownout Reset occured. +#define AT91C_RSTC_NRSTL ((unsigned int) 0x1 << 16) // (RSTC) NRST pin level +#define AT91C_RSTC_SRCMP ((unsigned int) 0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_RSTC_URSTEN ((unsigned int) 0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_RSTC_URSTIEN ((unsigned int) 0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_RSTC_ERSTL ((unsigned int) 0xF << 8) // (RSTC) User Reset Enable +#define AT91C_RSTC_BODIEN ((unsigned int) 0x1 << 16) // (RSTC) Brownout Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_RTTC { + AT91_REG RTTC_RTMR; // Real-time Mode Register + AT91_REG RTTC_RTAR; // Real-time Alarm Register + AT91_REG RTTC_RTVR; // Real-time Value Register + AT91_REG RTTC_RTSR; // Real-time Status Register +} AT91S_RTTC, *AT91PS_RTTC; + +// -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_RTTC_RTPRES ((unsigned int) 0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_RTTC_ALMIEN ((unsigned int) 0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_RTTC_RTTINCIEN ((unsigned int) 0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_RTTC_RTTRST ((unsigned int) 0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_RTTC_ALMV ((unsigned int) 0x0 << 0) // (RTTC) Alarm Value +// -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_RTTC_CRTV ((unsigned int) 0x0 << 0) // (RTTC) Current Real-time Value +// -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_RTTC_ALMS ((unsigned int) 0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_RTTC_RTTINC ((unsigned int) 0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PITC { + AT91_REG PITC_PIMR; // Period Interval Mode Register + AT91_REG PITC_PISR; // Period Interval Status Register + AT91_REG PITC_PIVR; // Period Interval Value Register + AT91_REG PITC_PIIR; // Period Interval Image Register +} AT91S_PITC, *AT91PS_PITC; + +// -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_PITC_PIV ((unsigned int) 0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_PITC_PITEN ((unsigned int) 0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_PITC_PITIEN ((unsigned int) 0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_PITC_PITS ((unsigned int) 0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_PITC_CPIV ((unsigned int) 0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_PITC_PICNT ((unsigned int) 0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +typedef struct _AT91S_WDTC { + AT91_REG WDTC_WDCR; // Watchdog Control Register + AT91_REG WDTC_WDMR; // Watchdog Mode Register + AT91_REG WDTC_WDSR; // Watchdog Status Register +} AT91S_WDTC, *AT91PS_WDTC; + +// -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_WDTC_WDRSTT ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Restart +#define AT91C_WDTC_KEY ((unsigned int) 0xFF << 24) // (WDTC) Watchdog KEY Password +// -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_WDTC_WDV ((unsigned int) 0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDFIEN ((unsigned int) 0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_WDTC_WDRSTEN ((unsigned int) 0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_WDTC_WDRPROC ((unsigned int) 0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDDIS ((unsigned int) 0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_WDTC_WDD ((unsigned int) 0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_WDTC_WDDBGHLT ((unsigned int) 0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_WDTC_WDIDLEHLT ((unsigned int) 0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_WDTC_WDUNF ((unsigned int) 0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_WDTC_WDERR ((unsigned int) 0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// ***************************************************************************** +typedef struct _AT91S_VREG { + AT91_REG VREG_MR; // Voltage Regulator Mode Register +} AT91S_VREG, *AT91PS_VREG; + +// -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +#define AT91C_VREG_PSTDBY ((unsigned int) 0x1 << 0) // (VREG) Voltage Regulator Power Standby Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +typedef struct _AT91S_MC { + AT91_REG MC_RCR; // MC Remap Control Register + AT91_REG MC_ASR; // MC Abort Status Register + AT91_REG MC_AASR; // MC Abort Address Status Register + AT91_REG Reserved0[21]; // + AT91_REG MC_FMR; // MC Flash Mode Register + AT91_REG MC_FCR; // MC Flash Command Register + AT91_REG MC_FSR; // MC Flash Status Register +} AT91S_MC, *AT91PS_MC; + +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB ((unsigned int) 0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD ((unsigned int) 0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD ((unsigned int) 0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ ((unsigned int) 0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE ((unsigned int) 0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD ((unsigned int) 0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD ((unsigned int) 0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP ((unsigned int) 0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR ((unsigned int) 0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW ((unsigned int) 0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH ((unsigned int) 0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 ((unsigned int) 0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 ((unsigned int) 0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 ((unsigned int) 0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 ((unsigned int) 0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY ((unsigned int) 0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE ((unsigned int) 0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE ((unsigned int) 0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP ((unsigned int) 0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS ((unsigned int) 0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS ((unsigned int) 0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS ((unsigned int) 0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS ((unsigned int) 0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS ((unsigned int) 0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN ((unsigned int) 0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD ((unsigned int) 0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG ((unsigned int) 0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK ((unsigned int) 0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK ((unsigned int) 0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK ((unsigned int) 0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL ((unsigned int) 0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM ((unsigned int) 0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM ((unsigned int) 0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY ((unsigned int) 0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN ((unsigned int) 0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY ((unsigned int) 0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY ((unsigned int) 0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 ((unsigned int) 0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 ((unsigned int) 0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 ((unsigned int) 0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 ((unsigned int) 0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 ((unsigned int) 0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 ((unsigned int) 0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 ((unsigned int) 0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 ((unsigned int) 0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 ((unsigned int) 0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 ((unsigned int) 0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 ((unsigned int) 0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 ((unsigned int) 0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 ((unsigned int) 0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 ((unsigned int) 0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 ((unsigned int) 0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 ((unsigned int) 0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 ((unsigned int) 0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 ((unsigned int) 0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 ((unsigned int) 0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 ((unsigned int) 0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 ((unsigned int) 0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 ((unsigned int) 0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 ((unsigned int) 0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 ((unsigned int) 0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +typedef struct _AT91S_SPI { + AT91_REG SPI_CR; // Control Register + AT91_REG SPI_MR; // Mode Register + AT91_REG SPI_RDR; // Receive Data Register + AT91_REG SPI_TDR; // Transmit Data Register + AT91_REG SPI_SR; // Status Register + AT91_REG SPI_IER; // Interrupt Enable Register + AT91_REG SPI_IDR; // Interrupt Disable Register + AT91_REG SPI_IMR; // Interrupt Mask Register + AT91_REG Reserved0[4]; // + AT91_REG SPI_CSR[4]; // Chip Select Register + AT91_REG Reserved1[48]; // + AT91_REG SPI_RPR; // Receive Pointer Register + AT91_REG SPI_RCR; // Receive Counter Register + AT91_REG SPI_TPR; // Transmit Pointer Register + AT91_REG SPI_TCR; // Transmit Counter Register + AT91_REG SPI_RNPR; // Receive Next Pointer Register + AT91_REG SPI_RNCR; // Receive Next Counter Register + AT91_REG SPI_TNPR; // Transmit Next Pointer Register + AT91_REG SPI_TNCR; // Transmit Next Counter Register + AT91_REG SPI_PTCR; // PDC Transfer Control Register + AT91_REG SPI_PTSR; // PDC Transfer Status Register +} AT91S_SPI, *AT91PS_SPI; + +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN ((unsigned int) 0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS ((unsigned int) 0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST ((unsigned int) 0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER ((unsigned int) 0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR ((unsigned int) 0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS ((unsigned int) 0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED ((unsigned int) 0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE ((unsigned int) 0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC ((unsigned int) 0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV ((unsigned int) 0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS ((unsigned int) 0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB ((unsigned int) 0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS ((unsigned int) 0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD ((unsigned int) 0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD ((unsigned int) 0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS ((unsigned int) 0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF ((unsigned int) 0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE ((unsigned int) 0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF ((unsigned int) 0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES ((unsigned int) 0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX ((unsigned int) 0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX ((unsigned int) 0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF ((unsigned int) 0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE ((unsigned int) 0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR ((unsigned int) 0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY ((unsigned int) 0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS ((unsigned int) 0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL ((unsigned int) 0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA ((unsigned int) 0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT ((unsigned int) 0x1 << 3) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS ((unsigned int) 0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 ((unsigned int) 0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 ((unsigned int) 0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 ((unsigned int) 0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 ((unsigned int) 0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 ((unsigned int) 0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 ((unsigned int) 0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 ((unsigned int) 0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 ((unsigned int) 0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 ((unsigned int) 0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR ((unsigned int) 0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS ((unsigned int) 0xFF << 16) // (SPI) Delay Before SPCK +#define AT91C_SPI_DLYBCT ((unsigned int) 0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +typedef struct _AT91S_USART { + AT91_REG US_CR; // Control Register + AT91_REG US_MR; // Mode Register + AT91_REG US_IER; // Interrupt Enable Register + AT91_REG US_IDR; // Interrupt Disable Register + AT91_REG US_IMR; // Interrupt Mask Register + AT91_REG US_CSR; // Channel Status Register + AT91_REG US_RHR; // Receiver Holding Register + AT91_REG US_THR; // Transmitter Holding Register + AT91_REG US_BRGR; // Baud Rate Generator Register + AT91_REG US_RTOR; // Receiver Time-out Register + AT91_REG US_TTGR; // Transmitter Time-guard Register + AT91_REG Reserved0[5]; // + AT91_REG US_FIDI; // FI_DI_Ratio Register + AT91_REG US_NER; // Nb Errors Register + AT91_REG Reserved1[1]; // + AT91_REG US_IF; // IRDA_FILTER Register + AT91_REG Reserved2[44]; // + AT91_REG US_RPR; // Receive Pointer Register + AT91_REG US_RCR; // Receive Counter Register + AT91_REG US_TPR; // Transmit Pointer Register + AT91_REG US_TCR; // Transmit Counter Register + AT91_REG US_RNPR; // Receive Next Pointer Register + AT91_REG US_RNCR; // Receive Next Counter Register + AT91_REG US_TNPR; // Transmit Next Pointer Register + AT91_REG US_TNCR; // Transmit Next Counter Register + AT91_REG US_PTCR; // PDC Transfer Control Register + AT91_REG US_PTSR; // PDC Transfer Status Register +} AT91S_USART, *AT91PS_USART; + +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_STTBRK ((unsigned int) 0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK ((unsigned int) 0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO ((unsigned int) 0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA ((unsigned int) 0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT ((unsigned int) 0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK ((unsigned int) 0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO ((unsigned int) 0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN ((unsigned int) 0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS ((unsigned int) 0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN ((unsigned int) 0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS ((unsigned int) 0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE ((unsigned int) 0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL ((unsigned int) 0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 ((unsigned int) 0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH ((unsigned int) 0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM ((unsigned int) 0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 ((unsigned int) 0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 ((unsigned int) 0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA ((unsigned int) 0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH ((unsigned int) 0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS ((unsigned int) 0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK ((unsigned int) 0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 ((unsigned int) 0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW ((unsigned int) 0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT ((unsigned int) 0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL ((unsigned int) 0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS ((unsigned int) 0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS ((unsigned int) 0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS ((unsigned int) 0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS ((unsigned int) 0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC ((unsigned int) 0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP ((unsigned int) 0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT ((unsigned int) 0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT ((unsigned int) 0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT ((unsigned int) 0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF ((unsigned int) 0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 ((unsigned int) 0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO ((unsigned int) 0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER ((unsigned int) 0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK ((unsigned int) 0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK ((unsigned int) 0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER ((unsigned int) 0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER ((unsigned int) 0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK ((unsigned int) 0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT ((unsigned int) 0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION ((unsigned int) 0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK ((unsigned int) 0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC ((unsigned int) 0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC ((unsigned int) 0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC ((unsigned int) 0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC ((unsigned int) 0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI ((unsigned int) 0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR ((unsigned int) 0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD ((unsigned int) 0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS ((unsigned int) 0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +typedef struct _AT91S_SSC { + AT91_REG SSC_CR; // Control Register + AT91_REG SSC_CMR; // Clock Mode Register + AT91_REG Reserved0[2]; // + AT91_REG SSC_RCMR; // Receive Clock ModeRegister + AT91_REG SSC_RFMR; // Receive Frame Mode Register + AT91_REG SSC_TCMR; // Transmit Clock Mode Register + AT91_REG SSC_TFMR; // Transmit Frame Mode Register + AT91_REG SSC_RHR; // Receive Holding Register + AT91_REG SSC_THR; // Transmit Holding Register + AT91_REG Reserved1[2]; // + AT91_REG SSC_RSHR; // Receive Sync Holding Register + AT91_REG SSC_TSHR; // Transmit Sync Holding Register + AT91_REG Reserved2[2]; // + AT91_REG SSC_SR; // Status Register + AT91_REG SSC_IER; // Interrupt Enable Register + AT91_REG SSC_IDR; // Interrupt Disable Register + AT91_REG SSC_IMR; // Interrupt Mask Register + AT91_REG Reserved3[44]; // + AT91_REG SSC_RPR; // Receive Pointer Register + AT91_REG SSC_RCR; // Receive Counter Register + AT91_REG SSC_TPR; // Transmit Pointer Register + AT91_REG SSC_TCR; // Transmit Counter Register + AT91_REG SSC_RNPR; // Receive Next Pointer Register + AT91_REG SSC_RNCR; // Receive Next Counter Register + AT91_REG SSC_TNPR; // Transmit Next Pointer Register + AT91_REG SSC_TNCR; // Transmit Next Counter Register + AT91_REG SSC_PTCR; // PDC Transfer Control Register + AT91_REG SSC_PTSR; // PDC Transfer Status Register +} AT91S_SSC, *AT91PS_SSC; + +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN ((unsigned int) 0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS ((unsigned int) 0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN ((unsigned int) 0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS ((unsigned int) 0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST ((unsigned int) 0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS ((unsigned int) 0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV ((unsigned int) 0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK ((unsigned int) 0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK ((unsigned int) 0x2) // (SSC) RK pin +#define AT91C_SSC_CKO ((unsigned int) 0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE ((unsigned int) 0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS ((unsigned int) 0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX ((unsigned int) 0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI ((unsigned int) 0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_START ((unsigned int) 0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS ((unsigned int) 0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX ((unsigned int) 0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF ((unsigned int) 0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF ((unsigned int) 0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF ((unsigned int) 0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF ((unsigned int) 0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF ((unsigned int) 0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF ((unsigned int) 0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 ((unsigned int) 0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STTDLY ((unsigned int) 0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD ((unsigned int) 0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN ((unsigned int) 0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP ((unsigned int) 0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF ((unsigned int) 0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB ((unsigned int) 0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN ((unsigned int) 0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS ((unsigned int) 0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE ((unsigned int) 0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE ((unsigned int) 0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE ((unsigned int) 0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW ((unsigned int) 0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH ((unsigned int) 0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE ((unsigned int) 0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE ((unsigned int) 0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF ((unsigned int) 0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN ((unsigned int) 0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY ((unsigned int) 0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY ((unsigned int) 0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX ((unsigned int) 0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE ((unsigned int) 0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY ((unsigned int) 0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN ((unsigned int) 0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX ((unsigned int) 0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF ((unsigned int) 0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_TXSYN ((unsigned int) 0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN ((unsigned int) 0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA ((unsigned int) 0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA ((unsigned int) 0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +typedef struct _AT91S_TWI { + AT91_REG TWI_CR; // Control Register + AT91_REG TWI_MMR; // Master Mode Register + AT91_REG Reserved0[1]; // + AT91_REG TWI_IADR; // Internal Address Register + AT91_REG TWI_CWGR; // Clock Waveform Generator Register + AT91_REG Reserved1[3]; // + AT91_REG TWI_SR; // Status Register + AT91_REG TWI_IER; // Interrupt Enable Register + AT91_REG TWI_IDR; // Interrupt Disable Register + AT91_REG TWI_IMR; // Interrupt Mask Register + AT91_REG TWI_RHR; // Receive Holding Register + AT91_REG TWI_THR; // Transmit Holding Register +} AT91S_TWI, *AT91PS_TWI; + +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START ((unsigned int) 0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP ((unsigned int) 0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN ((unsigned int) 0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS ((unsigned int) 0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SWRST ((unsigned int) 0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ ((unsigned int) 0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO ((unsigned int) 0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE ((unsigned int) 0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE ((unsigned int) 0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE ((unsigned int) 0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD ((unsigned int) 0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR ((unsigned int) 0x7F << 16) // (TWI) Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV ((unsigned int) 0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV ((unsigned int) 0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV ((unsigned int) 0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP ((unsigned int) 0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY ((unsigned int) 0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY ((unsigned int) 0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_OVRE ((unsigned int) 0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE ((unsigned int) 0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK ((unsigned int) 0x1 << 8) // (TWI) Not Acknowledged +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC_CH { + AT91_REG PWMC_CMR; // Channel Mode Register + AT91_REG PWMC_CDTYR; // Channel Duty Cycle Register + AT91_REG PWMC_CPRDR; // Channel Period Register + AT91_REG PWMC_CCNTR; // Channel Counter Register + AT91_REG PWMC_CUPDR; // Channel Update Register + AT91_REG PWMC_Reserved[3]; // Reserved +} AT91S_PWMC_CH, *AT91PS_PWMC_CH; + +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE ((unsigned int) 0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK ((unsigned int) 0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA ((unsigned int) 0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB ((unsigned int) 0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG ((unsigned int) 0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL ((unsigned int) 0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD ((unsigned int) 0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD ((unsigned int) 0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +typedef struct _AT91S_PWMC { + AT91_REG PWMC_MR; // PWMC Mode Register + AT91_REG PWMC_ENA; // PWMC Enable Register + AT91_REG PWMC_DIS; // PWMC Disable Register + AT91_REG PWMC_SR; // PWMC Status Register + AT91_REG PWMC_IER; // PWMC Interrupt Enable Register + AT91_REG PWMC_IDR; // PWMC Interrupt Disable Register + AT91_REG PWMC_IMR; // PWMC Interrupt Mask Register + AT91_REG PWMC_ISR; // PWMC Interrupt Status Register + AT91_REG Reserved0[55]; // + AT91_REG PWMC_VR; // PWMC Version Register + AT91_REG Reserved1[64]; // + AT91S_PWMC_CH PWMC_CH[4]; // PWMC Channel +} AT91S_PWMC, *AT91PS_PWMC; + +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA ((unsigned int) 0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA ((unsigned int) 0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK ((unsigned int) 0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB ((unsigned int) 0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB ((unsigned int) 0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK ((unsigned int) 0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 ((unsigned int) 0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 ((unsigned int) 0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 ((unsigned int) 0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 ((unsigned int) 0x1 << 3) // (PWMC) Channel ID 3 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +typedef struct _AT91S_UDP { + AT91_REG UDP_NUM; // Frame Number Register + AT91_REG UDP_GLBSTATE; // Global State Register + AT91_REG UDP_FADDR; // Function Address Register + AT91_REG Reserved0[1]; // + AT91_REG UDP_IER; // Interrupt Enable Register + AT91_REG UDP_IDR; // Interrupt Disable Register + AT91_REG UDP_IMR; // Interrupt Mask Register + AT91_REG UDP_ISR; // Interrupt Status Register + AT91_REG UDP_ICR; // Interrupt Clear Register + AT91_REG Reserved1[1]; // + AT91_REG UDP_RSTEP; // Reset Endpoint Register + AT91_REG Reserved2[1]; // + AT91_REG UDP_CSR[6]; // Endpoint Control and Status Register + AT91_REG Reserved3[2]; // + AT91_REG UDP_FDR[6]; // Endpoint FIFO Data Register + AT91_REG Reserved4[3]; // + AT91_REG UDP_TXVC; // Transceiver Control Register +} AT91S_UDP, *AT91PS_UDP; + +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM ((unsigned int) 0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR ((unsigned int) 0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK ((unsigned int) 0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN ((unsigned int) 0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG ((unsigned int) 0x1 << 1) // (UDP) Configured +#define AT91C_UDP_ESR ((unsigned int) 0x1 << 2) // (UDP) Enable Send Resume +#define AT91C_UDP_RSMINPR ((unsigned int) 0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +#define AT91C_UDP_RMWUPE ((unsigned int) 0x1 << 4) // (UDP) Remote Wake Up Enable +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD ((unsigned int) 0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN ((unsigned int) 0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 ((unsigned int) 0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 ((unsigned int) 0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 ((unsigned int) 0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 ((unsigned int) 0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 ((unsigned int) 0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 ((unsigned int) 0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_RXSUSP ((unsigned int) 0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM ((unsigned int) 0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM ((unsigned int) 0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT ((unsigned int) 0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP ((unsigned int) 0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES ((unsigned int) 0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 ((unsigned int) 0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 ((unsigned int) 0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 ((unsigned int) 0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 ((unsigned int) 0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 ((unsigned int) 0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 ((unsigned int) 0x1 << 5) // (UDP) Reset Endpoint 5 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP ((unsigned int) 0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 ((unsigned int) 0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP ((unsigned int) 0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR ((unsigned int) 0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY ((unsigned int) 0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL ((unsigned int) 0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 ((unsigned int) 0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR ((unsigned int) 0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE ((unsigned int) 0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL ((unsigned int) 0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT ((unsigned int) 0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT ((unsigned int) 0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT ((unsigned int) 0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN ((unsigned int) 0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN ((unsigned int) 0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN ((unsigned int) 0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE ((unsigned int) 0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS ((unsigned int) 0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT ((unsigned int) 0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO +// -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +#define AT91C_UDP_TXVDIS ((unsigned int) 0x1 << 8) // (UDP) +#define AT91C_UDP_PUON ((unsigned int) 0x1 << 9) // (UDP) Pull-up ON + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +typedef struct _AT91S_TC { + AT91_REG TC_CCR; // Channel Control Register + AT91_REG TC_CMR; // Channel Mode Register (Capture Mode / Waveform Mode) + AT91_REG Reserved0[2]; // + AT91_REG TC_CV; // Counter Value + AT91_REG TC_RA; // Register A + AT91_REG TC_RB; // Register B + AT91_REG TC_RC; // Register C + AT91_REG TC_SR; // Status Register + AT91_REG TC_IER; // Interrupt Enable Register + AT91_REG TC_IDR; // Interrupt Disable Register + AT91_REG TC_IMR; // Interrupt Mask Register +} AT91S_TC, *AT91PS_TC; + +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN ((unsigned int) 0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS ((unsigned int) 0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG ((unsigned int) 0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS ((unsigned int) 0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK ((unsigned int) 0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK ((unsigned int) 0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK ((unsigned int) 0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK ((unsigned int) 0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK ((unsigned int) 0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 ((unsigned int) 0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 ((unsigned int) 0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 ((unsigned int) 0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI ((unsigned int) 0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST ((unsigned int) 0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE ((unsigned int) 0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 ((unsigned int) 0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 ((unsigned int) 0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 ((unsigned int) 0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP ((unsigned int) 0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_CPCDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_LDBDIS ((unsigned int) 0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_ETRGEDG ((unsigned int) 0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG ((unsigned int) 0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE ((unsigned int) 0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING ((unsigned int) 0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING ((unsigned int) 0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH ((unsigned int) 0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVT ((unsigned int) 0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_TIOB ((unsigned int) 0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_XC0 ((unsigned int) 0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_XC1 ((unsigned int) 0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_XC2 ((unsigned int) 0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ABETRG ((unsigned int) 0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_ENETRG ((unsigned int) 0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL ((unsigned int) 0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP ((unsigned int) 0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN ((unsigned int) 0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO ((unsigned int) 0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO ((unsigned int) 0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG ((unsigned int) 0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE ((unsigned int) 0x1 << 15) // (TC) +#define AT91C_TC_ACPA ((unsigned int) 0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE ((unsigned int) 0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET ((unsigned int) 0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR ((unsigned int) 0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE ((unsigned int) 0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRA ((unsigned int) 0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE ((unsigned int) 0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING ((unsigned int) 0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING ((unsigned int) 0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH ((unsigned int) 0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC ((unsigned int) 0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE ((unsigned int) 0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET ((unsigned int) 0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR ((unsigned int) 0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE ((unsigned int) 0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_LDRB ((unsigned int) 0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE ((unsigned int) 0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING ((unsigned int) 0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING ((unsigned int) 0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH ((unsigned int) 0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_AEEVT ((unsigned int) 0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE ((unsigned int) 0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET ((unsigned int) 0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR ((unsigned int) 0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE ((unsigned int) 0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG ((unsigned int) 0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE ((unsigned int) 0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET ((unsigned int) 0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR ((unsigned int) 0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE ((unsigned int) 0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB ((unsigned int) 0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE ((unsigned int) 0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET ((unsigned int) 0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR ((unsigned int) 0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE ((unsigned int) 0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC ((unsigned int) 0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE ((unsigned int) 0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET ((unsigned int) 0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR ((unsigned int) 0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE ((unsigned int) 0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT ((unsigned int) 0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE ((unsigned int) 0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET ((unsigned int) 0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR ((unsigned int) 0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE ((unsigned int) 0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG ((unsigned int) 0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE ((unsigned int) 0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET ((unsigned int) 0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR ((unsigned int) 0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE ((unsigned int) 0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS ((unsigned int) 0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS ((unsigned int) 0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS ((unsigned int) 0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS ((unsigned int) 0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS ((unsigned int) 0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS ((unsigned int) 0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS ((unsigned int) 0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRGS ((unsigned int) 0x1 << 7) // (TC) External Trigger +#define AT91C_TC_CLKSTA ((unsigned int) 0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA ((unsigned int) 0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB ((unsigned int) 0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +typedef struct _AT91S_TCB { + AT91S_TC TCB_TC0; // TC Channel 0 + AT91_REG Reserved0[4]; // + AT91S_TC TCB_TC1; // TC Channel 1 + AT91_REG Reserved1[4]; // + AT91S_TC TCB_TC2; // TC Channel 2 + AT91_REG Reserved2[4]; // + AT91_REG TCB_BCR; // TC Block Control Register + AT91_REG TCB_BMR; // TC Block Mode Register +} AT91S_TCB, *AT91PS_TCB; + +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC ((unsigned int) 0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S ((unsigned int) 0x3 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 ((unsigned int) 0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE ((unsigned int) 0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 ((unsigned int) 0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 ((unsigned int) 0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S ((unsigned int) 0x3 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 ((unsigned int) 0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE ((unsigned int) 0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 ((unsigned int) 0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 ((unsigned int) 0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S ((unsigned int) 0x3 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 ((unsigned int) 0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE ((unsigned int) 0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 ((unsigned int) 0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA1 ((unsigned int) 0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// ***************************************************************************** +typedef struct _AT91S_CAN_MB { + AT91_REG CAN_MB_MMR; // MailBox Mode Register + AT91_REG CAN_MB_MAM; // MailBox Acceptance Mask Register + AT91_REG CAN_MB_MID; // MailBox ID Register + AT91_REG CAN_MB_MFID; // MailBox Family ID Register + AT91_REG CAN_MB_MSR; // MailBox Status Register + AT91_REG CAN_MB_MDL; // MailBox Data Low Register + AT91_REG CAN_MB_MDH; // MailBox Data High Register + AT91_REG CAN_MB_MCR; // MailBox Control Register +} AT91S_CAN_MB, *AT91PS_CAN_MB; + +// -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +#define AT91C_CAN_MTIMEMARK ((unsigned int) 0xFFFF << 0) // (CAN_MB) Mailbox Timemark +#define AT91C_CAN_PRIOR ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Priority +#define AT91C_CAN_MOT ((unsigned int) 0x7 << 24) // (CAN_MB) Mailbox Object Type +#define AT91C_CAN_MOT_DIS ((unsigned int) 0x0 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RX ((unsigned int) 0x1 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RXOVERWRITE ((unsigned int) 0x2 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_TX ((unsigned int) 0x3 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_CONSUMER ((unsigned int) 0x4 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_PRODUCER ((unsigned int) 0x5 << 24) // (CAN_MB) +// -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +#define AT91C_CAN_MIDvB ((unsigned int) 0x3FFFF << 0) // (CAN_MB) Complementary bits for identifier in extended mode +#define AT91C_CAN_MIDvA ((unsigned int) 0x7FF << 18) // (CAN_MB) Identifier for standard frame mode +#define AT91C_CAN_MIDE ((unsigned int) 0x1 << 29) // (CAN_MB) Identifier Version +// -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +#define AT91C_CAN_MTIMESTAMP ((unsigned int) 0xFFFF << 0) // (CAN_MB) Timer Value +#define AT91C_CAN_MDLC ((unsigned int) 0xF << 16) // (CAN_MB) Mailbox Data Length Code +#define AT91C_CAN_MRTR ((unsigned int) 0x1 << 20) // (CAN_MB) Mailbox Remote Transmission Request +#define AT91C_CAN_MABT ((unsigned int) 0x1 << 22) // (CAN_MB) Mailbox Message Abort +#define AT91C_CAN_MRDY ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Ready +#define AT91C_CAN_MMI ((unsigned int) 0x1 << 24) // (CAN_MB) Mailbox Message Ignored +// -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +#define AT91C_CAN_MACR ((unsigned int) 0x1 << 22) // (CAN_MB) Abort Request for Mailbox +#define AT91C_CAN_MTCR ((unsigned int) 0x1 << 23) // (CAN_MB) Mailbox Transfer Command + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network Interface +// ***************************************************************************** +typedef struct _AT91S_CAN { + AT91_REG CAN_MR; // Mode Register + AT91_REG CAN_IER; // Interrupt Enable Register + AT91_REG CAN_IDR; // Interrupt Disable Register + AT91_REG CAN_IMR; // Interrupt Mask Register + AT91_REG CAN_SR; // Status Register + AT91_REG CAN_BR; // Baudrate Register + AT91_REG CAN_TIM; // Timer Register + AT91_REG CAN_TIMESTP; // Time Stamp Register + AT91_REG CAN_ECR; // Error Counter Register + AT91_REG CAN_TCR; // Transfer Command Register + AT91_REG CAN_ACR; // Abort Command Register + AT91_REG Reserved0[52]; // + AT91_REG CAN_VR; // Version Register + AT91_REG Reserved1[64]; // + AT91S_CAN_MB CAN_MB0; // CAN Mailbox 0 + AT91S_CAN_MB CAN_MB1; // CAN Mailbox 1 + AT91S_CAN_MB CAN_MB2; // CAN Mailbox 2 + AT91S_CAN_MB CAN_MB3; // CAN Mailbox 3 + AT91S_CAN_MB CAN_MB4; // CAN Mailbox 4 + AT91S_CAN_MB CAN_MB5; // CAN Mailbox 5 + AT91S_CAN_MB CAN_MB6; // CAN Mailbox 6 + AT91S_CAN_MB CAN_MB7; // CAN Mailbox 7 + AT91S_CAN_MB CAN_MB8; // CAN Mailbox 8 + AT91S_CAN_MB CAN_MB9; // CAN Mailbox 9 + AT91S_CAN_MB CAN_MB10; // CAN Mailbox 10 + AT91S_CAN_MB CAN_MB11; // CAN Mailbox 11 + AT91S_CAN_MB CAN_MB12; // CAN Mailbox 12 + AT91S_CAN_MB CAN_MB13; // CAN Mailbox 13 + AT91S_CAN_MB CAN_MB14; // CAN Mailbox 14 + AT91S_CAN_MB CAN_MB15; // CAN Mailbox 15 +} AT91S_CAN, *AT91PS_CAN; + +// -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +#define AT91C_CAN_CANEN ((unsigned int) 0x1 << 0) // (CAN) CAN Controller Enable +#define AT91C_CAN_LPM ((unsigned int) 0x1 << 1) // (CAN) Disable/Enable Low Power Mode +#define AT91C_CAN_ABM ((unsigned int) 0x1 << 2) // (CAN) Disable/Enable Autobaud/Listen Mode +#define AT91C_CAN_OVL ((unsigned int) 0x1 << 3) // (CAN) Disable/Enable Overload Frame +#define AT91C_CAN_TEOF ((unsigned int) 0x1 << 4) // (CAN) Time Stamp messages at each end of Frame +#define AT91C_CAN_TTM ((unsigned int) 0x1 << 5) // (CAN) Disable/Enable Time Trigger Mode +#define AT91C_CAN_TIMFRZ ((unsigned int) 0x1 << 6) // (CAN) Enable Timer Freeze +#define AT91C_CAN_DRPT ((unsigned int) 0x1 << 7) // (CAN) Disable Repeat +// -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +#define AT91C_CAN_MB0 ((unsigned int) 0x1 << 0) // (CAN) Mailbox 0 Flag +#define AT91C_CAN_MB1 ((unsigned int) 0x1 << 1) // (CAN) Mailbox 1 Flag +#define AT91C_CAN_MB2 ((unsigned int) 0x1 << 2) // (CAN) Mailbox 2 Flag +#define AT91C_CAN_MB3 ((unsigned int) 0x1 << 3) // (CAN) Mailbox 3 Flag +#define AT91C_CAN_MB4 ((unsigned int) 0x1 << 4) // (CAN) Mailbox 4 Flag +#define AT91C_CAN_MB5 ((unsigned int) 0x1 << 5) // (CAN) Mailbox 5 Flag +#define AT91C_CAN_MB6 ((unsigned int) 0x1 << 6) // (CAN) Mailbox 6 Flag +#define AT91C_CAN_MB7 ((unsigned int) 0x1 << 7) // (CAN) Mailbox 7 Flag +#define AT91C_CAN_MB8 ((unsigned int) 0x1 << 8) // (CAN) Mailbox 8 Flag +#define AT91C_CAN_MB9 ((unsigned int) 0x1 << 9) // (CAN) Mailbox 9 Flag +#define AT91C_CAN_MB10 ((unsigned int) 0x1 << 10) // (CAN) Mailbox 10 Flag +#define AT91C_CAN_MB11 ((unsigned int) 0x1 << 11) // (CAN) Mailbox 11 Flag +#define AT91C_CAN_MB12 ((unsigned int) 0x1 << 12) // (CAN) Mailbox 12 Flag +#define AT91C_CAN_MB13 ((unsigned int) 0x1 << 13) // (CAN) Mailbox 13 Flag +#define AT91C_CAN_MB14 ((unsigned int) 0x1 << 14) // (CAN) Mailbox 14 Flag +#define AT91C_CAN_MB15 ((unsigned int) 0x1 << 15) // (CAN) Mailbox 15 Flag +#define AT91C_CAN_ERRA ((unsigned int) 0x1 << 16) // (CAN) Error Active Mode Flag +#define AT91C_CAN_WARN ((unsigned int) 0x1 << 17) // (CAN) Warning Limit Flag +#define AT91C_CAN_ERRP ((unsigned int) 0x1 << 18) // (CAN) Error Passive Mode Flag +#define AT91C_CAN_BOFF ((unsigned int) 0x1 << 19) // (CAN) Bus Off Mode Flag +#define AT91C_CAN_SLEEP ((unsigned int) 0x1 << 20) // (CAN) Sleep Flag +#define AT91C_CAN_WAKEUP ((unsigned int) 0x1 << 21) // (CAN) Wakeup Flag +#define AT91C_CAN_TOVF ((unsigned int) 0x1 << 22) // (CAN) Timer Overflow Flag +#define AT91C_CAN_TSTP ((unsigned int) 0x1 << 23) // (CAN) Timestamp Flag +#define AT91C_CAN_CERR ((unsigned int) 0x1 << 24) // (CAN) CRC Error +#define AT91C_CAN_SERR ((unsigned int) 0x1 << 25) // (CAN) Stuffing Error +#define AT91C_CAN_AERR ((unsigned int) 0x1 << 26) // (CAN) Acknowledgment Error +#define AT91C_CAN_FERR ((unsigned int) 0x1 << 27) // (CAN) Form Error +#define AT91C_CAN_BERR ((unsigned int) 0x1 << 28) // (CAN) Bit Error +// -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +#define AT91C_CAN_RBSY ((unsigned int) 0x1 << 29) // (CAN) Receiver Busy +#define AT91C_CAN_TBSY ((unsigned int) 0x1 << 30) // (CAN) Transmitter Busy +#define AT91C_CAN_OVLY ((unsigned int) 0x1 << 31) // (CAN) Overload Busy +// -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +#define AT91C_CAN_PHASE2 ((unsigned int) 0x7 << 0) // (CAN) Phase 2 segment +#define AT91C_CAN_PHASE1 ((unsigned int) 0x7 << 4) // (CAN) Phase 1 segment +#define AT91C_CAN_PROPAG ((unsigned int) 0x7 << 8) // (CAN) Programmation time segment +#define AT91C_CAN_SYNC ((unsigned int) 0x3 << 12) // (CAN) Re-synchronization jump width segment +#define AT91C_CAN_BRP ((unsigned int) 0x7F << 16) // (CAN) Baudrate Prescaler +#define AT91C_CAN_SMP ((unsigned int) 0x1 << 24) // (CAN) Sampling mode +// -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +#define AT91C_CAN_TIMER ((unsigned int) 0xFFFF << 0) // (CAN) Timer field +// -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +#define AT91C_CAN_REC ((unsigned int) 0xFF << 0) // (CAN) Receive Error Counter +#define AT91C_CAN_TEC ((unsigned int) 0xFF << 16) // (CAN) Transmit Error Counter +// -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +#define AT91C_CAN_TIMRST ((unsigned int) 0x1 << 31) // (CAN) Timer Reset Field +// -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// ***************************************************************************** +typedef struct _AT91S_EMAC { + AT91_REG EMAC_NCR; // Network Control Register + AT91_REG EMAC_NCFGR; // Network Configuration Register + AT91_REG EMAC_NSR; // Network Status Register + AT91_REG Reserved0[2]; // + AT91_REG EMAC_TSR; // Transmit Status Register + AT91_REG EMAC_RBQP; // Receive Buffer Queue Pointer + AT91_REG EMAC_TBQP; // Transmit Buffer Queue Pointer + AT91_REG EMAC_RSR; // Receive Status Register + AT91_REG EMAC_ISR; // Interrupt Status Register + AT91_REG EMAC_IER; // Interrupt Enable Register + AT91_REG EMAC_IDR; // Interrupt Disable Register + AT91_REG EMAC_IMR; // Interrupt Mask Register + AT91_REG EMAC_MAN; // PHY Maintenance Register + AT91_REG EMAC_PTR; // Pause Time Register + AT91_REG EMAC_PFR; // Pause Frames received Register + AT91_REG EMAC_FTO; // Frames Transmitted OK Register + AT91_REG EMAC_SCF; // Single Collision Frame Register + AT91_REG EMAC_MCF; // Multiple Collision Frame Register + AT91_REG EMAC_FRO; // Frames Received OK Register + AT91_REG EMAC_FCSE; // Frame Check Sequence Error Register + AT91_REG EMAC_ALE; // Alignment Error Register + AT91_REG EMAC_DTF; // Deferred Transmission Frame Register + AT91_REG EMAC_LCOL; // Late Collision Register + AT91_REG EMAC_ECOL; // Excessive Collision Register + AT91_REG EMAC_TUND; // Transmit Underrun Error Register + AT91_REG EMAC_CSE; // Carrier Sense Error Register + AT91_REG EMAC_RRE; // Receive Ressource Error Register + AT91_REG EMAC_ROV; // Receive Overrun Errors Register + AT91_REG EMAC_RSE; // Receive Symbol Errors Register + AT91_REG EMAC_ELE; // Excessive Length Errors Register + AT91_REG EMAC_RJA; // Receive Jabbers Register + AT91_REG EMAC_USF; // Undersize Frames Register + AT91_REG EMAC_STE; // SQE Test Error Register + AT91_REG EMAC_RLE; // Receive Length Field Mismatch Register + AT91_REG EMAC_TPF; // Transmitted Pause Frames Register + AT91_REG EMAC_HRB; // Hash Address Bottom[31:0] + AT91_REG EMAC_HRT; // Hash Address Top[63:32] + AT91_REG EMAC_SA1L; // Specific Address 1 Bottom, First 4 bytes + AT91_REG EMAC_SA1H; // Specific Address 1 Top, Last 2 bytes + AT91_REG EMAC_SA2L; // Specific Address 2 Bottom, First 4 bytes + AT91_REG EMAC_SA2H; // Specific Address 2 Top, Last 2 bytes + AT91_REG EMAC_SA3L; // Specific Address 3 Bottom, First 4 bytes + AT91_REG EMAC_SA3H; // Specific Address 3 Top, Last 2 bytes + AT91_REG EMAC_SA4L; // Specific Address 4 Bottom, First 4 bytes + AT91_REG EMAC_SA4H; // Specific Address 4 Top, Last 2 bytes + AT91_REG EMAC_TID; // Type ID Checking Register + AT91_REG EMAC_TPQ; // Transmit Pause Quantum Register + AT91_REG EMAC_USRIO; // USER Input/Output Register + AT91_REG EMAC_WOL; // Wake On LAN Register + AT91_REG Reserved1[13]; // + AT91_REG EMAC_REV; // Revision Register +} AT91S_EMAC, *AT91PS_EMAC; + +// -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +#define AT91C_EMAC_LB ((unsigned int) 0x1 << 0) // (EMAC) Loopback. Optional. When set, loopback signal is at high level. +#define AT91C_EMAC_LLB ((unsigned int) 0x1 << 1) // (EMAC) Loopback local. +#define AT91C_EMAC_RE ((unsigned int) 0x1 << 2) // (EMAC) Receive enable. +#define AT91C_EMAC_TE ((unsigned int) 0x1 << 3) // (EMAC) Transmit enable. +#define AT91C_EMAC_MPE ((unsigned int) 0x1 << 4) // (EMAC) Management port enable. +#define AT91C_EMAC_CLRSTAT ((unsigned int) 0x1 << 5) // (EMAC) Clear statistics registers. +#define AT91C_EMAC_INCSTAT ((unsigned int) 0x1 << 6) // (EMAC) Increment statistics registers. +#define AT91C_EMAC_WESTAT ((unsigned int) 0x1 << 7) // (EMAC) Write enable for statistics registers. +#define AT91C_EMAC_BP ((unsigned int) 0x1 << 8) // (EMAC) Back pressure. +#define AT91C_EMAC_TSTART ((unsigned int) 0x1 << 9) // (EMAC) Start Transmission. +#define AT91C_EMAC_THALT ((unsigned int) 0x1 << 10) // (EMAC) Transmission Halt. +#define AT91C_EMAC_TPFR ((unsigned int) 0x1 << 11) // (EMAC) Transmit pause frame +#define AT91C_EMAC_TZQ ((unsigned int) 0x1 << 12) // (EMAC) Transmit zero quantum pause frame +// -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +#define AT91C_EMAC_SPD ((unsigned int) 0x1 << 0) // (EMAC) Speed. +#define AT91C_EMAC_FD ((unsigned int) 0x1 << 1) // (EMAC) Full duplex. +#define AT91C_EMAC_JFRAME ((unsigned int) 0x1 << 3) // (EMAC) Jumbo Frames. +#define AT91C_EMAC_CAF ((unsigned int) 0x1 << 4) // (EMAC) Copy all frames. +#define AT91C_EMAC_NBC ((unsigned int) 0x1 << 5) // (EMAC) No broadcast. +#define AT91C_EMAC_MTI ((unsigned int) 0x1 << 6) // (EMAC) Multicast hash event enable +#define AT91C_EMAC_UNI ((unsigned int) 0x1 << 7) // (EMAC) Unicast hash enable. +#define AT91C_EMAC_BIG ((unsigned int) 0x1 << 8) // (EMAC) Receive 1522 bytes. +#define AT91C_EMAC_EAE ((unsigned int) 0x1 << 9) // (EMAC) External address match enable. +#define AT91C_EMAC_CLK ((unsigned int) 0x3 << 10) // (EMAC) +#define AT91C_EMAC_CLK_HCLK_8 ((unsigned int) 0x0 << 10) // (EMAC) HCLK divided by 8 +#define AT91C_EMAC_CLK_HCLK_16 ((unsigned int) 0x1 << 10) // (EMAC) HCLK divided by 16 +#define AT91C_EMAC_CLK_HCLK_32 ((unsigned int) 0x2 << 10) // (EMAC) HCLK divided by 32 +#define AT91C_EMAC_CLK_HCLK_64 ((unsigned int) 0x3 << 10) // (EMAC) HCLK divided by 64 +#define AT91C_EMAC_RTY ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PAE ((unsigned int) 0x1 << 13) // (EMAC) +#define AT91C_EMAC_RBOF ((unsigned int) 0x3 << 14) // (EMAC) +#define AT91C_EMAC_RBOF_OFFSET_0 ((unsigned int) 0x0 << 14) // (EMAC) no offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_1 ((unsigned int) 0x1 << 14) // (EMAC) one byte offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_2 ((unsigned int) 0x2 << 14) // (EMAC) two bytes offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_3 ((unsigned int) 0x3 << 14) // (EMAC) three bytes offset from start of receive buffer +#define AT91C_EMAC_RLCE ((unsigned int) 0x1 << 16) // (EMAC) Receive Length field Checking Enable +#define AT91C_EMAC_DRFCS ((unsigned int) 0x1 << 17) // (EMAC) Discard Receive FCS +#define AT91C_EMAC_EFRHD ((unsigned int) 0x1 << 18) // (EMAC) +#define AT91C_EMAC_IRXFCS ((unsigned int) 0x1 << 19) // (EMAC) Ignore RX FCS +// -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +#define AT91C_EMAC_LINKR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_MDIO ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_IDLE ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +#define AT91C_EMAC_UBR ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_COL ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RLES ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TGO ((unsigned int) 0x1 << 3) // (EMAC) Transmit Go +#define AT91C_EMAC_BEX ((unsigned int) 0x1 << 4) // (EMAC) Buffers exhausted mid frame +#define AT91C_EMAC_COMP ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_UND ((unsigned int) 0x1 << 6) // (EMAC) +// -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +#define AT91C_EMAC_BNA ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_REC ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_OVR ((unsigned int) 0x1 << 2) // (EMAC) +// -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +#define AT91C_EMAC_MFD ((unsigned int) 0x1 << 0) // (EMAC) +#define AT91C_EMAC_RCOMP ((unsigned int) 0x1 << 1) // (EMAC) +#define AT91C_EMAC_RXUBR ((unsigned int) 0x1 << 2) // (EMAC) +#define AT91C_EMAC_TXUBR ((unsigned int) 0x1 << 3) // (EMAC) +#define AT91C_EMAC_TUNDR ((unsigned int) 0x1 << 4) // (EMAC) +#define AT91C_EMAC_RLEX ((unsigned int) 0x1 << 5) // (EMAC) +#define AT91C_EMAC_TXERR ((unsigned int) 0x1 << 6) // (EMAC) +#define AT91C_EMAC_TCOMP ((unsigned int) 0x1 << 7) // (EMAC) +#define AT91C_EMAC_LINK ((unsigned int) 0x1 << 9) // (EMAC) +#define AT91C_EMAC_ROVR ((unsigned int) 0x1 << 10) // (EMAC) +#define AT91C_EMAC_HRESP ((unsigned int) 0x1 << 11) // (EMAC) +#define AT91C_EMAC_PFRE ((unsigned int) 0x1 << 12) // (EMAC) +#define AT91C_EMAC_PTZ ((unsigned int) 0x1 << 13) // (EMAC) +// -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +#define AT91C_EMAC_DATA ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_CODE ((unsigned int) 0x3 << 16) // (EMAC) +#define AT91C_EMAC_REGA ((unsigned int) 0x1F << 18) // (EMAC) +#define AT91C_EMAC_PHYA ((unsigned int) 0x1F << 23) // (EMAC) +#define AT91C_EMAC_RW ((unsigned int) 0x3 << 28) // (EMAC) +#define AT91C_EMAC_SOF ((unsigned int) 0x3 << 30) // (EMAC) +// -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +#define AT91C_EMAC_RMII ((unsigned int) 0x1 << 0) // (EMAC) Reduce MII +// -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +#define AT91C_EMAC_IP ((unsigned int) 0xFFFF << 0) // (EMAC) ARP request IP address +#define AT91C_EMAC_MAG ((unsigned int) 0x1 << 16) // (EMAC) Magic packet event enable +#define AT91C_EMAC_ARP ((unsigned int) 0x1 << 17) // (EMAC) ARP request event enable +#define AT91C_EMAC_SA1 ((unsigned int) 0x1 << 18) // (EMAC) Specific address register 1 event enable +// -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +#define AT91C_EMAC_REVREF ((unsigned int) 0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_PARTREF ((unsigned int) 0xFFFF << 16) // (EMAC) + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +typedef struct _AT91S_ADC { + AT91_REG ADC_CR; // ADC Control Register + AT91_REG ADC_MR; // ADC Mode Register + AT91_REG Reserved0[2]; // + AT91_REG ADC_CHER; // ADC Channel Enable Register + AT91_REG ADC_CHDR; // ADC Channel Disable Register + AT91_REG ADC_CHSR; // ADC Channel Status Register + AT91_REG ADC_SR; // ADC Status Register + AT91_REG ADC_LCDR; // ADC Last Converted Data Register + AT91_REG ADC_IER; // ADC Interrupt Enable Register + AT91_REG ADC_IDR; // ADC Interrupt Disable Register + AT91_REG ADC_IMR; // ADC Interrupt Mask Register + AT91_REG ADC_CDR0; // ADC Channel Data Register 0 + AT91_REG ADC_CDR1; // ADC Channel Data Register 1 + AT91_REG ADC_CDR2; // ADC Channel Data Register 2 + AT91_REG ADC_CDR3; // ADC Channel Data Register 3 + AT91_REG ADC_CDR4; // ADC Channel Data Register 4 + AT91_REG ADC_CDR5; // ADC Channel Data Register 5 + AT91_REG ADC_CDR6; // ADC Channel Data Register 6 + AT91_REG ADC_CDR7; // ADC Channel Data Register 7 + AT91_REG Reserved1[44]; // + AT91_REG ADC_RPR; // Receive Pointer Register + AT91_REG ADC_RCR; // Receive Counter Register + AT91_REG ADC_TPR; // Transmit Pointer Register + AT91_REG ADC_TCR; // Transmit Counter Register + AT91_REG ADC_RNPR; // Receive Next Pointer Register + AT91_REG ADC_RNCR; // Receive Next Counter Register + AT91_REG ADC_TNPR; // Transmit Next Pointer Register + AT91_REG ADC_TNCR; // Transmit Next Counter Register + AT91_REG ADC_PTCR; // PDC Transfer Control Register + AT91_REG ADC_PTSR; // PDC Transfer Status Register +} AT91S_ADC, *AT91PS_ADC; + +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST ((unsigned int) 0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START ((unsigned int) 0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN ((unsigned int) 0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS ((unsigned int) 0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN ((unsigned int) 0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL ((unsigned int) 0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 ((unsigned int) 0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 ((unsigned int) 0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 ((unsigned int) 0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 ((unsigned int) 0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 ((unsigned int) 0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 ((unsigned int) 0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT ((unsigned int) 0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES ((unsigned int) 0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT ((unsigned int) 0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT ((unsigned int) 0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE ((unsigned int) 0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE ((unsigned int) 0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL ((unsigned int) 0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP ((unsigned int) 0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM ((unsigned int) 0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 ((unsigned int) 0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 ((unsigned int) 0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 ((unsigned int) 0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 ((unsigned int) 0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 ((unsigned int) 0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 ((unsigned int) 0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 ((unsigned int) 0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 ((unsigned int) 0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 ((unsigned int) 0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 ((unsigned int) 0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 ((unsigned int) 0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 ((unsigned int) 0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 ((unsigned int) 0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 ((unsigned int) 0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 ((unsigned int) 0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 ((unsigned int) 0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 ((unsigned int) 0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 ((unsigned int) 0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 ((unsigned int) 0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 ((unsigned int) 0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 ((unsigned int) 0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 ((unsigned int) 0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 ((unsigned int) 0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 ((unsigned int) 0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY ((unsigned int) 0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE ((unsigned int) 0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX ((unsigned int) 0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF ((unsigned int) 0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA ((unsigned int) 0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA ((unsigned int) 0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_AES { + AT91_REG AES_CR; // Control Register + AT91_REG AES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG AES_IER; // Interrupt Enable Register + AT91_REG AES_IDR; // Interrupt Disable Register + AT91_REG AES_IMR; // Interrupt Mask Register + AT91_REG AES_ISR; // Interrupt Status Register + AT91_REG AES_KEYWxR[4]; // Key Word x Register + AT91_REG Reserved1[4]; // + AT91_REG AES_IDATAxR[4]; // Input Data x Register + AT91_REG AES_ODATAxR[4]; // Output Data x Register + AT91_REG AES_IVxR[4]; // Initialization Vector x Register + AT91_REG Reserved2[35]; // + AT91_REG AES_VR; // AES Version Register + AT91_REG AES_RPR; // Receive Pointer Register + AT91_REG AES_RCR; // Receive Counter Register + AT91_REG AES_TPR; // Transmit Pointer Register + AT91_REG AES_TCR; // Transmit Counter Register + AT91_REG AES_RNPR; // Receive Next Pointer Register + AT91_REG AES_RNCR; // Receive Next Counter Register + AT91_REG AES_TNPR; // Transmit Next Pointer Register + AT91_REG AES_TNCR; // Transmit Next Counter Register + AT91_REG AES_PTCR; // PDC Transfer Control Register + AT91_REG AES_PTSR; // PDC Transfer Status Register +} AT91S_AES, *AT91PS_AES; + +// -------- AES_CR : (AES Offset: 0x0) Control Register -------- +#define AT91C_AES_START ((unsigned int) 0x1 << 0) // (AES) Starts Processing +#define AT91C_AES_SWRST ((unsigned int) 0x1 << 8) // (AES) Software Reset +#define AT91C_AES_LOADSEED ((unsigned int) 0x1 << 16) // (AES) Random Number Generator Seed Loading +// -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +#define AT91C_AES_CIPHER ((unsigned int) 0x1 << 0) // (AES) Processing Mode +#define AT91C_AES_PROCDLY ((unsigned int) 0xF << 4) // (AES) Processing Delay +#define AT91C_AES_SMOD ((unsigned int) 0x3 << 8) // (AES) Start Mode +#define AT91C_AES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +#define AT91C_AES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +#define AT91C_AES_SMOD_PDC ((unsigned int) 0x2 << 8) // (AES) PDC Mode (cf datasheet). +#define AT91C_AES_OPMOD ((unsigned int) 0x7 << 12) // (AES) Operation Mode +#define AT91C_AES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (AES) ECB Electronic CodeBook mode. +#define AT91C_AES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (AES) CBC Cipher Block Chaining mode. +#define AT91C_AES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (AES) OFB Output Feedback mode. +#define AT91C_AES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (AES) CFB Cipher Feedback mode. +#define AT91C_AES_OPMOD_CTR ((unsigned int) 0x4 << 12) // (AES) CTR Counter mode. +#define AT91C_AES_LOD ((unsigned int) 0x1 << 15) // (AES) Last Output Data Mode +#define AT91C_AES_CFBS ((unsigned int) 0x7 << 16) // (AES) Cipher Feedback Data Size +#define AT91C_AES_CFBS_128_BIT ((unsigned int) 0x0 << 16) // (AES) 128-bit. +#define AT91C_AES_CFBS_64_BIT ((unsigned int) 0x1 << 16) // (AES) 64-bit. +#define AT91C_AES_CFBS_32_BIT ((unsigned int) 0x2 << 16) // (AES) 32-bit. +#define AT91C_AES_CFBS_16_BIT ((unsigned int) 0x3 << 16) // (AES) 16-bit. +#define AT91C_AES_CFBS_8_BIT ((unsigned int) 0x4 << 16) // (AES) 8-bit. +#define AT91C_AES_CKEY ((unsigned int) 0xF << 20) // (AES) Countermeasure Key +#define AT91C_AES_CTYPE ((unsigned int) 0x1F << 24) // (AES) Countermeasure Type +#define AT91C_AES_CTYPE_TYPE1_EN ((unsigned int) 0x1 << 24) // (AES) Countermeasure type 1 is enabled. +#define AT91C_AES_CTYPE_TYPE2_EN ((unsigned int) 0x2 << 24) // (AES) Countermeasure type 2 is enabled. +#define AT91C_AES_CTYPE_TYPE3_EN ((unsigned int) 0x4 << 24) // (AES) Countermeasure type 3 is enabled. +#define AT91C_AES_CTYPE_TYPE4_EN ((unsigned int) 0x8 << 24) // (AES) Countermeasure type 4 is enabled. +#define AT91C_AES_CTYPE_TYPE5_EN ((unsigned int) 0x10 << 24) // (AES) Countermeasure type 5 is enabled. +// -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_AES_DATRDY ((unsigned int) 0x1 << 0) // (AES) DATRDY +#define AT91C_AES_ENDRX ((unsigned int) 0x1 << 1) // (AES) PDC Read Buffer End +#define AT91C_AES_ENDTX ((unsigned int) 0x1 << 2) // (AES) PDC Write Buffer End +#define AT91C_AES_RXBUFF ((unsigned int) 0x1 << 3) // (AES) PDC Read Buffer Full +#define AT91C_AES_TXBUFE ((unsigned int) 0x1 << 4) // (AES) PDC Write Buffer Empty +#define AT91C_AES_URAD ((unsigned int) 0x1 << 8) // (AES) Unspecified Register Access Detection +// -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_AES_URAT ((unsigned int) 0x7 << 12) // (AES) Unspecified Register Access Type Status +#define AT91C_AES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (AES) Input data register written during the data processing in PDC mode. +#define AT91C_AES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (AES) Output data register read during the data processing. +#define AT91C_AES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (AES) Mode register written during the data processing. +#define AT91C_AES_URAT_OUT_DAT_READ_SUBKEY ((unsigned int) 0x3 << 12) // (AES) Output data register read during the sub-keys generation. +#define AT91C_AES_URAT_MODEREG_WRITE_SUBKEY ((unsigned int) 0x4 << 12) // (AES) Mode register written during the sub-keys generation. +#define AT91C_AES_URAT_WO_REG_READ ((unsigned int) 0x5 << 12) // (AES) Write-only register read access. + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// ***************************************************************************** +typedef struct _AT91S_TDES { + AT91_REG TDES_CR; // Control Register + AT91_REG TDES_MR; // Mode Register + AT91_REG Reserved0[2]; // + AT91_REG TDES_IER; // Interrupt Enable Register + AT91_REG TDES_IDR; // Interrupt Disable Register + AT91_REG TDES_IMR; // Interrupt Mask Register + AT91_REG TDES_ISR; // Interrupt Status Register + AT91_REG TDES_KEY1WxR[2]; // Key 1 Word x Register + AT91_REG TDES_KEY2WxR[2]; // Key 2 Word x Register + AT91_REG TDES_KEY3WxR[2]; // Key 3 Word x Register + AT91_REG Reserved1[2]; // + AT91_REG TDES_IDATAxR[2]; // Input Data x Register + AT91_REG Reserved2[2]; // + AT91_REG TDES_ODATAxR[2]; // Output Data x Register + AT91_REG Reserved3[2]; // + AT91_REG TDES_IVxR[2]; // Initialization Vector x Register + AT91_REG Reserved4[37]; // + AT91_REG TDES_VR; // TDES Version Register + AT91_REG TDES_RPR; // Receive Pointer Register + AT91_REG TDES_RCR; // Receive Counter Register + AT91_REG TDES_TPR; // Transmit Pointer Register + AT91_REG TDES_TCR; // Transmit Counter Register + AT91_REG TDES_RNPR; // Receive Next Pointer Register + AT91_REG TDES_RNCR; // Receive Next Counter Register + AT91_REG TDES_TNPR; // Transmit Next Pointer Register + AT91_REG TDES_TNCR; // Transmit Next Counter Register + AT91_REG TDES_PTCR; // PDC Transfer Control Register + AT91_REG TDES_PTSR; // PDC Transfer Status Register +} AT91S_TDES, *AT91PS_TDES; + +// -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +#define AT91C_TDES_START ((unsigned int) 0x1 << 0) // (TDES) Starts Processing +#define AT91C_TDES_SWRST ((unsigned int) 0x1 << 8) // (TDES) Software Reset +// -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +#define AT91C_TDES_CIPHER ((unsigned int) 0x1 << 0) // (TDES) Processing Mode +#define AT91C_TDES_TDESMOD ((unsigned int) 0x1 << 1) // (TDES) Single or Triple DES Mode +#define AT91C_TDES_KEYMOD ((unsigned int) 0x1 << 4) // (TDES) Key Mode +#define AT91C_TDES_SMOD ((unsigned int) 0x3 << 8) // (TDES) Start Mode +#define AT91C_TDES_SMOD_MANUAL ((unsigned int) 0x0 << 8) // (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +#define AT91C_TDES_SMOD_AUTO ((unsigned int) 0x1 << 8) // (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +#define AT91C_TDES_SMOD_PDC ((unsigned int) 0x2 << 8) // (TDES) PDC Mode (cf datasheet). +#define AT91C_TDES_OPMOD ((unsigned int) 0x3 << 12) // (TDES) Operation Mode +#define AT91C_TDES_OPMOD_ECB ((unsigned int) 0x0 << 12) // (TDES) ECB Electronic CodeBook mode. +#define AT91C_TDES_OPMOD_CBC ((unsigned int) 0x1 << 12) // (TDES) CBC Cipher Block Chaining mode. +#define AT91C_TDES_OPMOD_OFB ((unsigned int) 0x2 << 12) // (TDES) OFB Output Feedback mode. +#define AT91C_TDES_OPMOD_CFB ((unsigned int) 0x3 << 12) // (TDES) CFB Cipher Feedback mode. +#define AT91C_TDES_LOD ((unsigned int) 0x1 << 15) // (TDES) Last Output Data Mode +#define AT91C_TDES_CFBS ((unsigned int) 0x3 << 16) // (TDES) Cipher Feedback Data Size +#define AT91C_TDES_CFBS_64_BIT ((unsigned int) 0x0 << 16) // (TDES) 64-bit. +#define AT91C_TDES_CFBS_32_BIT ((unsigned int) 0x1 << 16) // (TDES) 32-bit. +#define AT91C_TDES_CFBS_16_BIT ((unsigned int) 0x2 << 16) // (TDES) 16-bit. +#define AT91C_TDES_CFBS_8_BIT ((unsigned int) 0x3 << 16) // (TDES) 8-bit. +// -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_TDES_DATRDY ((unsigned int) 0x1 << 0) // (TDES) DATRDY +#define AT91C_TDES_ENDRX ((unsigned int) 0x1 << 1) // (TDES) PDC Read Buffer End +#define AT91C_TDES_ENDTX ((unsigned int) 0x1 << 2) // (TDES) PDC Write Buffer End +#define AT91C_TDES_RXBUFF ((unsigned int) 0x1 << 3) // (TDES) PDC Read Buffer Full +#define AT91C_TDES_TXBUFE ((unsigned int) 0x1 << 4) // (TDES) PDC Write Buffer Empty +#define AT91C_TDES_URAD ((unsigned int) 0x1 << 8) // (TDES) Unspecified Register Access Detection +// -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_TDES_URAT ((unsigned int) 0x3 << 12) // (TDES) Unspecified Register Access Type Status +#define AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC ((unsigned int) 0x0 << 12) // (TDES) Input data register written during the data processing in PDC mode. +#define AT91C_TDES_URAT_OUT_DAT_READ_DATPROC ((unsigned int) 0x1 << 12) // (TDES) Output data register read during the data processing. +#define AT91C_TDES_URAT_MODEREG_WRITE_DATPROC ((unsigned int) 0x2 << 12) // (TDES) Mode register written during the data processing. +#define AT91C_TDES_URAT_WO_REG_READ ((unsigned int) 0x3 << 12) // (TDES) Write-only register read access. + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7X256 +// ***************************************************************************** +// ========== Register definition for SYS peripheral ========== +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_IVR ((AT91_REG *) 0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_SMR ((AT91_REG *) 0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_FVR ((AT91_REG *) 0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_DCR ((AT91_REG *) 0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_EOICR ((AT91_REG *) 0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_SVR ((AT91_REG *) 0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_FFSR ((AT91_REG *) 0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_ICCR ((AT91_REG *) 0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_ISR ((AT91_REG *) 0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IMR ((AT91_REG *) 0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_IPR ((AT91_REG *) 0xFFFFF10C) // (AIC) Interrupt Pending Register +#define AT91C_AIC_FFER ((AT91_REG *) 0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_IECR ((AT91_REG *) 0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_ISCR ((AT91_REG *) 0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_FFDR ((AT91_REG *) 0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_CISR ((AT91_REG *) 0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IDCR ((AT91_REG *) 0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_SPU ((AT91_REG *) 0xFFFFF134) // (AIC) Spurious Vector Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TCR ((AT91_REG *) 0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RNPR ((AT91_REG *) 0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR ((AT91_REG *) 0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +#define AT91C_DBGU_TPR ((AT91_REG *) 0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RPR ((AT91_REG *) 0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_RCR ((AT91_REG *) 0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_RNCR ((AT91_REG *) 0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR ((AT91_REG *) 0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR ((AT91_REG *) 0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_TNCR ((AT91_REG *) 0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_EXID ((AT91_REG *) 0xFFFFF244) // (DBGU) Chip ID Extension Register +#define AT91C_DBGU_BRGR ((AT91_REG *) 0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_IDR ((AT91_REG *) 0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_CSR ((AT91_REG *) 0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_CIDR ((AT91_REG *) 0xFFFFF240) // (DBGU) Chip ID Register +#define AT91C_DBGU_MR ((AT91_REG *) 0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_IMR ((AT91_REG *) 0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_CR ((AT91_REG *) 0xFFFFF200) // (DBGU) Control Register +#define AT91C_DBGU_FNTR ((AT91_REG *) 0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_THR ((AT91_REG *) 0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_RHR ((AT91_REG *) 0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IER ((AT91_REG *) 0xFFFFF208) // (DBGU) Interrupt Enable Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_ODR ((AT91_REG *) 0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_SODR ((AT91_REG *) 0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_ISR ((AT91_REG *) 0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_ABSR ((AT91_REG *) 0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_IER ((AT91_REG *) 0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_PPUDR ((AT91_REG *) 0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_IMR ((AT91_REG *) 0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_PER ((AT91_REG *) 0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_IFDR ((AT91_REG *) 0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_OWDR ((AT91_REG *) 0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_MDSR ((AT91_REG *) 0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_IDR ((AT91_REG *) 0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_ODSR ((AT91_REG *) 0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_PPUSR ((AT91_REG *) 0xFFFFF468) // (PIOA) Pull-up Status Register +#define AT91C_PIOA_OWSR ((AT91_REG *) 0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_BSR ((AT91_REG *) 0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_OWER ((AT91_REG *) 0xFFFFF4A0) // (PIOA) Output Write Enable Register +#define AT91C_PIOA_IFER ((AT91_REG *) 0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_PDSR ((AT91_REG *) 0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_PPUER ((AT91_REG *) 0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_OSR ((AT91_REG *) 0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_ASR ((AT91_REG *) 0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_MDDR ((AT91_REG *) 0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_CODR ((AT91_REG *) 0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_MDER ((AT91_REG *) 0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PDR ((AT91_REG *) 0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_IFSR ((AT91_REG *) 0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_OER ((AT91_REG *) 0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_PSR ((AT91_REG *) 0xFFFFF408) // (PIOA) PIO Status Register +// ========== Register definition for PIOB peripheral ========== +#define AT91C_PIOB_OWDR ((AT91_REG *) 0xFFFFF6A4) // (PIOB) Output Write Disable Register +#define AT91C_PIOB_MDER ((AT91_REG *) 0xFFFFF650) // (PIOB) Multi-driver Enable Register +#define AT91C_PIOB_PPUSR ((AT91_REG *) 0xFFFFF668) // (PIOB) Pull-up Status Register +#define AT91C_PIOB_IMR ((AT91_REG *) 0xFFFFF648) // (PIOB) Interrupt Mask Register +#define AT91C_PIOB_ASR ((AT91_REG *) 0xFFFFF670) // (PIOB) Select A Register +#define AT91C_PIOB_PPUDR ((AT91_REG *) 0xFFFFF660) // (PIOB) Pull-up Disable Register +#define AT91C_PIOB_PSR ((AT91_REG *) 0xFFFFF608) // (PIOB) PIO Status Register +#define AT91C_PIOB_IER ((AT91_REG *) 0xFFFFF640) // (PIOB) Interrupt Enable Register +#define AT91C_PIOB_CODR ((AT91_REG *) 0xFFFFF634) // (PIOB) Clear Output Data Register +#define AT91C_PIOB_OWER ((AT91_REG *) 0xFFFFF6A0) // (PIOB) Output Write Enable Register +#define AT91C_PIOB_ABSR ((AT91_REG *) 0xFFFFF678) // (PIOB) AB Select Status Register +#define AT91C_PIOB_IFDR ((AT91_REG *) 0xFFFFF624) // (PIOB) Input Filter Disable Register +#define AT91C_PIOB_PDSR ((AT91_REG *) 0xFFFFF63C) // (PIOB) Pin Data Status Register +#define AT91C_PIOB_IDR ((AT91_REG *) 0xFFFFF644) // (PIOB) Interrupt Disable Register +#define AT91C_PIOB_OWSR ((AT91_REG *) 0xFFFFF6A8) // (PIOB) Output Write Status Register +#define AT91C_PIOB_PDR ((AT91_REG *) 0xFFFFF604) // (PIOB) PIO Disable Register +#define AT91C_PIOB_ODR ((AT91_REG *) 0xFFFFF614) // (PIOB) Output Disable Registerr +#define AT91C_PIOB_IFSR ((AT91_REG *) 0xFFFFF628) // (PIOB) Input Filter Status Register +#define AT91C_PIOB_PPUER ((AT91_REG *) 0xFFFFF664) // (PIOB) Pull-up Enable Register +#define AT91C_PIOB_SODR ((AT91_REG *) 0xFFFFF630) // (PIOB) Set Output Data Register +#define AT91C_PIOB_ISR ((AT91_REG *) 0xFFFFF64C) // (PIOB) Interrupt Status Register +#define AT91C_PIOB_ODSR ((AT91_REG *) 0xFFFFF638) // (PIOB) Output Data Status Register +#define AT91C_PIOB_OSR ((AT91_REG *) 0xFFFFF618) // (PIOB) Output Status Register +#define AT91C_PIOB_MDSR ((AT91_REG *) 0xFFFFF658) // (PIOB) Multi-driver Status Register +#define AT91C_PIOB_IFER ((AT91_REG *) 0xFFFFF620) // (PIOB) Input Filter Enable Register +#define AT91C_PIOB_BSR ((AT91_REG *) 0xFFFFF674) // (PIOB) Select B Register +#define AT91C_PIOB_MDDR ((AT91_REG *) 0xFFFFF654) // (PIOB) Multi-driver Disable Register +#define AT91C_PIOB_OER ((AT91_REG *) 0xFFFFF610) // (PIOB) Output Enable Register +#define AT91C_PIOB_PER ((AT91_REG *) 0xFFFFF600) // (PIOB) PIO Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_MOR ((AT91_REG *) 0xFFFFFC20) // (CKGR) Main Oscillator Register +#define AT91C_CKGR_PLLR ((AT91_REG *) 0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR ((AT91_REG *) 0xFFFFFC24) // (CKGR) Main Clock Frequency Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_IDR ((AT91_REG *) 0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_MOR ((AT91_REG *) 0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PLLR ((AT91_REG *) 0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_PCER ((AT91_REG *) 0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCKR ((AT91_REG *) 0xFFFFFC40) // (PMC) Programmable Clock Register +#define AT91C_PMC_MCKR ((AT91_REG *) 0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_SCDR ((AT91_REG *) 0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_PCDR ((AT91_REG *) 0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCSR ((AT91_REG *) 0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_PCSR ((AT91_REG *) 0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_MCFR ((AT91_REG *) 0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_SCER ((AT91_REG *) 0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR ((AT91_REG *) 0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IER ((AT91_REG *) 0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_SR ((AT91_REG *) 0xFFFFFC68) // (PMC) Status Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RCR ((AT91_REG *) 0xFFFFFD00) // (RSTC) Reset Control Register +#define AT91C_RSTC_RMR ((AT91_REG *) 0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RSR ((AT91_REG *) 0xFFFFFD04) // (RSTC) Reset Status Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR ((AT91_REG *) 0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTMR ((AT91_REG *) 0xFFFFFD20) // (RTTC) Real-time Mode Register +#define AT91C_RTTC_RTVR ((AT91_REG *) 0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTAR ((AT91_REG *) 0xFFFFFD24) // (RTTC) Real-time Alarm Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIVR ((AT91_REG *) 0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PISR ((AT91_REG *) 0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIIR ((AT91_REG *) 0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PIMR ((AT91_REG *) 0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDCR ((AT91_REG *) 0xFFFFFD40) // (WDTC) Watchdog Control Register +#define AT91C_WDTC_WDSR ((AT91_REG *) 0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDMR ((AT91_REG *) 0xFFFFFD44) // (WDTC) Watchdog Mode Register +// ========== Register definition for VREG peripheral ========== +#define AT91C_VREG_MR ((AT91_REG *) 0xFFFFFD60) // (VREG) Voltage Regulator Mode Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_ASR ((AT91_REG *) 0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_RCR ((AT91_REG *) 0xFFFFFF00) // (MC) MC Remap Control Register +#define AT91C_MC_FCR ((AT91_REG *) 0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_AASR ((AT91_REG *) 0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_FSR ((AT91_REG *) 0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR ((AT91_REG *) 0xFFFFFF60) // (MC) MC Flash Mode Register +// ========== Register definition for PDC_SPI1 peripheral ========== +#define AT91C_SPI1_PTCR ((AT91_REG *) 0xFFFE4120) // (PDC_SPI1) PDC Transfer Control Register +#define AT91C_SPI1_RPR ((AT91_REG *) 0xFFFE4100) // (PDC_SPI1) Receive Pointer Register +#define AT91C_SPI1_TNCR ((AT91_REG *) 0xFFFE411C) // (PDC_SPI1) Transmit Next Counter Register +#define AT91C_SPI1_TPR ((AT91_REG *) 0xFFFE4108) // (PDC_SPI1) Transmit Pointer Register +#define AT91C_SPI1_TNPR ((AT91_REG *) 0xFFFE4118) // (PDC_SPI1) Transmit Next Pointer Register +#define AT91C_SPI1_TCR ((AT91_REG *) 0xFFFE410C) // (PDC_SPI1) Transmit Counter Register +#define AT91C_SPI1_RCR ((AT91_REG *) 0xFFFE4104) // (PDC_SPI1) Receive Counter Register +#define AT91C_SPI1_RNPR ((AT91_REG *) 0xFFFE4110) // (PDC_SPI1) Receive Next Pointer Register +#define AT91C_SPI1_RNCR ((AT91_REG *) 0xFFFE4114) // (PDC_SPI1) Receive Next Counter Register +#define AT91C_SPI1_PTSR ((AT91_REG *) 0xFFFE4124) // (PDC_SPI1) PDC Transfer Status Register +// ========== Register definition for SPI1 peripheral ========== +#define AT91C_SPI1_IMR ((AT91_REG *) 0xFFFE401C) // (SPI1) Interrupt Mask Register +#define AT91C_SPI1_IER ((AT91_REG *) 0xFFFE4014) // (SPI1) Interrupt Enable Register +#define AT91C_SPI1_MR ((AT91_REG *) 0xFFFE4004) // (SPI1) Mode Register +#define AT91C_SPI1_RDR ((AT91_REG *) 0xFFFE4008) // (SPI1) Receive Data Register +#define AT91C_SPI1_IDR ((AT91_REG *) 0xFFFE4018) // (SPI1) Interrupt Disable Register +#define AT91C_SPI1_SR ((AT91_REG *) 0xFFFE4010) // (SPI1) Status Register +#define AT91C_SPI1_TDR ((AT91_REG *) 0xFFFE400C) // (SPI1) Transmit Data Register +#define AT91C_SPI1_CR ((AT91_REG *) 0xFFFE4000) // (SPI1) Control Register +#define AT91C_SPI1_CSR ((AT91_REG *) 0xFFFE4030) // (SPI1) Chip Select Register +// ========== Register definition for PDC_SPI0 peripheral ========== +#define AT91C_SPI0_PTCR ((AT91_REG *) 0xFFFE0120) // (PDC_SPI0) PDC Transfer Control Register +#define AT91C_SPI0_TPR ((AT91_REG *) 0xFFFE0108) // (PDC_SPI0) Transmit Pointer Register +#define AT91C_SPI0_TCR ((AT91_REG *) 0xFFFE010C) // (PDC_SPI0) Transmit Counter Register +#define AT91C_SPI0_RCR ((AT91_REG *) 0xFFFE0104) // (PDC_SPI0) Receive Counter Register +#define AT91C_SPI0_PTSR ((AT91_REG *) 0xFFFE0124) // (PDC_SPI0) PDC Transfer Status Register +#define AT91C_SPI0_RNPR ((AT91_REG *) 0xFFFE0110) // (PDC_SPI0) Receive Next Pointer Register +#define AT91C_SPI0_RPR ((AT91_REG *) 0xFFFE0100) // (PDC_SPI0) Receive Pointer Register +#define AT91C_SPI0_TNCR ((AT91_REG *) 0xFFFE011C) // (PDC_SPI0) Transmit Next Counter Register +#define AT91C_SPI0_RNCR ((AT91_REG *) 0xFFFE0114) // (PDC_SPI0) Receive Next Counter Register +#define AT91C_SPI0_TNPR ((AT91_REG *) 0xFFFE0118) // (PDC_SPI0) Transmit Next Pointer Register +// ========== Register definition for SPI0 peripheral ========== +#define AT91C_SPI0_IER ((AT91_REG *) 0xFFFE0014) // (SPI0) Interrupt Enable Register +#define AT91C_SPI0_SR ((AT91_REG *) 0xFFFE0010) // (SPI0) Status Register +#define AT91C_SPI0_IDR ((AT91_REG *) 0xFFFE0018) // (SPI0) Interrupt Disable Register +#define AT91C_SPI0_CR ((AT91_REG *) 0xFFFE0000) // (SPI0) Control Register +#define AT91C_SPI0_MR ((AT91_REG *) 0xFFFE0004) // (SPI0) Mode Register +#define AT91C_SPI0_IMR ((AT91_REG *) 0xFFFE001C) // (SPI0) Interrupt Mask Register +#define AT91C_SPI0_TDR ((AT91_REG *) 0xFFFE000C) // (SPI0) Transmit Data Register +#define AT91C_SPI0_RDR ((AT91_REG *) 0xFFFE0008) // (SPI0) Receive Data Register +#define AT91C_SPI0_CSR ((AT91_REG *) 0xFFFE0030) // (SPI0) Chip Select Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_RNCR ((AT91_REG *) 0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_PTCR ((AT91_REG *) 0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TCR ((AT91_REG *) 0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_PTSR ((AT91_REG *) 0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNPR ((AT91_REG *) 0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RCR ((AT91_REG *) 0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_RNPR ((AT91_REG *) 0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_RPR ((AT91_REG *) 0xFFFC4100) // (PDC_US1) Receive Pointer Register +#define AT91C_US1_TNCR ((AT91_REG *) 0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_TPR ((AT91_REG *) 0xFFFC4108) // (PDC_US1) Transmit Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_IF ((AT91_REG *) 0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER ((AT91_REG *) 0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_RTOR ((AT91_REG *) 0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_CSR ((AT91_REG *) 0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR ((AT91_REG *) 0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_IER ((AT91_REG *) 0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_THR ((AT91_REG *) 0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_TTGR ((AT91_REG *) 0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_RHR ((AT91_REG *) 0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_BRGR ((AT91_REG *) 0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_IMR ((AT91_REG *) 0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_FIDI ((AT91_REG *) 0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_CR ((AT91_REG *) 0xFFFC4000) // (US1) Control Register +#define AT91C_US1_MR ((AT91_REG *) 0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_TNPR ((AT91_REG *) 0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR ((AT91_REG *) 0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TCR ((AT91_REG *) 0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_PTCR ((AT91_REG *) 0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_PTSR ((AT91_REG *) 0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR ((AT91_REG *) 0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_TPR ((AT91_REG *) 0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RCR ((AT91_REG *) 0xFFFC0104) // (PDC_US0) Receive Counter Register +#define AT91C_US0_RPR ((AT91_REG *) 0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_RNCR ((AT91_REG *) 0xFFFC0114) // (PDC_US0) Receive Next Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_BRGR ((AT91_REG *) 0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_NER ((AT91_REG *) 0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_CR ((AT91_REG *) 0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IMR ((AT91_REG *) 0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_FIDI ((AT91_REG *) 0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_TTGR ((AT91_REG *) 0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_MR ((AT91_REG *) 0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_RTOR ((AT91_REG *) 0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_CSR ((AT91_REG *) 0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_RHR ((AT91_REG *) 0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IDR ((AT91_REG *) 0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_THR ((AT91_REG *) 0xFFFC001C) // (US0) Transmitter Holding Register +#define AT91C_US0_IF ((AT91_REG *) 0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_IER ((AT91_REG *) 0xFFFC0008) // (US0) Interrupt Enable Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_TNCR ((AT91_REG *) 0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RPR ((AT91_REG *) 0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_RNCR ((AT91_REG *) 0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TPR ((AT91_REG *) 0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_PTCR ((AT91_REG *) 0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TCR ((AT91_REG *) 0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR ((AT91_REG *) 0xFFFD4104) // (PDC_SSC) Receive Counter Register +#define AT91C_SSC_RNPR ((AT91_REG *) 0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TNPR ((AT91_REG *) 0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_PTSR ((AT91_REG *) 0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RHR ((AT91_REG *) 0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_RSHR ((AT91_REG *) 0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_TFMR ((AT91_REG *) 0xFFFD401C) // (SSC) Transmit Frame Mode Register +#define AT91C_SSC_IDR ((AT91_REG *) 0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_THR ((AT91_REG *) 0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_RCMR ((AT91_REG *) 0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_IER ((AT91_REG *) 0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_TSHR ((AT91_REG *) 0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_SR ((AT91_REG *) 0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_CMR ((AT91_REG *) 0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_TCMR ((AT91_REG *) 0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_CR ((AT91_REG *) 0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR ((AT91_REG *) 0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_RFMR ((AT91_REG *) 0xFFFD4014) // (SSC) Receive Frame Mode Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_IER ((AT91_REG *) 0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_CR ((AT91_REG *) 0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_SR ((AT91_REG *) 0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_IMR ((AT91_REG *) 0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_THR ((AT91_REG *) 0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IDR ((AT91_REG *) 0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_IADR ((AT91_REG *) 0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR ((AT91_REG *) 0xFFFB8004) // (TWI) Master Mode Register +#define AT91C_TWI_CWGR ((AT91_REG *) 0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_RHR ((AT91_REG *) 0xFFFB8030) // (TWI) Receive Holding Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_PWMC_CH3_CUPDR ((AT91_REG *) 0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_PWMC_CH3_Reserved ((AT91_REG *) 0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_PWMC_CH3_CPRDR ((AT91_REG *) 0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_PWMC_CH3_CDTYR ((AT91_REG *) 0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +#define AT91C_PWMC_CH3_CCNTR ((AT91_REG *) 0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_PWMC_CH3_CMR ((AT91_REG *) 0xFFFCC260) // (PWMC_CH3) Channel Mode Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_PWMC_CH2_Reserved ((AT91_REG *) 0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_PWMC_CH2_CMR ((AT91_REG *) 0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_PWMC_CH2_CCNTR ((AT91_REG *) 0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_PWMC_CH2_CPRDR ((AT91_REG *) 0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_PWMC_CH2_CUPDR ((AT91_REG *) 0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_PWMC_CH2_CDTYR ((AT91_REG *) 0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_PWMC_CH1_Reserved ((AT91_REG *) 0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_PWMC_CH1_CUPDR ((AT91_REG *) 0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_PWMC_CH1_CPRDR ((AT91_REG *) 0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_PWMC_CH1_CCNTR ((AT91_REG *) 0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_PWMC_CH1_CDTYR ((AT91_REG *) 0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +#define AT91C_PWMC_CH1_CMR ((AT91_REG *) 0xFFFCC220) // (PWMC_CH1) Channel Mode Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_PWMC_CH0_Reserved ((AT91_REG *) 0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_PWMC_CH0_CPRDR ((AT91_REG *) 0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_PWMC_CH0_CDTYR ((AT91_REG *) 0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +#define AT91C_PWMC_CH0_CMR ((AT91_REG *) 0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_PWMC_CH0_CUPDR ((AT91_REG *) 0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_PWMC_CH0_CCNTR ((AT91_REG *) 0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_IDR ((AT91_REG *) 0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_DIS ((AT91_REG *) 0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER ((AT91_REG *) 0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +#define AT91C_PWMC_VR ((AT91_REG *) 0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR ((AT91_REG *) 0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_SR ((AT91_REG *) 0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_IMR ((AT91_REG *) 0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR ((AT91_REG *) 0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_ENA ((AT91_REG *) 0xFFFCC004) // (PWMC) PWMC Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_IMR ((AT91_REG *) 0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_FADDR ((AT91_REG *) 0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM ((AT91_REG *) 0xFFFB0000) // (UDP) Frame Number Register +#define AT91C_UDP_FDR ((AT91_REG *) 0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_ISR ((AT91_REG *) 0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_CSR ((AT91_REG *) 0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_IDR ((AT91_REG *) 0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_ICR ((AT91_REG *) 0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_RSTEP ((AT91_REG *) 0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_TXVC ((AT91_REG *) 0xFFFB0074) // (UDP) Transceiver Control Register +#define AT91C_UDP_GLBSTATE ((AT91_REG *) 0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_IER ((AT91_REG *) 0xFFFB0010) // (UDP) Interrupt Enable Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_SR ((AT91_REG *) 0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RC ((AT91_REG *) 0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RB ((AT91_REG *) 0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CCR ((AT91_REG *) 0xFFFA0000) // (TC0) Channel Control Register +#define AT91C_TC0_CMR ((AT91_REG *) 0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IER ((AT91_REG *) 0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RA ((AT91_REG *) 0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_IDR ((AT91_REG *) 0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_CV ((AT91_REG *) 0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_IMR ((AT91_REG *) 0xFFFA002C) // (TC0) Interrupt Mask Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_RB ((AT91_REG *) 0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CCR ((AT91_REG *) 0xFFFA0040) // (TC1) Channel Control Register +#define AT91C_TC1_IER ((AT91_REG *) 0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_IDR ((AT91_REG *) 0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR ((AT91_REG *) 0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_CMR ((AT91_REG *) 0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_RA ((AT91_REG *) 0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_RC ((AT91_REG *) 0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_IMR ((AT91_REG *) 0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_CV ((AT91_REG *) 0xFFFA0050) // (TC1) Counter Value +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_CMR ((AT91_REG *) 0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_CCR ((AT91_REG *) 0xFFFA0080) // (TC2) Channel Control Register +#define AT91C_TC2_CV ((AT91_REG *) 0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_RA ((AT91_REG *) 0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_RB ((AT91_REG *) 0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_IDR ((AT91_REG *) 0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_IMR ((AT91_REG *) 0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_RC ((AT91_REG *) 0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_IER ((AT91_REG *) 0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_SR ((AT91_REG *) 0xFFFA00A0) // (TC2) Status Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR ((AT91_REG *) 0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR ((AT91_REG *) 0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for CAN_MB0 peripheral ========== +#define AT91C_CAN_MB0_MDL ((AT91_REG *) 0xFFFD0214) // (CAN_MB0) MailBox Data Low Register +#define AT91C_CAN_MB0_MAM ((AT91_REG *) 0xFFFD0204) // (CAN_MB0) MailBox Acceptance Mask Register +#define AT91C_CAN_MB0_MCR ((AT91_REG *) 0xFFFD021C) // (CAN_MB0) MailBox Control Register +#define AT91C_CAN_MB0_MID ((AT91_REG *) 0xFFFD0208) // (CAN_MB0) MailBox ID Register +#define AT91C_CAN_MB0_MSR ((AT91_REG *) 0xFFFD0210) // (CAN_MB0) MailBox Status Register +#define AT91C_CAN_MB0_MFID ((AT91_REG *) 0xFFFD020C) // (CAN_MB0) MailBox Family ID Register +#define AT91C_CAN_MB0_MDH ((AT91_REG *) 0xFFFD0218) // (CAN_MB0) MailBox Data High Register +#define AT91C_CAN_MB0_MMR ((AT91_REG *) 0xFFFD0200) // (CAN_MB0) MailBox Mode Register +// ========== Register definition for CAN_MB1 peripheral ========== +#define AT91C_CAN_MB1_MDL ((AT91_REG *) 0xFFFD0234) // (CAN_MB1) MailBox Data Low Register +#define AT91C_CAN_MB1_MID ((AT91_REG *) 0xFFFD0228) // (CAN_MB1) MailBox ID Register +#define AT91C_CAN_MB1_MMR ((AT91_REG *) 0xFFFD0220) // (CAN_MB1) MailBox Mode Register +#define AT91C_CAN_MB1_MSR ((AT91_REG *) 0xFFFD0230) // (CAN_MB1) MailBox Status Register +#define AT91C_CAN_MB1_MAM ((AT91_REG *) 0xFFFD0224) // (CAN_MB1) MailBox Acceptance Mask Register +#define AT91C_CAN_MB1_MDH ((AT91_REG *) 0xFFFD0238) // (CAN_MB1) MailBox Data High Register +#define AT91C_CAN_MB1_MCR ((AT91_REG *) 0xFFFD023C) // (CAN_MB1) MailBox Control Register +#define AT91C_CAN_MB1_MFID ((AT91_REG *) 0xFFFD022C) // (CAN_MB1) MailBox Family ID Register +// ========== Register definition for CAN_MB2 peripheral ========== +#define AT91C_CAN_MB2_MCR ((AT91_REG *) 0xFFFD025C) // (CAN_MB2) MailBox Control Register +#define AT91C_CAN_MB2_MDH ((AT91_REG *) 0xFFFD0258) // (CAN_MB2) MailBox Data High Register +#define AT91C_CAN_MB2_MID ((AT91_REG *) 0xFFFD0248) // (CAN_MB2) MailBox ID Register +#define AT91C_CAN_MB2_MDL ((AT91_REG *) 0xFFFD0254) // (CAN_MB2) MailBox Data Low Register +#define AT91C_CAN_MB2_MMR ((AT91_REG *) 0xFFFD0240) // (CAN_MB2) MailBox Mode Register +#define AT91C_CAN_MB2_MAM ((AT91_REG *) 0xFFFD0244) // (CAN_MB2) MailBox Acceptance Mask Register +#define AT91C_CAN_MB2_MFID ((AT91_REG *) 0xFFFD024C) // (CAN_MB2) MailBox Family ID Register +#define AT91C_CAN_MB2_MSR ((AT91_REG *) 0xFFFD0250) // (CAN_MB2) MailBox Status Register +// ========== Register definition for CAN_MB3 peripheral ========== +#define AT91C_CAN_MB3_MFID ((AT91_REG *) 0xFFFD026C) // (CAN_MB3) MailBox Family ID Register +#define AT91C_CAN_MB3_MAM ((AT91_REG *) 0xFFFD0264) // (CAN_MB3) MailBox Acceptance Mask Register +#define AT91C_CAN_MB3_MID ((AT91_REG *) 0xFFFD0268) // (CAN_MB3) MailBox ID Register +#define AT91C_CAN_MB3_MCR ((AT91_REG *) 0xFFFD027C) // (CAN_MB3) MailBox Control Register +#define AT91C_CAN_MB3_MMR ((AT91_REG *) 0xFFFD0260) // (CAN_MB3) MailBox Mode Register +#define AT91C_CAN_MB3_MSR ((AT91_REG *) 0xFFFD0270) // (CAN_MB3) MailBox Status Register +#define AT91C_CAN_MB3_MDL ((AT91_REG *) 0xFFFD0274) // (CAN_MB3) MailBox Data Low Register +#define AT91C_CAN_MB3_MDH ((AT91_REG *) 0xFFFD0278) // (CAN_MB3) MailBox Data High Register +// ========== Register definition for CAN_MB4 peripheral ========== +#define AT91C_CAN_MB4_MID ((AT91_REG *) 0xFFFD0288) // (CAN_MB4) MailBox ID Register +#define AT91C_CAN_MB4_MMR ((AT91_REG *) 0xFFFD0280) // (CAN_MB4) MailBox Mode Register +#define AT91C_CAN_MB4_MDH ((AT91_REG *) 0xFFFD0298) // (CAN_MB4) MailBox Data High Register +#define AT91C_CAN_MB4_MFID ((AT91_REG *) 0xFFFD028C) // (CAN_MB4) MailBox Family ID Register +#define AT91C_CAN_MB4_MSR ((AT91_REG *) 0xFFFD0290) // (CAN_MB4) MailBox Status Register +#define AT91C_CAN_MB4_MCR ((AT91_REG *) 0xFFFD029C) // (CAN_MB4) MailBox Control Register +#define AT91C_CAN_MB4_MDL ((AT91_REG *) 0xFFFD0294) // (CAN_MB4) MailBox Data Low Register +#define AT91C_CAN_MB4_MAM ((AT91_REG *) 0xFFFD0284) // (CAN_MB4) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB5 peripheral ========== +#define AT91C_CAN_MB5_MSR ((AT91_REG *) 0xFFFD02B0) // (CAN_MB5) MailBox Status Register +#define AT91C_CAN_MB5_MCR ((AT91_REG *) 0xFFFD02BC) // (CAN_MB5) MailBox Control Register +#define AT91C_CAN_MB5_MFID ((AT91_REG *) 0xFFFD02AC) // (CAN_MB5) MailBox Family ID Register +#define AT91C_CAN_MB5_MDH ((AT91_REG *) 0xFFFD02B8) // (CAN_MB5) MailBox Data High Register +#define AT91C_CAN_MB5_MID ((AT91_REG *) 0xFFFD02A8) // (CAN_MB5) MailBox ID Register +#define AT91C_CAN_MB5_MMR ((AT91_REG *) 0xFFFD02A0) // (CAN_MB5) MailBox Mode Register +#define AT91C_CAN_MB5_MDL ((AT91_REG *) 0xFFFD02B4) // (CAN_MB5) MailBox Data Low Register +#define AT91C_CAN_MB5_MAM ((AT91_REG *) 0xFFFD02A4) // (CAN_MB5) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB6 peripheral ========== +#define AT91C_CAN_MB6_MFID ((AT91_REG *) 0xFFFD02CC) // (CAN_MB6) MailBox Family ID Register +#define AT91C_CAN_MB6_MID ((AT91_REG *) 0xFFFD02C8) // (CAN_MB6) MailBox ID Register +#define AT91C_CAN_MB6_MAM ((AT91_REG *) 0xFFFD02C4) // (CAN_MB6) MailBox Acceptance Mask Register +#define AT91C_CAN_MB6_MSR ((AT91_REG *) 0xFFFD02D0) // (CAN_MB6) MailBox Status Register +#define AT91C_CAN_MB6_MDL ((AT91_REG *) 0xFFFD02D4) // (CAN_MB6) MailBox Data Low Register +#define AT91C_CAN_MB6_MCR ((AT91_REG *) 0xFFFD02DC) // (CAN_MB6) MailBox Control Register +#define AT91C_CAN_MB6_MDH ((AT91_REG *) 0xFFFD02D8) // (CAN_MB6) MailBox Data High Register +#define AT91C_CAN_MB6_MMR ((AT91_REG *) 0xFFFD02C0) // (CAN_MB6) MailBox Mode Register +// ========== Register definition for CAN_MB7 peripheral ========== +#define AT91C_CAN_MB7_MCR ((AT91_REG *) 0xFFFD02FC) // (CAN_MB7) MailBox Control Register +#define AT91C_CAN_MB7_MDH ((AT91_REG *) 0xFFFD02F8) // (CAN_MB7) MailBox Data High Register +#define AT91C_CAN_MB7_MFID ((AT91_REG *) 0xFFFD02EC) // (CAN_MB7) MailBox Family ID Register +#define AT91C_CAN_MB7_MDL ((AT91_REG *) 0xFFFD02F4) // (CAN_MB7) MailBox Data Low Register +#define AT91C_CAN_MB7_MID ((AT91_REG *) 0xFFFD02E8) // (CAN_MB7) MailBox ID Register +#define AT91C_CAN_MB7_MMR ((AT91_REG *) 0xFFFD02E0) // (CAN_MB7) MailBox Mode Register +#define AT91C_CAN_MB7_MAM ((AT91_REG *) 0xFFFD02E4) // (CAN_MB7) MailBox Acceptance Mask Register +#define AT91C_CAN_MB7_MSR ((AT91_REG *) 0xFFFD02F0) // (CAN_MB7) MailBox Status Register +// ========== Register definition for CAN peripheral ========== +#define AT91C_CAN_TCR ((AT91_REG *) 0xFFFD0024) // (CAN) Transfer Command Register +#define AT91C_CAN_IMR ((AT91_REG *) 0xFFFD000C) // (CAN) Interrupt Mask Register +#define AT91C_CAN_IER ((AT91_REG *) 0xFFFD0004) // (CAN) Interrupt Enable Register +#define AT91C_CAN_ECR ((AT91_REG *) 0xFFFD0020) // (CAN) Error Counter Register +#define AT91C_CAN_TIMESTP ((AT91_REG *) 0xFFFD001C) // (CAN) Time Stamp Register +#define AT91C_CAN_MR ((AT91_REG *) 0xFFFD0000) // (CAN) Mode Register +#define AT91C_CAN_IDR ((AT91_REG *) 0xFFFD0008) // (CAN) Interrupt Disable Register +#define AT91C_CAN_ACR ((AT91_REG *) 0xFFFD0028) // (CAN) Abort Command Register +#define AT91C_CAN_TIM ((AT91_REG *) 0xFFFD0018) // (CAN) Timer Register +#define AT91C_CAN_SR ((AT91_REG *) 0xFFFD0010) // (CAN) Status Register +#define AT91C_CAN_BR ((AT91_REG *) 0xFFFD0014) // (CAN) Baudrate Register +#define AT91C_CAN_VR ((AT91_REG *) 0xFFFD00FC) // (CAN) Version Register +// ========== Register definition for EMAC peripheral ========== +#define AT91C_EMAC_ISR ((AT91_REG *) 0xFFFDC024) // (EMAC) Interrupt Status Register +#define AT91C_EMAC_SA4H ((AT91_REG *) 0xFFFDC0B4) // (EMAC) Specific Address 4 Top, Last 2 bytes +#define AT91C_EMAC_SA1L ((AT91_REG *) 0xFFFDC098) // (EMAC) Specific Address 1 Bottom, First 4 bytes +#define AT91C_EMAC_ELE ((AT91_REG *) 0xFFFDC078) // (EMAC) Excessive Length Errors Register +#define AT91C_EMAC_LCOL ((AT91_REG *) 0xFFFDC05C) // (EMAC) Late Collision Register +#define AT91C_EMAC_RLE ((AT91_REG *) 0xFFFDC088) // (EMAC) Receive Length Field Mismatch Register +#define AT91C_EMAC_WOL ((AT91_REG *) 0xFFFDC0C4) // (EMAC) Wake On LAN Register +#define AT91C_EMAC_DTF ((AT91_REG *) 0xFFFDC058) // (EMAC) Deferred Transmission Frame Register +#define AT91C_EMAC_TUND ((AT91_REG *) 0xFFFDC064) // (EMAC) Transmit Underrun Error Register +#define AT91C_EMAC_NCR ((AT91_REG *) 0xFFFDC000) // (EMAC) Network Control Register +#define AT91C_EMAC_SA4L ((AT91_REG *) 0xFFFDC0B0) // (EMAC) Specific Address 4 Bottom, First 4 bytes +#define AT91C_EMAC_RSR ((AT91_REG *) 0xFFFDC020) // (EMAC) Receive Status Register +#define AT91C_EMAC_SA3L ((AT91_REG *) 0xFFFDC0A8) // (EMAC) Specific Address 3 Bottom, First 4 bytes +#define AT91C_EMAC_TSR ((AT91_REG *) 0xFFFDC014) // (EMAC) Transmit Status Register +#define AT91C_EMAC_IDR ((AT91_REG *) 0xFFFDC02C) // (EMAC) Interrupt Disable Register +#define AT91C_EMAC_RSE ((AT91_REG *) 0xFFFDC074) // (EMAC) Receive Symbol Errors Register +#define AT91C_EMAC_ECOL ((AT91_REG *) 0xFFFDC060) // (EMAC) Excessive Collision Register +#define AT91C_EMAC_TID ((AT91_REG *) 0xFFFDC0B8) // (EMAC) Type ID Checking Register +#define AT91C_EMAC_HRB ((AT91_REG *) 0xFFFDC090) // (EMAC) Hash Address Bottom[31:0] +#define AT91C_EMAC_TBQP ((AT91_REG *) 0xFFFDC01C) // (EMAC) Transmit Buffer Queue Pointer +#define AT91C_EMAC_USRIO ((AT91_REG *) 0xFFFDC0C0) // (EMAC) USER Input/Output Register +#define AT91C_EMAC_PTR ((AT91_REG *) 0xFFFDC038) // (EMAC) Pause Time Register +#define AT91C_EMAC_SA2H ((AT91_REG *) 0xFFFDC0A4) // (EMAC) Specific Address 2 Top, Last 2 bytes +#define AT91C_EMAC_ROV ((AT91_REG *) 0xFFFDC070) // (EMAC) Receive Overrun Errors Register +#define AT91C_EMAC_ALE ((AT91_REG *) 0xFFFDC054) // (EMAC) Alignment Error Register +#define AT91C_EMAC_RJA ((AT91_REG *) 0xFFFDC07C) // (EMAC) Receive Jabbers Register +#define AT91C_EMAC_RBQP ((AT91_REG *) 0xFFFDC018) // (EMAC) Receive Buffer Queue Pointer +#define AT91C_EMAC_TPF ((AT91_REG *) 0xFFFDC08C) // (EMAC) Transmitted Pause Frames Register +#define AT91C_EMAC_NCFGR ((AT91_REG *) 0xFFFDC004) // (EMAC) Network Configuration Register +#define AT91C_EMAC_HRT ((AT91_REG *) 0xFFFDC094) // (EMAC) Hash Address Top[63:32] +#define AT91C_EMAC_USF ((AT91_REG *) 0xFFFDC080) // (EMAC) Undersize Frames Register +#define AT91C_EMAC_FCSE ((AT91_REG *) 0xFFFDC050) // (EMAC) Frame Check Sequence Error Register +#define AT91C_EMAC_TPQ ((AT91_REG *) 0xFFFDC0BC) // (EMAC) Transmit Pause Quantum Register +#define AT91C_EMAC_MAN ((AT91_REG *) 0xFFFDC034) // (EMAC) PHY Maintenance Register +#define AT91C_EMAC_FTO ((AT91_REG *) 0xFFFDC040) // (EMAC) Frames Transmitted OK Register +#define AT91C_EMAC_REV ((AT91_REG *) 0xFFFDC0FC) // (EMAC) Revision Register +#define AT91C_EMAC_IMR ((AT91_REG *) 0xFFFDC030) // (EMAC) Interrupt Mask Register +#define AT91C_EMAC_SCF ((AT91_REG *) 0xFFFDC044) // (EMAC) Single Collision Frame Register +#define AT91C_EMAC_PFR ((AT91_REG *) 0xFFFDC03C) // (EMAC) Pause Frames received Register +#define AT91C_EMAC_MCF ((AT91_REG *) 0xFFFDC048) // (EMAC) Multiple Collision Frame Register +#define AT91C_EMAC_NSR ((AT91_REG *) 0xFFFDC008) // (EMAC) Network Status Register +#define AT91C_EMAC_SA2L ((AT91_REG *) 0xFFFDC0A0) // (EMAC) Specific Address 2 Bottom, First 4 bytes +#define AT91C_EMAC_FRO ((AT91_REG *) 0xFFFDC04C) // (EMAC) Frames Received OK Register +#define AT91C_EMAC_IER ((AT91_REG *) 0xFFFDC028) // (EMAC) Interrupt Enable Register +#define AT91C_EMAC_SA1H ((AT91_REG *) 0xFFFDC09C) // (EMAC) Specific Address 1 Top, Last 2 bytes +#define AT91C_EMAC_CSE ((AT91_REG *) 0xFFFDC068) // (EMAC) Carrier Sense Error Register +#define AT91C_EMAC_SA3H ((AT91_REG *) 0xFFFDC0AC) // (EMAC) Specific Address 3 Top, Last 2 bytes +#define AT91C_EMAC_RRE ((AT91_REG *) 0xFFFDC06C) // (EMAC) Receive Ressource Error Register +#define AT91C_EMAC_STE ((AT91_REG *) 0xFFFDC084) // (EMAC) SQE Test Error Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTSR ((AT91_REG *) 0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_PTCR ((AT91_REG *) 0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR ((AT91_REG *) 0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_TNCR ((AT91_REG *) 0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNPR ((AT91_REG *) 0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_RNCR ((AT91_REG *) 0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_RPR ((AT91_REG *) 0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_TCR ((AT91_REG *) 0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_TPR ((AT91_REG *) 0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RCR ((AT91_REG *) 0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_CDR2 ((AT91_REG *) 0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR3 ((AT91_REG *) 0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR0 ((AT91_REG *) 0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR5 ((AT91_REG *) 0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_CHDR ((AT91_REG *) 0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_SR ((AT91_REG *) 0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CDR4 ((AT91_REG *) 0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR1 ((AT91_REG *) 0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_LCDR ((AT91_REG *) 0xFFFD8020) // (ADC) ADC Last Converted Data Register +#define AT91C_ADC_IDR ((AT91_REG *) 0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_CR ((AT91_REG *) 0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CDR7 ((AT91_REG *) 0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR6 ((AT91_REG *) 0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_IER ((AT91_REG *) 0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_CHER ((AT91_REG *) 0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR ((AT91_REG *) 0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_MR ((AT91_REG *) 0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_IMR ((AT91_REG *) 0xFFFD802C) // (ADC) ADC Interrupt Mask Register +// ========== Register definition for PDC_AES peripheral ========== +#define AT91C_AES_TPR ((AT91_REG *) 0xFFFA4108) // (PDC_AES) Transmit Pointer Register +#define AT91C_AES_PTCR ((AT91_REG *) 0xFFFA4120) // (PDC_AES) PDC Transfer Control Register +#define AT91C_AES_RNPR ((AT91_REG *) 0xFFFA4110) // (PDC_AES) Receive Next Pointer Register +#define AT91C_AES_TNCR ((AT91_REG *) 0xFFFA411C) // (PDC_AES) Transmit Next Counter Register +#define AT91C_AES_TCR ((AT91_REG *) 0xFFFA410C) // (PDC_AES) Transmit Counter Register +#define AT91C_AES_RCR ((AT91_REG *) 0xFFFA4104) // (PDC_AES) Receive Counter Register +#define AT91C_AES_RNCR ((AT91_REG *) 0xFFFA4114) // (PDC_AES) Receive Next Counter Register +#define AT91C_AES_TNPR ((AT91_REG *) 0xFFFA4118) // (PDC_AES) Transmit Next Pointer Register +#define AT91C_AES_RPR ((AT91_REG *) 0xFFFA4100) // (PDC_AES) Receive Pointer Register +#define AT91C_AES_PTSR ((AT91_REG *) 0xFFFA4124) // (PDC_AES) PDC Transfer Status Register +// ========== Register definition for AES peripheral ========== +#define AT91C_AES_IVxR ((AT91_REG *) 0xFFFA4060) // (AES) Initialization Vector x Register +#define AT91C_AES_MR ((AT91_REG *) 0xFFFA4004) // (AES) Mode Register +#define AT91C_AES_VR ((AT91_REG *) 0xFFFA40FC) // (AES) AES Version Register +#define AT91C_AES_ODATAxR ((AT91_REG *) 0xFFFA4050) // (AES) Output Data x Register +#define AT91C_AES_IDATAxR ((AT91_REG *) 0xFFFA4040) // (AES) Input Data x Register +#define AT91C_AES_CR ((AT91_REG *) 0xFFFA4000) // (AES) Control Register +#define AT91C_AES_IDR ((AT91_REG *) 0xFFFA4014) // (AES) Interrupt Disable Register +#define AT91C_AES_IMR ((AT91_REG *) 0xFFFA4018) // (AES) Interrupt Mask Register +#define AT91C_AES_IER ((AT91_REG *) 0xFFFA4010) // (AES) Interrupt Enable Register +#define AT91C_AES_KEYWxR ((AT91_REG *) 0xFFFA4020) // (AES) Key Word x Register +#define AT91C_AES_ISR ((AT91_REG *) 0xFFFA401C) // (AES) Interrupt Status Register +// ========== Register definition for PDC_TDES peripheral ========== +#define AT91C_TDES_RNCR ((AT91_REG *) 0xFFFA8114) // (PDC_TDES) Receive Next Counter Register +#define AT91C_TDES_TCR ((AT91_REG *) 0xFFFA810C) // (PDC_TDES) Transmit Counter Register +#define AT91C_TDES_RCR ((AT91_REG *) 0xFFFA8104) // (PDC_TDES) Receive Counter Register +#define AT91C_TDES_TNPR ((AT91_REG *) 0xFFFA8118) // (PDC_TDES) Transmit Next Pointer Register +#define AT91C_TDES_RNPR ((AT91_REG *) 0xFFFA8110) // (PDC_TDES) Receive Next Pointer Register +#define AT91C_TDES_RPR ((AT91_REG *) 0xFFFA8100) // (PDC_TDES) Receive Pointer Register +#define AT91C_TDES_TNCR ((AT91_REG *) 0xFFFA811C) // (PDC_TDES) Transmit Next Counter Register +#define AT91C_TDES_TPR ((AT91_REG *) 0xFFFA8108) // (PDC_TDES) Transmit Pointer Register +#define AT91C_TDES_PTSR ((AT91_REG *) 0xFFFA8124) // (PDC_TDES) PDC Transfer Status Register +#define AT91C_TDES_PTCR ((AT91_REG *) 0xFFFA8120) // (PDC_TDES) PDC Transfer Control Register +// ========== Register definition for TDES peripheral ========== +#define AT91C_TDES_KEY2WxR ((AT91_REG *) 0xFFFA8028) // (TDES) Key 2 Word x Register +#define AT91C_TDES_KEY3WxR ((AT91_REG *) 0xFFFA8030) // (TDES) Key 3 Word x Register +#define AT91C_TDES_IDR ((AT91_REG *) 0xFFFA8014) // (TDES) Interrupt Disable Register +#define AT91C_TDES_VR ((AT91_REG *) 0xFFFA80FC) // (TDES) TDES Version Register +#define AT91C_TDES_IVxR ((AT91_REG *) 0xFFFA8060) // (TDES) Initialization Vector x Register +#define AT91C_TDES_ODATAxR ((AT91_REG *) 0xFFFA8050) // (TDES) Output Data x Register +#define AT91C_TDES_IMR ((AT91_REG *) 0xFFFA8018) // (TDES) Interrupt Mask Register +#define AT91C_TDES_MR ((AT91_REG *) 0xFFFA8004) // (TDES) Mode Register +#define AT91C_TDES_CR ((AT91_REG *) 0xFFFA8000) // (TDES) Control Register +#define AT91C_TDES_IER ((AT91_REG *) 0xFFFA8010) // (TDES) Interrupt Enable Register +#define AT91C_TDES_ISR ((AT91_REG *) 0xFFFA801C) // (TDES) Interrupt Status Register +#define AT91C_TDES_IDATAxR ((AT91_REG *) 0xFFFA8040) // (TDES) Input Data x Register +#define AT91C_TDES_KEY1WxR ((AT91_REG *) 0xFFFA8020) // (TDES) Key 1 Word x Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_PIO_PA0 ((unsigned int) 1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_RXD0 ((unsigned int) AT91C_PIO_PA0) // USART 0 Receive Data +#define AT91C_PIO_PA1 ((unsigned int) 1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_TXD0 ((unsigned int) AT91C_PIO_PA1) // USART 0 Transmit Data +#define AT91C_PIO_PA10 ((unsigned int) 1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_TWD ((unsigned int) AT91C_PIO_PA10) // TWI Two-wire Serial Data +#define AT91C_PIO_PA11 ((unsigned int) 1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_TWCK ((unsigned int) AT91C_PIO_PA11) // TWI Two-wire Serial Clock +#define AT91C_PIO_PA12 ((unsigned int) 1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_NPCS00 ((unsigned int) AT91C_PIO_PA12) // SPI 0 Peripheral Chip Select 0 +#define AT91C_PIO_PA13 ((unsigned int) 1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_NPCS01 ((unsigned int) AT91C_PIO_PA13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PA13_PCK1 ((unsigned int) AT91C_PIO_PA13) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA14 ((unsigned int) 1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_NPCS02 ((unsigned int) AT91C_PIO_PA14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PA14_IRQ1 ((unsigned int) AT91C_PIO_PA14) // External Interrupt 1 +#define AT91C_PIO_PA15 ((unsigned int) 1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_NPCS03 ((unsigned int) AT91C_PIO_PA15) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PA15_TCLK2 ((unsigned int) AT91C_PIO_PA15) // Timer Counter 2 external clock input +#define AT91C_PIO_PA16 ((unsigned int) 1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_MISO0 ((unsigned int) AT91C_PIO_PA16) // SPI 0 Master In Slave +#define AT91C_PIO_PA17 ((unsigned int) 1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_MOSI0 ((unsigned int) AT91C_PIO_PA17) // SPI 0 Master Out Slave +#define AT91C_PIO_PA18 ((unsigned int) 1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_SPCK0 ((unsigned int) AT91C_PIO_PA18) // SPI 0 Serial Clock +#define AT91C_PIO_PA19 ((unsigned int) 1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_CANRX ((unsigned int) AT91C_PIO_PA19) // CAN Receive +#define AT91C_PIO_PA2 ((unsigned int) 1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_SCK0 ((unsigned int) AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PA2_NPCS11 ((unsigned int) AT91C_PIO_PA2) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA20 ((unsigned int) 1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_CANTX ((unsigned int) AT91C_PIO_PA20) // CAN Transmit +#define AT91C_PIO_PA21 ((unsigned int) 1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_TF ((unsigned int) AT91C_PIO_PA21) // SSC Transmit Frame Sync +#define AT91C_PA21_NPCS10 ((unsigned int) AT91C_PIO_PA21) // SPI 1 Peripheral Chip Select 0 +#define AT91C_PIO_PA22 ((unsigned int) 1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TK ((unsigned int) AT91C_PIO_PA22) // SSC Transmit Clock +#define AT91C_PA22_SPCK1 ((unsigned int) AT91C_PIO_PA22) // SPI 1 Serial Clock +#define AT91C_PIO_PA23 ((unsigned int) 1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_TD ((unsigned int) AT91C_PIO_PA23) // SSC Transmit data +#define AT91C_PA23_MOSI1 ((unsigned int) AT91C_PIO_PA23) // SPI 1 Master Out Slave +#define AT91C_PIO_PA24 ((unsigned int) 1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RD ((unsigned int) AT91C_PIO_PA24) // SSC Receive Data +#define AT91C_PA24_MISO1 ((unsigned int) AT91C_PIO_PA24) // SPI 1 Master In Slave +#define AT91C_PIO_PA25 ((unsigned int) 1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_RK ((unsigned int) AT91C_PIO_PA25) // SSC Receive Clock +#define AT91C_PA25_NPCS11 ((unsigned int) AT91C_PIO_PA25) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA26 ((unsigned int) 1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_RF ((unsigned int) AT91C_PIO_PA26) // SSC Receive Frame Sync +#define AT91C_PA26_NPCS12 ((unsigned int) AT91C_PIO_PA26) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA27 ((unsigned int) 1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DRXD ((unsigned int) AT91C_PIO_PA27) // DBGU Debug Receive Data +#define AT91C_PA27_PCK3 ((unsigned int) AT91C_PIO_PA27) // PMC Programmable Clock Output 3 +#define AT91C_PIO_PA28 ((unsigned int) 1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DTXD ((unsigned int) AT91C_PIO_PA28) // DBGU Debug Transmit Data +#define AT91C_PIO_PA29 ((unsigned int) 1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_FIQ ((unsigned int) AT91C_PIO_PA29) // AIC Fast Interrupt Input +#define AT91C_PA29_NPCS13 ((unsigned int) AT91C_PIO_PA29) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA3 ((unsigned int) 1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_RTS0 ((unsigned int) AT91C_PIO_PA3) // USART 0 Ready To Send +#define AT91C_PA3_NPCS12 ((unsigned int) AT91C_PIO_PA3) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA30 ((unsigned int) 1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ0 ((unsigned int) AT91C_PIO_PA30) // External Interrupt 0 +#define AT91C_PA30_PCK2 ((unsigned int) AT91C_PIO_PA30) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 ((unsigned int) 1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_CTS0 ((unsigned int) AT91C_PIO_PA4) // USART 0 Clear To Send +#define AT91C_PA4_NPCS13 ((unsigned int) AT91C_PIO_PA4) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA5 ((unsigned int) 1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD1 ((unsigned int) AT91C_PIO_PA5) // USART 1 Receive Data +#define AT91C_PIO_PA6 ((unsigned int) 1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD1 ((unsigned int) AT91C_PIO_PA6) // USART 1 Transmit Data +#define AT91C_PIO_PA7 ((unsigned int) 1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_SCK1 ((unsigned int) AT91C_PIO_PA7) // USART 1 Serial Clock +#define AT91C_PA7_NPCS01 ((unsigned int) AT91C_PIO_PA7) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PA8 ((unsigned int) 1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_RTS1 ((unsigned int) AT91C_PIO_PA8) // USART 1 Ready To Send +#define AT91C_PA8_NPCS02 ((unsigned int) AT91C_PIO_PA8) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PA9 ((unsigned int) 1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_CTS1 ((unsigned int) AT91C_PIO_PA9) // USART 1 Clear To Send +#define AT91C_PA9_NPCS03 ((unsigned int) AT91C_PIO_PA9) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB0 ((unsigned int) 1 << 0) // Pin Controlled by PB0 +#define AT91C_PB0_ETXCK_EREFCK ((unsigned int) AT91C_PIO_PB0) // Ethernet MAC Transmit Clock/Reference Clock +#define AT91C_PB0_PCK0 ((unsigned int) AT91C_PIO_PB0) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB1 ((unsigned int) 1 << 1) // Pin Controlled by PB1 +#define AT91C_PB1_ETXEN ((unsigned int) AT91C_PIO_PB1) // Ethernet MAC Transmit Enable +#define AT91C_PIO_PB10 ((unsigned int) 1 << 10) // Pin Controlled by PB10 +#define AT91C_PB10_ETX2 ((unsigned int) AT91C_PIO_PB10) // Ethernet MAC Transmit Data 2 +#define AT91C_PB10_NPCS11 ((unsigned int) AT91C_PIO_PB10) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PB11 ((unsigned int) 1 << 11) // Pin Controlled by PB11 +#define AT91C_PB11_ETX3 ((unsigned int) AT91C_PIO_PB11) // Ethernet MAC Transmit Data 3 +#define AT91C_PB11_NPCS12 ((unsigned int) AT91C_PIO_PB11) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PB12 ((unsigned int) 1 << 12) // Pin Controlled by PB12 +#define AT91C_PB12_ETXER ((unsigned int) AT91C_PIO_PB12) // Ethernet MAC Transmikt Coding Error +#define AT91C_PB12_TCLK0 ((unsigned int) AT91C_PIO_PB12) // Timer Counter 0 external clock input +#define AT91C_PIO_PB13 ((unsigned int) 1 << 13) // Pin Controlled by PB13 +#define AT91C_PB13_ERX2 ((unsigned int) AT91C_PIO_PB13) // Ethernet MAC Receive Data 2 +#define AT91C_PB13_NPCS01 ((unsigned int) AT91C_PIO_PB13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PB14 ((unsigned int) 1 << 14) // Pin Controlled by PB14 +#define AT91C_PB14_ERX3 ((unsigned int) AT91C_PIO_PB14) // Ethernet MAC Receive Data 3 +#define AT91C_PB14_NPCS02 ((unsigned int) AT91C_PIO_PB14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PB15 ((unsigned int) 1 << 15) // Pin Controlled by PB15 +#define AT91C_PB15_ERXDV ((unsigned int) AT91C_PIO_PB15) // Ethernet MAC Receive Data Valid +#define AT91C_PIO_PB16 ((unsigned int) 1 << 16) // Pin Controlled by PB16 +#define AT91C_PB16_ECOL ((unsigned int) AT91C_PIO_PB16) // Ethernet MAC Collision Detected +#define AT91C_PB16_NPCS13 ((unsigned int) AT91C_PIO_PB16) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PB17 ((unsigned int) 1 << 17) // Pin Controlled by PB17 +#define AT91C_PB17_ERXCK ((unsigned int) AT91C_PIO_PB17) // Ethernet MAC Receive Clock +#define AT91C_PB17_NPCS03 ((unsigned int) AT91C_PIO_PB17) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB18 ((unsigned int) 1 << 18) // Pin Controlled by PB18 +#define AT91C_PB18_EF100 ((unsigned int) AT91C_PIO_PB18) // Ethernet MAC Force 100 Mbits/sec +#define AT91C_PB18_ADTRG ((unsigned int) AT91C_PIO_PB18) // ADC External Trigger +#define AT91C_PIO_PB19 ((unsigned int) 1 << 19) // Pin Controlled by PB19 +#define AT91C_PB19_PWM0 ((unsigned int) AT91C_PIO_PB19) // PWM Channel 0 +#define AT91C_PB19_TCLK1 ((unsigned int) AT91C_PIO_PB19) // Timer Counter 1 external clock input +#define AT91C_PIO_PB2 ((unsigned int) 1 << 2) // Pin Controlled by PB2 +#define AT91C_PB2_ETX0 ((unsigned int) AT91C_PIO_PB2) // Ethernet MAC Transmit Data 0 +#define AT91C_PIO_PB20 ((unsigned int) 1 << 20) // Pin Controlled by PB20 +#define AT91C_PB20_PWM1 ((unsigned int) AT91C_PIO_PB20) // PWM Channel 1 +#define AT91C_PB20_PCK0 ((unsigned int) AT91C_PIO_PB20) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB21 ((unsigned int) 1 << 21) // Pin Controlled by PB21 +#define AT91C_PB21_PWM2 ((unsigned int) AT91C_PIO_PB21) // PWM Channel 2 +#define AT91C_PB21_PCK1 ((unsigned int) AT91C_PIO_PB21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PB22 ((unsigned int) 1 << 22) // Pin Controlled by PB22 +#define AT91C_PB22_PWM3 ((unsigned int) AT91C_PIO_PB22) // PWM Channel 3 +#define AT91C_PB22_PCK2 ((unsigned int) AT91C_PIO_PB22) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PB23 ((unsigned int) 1 << 23) // Pin Controlled by PB23 +#define AT91C_PB23_TIOA0 ((unsigned int) AT91C_PIO_PB23) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PB23_DCD1 ((unsigned int) AT91C_PIO_PB23) // USART 1 Data Carrier Detect +#define AT91C_PIO_PB24 ((unsigned int) 1 << 24) // Pin Controlled by PB24 +#define AT91C_PB24_TIOB0 ((unsigned int) AT91C_PIO_PB24) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PB24_DSR1 ((unsigned int) AT91C_PIO_PB24) // USART 1 Data Set ready +#define AT91C_PIO_PB25 ((unsigned int) 1 << 25) // Pin Controlled by PB25 +#define AT91C_PB25_TIOA1 ((unsigned int) AT91C_PIO_PB25) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PB25_DTR1 ((unsigned int) AT91C_PIO_PB25) // USART 1 Data Terminal ready +#define AT91C_PIO_PB26 ((unsigned int) 1 << 26) // Pin Controlled by PB26 +#define AT91C_PB26_TIOB1 ((unsigned int) AT91C_PIO_PB26) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PB26_RI1 ((unsigned int) AT91C_PIO_PB26) // USART 1 Ring Indicator +#define AT91C_PIO_PB27 ((unsigned int) 1 << 27) // Pin Controlled by PB27 +#define AT91C_PB27_TIOA2 ((unsigned int) AT91C_PIO_PB27) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PB27_PWM0 ((unsigned int) AT91C_PIO_PB27) // PWM Channel 0 +#define AT91C_PIO_PB28 ((unsigned int) 1 << 28) // Pin Controlled by PB28 +#define AT91C_PB28_TIOB2 ((unsigned int) AT91C_PIO_PB28) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PB28_PWM1 ((unsigned int) AT91C_PIO_PB28) // PWM Channel 1 +#define AT91C_PIO_PB29 ((unsigned int) 1 << 29) // Pin Controlled by PB29 +#define AT91C_PB29_PCK1 ((unsigned int) AT91C_PIO_PB29) // PMC Programmable Clock Output 1 +#define AT91C_PB29_PWM2 ((unsigned int) AT91C_PIO_PB29) // PWM Channel 2 +#define AT91C_PIO_PB3 ((unsigned int) 1 << 3) // Pin Controlled by PB3 +#define AT91C_PB3_ETX1 ((unsigned int) AT91C_PIO_PB3) // Ethernet MAC Transmit Data 1 +#define AT91C_PIO_PB30 ((unsigned int) 1 << 30) // Pin Controlled by PB30 +#define AT91C_PB30_PCK2 ((unsigned int) AT91C_PIO_PB30) // PMC Programmable Clock Output 2 +#define AT91C_PB30_PWM3 ((unsigned int) AT91C_PIO_PB30) // PWM Channel 3 +#define AT91C_PIO_PB4 ((unsigned int) 1 << 4) // Pin Controlled by PB4 +#define AT91C_PB4_ECRS_ECRSDV ((unsigned int) AT91C_PIO_PB4) // Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +#define AT91C_PIO_PB5 ((unsigned int) 1 << 5) // Pin Controlled by PB5 +#define AT91C_PB5_ERX0 ((unsigned int) AT91C_PIO_PB5) // Ethernet MAC Receive Data 0 +#define AT91C_PIO_PB6 ((unsigned int) 1 << 6) // Pin Controlled by PB6 +#define AT91C_PB6_ERX1 ((unsigned int) AT91C_PIO_PB6) // Ethernet MAC Receive Data 1 +#define AT91C_PIO_PB7 ((unsigned int) 1 << 7) // Pin Controlled by PB7 +#define AT91C_PB7_ERXER ((unsigned int) AT91C_PIO_PB7) // Ethernet MAC Receive Error +#define AT91C_PIO_PB8 ((unsigned int) 1 << 8) // Pin Controlled by PB8 +#define AT91C_PB8_EMDC ((unsigned int) AT91C_PIO_PB8) // Ethernet MAC Management Data Clock +#define AT91C_PIO_PB9 ((unsigned int) 1 << 9) // Pin Controlled by PB9 +#define AT91C_PB9_EMDIO ((unsigned int) AT91C_PIO_PB9) // Ethernet MAC Management Data Input/Output + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ID_FIQ ((unsigned int) 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ((unsigned int) 1) // System Peripheral +#define AT91C_ID_PIOA ((unsigned int) 2) // Parallel IO Controller A +#define AT91C_ID_PIOB ((unsigned int) 3) // Parallel IO Controller B +#define AT91C_ID_SPI0 ((unsigned int) 4) // Serial Peripheral Interface 0 +#define AT91C_ID_SPI1 ((unsigned int) 5) // Serial Peripheral Interface 1 +#define AT91C_ID_US0 ((unsigned int) 6) // USART 0 +#define AT91C_ID_US1 ((unsigned int) 7) // USART 1 +#define AT91C_ID_SSC ((unsigned int) 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ((unsigned int) 9) // Two-Wire Interface +#define AT91C_ID_PWMC ((unsigned int) 10) // PWM Controller +#define AT91C_ID_UDP ((unsigned int) 11) // USB Device Port +#define AT91C_ID_TC0 ((unsigned int) 12) // Timer Counter 0 +#define AT91C_ID_TC1 ((unsigned int) 13) // Timer Counter 1 +#define AT91C_ID_TC2 ((unsigned int) 14) // Timer Counter 2 +#define AT91C_ID_CAN ((unsigned int) 15) // Control Area Network Controller +#define AT91C_ID_EMAC ((unsigned int) 16) // Ethernet MAC +#define AT91C_ID_ADC ((unsigned int) 17) // Analog-to-Digital Converter +#define AT91C_ID_AES ((unsigned int) 18) // Advanced Encryption Standard 128-bit +#define AT91C_ID_TDES ((unsigned int) 19) // Triple Data Encryption Standard +#define AT91C_ID_20_Reserved ((unsigned int) 20) // Reserved +#define AT91C_ID_21_Reserved ((unsigned int) 21) // Reserved +#define AT91C_ID_22_Reserved ((unsigned int) 22) // Reserved +#define AT91C_ID_23_Reserved ((unsigned int) 23) // Reserved +#define AT91C_ID_24_Reserved ((unsigned int) 24) // Reserved +#define AT91C_ID_25_Reserved ((unsigned int) 25) // Reserved +#define AT91C_ID_26_Reserved ((unsigned int) 26) // Reserved +#define AT91C_ID_27_Reserved ((unsigned int) 27) // Reserved +#define AT91C_ID_28_Reserved ((unsigned int) 28) // Reserved +#define AT91C_ID_29_Reserved ((unsigned int) 29) // Reserved +#define AT91C_ID_IRQ0 ((unsigned int) 30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 ((unsigned int) 31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_BASE_SYS ((AT91PS_SYS) 0xFFFFF000) // (SYS) Base Address +#define AT91C_BASE_AIC ((AT91PS_AIC) 0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_PDC_DBGU ((AT91PS_PDC) 0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_DBGU ((AT91PS_DBGU) 0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PIOA ((AT91PS_PIO) 0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_PIOB ((AT91PS_PIO) 0xFFFFF600) // (PIOB) Base Address +#define AT91C_BASE_CKGR ((AT91PS_CKGR) 0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC ((AT91PS_PMC) 0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC ((AT91PS_RSTC) 0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC ((AT91PS_RTTC) 0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC ((AT91PS_PITC) 0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC ((AT91PS_WDTC) 0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_VREG ((AT91PS_VREG) 0xFFFFFD60) // (VREG) Base Address +#define AT91C_BASE_MC ((AT91PS_MC) 0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI1 ((AT91PS_PDC) 0xFFFE4100) // (PDC_SPI1) Base Address +#define AT91C_BASE_SPI1 ((AT91PS_SPI) 0xFFFE4000) // (SPI1) Base Address +#define AT91C_BASE_PDC_SPI0 ((AT91PS_PDC) 0xFFFE0100) // (PDC_SPI0) Base Address +#define AT91C_BASE_SPI0 ((AT91PS_SPI) 0xFFFE0000) // (SPI0) Base Address +#define AT91C_BASE_PDC_US1 ((AT91PS_PDC) 0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 ((AT91PS_USART) 0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 ((AT91PS_PDC) 0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 ((AT91PS_USART) 0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_PDC_SSC ((AT91PS_PDC) 0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC ((AT91PS_SSC) 0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_TWI ((AT91PS_TWI) 0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_PWMC_CH3 ((AT91PS_PWMC_CH) 0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 ((AT91PS_PWMC_CH) 0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 ((AT91PS_PWMC_CH) 0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 ((AT91PS_PWMC_CH) 0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC ((AT91PS_PWMC) 0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP ((AT91PS_UDP) 0xFFFB0000) // (UDP) Base Address +#define AT91C_BASE_TC0 ((AT91PS_TC) 0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TC1 ((AT91PS_TC) 0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC2 ((AT91PS_TC) 0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TCB ((AT91PS_TCB) 0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_CAN_MB0 ((AT91PS_CAN_MB) 0xFFFD0200) // (CAN_MB0) Base Address +#define AT91C_BASE_CAN_MB1 ((AT91PS_CAN_MB) 0xFFFD0220) // (CAN_MB1) Base Address +#define AT91C_BASE_CAN_MB2 ((AT91PS_CAN_MB) 0xFFFD0240) // (CAN_MB2) Base Address +#define AT91C_BASE_CAN_MB3 ((AT91PS_CAN_MB) 0xFFFD0260) // (CAN_MB3) Base Address +#define AT91C_BASE_CAN_MB4 ((AT91PS_CAN_MB) 0xFFFD0280) // (CAN_MB4) Base Address +#define AT91C_BASE_CAN_MB5 ((AT91PS_CAN_MB) 0xFFFD02A0) // (CAN_MB5) Base Address +#define AT91C_BASE_CAN_MB6 ((AT91PS_CAN_MB) 0xFFFD02C0) // (CAN_MB6) Base Address +#define AT91C_BASE_CAN_MB7 ((AT91PS_CAN_MB) 0xFFFD02E0) // (CAN_MB7) Base Address +#define AT91C_BASE_CAN ((AT91PS_CAN) 0xFFFD0000) // (CAN) Base Address +#define AT91C_BASE_EMAC ((AT91PS_EMAC) 0xFFFDC000) // (EMAC) Base Address +#define AT91C_BASE_PDC_ADC ((AT91PS_PDC) 0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC ((AT91PS_ADC) 0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_AES ((AT91PS_PDC) 0xFFFA4100) // (PDC_AES) Base Address +#define AT91C_BASE_AES ((AT91PS_AES) 0xFFFA4000) // (AES) Base Address +#define AT91C_BASE_PDC_TDES ((AT91PS_PDC) 0xFFFA8100) // (PDC_TDES) Base Address +#define AT91C_BASE_TDES ((AT91PS_TDES) 0xFFFA8000) // (TDES) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ISRAM ((char *) 0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE ((unsigned int) 0x00010000) // Internal SRAM size in byte (64 Kbyte) +#define AT91C_IFLASH ((char *) 0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE ((unsigned int) 0x00040000) // Internal ROM size in byte (256 Kbyte) + +#endif diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X256_inc.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X256_inc.h new file mode 100644 index 0000000..5b8dfe8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/AT91SAM7X256_inc.h @@ -0,0 +1,2446 @@ +// ---------------------------------------------------------------------------- +// ATMEL Microcontroller Software Support - ROUSSET - +// ---------------------------------------------------------------------------- +// DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +// DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +// OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// ---------------------------------------------------------------------------- +// File Name : AT91SAM7X256.h +// Object : AT91SAM7X256 definitions +// Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +// +// CVS Reference : /AT91SAM7X256.pl/1.11/Tue May 10 12:15:32 2005// +// CVS Reference : /SYS_SAM7X.pl/1.3/Tue Feb 1 17:01:43 2005// +// CVS Reference : /MC_SAM7X.pl/1.2/Fri May 20 14:13:04 2005// +// CVS Reference : /PMC_SAM7X.pl/1.4/Tue Feb 8 13:58:10 2005// +// CVS Reference : /RSTC_SAM7X.pl/1.1/Tue Feb 1 16:16:26 2005// +// CVS Reference : /UDP_SAM7X.pl/1.1/Tue May 10 11:35:35 2005// +// CVS Reference : /PWM_SAM7X.pl/1.1/Tue May 10 11:53:07 2005// +// CVS Reference : /AIC_6075B.pl/1.3/Fri May 20 14:01:30 2005// +// CVS Reference : /PIO_6057A.pl/1.2/Thu Feb 3 10:18:28 2005// +// CVS Reference : /RTTC_6081A.pl/1.2/Tue Nov 9 14:43:58 2004// +// CVS Reference : /PITC_6079A.pl/1.2/Tue Nov 9 14:43:56 2004// +// CVS Reference : /WDTC_6080A.pl/1.3/Tue Nov 9 14:44:00 2004// +// CVS Reference : /VREG_6085B.pl/1.1/Tue Feb 1 16:05:48 2005// +// CVS Reference : /PDC_6074C.pl/1.2/Thu Feb 3 08:48:54 2005// +// CVS Reference : /DBGU_6059D.pl/1.1/Mon Jan 31 13:15:32 2005// +// CVS Reference : /SPI_6088D.pl/1.3/Fri May 20 14:08:59 2005// +// CVS Reference : /US_6089C.pl/1.1/Mon Jul 12 18:23:26 2004// +// CVS Reference : /SSC_6078A.pl/1.1/Tue Jul 13 07:45:40 2004// +// CVS Reference : /TWI_6061A.pl/1.1/Tue Jul 13 07:38:06 2004// +// CVS Reference : /TC_6082A.pl/1.7/Fri Mar 11 12:52:17 2005// +// CVS Reference : /CAN_6019B.pl/1.1/Tue Mar 8 12:42:22 2005// +// CVS Reference : /EMACB_6119A.pl/1.5/Thu Feb 3 15:52:04 2005// +// CVS Reference : /ADC_6051C.pl/1.1/Fri Oct 17 09:12:38 2003// +// CVS Reference : /AES_6149A.pl/1.10/Mon Feb 7 09:44:25 2005// +// CVS Reference : /DES3_6150A.pl/1.1/Mon Jan 17 08:34:31 2005// +// ---------------------------------------------------------------------------- + +// Hardware register definition + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR System Peripherals +// ***************************************************************************** + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Interrupt Controller +// ***************************************************************************** +// *** Register offset in AT91S_AIC structure *** +#define AIC_SMR ( 0) // Source Mode Register +#define AIC_SVR (128) // Source Vector Register +#define AIC_IVR (256) // IRQ Vector Register +#define AIC_FVR (260) // FIQ Vector Register +#define AIC_ISR (264) // Interrupt Status Register +#define AIC_IPR (268) // Interrupt Pending Register +#define AIC_IMR (272) // Interrupt Mask Register +#define AIC_CISR (276) // Core Interrupt Status Register +#define AIC_IECR (288) // Interrupt Enable Command Register +#define AIC_IDCR (292) // Interrupt Disable Command Register +#define AIC_ICCR (296) // Interrupt Clear Command Register +#define AIC_ISCR (300) // Interrupt Set Command Register +#define AIC_EOICR (304) // End of Interrupt Command Register +#define AIC_SPU (308) // Spurious Vector Register +#define AIC_DCR (312) // Debug Control Register (Protect) +#define AIC_FFER (320) // Fast Forcing Enable Register +#define AIC_FFDR (324) // Fast Forcing Disable Register +#define AIC_FFSR (328) // Fast Forcing Status Register +// -------- AIC_SMR : (AIC Offset: 0x0) Control Register -------- +#define AT91C_AIC_PRIOR (0x7 << 0) // (AIC) Priority Level +#define AT91C_AIC_PRIOR_LOWEST (0x0) // (AIC) Lowest priority level +#define AT91C_AIC_PRIOR_HIGHEST (0x7) // (AIC) Highest priority level +#define AT91C_AIC_SRCTYPE (0x3 << 5) // (AIC) Interrupt Source Type +#define AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL (0x0 << 5) // (AIC) Internal Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL (0x0 << 5) // (AIC) External Sources Code Label Low-level Sensitive +#define AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE (0x1 << 5) // (AIC) Internal Sources Code Label Positive Edge triggered +#define AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE (0x1 << 5) // (AIC) External Sources Code Label Negative Edge triggered +#define AT91C_AIC_SRCTYPE_HIGH_LEVEL (0x2 << 5) // (AIC) Internal Or External Sources Code Label High-level Sensitive +#define AT91C_AIC_SRCTYPE_POSITIVE_EDGE (0x3 << 5) // (AIC) Internal Or External Sources Code Label Positive Edge triggered +// -------- AIC_CISR : (AIC Offset: 0x114) AIC Core Interrupt Status Register -------- +#define AT91C_AIC_NFIQ (0x1 << 0) // (AIC) NFIQ Status +#define AT91C_AIC_NIRQ (0x1 << 1) // (AIC) NIRQ Status +// -------- AIC_DCR : (AIC Offset: 0x138) AIC Debug Control Register (Protect) -------- +#define AT91C_AIC_DCR_PROT (0x1 << 0) // (AIC) Protection Mode +#define AT91C_AIC_DCR_GMSK (0x1 << 1) // (AIC) General Mask + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Peripheral DMA Controller +// ***************************************************************************** +// *** Register offset in AT91S_PDC structure *** +#define PDC_RPR ( 0) // Receive Pointer Register +#define PDC_RCR ( 4) // Receive Counter Register +#define PDC_TPR ( 8) // Transmit Pointer Register +#define PDC_TCR (12) // Transmit Counter Register +#define PDC_RNPR (16) // Receive Next Pointer Register +#define PDC_RNCR (20) // Receive Next Counter Register +#define PDC_TNPR (24) // Transmit Next Pointer Register +#define PDC_TNCR (28) // Transmit Next Counter Register +#define PDC_PTCR (32) // PDC Transfer Control Register +#define PDC_PTSR (36) // PDC Transfer Status Register +// -------- PDC_PTCR : (PDC Offset: 0x20) PDC Transfer Control Register -------- +#define AT91C_PDC_RXTEN (0x1 << 0) // (PDC) Receiver Transfer Enable +#define AT91C_PDC_RXTDIS (0x1 << 1) // (PDC) Receiver Transfer Disable +#define AT91C_PDC_TXTEN (0x1 << 8) // (PDC) Transmitter Transfer Enable +#define AT91C_PDC_TXTDIS (0x1 << 9) // (PDC) Transmitter Transfer Disable +// -------- PDC_PTSR : (PDC Offset: 0x24) PDC Transfer Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Debug Unit +// ***************************************************************************** +// *** Register offset in AT91S_DBGU structure *** +#define DBGU_CR ( 0) // Control Register +#define DBGU_MR ( 4) // Mode Register +#define DBGU_IER ( 8) // Interrupt Enable Register +#define DBGU_IDR (12) // Interrupt Disable Register +#define DBGU_IMR (16) // Interrupt Mask Register +#define DBGU_CSR (20) // Channel Status Register +#define DBGU_RHR (24) // Receiver Holding Register +#define DBGU_THR (28) // Transmitter Holding Register +#define DBGU_BRGR (32) // Baud Rate Generator Register +#define DBGU_CIDR (64) // Chip ID Register +#define DBGU_EXID (68) // Chip ID Extension Register +#define DBGU_FNTR (72) // Force NTRST Register +#define DBGU_RPR (256) // Receive Pointer Register +#define DBGU_RCR (260) // Receive Counter Register +#define DBGU_TPR (264) // Transmit Pointer Register +#define DBGU_TCR (268) // Transmit Counter Register +#define DBGU_RNPR (272) // Receive Next Pointer Register +#define DBGU_RNCR (276) // Receive Next Counter Register +#define DBGU_TNPR (280) // Transmit Next Pointer Register +#define DBGU_TNCR (284) // Transmit Next Counter Register +#define DBGU_PTCR (288) // PDC Transfer Control Register +#define DBGU_PTSR (292) // PDC Transfer Status Register +// -------- DBGU_CR : (DBGU Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_RSTRX (0x1 << 2) // (DBGU) Reset Receiver +#define AT91C_US_RSTTX (0x1 << 3) // (DBGU) Reset Transmitter +#define AT91C_US_RXEN (0x1 << 4) // (DBGU) Receiver Enable +#define AT91C_US_RXDIS (0x1 << 5) // (DBGU) Receiver Disable +#define AT91C_US_TXEN (0x1 << 6) // (DBGU) Transmitter Enable +#define AT91C_US_TXDIS (0x1 << 7) // (DBGU) Transmitter Disable +#define AT91C_US_RSTSTA (0x1 << 8) // (DBGU) Reset Status Bits +// -------- DBGU_MR : (DBGU Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_PAR (0x7 << 9) // (DBGU) Parity type +#define AT91C_US_PAR_EVEN (0x0 << 9) // (DBGU) Even Parity +#define AT91C_US_PAR_ODD (0x1 << 9) // (DBGU) Odd Parity +#define AT91C_US_PAR_SPACE (0x2 << 9) // (DBGU) Parity forced to 0 (Space) +#define AT91C_US_PAR_MARK (0x3 << 9) // (DBGU) Parity forced to 1 (Mark) +#define AT91C_US_PAR_NONE (0x4 << 9) // (DBGU) No Parity +#define AT91C_US_PAR_MULTI_DROP (0x6 << 9) // (DBGU) Multi-drop mode +#define AT91C_US_CHMODE (0x3 << 14) // (DBGU) Channel Mode +#define AT91C_US_CHMODE_NORMAL (0x0 << 14) // (DBGU) Normal Mode: The USART channel operates as an RX/TX USART. +#define AT91C_US_CHMODE_AUTO (0x1 << 14) // (DBGU) Automatic Echo: Receiver Data Input is connected to the TXD pin. +#define AT91C_US_CHMODE_LOCAL (0x2 << 14) // (DBGU) Local Loopback: Transmitter Output Signal is connected to Receiver Input Signal. +#define AT91C_US_CHMODE_REMOTE (0x3 << 14) // (DBGU) Remote Loopback: RXD pin is internally connected to TXD pin. +// -------- DBGU_IER : (DBGU Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXRDY (0x1 << 0) // (DBGU) RXRDY Interrupt +#define AT91C_US_TXRDY (0x1 << 1) // (DBGU) TXRDY Interrupt +#define AT91C_US_ENDRX (0x1 << 3) // (DBGU) End of Receive Transfer Interrupt +#define AT91C_US_ENDTX (0x1 << 4) // (DBGU) End of Transmit Interrupt +#define AT91C_US_OVRE (0x1 << 5) // (DBGU) Overrun Interrupt +#define AT91C_US_FRAME (0x1 << 6) // (DBGU) Framing Error Interrupt +#define AT91C_US_PARE (0x1 << 7) // (DBGU) Parity Error Interrupt +#define AT91C_US_TXEMPTY (0x1 << 9) // (DBGU) TXEMPTY Interrupt +#define AT91C_US_TXBUFE (0x1 << 11) // (DBGU) TXBUFE Interrupt +#define AT91C_US_RXBUFF (0x1 << 12) // (DBGU) RXBUFF Interrupt +#define AT91C_US_COMM_TX (0x1 << 30) // (DBGU) COMM_TX Interrupt +#define AT91C_US_COMM_RX (0x1 << 31) // (DBGU) COMM_RX Interrupt +// -------- DBGU_IDR : (DBGU Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- DBGU_IMR : (DBGU Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- DBGU_CSR : (DBGU Offset: 0x14) Debug Unit Channel Status Register -------- +// -------- DBGU_FNTR : (DBGU Offset: 0x48) Debug Unit FORCE_NTRST Register -------- +#define AT91C_US_FORCE_NTRST (0x1 << 0) // (DBGU) Force NTRST in JTAG + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Parallel Input Output Controler +// ***************************************************************************** +// *** Register offset in AT91S_PIO structure *** +#define PIO_PER ( 0) // PIO Enable Register +#define PIO_PDR ( 4) // PIO Disable Register +#define PIO_PSR ( 8) // PIO Status Register +#define PIO_OER (16) // Output Enable Register +#define PIO_ODR (20) // Output Disable Registerr +#define PIO_OSR (24) // Output Status Register +#define PIO_IFER (32) // Input Filter Enable Register +#define PIO_IFDR (36) // Input Filter Disable Register +#define PIO_IFSR (40) // Input Filter Status Register +#define PIO_SODR (48) // Set Output Data Register +#define PIO_CODR (52) // Clear Output Data Register +#define PIO_ODSR (56) // Output Data Status Register +#define PIO_PDSR (60) // Pin Data Status Register +#define PIO_IER (64) // Interrupt Enable Register +#define PIO_IDR (68) // Interrupt Disable Register +#define PIO_IMR (72) // Interrupt Mask Register +#define PIO_ISR (76) // Interrupt Status Register +#define PIO_MDER (80) // Multi-driver Enable Register +#define PIO_MDDR (84) // Multi-driver Disable Register +#define PIO_MDSR (88) // Multi-driver Status Register +#define PIO_PPUDR (96) // Pull-up Disable Register +#define PIO_PPUER (100) // Pull-up Enable Register +#define PIO_PPUSR (104) // Pull-up Status Register +#define PIO_ASR (112) // Select A Register +#define PIO_BSR (116) // Select B Register +#define PIO_ABSR (120) // AB Select Status Register +#define PIO_OWER (160) // Output Write Enable Register +#define PIO_OWDR (164) // Output Write Disable Register +#define PIO_OWSR (168) // Output Write Status Register + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Clock Generator Controler +// ***************************************************************************** +// *** Register offset in AT91S_CKGR structure *** +#define CKGR_MOR ( 0) // Main Oscillator Register +#define CKGR_MCFR ( 4) // Main Clock Frequency Register +#define CKGR_PLLR (12) // PLL Register +// -------- CKGR_MOR : (CKGR Offset: 0x0) Main Oscillator Register -------- +#define AT91C_CKGR_MOSCEN (0x1 << 0) // (CKGR) Main Oscillator Enable +#define AT91C_CKGR_OSCBYPASS (0x1 << 1) // (CKGR) Main Oscillator Bypass +#define AT91C_CKGR_OSCOUNT (0xFF << 8) // (CKGR) Main Oscillator Start-up Time +// -------- CKGR_MCFR : (CKGR Offset: 0x4) Main Clock Frequency Register -------- +#define AT91C_CKGR_MAINF (0xFFFF << 0) // (CKGR) Main Clock Frequency +#define AT91C_CKGR_MAINRDY (0x1 << 16) // (CKGR) Main Clock Ready +// -------- CKGR_PLLR : (CKGR Offset: 0xc) PLL B Register -------- +#define AT91C_CKGR_DIV (0xFF << 0) // (CKGR) Divider Selected +#define AT91C_CKGR_DIV_0 (0x0) // (CKGR) Divider output is 0 +#define AT91C_CKGR_DIV_BYPASS (0x1) // (CKGR) Divider is bypassed +#define AT91C_CKGR_PLLCOUNT (0x3F << 8) // (CKGR) PLL Counter +#define AT91C_CKGR_OUT (0x3 << 14) // (CKGR) PLL Output Frequency Range +#define AT91C_CKGR_OUT_0 (0x0 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_1 (0x1 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_2 (0x2 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_OUT_3 (0x3 << 14) // (CKGR) Please refer to the PLL datasheet +#define AT91C_CKGR_MUL (0x7FF << 16) // (CKGR) PLL Multiplier +#define AT91C_CKGR_USBDIV (0x3 << 28) // (CKGR) Divider for USB Clocks +#define AT91C_CKGR_USBDIV_0 (0x0 << 28) // (CKGR) Divider output is PLL clock output +#define AT91C_CKGR_USBDIV_1 (0x1 << 28) // (CKGR) Divider output is PLL clock output divided by 2 +#define AT91C_CKGR_USBDIV_2 (0x2 << 28) // (CKGR) Divider output is PLL clock output divided by 4 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Power Management Controler +// ***************************************************************************** +// *** Register offset in AT91S_PMC structure *** +#define PMC_SCER ( 0) // System Clock Enable Register +#define PMC_SCDR ( 4) // System Clock Disable Register +#define PMC_SCSR ( 8) // System Clock Status Register +#define PMC_PCER (16) // Peripheral Clock Enable Register +#define PMC_PCDR (20) // Peripheral Clock Disable Register +#define PMC_PCSR (24) // Peripheral Clock Status Register +#define PMC_MOR (32) // Main Oscillator Register +#define PMC_MCFR (36) // Main Clock Frequency Register +#define PMC_PLLR (44) // PLL Register +#define PMC_MCKR (48) // Master Clock Register +#define PMC_PCKR (64) // Programmable Clock Register +#define PMC_IER (96) // Interrupt Enable Register +#define PMC_IDR (100) // Interrupt Disable Register +#define PMC_SR (104) // Status Register +#define PMC_IMR (108) // Interrupt Mask Register +// -------- PMC_SCER : (PMC Offset: 0x0) System Clock Enable Register -------- +#define AT91C_PMC_PCK (0x1 << 0) // (PMC) Processor Clock +#define AT91C_PMC_UDP (0x1 << 7) // (PMC) USB Device Port Clock +#define AT91C_PMC_PCK0 (0x1 << 8) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK1 (0x1 << 9) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK2 (0x1 << 10) // (PMC) Programmable Clock Output +#define AT91C_PMC_PCK3 (0x1 << 11) // (PMC) Programmable Clock Output +// -------- PMC_SCDR : (PMC Offset: 0x4) System Clock Disable Register -------- +// -------- PMC_SCSR : (PMC Offset: 0x8) System Clock Status Register -------- +// -------- CKGR_MOR : (PMC Offset: 0x20) Main Oscillator Register -------- +// -------- CKGR_MCFR : (PMC Offset: 0x24) Main Clock Frequency Register -------- +// -------- CKGR_PLLR : (PMC Offset: 0x2c) PLL B Register -------- +// -------- PMC_MCKR : (PMC Offset: 0x30) Master Clock Register -------- +#define AT91C_PMC_CSS (0x3 << 0) // (PMC) Programmable Clock Selection +#define AT91C_PMC_CSS_SLOW_CLK (0x0) // (PMC) Slow Clock is selected +#define AT91C_PMC_CSS_MAIN_CLK (0x1) // (PMC) Main Clock is selected +#define AT91C_PMC_CSS_PLL_CLK (0x3) // (PMC) Clock from PLL is selected +#define AT91C_PMC_PRES (0x7 << 2) // (PMC) Programmable Clock Prescaler +#define AT91C_PMC_PRES_CLK (0x0 << 2) // (PMC) Selected clock +#define AT91C_PMC_PRES_CLK_2 (0x1 << 2) // (PMC) Selected clock divided by 2 +#define AT91C_PMC_PRES_CLK_4 (0x2 << 2) // (PMC) Selected clock divided by 4 +#define AT91C_PMC_PRES_CLK_8 (0x3 << 2) // (PMC) Selected clock divided by 8 +#define AT91C_PMC_PRES_CLK_16 (0x4 << 2) // (PMC) Selected clock divided by 16 +#define AT91C_PMC_PRES_CLK_32 (0x5 << 2) // (PMC) Selected clock divided by 32 +#define AT91C_PMC_PRES_CLK_64 (0x6 << 2) // (PMC) Selected clock divided by 64 +// -------- PMC_PCKR : (PMC Offset: 0x40) Programmable Clock Register -------- +// -------- PMC_IER : (PMC Offset: 0x60) PMC Interrupt Enable Register -------- +#define AT91C_PMC_MOSCS (0x1 << 0) // (PMC) MOSC Status/Enable/Disable/Mask +#define AT91C_PMC_LOCK (0x1 << 2) // (PMC) PLL Status/Enable/Disable/Mask +#define AT91C_PMC_MCKRDY (0x1 << 3) // (PMC) MCK_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK0RDY (0x1 << 8) // (PMC) PCK0_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK1RDY (0x1 << 9) // (PMC) PCK1_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK2RDY (0x1 << 10) // (PMC) PCK2_RDY Status/Enable/Disable/Mask +#define AT91C_PMC_PCK3RDY (0x1 << 11) // (PMC) PCK3_RDY Status/Enable/Disable/Mask +// -------- PMC_IDR : (PMC Offset: 0x64) PMC Interrupt Disable Register -------- +// -------- PMC_SR : (PMC Offset: 0x68) PMC Status Register -------- +// -------- PMC_IMR : (PMC Offset: 0x6c) PMC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Reset Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_RSTC structure *** +#define RSTC_RCR ( 0) // Reset Control Register +#define RSTC_RSR ( 4) // Reset Status Register +#define RSTC_RMR ( 8) // Reset Mode Register +// -------- RSTC_RCR : (RSTC Offset: 0x0) Reset Control Register -------- +#define AT91C_RSTC_PROCRST (0x1 << 0) // (RSTC) Processor Reset +#define AT91C_RSTC_PERRST (0x1 << 2) // (RSTC) Peripheral Reset +#define AT91C_RSTC_EXTRST (0x1 << 3) // (RSTC) External Reset +#define AT91C_RSTC_KEY (0xFF << 24) // (RSTC) Password +// -------- RSTC_RSR : (RSTC Offset: 0x4) Reset Status Register -------- +#define AT91C_RSTC_URSTS (0x1 << 0) // (RSTC) User Reset Status +#define AT91C_RSTC_BODSTS (0x1 << 1) // (RSTC) Brownout Detection Status +#define AT91C_RSTC_RSTTYP (0x7 << 8) // (RSTC) Reset Type +#define AT91C_RSTC_RSTTYP_POWERUP (0x0 << 8) // (RSTC) Power-up Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WAKEUP (0x1 << 8) // (RSTC) WakeUp Reset. VDDCORE rising. +#define AT91C_RSTC_RSTTYP_WATCHDOG (0x2 << 8) // (RSTC) Watchdog Reset. Watchdog overflow occured. +#define AT91C_RSTC_RSTTYP_SOFTWARE (0x3 << 8) // (RSTC) Software Reset. Processor reset required by the software. +#define AT91C_RSTC_RSTTYP_USER (0x4 << 8) // (RSTC) User Reset. NRST pin detected low. +#define AT91C_RSTC_RSTTYP_BROWNOUT (0x5 << 8) // (RSTC) Brownout Reset occured. +#define AT91C_RSTC_NRSTL (0x1 << 16) // (RSTC) NRST pin level +#define AT91C_RSTC_SRCMP (0x1 << 17) // (RSTC) Software Reset Command in Progress. +// -------- RSTC_RMR : (RSTC Offset: 0x8) Reset Mode Register -------- +#define AT91C_RSTC_URSTEN (0x1 << 0) // (RSTC) User Reset Enable +#define AT91C_RSTC_URSTIEN (0x1 << 4) // (RSTC) User Reset Interrupt Enable +#define AT91C_RSTC_ERSTL (0xF << 8) // (RSTC) User Reset Enable +#define AT91C_RSTC_BODIEN (0x1 << 16) // (RSTC) Brownout Detection Interrupt Enable + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Real Time Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_RTTC structure *** +#define RTTC_RTMR ( 0) // Real-time Mode Register +#define RTTC_RTAR ( 4) // Real-time Alarm Register +#define RTTC_RTVR ( 8) // Real-time Value Register +#define RTTC_RTSR (12) // Real-time Status Register +// -------- RTTC_RTMR : (RTTC Offset: 0x0) Real-time Mode Register -------- +#define AT91C_RTTC_RTPRES (0xFFFF << 0) // (RTTC) Real-time Timer Prescaler Value +#define AT91C_RTTC_ALMIEN (0x1 << 16) // (RTTC) Alarm Interrupt Enable +#define AT91C_RTTC_RTTINCIEN (0x1 << 17) // (RTTC) Real Time Timer Increment Interrupt Enable +#define AT91C_RTTC_RTTRST (0x1 << 18) // (RTTC) Real Time Timer Restart +// -------- RTTC_RTAR : (RTTC Offset: 0x4) Real-time Alarm Register -------- +#define AT91C_RTTC_ALMV (0x0 << 0) // (RTTC) Alarm Value +// -------- RTTC_RTVR : (RTTC Offset: 0x8) Current Real-time Value Register -------- +#define AT91C_RTTC_CRTV (0x0 << 0) // (RTTC) Current Real-time Value +// -------- RTTC_RTSR : (RTTC Offset: 0xc) Real-time Status Register -------- +#define AT91C_RTTC_ALMS (0x1 << 0) // (RTTC) Real-time Alarm Status +#define AT91C_RTTC_RTTINC (0x1 << 1) // (RTTC) Real-time Timer Increment + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Periodic Interval Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_PITC structure *** +#define PITC_PIMR ( 0) // Period Interval Mode Register +#define PITC_PISR ( 4) // Period Interval Status Register +#define PITC_PIVR ( 8) // Period Interval Value Register +#define PITC_PIIR (12) // Period Interval Image Register +// -------- PITC_PIMR : (PITC Offset: 0x0) Periodic Interval Mode Register -------- +#define AT91C_PITC_PIV (0xFFFFF << 0) // (PITC) Periodic Interval Value +#define AT91C_PITC_PITEN (0x1 << 24) // (PITC) Periodic Interval Timer Enabled +#define AT91C_PITC_PITIEN (0x1 << 25) // (PITC) Periodic Interval Timer Interrupt Enable +// -------- PITC_PISR : (PITC Offset: 0x4) Periodic Interval Status Register -------- +#define AT91C_PITC_PITS (0x1 << 0) // (PITC) Periodic Interval Timer Status +// -------- PITC_PIVR : (PITC Offset: 0x8) Periodic Interval Value Register -------- +#define AT91C_PITC_CPIV (0xFFFFF << 0) // (PITC) Current Periodic Interval Value +#define AT91C_PITC_PICNT (0xFFF << 20) // (PITC) Periodic Interval Counter +// -------- PITC_PIIR : (PITC Offset: 0xc) Periodic Interval Image Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Watchdog Timer Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_WDTC structure *** +#define WDTC_WDCR ( 0) // Watchdog Control Register +#define WDTC_WDMR ( 4) // Watchdog Mode Register +#define WDTC_WDSR ( 8) // Watchdog Status Register +// -------- WDTC_WDCR : (WDTC Offset: 0x0) Periodic Interval Image Register -------- +#define AT91C_WDTC_WDRSTT (0x1 << 0) // (WDTC) Watchdog Restart +#define AT91C_WDTC_KEY (0xFF << 24) // (WDTC) Watchdog KEY Password +// -------- WDTC_WDMR : (WDTC Offset: 0x4) Watchdog Mode Register -------- +#define AT91C_WDTC_WDV (0xFFF << 0) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDFIEN (0x1 << 12) // (WDTC) Watchdog Fault Interrupt Enable +#define AT91C_WDTC_WDRSTEN (0x1 << 13) // (WDTC) Watchdog Reset Enable +#define AT91C_WDTC_WDRPROC (0x1 << 14) // (WDTC) Watchdog Timer Restart +#define AT91C_WDTC_WDDIS (0x1 << 15) // (WDTC) Watchdog Disable +#define AT91C_WDTC_WDD (0xFFF << 16) // (WDTC) Watchdog Delta Value +#define AT91C_WDTC_WDDBGHLT (0x1 << 28) // (WDTC) Watchdog Debug Halt +#define AT91C_WDTC_WDIDLEHLT (0x1 << 29) // (WDTC) Watchdog Idle Halt +// -------- WDTC_WDSR : (WDTC Offset: 0x8) Watchdog Status Register -------- +#define AT91C_WDTC_WDUNF (0x1 << 0) // (WDTC) Watchdog Underflow +#define AT91C_WDTC_WDERR (0x1 << 1) // (WDTC) Watchdog Error + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Voltage Regulator Mode Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_VREG structure *** +#define VREG_MR ( 0) // Voltage Regulator Mode Register +// -------- VREG_MR : (VREG Offset: 0x0) Voltage Regulator Mode Register -------- +#define AT91C_VREG_PSTDBY (0x1 << 0) // (VREG) Voltage Regulator Power Standby Mode + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Memory Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_MC structure *** +#define MC_RCR ( 0) // MC Remap Control Register +#define MC_ASR ( 4) // MC Abort Status Register +#define MC_AASR ( 8) // MC Abort Address Status Register +#define MC_FMR (96) // MC Flash Mode Register +#define MC_FCR (100) // MC Flash Command Register +#define MC_FSR (104) // MC Flash Status Register +// -------- MC_RCR : (MC Offset: 0x0) MC Remap Control Register -------- +#define AT91C_MC_RCB (0x1 << 0) // (MC) Remap Command Bit +// -------- MC_ASR : (MC Offset: 0x4) MC Abort Status Register -------- +#define AT91C_MC_UNDADD (0x1 << 0) // (MC) Undefined Addess Abort Status +#define AT91C_MC_MISADD (0x1 << 1) // (MC) Misaligned Addess Abort Status +#define AT91C_MC_ABTSZ (0x3 << 8) // (MC) Abort Size Status +#define AT91C_MC_ABTSZ_BYTE (0x0 << 8) // (MC) Byte +#define AT91C_MC_ABTSZ_HWORD (0x1 << 8) // (MC) Half-word +#define AT91C_MC_ABTSZ_WORD (0x2 << 8) // (MC) Word +#define AT91C_MC_ABTTYP (0x3 << 10) // (MC) Abort Type Status +#define AT91C_MC_ABTTYP_DATAR (0x0 << 10) // (MC) Data Read +#define AT91C_MC_ABTTYP_DATAW (0x1 << 10) // (MC) Data Write +#define AT91C_MC_ABTTYP_FETCH (0x2 << 10) // (MC) Code Fetch +#define AT91C_MC_MST0 (0x1 << 16) // (MC) Master 0 Abort Source +#define AT91C_MC_MST1 (0x1 << 17) // (MC) Master 1 Abort Source +#define AT91C_MC_SVMST0 (0x1 << 24) // (MC) Saved Master 0 Abort Source +#define AT91C_MC_SVMST1 (0x1 << 25) // (MC) Saved Master 1 Abort Source +// -------- MC_FMR : (MC Offset: 0x60) MC Flash Mode Register -------- +#define AT91C_MC_FRDY (0x1 << 0) // (MC) Flash Ready +#define AT91C_MC_LOCKE (0x1 << 2) // (MC) Lock Error +#define AT91C_MC_PROGE (0x1 << 3) // (MC) Programming Error +#define AT91C_MC_NEBP (0x1 << 7) // (MC) No Erase Before Programming +#define AT91C_MC_FWS (0x3 << 8) // (MC) Flash Wait State +#define AT91C_MC_FWS_0FWS (0x0 << 8) // (MC) 1 cycle for Read, 2 for Write operations +#define AT91C_MC_FWS_1FWS (0x1 << 8) // (MC) 2 cycles for Read, 3 for Write operations +#define AT91C_MC_FWS_2FWS (0x2 << 8) // (MC) 3 cycles for Read, 4 for Write operations +#define AT91C_MC_FWS_3FWS (0x3 << 8) // (MC) 4 cycles for Read, 4 for Write operations +#define AT91C_MC_FMCN (0xFF << 16) // (MC) Flash Microsecond Cycle Number +// -------- MC_FCR : (MC Offset: 0x64) MC Flash Command Register -------- +#define AT91C_MC_FCMD (0xF << 0) // (MC) Flash Command +#define AT91C_MC_FCMD_START_PROG (0x1) // (MC) Starts the programming of th epage specified by PAGEN. +#define AT91C_MC_FCMD_LOCK (0x2) // (MC) Starts a lock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_PROG_AND_LOCK (0x3) // (MC) The lock sequence automatically happens after the programming sequence is completed. +#define AT91C_MC_FCMD_UNLOCK (0x4) // (MC) Starts an unlock sequence of the sector defined by the bits 4 to 7 of the field PAGEN. +#define AT91C_MC_FCMD_ERASE_ALL (0x8) // (MC) Starts the erase of the entire flash.If at least a page is locked, the command is cancelled. +#define AT91C_MC_FCMD_SET_GP_NVM (0xB) // (MC) Set General Purpose NVM bits. +#define AT91C_MC_FCMD_CLR_GP_NVM (0xD) // (MC) Clear General Purpose NVM bits. +#define AT91C_MC_FCMD_SET_SECURITY (0xF) // (MC) Set Security Bit. +#define AT91C_MC_PAGEN (0x3FF << 8) // (MC) Page Number +#define AT91C_MC_KEY (0xFF << 24) // (MC) Writing Protect Key +// -------- MC_FSR : (MC Offset: 0x68) MC Flash Command Register -------- +#define AT91C_MC_SECURITY (0x1 << 4) // (MC) Security Bit Status +#define AT91C_MC_GPNVM0 (0x1 << 8) // (MC) Sector 0 Lock Status +#define AT91C_MC_GPNVM1 (0x1 << 9) // (MC) Sector 1 Lock Status +#define AT91C_MC_GPNVM2 (0x1 << 10) // (MC) Sector 2 Lock Status +#define AT91C_MC_GPNVM3 (0x1 << 11) // (MC) Sector 3 Lock Status +#define AT91C_MC_GPNVM4 (0x1 << 12) // (MC) Sector 4 Lock Status +#define AT91C_MC_GPNVM5 (0x1 << 13) // (MC) Sector 5 Lock Status +#define AT91C_MC_GPNVM6 (0x1 << 14) // (MC) Sector 6 Lock Status +#define AT91C_MC_GPNVM7 (0x1 << 15) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS0 (0x1 << 16) // (MC) Sector 0 Lock Status +#define AT91C_MC_LOCKS1 (0x1 << 17) // (MC) Sector 1 Lock Status +#define AT91C_MC_LOCKS2 (0x1 << 18) // (MC) Sector 2 Lock Status +#define AT91C_MC_LOCKS3 (0x1 << 19) // (MC) Sector 3 Lock Status +#define AT91C_MC_LOCKS4 (0x1 << 20) // (MC) Sector 4 Lock Status +#define AT91C_MC_LOCKS5 (0x1 << 21) // (MC) Sector 5 Lock Status +#define AT91C_MC_LOCKS6 (0x1 << 22) // (MC) Sector 6 Lock Status +#define AT91C_MC_LOCKS7 (0x1 << 23) // (MC) Sector 7 Lock Status +#define AT91C_MC_LOCKS8 (0x1 << 24) // (MC) Sector 8 Lock Status +#define AT91C_MC_LOCKS9 (0x1 << 25) // (MC) Sector 9 Lock Status +#define AT91C_MC_LOCKS10 (0x1 << 26) // (MC) Sector 10 Lock Status +#define AT91C_MC_LOCKS11 (0x1 << 27) // (MC) Sector 11 Lock Status +#define AT91C_MC_LOCKS12 (0x1 << 28) // (MC) Sector 12 Lock Status +#define AT91C_MC_LOCKS13 (0x1 << 29) // (MC) Sector 13 Lock Status +#define AT91C_MC_LOCKS14 (0x1 << 30) // (MC) Sector 14 Lock Status +#define AT91C_MC_LOCKS15 (0x1 << 31) // (MC) Sector 15 Lock Status + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Serial Parallel Interface +// ***************************************************************************** +// *** Register offset in AT91S_SPI structure *** +#define SPI_CR ( 0) // Control Register +#define SPI_MR ( 4) // Mode Register +#define SPI_RDR ( 8) // Receive Data Register +#define SPI_TDR (12) // Transmit Data Register +#define SPI_SR (16) // Status Register +#define SPI_IER (20) // Interrupt Enable Register +#define SPI_IDR (24) // Interrupt Disable Register +#define SPI_IMR (28) // Interrupt Mask Register +#define SPI_CSR (48) // Chip Select Register +#define SPI_RPR (256) // Receive Pointer Register +#define SPI_RCR (260) // Receive Counter Register +#define SPI_TPR (264) // Transmit Pointer Register +#define SPI_TCR (268) // Transmit Counter Register +#define SPI_RNPR (272) // Receive Next Pointer Register +#define SPI_RNCR (276) // Receive Next Counter Register +#define SPI_TNPR (280) // Transmit Next Pointer Register +#define SPI_TNCR (284) // Transmit Next Counter Register +#define SPI_PTCR (288) // PDC Transfer Control Register +#define SPI_PTSR (292) // PDC Transfer Status Register +// -------- SPI_CR : (SPI Offset: 0x0) SPI Control Register -------- +#define AT91C_SPI_SPIEN (0x1 << 0) // (SPI) SPI Enable +#define AT91C_SPI_SPIDIS (0x1 << 1) // (SPI) SPI Disable +#define AT91C_SPI_SWRST (0x1 << 7) // (SPI) SPI Software reset +#define AT91C_SPI_LASTXFER (0x1 << 24) // (SPI) SPI Last Transfer +// -------- SPI_MR : (SPI Offset: 0x4) SPI Mode Register -------- +#define AT91C_SPI_MSTR (0x1 << 0) // (SPI) Master/Slave Mode +#define AT91C_SPI_PS (0x1 << 1) // (SPI) Peripheral Select +#define AT91C_SPI_PS_FIXED (0x0 << 1) // (SPI) Fixed Peripheral Select +#define AT91C_SPI_PS_VARIABLE (0x1 << 1) // (SPI) Variable Peripheral Select +#define AT91C_SPI_PCSDEC (0x1 << 2) // (SPI) Chip Select Decode +#define AT91C_SPI_FDIV (0x1 << 3) // (SPI) Clock Selection +#define AT91C_SPI_MODFDIS (0x1 << 4) // (SPI) Mode Fault Detection +#define AT91C_SPI_LLB (0x1 << 7) // (SPI) Clock Selection +#define AT91C_SPI_PCS (0xF << 16) // (SPI) Peripheral Chip Select +#define AT91C_SPI_DLYBCS (0xFF << 24) // (SPI) Delay Between Chip Selects +// -------- SPI_RDR : (SPI Offset: 0x8) Receive Data Register -------- +#define AT91C_SPI_RD (0xFFFF << 0) // (SPI) Receive Data +#define AT91C_SPI_RPCS (0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_TDR : (SPI Offset: 0xc) Transmit Data Register -------- +#define AT91C_SPI_TD (0xFFFF << 0) // (SPI) Transmit Data +#define AT91C_SPI_TPCS (0xF << 16) // (SPI) Peripheral Chip Select Status +// -------- SPI_SR : (SPI Offset: 0x10) Status Register -------- +#define AT91C_SPI_RDRF (0x1 << 0) // (SPI) Receive Data Register Full +#define AT91C_SPI_TDRE (0x1 << 1) // (SPI) Transmit Data Register Empty +#define AT91C_SPI_MODF (0x1 << 2) // (SPI) Mode Fault Error +#define AT91C_SPI_OVRES (0x1 << 3) // (SPI) Overrun Error Status +#define AT91C_SPI_ENDRX (0x1 << 4) // (SPI) End of Receiver Transfer +#define AT91C_SPI_ENDTX (0x1 << 5) // (SPI) End of Receiver Transfer +#define AT91C_SPI_RXBUFF (0x1 << 6) // (SPI) RXBUFF Interrupt +#define AT91C_SPI_TXBUFE (0x1 << 7) // (SPI) TXBUFE Interrupt +#define AT91C_SPI_NSSR (0x1 << 8) // (SPI) NSSR Interrupt +#define AT91C_SPI_TXEMPTY (0x1 << 9) // (SPI) TXEMPTY Interrupt +#define AT91C_SPI_SPIENS (0x1 << 16) // (SPI) Enable Status +// -------- SPI_IER : (SPI Offset: 0x14) Interrupt Enable Register -------- +// -------- SPI_IDR : (SPI Offset: 0x18) Interrupt Disable Register -------- +// -------- SPI_IMR : (SPI Offset: 0x1c) Interrupt Mask Register -------- +// -------- SPI_CSR : (SPI Offset: 0x30) Chip Select Register -------- +#define AT91C_SPI_CPOL (0x1 << 0) // (SPI) Clock Polarity +#define AT91C_SPI_NCPHA (0x1 << 1) // (SPI) Clock Phase +#define AT91C_SPI_CSAAT (0x1 << 3) // (SPI) Chip Select Active After Transfer +#define AT91C_SPI_BITS (0xF << 4) // (SPI) Bits Per Transfer +#define AT91C_SPI_BITS_8 (0x0 << 4) // (SPI) 8 Bits Per transfer +#define AT91C_SPI_BITS_9 (0x1 << 4) // (SPI) 9 Bits Per transfer +#define AT91C_SPI_BITS_10 (0x2 << 4) // (SPI) 10 Bits Per transfer +#define AT91C_SPI_BITS_11 (0x3 << 4) // (SPI) 11 Bits Per transfer +#define AT91C_SPI_BITS_12 (0x4 << 4) // (SPI) 12 Bits Per transfer +#define AT91C_SPI_BITS_13 (0x5 << 4) // (SPI) 13 Bits Per transfer +#define AT91C_SPI_BITS_14 (0x6 << 4) // (SPI) 14 Bits Per transfer +#define AT91C_SPI_BITS_15 (0x7 << 4) // (SPI) 15 Bits Per transfer +#define AT91C_SPI_BITS_16 (0x8 << 4) // (SPI) 16 Bits Per transfer +#define AT91C_SPI_SCBR (0xFF << 8) // (SPI) Serial Clock Baud Rate +#define AT91C_SPI_DLYBS (0xFF << 16) // (SPI) Delay Before SPCK +#define AT91C_SPI_DLYBCT (0xFF << 24) // (SPI) Delay Between Consecutive Transfers + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Usart +// ***************************************************************************** +// *** Register offset in AT91S_USART structure *** +#define US_CR ( 0) // Control Register +#define US_MR ( 4) // Mode Register +#define US_IER ( 8) // Interrupt Enable Register +#define US_IDR (12) // Interrupt Disable Register +#define US_IMR (16) // Interrupt Mask Register +#define US_CSR (20) // Channel Status Register +#define US_RHR (24) // Receiver Holding Register +#define US_THR (28) // Transmitter Holding Register +#define US_BRGR (32) // Baud Rate Generator Register +#define US_RTOR (36) // Receiver Time-out Register +#define US_TTGR (40) // Transmitter Time-guard Register +#define US_FIDI (64) // FI_DI_Ratio Register +#define US_NER (68) // Nb Errors Register +#define US_IF (76) // IRDA_FILTER Register +#define US_RPR (256) // Receive Pointer Register +#define US_RCR (260) // Receive Counter Register +#define US_TPR (264) // Transmit Pointer Register +#define US_TCR (268) // Transmit Counter Register +#define US_RNPR (272) // Receive Next Pointer Register +#define US_RNCR (276) // Receive Next Counter Register +#define US_TNPR (280) // Transmit Next Pointer Register +#define US_TNCR (284) // Transmit Next Counter Register +#define US_PTCR (288) // PDC Transfer Control Register +#define US_PTSR (292) // PDC Transfer Status Register +// -------- US_CR : (USART Offset: 0x0) Debug Unit Control Register -------- +#define AT91C_US_STTBRK (0x1 << 9) // (USART) Start Break +#define AT91C_US_STPBRK (0x1 << 10) // (USART) Stop Break +#define AT91C_US_STTTO (0x1 << 11) // (USART) Start Time-out +#define AT91C_US_SENDA (0x1 << 12) // (USART) Send Address +#define AT91C_US_RSTIT (0x1 << 13) // (USART) Reset Iterations +#define AT91C_US_RSTNACK (0x1 << 14) // (USART) Reset Non Acknowledge +#define AT91C_US_RETTO (0x1 << 15) // (USART) Rearm Time-out +#define AT91C_US_DTREN (0x1 << 16) // (USART) Data Terminal ready Enable +#define AT91C_US_DTRDIS (0x1 << 17) // (USART) Data Terminal ready Disable +#define AT91C_US_RTSEN (0x1 << 18) // (USART) Request to Send enable +#define AT91C_US_RTSDIS (0x1 << 19) // (USART) Request to Send Disable +// -------- US_MR : (USART Offset: 0x4) Debug Unit Mode Register -------- +#define AT91C_US_USMODE (0xF << 0) // (USART) Usart mode +#define AT91C_US_USMODE_NORMAL (0x0) // (USART) Normal +#define AT91C_US_USMODE_RS485 (0x1) // (USART) RS485 +#define AT91C_US_USMODE_HWHSH (0x2) // (USART) Hardware Handshaking +#define AT91C_US_USMODE_MODEM (0x3) // (USART) Modem +#define AT91C_US_USMODE_ISO7816_0 (0x4) // (USART) ISO7816 protocol: T = 0 +#define AT91C_US_USMODE_ISO7816_1 (0x6) // (USART) ISO7816 protocol: T = 1 +#define AT91C_US_USMODE_IRDA (0x8) // (USART) IrDA +#define AT91C_US_USMODE_SWHSH (0xC) // (USART) Software Handshaking +#define AT91C_US_CLKS (0x3 << 4) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CLKS_CLOCK (0x0 << 4) // (USART) Clock +#define AT91C_US_CLKS_FDIV1 (0x1 << 4) // (USART) fdiv1 +#define AT91C_US_CLKS_SLOW (0x2 << 4) // (USART) slow_clock (ARM) +#define AT91C_US_CLKS_EXT (0x3 << 4) // (USART) External (SCK) +#define AT91C_US_CHRL (0x3 << 6) // (USART) Clock Selection (Baud Rate generator Input Clock +#define AT91C_US_CHRL_5_BITS (0x0 << 6) // (USART) Character Length: 5 bits +#define AT91C_US_CHRL_6_BITS (0x1 << 6) // (USART) Character Length: 6 bits +#define AT91C_US_CHRL_7_BITS (0x2 << 6) // (USART) Character Length: 7 bits +#define AT91C_US_CHRL_8_BITS (0x3 << 6) // (USART) Character Length: 8 bits +#define AT91C_US_SYNC (0x1 << 8) // (USART) Synchronous Mode Select +#define AT91C_US_NBSTOP (0x3 << 12) // (USART) Number of Stop bits +#define AT91C_US_NBSTOP_1_BIT (0x0 << 12) // (USART) 1 stop bit +#define AT91C_US_NBSTOP_15_BIT (0x1 << 12) // (USART) Asynchronous (SYNC=0) 2 stop bits Synchronous (SYNC=1) 2 stop bits +#define AT91C_US_NBSTOP_2_BIT (0x2 << 12) // (USART) 2 stop bits +#define AT91C_US_MSBF (0x1 << 16) // (USART) Bit Order +#define AT91C_US_MODE9 (0x1 << 17) // (USART) 9-bit Character length +#define AT91C_US_CKLO (0x1 << 18) // (USART) Clock Output Select +#define AT91C_US_OVER (0x1 << 19) // (USART) Over Sampling Mode +#define AT91C_US_INACK (0x1 << 20) // (USART) Inhibit Non Acknowledge +#define AT91C_US_DSNACK (0x1 << 21) // (USART) Disable Successive NACK +#define AT91C_US_MAX_ITER (0x1 << 24) // (USART) Number of Repetitions +#define AT91C_US_FILTER (0x1 << 28) // (USART) Receive Line Filter +// -------- US_IER : (USART Offset: 0x8) Debug Unit Interrupt Enable Register -------- +#define AT91C_US_RXBRK (0x1 << 2) // (USART) Break Received/End of Break +#define AT91C_US_TIMEOUT (0x1 << 8) // (USART) Receiver Time-out +#define AT91C_US_ITERATION (0x1 << 10) // (USART) Max number of Repetitions Reached +#define AT91C_US_NACK (0x1 << 13) // (USART) Non Acknowledge +#define AT91C_US_RIIC (0x1 << 16) // (USART) Ring INdicator Input Change Flag +#define AT91C_US_DSRIC (0x1 << 17) // (USART) Data Set Ready Input Change Flag +#define AT91C_US_DCDIC (0x1 << 18) // (USART) Data Carrier Flag +#define AT91C_US_CTSIC (0x1 << 19) // (USART) Clear To Send Input Change Flag +// -------- US_IDR : (USART Offset: 0xc) Debug Unit Interrupt Disable Register -------- +// -------- US_IMR : (USART Offset: 0x10) Debug Unit Interrupt Mask Register -------- +// -------- US_CSR : (USART Offset: 0x14) Debug Unit Channel Status Register -------- +#define AT91C_US_RI (0x1 << 20) // (USART) Image of RI Input +#define AT91C_US_DSR (0x1 << 21) // (USART) Image of DSR Input +#define AT91C_US_DCD (0x1 << 22) // (USART) Image of DCD Input +#define AT91C_US_CTS (0x1 << 23) // (USART) Image of CTS Input + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Synchronous Serial Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_SSC structure *** +#define SSC_CR ( 0) // Control Register +#define SSC_CMR ( 4) // Clock Mode Register +#define SSC_RCMR (16) // Receive Clock ModeRegister +#define SSC_RFMR (20) // Receive Frame Mode Register +#define SSC_TCMR (24) // Transmit Clock Mode Register +#define SSC_TFMR (28) // Transmit Frame Mode Register +#define SSC_RHR (32) // Receive Holding Register +#define SSC_THR (36) // Transmit Holding Register +#define SSC_RSHR (48) // Receive Sync Holding Register +#define SSC_TSHR (52) // Transmit Sync Holding Register +#define SSC_SR (64) // Status Register +#define SSC_IER (68) // Interrupt Enable Register +#define SSC_IDR (72) // Interrupt Disable Register +#define SSC_IMR (76) // Interrupt Mask Register +#define SSC_RPR (256) // Receive Pointer Register +#define SSC_RCR (260) // Receive Counter Register +#define SSC_TPR (264) // Transmit Pointer Register +#define SSC_TCR (268) // Transmit Counter Register +#define SSC_RNPR (272) // Receive Next Pointer Register +#define SSC_RNCR (276) // Receive Next Counter Register +#define SSC_TNPR (280) // Transmit Next Pointer Register +#define SSC_TNCR (284) // Transmit Next Counter Register +#define SSC_PTCR (288) // PDC Transfer Control Register +#define SSC_PTSR (292) // PDC Transfer Status Register +// -------- SSC_CR : (SSC Offset: 0x0) SSC Control Register -------- +#define AT91C_SSC_RXEN (0x1 << 0) // (SSC) Receive Enable +#define AT91C_SSC_RXDIS (0x1 << 1) // (SSC) Receive Disable +#define AT91C_SSC_TXEN (0x1 << 8) // (SSC) Transmit Enable +#define AT91C_SSC_TXDIS (0x1 << 9) // (SSC) Transmit Disable +#define AT91C_SSC_SWRST (0x1 << 15) // (SSC) Software Reset +// -------- SSC_RCMR : (SSC Offset: 0x10) SSC Receive Clock Mode Register -------- +#define AT91C_SSC_CKS (0x3 << 0) // (SSC) Receive/Transmit Clock Selection +#define AT91C_SSC_CKS_DIV (0x0) // (SSC) Divided Clock +#define AT91C_SSC_CKS_TK (0x1) // (SSC) TK Clock signal +#define AT91C_SSC_CKS_RK (0x2) // (SSC) RK pin +#define AT91C_SSC_CKO (0x7 << 2) // (SSC) Receive/Transmit Clock Output Mode Selection +#define AT91C_SSC_CKO_NONE (0x0 << 2) // (SSC) Receive/Transmit Clock Output Mode: None RK pin: Input-only +#define AT91C_SSC_CKO_CONTINOUS (0x1 << 2) // (SSC) Continuous Receive/Transmit Clock RK pin: Output +#define AT91C_SSC_CKO_DATA_TX (0x2 << 2) // (SSC) Receive/Transmit Clock only during data transfers RK pin: Output +#define AT91C_SSC_CKI (0x1 << 5) // (SSC) Receive/Transmit Clock Inversion +#define AT91C_SSC_START (0xF << 8) // (SSC) Receive/Transmit Start Selection +#define AT91C_SSC_START_CONTINOUS (0x0 << 8) // (SSC) Continuous, as soon as the receiver is enabled, and immediately after the end of transfer of the previous data. +#define AT91C_SSC_START_TX (0x1 << 8) // (SSC) Transmit/Receive start +#define AT91C_SSC_START_LOW_RF (0x2 << 8) // (SSC) Detection of a low level on RF input +#define AT91C_SSC_START_HIGH_RF (0x3 << 8) // (SSC) Detection of a high level on RF input +#define AT91C_SSC_START_FALL_RF (0x4 << 8) // (SSC) Detection of a falling edge on RF input +#define AT91C_SSC_START_RISE_RF (0x5 << 8) // (SSC) Detection of a rising edge on RF input +#define AT91C_SSC_START_LEVEL_RF (0x6 << 8) // (SSC) Detection of any level change on RF input +#define AT91C_SSC_START_EDGE_RF (0x7 << 8) // (SSC) Detection of any edge on RF input +#define AT91C_SSC_START_0 (0x8 << 8) // (SSC) Compare 0 +#define AT91C_SSC_STTDLY (0xFF << 16) // (SSC) Receive/Transmit Start Delay +#define AT91C_SSC_PERIOD (0xFF << 24) // (SSC) Receive/Transmit Period Divider Selection +// -------- SSC_RFMR : (SSC Offset: 0x14) SSC Receive Frame Mode Register -------- +#define AT91C_SSC_DATLEN (0x1F << 0) // (SSC) Data Length +#define AT91C_SSC_LOOP (0x1 << 5) // (SSC) Loop Mode +#define AT91C_SSC_MSBF (0x1 << 7) // (SSC) Most Significant Bit First +#define AT91C_SSC_DATNB (0xF << 8) // (SSC) Data Number per Frame +#define AT91C_SSC_FSLEN (0xF << 16) // (SSC) Receive/Transmit Frame Sync length +#define AT91C_SSC_FSOS (0x7 << 20) // (SSC) Receive/Transmit Frame Sync Output Selection +#define AT91C_SSC_FSOS_NONE (0x0 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: None RK pin Input-only +#define AT91C_SSC_FSOS_NEGATIVE (0x1 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Negative Pulse +#define AT91C_SSC_FSOS_POSITIVE (0x2 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Positive Pulse +#define AT91C_SSC_FSOS_LOW (0x3 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver Low during data transfer +#define AT91C_SSC_FSOS_HIGH (0x4 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Driver High during data transfer +#define AT91C_SSC_FSOS_TOGGLE (0x5 << 20) // (SSC) Selected Receive/Transmit Frame Sync Signal: Toggling at each start of data transfer +#define AT91C_SSC_FSEDGE (0x1 << 24) // (SSC) Frame Sync Edge Detection +// -------- SSC_TCMR : (SSC Offset: 0x18) SSC Transmit Clock Mode Register -------- +// -------- SSC_TFMR : (SSC Offset: 0x1c) SSC Transmit Frame Mode Register -------- +#define AT91C_SSC_DATDEF (0x1 << 5) // (SSC) Data Default Value +#define AT91C_SSC_FSDEN (0x1 << 23) // (SSC) Frame Sync Data Enable +// -------- SSC_SR : (SSC Offset: 0x40) SSC Status Register -------- +#define AT91C_SSC_TXRDY (0x1 << 0) // (SSC) Transmit Ready +#define AT91C_SSC_TXEMPTY (0x1 << 1) // (SSC) Transmit Empty +#define AT91C_SSC_ENDTX (0x1 << 2) // (SSC) End Of Transmission +#define AT91C_SSC_TXBUFE (0x1 << 3) // (SSC) Transmit Buffer Empty +#define AT91C_SSC_RXRDY (0x1 << 4) // (SSC) Receive Ready +#define AT91C_SSC_OVRUN (0x1 << 5) // (SSC) Receive Overrun +#define AT91C_SSC_ENDRX (0x1 << 6) // (SSC) End of Reception +#define AT91C_SSC_RXBUFF (0x1 << 7) // (SSC) Receive Buffer Full +#define AT91C_SSC_TXSYN (0x1 << 10) // (SSC) Transmit Sync +#define AT91C_SSC_RXSYN (0x1 << 11) // (SSC) Receive Sync +#define AT91C_SSC_TXENA (0x1 << 16) // (SSC) Transmit Enable +#define AT91C_SSC_RXENA (0x1 << 17) // (SSC) Receive Enable +// -------- SSC_IER : (SSC Offset: 0x44) SSC Interrupt Enable Register -------- +// -------- SSC_IDR : (SSC Offset: 0x48) SSC Interrupt Disable Register -------- +// -------- SSC_IMR : (SSC Offset: 0x4c) SSC Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Two-wire Interface +// ***************************************************************************** +// *** Register offset in AT91S_TWI structure *** +#define TWI_CR ( 0) // Control Register +#define TWI_MMR ( 4) // Master Mode Register +#define TWI_IADR (12) // Internal Address Register +#define TWI_CWGR (16) // Clock Waveform Generator Register +#define TWI_SR (32) // Status Register +#define TWI_IER (36) // Interrupt Enable Register +#define TWI_IDR (40) // Interrupt Disable Register +#define TWI_IMR (44) // Interrupt Mask Register +#define TWI_RHR (48) // Receive Holding Register +#define TWI_THR (52) // Transmit Holding Register +// -------- TWI_CR : (TWI Offset: 0x0) TWI Control Register -------- +#define AT91C_TWI_START (0x1 << 0) // (TWI) Send a START Condition +#define AT91C_TWI_STOP (0x1 << 1) // (TWI) Send a STOP Condition +#define AT91C_TWI_MSEN (0x1 << 2) // (TWI) TWI Master Transfer Enabled +#define AT91C_TWI_MSDIS (0x1 << 3) // (TWI) TWI Master Transfer Disabled +#define AT91C_TWI_SWRST (0x1 << 7) // (TWI) Software Reset +// -------- TWI_MMR : (TWI Offset: 0x4) TWI Master Mode Register -------- +#define AT91C_TWI_IADRSZ (0x3 << 8) // (TWI) Internal Device Address Size +#define AT91C_TWI_IADRSZ_NO (0x0 << 8) // (TWI) No internal device address +#define AT91C_TWI_IADRSZ_1_BYTE (0x1 << 8) // (TWI) One-byte internal device address +#define AT91C_TWI_IADRSZ_2_BYTE (0x2 << 8) // (TWI) Two-byte internal device address +#define AT91C_TWI_IADRSZ_3_BYTE (0x3 << 8) // (TWI) Three-byte internal device address +#define AT91C_TWI_MREAD (0x1 << 12) // (TWI) Master Read Direction +#define AT91C_TWI_DADR (0x7F << 16) // (TWI) Device Address +// -------- TWI_CWGR : (TWI Offset: 0x10) TWI Clock Waveform Generator Register -------- +#define AT91C_TWI_CLDIV (0xFF << 0) // (TWI) Clock Low Divider +#define AT91C_TWI_CHDIV (0xFF << 8) // (TWI) Clock High Divider +#define AT91C_TWI_CKDIV (0x7 << 16) // (TWI) Clock Divider +// -------- TWI_SR : (TWI Offset: 0x20) TWI Status Register -------- +#define AT91C_TWI_TXCOMP (0x1 << 0) // (TWI) Transmission Completed +#define AT91C_TWI_RXRDY (0x1 << 1) // (TWI) Receive holding register ReaDY +#define AT91C_TWI_TXRDY (0x1 << 2) // (TWI) Transmit holding register ReaDY +#define AT91C_TWI_OVRE (0x1 << 6) // (TWI) Overrun Error +#define AT91C_TWI_UNRE (0x1 << 7) // (TWI) Underrun Error +#define AT91C_TWI_NACK (0x1 << 8) // (TWI) Not Acknowledged +// -------- TWI_IER : (TWI Offset: 0x24) TWI Interrupt Enable Register -------- +// -------- TWI_IDR : (TWI Offset: 0x28) TWI Interrupt Disable Register -------- +// -------- TWI_IMR : (TWI Offset: 0x2c) TWI Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR PWMC Channel Interface +// ***************************************************************************** +// *** Register offset in AT91S_PWMC_CH structure *** +#define PWMC_CMR ( 0) // Channel Mode Register +#define PWMC_CDTYR ( 4) // Channel Duty Cycle Register +#define PWMC_CPRDR ( 8) // Channel Period Register +#define PWMC_CCNTR (12) // Channel Counter Register +#define PWMC_CUPDR (16) // Channel Update Register +#define PWMC_Reserved (20) // Reserved +// -------- PWMC_CMR : (PWMC_CH Offset: 0x0) PWMC Channel Mode Register -------- +#define AT91C_PWMC_CPRE (0xF << 0) // (PWMC_CH) Channel Pre-scaler : PWMC_CLKx +#define AT91C_PWMC_CPRE_MCK (0x0) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKA (0xB) // (PWMC_CH) +#define AT91C_PWMC_CPRE_MCKB (0xC) // (PWMC_CH) +#define AT91C_PWMC_CALG (0x1 << 8) // (PWMC_CH) Channel Alignment +#define AT91C_PWMC_CPOL (0x1 << 9) // (PWMC_CH) Channel Polarity +#define AT91C_PWMC_CPD (0x1 << 10) // (PWMC_CH) Channel Update Period +// -------- PWMC_CDTYR : (PWMC_CH Offset: 0x4) PWMC Channel Duty Cycle Register -------- +#define AT91C_PWMC_CDTY (0x0 << 0) // (PWMC_CH) Channel Duty Cycle +// -------- PWMC_CPRDR : (PWMC_CH Offset: 0x8) PWMC Channel Period Register -------- +#define AT91C_PWMC_CPRD (0x0 << 0) // (PWMC_CH) Channel Period +// -------- PWMC_CCNTR : (PWMC_CH Offset: 0xc) PWMC Channel Counter Register -------- +#define AT91C_PWMC_CCNT (0x0 << 0) // (PWMC_CH) Channel Counter +// -------- PWMC_CUPDR : (PWMC_CH Offset: 0x10) PWMC Channel Update Register -------- +#define AT91C_PWMC_CUPD (0x0 << 0) // (PWMC_CH) Channel Update + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Pulse Width Modulation Controller Interface +// ***************************************************************************** +// *** Register offset in AT91S_PWMC structure *** +#define PWMC_MR ( 0) // PWMC Mode Register +#define PWMC_ENA ( 4) // PWMC Enable Register +#define PWMC_DIS ( 8) // PWMC Disable Register +#define PWMC_SR (12) // PWMC Status Register +#define PWMC_IER (16) // PWMC Interrupt Enable Register +#define PWMC_IDR (20) // PWMC Interrupt Disable Register +#define PWMC_IMR (24) // PWMC Interrupt Mask Register +#define PWMC_ISR (28) // PWMC Interrupt Status Register +#define PWMC_VR (252) // PWMC Version Register +#define PWMC_CH (512) // PWMC Channel +// -------- PWMC_MR : (PWMC Offset: 0x0) PWMC Mode Register -------- +#define AT91C_PWMC_DIVA (0xFF << 0) // (PWMC) CLKA divide factor. +#define AT91C_PWMC_PREA (0xF << 8) // (PWMC) Divider Input Clock Prescaler A +#define AT91C_PWMC_PREA_MCK (0x0 << 8) // (PWMC) +#define AT91C_PWMC_DIVB (0xFF << 16) // (PWMC) CLKB divide factor. +#define AT91C_PWMC_PREB (0xF << 24) // (PWMC) Divider Input Clock Prescaler B +#define AT91C_PWMC_PREB_MCK (0x0 << 24) // (PWMC) +// -------- PWMC_ENA : (PWMC Offset: 0x4) PWMC Enable Register -------- +#define AT91C_PWMC_CHID0 (0x1 << 0) // (PWMC) Channel ID 0 +#define AT91C_PWMC_CHID1 (0x1 << 1) // (PWMC) Channel ID 1 +#define AT91C_PWMC_CHID2 (0x1 << 2) // (PWMC) Channel ID 2 +#define AT91C_PWMC_CHID3 (0x1 << 3) // (PWMC) Channel ID 3 +// -------- PWMC_DIS : (PWMC Offset: 0x8) PWMC Disable Register -------- +// -------- PWMC_SR : (PWMC Offset: 0xc) PWMC Status Register -------- +// -------- PWMC_IER : (PWMC Offset: 0x10) PWMC Interrupt Enable Register -------- +// -------- PWMC_IDR : (PWMC Offset: 0x14) PWMC Interrupt Disable Register -------- +// -------- PWMC_IMR : (PWMC Offset: 0x18) PWMC Interrupt Mask Register -------- +// -------- PWMC_ISR : (PWMC Offset: 0x1c) PWMC Interrupt Status Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR USB Device Interface +// ***************************************************************************** +// *** Register offset in AT91S_UDP structure *** +#define UDP_NUM ( 0) // Frame Number Register +#define UDP_GLBSTATE ( 4) // Global State Register +#define UDP_FADDR ( 8) // Function Address Register +#define UDP_IER (16) // Interrupt Enable Register +#define UDP_IDR (20) // Interrupt Disable Register +#define UDP_IMR (24) // Interrupt Mask Register +#define UDP_ISR (28) // Interrupt Status Register +#define UDP_ICR (32) // Interrupt Clear Register +#define UDP_RSTEP (40) // Reset Endpoint Register +#define UDP_CSR (48) // Endpoint Control and Status Register +#define UDP_FDR (80) // Endpoint FIFO Data Register +#define UDP_TXVC (116) // Transceiver Control Register +// -------- UDP_FRM_NUM : (UDP Offset: 0x0) USB Frame Number Register -------- +#define AT91C_UDP_FRM_NUM (0x7FF << 0) // (UDP) Frame Number as Defined in the Packet Field Formats +#define AT91C_UDP_FRM_ERR (0x1 << 16) // (UDP) Frame Error +#define AT91C_UDP_FRM_OK (0x1 << 17) // (UDP) Frame OK +// -------- UDP_GLB_STATE : (UDP Offset: 0x4) USB Global State Register -------- +#define AT91C_UDP_FADDEN (0x1 << 0) // (UDP) Function Address Enable +#define AT91C_UDP_CONFG (0x1 << 1) // (UDP) Configured +#define AT91C_UDP_ESR (0x1 << 2) // (UDP) Enable Send Resume +#define AT91C_UDP_RSMINPR (0x1 << 3) // (UDP) A Resume Has Been Sent to the Host +#define AT91C_UDP_RMWUPE (0x1 << 4) // (UDP) Remote Wake Up Enable +// -------- UDP_FADDR : (UDP Offset: 0x8) USB Function Address Register -------- +#define AT91C_UDP_FADD (0xFF << 0) // (UDP) Function Address Value +#define AT91C_UDP_FEN (0x1 << 8) // (UDP) Function Enable +// -------- UDP_IER : (UDP Offset: 0x10) USB Interrupt Enable Register -------- +#define AT91C_UDP_EPINT0 (0x1 << 0) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT1 (0x1 << 1) // (UDP) Endpoint 0 Interrupt +#define AT91C_UDP_EPINT2 (0x1 << 2) // (UDP) Endpoint 2 Interrupt +#define AT91C_UDP_EPINT3 (0x1 << 3) // (UDP) Endpoint 3 Interrupt +#define AT91C_UDP_EPINT4 (0x1 << 4) // (UDP) Endpoint 4 Interrupt +#define AT91C_UDP_EPINT5 (0x1 << 5) // (UDP) Endpoint 5 Interrupt +#define AT91C_UDP_RXSUSP (0x1 << 8) // (UDP) USB Suspend Interrupt +#define AT91C_UDP_RXRSM (0x1 << 9) // (UDP) USB Resume Interrupt +#define AT91C_UDP_EXTRSM (0x1 << 10) // (UDP) USB External Resume Interrupt +#define AT91C_UDP_SOFINT (0x1 << 11) // (UDP) USB Start Of frame Interrupt +#define AT91C_UDP_WAKEUP (0x1 << 13) // (UDP) USB Resume Interrupt +// -------- UDP_IDR : (UDP Offset: 0x14) USB Interrupt Disable Register -------- +// -------- UDP_IMR : (UDP Offset: 0x18) USB Interrupt Mask Register -------- +// -------- UDP_ISR : (UDP Offset: 0x1c) USB Interrupt Status Register -------- +#define AT91C_UDP_ENDBUSRES (0x1 << 12) // (UDP) USB End Of Bus Reset Interrupt +// -------- UDP_ICR : (UDP Offset: 0x20) USB Interrupt Clear Register -------- +// -------- UDP_RST_EP : (UDP Offset: 0x28) USB Reset Endpoint Register -------- +#define AT91C_UDP_EP0 (0x1 << 0) // (UDP) Reset Endpoint 0 +#define AT91C_UDP_EP1 (0x1 << 1) // (UDP) Reset Endpoint 1 +#define AT91C_UDP_EP2 (0x1 << 2) // (UDP) Reset Endpoint 2 +#define AT91C_UDP_EP3 (0x1 << 3) // (UDP) Reset Endpoint 3 +#define AT91C_UDP_EP4 (0x1 << 4) // (UDP) Reset Endpoint 4 +#define AT91C_UDP_EP5 (0x1 << 5) // (UDP) Reset Endpoint 5 +// -------- UDP_CSR : (UDP Offset: 0x30) USB Endpoint Control and Status Register -------- +#define AT91C_UDP_TXCOMP (0x1 << 0) // (UDP) Generates an IN packet with data previously written in the DPR +#define AT91C_UDP_RX_DATA_BK0 (0x1 << 1) // (UDP) Receive Data Bank 0 +#define AT91C_UDP_RXSETUP (0x1 << 2) // (UDP) Sends STALL to the Host (Control endpoints) +#define AT91C_UDP_ISOERROR (0x1 << 3) // (UDP) Isochronous error (Isochronous endpoints) +#define AT91C_UDP_TXPKTRDY (0x1 << 4) // (UDP) Transmit Packet Ready +#define AT91C_UDP_FORCESTALL (0x1 << 5) // (UDP) Force Stall (used by Control, Bulk and Isochronous endpoints). +#define AT91C_UDP_RX_DATA_BK1 (0x1 << 6) // (UDP) Receive Data Bank 1 (only used by endpoints with ping-pong attributes). +#define AT91C_UDP_DIR (0x1 << 7) // (UDP) Transfer Direction +#define AT91C_UDP_EPTYPE (0x7 << 8) // (UDP) Endpoint type +#define AT91C_UDP_EPTYPE_CTRL (0x0 << 8) // (UDP) Control +#define AT91C_UDP_EPTYPE_ISO_OUT (0x1 << 8) // (UDP) Isochronous OUT +#define AT91C_UDP_EPTYPE_BULK_OUT (0x2 << 8) // (UDP) Bulk OUT +#define AT91C_UDP_EPTYPE_INT_OUT (0x3 << 8) // (UDP) Interrupt OUT +#define AT91C_UDP_EPTYPE_ISO_IN (0x5 << 8) // (UDP) Isochronous IN +#define AT91C_UDP_EPTYPE_BULK_IN (0x6 << 8) // (UDP) Bulk IN +#define AT91C_UDP_EPTYPE_INT_IN (0x7 << 8) // (UDP) Interrupt IN +#define AT91C_UDP_DTGLE (0x1 << 11) // (UDP) Data Toggle +#define AT91C_UDP_EPEDS (0x1 << 15) // (UDP) Endpoint Enable Disable +#define AT91C_UDP_RXBYTECNT (0x7FF << 16) // (UDP) Number Of Bytes Available in the FIFO +// -------- UDP_TXVC : (UDP Offset: 0x74) Transceiver Control Register -------- +#define AT91C_UDP_TXVDIS (0x1 << 8) // (UDP) +#define AT91C_UDP_PUON (0x1 << 9) // (UDP) Pull-up ON + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Channel Interface +// ***************************************************************************** +// *** Register offset in AT91S_TC structure *** +#define TC_CCR ( 0) // Channel Control Register +#define TC_CMR ( 4) // Channel Mode Register (Capture Mode / Waveform Mode) +#define TC_CV (16) // Counter Value +#define TC_RA (20) // Register A +#define TC_RB (24) // Register B +#define TC_RC (28) // Register C +#define TC_SR (32) // Status Register +#define TC_IER (36) // Interrupt Enable Register +#define TC_IDR (40) // Interrupt Disable Register +#define TC_IMR (44) // Interrupt Mask Register +// -------- TC_CCR : (TC Offset: 0x0) TC Channel Control Register -------- +#define AT91C_TC_CLKEN (0x1 << 0) // (TC) Counter Clock Enable Command +#define AT91C_TC_CLKDIS (0x1 << 1) // (TC) Counter Clock Disable Command +#define AT91C_TC_SWTRG (0x1 << 2) // (TC) Software Trigger Command +// -------- TC_CMR : (TC Offset: 0x4) TC Channel Mode Register: Capture Mode / Waveform Mode -------- +#define AT91C_TC_CLKS (0x7 << 0) // (TC) Clock Selection +#define AT91C_TC_CLKS_TIMER_DIV1_CLOCK (0x0) // (TC) Clock selected: TIMER_DIV1_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV2_CLOCK (0x1) // (TC) Clock selected: TIMER_DIV2_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV3_CLOCK (0x2) // (TC) Clock selected: TIMER_DIV3_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV4_CLOCK (0x3) // (TC) Clock selected: TIMER_DIV4_CLOCK +#define AT91C_TC_CLKS_TIMER_DIV5_CLOCK (0x4) // (TC) Clock selected: TIMER_DIV5_CLOCK +#define AT91C_TC_CLKS_XC0 (0x5) // (TC) Clock selected: XC0 +#define AT91C_TC_CLKS_XC1 (0x6) // (TC) Clock selected: XC1 +#define AT91C_TC_CLKS_XC2 (0x7) // (TC) Clock selected: XC2 +#define AT91C_TC_CLKI (0x1 << 3) // (TC) Clock Invert +#define AT91C_TC_BURST (0x3 << 4) // (TC) Burst Signal Selection +#define AT91C_TC_BURST_NONE (0x0 << 4) // (TC) The clock is not gated by an external signal +#define AT91C_TC_BURST_XC0 (0x1 << 4) // (TC) XC0 is ANDed with the selected clock +#define AT91C_TC_BURST_XC1 (0x2 << 4) // (TC) XC1 is ANDed with the selected clock +#define AT91C_TC_BURST_XC2 (0x3 << 4) // (TC) XC2 is ANDed with the selected clock +#define AT91C_TC_CPCSTOP (0x1 << 6) // (TC) Counter Clock Stopped with RC Compare +#define AT91C_TC_LDBSTOP (0x1 << 6) // (TC) Counter Clock Stopped with RB Loading +#define AT91C_TC_CPCDIS (0x1 << 7) // (TC) Counter Clock Disable with RC Compare +#define AT91C_TC_LDBDIS (0x1 << 7) // (TC) Counter Clock Disabled with RB Loading +#define AT91C_TC_ETRGEDG (0x3 << 8) // (TC) External Trigger Edge Selection +#define AT91C_TC_ETRGEDG_NONE (0x0 << 8) // (TC) Edge: None +#define AT91C_TC_ETRGEDG_RISING (0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_ETRGEDG_FALLING (0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_ETRGEDG_BOTH (0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVTEDG (0x3 << 8) // (TC) External Event Edge Selection +#define AT91C_TC_EEVTEDG_NONE (0x0 << 8) // (TC) Edge: None +#define AT91C_TC_EEVTEDG_RISING (0x1 << 8) // (TC) Edge: rising edge +#define AT91C_TC_EEVTEDG_FALLING (0x2 << 8) // (TC) Edge: falling edge +#define AT91C_TC_EEVTEDG_BOTH (0x3 << 8) // (TC) Edge: each edge +#define AT91C_TC_EEVT (0x3 << 10) // (TC) External Event Selection +#define AT91C_TC_EEVT_TIOB (0x0 << 10) // (TC) Signal selected as external event: TIOB TIOB direction: input +#define AT91C_TC_EEVT_XC0 (0x1 << 10) // (TC) Signal selected as external event: XC0 TIOB direction: output +#define AT91C_TC_EEVT_XC1 (0x2 << 10) // (TC) Signal selected as external event: XC1 TIOB direction: output +#define AT91C_TC_EEVT_XC2 (0x3 << 10) // (TC) Signal selected as external event: XC2 TIOB direction: output +#define AT91C_TC_ABETRG (0x1 << 10) // (TC) TIOA or TIOB External Trigger Selection +#define AT91C_TC_ENETRG (0x1 << 12) // (TC) External Event Trigger enable +#define AT91C_TC_WAVESEL (0x3 << 13) // (TC) Waveform Selection +#define AT91C_TC_WAVESEL_UP (0x0 << 13) // (TC) UP mode without atomatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN (0x1 << 13) // (TC) UPDOWN mode without automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UP_AUTO (0x2 << 13) // (TC) UP mode with automatic trigger on RC Compare +#define AT91C_TC_WAVESEL_UPDOWN_AUTO (0x3 << 13) // (TC) UPDOWN mode with automatic trigger on RC Compare +#define AT91C_TC_CPCTRG (0x1 << 14) // (TC) RC Compare Trigger Enable +#define AT91C_TC_WAVE (0x1 << 15) // (TC) +#define AT91C_TC_ACPA (0x3 << 16) // (TC) RA Compare Effect on TIOA +#define AT91C_TC_ACPA_NONE (0x0 << 16) // (TC) Effect: none +#define AT91C_TC_ACPA_SET (0x1 << 16) // (TC) Effect: set +#define AT91C_TC_ACPA_CLEAR (0x2 << 16) // (TC) Effect: clear +#define AT91C_TC_ACPA_TOGGLE (0x3 << 16) // (TC) Effect: toggle +#define AT91C_TC_LDRA (0x3 << 16) // (TC) RA Loading Selection +#define AT91C_TC_LDRA_NONE (0x0 << 16) // (TC) Edge: None +#define AT91C_TC_LDRA_RISING (0x1 << 16) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRA_FALLING (0x2 << 16) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRA_BOTH (0x3 << 16) // (TC) Edge: each edge of TIOA +#define AT91C_TC_ACPC (0x3 << 18) // (TC) RC Compare Effect on TIOA +#define AT91C_TC_ACPC_NONE (0x0 << 18) // (TC) Effect: none +#define AT91C_TC_ACPC_SET (0x1 << 18) // (TC) Effect: set +#define AT91C_TC_ACPC_CLEAR (0x2 << 18) // (TC) Effect: clear +#define AT91C_TC_ACPC_TOGGLE (0x3 << 18) // (TC) Effect: toggle +#define AT91C_TC_LDRB (0x3 << 18) // (TC) RB Loading Selection +#define AT91C_TC_LDRB_NONE (0x0 << 18) // (TC) Edge: None +#define AT91C_TC_LDRB_RISING (0x1 << 18) // (TC) Edge: rising edge of TIOA +#define AT91C_TC_LDRB_FALLING (0x2 << 18) // (TC) Edge: falling edge of TIOA +#define AT91C_TC_LDRB_BOTH (0x3 << 18) // (TC) Edge: each edge of TIOA +#define AT91C_TC_AEEVT (0x3 << 20) // (TC) External Event Effect on TIOA +#define AT91C_TC_AEEVT_NONE (0x0 << 20) // (TC) Effect: none +#define AT91C_TC_AEEVT_SET (0x1 << 20) // (TC) Effect: set +#define AT91C_TC_AEEVT_CLEAR (0x2 << 20) // (TC) Effect: clear +#define AT91C_TC_AEEVT_TOGGLE (0x3 << 20) // (TC) Effect: toggle +#define AT91C_TC_ASWTRG (0x3 << 22) // (TC) Software Trigger Effect on TIOA +#define AT91C_TC_ASWTRG_NONE (0x0 << 22) // (TC) Effect: none +#define AT91C_TC_ASWTRG_SET (0x1 << 22) // (TC) Effect: set +#define AT91C_TC_ASWTRG_CLEAR (0x2 << 22) // (TC) Effect: clear +#define AT91C_TC_ASWTRG_TOGGLE (0x3 << 22) // (TC) Effect: toggle +#define AT91C_TC_BCPB (0x3 << 24) // (TC) RB Compare Effect on TIOB +#define AT91C_TC_BCPB_NONE (0x0 << 24) // (TC) Effect: none +#define AT91C_TC_BCPB_SET (0x1 << 24) // (TC) Effect: set +#define AT91C_TC_BCPB_CLEAR (0x2 << 24) // (TC) Effect: clear +#define AT91C_TC_BCPB_TOGGLE (0x3 << 24) // (TC) Effect: toggle +#define AT91C_TC_BCPC (0x3 << 26) // (TC) RC Compare Effect on TIOB +#define AT91C_TC_BCPC_NONE (0x0 << 26) // (TC) Effect: none +#define AT91C_TC_BCPC_SET (0x1 << 26) // (TC) Effect: set +#define AT91C_TC_BCPC_CLEAR (0x2 << 26) // (TC) Effect: clear +#define AT91C_TC_BCPC_TOGGLE (0x3 << 26) // (TC) Effect: toggle +#define AT91C_TC_BEEVT (0x3 << 28) // (TC) External Event Effect on TIOB +#define AT91C_TC_BEEVT_NONE (0x0 << 28) // (TC) Effect: none +#define AT91C_TC_BEEVT_SET (0x1 << 28) // (TC) Effect: set +#define AT91C_TC_BEEVT_CLEAR (0x2 << 28) // (TC) Effect: clear +#define AT91C_TC_BEEVT_TOGGLE (0x3 << 28) // (TC) Effect: toggle +#define AT91C_TC_BSWTRG (0x3 << 30) // (TC) Software Trigger Effect on TIOB +#define AT91C_TC_BSWTRG_NONE (0x0 << 30) // (TC) Effect: none +#define AT91C_TC_BSWTRG_SET (0x1 << 30) // (TC) Effect: set +#define AT91C_TC_BSWTRG_CLEAR (0x2 << 30) // (TC) Effect: clear +#define AT91C_TC_BSWTRG_TOGGLE (0x3 << 30) // (TC) Effect: toggle +// -------- TC_SR : (TC Offset: 0x20) TC Channel Status Register -------- +#define AT91C_TC_COVFS (0x1 << 0) // (TC) Counter Overflow +#define AT91C_TC_LOVRS (0x1 << 1) // (TC) Load Overrun +#define AT91C_TC_CPAS (0x1 << 2) // (TC) RA Compare +#define AT91C_TC_CPBS (0x1 << 3) // (TC) RB Compare +#define AT91C_TC_CPCS (0x1 << 4) // (TC) RC Compare +#define AT91C_TC_LDRAS (0x1 << 5) // (TC) RA Loading +#define AT91C_TC_LDRBS (0x1 << 6) // (TC) RB Loading +#define AT91C_TC_ETRGS (0x1 << 7) // (TC) External Trigger +#define AT91C_TC_CLKSTA (0x1 << 16) // (TC) Clock Enabling +#define AT91C_TC_MTIOA (0x1 << 17) // (TC) TIOA Mirror +#define AT91C_TC_MTIOB (0x1 << 18) // (TC) TIOA Mirror +// -------- TC_IER : (TC Offset: 0x24) TC Channel Interrupt Enable Register -------- +// -------- TC_IDR : (TC Offset: 0x28) TC Channel Interrupt Disable Register -------- +// -------- TC_IMR : (TC Offset: 0x2c) TC Channel Interrupt Mask Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Timer Counter Interface +// ***************************************************************************** +// *** Register offset in AT91S_TCB structure *** +#define TCB_TC0 ( 0) // TC Channel 0 +#define TCB_TC1 (64) // TC Channel 1 +#define TCB_TC2 (128) // TC Channel 2 +#define TCB_BCR (192) // TC Block Control Register +#define TCB_BMR (196) // TC Block Mode Register +// -------- TCB_BCR : (TCB Offset: 0xc0) TC Block Control Register -------- +#define AT91C_TCB_SYNC (0x1 << 0) // (TCB) Synchro Command +// -------- TCB_BMR : (TCB Offset: 0xc4) TC Block Mode Register -------- +#define AT91C_TCB_TC0XC0S (0x3 << 0) // (TCB) External Clock Signal 0 Selection +#define AT91C_TCB_TC0XC0S_TCLK0 (0x0) // (TCB) TCLK0 connected to XC0 +#define AT91C_TCB_TC0XC0S_NONE (0x1) // (TCB) None signal connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA1 (0x2) // (TCB) TIOA1 connected to XC0 +#define AT91C_TCB_TC0XC0S_TIOA2 (0x3) // (TCB) TIOA2 connected to XC0 +#define AT91C_TCB_TC1XC1S (0x3 << 2) // (TCB) External Clock Signal 1 Selection +#define AT91C_TCB_TC1XC1S_TCLK1 (0x0 << 2) // (TCB) TCLK1 connected to XC1 +#define AT91C_TCB_TC1XC1S_NONE (0x1 << 2) // (TCB) None signal connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA0 (0x2 << 2) // (TCB) TIOA0 connected to XC1 +#define AT91C_TCB_TC1XC1S_TIOA2 (0x3 << 2) // (TCB) TIOA2 connected to XC1 +#define AT91C_TCB_TC2XC2S (0x3 << 4) // (TCB) External Clock Signal 2 Selection +#define AT91C_TCB_TC2XC2S_TCLK2 (0x0 << 4) // (TCB) TCLK2 connected to XC2 +#define AT91C_TCB_TC2XC2S_NONE (0x1 << 4) // (TCB) None signal connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA0 (0x2 << 4) // (TCB) TIOA0 connected to XC2 +#define AT91C_TCB_TC2XC2S_TIOA1 (0x3 << 4) // (TCB) TIOA2 connected to XC2 + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network MailBox Interface +// ***************************************************************************** +// *** Register offset in AT91S_CAN_MB structure *** +#define CAN_MB_MMR ( 0) // MailBox Mode Register +#define CAN_MB_MAM ( 4) // MailBox Acceptance Mask Register +#define CAN_MB_MID ( 8) // MailBox ID Register +#define CAN_MB_MFID (12) // MailBox Family ID Register +#define CAN_MB_MSR (16) // MailBox Status Register +#define CAN_MB_MDL (20) // MailBox Data Low Register +#define CAN_MB_MDH (24) // MailBox Data High Register +#define CAN_MB_MCR (28) // MailBox Control Register +// -------- CAN_MMR : (CAN_MB Offset: 0x0) CAN Message Mode Register -------- +#define AT91C_CAN_MTIMEMARK (0xFFFF << 0) // (CAN_MB) Mailbox Timemark +#define AT91C_CAN_PRIOR (0xF << 16) // (CAN_MB) Mailbox Priority +#define AT91C_CAN_MOT (0x7 << 24) // (CAN_MB) Mailbox Object Type +#define AT91C_CAN_MOT_DIS (0x0 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RX (0x1 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_RXOVERWRITE (0x2 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_TX (0x3 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_CONSUMER (0x4 << 24) // (CAN_MB) +#define AT91C_CAN_MOT_PRODUCER (0x5 << 24) // (CAN_MB) +// -------- CAN_MAM : (CAN_MB Offset: 0x4) CAN Message Acceptance Mask Register -------- +#define AT91C_CAN_MIDvB (0x3FFFF << 0) // (CAN_MB) Complementary bits for identifier in extended mode +#define AT91C_CAN_MIDvA (0x7FF << 18) // (CAN_MB) Identifier for standard frame mode +#define AT91C_CAN_MIDE (0x1 << 29) // (CAN_MB) Identifier Version +// -------- CAN_MID : (CAN_MB Offset: 0x8) CAN Message ID Register -------- +// -------- CAN_MFID : (CAN_MB Offset: 0xc) CAN Message Family ID Register -------- +// -------- CAN_MSR : (CAN_MB Offset: 0x10) CAN Message Status Register -------- +#define AT91C_CAN_MTIMESTAMP (0xFFFF << 0) // (CAN_MB) Timer Value +#define AT91C_CAN_MDLC (0xF << 16) // (CAN_MB) Mailbox Data Length Code +#define AT91C_CAN_MRTR (0x1 << 20) // (CAN_MB) Mailbox Remote Transmission Request +#define AT91C_CAN_MABT (0x1 << 22) // (CAN_MB) Mailbox Message Abort +#define AT91C_CAN_MRDY (0x1 << 23) // (CAN_MB) Mailbox Ready +#define AT91C_CAN_MMI (0x1 << 24) // (CAN_MB) Mailbox Message Ignored +// -------- CAN_MDL : (CAN_MB Offset: 0x14) CAN Message Data Low Register -------- +// -------- CAN_MDH : (CAN_MB Offset: 0x18) CAN Message Data High Register -------- +// -------- CAN_MCR : (CAN_MB Offset: 0x1c) CAN Message Control Register -------- +#define AT91C_CAN_MACR (0x1 << 22) // (CAN_MB) Abort Request for Mailbox +#define AT91C_CAN_MTCR (0x1 << 23) // (CAN_MB) Mailbox Transfer Command + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Control Area Network Interface +// ***************************************************************************** +// *** Register offset in AT91S_CAN structure *** +#define CAN_MR ( 0) // Mode Register +#define CAN_IER ( 4) // Interrupt Enable Register +#define CAN_IDR ( 8) // Interrupt Disable Register +#define CAN_IMR (12) // Interrupt Mask Register +#define CAN_SR (16) // Status Register +#define CAN_BR (20) // Baudrate Register +#define CAN_TIM (24) // Timer Register +#define CAN_TIMESTP (28) // Time Stamp Register +#define CAN_ECR (32) // Error Counter Register +#define CAN_TCR (36) // Transfer Command Register +#define CAN_ACR (40) // Abort Command Register +#define CAN_VR (252) // Version Register +#define CAN_MB0 (512) // CAN Mailbox 0 +#define CAN_MB1 (544) // CAN Mailbox 1 +#define CAN_MB2 (576) // CAN Mailbox 2 +#define CAN_MB3 (608) // CAN Mailbox 3 +#define CAN_MB4 (640) // CAN Mailbox 4 +#define CAN_MB5 (672) // CAN Mailbox 5 +#define CAN_MB6 (704) // CAN Mailbox 6 +#define CAN_MB7 (736) // CAN Mailbox 7 +#define CAN_MB8 (768) // CAN Mailbox 8 +#define CAN_MB9 (800) // CAN Mailbox 9 +#define CAN_MB10 (832) // CAN Mailbox 10 +#define CAN_MB11 (864) // CAN Mailbox 11 +#define CAN_MB12 (896) // CAN Mailbox 12 +#define CAN_MB13 (928) // CAN Mailbox 13 +#define CAN_MB14 (960) // CAN Mailbox 14 +#define CAN_MB15 (992) // CAN Mailbox 15 +// -------- CAN_MR : (CAN Offset: 0x0) CAN Mode Register -------- +#define AT91C_CAN_CANEN (0x1 << 0) // (CAN) CAN Controller Enable +#define AT91C_CAN_LPM (0x1 << 1) // (CAN) Disable/Enable Low Power Mode +#define AT91C_CAN_ABM (0x1 << 2) // (CAN) Disable/Enable Autobaud/Listen Mode +#define AT91C_CAN_OVL (0x1 << 3) // (CAN) Disable/Enable Overload Frame +#define AT91C_CAN_TEOF (0x1 << 4) // (CAN) Time Stamp messages at each end of Frame +#define AT91C_CAN_TTM (0x1 << 5) // (CAN) Disable/Enable Time Trigger Mode +#define AT91C_CAN_TIMFRZ (0x1 << 6) // (CAN) Enable Timer Freeze +#define AT91C_CAN_DRPT (0x1 << 7) // (CAN) Disable Repeat +// -------- CAN_IER : (CAN Offset: 0x4) CAN Interrupt Enable Register -------- +#define AT91C_CAN_MB0 (0x1 << 0) // (CAN) Mailbox 0 Flag +#define AT91C_CAN_MB1 (0x1 << 1) // (CAN) Mailbox 1 Flag +#define AT91C_CAN_MB2 (0x1 << 2) // (CAN) Mailbox 2 Flag +#define AT91C_CAN_MB3 (0x1 << 3) // (CAN) Mailbox 3 Flag +#define AT91C_CAN_MB4 (0x1 << 4) // (CAN) Mailbox 4 Flag +#define AT91C_CAN_MB5 (0x1 << 5) // (CAN) Mailbox 5 Flag +#define AT91C_CAN_MB6 (0x1 << 6) // (CAN) Mailbox 6 Flag +#define AT91C_CAN_MB7 (0x1 << 7) // (CAN) Mailbox 7 Flag +#define AT91C_CAN_MB8 (0x1 << 8) // (CAN) Mailbox 8 Flag +#define AT91C_CAN_MB9 (0x1 << 9) // (CAN) Mailbox 9 Flag +#define AT91C_CAN_MB10 (0x1 << 10) // (CAN) Mailbox 10 Flag +#define AT91C_CAN_MB11 (0x1 << 11) // (CAN) Mailbox 11 Flag +#define AT91C_CAN_MB12 (0x1 << 12) // (CAN) Mailbox 12 Flag +#define AT91C_CAN_MB13 (0x1 << 13) // (CAN) Mailbox 13 Flag +#define AT91C_CAN_MB14 (0x1 << 14) // (CAN) Mailbox 14 Flag +#define AT91C_CAN_MB15 (0x1 << 15) // (CAN) Mailbox 15 Flag +#define AT91C_CAN_ERRA (0x1 << 16) // (CAN) Error Active Mode Flag +#define AT91C_CAN_WARN (0x1 << 17) // (CAN) Warning Limit Flag +#define AT91C_CAN_ERRP (0x1 << 18) // (CAN) Error Passive Mode Flag +#define AT91C_CAN_BOFF (0x1 << 19) // (CAN) Bus Off Mode Flag +#define AT91C_CAN_SLEEP (0x1 << 20) // (CAN) Sleep Flag +#define AT91C_CAN_WAKEUP (0x1 << 21) // (CAN) Wakeup Flag +#define AT91C_CAN_TOVF (0x1 << 22) // (CAN) Timer Overflow Flag +#define AT91C_CAN_TSTP (0x1 << 23) // (CAN) Timestamp Flag +#define AT91C_CAN_CERR (0x1 << 24) // (CAN) CRC Error +#define AT91C_CAN_SERR (0x1 << 25) // (CAN) Stuffing Error +#define AT91C_CAN_AERR (0x1 << 26) // (CAN) Acknowledgment Error +#define AT91C_CAN_FERR (0x1 << 27) // (CAN) Form Error +#define AT91C_CAN_BERR (0x1 << 28) // (CAN) Bit Error +// -------- CAN_IDR : (CAN Offset: 0x8) CAN Interrupt Disable Register -------- +// -------- CAN_IMR : (CAN Offset: 0xc) CAN Interrupt Mask Register -------- +// -------- CAN_SR : (CAN Offset: 0x10) CAN Status Register -------- +#define AT91C_CAN_RBSY (0x1 << 29) // (CAN) Receiver Busy +#define AT91C_CAN_TBSY (0x1 << 30) // (CAN) Transmitter Busy +#define AT91C_CAN_OVLY (0x1 << 31) // (CAN) Overload Busy +// -------- CAN_BR : (CAN Offset: 0x14) CAN Baudrate Register -------- +#define AT91C_CAN_PHASE2 (0x7 << 0) // (CAN) Phase 2 segment +#define AT91C_CAN_PHASE1 (0x7 << 4) // (CAN) Phase 1 segment +#define AT91C_CAN_PROPAG (0x7 << 8) // (CAN) Programmation time segment +#define AT91C_CAN_SYNC (0x3 << 12) // (CAN) Re-synchronization jump width segment +#define AT91C_CAN_BRP (0x7F << 16) // (CAN) Baudrate Prescaler +#define AT91C_CAN_SMP (0x1 << 24) // (CAN) Sampling mode +// -------- CAN_TIM : (CAN Offset: 0x18) CAN Timer Register -------- +#define AT91C_CAN_TIMER (0xFFFF << 0) // (CAN) Timer field +// -------- CAN_TIMESTP : (CAN Offset: 0x1c) CAN Timestamp Register -------- +// -------- CAN_ECR : (CAN Offset: 0x20) CAN Error Counter Register -------- +#define AT91C_CAN_REC (0xFF << 0) // (CAN) Receive Error Counter +#define AT91C_CAN_TEC (0xFF << 16) // (CAN) Transmit Error Counter +// -------- CAN_TCR : (CAN Offset: 0x24) CAN Transfer Command Register -------- +#define AT91C_CAN_TIMRST (0x1 << 31) // (CAN) Timer Reset Field +// -------- CAN_ACR : (CAN Offset: 0x28) CAN Abort Command Register -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Ethernet MAC 10/100 +// ***************************************************************************** +// *** Register offset in AT91S_EMAC structure *** +#define EMAC_NCR ( 0) // Network Control Register +#define EMAC_NCFGR ( 4) // Network Configuration Register +#define EMAC_NSR ( 8) // Network Status Register +#define EMAC_TSR (20) // Transmit Status Register +#define EMAC_RBQP (24) // Receive Buffer Queue Pointer +#define EMAC_TBQP (28) // Transmit Buffer Queue Pointer +#define EMAC_RSR (32) // Receive Status Register +#define EMAC_ISR (36) // Interrupt Status Register +#define EMAC_IER (40) // Interrupt Enable Register +#define EMAC_IDR (44) // Interrupt Disable Register +#define EMAC_IMR (48) // Interrupt Mask Register +#define EMAC_MAN (52) // PHY Maintenance Register +#define EMAC_PTR (56) // Pause Time Register +#define EMAC_PFR (60) // Pause Frames received Register +#define EMAC_FTO (64) // Frames Transmitted OK Register +#define EMAC_SCF (68) // Single Collision Frame Register +#define EMAC_MCF (72) // Multiple Collision Frame Register +#define EMAC_FRO (76) // Frames Received OK Register +#define EMAC_FCSE (80) // Frame Check Sequence Error Register +#define EMAC_ALE (84) // Alignment Error Register +#define EMAC_DTF (88) // Deferred Transmission Frame Register +#define EMAC_LCOL (92) // Late Collision Register +#define EMAC_ECOL (96) // Excessive Collision Register +#define EMAC_TUND (100) // Transmit Underrun Error Register +#define EMAC_CSE (104) // Carrier Sense Error Register +#define EMAC_RRE (108) // Receive Ressource Error Register +#define EMAC_ROV (112) // Receive Overrun Errors Register +#define EMAC_RSE (116) // Receive Symbol Errors Register +#define EMAC_ELE (120) // Excessive Length Errors Register +#define EMAC_RJA (124) // Receive Jabbers Register +#define EMAC_USF (128) // Undersize Frames Register +#define EMAC_STE (132) // SQE Test Error Register +#define EMAC_RLE (136) // Receive Length Field Mismatch Register +#define EMAC_TPF (140) // Transmitted Pause Frames Register +#define EMAC_HRB (144) // Hash Address Bottom[31:0] +#define EMAC_HRT (148) // Hash Address Top[63:32] +#define EMAC_SA1L (152) // Specific Address 1 Bottom, First 4 bytes +#define EMAC_SA1H (156) // Specific Address 1 Top, Last 2 bytes +#define EMAC_SA2L (160) // Specific Address 2 Bottom, First 4 bytes +#define EMAC_SA2H (164) // Specific Address 2 Top, Last 2 bytes +#define EMAC_SA3L (168) // Specific Address 3 Bottom, First 4 bytes +#define EMAC_SA3H (172) // Specific Address 3 Top, Last 2 bytes +#define EMAC_SA4L (176) // Specific Address 4 Bottom, First 4 bytes +#define EMAC_SA4H (180) // Specific Address 4 Top, Last 2 bytes +#define EMAC_TID (184) // Type ID Checking Register +#define EMAC_TPQ (188) // Transmit Pause Quantum Register +#define EMAC_USRIO (192) // USER Input/Output Register +#define EMAC_WOL (196) // Wake On LAN Register +#define EMAC_REV (252) // Revision Register +// -------- EMAC_NCR : (EMAC Offset: 0x0) -------- +#define AT91C_EMAC_LB (0x1 << 0) // (EMAC) Loopback. Optional. When set, loopback signal is at high level. +#define AT91C_EMAC_LLB (0x1 << 1) // (EMAC) Loopback local. +#define AT91C_EMAC_RE (0x1 << 2) // (EMAC) Receive enable. +#define AT91C_EMAC_TE (0x1 << 3) // (EMAC) Transmit enable. +#define AT91C_EMAC_MPE (0x1 << 4) // (EMAC) Management port enable. +#define AT91C_EMAC_CLRSTAT (0x1 << 5) // (EMAC) Clear statistics registers. +#define AT91C_EMAC_INCSTAT (0x1 << 6) // (EMAC) Increment statistics registers. +#define AT91C_EMAC_WESTAT (0x1 << 7) // (EMAC) Write enable for statistics registers. +#define AT91C_EMAC_BP (0x1 << 8) // (EMAC) Back pressure. +#define AT91C_EMAC_TSTART (0x1 << 9) // (EMAC) Start Transmission. +#define AT91C_EMAC_THALT (0x1 << 10) // (EMAC) Transmission Halt. +#define AT91C_EMAC_TPFR (0x1 << 11) // (EMAC) Transmit pause frame +#define AT91C_EMAC_TZQ (0x1 << 12) // (EMAC) Transmit zero quantum pause frame +// -------- EMAC_NCFGR : (EMAC Offset: 0x4) Network Configuration Register -------- +#define AT91C_EMAC_SPD (0x1 << 0) // (EMAC) Speed. +#define AT91C_EMAC_FD (0x1 << 1) // (EMAC) Full duplex. +#define AT91C_EMAC_JFRAME (0x1 << 3) // (EMAC) Jumbo Frames. +#define AT91C_EMAC_CAF (0x1 << 4) // (EMAC) Copy all frames. +#define AT91C_EMAC_NBC (0x1 << 5) // (EMAC) No broadcast. +#define AT91C_EMAC_MTI (0x1 << 6) // (EMAC) Multicast hash event enable +#define AT91C_EMAC_UNI (0x1 << 7) // (EMAC) Unicast hash enable. +#define AT91C_EMAC_BIG (0x1 << 8) // (EMAC) Receive 1522 bytes. +#define AT91C_EMAC_EAE (0x1 << 9) // (EMAC) External address match enable. +#define AT91C_EMAC_CLK (0x3 << 10) // (EMAC) +#define AT91C_EMAC_CLK_HCLK_8 (0x0 << 10) // (EMAC) HCLK divided by 8 +#define AT91C_EMAC_CLK_HCLK_16 (0x1 << 10) // (EMAC) HCLK divided by 16 +#define AT91C_EMAC_CLK_HCLK_32 (0x2 << 10) // (EMAC) HCLK divided by 32 +#define AT91C_EMAC_CLK_HCLK_64 (0x3 << 10) // (EMAC) HCLK divided by 64 +#define AT91C_EMAC_RTY (0x1 << 12) // (EMAC) +#define AT91C_EMAC_PAE (0x1 << 13) // (EMAC) +#define AT91C_EMAC_RBOF (0x3 << 14) // (EMAC) +#define AT91C_EMAC_RBOF_OFFSET_0 (0x0 << 14) // (EMAC) no offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_1 (0x1 << 14) // (EMAC) one byte offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_2 (0x2 << 14) // (EMAC) two bytes offset from start of receive buffer +#define AT91C_EMAC_RBOF_OFFSET_3 (0x3 << 14) // (EMAC) three bytes offset from start of receive buffer +#define AT91C_EMAC_RLCE (0x1 << 16) // (EMAC) Receive Length field Checking Enable +#define AT91C_EMAC_DRFCS (0x1 << 17) // (EMAC) Discard Receive FCS +#define AT91C_EMAC_EFRHD (0x1 << 18) // (EMAC) +#define AT91C_EMAC_IRXFCS (0x1 << 19) // (EMAC) Ignore RX FCS +// -------- EMAC_NSR : (EMAC Offset: 0x8) Network Status Register -------- +#define AT91C_EMAC_LINKR (0x1 << 0) // (EMAC) +#define AT91C_EMAC_MDIO (0x1 << 1) // (EMAC) +#define AT91C_EMAC_IDLE (0x1 << 2) // (EMAC) +// -------- EMAC_TSR : (EMAC Offset: 0x14) Transmit Status Register -------- +#define AT91C_EMAC_UBR (0x1 << 0) // (EMAC) +#define AT91C_EMAC_COL (0x1 << 1) // (EMAC) +#define AT91C_EMAC_RLES (0x1 << 2) // (EMAC) +#define AT91C_EMAC_TGO (0x1 << 3) // (EMAC) Transmit Go +#define AT91C_EMAC_BEX (0x1 << 4) // (EMAC) Buffers exhausted mid frame +#define AT91C_EMAC_COMP (0x1 << 5) // (EMAC) +#define AT91C_EMAC_UND (0x1 << 6) // (EMAC) +// -------- EMAC_RSR : (EMAC Offset: 0x20) Receive Status Register -------- +#define AT91C_EMAC_BNA (0x1 << 0) // (EMAC) +#define AT91C_EMAC_REC (0x1 << 1) // (EMAC) +#define AT91C_EMAC_OVR (0x1 << 2) // (EMAC) +// -------- EMAC_ISR : (EMAC Offset: 0x24) Interrupt Status Register -------- +#define AT91C_EMAC_MFD (0x1 << 0) // (EMAC) +#define AT91C_EMAC_RCOMP (0x1 << 1) // (EMAC) +#define AT91C_EMAC_RXUBR (0x1 << 2) // (EMAC) +#define AT91C_EMAC_TXUBR (0x1 << 3) // (EMAC) +#define AT91C_EMAC_TUNDR (0x1 << 4) // (EMAC) +#define AT91C_EMAC_RLEX (0x1 << 5) // (EMAC) +#define AT91C_EMAC_TXERR (0x1 << 6) // (EMAC) +#define AT91C_EMAC_TCOMP (0x1 << 7) // (EMAC) +#define AT91C_EMAC_LINK (0x1 << 9) // (EMAC) +#define AT91C_EMAC_ROVR (0x1 << 10) // (EMAC) +#define AT91C_EMAC_HRESP (0x1 << 11) // (EMAC) +#define AT91C_EMAC_PFRE (0x1 << 12) // (EMAC) +#define AT91C_EMAC_PTZ (0x1 << 13) // (EMAC) +// -------- EMAC_IER : (EMAC Offset: 0x28) Interrupt Enable Register -------- +// -------- EMAC_IDR : (EMAC Offset: 0x2c) Interrupt Disable Register -------- +// -------- EMAC_IMR : (EMAC Offset: 0x30) Interrupt Mask Register -------- +// -------- EMAC_MAN : (EMAC Offset: 0x34) PHY Maintenance Register -------- +#define AT91C_EMAC_DATA (0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_CODE (0x3 << 16) // (EMAC) +#define AT91C_EMAC_REGA (0x1F << 18) // (EMAC) +#define AT91C_EMAC_PHYA (0x1F << 23) // (EMAC) +#define AT91C_EMAC_RW (0x3 << 28) // (EMAC) +#define AT91C_EMAC_SOF (0x3 << 30) // (EMAC) +// -------- EMAC_USRIO : (EMAC Offset: 0xc0) USER Input Output Register -------- +#define AT91C_EMAC_RMII (0x1 << 0) // (EMAC) Reduce MII +// -------- EMAC_WOL : (EMAC Offset: 0xc4) Wake On LAN Register -------- +#define AT91C_EMAC_IP (0xFFFF << 0) // (EMAC) ARP request IP address +#define AT91C_EMAC_MAG (0x1 << 16) // (EMAC) Magic packet event enable +#define AT91C_EMAC_ARP (0x1 << 17) // (EMAC) ARP request event enable +#define AT91C_EMAC_SA1 (0x1 << 18) // (EMAC) Specific address register 1 event enable +// -------- EMAC_REV : (EMAC Offset: 0xfc) Revision Register -------- +#define AT91C_EMAC_REVREF (0xFFFF << 0) // (EMAC) +#define AT91C_EMAC_PARTREF (0xFFFF << 16) // (EMAC) + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Analog to Digital Convertor +// ***************************************************************************** +// *** Register offset in AT91S_ADC structure *** +#define ADC_CR ( 0) // ADC Control Register +#define ADC_MR ( 4) // ADC Mode Register +#define ADC_CHER (16) // ADC Channel Enable Register +#define ADC_CHDR (20) // ADC Channel Disable Register +#define ADC_CHSR (24) // ADC Channel Status Register +#define ADC_SR (28) // ADC Status Register +#define ADC_LCDR (32) // ADC Last Converted Data Register +#define ADC_IER (36) // ADC Interrupt Enable Register +#define ADC_IDR (40) // ADC Interrupt Disable Register +#define ADC_IMR (44) // ADC Interrupt Mask Register +#define ADC_CDR0 (48) // ADC Channel Data Register 0 +#define ADC_CDR1 (52) // ADC Channel Data Register 1 +#define ADC_CDR2 (56) // ADC Channel Data Register 2 +#define ADC_CDR3 (60) // ADC Channel Data Register 3 +#define ADC_CDR4 (64) // ADC Channel Data Register 4 +#define ADC_CDR5 (68) // ADC Channel Data Register 5 +#define ADC_CDR6 (72) // ADC Channel Data Register 6 +#define ADC_CDR7 (76) // ADC Channel Data Register 7 +#define ADC_RPR (256) // Receive Pointer Register +#define ADC_RCR (260) // Receive Counter Register +#define ADC_TPR (264) // Transmit Pointer Register +#define ADC_TCR (268) // Transmit Counter Register +#define ADC_RNPR (272) // Receive Next Pointer Register +#define ADC_RNCR (276) // Receive Next Counter Register +#define ADC_TNPR (280) // Transmit Next Pointer Register +#define ADC_TNCR (284) // Transmit Next Counter Register +#define ADC_PTCR (288) // PDC Transfer Control Register +#define ADC_PTSR (292) // PDC Transfer Status Register +// -------- ADC_CR : (ADC Offset: 0x0) ADC Control Register -------- +#define AT91C_ADC_SWRST (0x1 << 0) // (ADC) Software Reset +#define AT91C_ADC_START (0x1 << 1) // (ADC) Start Conversion +// -------- ADC_MR : (ADC Offset: 0x4) ADC Mode Register -------- +#define AT91C_ADC_TRGEN (0x1 << 0) // (ADC) Trigger Enable +#define AT91C_ADC_TRGEN_DIS (0x0) // (ADC) Hradware triggers are disabled. Starting a conversion is only possible by software +#define AT91C_ADC_TRGEN_EN (0x1) // (ADC) Hardware trigger selected by TRGSEL field is enabled. +#define AT91C_ADC_TRGSEL (0x7 << 1) // (ADC) Trigger Selection +#define AT91C_ADC_TRGSEL_TIOA0 (0x0 << 1) // (ADC) Selected TRGSEL = TIAO0 +#define AT91C_ADC_TRGSEL_TIOA1 (0x1 << 1) // (ADC) Selected TRGSEL = TIAO1 +#define AT91C_ADC_TRGSEL_TIOA2 (0x2 << 1) // (ADC) Selected TRGSEL = TIAO2 +#define AT91C_ADC_TRGSEL_TIOA3 (0x3 << 1) // (ADC) Selected TRGSEL = TIAO3 +#define AT91C_ADC_TRGSEL_TIOA4 (0x4 << 1) // (ADC) Selected TRGSEL = TIAO4 +#define AT91C_ADC_TRGSEL_TIOA5 (0x5 << 1) // (ADC) Selected TRGSEL = TIAO5 +#define AT91C_ADC_TRGSEL_EXT (0x6 << 1) // (ADC) Selected TRGSEL = External Trigger +#define AT91C_ADC_LOWRES (0x1 << 4) // (ADC) Resolution. +#define AT91C_ADC_LOWRES_10_BIT (0x0 << 4) // (ADC) 10-bit resolution +#define AT91C_ADC_LOWRES_8_BIT (0x1 << 4) // (ADC) 8-bit resolution +#define AT91C_ADC_SLEEP (0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_SLEEP_NORMAL_MODE (0x0 << 5) // (ADC) Normal Mode +#define AT91C_ADC_SLEEP_MODE (0x1 << 5) // (ADC) Sleep Mode +#define AT91C_ADC_PRESCAL (0x3F << 8) // (ADC) Prescaler rate selection +#define AT91C_ADC_STARTUP (0x1F << 16) // (ADC) Startup Time +#define AT91C_ADC_SHTIM (0xF << 24) // (ADC) Sample & Hold Time +// -------- ADC_CHER : (ADC Offset: 0x10) ADC Channel Enable Register -------- +#define AT91C_ADC_CH0 (0x1 << 0) // (ADC) Channel 0 +#define AT91C_ADC_CH1 (0x1 << 1) // (ADC) Channel 1 +#define AT91C_ADC_CH2 (0x1 << 2) // (ADC) Channel 2 +#define AT91C_ADC_CH3 (0x1 << 3) // (ADC) Channel 3 +#define AT91C_ADC_CH4 (0x1 << 4) // (ADC) Channel 4 +#define AT91C_ADC_CH5 (0x1 << 5) // (ADC) Channel 5 +#define AT91C_ADC_CH6 (0x1 << 6) // (ADC) Channel 6 +#define AT91C_ADC_CH7 (0x1 << 7) // (ADC) Channel 7 +// -------- ADC_CHDR : (ADC Offset: 0x14) ADC Channel Disable Register -------- +// -------- ADC_CHSR : (ADC Offset: 0x18) ADC Channel Status Register -------- +// -------- ADC_SR : (ADC Offset: 0x1c) ADC Status Register -------- +#define AT91C_ADC_EOC0 (0x1 << 0) // (ADC) End of Conversion +#define AT91C_ADC_EOC1 (0x1 << 1) // (ADC) End of Conversion +#define AT91C_ADC_EOC2 (0x1 << 2) // (ADC) End of Conversion +#define AT91C_ADC_EOC3 (0x1 << 3) // (ADC) End of Conversion +#define AT91C_ADC_EOC4 (0x1 << 4) // (ADC) End of Conversion +#define AT91C_ADC_EOC5 (0x1 << 5) // (ADC) End of Conversion +#define AT91C_ADC_EOC6 (0x1 << 6) // (ADC) End of Conversion +#define AT91C_ADC_EOC7 (0x1 << 7) // (ADC) End of Conversion +#define AT91C_ADC_OVRE0 (0x1 << 8) // (ADC) Overrun Error +#define AT91C_ADC_OVRE1 (0x1 << 9) // (ADC) Overrun Error +#define AT91C_ADC_OVRE2 (0x1 << 10) // (ADC) Overrun Error +#define AT91C_ADC_OVRE3 (0x1 << 11) // (ADC) Overrun Error +#define AT91C_ADC_OVRE4 (0x1 << 12) // (ADC) Overrun Error +#define AT91C_ADC_OVRE5 (0x1 << 13) // (ADC) Overrun Error +#define AT91C_ADC_OVRE6 (0x1 << 14) // (ADC) Overrun Error +#define AT91C_ADC_OVRE7 (0x1 << 15) // (ADC) Overrun Error +#define AT91C_ADC_DRDY (0x1 << 16) // (ADC) Data Ready +#define AT91C_ADC_GOVRE (0x1 << 17) // (ADC) General Overrun +#define AT91C_ADC_ENDRX (0x1 << 18) // (ADC) End of Receiver Transfer +#define AT91C_ADC_RXBUFF (0x1 << 19) // (ADC) RXBUFF Interrupt +// -------- ADC_LCDR : (ADC Offset: 0x20) ADC Last Converted Data Register -------- +#define AT91C_ADC_LDATA (0x3FF << 0) // (ADC) Last Data Converted +// -------- ADC_IER : (ADC Offset: 0x24) ADC Interrupt Enable Register -------- +// -------- ADC_IDR : (ADC Offset: 0x28) ADC Interrupt Disable Register -------- +// -------- ADC_IMR : (ADC Offset: 0x2c) ADC Interrupt Mask Register -------- +// -------- ADC_CDR0 : (ADC Offset: 0x30) ADC Channel Data Register 0 -------- +#define AT91C_ADC_DATA (0x3FF << 0) // (ADC) Converted Data +// -------- ADC_CDR1 : (ADC Offset: 0x34) ADC Channel Data Register 1 -------- +// -------- ADC_CDR2 : (ADC Offset: 0x38) ADC Channel Data Register 2 -------- +// -------- ADC_CDR3 : (ADC Offset: 0x3c) ADC Channel Data Register 3 -------- +// -------- ADC_CDR4 : (ADC Offset: 0x40) ADC Channel Data Register 4 -------- +// -------- ADC_CDR5 : (ADC Offset: 0x44) ADC Channel Data Register 5 -------- +// -------- ADC_CDR6 : (ADC Offset: 0x48) ADC Channel Data Register 6 -------- +// -------- ADC_CDR7 : (ADC Offset: 0x4c) ADC Channel Data Register 7 -------- + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Advanced Encryption Standard +// ***************************************************************************** +// *** Register offset in AT91S_AES structure *** +#define AES_CR ( 0) // Control Register +#define AES_MR ( 4) // Mode Register +#define AES_IER (16) // Interrupt Enable Register +#define AES_IDR (20) // Interrupt Disable Register +#define AES_IMR (24) // Interrupt Mask Register +#define AES_ISR (28) // Interrupt Status Register +#define AES_KEYWxR (32) // Key Word x Register +#define AES_IDATAxR (64) // Input Data x Register +#define AES_ODATAxR (80) // Output Data x Register +#define AES_IVxR (96) // Initialization Vector x Register +#define AES_VR (252) // AES Version Register +#define AES_RPR (256) // Receive Pointer Register +#define AES_RCR (260) // Receive Counter Register +#define AES_TPR (264) // Transmit Pointer Register +#define AES_TCR (268) // Transmit Counter Register +#define AES_RNPR (272) // Receive Next Pointer Register +#define AES_RNCR (276) // Receive Next Counter Register +#define AES_TNPR (280) // Transmit Next Pointer Register +#define AES_TNCR (284) // Transmit Next Counter Register +#define AES_PTCR (288) // PDC Transfer Control Register +#define AES_PTSR (292) // PDC Transfer Status Register +// -------- AES_CR : (AES Offset: 0x0) Control Register -------- +#define AT91C_AES_START (0x1 << 0) // (AES) Starts Processing +#define AT91C_AES_SWRST (0x1 << 8) // (AES) Software Reset +#define AT91C_AES_LOADSEED (0x1 << 16) // (AES) Random Number Generator Seed Loading +// -------- AES_MR : (AES Offset: 0x4) Mode Register -------- +#define AT91C_AES_CIPHER (0x1 << 0) // (AES) Processing Mode +#define AT91C_AES_PROCDLY (0xF << 4) // (AES) Processing Delay +#define AT91C_AES_SMOD (0x3 << 8) // (AES) Start Mode +#define AT91C_AES_SMOD_MANUAL (0x0 << 8) // (AES) Manual Mode: The START bit in register AES_CR must be set to begin encryption or decryption. +#define AT91C_AES_SMOD_AUTO (0x1 << 8) // (AES) Auto Mode: no action in AES_CR is necessary (cf datasheet). +#define AT91C_AES_SMOD_PDC (0x2 << 8) // (AES) PDC Mode (cf datasheet). +#define AT91C_AES_OPMOD (0x7 << 12) // (AES) Operation Mode +#define AT91C_AES_OPMOD_ECB (0x0 << 12) // (AES) ECB Electronic CodeBook mode. +#define AT91C_AES_OPMOD_CBC (0x1 << 12) // (AES) CBC Cipher Block Chaining mode. +#define AT91C_AES_OPMOD_OFB (0x2 << 12) // (AES) OFB Output Feedback mode. +#define AT91C_AES_OPMOD_CFB (0x3 << 12) // (AES) CFB Cipher Feedback mode. +#define AT91C_AES_OPMOD_CTR (0x4 << 12) // (AES) CTR Counter mode. +#define AT91C_AES_LOD (0x1 << 15) // (AES) Last Output Data Mode +#define AT91C_AES_CFBS (0x7 << 16) // (AES) Cipher Feedback Data Size +#define AT91C_AES_CFBS_128_BIT (0x0 << 16) // (AES) 128-bit. +#define AT91C_AES_CFBS_64_BIT (0x1 << 16) // (AES) 64-bit. +#define AT91C_AES_CFBS_32_BIT (0x2 << 16) // (AES) 32-bit. +#define AT91C_AES_CFBS_16_BIT (0x3 << 16) // (AES) 16-bit. +#define AT91C_AES_CFBS_8_BIT (0x4 << 16) // (AES) 8-bit. +#define AT91C_AES_CKEY (0xF << 20) // (AES) Countermeasure Key +#define AT91C_AES_CTYPE (0x1F << 24) // (AES) Countermeasure Type +#define AT91C_AES_CTYPE_TYPE1_EN (0x1 << 24) // (AES) Countermeasure type 1 is enabled. +#define AT91C_AES_CTYPE_TYPE2_EN (0x2 << 24) // (AES) Countermeasure type 2 is enabled. +#define AT91C_AES_CTYPE_TYPE3_EN (0x4 << 24) // (AES) Countermeasure type 3 is enabled. +#define AT91C_AES_CTYPE_TYPE4_EN (0x8 << 24) // (AES) Countermeasure type 4 is enabled. +#define AT91C_AES_CTYPE_TYPE5_EN (0x10 << 24) // (AES) Countermeasure type 5 is enabled. +// -------- AES_IER : (AES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_AES_DATRDY (0x1 << 0) // (AES) DATRDY +#define AT91C_AES_ENDRX (0x1 << 1) // (AES) PDC Read Buffer End +#define AT91C_AES_ENDTX (0x1 << 2) // (AES) PDC Write Buffer End +#define AT91C_AES_RXBUFF (0x1 << 3) // (AES) PDC Read Buffer Full +#define AT91C_AES_TXBUFE (0x1 << 4) // (AES) PDC Write Buffer Empty +#define AT91C_AES_URAD (0x1 << 8) // (AES) Unspecified Register Access Detection +// -------- AES_IDR : (AES Offset: 0x14) Interrupt Disable Register -------- +// -------- AES_IMR : (AES Offset: 0x18) Interrupt Mask Register -------- +// -------- AES_ISR : (AES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_AES_URAT (0x7 << 12) // (AES) Unspecified Register Access Type Status +#define AT91C_AES_URAT_IN_DAT_WRITE_DATPROC (0x0 << 12) // (AES) Input data register written during the data processing in PDC mode. +#define AT91C_AES_URAT_OUT_DAT_READ_DATPROC (0x1 << 12) // (AES) Output data register read during the data processing. +#define AT91C_AES_URAT_MODEREG_WRITE_DATPROC (0x2 << 12) // (AES) Mode register written during the data processing. +#define AT91C_AES_URAT_OUT_DAT_READ_SUBKEY (0x3 << 12) // (AES) Output data register read during the sub-keys generation. +#define AT91C_AES_URAT_MODEREG_WRITE_SUBKEY (0x4 << 12) // (AES) Mode register written during the sub-keys generation. +#define AT91C_AES_URAT_WO_REG_READ (0x5 << 12) // (AES) Write-only register read access. + +// ***************************************************************************** +// SOFTWARE API DEFINITION FOR Triple Data Encryption Standard +// ***************************************************************************** +// *** Register offset in AT91S_TDES structure *** +#define TDES_CR ( 0) // Control Register +#define TDES_MR ( 4) // Mode Register +#define TDES_IER (16) // Interrupt Enable Register +#define TDES_IDR (20) // Interrupt Disable Register +#define TDES_IMR (24) // Interrupt Mask Register +#define TDES_ISR (28) // Interrupt Status Register +#define TDES_KEY1WxR (32) // Key 1 Word x Register +#define TDES_KEY2WxR (40) // Key 2 Word x Register +#define TDES_KEY3WxR (48) // Key 3 Word x Register +#define TDES_IDATAxR (64) // Input Data x Register +#define TDES_ODATAxR (80) // Output Data x Register +#define TDES_IVxR (96) // Initialization Vector x Register +#define TDES_VR (252) // TDES Version Register +#define TDES_RPR (256) // Receive Pointer Register +#define TDES_RCR (260) // Receive Counter Register +#define TDES_TPR (264) // Transmit Pointer Register +#define TDES_TCR (268) // Transmit Counter Register +#define TDES_RNPR (272) // Receive Next Pointer Register +#define TDES_RNCR (276) // Receive Next Counter Register +#define TDES_TNPR (280) // Transmit Next Pointer Register +#define TDES_TNCR (284) // Transmit Next Counter Register +#define TDES_PTCR (288) // PDC Transfer Control Register +#define TDES_PTSR (292) // PDC Transfer Status Register +// -------- TDES_CR : (TDES Offset: 0x0) Control Register -------- +#define AT91C_TDES_START (0x1 << 0) // (TDES) Starts Processing +#define AT91C_TDES_SWRST (0x1 << 8) // (TDES) Software Reset +// -------- TDES_MR : (TDES Offset: 0x4) Mode Register -------- +#define AT91C_TDES_CIPHER (0x1 << 0) // (TDES) Processing Mode +#define AT91C_TDES_TDESMOD (0x1 << 1) // (TDES) Single or Triple DES Mode +#define AT91C_TDES_KEYMOD (0x1 << 4) // (TDES) Key Mode +#define AT91C_TDES_SMOD (0x3 << 8) // (TDES) Start Mode +#define AT91C_TDES_SMOD_MANUAL (0x0 << 8) // (TDES) Manual Mode: The START bit in register TDES_CR must be set to begin encryption or decryption. +#define AT91C_TDES_SMOD_AUTO (0x1 << 8) // (TDES) Auto Mode: no action in TDES_CR is necessary (cf datasheet). +#define AT91C_TDES_SMOD_PDC (0x2 << 8) // (TDES) PDC Mode (cf datasheet). +#define AT91C_TDES_OPMOD (0x3 << 12) // (TDES) Operation Mode +#define AT91C_TDES_OPMOD_ECB (0x0 << 12) // (TDES) ECB Electronic CodeBook mode. +#define AT91C_TDES_OPMOD_CBC (0x1 << 12) // (TDES) CBC Cipher Block Chaining mode. +#define AT91C_TDES_OPMOD_OFB (0x2 << 12) // (TDES) OFB Output Feedback mode. +#define AT91C_TDES_OPMOD_CFB (0x3 << 12) // (TDES) CFB Cipher Feedback mode. +#define AT91C_TDES_LOD (0x1 << 15) // (TDES) Last Output Data Mode +#define AT91C_TDES_CFBS (0x3 << 16) // (TDES) Cipher Feedback Data Size +#define AT91C_TDES_CFBS_64_BIT (0x0 << 16) // (TDES) 64-bit. +#define AT91C_TDES_CFBS_32_BIT (0x1 << 16) // (TDES) 32-bit. +#define AT91C_TDES_CFBS_16_BIT (0x2 << 16) // (TDES) 16-bit. +#define AT91C_TDES_CFBS_8_BIT (0x3 << 16) // (TDES) 8-bit. +// -------- TDES_IER : (TDES Offset: 0x10) Interrupt Enable Register -------- +#define AT91C_TDES_DATRDY (0x1 << 0) // (TDES) DATRDY +#define AT91C_TDES_ENDRX (0x1 << 1) // (TDES) PDC Read Buffer End +#define AT91C_TDES_ENDTX (0x1 << 2) // (TDES) PDC Write Buffer End +#define AT91C_TDES_RXBUFF (0x1 << 3) // (TDES) PDC Read Buffer Full +#define AT91C_TDES_TXBUFE (0x1 << 4) // (TDES) PDC Write Buffer Empty +#define AT91C_TDES_URAD (0x1 << 8) // (TDES) Unspecified Register Access Detection +// -------- TDES_IDR : (TDES Offset: 0x14) Interrupt Disable Register -------- +// -------- TDES_IMR : (TDES Offset: 0x18) Interrupt Mask Register -------- +// -------- TDES_ISR : (TDES Offset: 0x1c) Interrupt Status Register -------- +#define AT91C_TDES_URAT (0x3 << 12) // (TDES) Unspecified Register Access Type Status +#define AT91C_TDES_URAT_IN_DAT_WRITE_DATPROC (0x0 << 12) // (TDES) Input data register written during the data processing in PDC mode. +#define AT91C_TDES_URAT_OUT_DAT_READ_DATPROC (0x1 << 12) // (TDES) Output data register read during the data processing. +#define AT91C_TDES_URAT_MODEREG_WRITE_DATPROC (0x2 << 12) // (TDES) Mode register written during the data processing. +#define AT91C_TDES_URAT_WO_REG_READ (0x3 << 12) // (TDES) Write-only register read access. + +// ***************************************************************************** +// REGISTER ADDRESS DEFINITION FOR AT91SAM7X256 +// ***************************************************************************** +// ========== Register definition for SYS peripheral ========== +// ========== Register definition for AIC peripheral ========== +#define AT91C_AIC_IVR (0xFFFFF100) // (AIC) IRQ Vector Register +#define AT91C_AIC_SMR (0xFFFFF000) // (AIC) Source Mode Register +#define AT91C_AIC_FVR (0xFFFFF104) // (AIC) FIQ Vector Register +#define AT91C_AIC_DCR (0xFFFFF138) // (AIC) Debug Control Register (Protect) +#define AT91C_AIC_EOICR (0xFFFFF130) // (AIC) End of Interrupt Command Register +#define AT91C_AIC_SVR (0xFFFFF080) // (AIC) Source Vector Register +#define AT91C_AIC_FFSR (0xFFFFF148) // (AIC) Fast Forcing Status Register +#define AT91C_AIC_ICCR (0xFFFFF128) // (AIC) Interrupt Clear Command Register +#define AT91C_AIC_ISR (0xFFFFF108) // (AIC) Interrupt Status Register +#define AT91C_AIC_IMR (0xFFFFF110) // (AIC) Interrupt Mask Register +#define AT91C_AIC_IPR (0xFFFFF10C) // (AIC) Interrupt Pending Register +#define AT91C_AIC_FFER (0xFFFFF140) // (AIC) Fast Forcing Enable Register +#define AT91C_AIC_IECR (0xFFFFF120) // (AIC) Interrupt Enable Command Register +#define AT91C_AIC_ISCR (0xFFFFF12C) // (AIC) Interrupt Set Command Register +#define AT91C_AIC_FFDR (0xFFFFF144) // (AIC) Fast Forcing Disable Register +#define AT91C_AIC_CISR (0xFFFFF114) // (AIC) Core Interrupt Status Register +#define AT91C_AIC_IDCR (0xFFFFF124) // (AIC) Interrupt Disable Command Register +#define AT91C_AIC_SPU (0xFFFFF134) // (AIC) Spurious Vector Register +// ========== Register definition for PDC_DBGU peripheral ========== +#define AT91C_DBGU_TCR (0xFFFFF30C) // (PDC_DBGU) Transmit Counter Register +#define AT91C_DBGU_RNPR (0xFFFFF310) // (PDC_DBGU) Receive Next Pointer Register +#define AT91C_DBGU_TNPR (0xFFFFF318) // (PDC_DBGU) Transmit Next Pointer Register +#define AT91C_DBGU_TPR (0xFFFFF308) // (PDC_DBGU) Transmit Pointer Register +#define AT91C_DBGU_RPR (0xFFFFF300) // (PDC_DBGU) Receive Pointer Register +#define AT91C_DBGU_RCR (0xFFFFF304) // (PDC_DBGU) Receive Counter Register +#define AT91C_DBGU_RNCR (0xFFFFF314) // (PDC_DBGU) Receive Next Counter Register +#define AT91C_DBGU_PTCR (0xFFFFF320) // (PDC_DBGU) PDC Transfer Control Register +#define AT91C_DBGU_PTSR (0xFFFFF324) // (PDC_DBGU) PDC Transfer Status Register +#define AT91C_DBGU_TNCR (0xFFFFF31C) // (PDC_DBGU) Transmit Next Counter Register +// ========== Register definition for DBGU peripheral ========== +#define AT91C_DBGU_EXID (0xFFFFF244) // (DBGU) Chip ID Extension Register +#define AT91C_DBGU_BRGR (0xFFFFF220) // (DBGU) Baud Rate Generator Register +#define AT91C_DBGU_IDR (0xFFFFF20C) // (DBGU) Interrupt Disable Register +#define AT91C_DBGU_CSR (0xFFFFF214) // (DBGU) Channel Status Register +#define AT91C_DBGU_CIDR (0xFFFFF240) // (DBGU) Chip ID Register +#define AT91C_DBGU_MR (0xFFFFF204) // (DBGU) Mode Register +#define AT91C_DBGU_IMR (0xFFFFF210) // (DBGU) Interrupt Mask Register +#define AT91C_DBGU_CR (0xFFFFF200) // (DBGU) Control Register +#define AT91C_DBGU_FNTR (0xFFFFF248) // (DBGU) Force NTRST Register +#define AT91C_DBGU_THR (0xFFFFF21C) // (DBGU) Transmitter Holding Register +#define AT91C_DBGU_RHR (0xFFFFF218) // (DBGU) Receiver Holding Register +#define AT91C_DBGU_IER (0xFFFFF208) // (DBGU) Interrupt Enable Register +// ========== Register definition for PIOA peripheral ========== +#define AT91C_PIOA_ODR (0xFFFFF414) // (PIOA) Output Disable Registerr +#define AT91C_PIOA_SODR (0xFFFFF430) // (PIOA) Set Output Data Register +#define AT91C_PIOA_ISR (0xFFFFF44C) // (PIOA) Interrupt Status Register +#define AT91C_PIOA_ABSR (0xFFFFF478) // (PIOA) AB Select Status Register +#define AT91C_PIOA_IER (0xFFFFF440) // (PIOA) Interrupt Enable Register +#define AT91C_PIOA_PPUDR (0xFFFFF460) // (PIOA) Pull-up Disable Register +#define AT91C_PIOA_IMR (0xFFFFF448) // (PIOA) Interrupt Mask Register +#define AT91C_PIOA_PER (0xFFFFF400) // (PIOA) PIO Enable Register +#define AT91C_PIOA_IFDR (0xFFFFF424) // (PIOA) Input Filter Disable Register +#define AT91C_PIOA_OWDR (0xFFFFF4A4) // (PIOA) Output Write Disable Register +#define AT91C_PIOA_MDSR (0xFFFFF458) // (PIOA) Multi-driver Status Register +#define AT91C_PIOA_IDR (0xFFFFF444) // (PIOA) Interrupt Disable Register +#define AT91C_PIOA_ODSR (0xFFFFF438) // (PIOA) Output Data Status Register +#define AT91C_PIOA_PPUSR (0xFFFFF468) // (PIOA) Pull-up Status Register +#define AT91C_PIOA_OWSR (0xFFFFF4A8) // (PIOA) Output Write Status Register +#define AT91C_PIOA_BSR (0xFFFFF474) // (PIOA) Select B Register +#define AT91C_PIOA_OWER (0xFFFFF4A0) // (PIOA) Output Write Enable Register +#define AT91C_PIOA_IFER (0xFFFFF420) // (PIOA) Input Filter Enable Register +#define AT91C_PIOA_PDSR (0xFFFFF43C) // (PIOA) Pin Data Status Register +#define AT91C_PIOA_PPUER (0xFFFFF464) // (PIOA) Pull-up Enable Register +#define AT91C_PIOA_OSR (0xFFFFF418) // (PIOA) Output Status Register +#define AT91C_PIOA_ASR (0xFFFFF470) // (PIOA) Select A Register +#define AT91C_PIOA_MDDR (0xFFFFF454) // (PIOA) Multi-driver Disable Register +#define AT91C_PIOA_CODR (0xFFFFF434) // (PIOA) Clear Output Data Register +#define AT91C_PIOA_MDER (0xFFFFF450) // (PIOA) Multi-driver Enable Register +#define AT91C_PIOA_PDR (0xFFFFF404) // (PIOA) PIO Disable Register +#define AT91C_PIOA_IFSR (0xFFFFF428) // (PIOA) Input Filter Status Register +#define AT91C_PIOA_OER (0xFFFFF410) // (PIOA) Output Enable Register +#define AT91C_PIOA_PSR (0xFFFFF408) // (PIOA) PIO Status Register +// ========== Register definition for PIOB peripheral ========== +#define AT91C_PIOB_OWDR (0xFFFFF6A4) // (PIOB) Output Write Disable Register +#define AT91C_PIOB_MDER (0xFFFFF650) // (PIOB) Multi-driver Enable Register +#define AT91C_PIOB_PPUSR (0xFFFFF668) // (PIOB) Pull-up Status Register +#define AT91C_PIOB_IMR (0xFFFFF648) // (PIOB) Interrupt Mask Register +#define AT91C_PIOB_ASR (0xFFFFF670) // (PIOB) Select A Register +#define AT91C_PIOB_PPUDR (0xFFFFF660) // (PIOB) Pull-up Disable Register +#define AT91C_PIOB_PSR (0xFFFFF608) // (PIOB) PIO Status Register +#define AT91C_PIOB_IER (0xFFFFF640) // (PIOB) Interrupt Enable Register +#define AT91C_PIOB_CODR (0xFFFFF634) // (PIOB) Clear Output Data Register +#define AT91C_PIOB_OWER (0xFFFFF6A0) // (PIOB) Output Write Enable Register +#define AT91C_PIOB_ABSR (0xFFFFF678) // (PIOB) AB Select Status Register +#define AT91C_PIOB_IFDR (0xFFFFF624) // (PIOB) Input Filter Disable Register +#define AT91C_PIOB_PDSR (0xFFFFF63C) // (PIOB) Pin Data Status Register +#define AT91C_PIOB_IDR (0xFFFFF644) // (PIOB) Interrupt Disable Register +#define AT91C_PIOB_OWSR (0xFFFFF6A8) // (PIOB) Output Write Status Register +#define AT91C_PIOB_PDR (0xFFFFF604) // (PIOB) PIO Disable Register +#define AT91C_PIOB_ODR (0xFFFFF614) // (PIOB) Output Disable Registerr +#define AT91C_PIOB_IFSR (0xFFFFF628) // (PIOB) Input Filter Status Register +#define AT91C_PIOB_PPUER (0xFFFFF664) // (PIOB) Pull-up Enable Register +#define AT91C_PIOB_SODR (0xFFFFF630) // (PIOB) Set Output Data Register +#define AT91C_PIOB_ISR (0xFFFFF64C) // (PIOB) Interrupt Status Register +#define AT91C_PIOB_ODSR (0xFFFFF638) // (PIOB) Output Data Status Register +#define AT91C_PIOB_OSR (0xFFFFF618) // (PIOB) Output Status Register +#define AT91C_PIOB_MDSR (0xFFFFF658) // (PIOB) Multi-driver Status Register +#define AT91C_PIOB_IFER (0xFFFFF620) // (PIOB) Input Filter Enable Register +#define AT91C_PIOB_BSR (0xFFFFF674) // (PIOB) Select B Register +#define AT91C_PIOB_MDDR (0xFFFFF654) // (PIOB) Multi-driver Disable Register +#define AT91C_PIOB_OER (0xFFFFF610) // (PIOB) Output Enable Register +#define AT91C_PIOB_PER (0xFFFFF600) // (PIOB) PIO Enable Register +// ========== Register definition for CKGR peripheral ========== +#define AT91C_CKGR_MOR (0xFFFFFC20) // (CKGR) Main Oscillator Register +#define AT91C_CKGR_PLLR (0xFFFFFC2C) // (CKGR) PLL Register +#define AT91C_CKGR_MCFR (0xFFFFFC24) // (CKGR) Main Clock Frequency Register +// ========== Register definition for PMC peripheral ========== +#define AT91C_PMC_IDR (0xFFFFFC64) // (PMC) Interrupt Disable Register +#define AT91C_PMC_MOR (0xFFFFFC20) // (PMC) Main Oscillator Register +#define AT91C_PMC_PLLR (0xFFFFFC2C) // (PMC) PLL Register +#define AT91C_PMC_PCER (0xFFFFFC10) // (PMC) Peripheral Clock Enable Register +#define AT91C_PMC_PCKR (0xFFFFFC40) // (PMC) Programmable Clock Register +#define AT91C_PMC_MCKR (0xFFFFFC30) // (PMC) Master Clock Register +#define AT91C_PMC_SCDR (0xFFFFFC04) // (PMC) System Clock Disable Register +#define AT91C_PMC_PCDR (0xFFFFFC14) // (PMC) Peripheral Clock Disable Register +#define AT91C_PMC_SCSR (0xFFFFFC08) // (PMC) System Clock Status Register +#define AT91C_PMC_PCSR (0xFFFFFC18) // (PMC) Peripheral Clock Status Register +#define AT91C_PMC_MCFR (0xFFFFFC24) // (PMC) Main Clock Frequency Register +#define AT91C_PMC_SCER (0xFFFFFC00) // (PMC) System Clock Enable Register +#define AT91C_PMC_IMR (0xFFFFFC6C) // (PMC) Interrupt Mask Register +#define AT91C_PMC_IER (0xFFFFFC60) // (PMC) Interrupt Enable Register +#define AT91C_PMC_SR (0xFFFFFC68) // (PMC) Status Register +// ========== Register definition for RSTC peripheral ========== +#define AT91C_RSTC_RCR (0xFFFFFD00) // (RSTC) Reset Control Register +#define AT91C_RSTC_RMR (0xFFFFFD08) // (RSTC) Reset Mode Register +#define AT91C_RSTC_RSR (0xFFFFFD04) // (RSTC) Reset Status Register +// ========== Register definition for RTTC peripheral ========== +#define AT91C_RTTC_RTSR (0xFFFFFD2C) // (RTTC) Real-time Status Register +#define AT91C_RTTC_RTMR (0xFFFFFD20) // (RTTC) Real-time Mode Register +#define AT91C_RTTC_RTVR (0xFFFFFD28) // (RTTC) Real-time Value Register +#define AT91C_RTTC_RTAR (0xFFFFFD24) // (RTTC) Real-time Alarm Register +// ========== Register definition for PITC peripheral ========== +#define AT91C_PITC_PIVR (0xFFFFFD38) // (PITC) Period Interval Value Register +#define AT91C_PITC_PISR (0xFFFFFD34) // (PITC) Period Interval Status Register +#define AT91C_PITC_PIIR (0xFFFFFD3C) // (PITC) Period Interval Image Register +#define AT91C_PITC_PIMR (0xFFFFFD30) // (PITC) Period Interval Mode Register +// ========== Register definition for WDTC peripheral ========== +#define AT91C_WDTC_WDCR (0xFFFFFD40) // (WDTC) Watchdog Control Register +#define AT91C_WDTC_WDSR (0xFFFFFD48) // (WDTC) Watchdog Status Register +#define AT91C_WDTC_WDMR (0xFFFFFD44) // (WDTC) Watchdog Mode Register +// ========== Register definition for VREG peripheral ========== +#define AT91C_VREG_MR (0xFFFFFD60) // (VREG) Voltage Regulator Mode Register +// ========== Register definition for MC peripheral ========== +#define AT91C_MC_ASR (0xFFFFFF04) // (MC) MC Abort Status Register +#define AT91C_MC_RCR (0xFFFFFF00) // (MC) MC Remap Control Register +#define AT91C_MC_FCR (0xFFFFFF64) // (MC) MC Flash Command Register +#define AT91C_MC_AASR (0xFFFFFF08) // (MC) MC Abort Address Status Register +#define AT91C_MC_FSR (0xFFFFFF68) // (MC) MC Flash Status Register +#define AT91C_MC_FMR (0xFFFFFF60) // (MC) MC Flash Mode Register +// ========== Register definition for PDC_SPI1 peripheral ========== +#define AT91C_SPI1_PTCR (0xFFFE4120) // (PDC_SPI1) PDC Transfer Control Register +#define AT91C_SPI1_RPR (0xFFFE4100) // (PDC_SPI1) Receive Pointer Register +#define AT91C_SPI1_TNCR (0xFFFE411C) // (PDC_SPI1) Transmit Next Counter Register +#define AT91C_SPI1_TPR (0xFFFE4108) // (PDC_SPI1) Transmit Pointer Register +#define AT91C_SPI1_TNPR (0xFFFE4118) // (PDC_SPI1) Transmit Next Pointer Register +#define AT91C_SPI1_TCR (0xFFFE410C) // (PDC_SPI1) Transmit Counter Register +#define AT91C_SPI1_RCR (0xFFFE4104) // (PDC_SPI1) Receive Counter Register +#define AT91C_SPI1_RNPR (0xFFFE4110) // (PDC_SPI1) Receive Next Pointer Register +#define AT91C_SPI1_RNCR (0xFFFE4114) // (PDC_SPI1) Receive Next Counter Register +#define AT91C_SPI1_PTSR (0xFFFE4124) // (PDC_SPI1) PDC Transfer Status Register +// ========== Register definition for SPI1 peripheral ========== +#define AT91C_SPI1_IMR (0xFFFE401C) // (SPI1) Interrupt Mask Register +#define AT91C_SPI1_IER (0xFFFE4014) // (SPI1) Interrupt Enable Register +#define AT91C_SPI1_MR (0xFFFE4004) // (SPI1) Mode Register +#define AT91C_SPI1_RDR (0xFFFE4008) // (SPI1) Receive Data Register +#define AT91C_SPI1_IDR (0xFFFE4018) // (SPI1) Interrupt Disable Register +#define AT91C_SPI1_SR (0xFFFE4010) // (SPI1) Status Register +#define AT91C_SPI1_TDR (0xFFFE400C) // (SPI1) Transmit Data Register +#define AT91C_SPI1_CR (0xFFFE4000) // (SPI1) Control Register +#define AT91C_SPI1_CSR (0xFFFE4030) // (SPI1) Chip Select Register +// ========== Register definition for PDC_SPI0 peripheral ========== +#define AT91C_SPI0_PTCR (0xFFFE0120) // (PDC_SPI0) PDC Transfer Control Register +#define AT91C_SPI0_TPR (0xFFFE0108) // (PDC_SPI0) Transmit Pointer Register +#define AT91C_SPI0_TCR (0xFFFE010C) // (PDC_SPI0) Transmit Counter Register +#define AT91C_SPI0_RCR (0xFFFE0104) // (PDC_SPI0) Receive Counter Register +#define AT91C_SPI0_PTSR (0xFFFE0124) // (PDC_SPI0) PDC Transfer Status Register +#define AT91C_SPI0_RNPR (0xFFFE0110) // (PDC_SPI0) Receive Next Pointer Register +#define AT91C_SPI0_RPR (0xFFFE0100) // (PDC_SPI0) Receive Pointer Register +#define AT91C_SPI0_TNCR (0xFFFE011C) // (PDC_SPI0) Transmit Next Counter Register +#define AT91C_SPI0_RNCR (0xFFFE0114) // (PDC_SPI0) Receive Next Counter Register +#define AT91C_SPI0_TNPR (0xFFFE0118) // (PDC_SPI0) Transmit Next Pointer Register +// ========== Register definition for SPI0 peripheral ========== +#define AT91C_SPI0_IER (0xFFFE0014) // (SPI0) Interrupt Enable Register +#define AT91C_SPI0_SR (0xFFFE0010) // (SPI0) Status Register +#define AT91C_SPI0_IDR (0xFFFE0018) // (SPI0) Interrupt Disable Register +#define AT91C_SPI0_CR (0xFFFE0000) // (SPI0) Control Register +#define AT91C_SPI0_MR (0xFFFE0004) // (SPI0) Mode Register +#define AT91C_SPI0_IMR (0xFFFE001C) // (SPI0) Interrupt Mask Register +#define AT91C_SPI0_TDR (0xFFFE000C) // (SPI0) Transmit Data Register +#define AT91C_SPI0_RDR (0xFFFE0008) // (SPI0) Receive Data Register +#define AT91C_SPI0_CSR (0xFFFE0030) // (SPI0) Chip Select Register +// ========== Register definition for PDC_US1 peripheral ========== +#define AT91C_US1_RNCR (0xFFFC4114) // (PDC_US1) Receive Next Counter Register +#define AT91C_US1_PTCR (0xFFFC4120) // (PDC_US1) PDC Transfer Control Register +#define AT91C_US1_TCR (0xFFFC410C) // (PDC_US1) Transmit Counter Register +#define AT91C_US1_PTSR (0xFFFC4124) // (PDC_US1) PDC Transfer Status Register +#define AT91C_US1_TNPR (0xFFFC4118) // (PDC_US1) Transmit Next Pointer Register +#define AT91C_US1_RCR (0xFFFC4104) // (PDC_US1) Receive Counter Register +#define AT91C_US1_RNPR (0xFFFC4110) // (PDC_US1) Receive Next Pointer Register +#define AT91C_US1_RPR (0xFFFC4100) // (PDC_US1) Receive Pointer Register +#define AT91C_US1_TNCR (0xFFFC411C) // (PDC_US1) Transmit Next Counter Register +#define AT91C_US1_TPR (0xFFFC4108) // (PDC_US1) Transmit Pointer Register +// ========== Register definition for US1 peripheral ========== +#define AT91C_US1_IF (0xFFFC404C) // (US1) IRDA_FILTER Register +#define AT91C_US1_NER (0xFFFC4044) // (US1) Nb Errors Register +#define AT91C_US1_RTOR (0xFFFC4024) // (US1) Receiver Time-out Register +#define AT91C_US1_CSR (0xFFFC4014) // (US1) Channel Status Register +#define AT91C_US1_IDR (0xFFFC400C) // (US1) Interrupt Disable Register +#define AT91C_US1_IER (0xFFFC4008) // (US1) Interrupt Enable Register +#define AT91C_US1_THR (0xFFFC401C) // (US1) Transmitter Holding Register +#define AT91C_US1_TTGR (0xFFFC4028) // (US1) Transmitter Time-guard Register +#define AT91C_US1_RHR (0xFFFC4018) // (US1) Receiver Holding Register +#define AT91C_US1_BRGR (0xFFFC4020) // (US1) Baud Rate Generator Register +#define AT91C_US1_IMR (0xFFFC4010) // (US1) Interrupt Mask Register +#define AT91C_US1_FIDI (0xFFFC4040) // (US1) FI_DI_Ratio Register +#define AT91C_US1_CR (0xFFFC4000) // (US1) Control Register +#define AT91C_US1_MR (0xFFFC4004) // (US1) Mode Register +// ========== Register definition for PDC_US0 peripheral ========== +#define AT91C_US0_TNPR (0xFFFC0118) // (PDC_US0) Transmit Next Pointer Register +#define AT91C_US0_RNPR (0xFFFC0110) // (PDC_US0) Receive Next Pointer Register +#define AT91C_US0_TCR (0xFFFC010C) // (PDC_US0) Transmit Counter Register +#define AT91C_US0_PTCR (0xFFFC0120) // (PDC_US0) PDC Transfer Control Register +#define AT91C_US0_PTSR (0xFFFC0124) // (PDC_US0) PDC Transfer Status Register +#define AT91C_US0_TNCR (0xFFFC011C) // (PDC_US0) Transmit Next Counter Register +#define AT91C_US0_TPR (0xFFFC0108) // (PDC_US0) Transmit Pointer Register +#define AT91C_US0_RCR (0xFFFC0104) // (PDC_US0) Receive Counter Register +#define AT91C_US0_RPR (0xFFFC0100) // (PDC_US0) Receive Pointer Register +#define AT91C_US0_RNCR (0xFFFC0114) // (PDC_US0) Receive Next Counter Register +// ========== Register definition for US0 peripheral ========== +#define AT91C_US0_BRGR (0xFFFC0020) // (US0) Baud Rate Generator Register +#define AT91C_US0_NER (0xFFFC0044) // (US0) Nb Errors Register +#define AT91C_US0_CR (0xFFFC0000) // (US0) Control Register +#define AT91C_US0_IMR (0xFFFC0010) // (US0) Interrupt Mask Register +#define AT91C_US0_FIDI (0xFFFC0040) // (US0) FI_DI_Ratio Register +#define AT91C_US0_TTGR (0xFFFC0028) // (US0) Transmitter Time-guard Register +#define AT91C_US0_MR (0xFFFC0004) // (US0) Mode Register +#define AT91C_US0_RTOR (0xFFFC0024) // (US0) Receiver Time-out Register +#define AT91C_US0_CSR (0xFFFC0014) // (US0) Channel Status Register +#define AT91C_US0_RHR (0xFFFC0018) // (US0) Receiver Holding Register +#define AT91C_US0_IDR (0xFFFC000C) // (US0) Interrupt Disable Register +#define AT91C_US0_THR (0xFFFC001C) // (US0) Transmitter Holding Register +#define AT91C_US0_IF (0xFFFC004C) // (US0) IRDA_FILTER Register +#define AT91C_US0_IER (0xFFFC0008) // (US0) Interrupt Enable Register +// ========== Register definition for PDC_SSC peripheral ========== +#define AT91C_SSC_TNCR (0xFFFD411C) // (PDC_SSC) Transmit Next Counter Register +#define AT91C_SSC_RPR (0xFFFD4100) // (PDC_SSC) Receive Pointer Register +#define AT91C_SSC_RNCR (0xFFFD4114) // (PDC_SSC) Receive Next Counter Register +#define AT91C_SSC_TPR (0xFFFD4108) // (PDC_SSC) Transmit Pointer Register +#define AT91C_SSC_PTCR (0xFFFD4120) // (PDC_SSC) PDC Transfer Control Register +#define AT91C_SSC_TCR (0xFFFD410C) // (PDC_SSC) Transmit Counter Register +#define AT91C_SSC_RCR (0xFFFD4104) // (PDC_SSC) Receive Counter Register +#define AT91C_SSC_RNPR (0xFFFD4110) // (PDC_SSC) Receive Next Pointer Register +#define AT91C_SSC_TNPR (0xFFFD4118) // (PDC_SSC) Transmit Next Pointer Register +#define AT91C_SSC_PTSR (0xFFFD4124) // (PDC_SSC) PDC Transfer Status Register +// ========== Register definition for SSC peripheral ========== +#define AT91C_SSC_RHR (0xFFFD4020) // (SSC) Receive Holding Register +#define AT91C_SSC_RSHR (0xFFFD4030) // (SSC) Receive Sync Holding Register +#define AT91C_SSC_TFMR (0xFFFD401C) // (SSC) Transmit Frame Mode Register +#define AT91C_SSC_IDR (0xFFFD4048) // (SSC) Interrupt Disable Register +#define AT91C_SSC_THR (0xFFFD4024) // (SSC) Transmit Holding Register +#define AT91C_SSC_RCMR (0xFFFD4010) // (SSC) Receive Clock ModeRegister +#define AT91C_SSC_IER (0xFFFD4044) // (SSC) Interrupt Enable Register +#define AT91C_SSC_TSHR (0xFFFD4034) // (SSC) Transmit Sync Holding Register +#define AT91C_SSC_SR (0xFFFD4040) // (SSC) Status Register +#define AT91C_SSC_CMR (0xFFFD4004) // (SSC) Clock Mode Register +#define AT91C_SSC_TCMR (0xFFFD4018) // (SSC) Transmit Clock Mode Register +#define AT91C_SSC_CR (0xFFFD4000) // (SSC) Control Register +#define AT91C_SSC_IMR (0xFFFD404C) // (SSC) Interrupt Mask Register +#define AT91C_SSC_RFMR (0xFFFD4014) // (SSC) Receive Frame Mode Register +// ========== Register definition for TWI peripheral ========== +#define AT91C_TWI_IER (0xFFFB8024) // (TWI) Interrupt Enable Register +#define AT91C_TWI_CR (0xFFFB8000) // (TWI) Control Register +#define AT91C_TWI_SR (0xFFFB8020) // (TWI) Status Register +#define AT91C_TWI_IMR (0xFFFB802C) // (TWI) Interrupt Mask Register +#define AT91C_TWI_THR (0xFFFB8034) // (TWI) Transmit Holding Register +#define AT91C_TWI_IDR (0xFFFB8028) // (TWI) Interrupt Disable Register +#define AT91C_TWI_IADR (0xFFFB800C) // (TWI) Internal Address Register +#define AT91C_TWI_MMR (0xFFFB8004) // (TWI) Master Mode Register +#define AT91C_TWI_CWGR (0xFFFB8010) // (TWI) Clock Waveform Generator Register +#define AT91C_TWI_RHR (0xFFFB8030) // (TWI) Receive Holding Register +// ========== Register definition for PWMC_CH3 peripheral ========== +#define AT91C_PWMC_CH3_CUPDR (0xFFFCC270) // (PWMC_CH3) Channel Update Register +#define AT91C_PWMC_CH3_Reserved (0xFFFCC274) // (PWMC_CH3) Reserved +#define AT91C_PWMC_CH3_CPRDR (0xFFFCC268) // (PWMC_CH3) Channel Period Register +#define AT91C_PWMC_CH3_CDTYR (0xFFFCC264) // (PWMC_CH3) Channel Duty Cycle Register +#define AT91C_PWMC_CH3_CCNTR (0xFFFCC26C) // (PWMC_CH3) Channel Counter Register +#define AT91C_PWMC_CH3_CMR (0xFFFCC260) // (PWMC_CH3) Channel Mode Register +// ========== Register definition for PWMC_CH2 peripheral ========== +#define AT91C_PWMC_CH2_Reserved (0xFFFCC254) // (PWMC_CH2) Reserved +#define AT91C_PWMC_CH2_CMR (0xFFFCC240) // (PWMC_CH2) Channel Mode Register +#define AT91C_PWMC_CH2_CCNTR (0xFFFCC24C) // (PWMC_CH2) Channel Counter Register +#define AT91C_PWMC_CH2_CPRDR (0xFFFCC248) // (PWMC_CH2) Channel Period Register +#define AT91C_PWMC_CH2_CUPDR (0xFFFCC250) // (PWMC_CH2) Channel Update Register +#define AT91C_PWMC_CH2_CDTYR (0xFFFCC244) // (PWMC_CH2) Channel Duty Cycle Register +// ========== Register definition for PWMC_CH1 peripheral ========== +#define AT91C_PWMC_CH1_Reserved (0xFFFCC234) // (PWMC_CH1) Reserved +#define AT91C_PWMC_CH1_CUPDR (0xFFFCC230) // (PWMC_CH1) Channel Update Register +#define AT91C_PWMC_CH1_CPRDR (0xFFFCC228) // (PWMC_CH1) Channel Period Register +#define AT91C_PWMC_CH1_CCNTR (0xFFFCC22C) // (PWMC_CH1) Channel Counter Register +#define AT91C_PWMC_CH1_CDTYR (0xFFFCC224) // (PWMC_CH1) Channel Duty Cycle Register +#define AT91C_PWMC_CH1_CMR (0xFFFCC220) // (PWMC_CH1) Channel Mode Register +// ========== Register definition for PWMC_CH0 peripheral ========== +#define AT91C_PWMC_CH0_Reserved (0xFFFCC214) // (PWMC_CH0) Reserved +#define AT91C_PWMC_CH0_CPRDR (0xFFFCC208) // (PWMC_CH0) Channel Period Register +#define AT91C_PWMC_CH0_CDTYR (0xFFFCC204) // (PWMC_CH0) Channel Duty Cycle Register +#define AT91C_PWMC_CH0_CMR (0xFFFCC200) // (PWMC_CH0) Channel Mode Register +#define AT91C_PWMC_CH0_CUPDR (0xFFFCC210) // (PWMC_CH0) Channel Update Register +#define AT91C_PWMC_CH0_CCNTR (0xFFFCC20C) // (PWMC_CH0) Channel Counter Register +// ========== Register definition for PWMC peripheral ========== +#define AT91C_PWMC_IDR (0xFFFCC014) // (PWMC) PWMC Interrupt Disable Register +#define AT91C_PWMC_DIS (0xFFFCC008) // (PWMC) PWMC Disable Register +#define AT91C_PWMC_IER (0xFFFCC010) // (PWMC) PWMC Interrupt Enable Register +#define AT91C_PWMC_VR (0xFFFCC0FC) // (PWMC) PWMC Version Register +#define AT91C_PWMC_ISR (0xFFFCC01C) // (PWMC) PWMC Interrupt Status Register +#define AT91C_PWMC_SR (0xFFFCC00C) // (PWMC) PWMC Status Register +#define AT91C_PWMC_IMR (0xFFFCC018) // (PWMC) PWMC Interrupt Mask Register +#define AT91C_PWMC_MR (0xFFFCC000) // (PWMC) PWMC Mode Register +#define AT91C_PWMC_ENA (0xFFFCC004) // (PWMC) PWMC Enable Register +// ========== Register definition for UDP peripheral ========== +#define AT91C_UDP_IMR (0xFFFB0018) // (UDP) Interrupt Mask Register +#define AT91C_UDP_FADDR (0xFFFB0008) // (UDP) Function Address Register +#define AT91C_UDP_NUM (0xFFFB0000) // (UDP) Frame Number Register +#define AT91C_UDP_FDR (0xFFFB0050) // (UDP) Endpoint FIFO Data Register +#define AT91C_UDP_ISR (0xFFFB001C) // (UDP) Interrupt Status Register +#define AT91C_UDP_CSR (0xFFFB0030) // (UDP) Endpoint Control and Status Register +#define AT91C_UDP_IDR (0xFFFB0014) // (UDP) Interrupt Disable Register +#define AT91C_UDP_ICR (0xFFFB0020) // (UDP) Interrupt Clear Register +#define AT91C_UDP_RSTEP (0xFFFB0028) // (UDP) Reset Endpoint Register +#define AT91C_UDP_TXVC (0xFFFB0074) // (UDP) Transceiver Control Register +#define AT91C_UDP_GLBSTATE (0xFFFB0004) // (UDP) Global State Register +#define AT91C_UDP_IER (0xFFFB0010) // (UDP) Interrupt Enable Register +// ========== Register definition for TC0 peripheral ========== +#define AT91C_TC0_SR (0xFFFA0020) // (TC0) Status Register +#define AT91C_TC0_RC (0xFFFA001C) // (TC0) Register C +#define AT91C_TC0_RB (0xFFFA0018) // (TC0) Register B +#define AT91C_TC0_CCR (0xFFFA0000) // (TC0) Channel Control Register +#define AT91C_TC0_CMR (0xFFFA0004) // (TC0) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC0_IER (0xFFFA0024) // (TC0) Interrupt Enable Register +#define AT91C_TC0_RA (0xFFFA0014) // (TC0) Register A +#define AT91C_TC0_IDR (0xFFFA0028) // (TC0) Interrupt Disable Register +#define AT91C_TC0_CV (0xFFFA0010) // (TC0) Counter Value +#define AT91C_TC0_IMR (0xFFFA002C) // (TC0) Interrupt Mask Register +// ========== Register definition for TC1 peripheral ========== +#define AT91C_TC1_RB (0xFFFA0058) // (TC1) Register B +#define AT91C_TC1_CCR (0xFFFA0040) // (TC1) Channel Control Register +#define AT91C_TC1_IER (0xFFFA0064) // (TC1) Interrupt Enable Register +#define AT91C_TC1_IDR (0xFFFA0068) // (TC1) Interrupt Disable Register +#define AT91C_TC1_SR (0xFFFA0060) // (TC1) Status Register +#define AT91C_TC1_CMR (0xFFFA0044) // (TC1) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC1_RA (0xFFFA0054) // (TC1) Register A +#define AT91C_TC1_RC (0xFFFA005C) // (TC1) Register C +#define AT91C_TC1_IMR (0xFFFA006C) // (TC1) Interrupt Mask Register +#define AT91C_TC1_CV (0xFFFA0050) // (TC1) Counter Value +// ========== Register definition for TC2 peripheral ========== +#define AT91C_TC2_CMR (0xFFFA0084) // (TC2) Channel Mode Register (Capture Mode / Waveform Mode) +#define AT91C_TC2_CCR (0xFFFA0080) // (TC2) Channel Control Register +#define AT91C_TC2_CV (0xFFFA0090) // (TC2) Counter Value +#define AT91C_TC2_RA (0xFFFA0094) // (TC2) Register A +#define AT91C_TC2_RB (0xFFFA0098) // (TC2) Register B +#define AT91C_TC2_IDR (0xFFFA00A8) // (TC2) Interrupt Disable Register +#define AT91C_TC2_IMR (0xFFFA00AC) // (TC2) Interrupt Mask Register +#define AT91C_TC2_RC (0xFFFA009C) // (TC2) Register C +#define AT91C_TC2_IER (0xFFFA00A4) // (TC2) Interrupt Enable Register +#define AT91C_TC2_SR (0xFFFA00A0) // (TC2) Status Register +// ========== Register definition for TCB peripheral ========== +#define AT91C_TCB_BMR (0xFFFA00C4) // (TCB) TC Block Mode Register +#define AT91C_TCB_BCR (0xFFFA00C0) // (TCB) TC Block Control Register +// ========== Register definition for CAN_MB0 peripheral ========== +#define AT91C_CAN_MB0_MDL (0xFFFD0214) // (CAN_MB0) MailBox Data Low Register +#define AT91C_CAN_MB0_MAM (0xFFFD0204) // (CAN_MB0) MailBox Acceptance Mask Register +#define AT91C_CAN_MB0_MCR (0xFFFD021C) // (CAN_MB0) MailBox Control Register +#define AT91C_CAN_MB0_MID (0xFFFD0208) // (CAN_MB0) MailBox ID Register +#define AT91C_CAN_MB0_MSR (0xFFFD0210) // (CAN_MB0) MailBox Status Register +#define AT91C_CAN_MB0_MFID (0xFFFD020C) // (CAN_MB0) MailBox Family ID Register +#define AT91C_CAN_MB0_MDH (0xFFFD0218) // (CAN_MB0) MailBox Data High Register +#define AT91C_CAN_MB0_MMR (0xFFFD0200) // (CAN_MB0) MailBox Mode Register +// ========== Register definition for CAN_MB1 peripheral ========== +#define AT91C_CAN_MB1_MDL (0xFFFD0234) // (CAN_MB1) MailBox Data Low Register +#define AT91C_CAN_MB1_MID (0xFFFD0228) // (CAN_MB1) MailBox ID Register +#define AT91C_CAN_MB1_MMR (0xFFFD0220) // (CAN_MB1) MailBox Mode Register +#define AT91C_CAN_MB1_MSR (0xFFFD0230) // (CAN_MB1) MailBox Status Register +#define AT91C_CAN_MB1_MAM (0xFFFD0224) // (CAN_MB1) MailBox Acceptance Mask Register +#define AT91C_CAN_MB1_MDH (0xFFFD0238) // (CAN_MB1) MailBox Data High Register +#define AT91C_CAN_MB1_MCR (0xFFFD023C) // (CAN_MB1) MailBox Control Register +#define AT91C_CAN_MB1_MFID (0xFFFD022C) // (CAN_MB1) MailBox Family ID Register +// ========== Register definition for CAN_MB2 peripheral ========== +#define AT91C_CAN_MB2_MCR (0xFFFD025C) // (CAN_MB2) MailBox Control Register +#define AT91C_CAN_MB2_MDH (0xFFFD0258) // (CAN_MB2) MailBox Data High Register +#define AT91C_CAN_MB2_MID (0xFFFD0248) // (CAN_MB2) MailBox ID Register +#define AT91C_CAN_MB2_MDL (0xFFFD0254) // (CAN_MB2) MailBox Data Low Register +#define AT91C_CAN_MB2_MMR (0xFFFD0240) // (CAN_MB2) MailBox Mode Register +#define AT91C_CAN_MB2_MAM (0xFFFD0244) // (CAN_MB2) MailBox Acceptance Mask Register +#define AT91C_CAN_MB2_MFID (0xFFFD024C) // (CAN_MB2) MailBox Family ID Register +#define AT91C_CAN_MB2_MSR (0xFFFD0250) // (CAN_MB2) MailBox Status Register +// ========== Register definition for CAN_MB3 peripheral ========== +#define AT91C_CAN_MB3_MFID (0xFFFD026C) // (CAN_MB3) MailBox Family ID Register +#define AT91C_CAN_MB3_MAM (0xFFFD0264) // (CAN_MB3) MailBox Acceptance Mask Register +#define AT91C_CAN_MB3_MID (0xFFFD0268) // (CAN_MB3) MailBox ID Register +#define AT91C_CAN_MB3_MCR (0xFFFD027C) // (CAN_MB3) MailBox Control Register +#define AT91C_CAN_MB3_MMR (0xFFFD0260) // (CAN_MB3) MailBox Mode Register +#define AT91C_CAN_MB3_MSR (0xFFFD0270) // (CAN_MB3) MailBox Status Register +#define AT91C_CAN_MB3_MDL (0xFFFD0274) // (CAN_MB3) MailBox Data Low Register +#define AT91C_CAN_MB3_MDH (0xFFFD0278) // (CAN_MB3) MailBox Data High Register +// ========== Register definition for CAN_MB4 peripheral ========== +#define AT91C_CAN_MB4_MID (0xFFFD0288) // (CAN_MB4) MailBox ID Register +#define AT91C_CAN_MB4_MMR (0xFFFD0280) // (CAN_MB4) MailBox Mode Register +#define AT91C_CAN_MB4_MDH (0xFFFD0298) // (CAN_MB4) MailBox Data High Register +#define AT91C_CAN_MB4_MFID (0xFFFD028C) // (CAN_MB4) MailBox Family ID Register +#define AT91C_CAN_MB4_MSR (0xFFFD0290) // (CAN_MB4) MailBox Status Register +#define AT91C_CAN_MB4_MCR (0xFFFD029C) // (CAN_MB4) MailBox Control Register +#define AT91C_CAN_MB4_MDL (0xFFFD0294) // (CAN_MB4) MailBox Data Low Register +#define AT91C_CAN_MB4_MAM (0xFFFD0284) // (CAN_MB4) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB5 peripheral ========== +#define AT91C_CAN_MB5_MSR (0xFFFD02B0) // (CAN_MB5) MailBox Status Register +#define AT91C_CAN_MB5_MCR (0xFFFD02BC) // (CAN_MB5) MailBox Control Register +#define AT91C_CAN_MB5_MFID (0xFFFD02AC) // (CAN_MB5) MailBox Family ID Register +#define AT91C_CAN_MB5_MDH (0xFFFD02B8) // (CAN_MB5) MailBox Data High Register +#define AT91C_CAN_MB5_MID (0xFFFD02A8) // (CAN_MB5) MailBox ID Register +#define AT91C_CAN_MB5_MMR (0xFFFD02A0) // (CAN_MB5) MailBox Mode Register +#define AT91C_CAN_MB5_MDL (0xFFFD02B4) // (CAN_MB5) MailBox Data Low Register +#define AT91C_CAN_MB5_MAM (0xFFFD02A4) // (CAN_MB5) MailBox Acceptance Mask Register +// ========== Register definition for CAN_MB6 peripheral ========== +#define AT91C_CAN_MB6_MFID (0xFFFD02CC) // (CAN_MB6) MailBox Family ID Register +#define AT91C_CAN_MB6_MID (0xFFFD02C8) // (CAN_MB6) MailBox ID Register +#define AT91C_CAN_MB6_MAM (0xFFFD02C4) // (CAN_MB6) MailBox Acceptance Mask Register +#define AT91C_CAN_MB6_MSR (0xFFFD02D0) // (CAN_MB6) MailBox Status Register +#define AT91C_CAN_MB6_MDL (0xFFFD02D4) // (CAN_MB6) MailBox Data Low Register +#define AT91C_CAN_MB6_MCR (0xFFFD02DC) // (CAN_MB6) MailBox Control Register +#define AT91C_CAN_MB6_MDH (0xFFFD02D8) // (CAN_MB6) MailBox Data High Register +#define AT91C_CAN_MB6_MMR (0xFFFD02C0) // (CAN_MB6) MailBox Mode Register +// ========== Register definition for CAN_MB7 peripheral ========== +#define AT91C_CAN_MB7_MCR (0xFFFD02FC) // (CAN_MB7) MailBox Control Register +#define AT91C_CAN_MB7_MDH (0xFFFD02F8) // (CAN_MB7) MailBox Data High Register +#define AT91C_CAN_MB7_MFID (0xFFFD02EC) // (CAN_MB7) MailBox Family ID Register +#define AT91C_CAN_MB7_MDL (0xFFFD02F4) // (CAN_MB7) MailBox Data Low Register +#define AT91C_CAN_MB7_MID (0xFFFD02E8) // (CAN_MB7) MailBox ID Register +#define AT91C_CAN_MB7_MMR (0xFFFD02E0) // (CAN_MB7) MailBox Mode Register +#define AT91C_CAN_MB7_MAM (0xFFFD02E4) // (CAN_MB7) MailBox Acceptance Mask Register +#define AT91C_CAN_MB7_MSR (0xFFFD02F0) // (CAN_MB7) MailBox Status Register +// ========== Register definition for CAN peripheral ========== +#define AT91C_CAN_TCR (0xFFFD0024) // (CAN) Transfer Command Register +#define AT91C_CAN_IMR (0xFFFD000C) // (CAN) Interrupt Mask Register +#define AT91C_CAN_IER (0xFFFD0004) // (CAN) Interrupt Enable Register +#define AT91C_CAN_ECR (0xFFFD0020) // (CAN) Error Counter Register +#define AT91C_CAN_TIMESTP (0xFFFD001C) // (CAN) Time Stamp Register +#define AT91C_CAN_MR (0xFFFD0000) // (CAN) Mode Register +#define AT91C_CAN_IDR (0xFFFD0008) // (CAN) Interrupt Disable Register +#define AT91C_CAN_ACR (0xFFFD0028) // (CAN) Abort Command Register +#define AT91C_CAN_TIM (0xFFFD0018) // (CAN) Timer Register +#define AT91C_CAN_SR (0xFFFD0010) // (CAN) Status Register +#define AT91C_CAN_BR (0xFFFD0014) // (CAN) Baudrate Register +#define AT91C_CAN_VR (0xFFFD00FC) // (CAN) Version Register +// ========== Register definition for EMAC peripheral ========== +#define AT91C_EMAC_ISR (0xFFFDC024) // (EMAC) Interrupt Status Register +#define AT91C_EMAC_SA4H (0xFFFDC0B4) // (EMAC) Specific Address 4 Top, Last 2 bytes +#define AT91C_EMAC_SA1L (0xFFFDC098) // (EMAC) Specific Address 1 Bottom, First 4 bytes +#define AT91C_EMAC_ELE (0xFFFDC078) // (EMAC) Excessive Length Errors Register +#define AT91C_EMAC_LCOL (0xFFFDC05C) // (EMAC) Late Collision Register +#define AT91C_EMAC_RLE (0xFFFDC088) // (EMAC) Receive Length Field Mismatch Register +#define AT91C_EMAC_WOL (0xFFFDC0C4) // (EMAC) Wake On LAN Register +#define AT91C_EMAC_DTF (0xFFFDC058) // (EMAC) Deferred Transmission Frame Register +#define AT91C_EMAC_TUND (0xFFFDC064) // (EMAC) Transmit Underrun Error Register +#define AT91C_EMAC_NCR (0xFFFDC000) // (EMAC) Network Control Register +#define AT91C_EMAC_SA4L (0xFFFDC0B0) // (EMAC) Specific Address 4 Bottom, First 4 bytes +#define AT91C_EMAC_RSR (0xFFFDC020) // (EMAC) Receive Status Register +#define AT91C_EMAC_SA3L (0xFFFDC0A8) // (EMAC) Specific Address 3 Bottom, First 4 bytes +#define AT91C_EMAC_TSR (0xFFFDC014) // (EMAC) Transmit Status Register +#define AT91C_EMAC_IDR (0xFFFDC02C) // (EMAC) Interrupt Disable Register +#define AT91C_EMAC_RSE (0xFFFDC074) // (EMAC) Receive Symbol Errors Register +#define AT91C_EMAC_ECOL (0xFFFDC060) // (EMAC) Excessive Collision Register +#define AT91C_EMAC_TID (0xFFFDC0B8) // (EMAC) Type ID Checking Register +#define AT91C_EMAC_HRB (0xFFFDC090) // (EMAC) Hash Address Bottom[31:0] +#define AT91C_EMAC_TBQP (0xFFFDC01C) // (EMAC) Transmit Buffer Queue Pointer +#define AT91C_EMAC_USRIO (0xFFFDC0C0) // (EMAC) USER Input/Output Register +#define AT91C_EMAC_PTR (0xFFFDC038) // (EMAC) Pause Time Register +#define AT91C_EMAC_SA2H (0xFFFDC0A4) // (EMAC) Specific Address 2 Top, Last 2 bytes +#define AT91C_EMAC_ROV (0xFFFDC070) // (EMAC) Receive Overrun Errors Register +#define AT91C_EMAC_ALE (0xFFFDC054) // (EMAC) Alignment Error Register +#define AT91C_EMAC_RJA (0xFFFDC07C) // (EMAC) Receive Jabbers Register +#define AT91C_EMAC_RBQP (0xFFFDC018) // (EMAC) Receive Buffer Queue Pointer +#define AT91C_EMAC_TPF (0xFFFDC08C) // (EMAC) Transmitted Pause Frames Register +#define AT91C_EMAC_NCFGR (0xFFFDC004) // (EMAC) Network Configuration Register +#define AT91C_EMAC_HRT (0xFFFDC094) // (EMAC) Hash Address Top[63:32] +#define AT91C_EMAC_USF (0xFFFDC080) // (EMAC) Undersize Frames Register +#define AT91C_EMAC_FCSE (0xFFFDC050) // (EMAC) Frame Check Sequence Error Register +#define AT91C_EMAC_TPQ (0xFFFDC0BC) // (EMAC) Transmit Pause Quantum Register +#define AT91C_EMAC_MAN (0xFFFDC034) // (EMAC) PHY Maintenance Register +#define AT91C_EMAC_FTO (0xFFFDC040) // (EMAC) Frames Transmitted OK Register +#define AT91C_EMAC_REV (0xFFFDC0FC) // (EMAC) Revision Register +#define AT91C_EMAC_IMR (0xFFFDC030) // (EMAC) Interrupt Mask Register +#define AT91C_EMAC_SCF (0xFFFDC044) // (EMAC) Single Collision Frame Register +#define AT91C_EMAC_PFR (0xFFFDC03C) // (EMAC) Pause Frames received Register +#define AT91C_EMAC_MCF (0xFFFDC048) // (EMAC) Multiple Collision Frame Register +#define AT91C_EMAC_NSR (0xFFFDC008) // (EMAC) Network Status Register +#define AT91C_EMAC_SA2L (0xFFFDC0A0) // (EMAC) Specific Address 2 Bottom, First 4 bytes +#define AT91C_EMAC_FRO (0xFFFDC04C) // (EMAC) Frames Received OK Register +#define AT91C_EMAC_IER (0xFFFDC028) // (EMAC) Interrupt Enable Register +#define AT91C_EMAC_SA1H (0xFFFDC09C) // (EMAC) Specific Address 1 Top, Last 2 bytes +#define AT91C_EMAC_CSE (0xFFFDC068) // (EMAC) Carrier Sense Error Register +#define AT91C_EMAC_SA3H (0xFFFDC0AC) // (EMAC) Specific Address 3 Top, Last 2 bytes +#define AT91C_EMAC_RRE (0xFFFDC06C) // (EMAC) Receive Ressource Error Register +#define AT91C_EMAC_STE (0xFFFDC084) // (EMAC) SQE Test Error Register +// ========== Register definition for PDC_ADC peripheral ========== +#define AT91C_ADC_PTSR (0xFFFD8124) // (PDC_ADC) PDC Transfer Status Register +#define AT91C_ADC_PTCR (0xFFFD8120) // (PDC_ADC) PDC Transfer Control Register +#define AT91C_ADC_TNPR (0xFFFD8118) // (PDC_ADC) Transmit Next Pointer Register +#define AT91C_ADC_TNCR (0xFFFD811C) // (PDC_ADC) Transmit Next Counter Register +#define AT91C_ADC_RNPR (0xFFFD8110) // (PDC_ADC) Receive Next Pointer Register +#define AT91C_ADC_RNCR (0xFFFD8114) // (PDC_ADC) Receive Next Counter Register +#define AT91C_ADC_RPR (0xFFFD8100) // (PDC_ADC) Receive Pointer Register +#define AT91C_ADC_TCR (0xFFFD810C) // (PDC_ADC) Transmit Counter Register +#define AT91C_ADC_TPR (0xFFFD8108) // (PDC_ADC) Transmit Pointer Register +#define AT91C_ADC_RCR (0xFFFD8104) // (PDC_ADC) Receive Counter Register +// ========== Register definition for ADC peripheral ========== +#define AT91C_ADC_CDR2 (0xFFFD8038) // (ADC) ADC Channel Data Register 2 +#define AT91C_ADC_CDR3 (0xFFFD803C) // (ADC) ADC Channel Data Register 3 +#define AT91C_ADC_CDR0 (0xFFFD8030) // (ADC) ADC Channel Data Register 0 +#define AT91C_ADC_CDR5 (0xFFFD8044) // (ADC) ADC Channel Data Register 5 +#define AT91C_ADC_CHDR (0xFFFD8014) // (ADC) ADC Channel Disable Register +#define AT91C_ADC_SR (0xFFFD801C) // (ADC) ADC Status Register +#define AT91C_ADC_CDR4 (0xFFFD8040) // (ADC) ADC Channel Data Register 4 +#define AT91C_ADC_CDR1 (0xFFFD8034) // (ADC) ADC Channel Data Register 1 +#define AT91C_ADC_LCDR (0xFFFD8020) // (ADC) ADC Last Converted Data Register +#define AT91C_ADC_IDR (0xFFFD8028) // (ADC) ADC Interrupt Disable Register +#define AT91C_ADC_CR (0xFFFD8000) // (ADC) ADC Control Register +#define AT91C_ADC_CDR7 (0xFFFD804C) // (ADC) ADC Channel Data Register 7 +#define AT91C_ADC_CDR6 (0xFFFD8048) // (ADC) ADC Channel Data Register 6 +#define AT91C_ADC_IER (0xFFFD8024) // (ADC) ADC Interrupt Enable Register +#define AT91C_ADC_CHER (0xFFFD8010) // (ADC) ADC Channel Enable Register +#define AT91C_ADC_CHSR (0xFFFD8018) // (ADC) ADC Channel Status Register +#define AT91C_ADC_MR (0xFFFD8004) // (ADC) ADC Mode Register +#define AT91C_ADC_IMR (0xFFFD802C) // (ADC) ADC Interrupt Mask Register +// ========== Register definition for PDC_AES peripheral ========== +#define AT91C_AES_TPR (0xFFFA4108) // (PDC_AES) Transmit Pointer Register +#define AT91C_AES_PTCR (0xFFFA4120) // (PDC_AES) PDC Transfer Control Register +#define AT91C_AES_RNPR (0xFFFA4110) // (PDC_AES) Receive Next Pointer Register +#define AT91C_AES_TNCR (0xFFFA411C) // (PDC_AES) Transmit Next Counter Register +#define AT91C_AES_TCR (0xFFFA410C) // (PDC_AES) Transmit Counter Register +#define AT91C_AES_RCR (0xFFFA4104) // (PDC_AES) Receive Counter Register +#define AT91C_AES_RNCR (0xFFFA4114) // (PDC_AES) Receive Next Counter Register +#define AT91C_AES_TNPR (0xFFFA4118) // (PDC_AES) Transmit Next Pointer Register +#define AT91C_AES_RPR (0xFFFA4100) // (PDC_AES) Receive Pointer Register +#define AT91C_AES_PTSR (0xFFFA4124) // (PDC_AES) PDC Transfer Status Register +// ========== Register definition for AES peripheral ========== +#define AT91C_AES_IVxR (0xFFFA4060) // (AES) Initialization Vector x Register +#define AT91C_AES_MR (0xFFFA4004) // (AES) Mode Register +#define AT91C_AES_VR (0xFFFA40FC) // (AES) AES Version Register +#define AT91C_AES_ODATAxR (0xFFFA4050) // (AES) Output Data x Register +#define AT91C_AES_IDATAxR (0xFFFA4040) // (AES) Input Data x Register +#define AT91C_AES_CR (0xFFFA4000) // (AES) Control Register +#define AT91C_AES_IDR (0xFFFA4014) // (AES) Interrupt Disable Register +#define AT91C_AES_IMR (0xFFFA4018) // (AES) Interrupt Mask Register +#define AT91C_AES_IER (0xFFFA4010) // (AES) Interrupt Enable Register +#define AT91C_AES_KEYWxR (0xFFFA4020) // (AES) Key Word x Register +#define AT91C_AES_ISR (0xFFFA401C) // (AES) Interrupt Status Register +// ========== Register definition for PDC_TDES peripheral ========== +#define AT91C_TDES_RNCR (0xFFFA8114) // (PDC_TDES) Receive Next Counter Register +#define AT91C_TDES_TCR (0xFFFA810C) // (PDC_TDES) Transmit Counter Register +#define AT91C_TDES_RCR (0xFFFA8104) // (PDC_TDES) Receive Counter Register +#define AT91C_TDES_TNPR (0xFFFA8118) // (PDC_TDES) Transmit Next Pointer Register +#define AT91C_TDES_RNPR (0xFFFA8110) // (PDC_TDES) Receive Next Pointer Register +#define AT91C_TDES_RPR (0xFFFA8100) // (PDC_TDES) Receive Pointer Register +#define AT91C_TDES_TNCR (0xFFFA811C) // (PDC_TDES) Transmit Next Counter Register +#define AT91C_TDES_TPR (0xFFFA8108) // (PDC_TDES) Transmit Pointer Register +#define AT91C_TDES_PTSR (0xFFFA8124) // (PDC_TDES) PDC Transfer Status Register +#define AT91C_TDES_PTCR (0xFFFA8120) // (PDC_TDES) PDC Transfer Control Register +// ========== Register definition for TDES peripheral ========== +#define AT91C_TDES_KEY2WxR (0xFFFA8028) // (TDES) Key 2 Word x Register +#define AT91C_TDES_KEY3WxR (0xFFFA8030) // (TDES) Key 3 Word x Register +#define AT91C_TDES_IDR (0xFFFA8014) // (TDES) Interrupt Disable Register +#define AT91C_TDES_VR (0xFFFA80FC) // (TDES) TDES Version Register +#define AT91C_TDES_IVxR (0xFFFA8060) // (TDES) Initialization Vector x Register +#define AT91C_TDES_ODATAxR (0xFFFA8050) // (TDES) Output Data x Register +#define AT91C_TDES_IMR (0xFFFA8018) // (TDES) Interrupt Mask Register +#define AT91C_TDES_MR (0xFFFA8004) // (TDES) Mode Register +#define AT91C_TDES_CR (0xFFFA8000) // (TDES) Control Register +#define AT91C_TDES_IER (0xFFFA8010) // (TDES) Interrupt Enable Register +#define AT91C_TDES_ISR (0xFFFA801C) // (TDES) Interrupt Status Register +#define AT91C_TDES_IDATAxR (0xFFFA8040) // (TDES) Input Data x Register +#define AT91C_TDES_KEY1WxR (0xFFFA8020) // (TDES) Key 1 Word x Register + +// ***************************************************************************** +// PIO DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_PIO_PA0 (1 << 0) // Pin Controlled by PA0 +#define AT91C_PA0_RXD0 (AT91C_PIO_PA0) // USART 0 Receive Data +#define AT91C_PIO_PA1 (1 << 1) // Pin Controlled by PA1 +#define AT91C_PA1_TXD0 (AT91C_PIO_PA1) // USART 0 Transmit Data +#define AT91C_PIO_PA10 (1 << 10) // Pin Controlled by PA10 +#define AT91C_PA10_TWD (AT91C_PIO_PA10) // TWI Two-wire Serial Data +#define AT91C_PIO_PA11 (1 << 11) // Pin Controlled by PA11 +#define AT91C_PA11_TWCK (AT91C_PIO_PA11) // TWI Two-wire Serial Clock +#define AT91C_PIO_PA12 (1 << 12) // Pin Controlled by PA12 +#define AT91C_PA12_NPCS00 (AT91C_PIO_PA12) // SPI 0 Peripheral Chip Select 0 +#define AT91C_PIO_PA13 (1 << 13) // Pin Controlled by PA13 +#define AT91C_PA13_NPCS01 (AT91C_PIO_PA13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PA13_PCK1 (AT91C_PIO_PA13) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PA14 (1 << 14) // Pin Controlled by PA14 +#define AT91C_PA14_NPCS02 (AT91C_PIO_PA14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PA14_IRQ1 (AT91C_PIO_PA14) // External Interrupt 1 +#define AT91C_PIO_PA15 (1 << 15) // Pin Controlled by PA15 +#define AT91C_PA15_NPCS03 (AT91C_PIO_PA15) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PA15_TCLK2 (AT91C_PIO_PA15) // Timer Counter 2 external clock input +#define AT91C_PIO_PA16 (1 << 16) // Pin Controlled by PA16 +#define AT91C_PA16_MISO0 (AT91C_PIO_PA16) // SPI 0 Master In Slave +#define AT91C_PIO_PA17 (1 << 17) // Pin Controlled by PA17 +#define AT91C_PA17_MOSI0 (AT91C_PIO_PA17) // SPI 0 Master Out Slave +#define AT91C_PIO_PA18 (1 << 18) // Pin Controlled by PA18 +#define AT91C_PA18_SPCK0 (AT91C_PIO_PA18) // SPI 0 Serial Clock +#define AT91C_PIO_PA19 (1 << 19) // Pin Controlled by PA19 +#define AT91C_PA19_CANRX (AT91C_PIO_PA19) // CAN Receive +#define AT91C_PIO_PA2 (1 << 2) // Pin Controlled by PA2 +#define AT91C_PA2_SCK0 (AT91C_PIO_PA2) // USART 0 Serial Clock +#define AT91C_PA2_NPCS11 (AT91C_PIO_PA2) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA20 (1 << 20) // Pin Controlled by PA20 +#define AT91C_PA20_CANTX (AT91C_PIO_PA20) // CAN Transmit +#define AT91C_PIO_PA21 (1 << 21) // Pin Controlled by PA21 +#define AT91C_PA21_TF (AT91C_PIO_PA21) // SSC Transmit Frame Sync +#define AT91C_PA21_NPCS10 (AT91C_PIO_PA21) // SPI 1 Peripheral Chip Select 0 +#define AT91C_PIO_PA22 (1 << 22) // Pin Controlled by PA22 +#define AT91C_PA22_TK (AT91C_PIO_PA22) // SSC Transmit Clock +#define AT91C_PA22_SPCK1 (AT91C_PIO_PA22) // SPI 1 Serial Clock +#define AT91C_PIO_PA23 (1 << 23) // Pin Controlled by PA23 +#define AT91C_PA23_TD (AT91C_PIO_PA23) // SSC Transmit data +#define AT91C_PA23_MOSI1 (AT91C_PIO_PA23) // SPI 1 Master Out Slave +#define AT91C_PIO_PA24 (1 << 24) // Pin Controlled by PA24 +#define AT91C_PA24_RD (AT91C_PIO_PA24) // SSC Receive Data +#define AT91C_PA24_MISO1 (AT91C_PIO_PA24) // SPI 1 Master In Slave +#define AT91C_PIO_PA25 (1 << 25) // Pin Controlled by PA25 +#define AT91C_PA25_RK (AT91C_PIO_PA25) // SSC Receive Clock +#define AT91C_PA25_NPCS11 (AT91C_PIO_PA25) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PA26 (1 << 26) // Pin Controlled by PA26 +#define AT91C_PA26_RF (AT91C_PIO_PA26) // SSC Receive Frame Sync +#define AT91C_PA26_NPCS12 (AT91C_PIO_PA26) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA27 (1 << 27) // Pin Controlled by PA27 +#define AT91C_PA27_DRXD (AT91C_PIO_PA27) // DBGU Debug Receive Data +#define AT91C_PA27_PCK3 (AT91C_PIO_PA27) // PMC Programmable Clock Output 3 +#define AT91C_PIO_PA28 (1 << 28) // Pin Controlled by PA28 +#define AT91C_PA28_DTXD (AT91C_PIO_PA28) // DBGU Debug Transmit Data +#define AT91C_PIO_PA29 (1 << 29) // Pin Controlled by PA29 +#define AT91C_PA29_FIQ (AT91C_PIO_PA29) // AIC Fast Interrupt Input +#define AT91C_PA29_NPCS13 (AT91C_PIO_PA29) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA3 (1 << 3) // Pin Controlled by PA3 +#define AT91C_PA3_RTS0 (AT91C_PIO_PA3) // USART 0 Ready To Send +#define AT91C_PA3_NPCS12 (AT91C_PIO_PA3) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PA30 (1 << 30) // Pin Controlled by PA30 +#define AT91C_PA30_IRQ0 (AT91C_PIO_PA30) // External Interrupt 0 +#define AT91C_PA30_PCK2 (AT91C_PIO_PA30) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PA4 (1 << 4) // Pin Controlled by PA4 +#define AT91C_PA4_CTS0 (AT91C_PIO_PA4) // USART 0 Clear To Send +#define AT91C_PA4_NPCS13 (AT91C_PIO_PA4) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PA5 (1 << 5) // Pin Controlled by PA5 +#define AT91C_PA5_RXD1 (AT91C_PIO_PA5) // USART 1 Receive Data +#define AT91C_PIO_PA6 (1 << 6) // Pin Controlled by PA6 +#define AT91C_PA6_TXD1 (AT91C_PIO_PA6) // USART 1 Transmit Data +#define AT91C_PIO_PA7 (1 << 7) // Pin Controlled by PA7 +#define AT91C_PA7_SCK1 (AT91C_PIO_PA7) // USART 1 Serial Clock +#define AT91C_PA7_NPCS01 (AT91C_PIO_PA7) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PA8 (1 << 8) // Pin Controlled by PA8 +#define AT91C_PA8_RTS1 (AT91C_PIO_PA8) // USART 1 Ready To Send +#define AT91C_PA8_NPCS02 (AT91C_PIO_PA8) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PA9 (1 << 9) // Pin Controlled by PA9 +#define AT91C_PA9_CTS1 (AT91C_PIO_PA9) // USART 1 Clear To Send +#define AT91C_PA9_NPCS03 (AT91C_PIO_PA9) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB0 (1 << 0) // Pin Controlled by PB0 +#define AT91C_PB0_ETXCK_EREFCK (AT91C_PIO_PB0) // Ethernet MAC Transmit Clock/Reference Clock +#define AT91C_PB0_PCK0 (AT91C_PIO_PB0) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB1 (1 << 1) // Pin Controlled by PB1 +#define AT91C_PB1_ETXEN (AT91C_PIO_PB1) // Ethernet MAC Transmit Enable +#define AT91C_PIO_PB10 (1 << 10) // Pin Controlled by PB10 +#define AT91C_PB10_ETX2 (AT91C_PIO_PB10) // Ethernet MAC Transmit Data 2 +#define AT91C_PB10_NPCS11 (AT91C_PIO_PB10) // SPI 1 Peripheral Chip Select 1 +#define AT91C_PIO_PB11 (1 << 11) // Pin Controlled by PB11 +#define AT91C_PB11_ETX3 (AT91C_PIO_PB11) // Ethernet MAC Transmit Data 3 +#define AT91C_PB11_NPCS12 (AT91C_PIO_PB11) // SPI 1 Peripheral Chip Select 2 +#define AT91C_PIO_PB12 (1 << 12) // Pin Controlled by PB12 +#define AT91C_PB12_ETXER (AT91C_PIO_PB12) // Ethernet MAC Transmikt Coding Error +#define AT91C_PB12_TCLK0 (AT91C_PIO_PB12) // Timer Counter 0 external clock input +#define AT91C_PIO_PB13 (1 << 13) // Pin Controlled by PB13 +#define AT91C_PB13_ERX2 (AT91C_PIO_PB13) // Ethernet MAC Receive Data 2 +#define AT91C_PB13_NPCS01 (AT91C_PIO_PB13) // SPI 0 Peripheral Chip Select 1 +#define AT91C_PIO_PB14 (1 << 14) // Pin Controlled by PB14 +#define AT91C_PB14_ERX3 (AT91C_PIO_PB14) // Ethernet MAC Receive Data 3 +#define AT91C_PB14_NPCS02 (AT91C_PIO_PB14) // SPI 0 Peripheral Chip Select 2 +#define AT91C_PIO_PB15 (1 << 15) // Pin Controlled by PB15 +#define AT91C_PB15_ERXDV (AT91C_PIO_PB15) // Ethernet MAC Receive Data Valid +#define AT91C_PIO_PB16 (1 << 16) // Pin Controlled by PB16 +#define AT91C_PB16_ECOL (AT91C_PIO_PB16) // Ethernet MAC Collision Detected +#define AT91C_PB16_NPCS13 (AT91C_PIO_PB16) // SPI 1 Peripheral Chip Select 3 +#define AT91C_PIO_PB17 (1 << 17) // Pin Controlled by PB17 +#define AT91C_PB17_ERXCK (AT91C_PIO_PB17) // Ethernet MAC Receive Clock +#define AT91C_PB17_NPCS03 (AT91C_PIO_PB17) // SPI 0 Peripheral Chip Select 3 +#define AT91C_PIO_PB18 (1 << 18) // Pin Controlled by PB18 +#define AT91C_PB18_EF100 (AT91C_PIO_PB18) // Ethernet MAC Force 100 Mbits/sec +#define AT91C_PB18_ADTRG (AT91C_PIO_PB18) // ADC External Trigger +#define AT91C_PIO_PB19 (1 << 19) // Pin Controlled by PB19 +#define AT91C_PB19_PWM0 (AT91C_PIO_PB19) // PWM Channel 0 +#define AT91C_PB19_TCLK1 (AT91C_PIO_PB19) // Timer Counter 1 external clock input +#define AT91C_PIO_PB2 (1 << 2) // Pin Controlled by PB2 +#define AT91C_PB2_ETX0 (AT91C_PIO_PB2) // Ethernet MAC Transmit Data 0 +#define AT91C_PIO_PB20 (1 << 20) // Pin Controlled by PB20 +#define AT91C_PB20_PWM1 (AT91C_PIO_PB20) // PWM Channel 1 +#define AT91C_PB20_PCK0 (AT91C_PIO_PB20) // PMC Programmable Clock Output 0 +#define AT91C_PIO_PB21 (1 << 21) // Pin Controlled by PB21 +#define AT91C_PB21_PWM2 (AT91C_PIO_PB21) // PWM Channel 2 +#define AT91C_PB21_PCK1 (AT91C_PIO_PB21) // PMC Programmable Clock Output 1 +#define AT91C_PIO_PB22 (1 << 22) // Pin Controlled by PB22 +#define AT91C_PB22_PWM3 (AT91C_PIO_PB22) // PWM Channel 3 +#define AT91C_PB22_PCK2 (AT91C_PIO_PB22) // PMC Programmable Clock Output 2 +#define AT91C_PIO_PB23 (1 << 23) // Pin Controlled by PB23 +#define AT91C_PB23_TIOA0 (AT91C_PIO_PB23) // Timer Counter 0 Multipurpose Timer I/O Pin A +#define AT91C_PB23_DCD1 (AT91C_PIO_PB23) // USART 1 Data Carrier Detect +#define AT91C_PIO_PB24 (1 << 24) // Pin Controlled by PB24 +#define AT91C_PB24_TIOB0 (AT91C_PIO_PB24) // Timer Counter 0 Multipurpose Timer I/O Pin B +#define AT91C_PB24_DSR1 (AT91C_PIO_PB24) // USART 1 Data Set ready +#define AT91C_PIO_PB25 (1 << 25) // Pin Controlled by PB25 +#define AT91C_PB25_TIOA1 (AT91C_PIO_PB25) // Timer Counter 1 Multipurpose Timer I/O Pin A +#define AT91C_PB25_DTR1 (AT91C_PIO_PB25) // USART 1 Data Terminal ready +#define AT91C_PIO_PB26 (1 << 26) // Pin Controlled by PB26 +#define AT91C_PB26_TIOB1 (AT91C_PIO_PB26) // Timer Counter 1 Multipurpose Timer I/O Pin B +#define AT91C_PB26_RI1 (AT91C_PIO_PB26) // USART 1 Ring Indicator +#define AT91C_PIO_PB27 (1 << 27) // Pin Controlled by PB27 +#define AT91C_PB27_TIOA2 (AT91C_PIO_PB27) // Timer Counter 2 Multipurpose Timer I/O Pin A +#define AT91C_PB27_PWM0 (AT91C_PIO_PB27) // PWM Channel 0 +#define AT91C_PIO_PB28 (1 << 28) // Pin Controlled by PB28 +#define AT91C_PB28_TIOB2 (AT91C_PIO_PB28) // Timer Counter 2 Multipurpose Timer I/O Pin B +#define AT91C_PB28_PWM1 (AT91C_PIO_PB28) // PWM Channel 1 +#define AT91C_PIO_PB29 (1 << 29) // Pin Controlled by PB29 +#define AT91C_PB29_PCK1 (AT91C_PIO_PB29) // PMC Programmable Clock Output 1 +#define AT91C_PB29_PWM2 (AT91C_PIO_PB29) // PWM Channel 2 +#define AT91C_PIO_PB3 (1 << 3) // Pin Controlled by PB3 +#define AT91C_PB3_ETX1 (AT91C_PIO_PB3) // Ethernet MAC Transmit Data 1 +#define AT91C_PIO_PB30 (1 << 30) // Pin Controlled by PB30 +#define AT91C_PB30_PCK2 (AT91C_PIO_PB30) // PMC Programmable Clock Output 2 +#define AT91C_PB30_PWM3 (AT91C_PIO_PB30) // PWM Channel 3 +#define AT91C_PIO_PB4 (1 << 4) // Pin Controlled by PB4 +#define AT91C_PB4_ECRS_ECRSDV (AT91C_PIO_PB4) // Ethernet MAC Carrier Sense/Carrier Sense and Data Valid +#define AT91C_PIO_PB5 (1 << 5) // Pin Controlled by PB5 +#define AT91C_PB5_ERX0 (AT91C_PIO_PB5) // Ethernet MAC Receive Data 0 +#define AT91C_PIO_PB6 (1 << 6) // Pin Controlled by PB6 +#define AT91C_PB6_ERX1 (AT91C_PIO_PB6) // Ethernet MAC Receive Data 1 +#define AT91C_PIO_PB7 (1 << 7) // Pin Controlled by PB7 +#define AT91C_PB7_ERXER (AT91C_PIO_PB7) // Ethernet MAC Receive Error +#define AT91C_PIO_PB8 (1 << 8) // Pin Controlled by PB8 +#define AT91C_PB8_EMDC (AT91C_PIO_PB8) // Ethernet MAC Management Data Clock +#define AT91C_PIO_PB9 (1 << 9) // Pin Controlled by PB9 +#define AT91C_PB9_EMDIO (AT91C_PIO_PB9) // Ethernet MAC Management Data Input/Output + +// ***************************************************************************** +// PERIPHERAL ID DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ID_FIQ ( 0) // Advanced Interrupt Controller (FIQ) +#define AT91C_ID_SYS ( 1) // System Peripheral +#define AT91C_ID_PIOA ( 2) // Parallel IO Controller A +#define AT91C_ID_PIOB ( 3) // Parallel IO Controller B +#define AT91C_ID_SPI0 ( 4) // Serial Peripheral Interface 0 +#define AT91C_ID_SPI1 ( 5) // Serial Peripheral Interface 1 +#define AT91C_ID_US0 ( 6) // USART 0 +#define AT91C_ID_US1 ( 7) // USART 1 +#define AT91C_ID_SSC ( 8) // Serial Synchronous Controller +#define AT91C_ID_TWI ( 9) // Two-Wire Interface +#define AT91C_ID_PWMC (10) // PWM Controller +#define AT91C_ID_UDP (11) // USB Device Port +#define AT91C_ID_TC0 (12) // Timer Counter 0 +#define AT91C_ID_TC1 (13) // Timer Counter 1 +#define AT91C_ID_TC2 (14) // Timer Counter 2 +#define AT91C_ID_CAN (15) // Control Area Network Controller +#define AT91C_ID_EMAC (16) // Ethernet MAC +#define AT91C_ID_ADC (17) // Analog-to-Digital Converter +#define AT91C_ID_AES (18) // Advanced Encryption Standard 128-bit +#define AT91C_ID_TDES (19) // Triple Data Encryption Standard +#define AT91C_ID_20_Reserved (20) // Reserved +#define AT91C_ID_21_Reserved (21) // Reserved +#define AT91C_ID_22_Reserved (22) // Reserved +#define AT91C_ID_23_Reserved (23) // Reserved +#define AT91C_ID_24_Reserved (24) // Reserved +#define AT91C_ID_25_Reserved (25) // Reserved +#define AT91C_ID_26_Reserved (26) // Reserved +#define AT91C_ID_27_Reserved (27) // Reserved +#define AT91C_ID_28_Reserved (28) // Reserved +#define AT91C_ID_29_Reserved (29) // Reserved +#define AT91C_ID_IRQ0 (30) // Advanced Interrupt Controller (IRQ0) +#define AT91C_ID_IRQ1 (31) // Advanced Interrupt Controller (IRQ1) + +// ***************************************************************************** +// BASE ADDRESS DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_BASE_SYS (0xFFFFF000) // (SYS) Base Address +#define AT91C_BASE_AIC (0xFFFFF000) // (AIC) Base Address +#define AT91C_BASE_PDC_DBGU (0xFFFFF300) // (PDC_DBGU) Base Address +#define AT91C_BASE_DBGU (0xFFFFF200) // (DBGU) Base Address +#define AT91C_BASE_PIOA (0xFFFFF400) // (PIOA) Base Address +#define AT91C_BASE_PIOB (0xFFFFF600) // (PIOB) Base Address +#define AT91C_BASE_CKGR (0xFFFFFC20) // (CKGR) Base Address +#define AT91C_BASE_PMC (0xFFFFFC00) // (PMC) Base Address +#define AT91C_BASE_RSTC (0xFFFFFD00) // (RSTC) Base Address +#define AT91C_BASE_RTTC (0xFFFFFD20) // (RTTC) Base Address +#define AT91C_BASE_PITC (0xFFFFFD30) // (PITC) Base Address +#define AT91C_BASE_WDTC (0xFFFFFD40) // (WDTC) Base Address +#define AT91C_BASE_VREG (0xFFFFFD60) // (VREG) Base Address +#define AT91C_BASE_MC (0xFFFFFF00) // (MC) Base Address +#define AT91C_BASE_PDC_SPI1 (0xFFFE4100) // (PDC_SPI1) Base Address +#define AT91C_BASE_SPI1 (0xFFFE4000) // (SPI1) Base Address +#define AT91C_BASE_PDC_SPI0 (0xFFFE0100) // (PDC_SPI0) Base Address +#define AT91C_BASE_SPI0 (0xFFFE0000) // (SPI0) Base Address +#define AT91C_BASE_PDC_US1 (0xFFFC4100) // (PDC_US1) Base Address +#define AT91C_BASE_US1 (0xFFFC4000) // (US1) Base Address +#define AT91C_BASE_PDC_US0 (0xFFFC0100) // (PDC_US0) Base Address +#define AT91C_BASE_US0 (0xFFFC0000) // (US0) Base Address +#define AT91C_BASE_PDC_SSC (0xFFFD4100) // (PDC_SSC) Base Address +#define AT91C_BASE_SSC (0xFFFD4000) // (SSC) Base Address +#define AT91C_BASE_TWI (0xFFFB8000) // (TWI) Base Address +#define AT91C_BASE_PWMC_CH3 (0xFFFCC260) // (PWMC_CH3) Base Address +#define AT91C_BASE_PWMC_CH2 (0xFFFCC240) // (PWMC_CH2) Base Address +#define AT91C_BASE_PWMC_CH1 (0xFFFCC220) // (PWMC_CH1) Base Address +#define AT91C_BASE_PWMC_CH0 (0xFFFCC200) // (PWMC_CH0) Base Address +#define AT91C_BASE_PWMC (0xFFFCC000) // (PWMC) Base Address +#define AT91C_BASE_UDP (0xFFFB0000) // (UDP) Base Address +#define AT91C_BASE_TC0 (0xFFFA0000) // (TC0) Base Address +#define AT91C_BASE_TC1 (0xFFFA0040) // (TC1) Base Address +#define AT91C_BASE_TC2 (0xFFFA0080) // (TC2) Base Address +#define AT91C_BASE_TCB (0xFFFA0000) // (TCB) Base Address +#define AT91C_BASE_CAN_MB0 (0xFFFD0200) // (CAN_MB0) Base Address +#define AT91C_BASE_CAN_MB1 (0xFFFD0220) // (CAN_MB1) Base Address +#define AT91C_BASE_CAN_MB2 (0xFFFD0240) // (CAN_MB2) Base Address +#define AT91C_BASE_CAN_MB3 (0xFFFD0260) // (CAN_MB3) Base Address +#define AT91C_BASE_CAN_MB4 (0xFFFD0280) // (CAN_MB4) Base Address +#define AT91C_BASE_CAN_MB5 (0xFFFD02A0) // (CAN_MB5) Base Address +#define AT91C_BASE_CAN_MB6 (0xFFFD02C0) // (CAN_MB6) Base Address +#define AT91C_BASE_CAN_MB7 (0xFFFD02E0) // (CAN_MB7) Base Address +#define AT91C_BASE_CAN (0xFFFD0000) // (CAN) Base Address +#define AT91C_BASE_EMAC (0xFFFDC000) // (EMAC) Base Address +#define AT91C_BASE_PDC_ADC (0xFFFD8100) // (PDC_ADC) Base Address +#define AT91C_BASE_ADC (0xFFFD8000) // (ADC) Base Address +#define AT91C_BASE_PDC_AES (0xFFFA4100) // (PDC_AES) Base Address +#define AT91C_BASE_AES (0xFFFA4000) // (AES) Base Address +#define AT91C_BASE_PDC_TDES (0xFFFA8100) // (PDC_TDES) Base Address +#define AT91C_BASE_TDES (0xFFFA8000) // (TDES) Base Address + +// ***************************************************************************** +// MEMORY MAPPING DEFINITIONS FOR AT91SAM7X256 +// ***************************************************************************** +#define AT91C_ISRAM (0x00200000) // Internal SRAM base address +#define AT91C_ISRAM_SIZE (0x00010000) // Internal SRAM size in byte (64 Kbyte) +#define AT91C_IFLASH (0x00100000) // Internal ROM base address +#define AT91C_IFLASH_SIZE (0x00040000) // Internal ROM size in byte (256 Kbyte) + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/ISR_Support.h new file mode 100644 index 0000000..f16c592 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/ISR_Support.h @@ -0,0 +1,105 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + EXTERN pxCurrentTCB + EXTERN ulCriticalNesting + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + ; Push R0 as we are going to use the register. + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP, {SP}^ + NOP + SUB SP, SP, #4 + LDMIA SP!, {R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now we have saved LR we can use it instead of R0. + MOV LR, R0 + + ; Pop R0 so we can save it onto the system mode stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR, {R0-LR}^ + NOP + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + ; Store the new top of stack for the task. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + STR LR, [R0] + + ENDM + + +portRESTORE_CONTEXT MACRO + + ; Set the LR to the task stack. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + LDR LR, [R0] + + ; The critical nesting depth is the first item on the stack. + ; Load it into the ulCriticalNesting variable. + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_cxsf, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + NOP + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + + ENDM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7S64.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7S64.h new file mode 100644 index 0000000..9d012c4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7S64.h @@ -0,0 +1,3265 @@ +//*---------------------------------------------------------------------------- +//* ATMEL Microcontroller Software Support - ROUSSET - +//*---------------------------------------------------------------------------- +//* The software is delivered "AS IS" without warranty or condition of any +//* kind, either express, implied or statutory. This includes without +//* limitation any warranty or condition with respect to merchantability or +//* fitness for any particular purpose, or against the infringements of +//* intellectual property rights of others. +//*---------------------------------------------------------------------------- +//* File Name : lib_AT91SAM7S64.h +//* Object : AT91SAM7S64 inlined functions +//* Generated : AT91 SW Application Group 07/16/2004 (07:43:09) +//* +//* CVS Reference : /lib_MC_SAM.h/1.3/Thu Mar 25 15:19:14 2004// +//* CVS Reference : /lib_pdc_1363d.h/1.2/Wed Feb 19 09:25:22 2003// +//* CVS Reference : /lib_dbgu.h/1.1/Fri Jan 31 12:18:40 2003// +//* CVS Reference : /lib_ssc.h/1.4/Fri Jan 31 12:19:20 2003// +//* CVS Reference : /lib_spi2.h/1.1/Mon Aug 25 13:23:52 2003// +//* CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +//* CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +//* CVS Reference : /lib_pmc_SAM.h/1.6/Tue Apr 27 13:53:52 2004// +//* CVS Reference : /lib_adc.h/1.6/Fri Oct 17 08:12:38 2003// +//* CVS Reference : /lib_pio.h/1.3/Fri Jan 31 12:18:56 2003// +//* CVS Reference : /lib_twi.h/1.2/Fri Jan 31 12:19:38 2003// +//* CVS Reference : /lib_usart.h/1.5/Thu Nov 21 16:01:54 2002// +//* CVS Reference : /lib_udp.h/1.3/Fri Jan 31 12:19:48 2003// +//* CVS Reference : /lib_aic.h/1.3/Fri Jul 12 07:46:12 2002// +//*---------------------------------------------------------------------------- + +#ifndef lib_AT91SAM7S64_H +#define lib_AT91SAM7S64_H + +/* ***************************************************************************** + SOFTWARE API FOR MC + ***************************************************************************** */ + +#define AT91C_MC_CORRECT_KEY ((unsigned int) 0x5A << 24) // (MC) Correct Protect Key + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_Remap +//* \brief Make Remap +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_Remap (void) // +{ + AT91PS_MC pMC = (AT91PS_MC) AT91C_BASE_MC; + + pMC->MC_RCR = AT91C_MC_RCB; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_CfgModeReg +//* \brief Configure the EFC Mode Register of the MC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_CfgModeReg ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int mode) // mode register +{ + // Write to the FMR register + pMC->MC_FMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetModeReg +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetModeReg( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_ComputeFMCN +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_ComputeFMCN( + int master_clock) // master clock in Hz +{ + return (master_clock/1000000 +2); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_PerformCmd +//* \brief Perform EFC Command +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_PerformCmd ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int transfer_cmd) +{ + pMC->MC_FCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetStatus +//* \brief Return MC EFC Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetStatus( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptMasked +//* \brief Test if EFC MC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptMasked( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetModeReg(pMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptSet +//* \brief Test if EFC MC Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptSet( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetStatus(pMC) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PDC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextRx +//* \brief Set the next receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RNPR = (unsigned int) address; + pPDC->PDC_RNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextTx +//* \brief Set the next transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TNPR = (unsigned int) address; + pPDC->PDC_TNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetRx +//* \brief Set the receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RPR = (unsigned int) address; + pPDC->PDC_RCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetTx +//* \brief Set the transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TPR = (unsigned int) address; + pPDC->PDC_TCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableTx +//* \brief Enable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableRx +//* \brief Enable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableTx +//* \brief Disable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableRx +//* \brief Disable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsTxEmpty +//* \brief Test if the current transfer descriptor has been sent +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextTxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsRxEmpty +//* \brief Test if the current transfer descriptor has been filled +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextRxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Open +//* \brief Open PDC: disable TX and RX reset transfer descriptors, re-enable RX and TX +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Open ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + + //* Enable the RX and TX PDC transfer requests + AT91F_PDC_EnableRx(pPDC); + AT91F_PDC_EnableTx(pPDC); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Close +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Close ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SendFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_SendFrame( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsTxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetTx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextTx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextTxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextTx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_ReceiveFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_ReceiveFrame ( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsRxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetRx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextRx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextRxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextRx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} +/* ***************************************************************************** + SOFTWARE API FOR DBGU + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptEnable +//* \brief Enable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptEnable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be enabled +{ + pDbgu->DBGU_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptDisable +//* \brief Disable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptDisable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be disabled +{ + pDbgu->DBGU_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_GetInterruptMaskStatus +//* \brief Return DBGU Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_DBGU_GetInterruptMaskStatus( // \return DBGU Interrupt Mask Status + AT91PS_DBGU pDbgu) // \arg pointer to a DBGU controller +{ + return pDbgu->DBGU_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_IsInterruptMasked +//* \brief Test if DBGU Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_DBGU_IsInterruptMasked( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_DBGU_GetInterruptMaskStatus(pDbgu) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR SSC + ***************************************************************************** */ +//* Define the standard I2S mode configuration + +//* Configuration to set in the SSC Transmit Clock Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_MASTER_TX_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + AT91C_SSC_CKS_DIV +\ + AT91C_SSC_CKO_CONTINOUS +\ + AT91C_SSC_CKG_NONE +\ + AT91C_SSC_START_FALL_RF +\ + AT91C_SSC_STTOUT +\ + ((1<<16) & AT91C_SSC_STTDLY) +\ + ((((nb_bit_by_slot*nb_slot_by_frame)/2)-1) <<24)) + + +//* Configuration to set in the SSC Transmit Frame Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_TX_FRAME_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + (nb_bit_by_slot-1) +\ + AT91C_SSC_MSBF +\ + (((nb_slot_by_frame-1)<<8) & AT91C_SSC_DATNB) +\ + (((nb_bit_by_slot-1)<<16) & AT91C_SSC_FSLEN) +\ + AT91C_SSC_FSOS_NEGATIVE) + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_SetBaudrate ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg SSC baudrate +{ + unsigned int baud_value; + //* Define the baud rate divisor register + if (speed == 0) + baud_value = 0; + else + { + baud_value = (unsigned int) (mainClock * 10)/(2*speed); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + } + + pSSC->SSC_CMR = baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_Configure +//* \brief Configure SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_Configure ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int syst_clock, // \arg System Clock Frequency + unsigned int baud_rate, // \arg Expected Baud Rate Frequency + unsigned int clock_rx, // \arg Receiver Clock Parameters + unsigned int mode_rx, // \arg mode Register to be programmed + unsigned int clock_tx, // \arg Transmitter Clock Parameters + unsigned int mode_tx) // \arg mode Register to be programmed +{ + //* Disable interrupts + pSSC->SSC_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pSSC->SSC_CR = AT91C_SSC_SWRST | AT91C_SSC_RXDIS | AT91C_SSC_TXDIS ; + + //* Define the Clock Mode Register + AT91F_SSC_SetBaudrate(pSSC, syst_clock, baud_rate); + + //* Write the Receive Clock Mode Register + pSSC->SSC_RCMR = clock_rx; + + //* Write the Transmit Clock Mode Register + pSSC->SSC_TCMR = clock_tx; + + //* Write the Receive Frame Mode Register + pSSC->SSC_RFMR = mode_rx; + + //* Write the Transmit Frame Mode Register + pSSC->SSC_TFMR = mode_tx; + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pSSC->SSC_RPR)); + + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableRx +//* \brief Enable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable receiver + pSSC->SSC_CR = AT91C_SSC_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableRx +//* \brief Disable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable receiver + pSSC->SSC_CR = AT91C_SSC_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableTx +//* \brief Enable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable transmitter + pSSC->SSC_CR = AT91C_SSC_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableTx +//* \brief Disable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable transmitter + pSSC->SSC_CR = AT91C_SSC_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableIt +//* \brief Enable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pSSC->SSC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableIt +//* \brief Disable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pSSC->SSC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_ReceiveFrame ( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_SendFrame( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_GetInterruptMaskStatus +//* \brief Return SSC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_GetInterruptMaskStatus( // \return SSC Interrupt Mask Status + AT91PS_SSC pSsc) // \arg pointer to a SSC controller +{ + return pSsc->SSC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_IsInterruptMasked +//* \brief Test if SSC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SSC_IsInterruptMasked( + AT91PS_SSC pSsc, // \arg pointer to a SSC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SSC_GetInterruptMaskStatus(pSsc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR SPI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Open +//* \brief Open a SPI Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgCs +//* \brief Configure SPI chip select register +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgCs ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int cs, // SPI cs number (0 to 3) + int val) // chip select register +{ + //* Write to the CSR register + *(pSPI->SPI_CSR + cs) = val; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_EnableIt +//* \brief Enable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_EnableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pSPI->SPI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_DisableIt +//* \brief Disable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_DisableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pSPI->SPI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Reset +//* \brief Reset the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Reset ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Enable +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Enable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Disable +//* \brief Disable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Disable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgMode +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgMode ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int mode) // mode register +{ + //* Write to the MR register + pSPI->SPI_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgPCS +//* \brief Switch to the correct PCS of SPI Mode Register : Fixed Peripheral Selected +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgPCS ( + AT91PS_SPI pSPI, // pointer to a SPI controller + char PCS_Device) // PCS of the Device +{ + //* Write to the MR register + pSPI->SPI_MR &= 0xFFF0FFFF; + pSPI->SPI_MR |= ( (PCS_Device<<16) & AT91C_SPI_PCS ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_ReceiveFrame ( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is bSPIy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_SendFrame( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Close +//* \brief Close SPI: disable IT disable transfert, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Close ( + AT91PS_SPI pSPI) // \arg pointer to a SPI controller +{ + //* Reset all the Chip Select register + pSPI->SPI_CSR[0] = 0 ; + pSPI->SPI_CSR[1] = 0 ; + pSPI->SPI_CSR[2] = 0 ; + pSPI->SPI_CSR[3] = 0 ; + + //* Reset the SPI mode + pSPI->SPI_MR = 0 ; + + //* Disable all interrupts + pSPI->SPI_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pSPI->SPI_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_PutChar ( + AT91PS_SPI pSPI, + unsigned int character, + unsigned int cs_number ) +{ + unsigned int value_for_cs; + value_for_cs = (~(1 << cs_number)) & 0xF; //Place a zero among a 4 ONEs number + pSPI->SPI_TDR = (character & 0xFFFF) | (value_for_cs << 16); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_GetChar ( + const AT91PS_SPI pSPI) +{ + return((pSPI->SPI_RDR) & 0xFFFF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetInterruptMaskStatus +//* \brief Return SPI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_GetInterruptMaskStatus( // \return SPI Interrupt Mask Status + AT91PS_SPI pSpi) // \arg pointer to a SPI controller +{ + return pSpi->SPI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_IsInterruptMasked +//* \brief Test if SPI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_IsInterruptMasked( + AT91PS_SPI pSpi, // \arg pointer to a SPI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SPI_GetInterruptMaskStatus(pSpi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PWMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetStatus +//* \brief Return PWM Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetStatus( // \return PWM Interrupt Status + AT91PS_PWMC pPWM) // pointer to a PWM controller +{ + return pPWM->PWMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptEnable +//* \brief Enable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptEnable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be enabled +{ + pPwm->PWMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptDisable +//* \brief Disable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptDisable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be disabled +{ + pPwm->PWMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetInterruptMaskStatus +//* \brief Return PWM Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetInterruptMaskStatus( // \return PWM Interrupt Mask Status + AT91PS_PWMC pPwm) // \arg pointer to a PWM controller +{ + return pPwm->PWMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsInterruptMasked +//* \brief Test if PWM Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsInterruptMasked( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetInterruptMaskStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsStatusSet +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsStatusSet( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_CfgChannel +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int mode, // \arg PWM mode + unsigned int period, // \arg PWM period + unsigned int duty) // \arg PWM duty cycle +{ + pPWM->PWMC_CH[channelId].PWMC_CMR = mode; + pPWM->PWMC_CH[channelId].PWMC_CDTYR = duty; + pPWM->PWMC_CH[channelId].PWMC_CPRDR = period; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StartChannel +//* \brief Enable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StartChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_ENA = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StopChannel +//* \brief Disable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StopChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_DIS = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_UpdateChannel +//* \brief Update Period or Duty Cycle +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_UpdateChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int update) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_CH[channelId].PWMC_CUPDR = update; +} + +/* ***************************************************************************** + SOFTWARE API FOR TC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptEnable +//* \brief Enable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptEnable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be enabled +{ + pTc->TC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptDisable +//* \brief Disable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptDisable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be disabled +{ + pTc->TC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_GetInterruptMaskStatus +//* \brief Return TC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TC_GetInterruptMaskStatus( // \return TC Interrupt Mask Status + AT91PS_TC pTc) // \arg pointer to a TC controller +{ + return pTc->TC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_IsInterruptMasked +//* \brief Test if TC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TC_IsInterruptMasked( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TC_GetInterruptMaskStatus(pTc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkEnableReg +//* \brief Configure the System Clock Enable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkEnableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCER register + pPMC->PMC_SCER = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkDisableReg +//* \brief Configure the System Clock Disable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkDisableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCDR register + pPMC->PMC_SCDR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetSysClkStatusReg +//* \brief Return the System Clock Status Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetSysClkStatusReg ( + AT91PS_PMC pPMC // pointer to a CAN controller + ) +{ + return pPMC->PMC_SCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePeriphClock +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCER = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePeriphClock +//* \brief Disable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCDR = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetPeriphClock +//* \brief Get peripheral clock status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetPeriphClock ( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_PCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscillatorReg ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int mode) +{ + pCKGR->CKGR_MOR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainOscillatorReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MOR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_EnableMainOscillator +//* \brief Enable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_EnableMainOscillator( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR |= AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_DisableMainOscillator +//* \brief Disable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_DisableMainOscillator ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscStartUpTime +//* \brief Cfg MOR Register according to the main osc startup time +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscStartUpTime ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int startup_time, // \arg main osc startup time in microsecond (us) + unsigned int slowClock) // \arg slowClock in Hz +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_OSCOUNT; + pCKGR->CKGR_MOR |= ((slowClock * startup_time)/(8*1000000)) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClockFreqReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClockFreqReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MCFR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClock +//* \brief Return Main clock in Hz +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClock ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + return ((pCKGR->CKGR_MCFR & AT91C_CKGR_MAINF) * slowClock) >> 4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgMCKReg +//* \brief Cfg Master Clock Register +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgMCKReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + pPMC->PMC_MCKR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetMCKReg +//* \brief Return Master Clock Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetMCKReg( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_MCKR; +} + +//*------------------------------------------------------------------------------ +//* \fn AT91F_PMC_GetMasterClock +//* \brief Return master clock in Hz which correponds to processor clock for ARM7 +//*------------------------------------------------------------------------------ +__inline unsigned int AT91F_PMC_GetMasterClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + unsigned int reg = pPMC->PMC_MCKR; + unsigned int prescaler = (1 << ((reg & AT91C_PMC_PRES) >> 2)); + unsigned int pllDivider, pllMultiplier; + + switch (reg & AT91C_PMC_CSS) { + case AT91C_PMC_CSS_SLOW_CLK: // Slow clock selected + return slowClock / prescaler; + case AT91C_PMC_CSS_MAIN_CLK: // Main clock is selected + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / prescaler; + case AT91C_PMC_CSS_PLL_CLK: // PLLB clock is selected + reg = pCKGR->CKGR_PLLR; + pllDivider = (reg & AT91C_CKGR_DIV); + pllMultiplier = ((reg & AT91C_CKGR_MUL) >> 16) + 1; + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / pllDivider * pllMultiplier / prescaler; + } + return 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck, // \arg Peripheral clock identifier 0 .. 7 + unsigned int mode) +{ + pPMC->PMC_PCKR[pck] = mode; + pPMC->PMC_SCER = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck) // \arg Peripheral clock identifier 0 .. 7 +{ + pPMC->PMC_SCDR = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnableIt +//* \brief Enable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pPMC->PMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisableIt +//* \brief Disable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pPMC->PMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetStatus +//* \brief Return PMC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetStatus( // \return PMC Interrupt Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetInterruptMaskStatus +//* \brief Return PMC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetInterruptMaskStatus( // \return PMC Interrupt Mask Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsInterruptMasked +//* \brief Test if PMC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsInterruptMasked( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetInterruptMaskStatus(pPMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsStatusSet +//* \brief Test if PMC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsStatusSet( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetStatus(pPMC) & flag); +}/* ***************************************************************************** + SOFTWARE API FOR ADC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableIt +//* \brief Enable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pADC->ADC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableIt +//* \brief Disable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pADC->ADC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetStatus +//* \brief Return ADC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetStatus( // \return ADC Interrupt Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetInterruptMaskStatus +//* \brief Return ADC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetInterruptMaskStatus( // \return ADC Interrupt Mask Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsInterruptMasked +//* \brief Test if ADC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsInterruptMasked( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetInterruptMaskStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsStatusSet +//* \brief Test if ADC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsStatusSet( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgModeReg +//* \brief Configure the Mode Register of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgModeReg ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pADC->ADC_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetModeReg +//* \brief Return the Mode Register of the ADC controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetModeReg ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgTimings +//* \brief Configure the different necessary timings of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgTimings ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mck_clock, // in MHz + unsigned int adc_clock, // in MHz + unsigned int startup_time, // in us + unsigned int sample_and_hold_time) // in ns +{ + unsigned int prescal,startup,shtim; + + prescal = mck_clock/(2*adc_clock) - 1; + startup = adc_clock*startup_time/8 - 1; + shtim = adc_clock*sample_and_hold_time/1000 - 1; + + //* Write to the MR register + pADC->ADC_MR = ( (prescal<<8) & AT91C_ADC_PRESCAL) | ( (startup<<16) & AT91C_ADC_STARTUP) | ( (shtim<<24) & AT91C_ADC_SHTIM); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHER register + pADC->ADC_CHER = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHDR register + pADC->ADC_CHDR = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetChannelStatus +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetChannelStatus ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CHSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_StartConversion +//* \brief Software request for a analog to digital conversion +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_StartConversion ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_SoftReset +//* \brief Software reset +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_SoftReset ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetLastConvertedData +//* \brief Return the Last Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetLastConvertedData ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_LCDR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH0 +//* \brief Return the Channel 0 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH0 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH1 +//* \brief Return the Channel 1 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH1 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR1; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH2 +//* \brief Return the Channel 2 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH2 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR2; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH3 +//* \brief Return the Channel 3 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH3 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR3; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH4 +//* \brief Return the Channel 4 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH4 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH5 +//* \brief Return the Channel 5 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH5 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR5; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH6 +//* \brief Return the Channel 6 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH6 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR6; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH7 +//* \brief Return the Channel 7 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH7 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR7; +} + +/* ***************************************************************************** + SOFTWARE API FOR PIO + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPeriph +//* \brief Enable pins to be drived by peripheral +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPeriph( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int periphAEnable, // \arg PERIPH A to enable + unsigned int periphBEnable) // \arg PERIPH B to enable + +{ + pPio->PIO_ASR = periphAEnable; + pPio->PIO_BSR = periphBEnable; + pPio->PIO_PDR = (periphAEnable | periphBEnable); // Set in Periph mode +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOutput +//* \brief Enable PIO in output mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pioEnable) // \arg PIO to be enabled +{ + pPio->PIO_PER = pioEnable; // Set in PIO mode + pPio->PIO_OER = pioEnable; // Configure in Output +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInput +//* \brief Enable PIO in input mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputEnable) // \arg PIO to be enabled +{ + // Disable output + pPio->PIO_ODR = inputEnable; + pPio->PIO_PER = inputEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOpendrain +//* \brief Configure PIO in open drain +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOpendrain( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int multiDrvEnable) // \arg pio to be configured in open drain +{ + // Configure the multi-drive option + pPio->PIO_MDDR = ~multiDrvEnable; + pPio->PIO_MDER = multiDrvEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPullup +//* \brief Enable pullup on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPullup( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pullupEnable) // \arg enable pullup on PIO +{ + // Connect or not Pullup + pPio->PIO_PPUDR = ~pullupEnable; + pPio->PIO_PPUER = pullupEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgDirectDrive +//* \brief Enable direct drive on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgDirectDrive( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int directDrive) // \arg PIO to be configured with direct drive + +{ + // Configure the Direct Drive + pPio->PIO_OWDR = ~directDrive; + pPio->PIO_OWER = directDrive; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInputFilter +//* \brief Enable input filter on input PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInputFilter( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputFilter) // \arg PIO to be configured with input filter + +{ + // Configure the Direct Drive + pPio->PIO_IFDR = ~inputFilter; + pPio->PIO_IFER = inputFilter; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInput +//* \brief Return PIO input value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInput( // \return PIO input + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputSet +//* \brief Test if PIO is input flag is active +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInput(pPio) & flag); +} + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_SetOutput +//* \brief Set to 1 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_SetOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be set +{ + pPio->PIO_SODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ClearOutput +//* \brief Set to 0 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ClearOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be cleared +{ + pPio->PIO_CODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ForceOutput +//* \brief Force output when Direct drive option is enabled +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ForceOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be forced +{ + pPio->PIO_ODSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Enable +//* \brief Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Enable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_PER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Disable +//* \brief Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Disable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_PDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetStatus +//* \brief Return PIO Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetStatus( // \return PIO Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsSet +//* \brief Test if PIO is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputEnable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be enabled +{ + pPio->PIO_OER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputDisable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be disabled +{ + pPio->PIO_ODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputStatus +//* \brief Return PIO Output Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputStatus( // \return PIO Output Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOuputSet +//* \brief Test if PIO Output is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterEnable +//* \brief Input Filter Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be enabled +{ + pPio->PIO_IFER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterDisable +//* \brief Input Filter Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be disabled +{ + pPio->PIO_IFDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInputFilterStatus +//* \brief Return PIO Input Filter Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInputFilterStatus( // \return PIO Input Filter Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IFSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputFilterSet +//* \brief Test if PIO Input filter is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputFilterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInputFilterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputDataStatus +//* \brief Return PIO Output Data Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputDataStatus( // \return PIO Output Data Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ODSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptEnable +//* \brief Enable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be enabled +{ + pPio->PIO_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptDisable +//* \brief Disable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be disabled +{ + pPio->PIO_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptMaskStatus +//* \brief Return PIO Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptMaskStatus( // \return PIO Interrupt Mask Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptStatus( // \return PIO Interrupt Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptMasked +//* \brief Test if PIO Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptMasked( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptMaskStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptSet +//* \brief Test if PIO Interrupt is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverEnable +//* \brief Multi Driver Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_MDER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverDisable +//* \brief Multi Driver Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_MDDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetMultiDriverStatus +//* \brief Return PIO Multi Driver Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetMultiDriverStatus( // \return PIO Multi Driver Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_MDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsMultiDriverSet +//* \brief Test if PIO MultiDriver is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsMultiDriverSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetMultiDriverStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_A_RegisterSelection +//* \brief PIO A Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_A_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio A register selection +{ + pPio->PIO_ASR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_B_RegisterSelection +//* \brief PIO B Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_B_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio B register selection +{ + pPio->PIO_BSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Get_AB_RegisterStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_Get_AB_RegisterStatus( // \return PIO AB Register Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ABSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsAB_RegisterSet +//* \brief Test if PIO AB Register is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsAB_RegisterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_Get_AB_RegisterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteEnable +//* \brief Output Write Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be enabled +{ + pPio->PIO_OWER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteDisable +//* \brief Output Write Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be disabled +{ + pPio->PIO_OWDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputWriteStatus +//* \brief Return PIO Output Write Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputWriteStatus( // \return PIO Output Write Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OWSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputWriteSet +//* \brief Test if PIO OutputWrite is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputWriteSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputWriteStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetCfgPullup +//* \brief Return PIO Configuration Pullup +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetCfgPullup( // \return PIO Configuration Pullup + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PPUSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputDataStatusSet +//* \brief Test if PIO Output Data Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputDataStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputDataStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsCfgPullupStatusSet +//* \brief Test if PIO Configuration Pullup Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsCfgPullupStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (~AT91F_PIO_GetCfgPullup(pPio) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TWI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_EnableIt +//* \brief Enable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_EnableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pTWI->TWI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_DisableIt +//* \brief Disable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_DisableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pTWI->TWI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_Configure +//* \brief Configure TWI in master mode +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_Configure ( AT91PS_TWI pTWI ) // \arg pointer to a TWI controller +{ + //* Disable interrupts + pTWI->TWI_IDR = (unsigned int) -1; + + //* Reset peripheral + pTWI->TWI_CR = AT91C_TWI_SWRST; + + //* Set Master mode + pTWI->TWI_CR = AT91C_TWI_MSEN | AT91C_TWI_SVDIS; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_GetInterruptMaskStatus +//* \brief Return TWI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TWI_GetInterruptMaskStatus( // \return TWI Interrupt Mask Status + AT91PS_TWI pTwi) // \arg pointer to a TWI controller +{ + return pTwi->TWI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_IsInterruptMasked +//* \brief Test if TWI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TWI_IsInterruptMasked( + AT91PS_TWI pTwi, // \arg pointer to a TWI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TWI_GetInterruptMaskStatus(pTwi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR USART + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Calculate the baudrate +//* Standard Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* Standard External Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_SCK_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_EXT ) + +//* Standard Synchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_SYNC_MODE ( AT91C_US_SYNC + \ + AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* SCK used Label +#define AT91C_US_SCK_USED (AT91C_US_CKLO | AT91C_US_CLKS_EXT) + +//* Standard ISO T=0 Mode : 8 bits , 1 stop , parity +#define AT91C_US_ISO_READER_MODE ( AT91C_US_USMODE_ISO7816_0 + \ + AT91C_US_CLKS_CLOCK +\ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_EVEN + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CKLO +\ + AT91C_US_OVER) + +//* Standard IRDA mode +#define AT91C_US_ASYNC_IRDA_MODE ( AT91C_US_USMODE_IRDA + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Caluculate baud_value according to the main clock and the baud rate +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Baudrate ( + const unsigned int main_clock, // \arg peripheral clock + const unsigned int baud_rate) // \arg UART baudrate +{ + unsigned int baud_value = ((main_clock*10)/(baud_rate * 16)); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + return baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetBaudrate ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg UART baudrate +{ + //* Define the baud rate divisor register + pUSART->US_BRGR = AT91F_US_Baudrate(mainClock, speed); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetTimeguard +//* \brief Set USART timeguard +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetTimeguard ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int timeguard) // \arg timeguard value +{ + //* Write the Timeguard Register + pUSART->US_TTGR = timeguard ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableIt +//* \brief Enable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUSART->US_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableIt +//* \brief Disable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IER register + pUSART->US_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Configure +//* \brief Configure USART +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Configure ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int mode , // \arg mode Register to be programmed + unsigned int baudRate , // \arg baudrate to be programmed + unsigned int timeguard ) // \arg timeguard to be programmed +{ + //* Disable interrupts + pUSART->US_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pUSART->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RXDIS | AT91C_US_TXDIS ; + + //* Define the baud rate divisor register + AT91F_US_SetBaudrate(pUSART, mainClock, baudRate); + + //* Write the Timeguard Register + AT91F_US_SetTimeguard(pUSART, timeguard); + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Define the USART mode + pUSART->US_MR = mode ; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableRx +//* \brief Enable receiving characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableTx +//* \brief Enable sending characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetRx +//* \brief Reset Receiver and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset receiver + pUSART->US_CR = AT91C_US_RSTRX; + //* Re-Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetTx +//* \brief Reset Transmitter and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset transmitter + pUSART->US_CR = AT91C_US_RSTTX; + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableRx +//* \brief Disable Receiver +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable receiver + pUSART->US_CR = AT91C_US_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableTx +//* \brief Disable Transmitter +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable transmitter + pUSART->US_CR = AT91C_US_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Close +//* \brief Close USART: disable IT disable receiver and transmitter, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Close ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset the baud rate divisor register + pUSART->US_BRGR = 0 ; + + //* Reset the USART mode + pUSART->US_MR = 0 ; + + //* Reset the Timeguard Register + pUSART->US_TTGR = 0; + + //* Disable all interrupts + pUSART->US_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pUSART->US_CR = AT91C_US_TXDIS | AT91C_US_RXDIS | AT91C_US_RSTTX | AT91C_US_RSTRX ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_TxReady +//* \brief Return 1 if a character can be written in US_THR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_TxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_TXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_RxReady +//* \brief Return 1 if a character can be read in US_RHR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_RxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_RXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Error +//* \brief Return the error flag +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Error ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & + (AT91C_US_OVRE | // Overrun error + AT91C_US_FRAME | // Framing error + AT91C_US_PARE)); // Parity error +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_US_PutChar ( + AT91PS_USART pUSART, + int character ) +{ + pUSART->US_THR = (character & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_US_GetChar ( + const AT91PS_USART pUSART) +{ + return((pUSART->US_RHR) & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_SendFrame( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_ReceiveFrame ( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetIrdaFilter +//* \brief Set the value of IrDa filter tregister +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetIrdaFilter ( + AT91PS_USART pUSART, + unsigned char value +) +{ + pUSART->US_IF = value; +} + +/* ***************************************************************************** + SOFTWARE API FOR UDP + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableIt +//* \brief Enable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUDP->UDP_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableIt +//* \brief Disable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pUDP->UDP_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetAddress +//* \brief Set UDP functional address +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetAddress ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char address) // \arg new UDP address +{ + pUDP->UDP_FADDR = (AT91C_UDP_FEN | address); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg endpoints to be enabled +{ + pUDP->UDP_GLBSTATE |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg endpoints to be enabled +{ + pUDP->UDP_GLBSTATE &= ~(flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetState +//* \brief Set UDP Device state +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetState ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg new UDP address +{ + pUDP->UDP_GLBSTATE &= ~(AT91C_UDP_FADDEN | AT91C_UDP_CONFG); + pUDP->UDP_GLBSTATE |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetState +//* \brief return UDP Device state +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetState ( // \return the UDP device state + AT91PS_UDP pUDP) // \arg pointer to a UDP controller +{ + return (pUDP->UDP_GLBSTATE & (AT91C_UDP_FADDEN | AT91C_UDP_CONFG)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_ResetEp +//* \brief Reset UDP endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_ResetEp ( // \return the UDP device state + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg Endpoints to be reset +{ + pUDP->UDP_RSTEP = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStall +//* \brief Endpoint will STALL requests +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpStall( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_FORCESTALL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpWrite +//* \brief Write value in the DPR +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpWrite( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned char value) // \arg value to be written in the DPR +{ + pUDP->UDP_FDR[endpoint] = value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpRead +//* \brief Return value from the DPR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpRead( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_FDR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpEndOfWr +//* \brief Notify the UDP that values in DPR are ready to be sent +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpEndOfWr( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_TXPKTRDY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpClear +//* \brief Clear flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpClear( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] &= ~(flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpSet +//* \brief Set flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpSet( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStatus +//* \brief Return the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpStatus( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_CSR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetInterruptMaskStatus +//* \brief Return UDP Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetInterruptMaskStatus( // \return UDP Interrupt Mask Status + AT91PS_UDP pUdp) // \arg pointer to a UDP controller +{ + return pUdp->UDP_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_IsInterruptMasked +//* \brief Test if UDP Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_UDP_IsInterruptMasked( + AT91PS_UDP pUdp, // \arg pointer to a UDP controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_UDP_GetInterruptMaskStatus(pUdp) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR AIC + ***************************************************************************** */ +#define AT91C_AIC_BRANCH_OPCODE ((void (*) ()) 0xE51FFF20) // ldr, pc, [pc, #-&F20] + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ConfigureIt +//* \brief Interrupt Handler Initialization +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_ConfigureIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id, // \arg interrupt number to initialize + unsigned int priority, // \arg priority to give to the interrupt + unsigned int src_type, // \arg activation and sense of activation + void (*newHandler) (void) ) // \arg address of the interrupt handler +{ + unsigned int oldHandler; + unsigned int mask ; + + oldHandler = pAic->AIC_SVR[irq_id]; + + mask = 0x1 << irq_id ; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Save the interrupt handler routine pointer and the interrupt priority + pAic->AIC_SVR[irq_id] = (unsigned int) newHandler ; + //* Store the Source Mode Register + pAic->AIC_SMR[irq_id] = src_type | priority ; + //* Clear the interrupt on the interrupt controller + pAic->AIC_ICCR = mask ; + + return oldHandler; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_EnableIt +//* \brief Enable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_EnableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + //* Enable the interrupt on the interrupt controller + pAic->AIC_IECR = 0x1 << irq_id ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_DisableIt +//* \brief Disable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_DisableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + unsigned int mask = 0x1 << irq_id; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = mask ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ClearIt +//* \brief Clear corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_ClearIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number to initialize +{ + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = (0x1 << irq_id); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_AcknowledgeIt +//* \brief Acknowledge corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_AcknowledgeIt ( + AT91PS_AIC pAic) // \arg pointer to the AIC registers +{ + pAic->AIC_EOICR = pAic->AIC_EOICR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_SetExceptionVector +//* \brief Configure vector handler +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_SetExceptionVector ( + unsigned int *pVector, // \arg pointer to the AIC registers + void (*Handler) () ) // \arg Interrupt Handler +{ + unsigned int oldVector = *pVector; + + if ((unsigned int) Handler == (unsigned int) AT91C_AIC_BRANCH_OPCODE) + *pVector = (unsigned int) AT91C_AIC_BRANCH_OPCODE; + else + *pVector = (((((unsigned int) Handler) - ((unsigned int) pVector) - 0x8) >> 2) & 0x00FFFFFF) | 0xEA000000; + + return oldVector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Trig +//* \brief Trig an IT +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Trig ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number +{ + pAic->AIC_ISCR = (0x1 << irq_id) ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsActive +//* \brief Test if an IT is active +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsActive ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_ISR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsPending +//* \brief Test if an IT is pending +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsPending ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_IPR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Open +//* \brief Set exception vectors and AIC registers to default values +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Open( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + void (*IrqHandler) (), // \arg Default IRQ vector exception + void (*FiqHandler) (), // \arg Default FIQ vector exception + void (*DefaultHandler) (), // \arg Default Handler set in ISR + void (*SpuriousHandler) (), // \arg Default Spurious Handler + unsigned int protectMode) // \arg Debug Control Register +{ + int i; + + // Disable all interrupts and set IVR to the default handler + for (i = 0; i < 32; ++i) { + AT91F_AIC_DisableIt(pAic, i); + AT91F_AIC_ConfigureIt(pAic, i, AT91C_AIC_PRIOR_LOWEST, AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE, DefaultHandler); + } + + // Set the IRQ exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x18, IrqHandler); + // Set the Fast Interrupt exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x1C, FiqHandler); + + pAic->AIC_SPU = (unsigned int) SpuriousHandler; + pAic->AIC_DCR = protectMode; +} +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_CfgPMC +//* \brief Enable Peripheral clock in PMC for MC +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPMC +//* \brief Enable Peripheral clock in PMC for DBGU +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPIO +//* \brief Configure PIO controllers to drive DBGU signals +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA10_DTXD ) | + ((unsigned int) AT91C_PA9_DRXD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH3_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH3 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH3_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA14_PWM3 ) | + ((unsigned int) AT91C_PA7_PWM3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH2_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA2_PWM2 ), // Peripheral A + ((unsigned int) AT91C_PA25_PWM2 ) | + ((unsigned int) AT91C_PA13_PWM2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH1_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA1_PWM1 ), // Peripheral A + ((unsigned int) AT91C_PA24_PWM1 ) | + ((unsigned int) AT91C_PA12_PWM1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH0_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA0_PWM0 ), // Peripheral A + ((unsigned int) AT91C_PA23_PWM0 ) | + ((unsigned int) AT91C_PA11_PWM0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPMC +//* \brief Enable Peripheral clock in PMC for SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SSC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPIO +//* \brief Configure PIO controllers to drive SSC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA17_TD ) | + ((unsigned int) AT91C_PA15_TF ) | + ((unsigned int) AT91C_PA19_RK ) | + ((unsigned int) AT91C_PA18_RD ) | + ((unsigned int) AT91C_PA20_RF ) | + ((unsigned int) AT91C_PA16_TK ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgPIO +//* \brief Configure PIO controllers to drive SPI signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA11_NPCS0 ) | + ((unsigned int) AT91C_PA13_MOSI ) | + ((unsigned int) AT91C_PA31_NPCS1 ) | + ((unsigned int) AT91C_PA12_MISO ) | + ((unsigned int) AT91C_PA14_SPCK ), // Peripheral A + ((unsigned int) AT91C_PA9_NPCS1 ) | + ((unsigned int) AT91C_PA30_NPCS2 ) | + ((unsigned int) AT91C_PA10_NPCS2 ) | + ((unsigned int) AT91C_PA22_NPCS3 ) | + ((unsigned int) AT91C_PA3_NPCS3 ) | + ((unsigned int) AT91C_PA5_NPCS3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PWMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PWMC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC2 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC2)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPIO +//* \brief Configure PIO controllers to drive TC2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA26_TIOA2 ) | + ((unsigned int) AT91C_PA27_TIOB2 ) | + ((unsigned int) AT91C_PA29_TCLK2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC1 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPIO +//* \brief Configure PIO controllers to drive TC1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA15_TIOA1 ) | + ((unsigned int) AT91C_PA16_TIOB1 ) | + ((unsigned int) AT91C_PA28_TCLK1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC0 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPIO +//* \brief Configure PIO controllers to drive TC0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA0_TIOA0 ) | + ((unsigned int) AT91C_PA1_TIOB0 ) | + ((unsigned int) AT91C_PA4_TCLK0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPIO +//* \brief Configure PIO controllers to drive PMC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA17_PCK1 ) | + ((unsigned int) AT91C_PA21_PCK1 ) | + ((unsigned int) AT91C_PA31_PCK2 ) | + ((unsigned int) AT91C_PA18_PCK2 ) | + ((unsigned int) AT91C_PA6_PCK0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPMC +//* \brief Enable Peripheral clock in PMC for ADC +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_ADC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPIO +//* \brief Configure PIO controllers to drive ADC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA8_ADTRG )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOA_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOA +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOA_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOA)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPMC +//* \brief Enable Peripheral clock in PMC for TWI +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TWI)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPIO +//* \brief Configure PIO controllers to drive TWI signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA3_TWD ) | + ((unsigned int) AT91C_PA4_TWCK ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPMC +//* \brief Enable Peripheral clock in PMC for US1 +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPIO +//* \brief Configure PIO controllers to drive US1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA21_RXD1 ) | + ((unsigned int) AT91C_PA27_DTR1 ) | + ((unsigned int) AT91C_PA26_DCD1 ) | + ((unsigned int) AT91C_PA22_TXD1 ) | + ((unsigned int) AT91C_PA24_RTS1 ) | + ((unsigned int) AT91C_PA23_SCK1 ) | + ((unsigned int) AT91C_PA28_DSR1 ) | + ((unsigned int) AT91C_PA29_RI1 ) | + ((unsigned int) AT91C_PA25_CTS1 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPMC +//* \brief Enable Peripheral clock in PMC for US0 +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPIO +//* \brief Configure PIO controllers to drive US0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA5_RXD0 ) | + ((unsigned int) AT91C_PA6_TXD0 ) | + ((unsigned int) AT91C_PA7_RTS0 ) | + ((unsigned int) AT91C_PA8_CTS0 ), // Peripheral A + ((unsigned int) AT91C_PA2_SCK0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_CfgPMC +//* \brief Enable Peripheral clock in PMC for UDP +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_UDP)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPMC +//* \brief Enable Peripheral clock in PMC for AIC +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_IRQ0) | + ((unsigned int) 1 << AT91C_ID_FIQ) | + ((unsigned int) 1 << AT91C_ID_IRQ1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPIO +//* \brief Configure PIO controllers to drive AIC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA30_IRQ1 ), // Peripheral A + ((unsigned int) AT91C_PA20_IRQ0 ) | + ((unsigned int) AT91C_PA19_FIQ )); // Peripheral B +} + +#endif // lib_AT91SAM7S64_H diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7X128.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7X128.h new file mode 100644 index 0000000..805a2bc --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7X128.h @@ -0,0 +1,4558 @@ +//* ---------------------------------------------------------------------------- +//* ATMEL Microcontroller Software Support - ROUSSET - +//* ---------------------------------------------------------------------------- +//* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +//* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +//* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +//* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +//* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +//* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +//* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +//* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +//* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//* ---------------------------------------------------------------------------- +//* File Name : lib_AT91SAM7X128.h +//* Object : AT91SAM7X128 inlined functions +//* Generated : AT91 SW Application Group 05/20/2005 (16:22:23) +//* +//* CVS Reference : /lib_dbgu.h/1.1/Fri Jan 31 12:18:40 2003// +//* CVS Reference : /lib_pmc_SAM7X.h/1.1/Tue Feb 1 08:32:10 2005// +//* CVS Reference : /lib_VREG_6085B.h/1.1/Tue Feb 1 16:20:47 2005// +//* CVS Reference : /lib_rstc_6098A.h/1.1/Wed Oct 6 10:39:20 2004// +//* CVS Reference : /lib_ssc.h/1.4/Fri Jan 31 12:19:20 2003// +//* CVS Reference : /lib_wdtc_6080A.h/1.1/Wed Oct 6 10:38:30 2004// +//* CVS Reference : /lib_usart.h/1.5/Thu Nov 21 16:01:54 2002// +//* CVS Reference : /lib_spi2.h/1.1/Mon Aug 25 14:23:52 2003// +//* CVS Reference : /lib_pitc_6079A.h/1.2/Tue Nov 9 14:43:56 2004// +//* CVS Reference : /lib_aic_6075b.h/1.1/Fri May 20 14:01:19 2005// +//* CVS Reference : /lib_aes_6149a.h/1.1/Mon Jan 17 07:43:09 2005// +//* CVS Reference : /lib_twi.h/1.3/Mon Jul 19 14:27:58 2004// +//* CVS Reference : /lib_adc.h/1.6/Fri Oct 17 09:12:38 2003// +//* CVS Reference : /lib_rttc_6081A.h/1.1/Wed Oct 6 10:39:38 2004// +//* CVS Reference : /lib_udp.h/1.4/Wed Feb 16 08:39:34 2005// +//* CVS Reference : /lib_des3_6150a.h/1.1/Mon Jan 17 09:19:19 2005// +//* CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +//* CVS Reference : /lib_MC_SAM7X.h/1.1/Thu Mar 25 15:19:14 2004// +//* CVS Reference : /lib_pio.h/1.3/Fri Jan 31 12:18:56 2003// +//* CVS Reference : /lib_can_AT91.h/1.4/Fri Oct 17 09:12:50 2003// +//* CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +//* CVS Reference : /lib_pdc.h/1.2/Tue Jul 2 13:29:40 2002// +//* ---------------------------------------------------------------------------- + +#ifndef lib_AT91SAM7X128_H +#define lib_AT91SAM7X128_H + +/* ***************************************************************************** + SOFTWARE API FOR AIC + ***************************************************************************** */ +#define AT91C_AIC_BRANCH_OPCODE ((void (*) ()) 0xE51FFF20) // ldr, pc, [pc, #-&F20] + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ConfigureIt +//* \brief Interrupt Handler Initialization +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_ConfigureIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id, // \arg interrupt number to initialize + unsigned int priority, // \arg priority to give to the interrupt + unsigned int src_type, // \arg activation and sense of activation + void (*newHandler) (void) ) // \arg address of the interrupt handler +{ + unsigned int oldHandler; + unsigned int mask ; + + oldHandler = pAic->AIC_SVR[irq_id]; + + mask = 0x1 << irq_id ; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Save the interrupt handler routine pointer and the interrupt priority + pAic->AIC_SVR[irq_id] = (unsigned int) newHandler ; + //* Store the Source Mode Register + pAic->AIC_SMR[irq_id] = src_type | priority ; + //* Clear the interrupt on the interrupt controller + pAic->AIC_ICCR = mask ; + + return oldHandler; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_EnableIt +//* \brief Enable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_EnableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + //* Enable the interrupt on the interrupt controller + pAic->AIC_IECR = 0x1 << irq_id ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_DisableIt +//* \brief Disable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_DisableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + unsigned int mask = 0x1 << irq_id; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = mask ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ClearIt +//* \brief Clear corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_ClearIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number to initialize +{ + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = (0x1 << irq_id); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_AcknowledgeIt +//* \brief Acknowledge corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_AcknowledgeIt ( + AT91PS_AIC pAic) // \arg pointer to the AIC registers +{ + pAic->AIC_EOICR = pAic->AIC_EOICR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_SetExceptionVector +//* \brief Configure vector handler +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_SetExceptionVector ( + unsigned int *pVector, // \arg pointer to the AIC registers + void (*Handler) () ) // \arg Interrupt Handler +{ + unsigned int oldVector = *pVector; + + if ((unsigned int) Handler == (unsigned int) AT91C_AIC_BRANCH_OPCODE) + *pVector = (unsigned int) AT91C_AIC_BRANCH_OPCODE; + else + *pVector = (((((unsigned int) Handler) - ((unsigned int) pVector) - 0x8) >> 2) & 0x00FFFFFF) | 0xEA000000; + + return oldVector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Trig +//* \brief Trig an IT +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Trig ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number +{ + pAic->AIC_ISCR = (0x1 << irq_id) ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsActive +//* \brief Test if an IT is active +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsActive ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_ISR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsPending +//* \brief Test if an IT is pending +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsPending ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_IPR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Open +//* \brief Set exception vectors and AIC registers to default values +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Open( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + void (*IrqHandler) (), // \arg Default IRQ vector exception + void (*FiqHandler) (), // \arg Default FIQ vector exception + void (*DefaultHandler) (), // \arg Default Handler set in ISR + void (*SpuriousHandler) (), // \arg Default Spurious Handler + unsigned int protectMode) // \arg Debug Control Register +{ + int i; + + // Disable all interrupts and set IVR to the default handler + for (i = 0; i < 32; ++i) { + AT91F_AIC_DisableIt(pAic, i); + AT91F_AIC_ConfigureIt(pAic, i, AT91C_AIC_PRIOR_LOWEST, AT91C_AIC_SRCTYPE_HIGH_LEVEL, DefaultHandler); + } + + // Set the IRQ exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x18, IrqHandler); + // Set the Fast Interrupt exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x1C, FiqHandler); + + pAic->AIC_SPU = (unsigned int) SpuriousHandler; + pAic->AIC_DCR = protectMode; +} +/* ***************************************************************************** + SOFTWARE API FOR PDC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextRx +//* \brief Set the next receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RNPR = (unsigned int) address; + pPDC->PDC_RNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextTx +//* \brief Set the next transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TNPR = (unsigned int) address; + pPDC->PDC_TNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetRx +//* \brief Set the receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RPR = (unsigned int) address; + pPDC->PDC_RCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetTx +//* \brief Set the transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TPR = (unsigned int) address; + pPDC->PDC_TCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableTx +//* \brief Enable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableRx +//* \brief Enable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableTx +//* \brief Disable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableRx +//* \brief Disable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsTxEmpty +//* \brief Test if the current transfer descriptor has been sent +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextTxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsRxEmpty +//* \brief Test if the current transfer descriptor has been filled +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextRxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Open +//* \brief Open PDC: disable TX and RX reset transfer descriptors, re-enable RX and TX +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Open ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + + //* Enable the RX and TX PDC transfer requests + AT91F_PDC_EnableRx(pPDC); + AT91F_PDC_EnableTx(pPDC); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Close +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Close ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SendFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_SendFrame( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsTxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetTx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextTx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextTxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextTx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_ReceiveFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_ReceiveFrame ( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsRxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetRx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextRx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextRxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextRx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} +/* ***************************************************************************** + SOFTWARE API FOR DBGU + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptEnable +//* \brief Enable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptEnable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be enabled +{ + pDbgu->DBGU_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptDisable +//* \brief Disable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptDisable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be disabled +{ + pDbgu->DBGU_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_GetInterruptMaskStatus +//* \brief Return DBGU Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_DBGU_GetInterruptMaskStatus( // \return DBGU Interrupt Mask Status + AT91PS_DBGU pDbgu) // \arg pointer to a DBGU controller +{ + return pDbgu->DBGU_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_IsInterruptMasked +//* \brief Test if DBGU Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_DBGU_IsInterruptMasked( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_DBGU_GetInterruptMaskStatus(pDbgu) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PIO + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPeriph +//* \brief Enable pins to be drived by peripheral +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPeriph( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int periphAEnable, // \arg PERIPH A to enable + unsigned int periphBEnable) // \arg PERIPH B to enable + +{ + pPio->PIO_ASR = periphAEnable; + pPio->PIO_BSR = periphBEnable; + pPio->PIO_PDR = (periphAEnable | periphBEnable); // Set in Periph mode +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOutput +//* \brief Enable PIO in output mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pioEnable) // \arg PIO to be enabled +{ + pPio->PIO_PER = pioEnable; // Set in PIO mode + pPio->PIO_OER = pioEnable; // Configure in Output +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInput +//* \brief Enable PIO in input mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputEnable) // \arg PIO to be enabled +{ + // Disable output + pPio->PIO_ODR = inputEnable; + pPio->PIO_PER = inputEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOpendrain +//* \brief Configure PIO in open drain +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOpendrain( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int multiDrvEnable) // \arg pio to be configured in open drain +{ + // Configure the multi-drive option + pPio->PIO_MDDR = ~multiDrvEnable; + pPio->PIO_MDER = multiDrvEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPullup +//* \brief Enable pullup on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPullup( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pullupEnable) // \arg enable pullup on PIO +{ + // Connect or not Pullup + pPio->PIO_PPUDR = ~pullupEnable; + pPio->PIO_PPUER = pullupEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgDirectDrive +//* \brief Enable direct drive on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgDirectDrive( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int directDrive) // \arg PIO to be configured with direct drive + +{ + // Configure the Direct Drive + pPio->PIO_OWDR = ~directDrive; + pPio->PIO_OWER = directDrive; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInputFilter +//* \brief Enable input filter on input PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInputFilter( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputFilter) // \arg PIO to be configured with input filter + +{ + // Configure the Direct Drive + pPio->PIO_IFDR = ~inputFilter; + pPio->PIO_IFER = inputFilter; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInput +//* \brief Return PIO input value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInput( // \return PIO input + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputSet +//* \brief Test if PIO is input flag is active +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInput(pPio) & flag); +} + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_SetOutput +//* \brief Set to 1 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_SetOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be set +{ + pPio->PIO_SODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ClearOutput +//* \brief Set to 0 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ClearOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be cleared +{ + pPio->PIO_CODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ForceOutput +//* \brief Force output when Direct drive option is enabled +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ForceOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be forced +{ + pPio->PIO_ODSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Enable +//* \brief Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Enable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_PER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Disable +//* \brief Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Disable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_PDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetStatus +//* \brief Return PIO Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetStatus( // \return PIO Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsSet +//* \brief Test if PIO is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputEnable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be enabled +{ + pPio->PIO_OER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputDisable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be disabled +{ + pPio->PIO_ODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputStatus +//* \brief Return PIO Output Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputStatus( // \return PIO Output Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOuputSet +//* \brief Test if PIO Output is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterEnable +//* \brief Input Filter Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be enabled +{ + pPio->PIO_IFER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterDisable +//* \brief Input Filter Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be disabled +{ + pPio->PIO_IFDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInputFilterStatus +//* \brief Return PIO Input Filter Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInputFilterStatus( // \return PIO Input Filter Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IFSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputFilterSet +//* \brief Test if PIO Input filter is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputFilterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInputFilterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputDataStatus +//* \brief Return PIO Output Data Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputDataStatus( // \return PIO Output Data Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ODSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptEnable +//* \brief Enable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be enabled +{ + pPio->PIO_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptDisable +//* \brief Disable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be disabled +{ + pPio->PIO_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptMaskStatus +//* \brief Return PIO Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptMaskStatus( // \return PIO Interrupt Mask Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptStatus( // \return PIO Interrupt Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptMasked +//* \brief Test if PIO Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptMasked( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptMaskStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptSet +//* \brief Test if PIO Interrupt is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverEnable +//* \brief Multi Driver Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_MDER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverDisable +//* \brief Multi Driver Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_MDDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetMultiDriverStatus +//* \brief Return PIO Multi Driver Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetMultiDriverStatus( // \return PIO Multi Driver Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_MDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsMultiDriverSet +//* \brief Test if PIO MultiDriver is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsMultiDriverSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetMultiDriverStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_A_RegisterSelection +//* \brief PIO A Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_A_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio A register selection +{ + pPio->PIO_ASR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_B_RegisterSelection +//* \brief PIO B Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_B_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio B register selection +{ + pPio->PIO_BSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Get_AB_RegisterStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_Get_AB_RegisterStatus( // \return PIO AB Register Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ABSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsAB_RegisterSet +//* \brief Test if PIO AB Register is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsAB_RegisterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_Get_AB_RegisterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteEnable +//* \brief Output Write Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be enabled +{ + pPio->PIO_OWER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteDisable +//* \brief Output Write Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be disabled +{ + pPio->PIO_OWDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputWriteStatus +//* \brief Return PIO Output Write Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputWriteStatus( // \return PIO Output Write Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OWSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputWriteSet +//* \brief Test if PIO OutputWrite is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputWriteSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputWriteStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetCfgPullup +//* \brief Return PIO Configuration Pullup +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetCfgPullup( // \return PIO Configuration Pullup + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PPUSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputDataStatusSet +//* \brief Test if PIO Output Data Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputDataStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputDataStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsCfgPullupStatusSet +//* \brief Test if PIO Configuration Pullup Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsCfgPullupStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (~AT91F_PIO_GetCfgPullup(pPio) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkEnableReg +//* \brief Configure the System Clock Enable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkEnableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCER register + pPMC->PMC_SCER = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkDisableReg +//* \brief Configure the System Clock Disable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkDisableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCDR register + pPMC->PMC_SCDR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetSysClkStatusReg +//* \brief Return the System Clock Status Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetSysClkStatusReg ( + AT91PS_PMC pPMC // pointer to a CAN controller + ) +{ + return pPMC->PMC_SCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePeriphClock +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCER = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePeriphClock +//* \brief Disable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCDR = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetPeriphClock +//* \brief Get peripheral clock status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetPeriphClock ( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_PCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscillatorReg ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int mode) +{ + pCKGR->CKGR_MOR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainOscillatorReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MOR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_EnableMainOscillator +//* \brief Enable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_EnableMainOscillator( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR |= AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_DisableMainOscillator +//* \brief Disable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_DisableMainOscillator ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscStartUpTime +//* \brief Cfg MOR Register according to the main osc startup time +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscStartUpTime ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int startup_time, // \arg main osc startup time in microsecond (us) + unsigned int slowClock) // \arg slowClock in Hz +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_OSCOUNT; + pCKGR->CKGR_MOR |= ((slowClock * startup_time)/(8*1000000)) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClockFreqReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClockFreqReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MCFR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClock +//* \brief Return Main clock in Hz +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClock ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + return ((pCKGR->CKGR_MCFR & AT91C_CKGR_MAINF) * slowClock) >> 4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgMCKReg +//* \brief Cfg Master Clock Register +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgMCKReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + pPMC->PMC_MCKR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetMCKReg +//* \brief Return Master Clock Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetMCKReg( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_MCKR; +} + +//*------------------------------------------------------------------------------ +//* \fn AT91F_PMC_GetMasterClock +//* \brief Return master clock in Hz which correponds to processor clock for ARM7 +//*------------------------------------------------------------------------------ +__inline unsigned int AT91F_PMC_GetMasterClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + unsigned int reg = pPMC->PMC_MCKR; + unsigned int prescaler = (1 << ((reg & AT91C_PMC_PRES) >> 2)); + unsigned int pllDivider, pllMultiplier; + + switch (reg & AT91C_PMC_CSS) { + case AT91C_PMC_CSS_SLOW_CLK: // Slow clock selected + return slowClock / prescaler; + case AT91C_PMC_CSS_MAIN_CLK: // Main clock is selected + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / prescaler; + case AT91C_PMC_CSS_PLL_CLK: // PLLB clock is selected + reg = pCKGR->CKGR_PLLR; + pllDivider = (reg & AT91C_CKGR_DIV); + pllMultiplier = ((reg & AT91C_CKGR_MUL) >> 16) + 1; + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / pllDivider * pllMultiplier / prescaler; + } + return 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck, // \arg Peripheral clock identifier 0 .. 7 + unsigned int mode) +{ + pPMC->PMC_PCKR[pck] = mode; + pPMC->PMC_SCER = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck) // \arg Peripheral clock identifier 0 .. 7 +{ + pPMC->PMC_SCDR = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnableIt +//* \brief Enable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pPMC->PMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisableIt +//* \brief Disable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pPMC->PMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetStatus +//* \brief Return PMC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetStatus( // \return PMC Interrupt Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetInterruptMaskStatus +//* \brief Return PMC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetInterruptMaskStatus( // \return PMC Interrupt Mask Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsInterruptMasked +//* \brief Test if PMC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsInterruptMasked( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetInterruptMaskStatus(pPMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsStatusSet +//* \brief Test if PMC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsStatusSet( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetStatus(pPMC) & flag); +}/* ***************************************************************************** + SOFTWARE API FOR RSTC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTSoftReset +//* \brief Start Software Reset +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTSoftReset( + AT91PS_RSTC pRSTC, + unsigned int reset) +{ + pRSTC->RSTC_RCR = (0xA5000000 | reset); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTSetMode +//* \brief Set Reset Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTSetMode( + AT91PS_RSTC pRSTC, + unsigned int mode) +{ + pRSTC->RSTC_RMR = (0xA5000000 | mode); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTGetMode +//* \brief Get Reset Mode +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTGetMode( + AT91PS_RSTC pRSTC) +{ + return (pRSTC->RSTC_RMR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTGetStatus +//* \brief Get Reset Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTGetStatus( + AT91PS_RSTC pRSTC) +{ + return (pRSTC->RSTC_RSR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTIsSoftRstActive +//* \brief Return !=0 if software reset is still not completed +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTIsSoftRstActive( + AT91PS_RSTC pRSTC) +{ + return ((pRSTC->RSTC_RSR) & AT91C_RSTC_SRCMP); +} +/* ***************************************************************************** + SOFTWARE API FOR RTTC + ***************************************************************************** */ +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_SetRTT_TimeBase() +//* \brief Set the RTT prescaler according to the TimeBase in ms +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTSetTimeBase( + AT91PS_RTTC pRTTC, + unsigned int ms) +{ + if (ms > 2000) + return 1; // AT91C_TIME_OUT_OF_RANGE + pRTTC->RTTC_RTMR &= ~0xFFFF; + pRTTC->RTTC_RTMR |= (((ms << 15) /1000) & 0xFFFF); + return 0; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTSetPrescaler() +//* \brief Set the new prescaler value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTSetPrescaler( + AT91PS_RTTC pRTTC, + unsigned int rtpres) +{ + pRTTC->RTTC_RTMR &= ~0xFFFF; + pRTTC->RTTC_RTMR |= (rtpres & 0xFFFF); + return (pRTTC->RTTC_RTMR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTRestart() +//* \brief Restart the RTT prescaler +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTRestart( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTRST; +} + + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetAlarmINT() +//* \brief Enable RTT Alarm Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetAlarmINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_ALMIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ClearAlarmINT() +//* \brief Disable RTT Alarm Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTClearAlarmINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR &= ~AT91C_RTTC_ALMIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetRttIncINT() +//* \brief Enable RTT INC Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetRttIncINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTINCIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ClearRttIncINT() +//* \brief Disable RTT INC Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTClearRttIncINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR &= ~AT91C_RTTC_RTTINCIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetAlarmValue() +//* \brief Set RTT Alarm Value +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetAlarmValue( + AT91PS_RTTC pRTTC, unsigned int alarm) +{ + pRTTC->RTTC_RTAR = alarm; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_GetAlarmValue() +//* \brief Get RTT Alarm Value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTGetAlarmValue( + AT91PS_RTTC pRTTC) +{ + return(pRTTC->RTTC_RTAR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTGetStatus() +//* \brief Read the RTT status +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTGetStatus( + AT91PS_RTTC pRTTC) +{ + return(pRTTC->RTTC_RTSR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ReadValue() +//* \brief Read the RTT value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTReadValue( + AT91PS_RTTC pRTTC) +{ + register volatile unsigned int val1,val2; + do + { + val1 = pRTTC->RTTC_RTVR; + val2 = pRTTC->RTTC_RTVR; + } + while(val1 != val2); + return(val1); +} +/* ***************************************************************************** + SOFTWARE API FOR PITC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITInit +//* \brief System timer init : period in µsecond, system clock freq in MHz +//*---------------------------------------------------------------------------- +__inline void AT91F_PITInit( + AT91PS_PITC pPITC, + unsigned int period, + unsigned int pit_frequency) +{ + pPITC->PITC_PIMR = period? (period * pit_frequency + 8) >> 4 : 0; // +8 to avoid %10 and /10 + pPITC->PITC_PIMR |= AT91C_PITC_PITEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITSetPIV +//* \brief Set the PIT Periodic Interval Value +//*---------------------------------------------------------------------------- +__inline void AT91F_PITSetPIV( + AT91PS_PITC pPITC, + unsigned int piv) +{ + pPITC->PITC_PIMR = piv | (pPITC->PITC_PIMR & (AT91C_PITC_PITEN | AT91C_PITC_PITIEN)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITEnableInt +//* \brief Enable PIT periodic interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PITEnableInt( + AT91PS_PITC pPITC) +{ + pPITC->PITC_PIMR |= AT91C_PITC_PITIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITDisableInt +//* \brief Disable PIT periodic interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PITDisableInt( + AT91PS_PITC pPITC) +{ + pPITC->PITC_PIMR &= ~AT91C_PITC_PITIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetMode +//* \brief Read PIT mode register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetMode( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIMR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetStatus +//* \brief Read PIT status register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetStatus( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PISR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetPIIR +//* \brief Read PIT CPIV and PICNT without ressetting the counters +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetPIIR( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIIR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetPIVR +//* \brief Read System timer CPIV and PICNT without ressetting the counters +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetPIVR( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIVR); +} +/* ***************************************************************************** + SOFTWARE API FOR WDTC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTSetMode +//* \brief Set Watchdog Mode Register +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTSetMode( + AT91PS_WDTC pWDTC, + unsigned int Mode) +{ + pWDTC->WDTC_WDMR = Mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTRestart +//* \brief Restart Watchdog +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTRestart( + AT91PS_WDTC pWDTC) +{ + pWDTC->WDTC_WDCR = 0xA5000001; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTSGettatus +//* \brief Get Watchdog Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_WDTSGettatus( + AT91PS_WDTC pWDTC) +{ + return(pWDTC->WDTC_WDSR & 0x3); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTGetPeriod +//* \brief Translate ms into Watchdog Compatible value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_WDTGetPeriod(unsigned int ms) +{ + if ((ms < 4) || (ms > 16000)) + return 0; + return((ms << 8) / 1000); +} +/* ***************************************************************************** + SOFTWARE API FOR VREG + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_Enable_LowPowerMode +//* \brief Enable VREG Low Power Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_Enable_LowPowerMode( + AT91PS_VREG pVREG) +{ + pVREG->VREG_MR |= AT91C_VREG_PSTDBY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_Disable_LowPowerMode +//* \brief Disable VREG Low Power Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_Disable_LowPowerMode( + AT91PS_VREG pVREG) +{ + pVREG->VREG_MR &= ~AT91C_VREG_PSTDBY; +}/* ***************************************************************************** + SOFTWARE API FOR MC + ***************************************************************************** */ + +#define AT91C_MC_CORRECT_KEY ((unsigned int) 0x5A << 24) // (MC) Correct Protect Key + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_Remap +//* \brief Make Remap +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_Remap (void) // +{ + AT91PS_MC pMC = (AT91PS_MC) AT91C_BASE_MC; + + pMC->MC_RCR = AT91C_MC_RCB; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_CfgModeReg +//* \brief Configure the EFC Mode Register of the MC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_CfgModeReg ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int mode) // mode register +{ + // Write to the FMR register + pMC->MC_FMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetModeReg +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetModeReg( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_ComputeFMCN +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_ComputeFMCN( + int master_clock) // master clock in Hz +{ + return (master_clock/1000000 +2); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_PerformCmd +//* \brief Perform EFC Command +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_PerformCmd ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int transfer_cmd) +{ + pMC->MC_FCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetStatus +//* \brief Return MC EFC Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetStatus( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptMasked +//* \brief Test if EFC MC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptMasked( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetModeReg(pMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptSet +//* \brief Test if EFC MC Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptSet( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetStatus(pMC) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR SPI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Open +//* \brief Open a SPI Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgCs +//* \brief Configure SPI chip select register +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgCs ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int cs, // SPI cs number (0 to 3) + int val) // chip select register +{ + //* Write to the CSR register + *(pSPI->SPI_CSR + cs) = val; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_EnableIt +//* \brief Enable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_EnableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pSPI->SPI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_DisableIt +//* \brief Disable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_DisableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pSPI->SPI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Reset +//* \brief Reset the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Reset ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Enable +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Enable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Disable +//* \brief Disable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Disable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgMode +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgMode ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int mode) // mode register +{ + //* Write to the MR register + pSPI->SPI_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgPCS +//* \brief Switch to the correct PCS of SPI Mode Register : Fixed Peripheral Selected +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgPCS ( + AT91PS_SPI pSPI, // pointer to a SPI controller + char PCS_Device) // PCS of the Device +{ + //* Write to the MR register + pSPI->SPI_MR &= 0xFFF0FFFF; + pSPI->SPI_MR |= ( (PCS_Device<<16) & AT91C_SPI_PCS ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_ReceiveFrame ( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is bSPIy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_SendFrame( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Close +//* \brief Close SPI: disable IT disable transfert, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Close ( + AT91PS_SPI pSPI) // \arg pointer to a SPI controller +{ + //* Reset all the Chip Select register + pSPI->SPI_CSR[0] = 0 ; + pSPI->SPI_CSR[1] = 0 ; + pSPI->SPI_CSR[2] = 0 ; + pSPI->SPI_CSR[3] = 0 ; + + //* Reset the SPI mode + pSPI->SPI_MR = 0 ; + + //* Disable all interrupts + pSPI->SPI_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pSPI->SPI_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_PutChar ( + AT91PS_SPI pSPI, + unsigned int character, + unsigned int cs_number ) +{ + unsigned int value_for_cs; + value_for_cs = (~(1 << cs_number)) & 0xF; //Place a zero among a 4 ONEs number + pSPI->SPI_TDR = (character & 0xFFFF) | (value_for_cs << 16); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_GetChar ( + const AT91PS_SPI pSPI) +{ + return((pSPI->SPI_RDR) & 0xFFFF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetInterruptMaskStatus +//* \brief Return SPI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_GetInterruptMaskStatus( // \return SPI Interrupt Mask Status + AT91PS_SPI pSpi) // \arg pointer to a SPI controller +{ + return pSpi->SPI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_IsInterruptMasked +//* \brief Test if SPI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_IsInterruptMasked( + AT91PS_SPI pSpi, // \arg pointer to a SPI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SPI_GetInterruptMaskStatus(pSpi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR USART + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Calculate the baudrate +//* Standard Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* Standard External Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_SCK_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_EXT ) + +//* Standard Synchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_SYNC_MODE ( AT91C_US_SYNC + \ + AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* SCK used Label +#define AT91C_US_SCK_USED (AT91C_US_CKLO | AT91C_US_CLKS_EXT) + +//* Standard ISO T=0 Mode : 8 bits , 1 stop , parity +#define AT91C_US_ISO_READER_MODE ( AT91C_US_USMODE_ISO7816_0 + \ + AT91C_US_CLKS_CLOCK +\ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_EVEN + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CKLO +\ + AT91C_US_OVER) + +//* Standard IRDA mode +#define AT91C_US_ASYNC_IRDA_MODE ( AT91C_US_USMODE_IRDA + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Caluculate baud_value according to the main clock and the baud rate +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Baudrate ( + const unsigned int main_clock, // \arg peripheral clock + const unsigned int baud_rate) // \arg UART baudrate +{ + unsigned int baud_value = ((main_clock*10)/(baud_rate * 16)); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + return baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetBaudrate ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg UART baudrate +{ + //* Define the baud rate divisor register + pUSART->US_BRGR = AT91F_US_Baudrate(mainClock, speed); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetTimeguard +//* \brief Set USART timeguard +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetTimeguard ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int timeguard) // \arg timeguard value +{ + //* Write the Timeguard Register + pUSART->US_TTGR = timeguard ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableIt +//* \brief Enable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUSART->US_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableIt +//* \brief Disable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IER register + pUSART->US_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Configure +//* \brief Configure USART +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Configure ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int mode , // \arg mode Register to be programmed + unsigned int baudRate , // \arg baudrate to be programmed + unsigned int timeguard ) // \arg timeguard to be programmed +{ + //* Disable interrupts + pUSART->US_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pUSART->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RXDIS | AT91C_US_TXDIS ; + + //* Define the baud rate divisor register + AT91F_US_SetBaudrate(pUSART, mainClock, baudRate); + + //* Write the Timeguard Register + AT91F_US_SetTimeguard(pUSART, timeguard); + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Define the USART mode + pUSART->US_MR = mode ; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableRx +//* \brief Enable receiving characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableTx +//* \brief Enable sending characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetRx +//* \brief Reset Receiver and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset receiver + pUSART->US_CR = AT91C_US_RSTRX; + //* Re-Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetTx +//* \brief Reset Transmitter and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset transmitter + pUSART->US_CR = AT91C_US_RSTTX; + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableRx +//* \brief Disable Receiver +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable receiver + pUSART->US_CR = AT91C_US_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableTx +//* \brief Disable Transmitter +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable transmitter + pUSART->US_CR = AT91C_US_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Close +//* \brief Close USART: disable IT disable receiver and transmitter, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Close ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset the baud rate divisor register + pUSART->US_BRGR = 0 ; + + //* Reset the USART mode + pUSART->US_MR = 0 ; + + //* Reset the Timeguard Register + pUSART->US_TTGR = 0; + + //* Disable all interrupts + pUSART->US_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pUSART->US_CR = AT91C_US_TXDIS | AT91C_US_RXDIS | AT91C_US_RSTTX | AT91C_US_RSTRX ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_TxReady +//* \brief Return 1 if a character can be written in US_THR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_TxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_TXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_RxReady +//* \brief Return 1 if a character can be read in US_RHR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_RxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_RXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Error +//* \brief Return the error flag +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Error ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & + (AT91C_US_OVRE | // Overrun error + AT91C_US_FRAME | // Framing error + AT91C_US_PARE)); // Parity error +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_US_PutChar ( + AT91PS_USART pUSART, + int character ) +{ + pUSART->US_THR = (character & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_US_GetChar ( + const AT91PS_USART pUSART) +{ + return((pUSART->US_RHR) & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_SendFrame( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_ReceiveFrame ( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetIrdaFilter +//* \brief Set the value of IrDa filter tregister +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetIrdaFilter ( + AT91PS_USART pUSART, + unsigned char value +) +{ + pUSART->US_IF = value; +} + +/* ***************************************************************************** + SOFTWARE API FOR SSC + ***************************************************************************** */ +//* Define the standard I2S mode configuration + +//* Configuration to set in the SSC Transmit Clock Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_MASTER_TX_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + AT91C_SSC_CKS_DIV +\ + AT91C_SSC_CKO_CONTINOUS +\ + AT91C_SSC_CKG_NONE +\ + AT91C_SSC_START_FALL_RF +\ + AT91C_SSC_STTOUT +\ + ((1<<16) & AT91C_SSC_STTDLY) +\ + ((((nb_bit_by_slot*nb_slot_by_frame)/2)-1) <<24)) + + +//* Configuration to set in the SSC Transmit Frame Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_TX_FRAME_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + (nb_bit_by_slot-1) +\ + AT91C_SSC_MSBF +\ + (((nb_slot_by_frame-1)<<8) & AT91C_SSC_DATNB) +\ + (((nb_bit_by_slot-1)<<16) & AT91C_SSC_FSLEN) +\ + AT91C_SSC_FSOS_NEGATIVE) + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_SetBaudrate ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg SSC baudrate +{ + unsigned int baud_value; + //* Define the baud rate divisor register + if (speed == 0) + baud_value = 0; + else + { + baud_value = (unsigned int) (mainClock * 10)/(2*speed); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + } + + pSSC->SSC_CMR = baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_Configure +//* \brief Configure SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_Configure ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int syst_clock, // \arg System Clock Frequency + unsigned int baud_rate, // \arg Expected Baud Rate Frequency + unsigned int clock_rx, // \arg Receiver Clock Parameters + unsigned int mode_rx, // \arg mode Register to be programmed + unsigned int clock_tx, // \arg Transmitter Clock Parameters + unsigned int mode_tx) // \arg mode Register to be programmed +{ + //* Disable interrupts + pSSC->SSC_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pSSC->SSC_CR = AT91C_SSC_SWRST | AT91C_SSC_RXDIS | AT91C_SSC_TXDIS ; + + //* Define the Clock Mode Register + AT91F_SSC_SetBaudrate(pSSC, syst_clock, baud_rate); + + //* Write the Receive Clock Mode Register + pSSC->SSC_RCMR = clock_rx; + + //* Write the Transmit Clock Mode Register + pSSC->SSC_TCMR = clock_tx; + + //* Write the Receive Frame Mode Register + pSSC->SSC_RFMR = mode_rx; + + //* Write the Transmit Frame Mode Register + pSSC->SSC_TFMR = mode_tx; + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pSSC->SSC_RPR)); + + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableRx +//* \brief Enable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable receiver + pSSC->SSC_CR = AT91C_SSC_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableRx +//* \brief Disable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable receiver + pSSC->SSC_CR = AT91C_SSC_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableTx +//* \brief Enable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable transmitter + pSSC->SSC_CR = AT91C_SSC_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableTx +//* \brief Disable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable transmitter + pSSC->SSC_CR = AT91C_SSC_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableIt +//* \brief Enable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pSSC->SSC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableIt +//* \brief Disable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pSSC->SSC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_ReceiveFrame ( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_SendFrame( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_GetInterruptMaskStatus +//* \brief Return SSC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_GetInterruptMaskStatus( // \return SSC Interrupt Mask Status + AT91PS_SSC pSsc) // \arg pointer to a SSC controller +{ + return pSsc->SSC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_IsInterruptMasked +//* \brief Test if SSC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SSC_IsInterruptMasked( + AT91PS_SSC pSsc, // \arg pointer to a SSC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SSC_GetInterruptMaskStatus(pSsc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TWI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_EnableIt +//* \brief Enable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_EnableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pTWI->TWI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_DisableIt +//* \brief Disable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_DisableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pTWI->TWI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_Configure +//* \brief Configure TWI in master mode +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_Configure ( AT91PS_TWI pTWI ) // \arg pointer to a TWI controller +{ + //* Disable interrupts + pTWI->TWI_IDR = (unsigned int) -1; + + //* Reset peripheral + pTWI->TWI_CR = AT91C_TWI_SWRST; + + //* Set Master mode + pTWI->TWI_CR = AT91C_TWI_MSEN; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_GetInterruptMaskStatus +//* \brief Return TWI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TWI_GetInterruptMaskStatus( // \return TWI Interrupt Mask Status + AT91PS_TWI pTwi) // \arg pointer to a TWI controller +{ + return pTwi->TWI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_IsInterruptMasked +//* \brief Test if TWI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TWI_IsInterruptMasked( + AT91PS_TWI pTwi, // \arg pointer to a TWI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TWI_GetInterruptMaskStatus(pTwi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PWMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetStatus +//* \brief Return PWM Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetStatus( // \return PWM Interrupt Status + AT91PS_PWMC pPWM) // pointer to a PWM controller +{ + return pPWM->PWMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptEnable +//* \brief Enable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptEnable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be enabled +{ + pPwm->PWMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptDisable +//* \brief Disable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptDisable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be disabled +{ + pPwm->PWMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetInterruptMaskStatus +//* \brief Return PWM Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetInterruptMaskStatus( // \return PWM Interrupt Mask Status + AT91PS_PWMC pPwm) // \arg pointer to a PWM controller +{ + return pPwm->PWMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsInterruptMasked +//* \brief Test if PWM Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsInterruptMasked( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetInterruptMaskStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsStatusSet +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsStatusSet( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_CfgChannel +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int mode, // \arg PWM mode + unsigned int period, // \arg PWM period + unsigned int duty) // \arg PWM duty cycle +{ + pPWM->PWMC_CH[channelId].PWMC_CMR = mode; + pPWM->PWMC_CH[channelId].PWMC_CDTYR = duty; + pPWM->PWMC_CH[channelId].PWMC_CPRDR = period; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StartChannel +//* \brief Enable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StartChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_ENA = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StopChannel +//* \brief Disable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StopChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_DIS = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_UpdateChannel +//* \brief Update Period or Duty Cycle +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_UpdateChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int update) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_CH[channelId].PWMC_CUPDR = update; +} + +/* ***************************************************************************** + SOFTWARE API FOR UDP + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableIt +//* \brief Enable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUDP->UDP_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableIt +//* \brief Disable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pUDP->UDP_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetAddress +//* \brief Set UDP functional address +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetAddress ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char address) // \arg new UDP address +{ + pUDP->UDP_FADDR = (AT91C_UDP_FEN | address); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_EPEDS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] &= ~AT91C_UDP_EPEDS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetState +//* \brief Set UDP Device state +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetState ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg new UDP address +{ + pUDP->UDP_GLBSTATE &= ~(AT91C_UDP_FADDEN | AT91C_UDP_CONFG); + pUDP->UDP_GLBSTATE |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetState +//* \brief return UDP Device state +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetState ( // \return the UDP device state + AT91PS_UDP pUDP) // \arg pointer to a UDP controller +{ + return (pUDP->UDP_GLBSTATE & (AT91C_UDP_FADDEN | AT91C_UDP_CONFG)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_ResetEp +//* \brief Reset UDP endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_ResetEp ( // \return the UDP device state + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg Endpoints to be reset +{ + pUDP->UDP_RSTEP = flag; + pUDP->UDP_RSTEP = 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStall +//* \brief Endpoint will STALL requests +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpStall( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_FORCESTALL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpWrite +//* \brief Write value in the DPR +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpWrite( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned char value) // \arg value to be written in the DPR +{ + pUDP->UDP_FDR[endpoint] = value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpRead +//* \brief Return value from the DPR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpRead( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_FDR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpEndOfWr +//* \brief Notify the UDP that values in DPR are ready to be sent +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpEndOfWr( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_TXPKTRDY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpClear +//* \brief Clear flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpClear( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] &= ~(flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpSet +//* \brief Set flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpSet( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStatus +//* \brief Return the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpStatus( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_CSR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetInterruptMaskStatus +//* \brief Return UDP Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetInterruptMaskStatus( // \return UDP Interrupt Mask Status + AT91PS_UDP pUdp) // \arg pointer to a UDP controller +{ + return pUdp->UDP_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_IsInterruptMasked +//* \brief Test if UDP Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_UDP_IsInterruptMasked( + AT91PS_UDP pUdp, // \arg pointer to a UDP controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_UDP_GetInterruptMaskStatus(pUdp) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptEnable +//* \brief Enable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptEnable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be enabled +{ + pTc->TC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptDisable +//* \brief Disable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptDisable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be disabled +{ + pTc->TC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_GetInterruptMaskStatus +//* \brief Return TC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TC_GetInterruptMaskStatus( // \return TC Interrupt Mask Status + AT91PS_TC pTc) // \arg pointer to a TC controller +{ + return pTc->TC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_IsInterruptMasked +//* \brief Test if TC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TC_IsInterruptMasked( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TC_GetInterruptMaskStatus(pTc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR CAN + ***************************************************************************** */ +#define STANDARD_FORMAT 0 +#define EXTENDED_FORMAT 1 + +//*---------------------------------------------------------------------------- +//* \fn AT91F_InitMailboxRegisters() +//* \brief Configure the corresponding mailbox +//*---------------------------------------------------------------------------- +__inline void AT91F_InitMailboxRegisters(AT91PS_CAN_MB CAN_Mailbox, + int mode_reg, + int acceptance_mask_reg, + int id_reg, + int data_low_reg, + int data_high_reg, + int control_reg) +{ + CAN_Mailbox->CAN_MB_MCR = 0x0; + CAN_Mailbox->CAN_MB_MMR = mode_reg; + CAN_Mailbox->CAN_MB_MAM = acceptance_mask_reg; + CAN_Mailbox->CAN_MB_MID = id_reg; + CAN_Mailbox->CAN_MB_MDL = data_low_reg; + CAN_Mailbox->CAN_MB_MDH = data_high_reg; + CAN_Mailbox->CAN_MB_MCR = control_reg; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EnableCAN() +//* \brief +//*---------------------------------------------------------------------------- +__inline void AT91F_EnableCAN( + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + pCAN->CAN_MR |= AT91C_CAN_CANEN; + + // Wait for WAKEUP flag raising <=> 11-recessive-bit were scanned by the transceiver + while( (pCAN->CAN_SR & AT91C_CAN_WAKEUP) != AT91C_CAN_WAKEUP ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DisableCAN() +//* \brief +//*---------------------------------------------------------------------------- +__inline void AT91F_DisableCAN( + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + pCAN->CAN_MR &= ~AT91C_CAN_CANEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_EnableIt +//* \brief Enable CAN interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_EnableIt ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pCAN->CAN_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_DisableIt +//* \brief Disable CAN interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_DisableIt ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pCAN->CAN_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetStatus +//* \brief Return CAN Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetStatus( // \return CAN Interrupt Status + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + return pCAN->CAN_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetInterruptMaskStatus +//* \brief Return CAN Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetInterruptMaskStatus( // \return CAN Interrupt Mask Status + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + return pCAN->CAN_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_IsInterruptMasked +//* \brief Test if CAN Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_IsInterruptMasked( + AT91PS_CAN pCAN, // \arg pointer to a CAN controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_CAN_GetInterruptMaskStatus(pCAN) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_IsStatusSet +//* \brief Test if CAN Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_IsStatusSet( + AT91PS_CAN pCAN, // \arg pointer to a CAN controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_CAN_GetStatus(pCAN) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgModeReg +//* \brief Configure the Mode Register of the CAN controller +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgModeReg ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pCAN->CAN_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetModeReg +//* \brief Return the Mode Register of the CAN controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetModeReg ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgBaudrateReg +//* \brief Configure the Baudrate of the CAN controller for the network +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgBaudrateReg ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int baudrate_cfg) +{ + //* Write to the BR register + pCAN->CAN_BR = baudrate_cfg; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetBaudrate +//* \brief Return the Baudrate of the CAN controller for the network value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetBaudrate ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_BR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetInternalCounter +//* \brief Return CAN Timer Regsiter Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetInternalCounter ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_TIM; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetTimestamp +//* \brief Return CAN Timestamp Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetTimestamp ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_TIMESTP; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetErrorCounter +//* \brief Return CAN Error Counter Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetErrorCounter ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_ECR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_InitTransferRequest +//* \brief Request for a transfer on the corresponding mailboxes +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_InitTransferRequest ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int transfer_cmd) +{ + pCAN->CAN_TCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_InitAbortRequest +//* \brief Abort the corresponding mailboxes +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_InitAbortRequest ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int abort_cmd) +{ + pCAN->CAN_ACR = abort_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageModeReg +//* \brief Program the Message Mode Register +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageModeReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int mode) +{ + CAN_Mailbox->CAN_MB_MMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageModeReg +//* \brief Return the Message Mode Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageModeReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageIDReg +//* \brief Program the Message ID Register +//* \brief Version == 0 for Standard messsage, Version == 1 for Extended +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageIDReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int id, + unsigned char version) +{ + if(version==0) // IDvA Standard Format + CAN_Mailbox->CAN_MB_MID = id<<18; + else // IDvB Extended Format + CAN_Mailbox->CAN_MB_MID = id | (1<<29); // set MIDE bit +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageIDReg +//* \brief Return the Message ID Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageIDReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MID; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageAcceptanceMaskReg +//* \brief Program the Message Acceptance Mask Register +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageAcceptanceMaskReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int mask) +{ + CAN_Mailbox->CAN_MB_MAM = mask; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageAcceptanceMaskReg +//* \brief Return the Message Acceptance Mask Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageAcceptanceMaskReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MAM; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetFamilyID +//* \brief Return the Message ID Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetFamilyID ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MFID; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageCtrl +//* \brief Request and config for a transfer on the corresponding mailbox +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageCtrlReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int message_ctrl_cmd) +{ + CAN_Mailbox->CAN_MB_MCR = message_ctrl_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageStatus +//* \brief Return CAN Mailbox Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageStatus ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageDataLow +//* \brief Program data low value +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageDataLow ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int data) +{ + CAN_Mailbox->CAN_MB_MDL = data; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageDataLow +//* \brief Return data low value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageDataLow ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MDL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageDataHigh +//* \brief Program data high value +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageDataHigh ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int data) +{ + CAN_Mailbox->CAN_MB_MDH = data; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageDataHigh +//* \brief Return data high value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageDataHigh ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MDH; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_Open +//* \brief Open a CAN Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} +/* ***************************************************************************** + SOFTWARE API FOR ADC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableIt +//* \brief Enable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pADC->ADC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableIt +//* \brief Disable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pADC->ADC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetStatus +//* \brief Return ADC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetStatus( // \return ADC Interrupt Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetInterruptMaskStatus +//* \brief Return ADC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetInterruptMaskStatus( // \return ADC Interrupt Mask Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsInterruptMasked +//* \brief Test if ADC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsInterruptMasked( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetInterruptMaskStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsStatusSet +//* \brief Test if ADC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsStatusSet( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgModeReg +//* \brief Configure the Mode Register of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgModeReg ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pADC->ADC_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetModeReg +//* \brief Return the Mode Register of the ADC controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetModeReg ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgTimings +//* \brief Configure the different necessary timings of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgTimings ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mck_clock, // in MHz + unsigned int adc_clock, // in MHz + unsigned int startup_time, // in us + unsigned int sample_and_hold_time) // in ns +{ + unsigned int prescal,startup,shtim; + + prescal = mck_clock/(2*adc_clock) - 1; + startup = adc_clock*startup_time/8 - 1; + shtim = adc_clock*sample_and_hold_time/1000 - 1; + + //* Write to the MR register + pADC->ADC_MR = ( (prescal<<8) & AT91C_ADC_PRESCAL) | ( (startup<<16) & AT91C_ADC_STARTUP) | ( (shtim<<24) & AT91C_ADC_SHTIM); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHER register + pADC->ADC_CHER = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHDR register + pADC->ADC_CHDR = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetChannelStatus +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetChannelStatus ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CHSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_StartConversion +//* \brief Software request for a analog to digital conversion +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_StartConversion ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_SoftReset +//* \brief Software reset +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_SoftReset ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetLastConvertedData +//* \brief Return the Last Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetLastConvertedData ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_LCDR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH0 +//* \brief Return the Channel 0 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH0 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH1 +//* \brief Return the Channel 1 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH1 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR1; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH2 +//* \brief Return the Channel 2 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH2 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR2; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH3 +//* \brief Return the Channel 3 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH3 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR3; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH4 +//* \brief Return the Channel 4 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH4 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH5 +//* \brief Return the Channel 5 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH5 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR5; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH6 +//* \brief Return the Channel 6 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH6 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR6; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH7 +//* \brief Return the Channel 7 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH7 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR7; +} + +/* ***************************************************************************** + SOFTWARE API FOR AES + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_EnableIt +//* \brief Enable AES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_EnableIt ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pAES->AES_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_DisableIt +//* \brief Disable AES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_DisableIt ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pAES->AES_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetStatus +//* \brief Return AES Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetStatus( // \return AES Interrupt Status + AT91PS_AES pAES) // pointer to a AES controller +{ + return pAES->AES_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetInterruptMaskStatus +//* \brief Return AES Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetInterruptMaskStatus( // \return AES Interrupt Mask Status + AT91PS_AES pAES) // pointer to a AES controller +{ + return pAES->AES_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_IsInterruptMasked +//* \brief Test if AES Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_IsInterruptMasked( + AT91PS_AES pAES, // \arg pointer to a AES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_AES_GetInterruptMaskStatus(pAES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_IsStatusSet +//* \brief Test if AES Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_IsStatusSet( + AT91PS_AES pAES, // \arg pointer to a AES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_AES_GetStatus(pAES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_CfgModeReg +//* \brief Configure the Mode Register of the AES controller +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_CfgModeReg ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pAES->AES_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetModeReg +//* \brief Return the Mode Register of the AES controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetModeReg ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + return pAES->AES_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_StartProcessing +//* \brief Start Encryption or Decryption +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_StartProcessing ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SoftReset +//* \brief Reset AES +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SoftReset ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_LoadNewSeed +//* \brief Load New Seed in the random number generator +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_LoadNewSeed ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_LOADSEED; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SetCryptoKey +//* \brief Set Cryptographic Key x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SetCryptoKey ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int keyword + ) +{ + pAES->AES_KEYWxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_InputData +//* \brief Set Input Data x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_InputData ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int indata + ) +{ + pAES->AES_IDATAxR[index] = indata; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetOutputData +//* \brief Get Output Data x +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetOutputData ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index + ) +{ + return pAES->AES_ODATAxR[index]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SetInitializationVector +//* \brief Set Initialization Vector (or Counter) x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SetInitializationVector ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int initvector + ) +{ + pAES->AES_IVxR[index] = initvector; +} + +/* ***************************************************************************** + SOFTWARE API FOR TDES + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_EnableIt +//* \brief Enable TDES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_EnableIt ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pTDES->TDES_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_DisableIt +//* \brief Disable TDES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_DisableIt ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pTDES->TDES_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetStatus +//* \brief Return TDES Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetStatus( // \return TDES Interrupt Status + AT91PS_TDES pTDES) // pointer to a TDES controller +{ + return pTDES->TDES_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetInterruptMaskStatus +//* \brief Return TDES Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetInterruptMaskStatus( // \return TDES Interrupt Mask Status + AT91PS_TDES pTDES) // pointer to a TDES controller +{ + return pTDES->TDES_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_IsInterruptMasked +//* \brief Test if TDES Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_IsInterruptMasked( + AT91PS_TDES pTDES, // \arg pointer to a TDES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TDES_GetInterruptMaskStatus(pTDES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_IsStatusSet +//* \brief Test if TDES Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_IsStatusSet( + AT91PS_TDES pTDES, // \arg pointer to a TDES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TDES_GetStatus(pTDES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_CfgModeReg +//* \brief Configure the Mode Register of the TDES controller +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_CfgModeReg ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pTDES->TDES_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetModeReg +//* \brief Return the Mode Register of the TDES controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetModeReg ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + return pTDES->TDES_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_StartProcessing +//* \brief Start Encryption or Decryption +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_StartProcessing ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + pTDES->TDES_CR = AT91C_TDES_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SoftReset +//* \brief Reset TDES +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SoftReset ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + pTDES->TDES_CR = AT91C_TDES_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey1 +//* \brief Set Cryptographic Key 1 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey1 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY1WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey2 +//* \brief Set Cryptographic Key 2 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey2 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY2WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey3 +//* \brief Set Cryptographic Key 3 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey3 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY3WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_InputData +//* \brief Set Input Data x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_InputData ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int indata + ) +{ + pTDES->TDES_IDATAxR[index] = indata; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetOutputData +//* \brief Get Output Data x +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetOutputData ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index + ) +{ + return pTDES->TDES_ODATAxR[index]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetInitializationVector +//* \brief Set Initialization Vector x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetInitializationVector ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int initvector + ) +{ + pTDES->TDES_IVxR[index] = initvector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPMC +//* \brief Enable Peripheral clock in PMC for DBGU +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPIO +//* \brief Configure PIO controllers to drive DBGU signals +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA27_DRXD ) | + ((unsigned int) AT91C_PA28_DTXD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPIO +//* \brief Configure PIO controllers to drive PMC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB30_PCK2 ) | + ((unsigned int) AT91C_PB29_PCK1 ), // Peripheral A + ((unsigned int) AT91C_PB20_PCK0 ) | + ((unsigned int) AT91C_PB0_PCK0 ) | + ((unsigned int) AT91C_PB22_PCK2 ) | + ((unsigned int) AT91C_PB21_PCK1 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA30_PCK2 ) | + ((unsigned int) AT91C_PA13_PCK1 ) | + ((unsigned int) AT91C_PA27_PCK3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_CfgPMC +//* \brief Enable Peripheral clock in PMC for VREG +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for RSTC +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPMC +//* \brief Enable Peripheral clock in PMC for SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SSC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPIO +//* \brief Configure PIO controllers to drive SSC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA25_RK ) | + ((unsigned int) AT91C_PA22_TK ) | + ((unsigned int) AT91C_PA21_TF ) | + ((unsigned int) AT91C_PA24_RD ) | + ((unsigned int) AT91C_PA26_RF ) | + ((unsigned int) AT91C_PA23_TD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for WDTC +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPMC +//* \brief Enable Peripheral clock in PMC for US1 +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPIO +//* \brief Configure PIO controllers to drive US1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB26_RI1 ) | + ((unsigned int) AT91C_PB24_DSR1 ) | + ((unsigned int) AT91C_PB23_DCD1 ) | + ((unsigned int) AT91C_PB25_DTR1 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA7_SCK1 ) | + ((unsigned int) AT91C_PA8_RTS1 ) | + ((unsigned int) AT91C_PA6_TXD1 ) | + ((unsigned int) AT91C_PA5_RXD1 ) | + ((unsigned int) AT91C_PA9_CTS1 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPMC +//* \brief Enable Peripheral clock in PMC for US0 +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPIO +//* \brief Configure PIO controllers to drive US0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA0_RXD0 ) | + ((unsigned int) AT91C_PA4_CTS0 ) | + ((unsigned int) AT91C_PA3_RTS0 ) | + ((unsigned int) AT91C_PA2_SCK0 ) | + ((unsigned int) AT91C_PA1_TXD0 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI1_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI1 +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI1_CfgPIO +//* \brief Configure PIO controllers to drive SPI1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB16_NPCS13 ) | + ((unsigned int) AT91C_PB10_NPCS11 ) | + ((unsigned int) AT91C_PB11_NPCS12 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA4_NPCS13 ) | + ((unsigned int) AT91C_PA29_NPCS13 ) | + ((unsigned int) AT91C_PA21_NPCS10 ) | + ((unsigned int) AT91C_PA22_SPCK1 ) | + ((unsigned int) AT91C_PA25_NPCS11 ) | + ((unsigned int) AT91C_PA2_NPCS11 ) | + ((unsigned int) AT91C_PA24_MISO1 ) | + ((unsigned int) AT91C_PA3_NPCS12 ) | + ((unsigned int) AT91C_PA26_NPCS12 ) | + ((unsigned int) AT91C_PA23_MOSI1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI0_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI0 +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI0_CfgPIO +//* \brief Configure PIO controllers to drive SPI0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB13_NPCS01 ) | + ((unsigned int) AT91C_PB17_NPCS03 ) | + ((unsigned int) AT91C_PB14_NPCS02 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA16_MISO0 ) | + ((unsigned int) AT91C_PA13_NPCS01 ) | + ((unsigned int) AT91C_PA15_NPCS03 ) | + ((unsigned int) AT91C_PA17_MOSI0 ) | + ((unsigned int) AT91C_PA18_SPCK0 ) | + ((unsigned int) AT91C_PA14_NPCS02 ) | + ((unsigned int) AT91C_PA12_NPCS00 ), // Peripheral A + ((unsigned int) AT91C_PA7_NPCS01 ) | + ((unsigned int) AT91C_PA9_NPCS03 ) | + ((unsigned int) AT91C_PA8_NPCS02 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PITC +//*---------------------------------------------------------------------------- +__inline void AT91F_PITC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPMC +//* \brief Enable Peripheral clock in PMC for AIC +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_FIQ) | + ((unsigned int) 1 << AT91C_ID_IRQ0) | + ((unsigned int) 1 << AT91C_ID_IRQ1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPIO +//* \brief Configure PIO controllers to drive AIC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA30_IRQ0 ) | + ((unsigned int) AT91C_PA29_FIQ ), // Peripheral A + ((unsigned int) AT91C_PA14_IRQ1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_CfgPMC +//* \brief Enable Peripheral clock in PMC for AES +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_AES)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPMC +//* \brief Enable Peripheral clock in PMC for TWI +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TWI)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPIO +//* \brief Configure PIO controllers to drive TWI signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA11_TWCK ) | + ((unsigned int) AT91C_PA10_TWD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPMC +//* \brief Enable Peripheral clock in PMC for ADC +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_ADC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPIO +//* \brief Configure PIO controllers to drive ADC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB18_ADTRG )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH3_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH3 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH3_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB22_PWM3 ), // Peripheral A + ((unsigned int) AT91C_PB30_PWM3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH2_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB21_PWM2 ), // Peripheral A + ((unsigned int) AT91C_PB29_PWM2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH1_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB20_PWM1 ), // Peripheral A + ((unsigned int) AT91C_PB28_PWM1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH0_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB19_PWM0 ), // Peripheral A + ((unsigned int) AT91C_PB27_PWM0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RTTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for RTTC +//*---------------------------------------------------------------------------- +__inline void AT91F_RTTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_CfgPMC +//* \brief Enable Peripheral clock in PMC for UDP +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_UDP)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_CfgPMC +//* \brief Enable Peripheral clock in PMC for TDES +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TDES)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EMAC_CfgPMC +//* \brief Enable Peripheral clock in PMC for EMAC +//*---------------------------------------------------------------------------- +__inline void AT91F_EMAC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_EMAC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EMAC_CfgPIO +//* \brief Configure PIO controllers to drive EMAC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_EMAC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB2_ETX0 ) | + ((unsigned int) AT91C_PB12_ETXER ) | + ((unsigned int) AT91C_PB16_ECOL ) | + ((unsigned int) AT91C_PB11_ETX3 ) | + ((unsigned int) AT91C_PB6_ERX1 ) | + ((unsigned int) AT91C_PB15_ERXDV ) | + ((unsigned int) AT91C_PB13_ERX2 ) | + ((unsigned int) AT91C_PB3_ETX1 ) | + ((unsigned int) AT91C_PB8_EMDC ) | + ((unsigned int) AT91C_PB5_ERX0 ) | + //((unsigned int) AT91C_PB18_EF100 ) | + ((unsigned int) AT91C_PB14_ERX3 ) | + ((unsigned int) AT91C_PB4_ECRS_ECRSDV) | + ((unsigned int) AT91C_PB1_ETXEN ) | + ((unsigned int) AT91C_PB10_ETX2 ) | + ((unsigned int) AT91C_PB0_ETXCK_EREFCK) | + ((unsigned int) AT91C_PB9_EMDIO ) | + ((unsigned int) AT91C_PB7_ERXER ) | + ((unsigned int) AT91C_PB17_ERXCK ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC0 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPIO +//* \brief Configure PIO controllers to drive TC0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB23_TIOA0 ) | + ((unsigned int) AT91C_PB24_TIOB0 ), // Peripheral A + ((unsigned int) AT91C_PB12_TCLK0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC1 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPIO +//* \brief Configure PIO controllers to drive TC1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB25_TIOA1 ) | + ((unsigned int) AT91C_PB26_TIOB1 ), // Peripheral A + ((unsigned int) AT91C_PB19_TCLK1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC2 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC2)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPIO +//* \brief Configure PIO controllers to drive TC2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB28_TIOB2 ) | + ((unsigned int) AT91C_PB27_TIOA2 ), // Peripheral A + 0); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA15_TCLK2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_CfgPMC +//* \brief Enable Peripheral clock in PMC for MC +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOA_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOA +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOA_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOA)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOB_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOB +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOB_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOB)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgPMC +//* \brief Enable Peripheral clock in PMC for CAN +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_CAN)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgPIO +//* \brief Configure PIO controllers to drive CAN signals +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA20_CANTX ) | + ((unsigned int) AT91C_PA19_CANRX ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PWMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PWMC)); +} + +#endif // lib_AT91SAM7X128_H diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7X256.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7X256.h new file mode 100644 index 0000000..02ee900 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/lib_AT91SAM7X256.h @@ -0,0 +1,4558 @@ +//* ---------------------------------------------------------------------------- +//* ATMEL Microcontroller Software Support - ROUSSET - +//* ---------------------------------------------------------------------------- +//* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR +//* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE +//* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, +//* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +//* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +//* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +//* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +//* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +//* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//* ---------------------------------------------------------------------------- +//* File Name : lib_AT91SAM7X256.h +//* Object : AT91SAM7X256 inlined functions +//* Generated : AT91 SW Application Group 05/20/2005 (16:22:29) +//* +//* CVS Reference : /lib_dbgu.h/1.1/Fri Jan 31 12:18:40 2003// +//* CVS Reference : /lib_pmc_SAM7X.h/1.1/Tue Feb 1 08:32:10 2005// +//* CVS Reference : /lib_VREG_6085B.h/1.1/Tue Feb 1 16:20:47 2005// +//* CVS Reference : /lib_rstc_6098A.h/1.1/Wed Oct 6 10:39:20 2004// +//* CVS Reference : /lib_ssc.h/1.4/Fri Jan 31 12:19:20 2003// +//* CVS Reference : /lib_wdtc_6080A.h/1.1/Wed Oct 6 10:38:30 2004// +//* CVS Reference : /lib_usart.h/1.5/Thu Nov 21 16:01:54 2002// +//* CVS Reference : /lib_spi2.h/1.1/Mon Aug 25 14:23:52 2003// +//* CVS Reference : /lib_pitc_6079A.h/1.2/Tue Nov 9 14:43:56 2004// +//* CVS Reference : /lib_aic_6075b.h/1.1/Fri May 20 14:01:19 2005// +//* CVS Reference : /lib_aes_6149a.h/1.1/Mon Jan 17 07:43:09 2005// +//* CVS Reference : /lib_twi.h/1.3/Mon Jul 19 14:27:58 2004// +//* CVS Reference : /lib_adc.h/1.6/Fri Oct 17 09:12:38 2003// +//* CVS Reference : /lib_rttc_6081A.h/1.1/Wed Oct 6 10:39:38 2004// +//* CVS Reference : /lib_udp.h/1.4/Wed Feb 16 08:39:34 2005// +//* CVS Reference : /lib_des3_6150a.h/1.1/Mon Jan 17 09:19:19 2005// +//* CVS Reference : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003// +//* CVS Reference : /lib_MC_SAM7X.h/1.1/Thu Mar 25 15:19:14 2004// +//* CVS Reference : /lib_pio.h/1.3/Fri Jan 31 12:18:56 2003// +//* CVS Reference : /lib_can_AT91.h/1.4/Fri Oct 17 09:12:50 2003// +//* CVS Reference : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004// +//* CVS Reference : /lib_pdc.h/1.2/Tue Jul 2 13:29:40 2002// +//* ---------------------------------------------------------------------------- + +#ifndef lib_AT91SAM7X256_H +#define lib_AT91SAM7X256_H + +/* ***************************************************************************** + SOFTWARE API FOR AIC + ***************************************************************************** */ +#define AT91C_AIC_BRANCH_OPCODE ((void (*) ()) 0xE51FFF20) // ldr, pc, [pc, #-&F20] + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ConfigureIt +//* \brief Interrupt Handler Initialization +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_ConfigureIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id, // \arg interrupt number to initialize + unsigned int priority, // \arg priority to give to the interrupt + unsigned int src_type, // \arg activation and sense of activation + void (*newHandler) (void) ) // \arg address of the interrupt handler +{ + unsigned int oldHandler; + unsigned int mask ; + + oldHandler = pAic->AIC_SVR[irq_id]; + + mask = 0x1 << irq_id ; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Save the interrupt handler routine pointer and the interrupt priority + pAic->AIC_SVR[irq_id] = (unsigned int) newHandler ; + //* Store the Source Mode Register + pAic->AIC_SMR[irq_id] = src_type | priority ; + //* Clear the interrupt on the interrupt controller + pAic->AIC_ICCR = mask ; + + return oldHandler; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_EnableIt +//* \brief Enable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_EnableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + //* Enable the interrupt on the interrupt controller + pAic->AIC_IECR = 0x1 << irq_id ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_DisableIt +//* \brief Disable corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_DisableIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id ) // \arg interrupt number to initialize +{ + unsigned int mask = 0x1 << irq_id; + //* Disable the interrupt on the interrupt controller + pAic->AIC_IDCR = mask ; + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = mask ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_ClearIt +//* \brief Clear corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_ClearIt ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number to initialize +{ + //* Clear the interrupt on the Interrupt Controller ( if one is pending ) + pAic->AIC_ICCR = (0x1 << irq_id); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_AcknowledgeIt +//* \brief Acknowledge corresponding IT number +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_AcknowledgeIt ( + AT91PS_AIC pAic) // \arg pointer to the AIC registers +{ + pAic->AIC_EOICR = pAic->AIC_EOICR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_SetExceptionVector +//* \brief Configure vector handler +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_SetExceptionVector ( + unsigned int *pVector, // \arg pointer to the AIC registers + void (*Handler) () ) // \arg Interrupt Handler +{ + unsigned int oldVector = *pVector; + + if ((unsigned int) Handler == (unsigned int) AT91C_AIC_BRANCH_OPCODE) + *pVector = (unsigned int) AT91C_AIC_BRANCH_OPCODE; + else + *pVector = (((((unsigned int) Handler) - ((unsigned int) pVector) - 0x8) >> 2) & 0x00FFFFFF) | 0xEA000000; + + return oldVector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Trig +//* \brief Trig an IT +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Trig ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg interrupt number +{ + pAic->AIC_ISCR = (0x1 << irq_id) ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsActive +//* \brief Test if an IT is active +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsActive ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_ISR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_IsPending +//* \brief Test if an IT is pending +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AIC_IsPending ( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + unsigned int irq_id) // \arg Interrupt Number +{ + return (pAic->AIC_IPR & (0x1 << irq_id)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_Open +//* \brief Set exception vectors and AIC registers to default values +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_Open( + AT91PS_AIC pAic, // \arg pointer to the AIC registers + void (*IrqHandler) (), // \arg Default IRQ vector exception + void (*FiqHandler) (), // \arg Default FIQ vector exception + void (*DefaultHandler) (), // \arg Default Handler set in ISR + void (*SpuriousHandler) (), // \arg Default Spurious Handler + unsigned int protectMode) // \arg Debug Control Register +{ + int i; + + // Disable all interrupts and set IVR to the default handler + for (i = 0; i < 32; ++i) { + AT91F_AIC_DisableIt(pAic, i); + AT91F_AIC_ConfigureIt(pAic, i, AT91C_AIC_PRIOR_LOWEST, AT91C_AIC_SRCTYPE_HIGH_LEVEL, DefaultHandler); + } + + // Set the IRQ exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x18, IrqHandler); + // Set the Fast Interrupt exception vector + AT91F_AIC_SetExceptionVector((unsigned int *) 0x1C, FiqHandler); + + pAic->AIC_SPU = (unsigned int) SpuriousHandler; + pAic->AIC_DCR = protectMode; +} +/* ***************************************************************************** + SOFTWARE API FOR PDC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextRx +//* \brief Set the next receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RNPR = (unsigned int) address; + pPDC->PDC_RNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetNextTx +//* \brief Set the next transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetNextTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TNPR = (unsigned int) address; + pPDC->PDC_TNCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetRx +//* \brief Set the receive transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetRx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be received + unsigned int bytes) // \arg number of bytes to be received +{ + pPDC->PDC_RPR = (unsigned int) address; + pPDC->PDC_RCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SetTx +//* \brief Set the transmit transfer descriptor +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_SetTx ( + AT91PS_PDC pPDC, // \arg pointer to a PDC controller + char *address, // \arg address to the next bloc to be transmitted + unsigned int bytes) // \arg number of bytes to be transmitted +{ + pPDC->PDC_TPR = (unsigned int) address; + pPDC->PDC_TCR = bytes; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableTx +//* \brief Enable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_EnableRx +//* \brief Enable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_EnableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableTx +//* \brief Disable transmit +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableTx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_TXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_DisableRx +//* \brief Disable receive +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_DisableRx ( + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + pPDC->PDC_PTCR = AT91C_PDC_RXTDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsTxEmpty +//* \brief Test if the current transfer descriptor has been sent +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextTxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextTxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_TNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsRxEmpty +//* \brief Test if the current transfer descriptor has been filled +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_IsNextRxEmpty +//* \brief Test if the next transfer descriptor has been moved to the current td +//*---------------------------------------------------------------------------- +__inline int AT91F_PDC_IsNextRxEmpty ( // \return return 1 if transfer is complete + AT91PS_PDC pPDC ) // \arg pointer to a PDC controller +{ + return !(pPDC->PDC_RNCR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Open +//* \brief Open PDC: disable TX and RX reset transfer descriptors, re-enable RX and TX +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Open ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + + //* Enable the RX and TX PDC transfer requests + AT91F_PDC_EnableRx(pPDC); + AT91F_PDC_EnableTx(pPDC); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_Close +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline void AT91F_PDC_Close ( + AT91PS_PDC pPDC) // \arg pointer to a PDC controller +{ + //* Disable the RX and TX PDC transfer requests + AT91F_PDC_DisableRx(pPDC); + AT91F_PDC_DisableTx(pPDC); + + //* Reset all Counter register Next buffer first + AT91F_PDC_SetNextTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetNextRx(pPDC, (char *) 0, 0); + AT91F_PDC_SetTx(pPDC, (char *) 0, 0); + AT91F_PDC_SetRx(pPDC, (char *) 0, 0); + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_SendFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_SendFrame( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsTxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetTx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextTx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextTxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextTx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PDC_ReceiveFrame +//* \brief Close PDC: disable TX and RX reset transfer descriptors +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PDC_ReceiveFrame ( + AT91PS_PDC pPDC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + if (AT91F_PDC_IsRxEmpty(pPDC)) { + //* Buffer and next buffer can be initialized + AT91F_PDC_SetRx(pPDC, pBuffer, szBuffer); + AT91F_PDC_SetNextRx(pPDC, pNextBuffer, szNextBuffer); + return 2; + } + else if (AT91F_PDC_IsNextRxEmpty(pPDC)) { + //* Only one buffer can be initialized + AT91F_PDC_SetNextRx(pPDC, pBuffer, szBuffer); + return 1; + } + else { + //* All buffer are in use... + return 0; + } +} +/* ***************************************************************************** + SOFTWARE API FOR DBGU + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptEnable +//* \brief Enable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptEnable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be enabled +{ + pDbgu->DBGU_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_InterruptDisable +//* \brief Disable DBGU Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_InterruptDisable( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg dbgu interrupt to be disabled +{ + pDbgu->DBGU_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_GetInterruptMaskStatus +//* \brief Return DBGU Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_DBGU_GetInterruptMaskStatus( // \return DBGU Interrupt Mask Status + AT91PS_DBGU pDbgu) // \arg pointer to a DBGU controller +{ + return pDbgu->DBGU_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_IsInterruptMasked +//* \brief Test if DBGU Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_DBGU_IsInterruptMasked( + AT91PS_DBGU pDbgu, // \arg pointer to a DBGU controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_DBGU_GetInterruptMaskStatus(pDbgu) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PIO + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPeriph +//* \brief Enable pins to be drived by peripheral +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPeriph( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int periphAEnable, // \arg PERIPH A to enable + unsigned int periphBEnable) // \arg PERIPH B to enable + +{ + pPio->PIO_ASR = periphAEnable; + pPio->PIO_BSR = periphBEnable; + pPio->PIO_PDR = (periphAEnable | periphBEnable); // Set in Periph mode +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOutput +//* \brief Enable PIO in output mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pioEnable) // \arg PIO to be enabled +{ + pPio->PIO_PER = pioEnable; // Set in PIO mode + pPio->PIO_OER = pioEnable; // Configure in Output +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInput +//* \brief Enable PIO in input mode +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputEnable) // \arg PIO to be enabled +{ + // Disable output + pPio->PIO_ODR = inputEnable; + pPio->PIO_PER = inputEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgOpendrain +//* \brief Configure PIO in open drain +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgOpendrain( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int multiDrvEnable) // \arg pio to be configured in open drain +{ + // Configure the multi-drive option + pPio->PIO_MDDR = ~multiDrvEnable; + pPio->PIO_MDER = multiDrvEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgPullup +//* \brief Enable pullup on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgPullup( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int pullupEnable) // \arg enable pullup on PIO +{ + // Connect or not Pullup + pPio->PIO_PPUDR = ~pullupEnable; + pPio->PIO_PPUER = pullupEnable; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgDirectDrive +//* \brief Enable direct drive on PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgDirectDrive( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int directDrive) // \arg PIO to be configured with direct drive + +{ + // Configure the Direct Drive + pPio->PIO_OWDR = ~directDrive; + pPio->PIO_OWER = directDrive; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_CfgInputFilter +//* \brief Enable input filter on input PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_CfgInputFilter( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int inputFilter) // \arg PIO to be configured with input filter + +{ + // Configure the Direct Drive + pPio->PIO_IFDR = ~inputFilter; + pPio->PIO_IFER = inputFilter; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInput +//* \brief Return PIO input value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInput( // \return PIO input + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputSet +//* \brief Test if PIO is input flag is active +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInput(pPio) & flag); +} + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_SetOutput +//* \brief Set to 1 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_SetOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be set +{ + pPio->PIO_SODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ClearOutput +//* \brief Set to 0 output PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ClearOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be cleared +{ + pPio->PIO_CODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_ForceOutput +//* \brief Force output when Direct drive option is enabled +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_ForceOutput( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg output to be forced +{ + pPio->PIO_ODSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Enable +//* \brief Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Enable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_PER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Disable +//* \brief Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_Disable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_PDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetStatus +//* \brief Return PIO Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetStatus( // \return PIO Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsSet +//* \brief Test if PIO is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputEnable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be enabled +{ + pPio->PIO_OER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputDisable +//* \brief Output Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output to be disabled +{ + pPio->PIO_ODR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputStatus +//* \brief Return PIO Output Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputStatus( // \return PIO Output Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOuputSet +//* \brief Test if PIO Output is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterEnable +//* \brief Input Filter Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be enabled +{ + pPio->PIO_IFER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InputFilterDisable +//* \brief Input Filter Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InputFilterDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio input filter to be disabled +{ + pPio->PIO_IFDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInputFilterStatus +//* \brief Return PIO Input Filter Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInputFilterStatus( // \return PIO Input Filter Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IFSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInputFilterSet +//* \brief Test if PIO Input filter is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInputFilterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInputFilterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputDataStatus +//* \brief Return PIO Output Data Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputDataStatus( // \return PIO Output Data Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ODSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptEnable +//* \brief Enable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be enabled +{ + pPio->PIO_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_InterruptDisable +//* \brief Disable PIO Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_InterruptDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio interrupt to be disabled +{ + pPio->PIO_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptMaskStatus +//* \brief Return PIO Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptMaskStatus( // \return PIO Interrupt Mask Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetInterruptStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetInterruptStatus( // \return PIO Interrupt Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptMasked +//* \brief Test if PIO Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptMasked( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptMaskStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsInterruptSet +//* \brief Test if PIO Interrupt is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsInterruptSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetInterruptStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverEnable +//* \brief Multi Driver Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be enabled +{ + pPio->PIO_MDER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_MultiDriverDisable +//* \brief Multi Driver Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_MultiDriverDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio to be disabled +{ + pPio->PIO_MDDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetMultiDriverStatus +//* \brief Return PIO Multi Driver Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetMultiDriverStatus( // \return PIO Multi Driver Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_MDSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsMultiDriverSet +//* \brief Test if PIO MultiDriver is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsMultiDriverSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetMultiDriverStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_A_RegisterSelection +//* \brief PIO A Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_A_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio A register selection +{ + pPio->PIO_ASR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_B_RegisterSelection +//* \brief PIO B Register Selection +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_B_RegisterSelection( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio B register selection +{ + pPio->PIO_BSR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_Get_AB_RegisterStatus +//* \brief Return PIO Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_Get_AB_RegisterStatus( // \return PIO AB Register Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_ABSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsAB_RegisterSet +//* \brief Test if PIO AB Register is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsAB_RegisterSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_Get_AB_RegisterStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteEnable +//* \brief Output Write Enable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteEnable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be enabled +{ + pPio->PIO_OWER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_OutputWriteDisable +//* \brief Output Write Disable PIO +//*---------------------------------------------------------------------------- +__inline void AT91F_PIO_OutputWriteDisable( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg pio output write to be disabled +{ + pPio->PIO_OWDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetOutputWriteStatus +//* \brief Return PIO Output Write Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetOutputWriteStatus( // \return PIO Output Write Status + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_OWSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputWriteSet +//* \brief Test if PIO OutputWrite is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputWriteSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputWriteStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_GetCfgPullup +//* \brief Return PIO Configuration Pullup +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PIO_GetCfgPullup( // \return PIO Configuration Pullup + AT91PS_PIO pPio) // \arg pointer to a PIO controller +{ + return pPio->PIO_PPUSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsOutputDataStatusSet +//* \brief Test if PIO Output Data Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsOutputDataStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PIO_GetOutputDataStatus(pPio) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIO_IsCfgPullupStatusSet +//* \brief Test if PIO Configuration Pullup Status is Set +//*---------------------------------------------------------------------------- +__inline int AT91F_PIO_IsCfgPullupStatusSet( + AT91PS_PIO pPio, // \arg pointer to a PIO controller + unsigned int flag) // \arg flag to be tested +{ + return (~AT91F_PIO_GetCfgPullup(pPio) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkEnableReg +//* \brief Configure the System Clock Enable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkEnableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCER register + pPMC->PMC_SCER = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgSysClkDisableReg +//* \brief Configure the System Clock Disable Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgSysClkDisableReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + //* Write to the SCDR register + pPMC->PMC_SCDR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetSysClkStatusReg +//* \brief Return the System Clock Status Register of the PMC controller +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetSysClkStatusReg ( + AT91PS_PMC pPMC // pointer to a CAN controller + ) +{ + return pPMC->PMC_SCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePeriphClock +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCER = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePeriphClock +//* \brief Disable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePeriphClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int periphIds) // \arg IDs of peripherals to enable +{ + pPMC->PMC_PCDR = periphIds; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetPeriphClock +//* \brief Get peripheral clock status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetPeriphClock ( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_PCSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscillatorReg ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int mode) +{ + pCKGR->CKGR_MOR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainOscillatorReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainOscillatorReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MOR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_EnableMainOscillator +//* \brief Enable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_EnableMainOscillator( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR |= AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_DisableMainOscillator +//* \brief Disable the main oscillator +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_DisableMainOscillator ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_MOSCEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_CfgMainOscStartUpTime +//* \brief Cfg MOR Register according to the main osc startup time +//*---------------------------------------------------------------------------- +__inline void AT91F_CKGR_CfgMainOscStartUpTime ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int startup_time, // \arg main osc startup time in microsecond (us) + unsigned int slowClock) // \arg slowClock in Hz +{ + pCKGR->CKGR_MOR &= ~AT91C_CKGR_OSCOUNT; + pCKGR->CKGR_MOR |= ((slowClock * startup_time)/(8*1000000)) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClockFreqReg +//* \brief Cfg the main oscillator +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClockFreqReg ( + AT91PS_CKGR pCKGR) // \arg pointer to CKGR controller +{ + return pCKGR->CKGR_MCFR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CKGR_GetMainClock +//* \brief Return Main clock in Hz +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CKGR_GetMainClock ( + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + return ((pCKGR->CKGR_MCFR & AT91C_CKGR_MAINF) * slowClock) >> 4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgMCKReg +//* \brief Cfg Master Clock Register +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgMCKReg ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int mode) +{ + pPMC->PMC_MCKR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetMCKReg +//* \brief Return Master Clock Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetMCKReg( + AT91PS_PMC pPMC) // \arg pointer to PMC controller +{ + return pPMC->PMC_MCKR; +} + +//*------------------------------------------------------------------------------ +//* \fn AT91F_PMC_GetMasterClock +//* \brief Return master clock in Hz which correponds to processor clock for ARM7 +//*------------------------------------------------------------------------------ +__inline unsigned int AT91F_PMC_GetMasterClock ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + AT91PS_CKGR pCKGR, // \arg pointer to CKGR controller + unsigned int slowClock) // \arg slowClock in Hz +{ + unsigned int reg = pPMC->PMC_MCKR; + unsigned int prescaler = (1 << ((reg & AT91C_PMC_PRES) >> 2)); + unsigned int pllDivider, pllMultiplier; + + switch (reg & AT91C_PMC_CSS) { + case AT91C_PMC_CSS_SLOW_CLK: // Slow clock selected + return slowClock / prescaler; + case AT91C_PMC_CSS_MAIN_CLK: // Main clock is selected + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / prescaler; + case AT91C_PMC_CSS_PLL_CLK: // PLLB clock is selected + reg = pCKGR->CKGR_PLLR; + pllDivider = (reg & AT91C_CKGR_DIV); + pllMultiplier = ((reg & AT91C_CKGR_MUL) >> 16) + 1; + return AT91F_CKGR_GetMainClock(pCKGR, slowClock) / pllDivider * pllMultiplier / prescaler; + } + return 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck, // \arg Peripheral clock identifier 0 .. 7 + unsigned int mode) +{ + pPMC->PMC_PCKR[pck] = mode; + pPMC->PMC_SCER = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisablePCK +//* \brief Enable peripheral clock +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisablePCK ( + AT91PS_PMC pPMC, // \arg pointer to PMC controller + unsigned int pck) // \arg Peripheral clock identifier 0 .. 7 +{ + pPMC->PMC_SCDR = (1 << pck) << 8; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_EnableIt +//* \brief Enable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_EnableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pPMC->PMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_DisableIt +//* \brief Disable PMC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_DisableIt ( + AT91PS_PMC pPMC, // pointer to a PMC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pPMC->PMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetStatus +//* \brief Return PMC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetStatus( // \return PMC Interrupt Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_GetInterruptMaskStatus +//* \brief Return PMC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_GetInterruptMaskStatus( // \return PMC Interrupt Mask Status + AT91PS_PMC pPMC) // pointer to a PMC controller +{ + return pPMC->PMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsInterruptMasked +//* \brief Test if PMC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsInterruptMasked( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetInterruptMaskStatus(pPMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_IsStatusSet +//* \brief Test if PMC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PMC_IsStatusSet( + AT91PS_PMC pPMC, // \arg pointer to a PMC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PMC_GetStatus(pPMC) & flag); +}/* ***************************************************************************** + SOFTWARE API FOR RSTC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTSoftReset +//* \brief Start Software Reset +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTSoftReset( + AT91PS_RSTC pRSTC, + unsigned int reset) +{ + pRSTC->RSTC_RCR = (0xA5000000 | reset); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTSetMode +//* \brief Set Reset Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTSetMode( + AT91PS_RSTC pRSTC, + unsigned int mode) +{ + pRSTC->RSTC_RMR = (0xA5000000 | mode); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTGetMode +//* \brief Get Reset Mode +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTGetMode( + AT91PS_RSTC pRSTC) +{ + return (pRSTC->RSTC_RMR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTGetStatus +//* \brief Get Reset Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTGetStatus( + AT91PS_RSTC pRSTC) +{ + return (pRSTC->RSTC_RSR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTIsSoftRstActive +//* \brief Return !=0 if software reset is still not completed +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_RSTIsSoftRstActive( + AT91PS_RSTC pRSTC) +{ + return ((pRSTC->RSTC_RSR) & AT91C_RSTC_SRCMP); +} +/* ***************************************************************************** + SOFTWARE API FOR RTTC + ***************************************************************************** */ +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_SetRTT_TimeBase() +//* \brief Set the RTT prescaler according to the TimeBase in ms +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTSetTimeBase( + AT91PS_RTTC pRTTC, + unsigned int ms) +{ + if (ms > 2000) + return 1; // AT91C_TIME_OUT_OF_RANGE + pRTTC->RTTC_RTMR &= ~0xFFFF; + pRTTC->RTTC_RTMR |= (((ms << 15) /1000) & 0xFFFF); + return 0; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTSetPrescaler() +//* \brief Set the new prescaler value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTSetPrescaler( + AT91PS_RTTC pRTTC, + unsigned int rtpres) +{ + pRTTC->RTTC_RTMR &= ~0xFFFF; + pRTTC->RTTC_RTMR |= (rtpres & 0xFFFF); + return (pRTTC->RTTC_RTMR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTRestart() +//* \brief Restart the RTT prescaler +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTRestart( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTRST; +} + + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetAlarmINT() +//* \brief Enable RTT Alarm Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetAlarmINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_ALMIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ClearAlarmINT() +//* \brief Disable RTT Alarm Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTClearAlarmINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR &= ~AT91C_RTTC_ALMIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetRttIncINT() +//* \brief Enable RTT INC Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetRttIncINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR |= AT91C_RTTC_RTTINCIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ClearRttIncINT() +//* \brief Disable RTT INC Interrupt +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTClearRttIncINT( + AT91PS_RTTC pRTTC) +{ + pRTTC->RTTC_RTMR &= ~AT91C_RTTC_RTTINCIEN; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_SetAlarmValue() +//* \brief Set RTT Alarm Value +//*-------------------------------------------------------------------------------------- +__inline void AT91F_RTTSetAlarmValue( + AT91PS_RTTC pRTTC, unsigned int alarm) +{ + pRTTC->RTTC_RTAR = alarm; +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_GetAlarmValue() +//* \brief Get RTT Alarm Value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTGetAlarmValue( + AT91PS_RTTC pRTTC) +{ + return(pRTTC->RTTC_RTAR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTTGetStatus() +//* \brief Read the RTT status +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTGetStatus( + AT91PS_RTTC pRTTC) +{ + return(pRTTC->RTTC_RTSR); +} + +//*-------------------------------------------------------------------------------------- +//* \fn AT91F_RTT_ReadValue() +//* \brief Read the RTT value +//*-------------------------------------------------------------------------------------- +__inline unsigned int AT91F_RTTReadValue( + AT91PS_RTTC pRTTC) +{ + register volatile unsigned int val1,val2; + do + { + val1 = pRTTC->RTTC_RTVR; + val2 = pRTTC->RTTC_RTVR; + } + while(val1 != val2); + return(val1); +} +/* ***************************************************************************** + SOFTWARE API FOR PITC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITInit +//* \brief System timer init : period in µsecond, system clock freq in MHz +//*---------------------------------------------------------------------------- +__inline void AT91F_PITInit( + AT91PS_PITC pPITC, + unsigned int period, + unsigned int pit_frequency) +{ + pPITC->PITC_PIMR = period? (period * pit_frequency + 8) >> 4 : 0; // +8 to avoid %10 and /10 + pPITC->PITC_PIMR |= AT91C_PITC_PITEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITSetPIV +//* \brief Set the PIT Periodic Interval Value +//*---------------------------------------------------------------------------- +__inline void AT91F_PITSetPIV( + AT91PS_PITC pPITC, + unsigned int piv) +{ + pPITC->PITC_PIMR = piv | (pPITC->PITC_PIMR & (AT91C_PITC_PITEN | AT91C_PITC_PITIEN)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITEnableInt +//* \brief Enable PIT periodic interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PITEnableInt( + AT91PS_PITC pPITC) +{ + pPITC->PITC_PIMR |= AT91C_PITC_PITIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITDisableInt +//* \brief Disable PIT periodic interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PITDisableInt( + AT91PS_PITC pPITC) +{ + pPITC->PITC_PIMR &= ~AT91C_PITC_PITIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetMode +//* \brief Read PIT mode register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetMode( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIMR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetStatus +//* \brief Read PIT status register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetStatus( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PISR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetPIIR +//* \brief Read PIT CPIV and PICNT without ressetting the counters +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetPIIR( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIIR); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITGetPIVR +//* \brief Read System timer CPIV and PICNT without ressetting the counters +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PITGetPIVR( + AT91PS_PITC pPITC) +{ + return(pPITC->PITC_PIVR); +} +/* ***************************************************************************** + SOFTWARE API FOR WDTC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTSetMode +//* \brief Set Watchdog Mode Register +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTSetMode( + AT91PS_WDTC pWDTC, + unsigned int Mode) +{ + pWDTC->WDTC_WDMR = Mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTRestart +//* \brief Restart Watchdog +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTRestart( + AT91PS_WDTC pWDTC) +{ + pWDTC->WDTC_WDCR = 0xA5000001; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTSGettatus +//* \brief Get Watchdog Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_WDTSGettatus( + AT91PS_WDTC pWDTC) +{ + return(pWDTC->WDTC_WDSR & 0x3); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTGetPeriod +//* \brief Translate ms into Watchdog Compatible value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_WDTGetPeriod(unsigned int ms) +{ + if ((ms < 4) || (ms > 16000)) + return 0; + return((ms << 8) / 1000); +} +/* ***************************************************************************** + SOFTWARE API FOR VREG + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_Enable_LowPowerMode +//* \brief Enable VREG Low Power Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_Enable_LowPowerMode( + AT91PS_VREG pVREG) +{ + pVREG->VREG_MR |= AT91C_VREG_PSTDBY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_Disable_LowPowerMode +//* \brief Disable VREG Low Power Mode +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_Disable_LowPowerMode( + AT91PS_VREG pVREG) +{ + pVREG->VREG_MR &= ~AT91C_VREG_PSTDBY; +}/* ***************************************************************************** + SOFTWARE API FOR MC + ***************************************************************************** */ + +#define AT91C_MC_CORRECT_KEY ((unsigned int) 0x5A << 24) // (MC) Correct Protect Key + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_Remap +//* \brief Make Remap +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_Remap (void) // +{ + AT91PS_MC pMC = (AT91PS_MC) AT91C_BASE_MC; + + pMC->MC_RCR = AT91C_MC_RCB; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_CfgModeReg +//* \brief Configure the EFC Mode Register of the MC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_CfgModeReg ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int mode) // mode register +{ + // Write to the FMR register + pMC->MC_FMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetModeReg +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetModeReg( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_ComputeFMCN +//* \brief Return MC EFC Mode Regsiter +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_ComputeFMCN( + int master_clock) // master clock in Hz +{ + return (master_clock/1000000 +2); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_PerformCmd +//* \brief Perform EFC Command +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_EFC_PerformCmd ( + AT91PS_MC pMC, // pointer to a MC controller + unsigned int transfer_cmd) +{ + pMC->MC_FCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_GetStatus +//* \brief Return MC EFC Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_GetStatus( + AT91PS_MC pMC) // pointer to a MC controller +{ + return pMC->MC_FSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptMasked +//* \brief Test if EFC MC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptMasked( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetModeReg(pMC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_EFC_IsInterruptSet +//* \brief Test if EFC MC Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_MC_EFC_IsInterruptSet( + AT91PS_MC pMC, // \arg pointer to a MC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_MC_EFC_GetStatus(pMC) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR SPI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Open +//* \brief Open a SPI Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgCs +//* \brief Configure SPI chip select register +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgCs ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int cs, // SPI cs number (0 to 3) + int val) // chip select register +{ + //* Write to the CSR register + *(pSPI->SPI_CSR + cs) = val; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_EnableIt +//* \brief Enable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_EnableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pSPI->SPI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_DisableIt +//* \brief Disable SPI interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_DisableIt ( + AT91PS_SPI pSPI, // pointer to a SPI controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pSPI->SPI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Reset +//* \brief Reset the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Reset ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Enable +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Enable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Disable +//* \brief Disable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Disable ( + AT91PS_SPI pSPI // pointer to a SPI controller + ) +{ + //* Write to the CR register + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgMode +//* \brief Enable the SPI controller +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgMode ( + AT91PS_SPI pSPI, // pointer to a SPI controller + int mode) // mode register +{ + //* Write to the MR register + pSPI->SPI_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_CfgPCS +//* \brief Switch to the correct PCS of SPI Mode Register : Fixed Peripheral Selected +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_CfgPCS ( + AT91PS_SPI pSPI, // pointer to a SPI controller + char PCS_Device) // PCS of the Device +{ + //* Write to the MR register + pSPI->SPI_MR &= 0xFFF0FFFF; + pSPI->SPI_MR |= ( (PCS_Device<<16) & AT91C_SPI_PCS ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_ReceiveFrame ( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is bSPIy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_SendFrame( + AT91PS_SPI pSPI, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSPI->SPI_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_Close +//* \brief Close SPI: disable IT disable transfert, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_Close ( + AT91PS_SPI pSPI) // \arg pointer to a SPI controller +{ + //* Reset all the Chip Select register + pSPI->SPI_CSR[0] = 0 ; + pSPI->SPI_CSR[1] = 0 ; + pSPI->SPI_CSR[2] = 0 ; + pSPI->SPI_CSR[3] = 0 ; + + //* Reset the SPI mode + pSPI->SPI_MR = 0 ; + + //* Disable all interrupts + pSPI->SPI_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pSPI->SPI_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pSPI->SPI_CR = AT91C_SPI_SPIDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI_PutChar ( + AT91PS_SPI pSPI, + unsigned int character, + unsigned int cs_number ) +{ + unsigned int value_for_cs; + value_for_cs = (~(1 << cs_number)) & 0xF; //Place a zero among a 4 ONEs number + pSPI->SPI_TDR = (character & 0xFFFF) | (value_for_cs << 16); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_GetChar ( + const AT91PS_SPI pSPI) +{ + return((pSPI->SPI_RDR) & 0xFFFF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_GetInterruptMaskStatus +//* \brief Return SPI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SPI_GetInterruptMaskStatus( // \return SPI Interrupt Mask Status + AT91PS_SPI pSpi) // \arg pointer to a SPI controller +{ + return pSpi->SPI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI_IsInterruptMasked +//* \brief Test if SPI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SPI_IsInterruptMasked( + AT91PS_SPI pSpi, // \arg pointer to a SPI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SPI_GetInterruptMaskStatus(pSpi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR USART + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Calculate the baudrate +//* Standard Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* Standard External Asynchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_ASYNC_SCK_MODE ( AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_EXT ) + +//* Standard Synchronous Mode : 8 bits , 1 stop , no parity +#define AT91C_US_SYNC_MODE ( AT91C_US_SYNC + \ + AT91C_US_USMODE_NORMAL + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//* SCK used Label +#define AT91C_US_SCK_USED (AT91C_US_CKLO | AT91C_US_CLKS_EXT) + +//* Standard ISO T=0 Mode : 8 bits , 1 stop , parity +#define AT91C_US_ISO_READER_MODE ( AT91C_US_USMODE_ISO7816_0 + \ + AT91C_US_CLKS_CLOCK +\ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_EVEN + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CKLO +\ + AT91C_US_OVER) + +//* Standard IRDA mode +#define AT91C_US_ASYNC_IRDA_MODE ( AT91C_US_USMODE_IRDA + \ + AT91C_US_NBSTOP_1_BIT + \ + AT91C_US_PAR_NONE + \ + AT91C_US_CHRL_8_BITS + \ + AT91C_US_CLKS_CLOCK ) + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Baudrate +//* \brief Caluculate baud_value according to the main clock and the baud rate +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Baudrate ( + const unsigned int main_clock, // \arg peripheral clock + const unsigned int baud_rate) // \arg UART baudrate +{ + unsigned int baud_value = ((main_clock*10)/(baud_rate * 16)); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + return baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetBaudrate ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg UART baudrate +{ + //* Define the baud rate divisor register + pUSART->US_BRGR = AT91F_US_Baudrate(mainClock, speed); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetTimeguard +//* \brief Set USART timeguard +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetTimeguard ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int timeguard) // \arg timeguard value +{ + //* Write the Timeguard Register + pUSART->US_TTGR = timeguard ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableIt +//* \brief Enable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUSART->US_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableIt +//* \brief Disable USART IT +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableIt ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IER register + pUSART->US_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Configure +//* \brief Configure USART +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Configure ( + AT91PS_USART pUSART, // \arg pointer to a USART controller + unsigned int mainClock, // \arg peripheral clock + unsigned int mode , // \arg mode Register to be programmed + unsigned int baudRate , // \arg baudrate to be programmed + unsigned int timeguard ) // \arg timeguard to be programmed +{ + //* Disable interrupts + pUSART->US_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pUSART->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RXDIS | AT91C_US_TXDIS ; + + //* Define the baud rate divisor register + AT91F_US_SetBaudrate(pUSART, mainClock, baudRate); + + //* Write the Timeguard Register + AT91F_US_SetTimeguard(pUSART, timeguard); + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Define the USART mode + pUSART->US_MR = mode ; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableRx +//* \brief Enable receiving characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_EnableTx +//* \brief Enable sending characters +//*---------------------------------------------------------------------------- +__inline void AT91F_US_EnableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetRx +//* \brief Reset Receiver and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset receiver + pUSART->US_CR = AT91C_US_RSTRX; + //* Re-Enable receiver + pUSART->US_CR = AT91C_US_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ResetTx +//* \brief Reset Transmitter and re-enable it +//*---------------------------------------------------------------------------- +__inline void AT91F_US_ResetTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset transmitter + pUSART->US_CR = AT91C_US_RSTTX; + //* Enable transmitter + pUSART->US_CR = AT91C_US_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableRx +//* \brief Disable Receiver +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableRx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable receiver + pUSART->US_CR = AT91C_US_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_DisableTx +//* \brief Disable Transmitter +//*---------------------------------------------------------------------------- +__inline void AT91F_US_DisableTx ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Disable transmitter + pUSART->US_CR = AT91C_US_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Close +//* \brief Close USART: disable IT disable receiver and transmitter, close PDC +//*---------------------------------------------------------------------------- +__inline void AT91F_US_Close ( + AT91PS_USART pUSART) // \arg pointer to a USART controller +{ + //* Reset the baud rate divisor register + pUSART->US_BRGR = 0 ; + + //* Reset the USART mode + pUSART->US_MR = 0 ; + + //* Reset the Timeguard Register + pUSART->US_TTGR = 0; + + //* Disable all interrupts + pUSART->US_IDR = 0xFFFFFFFF ; + + //* Abort the Peripheral Data Transfers + AT91F_PDC_Close((AT91PS_PDC) &(pUSART->US_RPR)); + + //* Disable receiver and transmitter and stop any activity immediately + pUSART->US_CR = AT91C_US_TXDIS | AT91C_US_RXDIS | AT91C_US_RSTTX | AT91C_US_RSTRX ; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_TxReady +//* \brief Return 1 if a character can be written in US_THR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_TxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_TXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_RxReady +//* \brief Return 1 if a character can be read in US_RHR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_RxReady ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & AT91C_US_RXRDY); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_Error +//* \brief Return the error flag +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_Error ( + AT91PS_USART pUSART ) // \arg pointer to a USART controller +{ + return (pUSART->US_CSR & + (AT91C_US_OVRE | // Overrun error + AT91C_US_FRAME | // Framing error + AT91C_US_PARE)); // Parity error +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_PutChar +//* \brief Send a character,does not check if ready to send +//*---------------------------------------------------------------------------- +__inline void AT91F_US_PutChar ( + AT91PS_USART pUSART, + int character ) +{ + pUSART->US_THR = (character & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_GetChar +//* \brief Receive a character,does not check if a character is available +//*---------------------------------------------------------------------------- +__inline int AT91F_US_GetChar ( + const AT91PS_USART pUSART) +{ + return((pUSART->US_RHR) & 0x1FF); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_SendFrame( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initializaed with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_US_ReceiveFrame ( + AT91PS_USART pUSART, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pUSART->US_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US_SetIrdaFilter +//* \brief Set the value of IrDa filter tregister +//*---------------------------------------------------------------------------- +__inline void AT91F_US_SetIrdaFilter ( + AT91PS_USART pUSART, + unsigned char value +) +{ + pUSART->US_IF = value; +} + +/* ***************************************************************************** + SOFTWARE API FOR SSC + ***************************************************************************** */ +//* Define the standard I2S mode configuration + +//* Configuration to set in the SSC Transmit Clock Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_MASTER_TX_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + AT91C_SSC_CKS_DIV +\ + AT91C_SSC_CKO_CONTINOUS +\ + AT91C_SSC_CKG_NONE +\ + AT91C_SSC_START_FALL_RF +\ + AT91C_SSC_STTOUT +\ + ((1<<16) & AT91C_SSC_STTDLY) +\ + ((((nb_bit_by_slot*nb_slot_by_frame)/2)-1) <<24)) + + +//* Configuration to set in the SSC Transmit Frame Mode Register +//* Parameters : nb_bit_by_slot : 8, 16 or 32 bits +//* nb_slot_by_frame : number of channels +#define AT91C_I2S_ASY_TX_FRAME_SETTING(nb_bit_by_slot, nb_slot_by_frame)( +\ + (nb_bit_by_slot-1) +\ + AT91C_SSC_MSBF +\ + (((nb_slot_by_frame-1)<<8) & AT91C_SSC_DATNB) +\ + (((nb_bit_by_slot-1)<<16) & AT91C_SSC_FSLEN) +\ + AT91C_SSC_FSOS_NEGATIVE) + + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SetBaudrate +//* \brief Set the baudrate according to the CPU clock +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_SetBaudrate ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int mainClock, // \arg peripheral clock + unsigned int speed) // \arg SSC baudrate +{ + unsigned int baud_value; + //* Define the baud rate divisor register + if (speed == 0) + baud_value = 0; + else + { + baud_value = (unsigned int) (mainClock * 10)/(2*speed); + if ((baud_value % 10) >= 5) + baud_value = (baud_value / 10) + 1; + else + baud_value /= 10; + } + + pSSC->SSC_CMR = baud_value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_Configure +//* \brief Configure SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_Configure ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int syst_clock, // \arg System Clock Frequency + unsigned int baud_rate, // \arg Expected Baud Rate Frequency + unsigned int clock_rx, // \arg Receiver Clock Parameters + unsigned int mode_rx, // \arg mode Register to be programmed + unsigned int clock_tx, // \arg Transmitter Clock Parameters + unsigned int mode_tx) // \arg mode Register to be programmed +{ + //* Disable interrupts + pSSC->SSC_IDR = (unsigned int) -1; + + //* Reset receiver and transmitter + pSSC->SSC_CR = AT91C_SSC_SWRST | AT91C_SSC_RXDIS | AT91C_SSC_TXDIS ; + + //* Define the Clock Mode Register + AT91F_SSC_SetBaudrate(pSSC, syst_clock, baud_rate); + + //* Write the Receive Clock Mode Register + pSSC->SSC_RCMR = clock_rx; + + //* Write the Transmit Clock Mode Register + pSSC->SSC_TCMR = clock_tx; + + //* Write the Receive Frame Mode Register + pSSC->SSC_RFMR = mode_rx; + + //* Write the Transmit Frame Mode Register + pSSC->SSC_TFMR = mode_tx; + + //* Clear Transmit and Receive Counters + AT91F_PDC_Open((AT91PS_PDC) &(pSSC->SSC_RPR)); + + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableRx +//* \brief Enable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable receiver + pSSC->SSC_CR = AT91C_SSC_RXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableRx +//* \brief Disable receiving datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableRx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable receiver + pSSC->SSC_CR = AT91C_SSC_RXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableTx +//* \brief Enable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Enable transmitter + pSSC->SSC_CR = AT91C_SSC_TXEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableTx +//* \brief Disable sending datas +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableTx ( + AT91PS_SSC pSSC) // \arg pointer to a SSC controller +{ + //* Disable transmitter + pSSC->SSC_CR = AT91C_SSC_TXDIS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_EnableIt +//* \brief Enable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_EnableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pSSC->SSC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_DisableIt +//* \brief Disable SSC IT +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_DisableIt ( + AT91PS_SSC pSSC, // \arg pointer to a SSC controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pSSC->SSC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_ReceiveFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_ReceiveFrame ( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_ReceiveFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_SendFrame +//* \brief Return 2 if PDC has been initialized with Buffer and Next Buffer, 1 if PDC has been initialized with Next Buffer, 0 if PDC is busy +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_SendFrame( + AT91PS_SSC pSSC, + char *pBuffer, + unsigned int szBuffer, + char *pNextBuffer, + unsigned int szNextBuffer ) +{ + return AT91F_PDC_SendFrame( + (AT91PS_PDC) &(pSSC->SSC_RPR), + pBuffer, + szBuffer, + pNextBuffer, + szNextBuffer); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_GetInterruptMaskStatus +//* \brief Return SSC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_SSC_GetInterruptMaskStatus( // \return SSC Interrupt Mask Status + AT91PS_SSC pSsc) // \arg pointer to a SSC controller +{ + return pSsc->SSC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_IsInterruptMasked +//* \brief Test if SSC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_SSC_IsInterruptMasked( + AT91PS_SSC pSsc, // \arg pointer to a SSC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_SSC_GetInterruptMaskStatus(pSsc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TWI + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_EnableIt +//* \brief Enable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_EnableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pTWI->TWI_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_DisableIt +//* \brief Disable TWI IT +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_DisableIt ( + AT91PS_TWI pTWI, // \arg pointer to a TWI controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pTWI->TWI_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_Configure +//* \brief Configure TWI in master mode +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_Configure ( AT91PS_TWI pTWI ) // \arg pointer to a TWI controller +{ + //* Disable interrupts + pTWI->TWI_IDR = (unsigned int) -1; + + //* Reset peripheral + pTWI->TWI_CR = AT91C_TWI_SWRST; + + //* Set Master mode + pTWI->TWI_CR = AT91C_TWI_MSEN; + +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_GetInterruptMaskStatus +//* \brief Return TWI Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TWI_GetInterruptMaskStatus( // \return TWI Interrupt Mask Status + AT91PS_TWI pTwi) // \arg pointer to a TWI controller +{ + return pTwi->TWI_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_IsInterruptMasked +//* \brief Test if TWI Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TWI_IsInterruptMasked( + AT91PS_TWI pTwi, // \arg pointer to a TWI controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TWI_GetInterruptMaskStatus(pTwi) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR PWMC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetStatus +//* \brief Return PWM Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetStatus( // \return PWM Interrupt Status + AT91PS_PWMC pPWM) // pointer to a PWM controller +{ + return pPWM->PWMC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptEnable +//* \brief Enable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptEnable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be enabled +{ + pPwm->PWMC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_InterruptDisable +//* \brief Disable PWM Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_InterruptDisable( + AT91PS_PWMC pPwm, // \arg pointer to a PWM controller + unsigned int flag) // \arg PWM interrupt to be disabled +{ + pPwm->PWMC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_GetInterruptMaskStatus +//* \brief Return PWM Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_GetInterruptMaskStatus( // \return PWM Interrupt Mask Status + AT91PS_PWMC pPwm) // \arg pointer to a PWM controller +{ + return pPwm->PWMC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsInterruptMasked +//* \brief Test if PWM Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsInterruptMasked( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetInterruptMaskStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_IsStatusSet +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_PWMC_IsStatusSet( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_PWMC_GetStatus(pPWM) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_CfgChannel +//* \brief Test if PWM Interrupt is Set +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int mode, // \arg PWM mode + unsigned int period, // \arg PWM period + unsigned int duty) // \arg PWM duty cycle +{ + pPWM->PWMC_CH[channelId].PWMC_CMR = mode; + pPWM->PWMC_CH[channelId].PWMC_CDTYR = duty; + pPWM->PWMC_CH[channelId].PWMC_CPRDR = period; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StartChannel +//* \brief Enable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StartChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_ENA = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_StopChannel +//* \brief Disable channel +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_StopChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int flag) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_DIS = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWM_UpdateChannel +//* \brief Update Period or Duty Cycle +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_UpdateChannel( + AT91PS_PWMC pPWM, // \arg pointer to a PWM controller + unsigned int channelId, // \arg PWM channel ID + unsigned int update) // \arg Channels IDs to be enabled +{ + pPWM->PWMC_CH[channelId].PWMC_CUPDR = update; +} + +/* ***************************************************************************** + SOFTWARE API FOR UDP + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableIt +//* \brief Enable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be enabled +{ + //* Write to the IER register + pUDP->UDP_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableIt +//* \brief Disable UDP IT +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableIt ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg IT to be disabled +{ + //* Write to the IDR register + pUDP->UDP_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetAddress +//* \brief Set UDP functional address +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetAddress ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char address) // \arg new UDP address +{ + pUDP->UDP_FADDR = (AT91C_UDP_FEN | address); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EnableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EnableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_EPEDS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_DisableEp +//* \brief Enable Endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_DisableEp ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] &= ~AT91C_UDP_EPEDS; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_SetState +//* \brief Set UDP Device state +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_SetState ( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg new UDP address +{ + pUDP->UDP_GLBSTATE &= ~(AT91C_UDP_FADDEN | AT91C_UDP_CONFG); + pUDP->UDP_GLBSTATE |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetState +//* \brief return UDP Device state +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetState ( // \return the UDP device state + AT91PS_UDP pUDP) // \arg pointer to a UDP controller +{ + return (pUDP->UDP_GLBSTATE & (AT91C_UDP_FADDEN | AT91C_UDP_CONFG)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_ResetEp +//* \brief Reset UDP endpoint +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_ResetEp ( // \return the UDP device state + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned int flag) // \arg Endpoints to be reset +{ + pUDP->UDP_RSTEP = flag; + pUDP->UDP_RSTEP = 0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStall +//* \brief Endpoint will STALL requests +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpStall( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_FORCESTALL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpWrite +//* \brief Write value in the DPR +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpWrite( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned char value) // \arg value to be written in the DPR +{ + pUDP->UDP_FDR[endpoint] = value; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpRead +//* \brief Return value from the DPR +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpRead( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_FDR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpEndOfWr +//* \brief Notify the UDP that values in DPR are ready to be sent +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpEndOfWr( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + pUDP->UDP_CSR[endpoint] |= AT91C_UDP_TXPKTRDY; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpClear +//* \brief Clear flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpClear( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] &= ~(flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpSet +//* \brief Set flag in the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_EpSet( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint, // \arg endpoint number + unsigned int flag) // \arg flag to be cleared +{ + pUDP->UDP_CSR[endpoint] |= flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_EpStatus +//* \brief Return the endpoint CSR register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_EpStatus( + AT91PS_UDP pUDP, // \arg pointer to a UDP controller + unsigned char endpoint) // \arg endpoint number +{ + return pUDP->UDP_CSR[endpoint]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_GetInterruptMaskStatus +//* \brief Return UDP Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_UDP_GetInterruptMaskStatus( // \return UDP Interrupt Mask Status + AT91PS_UDP pUdp) // \arg pointer to a UDP controller +{ + return pUdp->UDP_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_IsInterruptMasked +//* \brief Test if UDP Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_UDP_IsInterruptMasked( + AT91PS_UDP pUdp, // \arg pointer to a UDP controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_UDP_GetInterruptMaskStatus(pUdp) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR TC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptEnable +//* \brief Enable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptEnable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be enabled +{ + pTc->TC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_InterruptDisable +//* \brief Disable TC Interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TC_InterruptDisable( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg TC interrupt to be disabled +{ + pTc->TC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_GetInterruptMaskStatus +//* \brief Return TC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TC_GetInterruptMaskStatus( // \return TC Interrupt Mask Status + AT91PS_TC pTc) // \arg pointer to a TC controller +{ + return pTc->TC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC_IsInterruptMasked +//* \brief Test if TC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline int AT91F_TC_IsInterruptMasked( + AT91PS_TC pTc, // \arg pointer to a TC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TC_GetInterruptMaskStatus(pTc) & flag); +} + +/* ***************************************************************************** + SOFTWARE API FOR CAN + ***************************************************************************** */ +#define STANDARD_FORMAT 0 +#define EXTENDED_FORMAT 1 + +//*---------------------------------------------------------------------------- +//* \fn AT91F_InitMailboxRegisters() +//* \brief Configure the corresponding mailbox +//*---------------------------------------------------------------------------- +__inline void AT91F_InitMailboxRegisters(AT91PS_CAN_MB CAN_Mailbox, + int mode_reg, + int acceptance_mask_reg, + int id_reg, + int data_low_reg, + int data_high_reg, + int control_reg) +{ + CAN_Mailbox->CAN_MB_MCR = 0x0; + CAN_Mailbox->CAN_MB_MMR = mode_reg; + CAN_Mailbox->CAN_MB_MAM = acceptance_mask_reg; + CAN_Mailbox->CAN_MB_MID = id_reg; + CAN_Mailbox->CAN_MB_MDL = data_low_reg; + CAN_Mailbox->CAN_MB_MDH = data_high_reg; + CAN_Mailbox->CAN_MB_MCR = control_reg; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EnableCAN() +//* \brief +//*---------------------------------------------------------------------------- +__inline void AT91F_EnableCAN( + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + pCAN->CAN_MR |= AT91C_CAN_CANEN; + + // Wait for WAKEUP flag raising <=> 11-recessive-bit were scanned by the transceiver + while( (pCAN->CAN_SR & AT91C_CAN_WAKEUP) != AT91C_CAN_WAKEUP ); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DisableCAN() +//* \brief +//*---------------------------------------------------------------------------- +__inline void AT91F_DisableCAN( + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + pCAN->CAN_MR &= ~AT91C_CAN_CANEN; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_EnableIt +//* \brief Enable CAN interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_EnableIt ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pCAN->CAN_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_DisableIt +//* \brief Disable CAN interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_DisableIt ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pCAN->CAN_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetStatus +//* \brief Return CAN Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetStatus( // \return CAN Interrupt Status + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + return pCAN->CAN_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetInterruptMaskStatus +//* \brief Return CAN Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetInterruptMaskStatus( // \return CAN Interrupt Mask Status + AT91PS_CAN pCAN) // pointer to a CAN controller +{ + return pCAN->CAN_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_IsInterruptMasked +//* \brief Test if CAN Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_IsInterruptMasked( + AT91PS_CAN pCAN, // \arg pointer to a CAN controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_CAN_GetInterruptMaskStatus(pCAN) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_IsStatusSet +//* \brief Test if CAN Interrupt is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_IsStatusSet( + AT91PS_CAN pCAN, // \arg pointer to a CAN controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_CAN_GetStatus(pCAN) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgModeReg +//* \brief Configure the Mode Register of the CAN controller +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgModeReg ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pCAN->CAN_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetModeReg +//* \brief Return the Mode Register of the CAN controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetModeReg ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgBaudrateReg +//* \brief Configure the Baudrate of the CAN controller for the network +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgBaudrateReg ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int baudrate_cfg) +{ + //* Write to the BR register + pCAN->CAN_BR = baudrate_cfg; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetBaudrate +//* \brief Return the Baudrate of the CAN controller for the network value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetBaudrate ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_BR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetInternalCounter +//* \brief Return CAN Timer Regsiter Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetInternalCounter ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_TIM; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetTimestamp +//* \brief Return CAN Timestamp Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetTimestamp ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_TIMESTP; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetErrorCounter +//* \brief Return CAN Error Counter Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetErrorCounter ( + AT91PS_CAN pCAN // pointer to a CAN controller + ) +{ + return pCAN->CAN_ECR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_InitTransferRequest +//* \brief Request for a transfer on the corresponding mailboxes +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_InitTransferRequest ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int transfer_cmd) +{ + pCAN->CAN_TCR = transfer_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_InitAbortRequest +//* \brief Abort the corresponding mailboxes +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_InitAbortRequest ( + AT91PS_CAN pCAN, // pointer to a CAN controller + unsigned int abort_cmd) +{ + pCAN->CAN_ACR = abort_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageModeReg +//* \brief Program the Message Mode Register +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageModeReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int mode) +{ + CAN_Mailbox->CAN_MB_MMR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageModeReg +//* \brief Return the Message Mode Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageModeReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageIDReg +//* \brief Program the Message ID Register +//* \brief Version == 0 for Standard messsage, Version == 1 for Extended +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageIDReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int id, + unsigned char version) +{ + if(version==0) // IDvA Standard Format + CAN_Mailbox->CAN_MB_MID = id<<18; + else // IDvB Extended Format + CAN_Mailbox->CAN_MB_MID = id | (1<<29); // set MIDE bit +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageIDReg +//* \brief Return the Message ID Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageIDReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MID; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageAcceptanceMaskReg +//* \brief Program the Message Acceptance Mask Register +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageAcceptanceMaskReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int mask) +{ + CAN_Mailbox->CAN_MB_MAM = mask; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageAcceptanceMaskReg +//* \brief Return the Message Acceptance Mask Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageAcceptanceMaskReg ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MAM; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetFamilyID +//* \brief Return the Message ID Register +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetFamilyID ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MFID; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageCtrl +//* \brief Request and config for a transfer on the corresponding mailbox +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageCtrlReg ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int message_ctrl_cmd) +{ + CAN_Mailbox->CAN_MB_MCR = message_ctrl_cmd; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageStatus +//* \brief Return CAN Mailbox Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageStatus ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageDataLow +//* \brief Program data low value +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageDataLow ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int data) +{ + CAN_Mailbox->CAN_MB_MDL = data; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageDataLow +//* \brief Return data low value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageDataLow ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MDL; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgMessageDataHigh +//* \brief Program data high value +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgMessageDataHigh ( + AT91PS_CAN_MB CAN_Mailbox, // pointer to a CAN Mailbox + unsigned int data) +{ + CAN_Mailbox->CAN_MB_MDH = data; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_GetMessageDataHigh +//* \brief Return data high value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_GetMessageDataHigh ( + AT91PS_CAN_MB CAN_Mailbox) // pointer to a CAN Mailbox +{ + return CAN_Mailbox->CAN_MB_MDH; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_Open +//* \brief Open a CAN Port +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_CAN_Open ( + const unsigned int null) // \arg +{ + /* NOT DEFINED AT THIS MOMENT */ + return ( 0 ); +} +/* ***************************************************************************** + SOFTWARE API FOR ADC + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableIt +//* \brief Enable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pADC->ADC_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableIt +//* \brief Disable ADC interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableIt ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pADC->ADC_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetStatus +//* \brief Return ADC Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetStatus( // \return ADC Interrupt Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_SR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetInterruptMaskStatus +//* \brief Return ADC Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetInterruptMaskStatus( // \return ADC Interrupt Mask Status + AT91PS_ADC pADC) // pointer to a ADC controller +{ + return pADC->ADC_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsInterruptMasked +//* \brief Test if ADC Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsInterruptMasked( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetInterruptMaskStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_IsStatusSet +//* \brief Test if ADC Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_IsStatusSet( + AT91PS_ADC pADC, // \arg pointer to a ADC controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_ADC_GetStatus(pADC) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgModeReg +//* \brief Configure the Mode Register of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgModeReg ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pADC->ADC_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetModeReg +//* \brief Return the Mode Register of the ADC controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetModeReg ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgTimings +//* \brief Configure the different necessary timings of the ADC controller +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgTimings ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int mck_clock, // in MHz + unsigned int adc_clock, // in MHz + unsigned int startup_time, // in us + unsigned int sample_and_hold_time) // in ns +{ + unsigned int prescal,startup,shtim; + + prescal = mck_clock/(2*adc_clock) - 1; + startup = adc_clock*startup_time/8 - 1; + shtim = adc_clock*sample_and_hold_time/1000 - 1; + + //* Write to the MR register + pADC->ADC_MR = ( (prescal<<8) & AT91C_ADC_PRESCAL) | ( (startup<<16) & AT91C_ADC_STARTUP) | ( (shtim<<24) & AT91C_ADC_SHTIM); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_EnableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_EnableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHER register + pADC->ADC_CHER = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_DisableChannel +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_DisableChannel ( + AT91PS_ADC pADC, // pointer to a ADC controller + unsigned int channel) // mode register +{ + //* Write to the CHDR register + pADC->ADC_CHDR = channel; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetChannelStatus +//* \brief Return ADC Timer Register Value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetChannelStatus ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CHSR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_StartConversion +//* \brief Software request for a analog to digital conversion +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_StartConversion ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_SoftReset +//* \brief Software reset +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_SoftReset ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + pADC->ADC_CR = AT91C_ADC_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetLastConvertedData +//* \brief Return the Last Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetLastConvertedData ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_LCDR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH0 +//* \brief Return the Channel 0 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH0 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR0; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH1 +//* \brief Return the Channel 1 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH1 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR1; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH2 +//* \brief Return the Channel 2 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH2 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR2; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH3 +//* \brief Return the Channel 3 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH3 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR3; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH4 +//* \brief Return the Channel 4 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH4 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR4; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH5 +//* \brief Return the Channel 5 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH5 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR5; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH6 +//* \brief Return the Channel 6 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH6 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR6; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_GetConvertedDataCH7 +//* \brief Return the Channel 7 Converted Data +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_ADC_GetConvertedDataCH7 ( + AT91PS_ADC pADC // pointer to a ADC controller + ) +{ + return pADC->ADC_CDR7; +} + +/* ***************************************************************************** + SOFTWARE API FOR AES + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_EnableIt +//* \brief Enable AES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_EnableIt ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pAES->AES_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_DisableIt +//* \brief Disable AES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_DisableIt ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pAES->AES_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetStatus +//* \brief Return AES Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetStatus( // \return AES Interrupt Status + AT91PS_AES pAES) // pointer to a AES controller +{ + return pAES->AES_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetInterruptMaskStatus +//* \brief Return AES Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetInterruptMaskStatus( // \return AES Interrupt Mask Status + AT91PS_AES pAES) // pointer to a AES controller +{ + return pAES->AES_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_IsInterruptMasked +//* \brief Test if AES Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_IsInterruptMasked( + AT91PS_AES pAES, // \arg pointer to a AES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_AES_GetInterruptMaskStatus(pAES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_IsStatusSet +//* \brief Test if AES Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_IsStatusSet( + AT91PS_AES pAES, // \arg pointer to a AES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_AES_GetStatus(pAES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_CfgModeReg +//* \brief Configure the Mode Register of the AES controller +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_CfgModeReg ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pAES->AES_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetModeReg +//* \brief Return the Mode Register of the AES controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetModeReg ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + return pAES->AES_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_StartProcessing +//* \brief Start Encryption or Decryption +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_StartProcessing ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SoftReset +//* \brief Reset AES +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SoftReset ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_LoadNewSeed +//* \brief Load New Seed in the random number generator +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_LoadNewSeed ( + AT91PS_AES pAES // pointer to a AES controller + ) +{ + pAES->AES_CR = AT91C_AES_LOADSEED; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SetCryptoKey +//* \brief Set Cryptographic Key x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SetCryptoKey ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int keyword + ) +{ + pAES->AES_KEYWxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_InputData +//* \brief Set Input Data x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_InputData ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int indata + ) +{ + pAES->AES_IDATAxR[index] = indata; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_GetOutputData +//* \brief Get Output Data x +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_AES_GetOutputData ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index + ) +{ + return pAES->AES_ODATAxR[index]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_SetInitializationVector +//* \brief Set Initialization Vector (or Counter) x +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_SetInitializationVector ( + AT91PS_AES pAES, // pointer to a AES controller + unsigned char index, + unsigned int initvector + ) +{ + pAES->AES_IVxR[index] = initvector; +} + +/* ***************************************************************************** + SOFTWARE API FOR TDES + ***************************************************************************** */ +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_EnableIt +//* \brief Enable TDES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_EnableIt ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int flag) // IT to be enabled +{ + //* Write to the IER register + pTDES->TDES_IER = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_DisableIt +//* \brief Disable TDES interrupt +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_DisableIt ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int flag) // IT to be disabled +{ + //* Write to the IDR register + pTDES->TDES_IDR = flag; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetStatus +//* \brief Return TDES Interrupt Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetStatus( // \return TDES Interrupt Status + AT91PS_TDES pTDES) // pointer to a TDES controller +{ + return pTDES->TDES_ISR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetInterruptMaskStatus +//* \brief Return TDES Interrupt Mask Status +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetInterruptMaskStatus( // \return TDES Interrupt Mask Status + AT91PS_TDES pTDES) // pointer to a TDES controller +{ + return pTDES->TDES_IMR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_IsInterruptMasked +//* \brief Test if TDES Interrupt is Masked +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_IsInterruptMasked( + AT91PS_TDES pTDES, // \arg pointer to a TDES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TDES_GetInterruptMaskStatus(pTDES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_IsStatusSet +//* \brief Test if TDES Status is Set +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_IsStatusSet( + AT91PS_TDES pTDES, // \arg pointer to a TDES controller + unsigned int flag) // \arg flag to be tested +{ + return (AT91F_TDES_GetStatus(pTDES) & flag); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_CfgModeReg +//* \brief Configure the Mode Register of the TDES controller +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_CfgModeReg ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned int mode) // mode register +{ + //* Write to the MR register + pTDES->TDES_MR = mode; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetModeReg +//* \brief Return the Mode Register of the TDES controller value +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetModeReg ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + return pTDES->TDES_MR; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_StartProcessing +//* \brief Start Encryption or Decryption +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_StartProcessing ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + pTDES->TDES_CR = AT91C_TDES_START; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SoftReset +//* \brief Reset TDES +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SoftReset ( + AT91PS_TDES pTDES // pointer to a TDES controller + ) +{ + pTDES->TDES_CR = AT91C_TDES_SWRST; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey1 +//* \brief Set Cryptographic Key 1 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey1 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY1WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey2 +//* \brief Set Cryptographic Key 2 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey2 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY2WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetCryptoKey3 +//* \brief Set Cryptographic Key 3 Word x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetCryptoKey3 ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int keyword + ) +{ + pTDES->TDES_KEY3WxR[index] = keyword; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_InputData +//* \brief Set Input Data x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_InputData ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int indata + ) +{ + pTDES->TDES_IDATAxR[index] = indata; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_GetOutputData +//* \brief Get Output Data x +//*---------------------------------------------------------------------------- +__inline unsigned int AT91F_TDES_GetOutputData ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index + ) +{ + return pTDES->TDES_ODATAxR[index]; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_SetInitializationVector +//* \brief Set Initialization Vector x +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_SetInitializationVector ( + AT91PS_TDES pTDES, // pointer to a TDES controller + unsigned char index, + unsigned int initvector + ) +{ + pTDES->TDES_IVxR[index] = initvector; +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPMC +//* \brief Enable Peripheral clock in PMC for DBGU +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_DBGU_CfgPIO +//* \brief Configure PIO controllers to drive DBGU signals +//*---------------------------------------------------------------------------- +__inline void AT91F_DBGU_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA27_DRXD ) | + ((unsigned int) AT91C_PA28_DTXD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PMC_CfgPIO +//* \brief Configure PIO controllers to drive PMC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PMC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB30_PCK2 ) | + ((unsigned int) AT91C_PB29_PCK1 ), // Peripheral A + ((unsigned int) AT91C_PB20_PCK0 ) | + ((unsigned int) AT91C_PB0_PCK0 ) | + ((unsigned int) AT91C_PB22_PCK2 ) | + ((unsigned int) AT91C_PB21_PCK1 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA30_PCK2 ) | + ((unsigned int) AT91C_PA13_PCK1 ) | + ((unsigned int) AT91C_PA27_PCK3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_VREG_CfgPMC +//* \brief Enable Peripheral clock in PMC for VREG +//*---------------------------------------------------------------------------- +__inline void AT91F_VREG_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RSTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for RSTC +//*---------------------------------------------------------------------------- +__inline void AT91F_RSTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPMC +//* \brief Enable Peripheral clock in PMC for SSC +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SSC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SSC_CfgPIO +//* \brief Configure PIO controllers to drive SSC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SSC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA25_RK ) | + ((unsigned int) AT91C_PA22_TK ) | + ((unsigned int) AT91C_PA21_TF ) | + ((unsigned int) AT91C_PA24_RD ) | + ((unsigned int) AT91C_PA26_RF ) | + ((unsigned int) AT91C_PA23_TD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_WDTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for WDTC +//*---------------------------------------------------------------------------- +__inline void AT91F_WDTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPMC +//* \brief Enable Peripheral clock in PMC for US1 +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US1_CfgPIO +//* \brief Configure PIO controllers to drive US1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB26_RI1 ) | + ((unsigned int) AT91C_PB24_DSR1 ) | + ((unsigned int) AT91C_PB23_DCD1 ) | + ((unsigned int) AT91C_PB25_DTR1 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA7_SCK1 ) | + ((unsigned int) AT91C_PA8_RTS1 ) | + ((unsigned int) AT91C_PA6_TXD1 ) | + ((unsigned int) AT91C_PA5_RXD1 ) | + ((unsigned int) AT91C_PA9_CTS1 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPMC +//* \brief Enable Peripheral clock in PMC for US0 +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_US0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_US0_CfgPIO +//* \brief Configure PIO controllers to drive US0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_US0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA0_RXD0 ) | + ((unsigned int) AT91C_PA4_CTS0 ) | + ((unsigned int) AT91C_PA3_RTS0 ) | + ((unsigned int) AT91C_PA2_SCK0 ) | + ((unsigned int) AT91C_PA1_TXD0 ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI1_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI1 +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI1_CfgPIO +//* \brief Configure PIO controllers to drive SPI1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB16_NPCS13 ) | + ((unsigned int) AT91C_PB10_NPCS11 ) | + ((unsigned int) AT91C_PB11_NPCS12 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA4_NPCS13 ) | + ((unsigned int) AT91C_PA29_NPCS13 ) | + ((unsigned int) AT91C_PA21_NPCS10 ) | + ((unsigned int) AT91C_PA22_SPCK1 ) | + ((unsigned int) AT91C_PA25_NPCS11 ) | + ((unsigned int) AT91C_PA2_NPCS11 ) | + ((unsigned int) AT91C_PA24_MISO1 ) | + ((unsigned int) AT91C_PA3_NPCS12 ) | + ((unsigned int) AT91C_PA26_NPCS12 ) | + ((unsigned int) AT91C_PA23_MOSI1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI0_CfgPMC +//* \brief Enable Peripheral clock in PMC for SPI0 +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SPI0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_SPI0_CfgPIO +//* \brief Configure PIO controllers to drive SPI0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_SPI0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB13_NPCS01 ) | + ((unsigned int) AT91C_PB17_NPCS03 ) | + ((unsigned int) AT91C_PB14_NPCS02 )); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA16_MISO0 ) | + ((unsigned int) AT91C_PA13_NPCS01 ) | + ((unsigned int) AT91C_PA15_NPCS03 ) | + ((unsigned int) AT91C_PA17_MOSI0 ) | + ((unsigned int) AT91C_PA18_SPCK0 ) | + ((unsigned int) AT91C_PA14_NPCS02 ) | + ((unsigned int) AT91C_PA12_NPCS00 ), // Peripheral A + ((unsigned int) AT91C_PA7_NPCS01 ) | + ((unsigned int) AT91C_PA9_NPCS03 ) | + ((unsigned int) AT91C_PA8_NPCS02 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PITC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PITC +//*---------------------------------------------------------------------------- +__inline void AT91F_PITC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPMC +//* \brief Enable Peripheral clock in PMC for AIC +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_FIQ) | + ((unsigned int) 1 << AT91C_ID_IRQ0) | + ((unsigned int) 1 << AT91C_ID_IRQ1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AIC_CfgPIO +//* \brief Configure PIO controllers to drive AIC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_AIC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA30_IRQ0 ) | + ((unsigned int) AT91C_PA29_FIQ ), // Peripheral A + ((unsigned int) AT91C_PA14_IRQ1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_AES_CfgPMC +//* \brief Enable Peripheral clock in PMC for AES +//*---------------------------------------------------------------------------- +__inline void AT91F_AES_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_AES)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPMC +//* \brief Enable Peripheral clock in PMC for TWI +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TWI)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TWI_CfgPIO +//* \brief Configure PIO controllers to drive TWI signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TWI_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA11_TWCK ) | + ((unsigned int) AT91C_PA10_TWD ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPMC +//* \brief Enable Peripheral clock in PMC for ADC +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_ADC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_ADC_CfgPIO +//* \brief Configure PIO controllers to drive ADC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_ADC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PB18_ADTRG )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH3_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH3 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH3_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB22_PWM3 ), // Peripheral A + ((unsigned int) AT91C_PB30_PWM3 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH2_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB21_PWM2 ), // Peripheral A + ((unsigned int) AT91C_PB29_PWM2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH1_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB20_PWM1 ), // Peripheral A + ((unsigned int) AT91C_PB28_PWM1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CH0_CfgPIO +//* \brief Configure PIO controllers to drive PWMC_CH0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CH0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB19_PWM0 ), // Peripheral A + ((unsigned int) AT91C_PB27_PWM0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_RTTC_CfgPMC +//* \brief Enable Peripheral clock in PMC for RTTC +//*---------------------------------------------------------------------------- +__inline void AT91F_RTTC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_UDP_CfgPMC +//* \brief Enable Peripheral clock in PMC for UDP +//*---------------------------------------------------------------------------- +__inline void AT91F_UDP_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_UDP)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TDES_CfgPMC +//* \brief Enable Peripheral clock in PMC for TDES +//*---------------------------------------------------------------------------- +__inline void AT91F_TDES_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TDES)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EMAC_CfgPMC +//* \brief Enable Peripheral clock in PMC for EMAC +//*---------------------------------------------------------------------------- +__inline void AT91F_EMAC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_EMAC)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_EMAC_CfgPIO +//* \brief Configure PIO controllers to drive EMAC signals +//*---------------------------------------------------------------------------- +__inline void AT91F_EMAC_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB2_ETX0 ) | + ((unsigned int) AT91C_PB12_ETXER ) | + ((unsigned int) AT91C_PB16_ECOL ) | + ((unsigned int) AT91C_PB11_ETX3 ) | + ((unsigned int) AT91C_PB6_ERX1 ) | + ((unsigned int) AT91C_PB15_ERXDV ) | + ((unsigned int) AT91C_PB13_ERX2 ) | + ((unsigned int) AT91C_PB3_ETX1 ) | + ((unsigned int) AT91C_PB8_EMDC ) | + ((unsigned int) AT91C_PB5_ERX0 ) | + //((unsigned int) AT91C_PB18_EF100 ) | + ((unsigned int) AT91C_PB14_ERX3 ) | + ((unsigned int) AT91C_PB4_ECRS_ECRSDV) | + ((unsigned int) AT91C_PB1_ETXEN ) | + ((unsigned int) AT91C_PB10_ETX2 ) | + ((unsigned int) AT91C_PB0_ETXCK_EREFCK) | + ((unsigned int) AT91C_PB9_EMDIO ) | + ((unsigned int) AT91C_PB7_ERXER ) | + ((unsigned int) AT91C_PB17_ERXCK ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC0 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC0)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC0_CfgPIO +//* \brief Configure PIO controllers to drive TC0 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC0_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB23_TIOA0 ) | + ((unsigned int) AT91C_PB24_TIOB0 ), // Peripheral A + ((unsigned int) AT91C_PB12_TCLK0 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC1 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC1)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC1_CfgPIO +//* \brief Configure PIO controllers to drive TC1 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC1_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB25_TIOA1 ) | + ((unsigned int) AT91C_PB26_TIOB1 ), // Peripheral A + ((unsigned int) AT91C_PB19_TCLK1 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPMC +//* \brief Enable Peripheral clock in PMC for TC2 +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_TC2)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_TC2_CfgPIO +//* \brief Configure PIO controllers to drive TC2 signals +//*---------------------------------------------------------------------------- +__inline void AT91F_TC2_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOB, // PIO controller base address + ((unsigned int) AT91C_PB28_TIOB2 ) | + ((unsigned int) AT91C_PB27_TIOA2 ), // Peripheral A + 0); // Peripheral B + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + 0, // Peripheral A + ((unsigned int) AT91C_PA15_TCLK2 )); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_MC_CfgPMC +//* \brief Enable Peripheral clock in PMC for MC +//*---------------------------------------------------------------------------- +__inline void AT91F_MC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_SYS)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOA_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOA +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOA_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOA)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PIOB_CfgPMC +//* \brief Enable Peripheral clock in PMC for PIOB +//*---------------------------------------------------------------------------- +__inline void AT91F_PIOB_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PIOB)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgPMC +//* \brief Enable Peripheral clock in PMC for CAN +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_CAN)); +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_CAN_CfgPIO +//* \brief Configure PIO controllers to drive CAN signals +//*---------------------------------------------------------------------------- +__inline void AT91F_CAN_CfgPIO (void) +{ + // Configure PIO controllers to periph mode + AT91F_PIO_CfgPeriph( + AT91C_BASE_PIOA, // PIO controller base address + ((unsigned int) AT91C_PA20_CANTX ) | + ((unsigned int) AT91C_PA19_CANRX ), // Peripheral A + 0); // Peripheral B +} + +//*---------------------------------------------------------------------------- +//* \fn AT91F_PWMC_CfgPMC +//* \brief Enable Peripheral clock in PMC for PWMC +//*---------------------------------------------------------------------------- +__inline void AT91F_PWMC_CfgPMC (void) +{ + AT91F_PMC_EnablePeriphClock( + AT91C_BASE_PMC, // PIO controller base address + ((unsigned int) 1 << AT91C_ID_PWMC)); +} + +#endif // lib_AT91SAM7X256_H diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/port.c new file mode 100644 index 0000000..b3dc0c9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/port.c @@ -0,0 +1,259 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Atmel ARM7 port. + *----------------------------------------------------------*/ + + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the initial stack. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to setup the PIT. */ +#define portPIT_CLOCK_DIVISOR ( ( uint32_t ) 16 ) +#define portPIT_COUNTER_VALUE ( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + + +#define portINT_LEVEL_SENSITIVE 0 +#define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 ) +#define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 ) +/*-----------------------------------------------------------*/ + +/* Setup the PIT to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* ulCriticalNesting will get set to zero when the first task starts. It +cannot be initialised to 0 as this will cause interrupts to be enabled +during the kernel initialisation process. */ +uint32_t ulCriticalNesting = ( uint32_t ) 9999; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL ) + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 0 + + /* The cooperative scheduler requires a normal IRQ service routine to + simply increment the system tick. */ + static __arm __irq void vPortNonPreemptiveTick( void ); + static __arm __irq void vPortNonPreemptiveTick( void ) + { + uint32_t ulDummy; + + /* Increment the tick count - which may wake some tasks but as the + preemptive scheduler is not being used any woken task is not given + processor time no matter what its priority. */ + xTaskIncrementTick(); + + /* Clear the PIT interrupt. */ + ulDummy = AT91C_BASE_PITC->PITC_PIVR; + + /* End the interrupt in the AIC. */ + AT91C_BASE_AIC->AIC_EOICR = ulDummy; + } + +#else + + /* Currently the IAR port requires the preemptive tick function to be + defined in an asm file. */ + +#endif + +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +AT91PS_PITC pxPIT = AT91C_BASE_PITC; + + /* Setup the AIC for PIT interrupts. The interrupt routine chosen depends + on whether the preemptive or cooperative scheduler is being used. */ + #if configUSE_PREEMPTION == 0 + + AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPortNonPreemptiveTick ); + + #else + + extern void ( vPortPreemptiveTick )( void ); + AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPortPreemptiveTick ); + + #endif + + /* Configure the PIT period. */ + pxPIT->PITC_PIMR = portPIT_ENABLE | portPIT_INT_ENABLE | portPIT_COUNTER_VALUE; + + /* Enable the interrupt. Global interrupts are disables at this point so + this is safe. */ + AT91F_AIC_EnableIt( AT91C_BASE_AIC, AT91C_ID_SYS ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts first! */ + __disable_interrupt(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + __enable_interrupt(); + } + } +} +/*-----------------------------------------------------------*/ + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/portasm.s79 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/portasm.s79 new file mode 100644 index 0000000..b2f5a3f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/portasm.s79 @@ -0,0 +1,88 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + RSEG ICODE:CODE + CODE32 + + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + + PUBLIC vPortYieldProcessor + PUBLIC vPortPreemptiveTick + PUBLIC vPortStartFirstTask + +#include "AT91SAM7S64_inc.h" +#include "ISR_Support.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is just a matter of restoring the context that +; was created by pxPortInitialiseStack(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask: + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Manual context switch function. This is the SWI hander. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortYieldProcessor: + ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly + ; as if the context was saved during and IRQ + ; handler. + + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vTaskSwitchContext ; before selecting the next task to execute. + mov lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Preemptive context switch function. This will only ever get installed if +; portUSE_PREEMPTION is set to 1 in portmacro.h. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortPreemptiveTick: + portSAVE_CONTEXT ; Save the context of the current task. + + LDR R0, =xTaskIncrementTick ; Increment the tick count - this may wake a task. + mov lr, pc + BX R0 + + CMP R0, #0 + BEQ SkipContextSwitch + LDR R0, =vTaskSwitchContext ; Select the next task to execute. + mov lr, pc + BX R0 +SkipContextSwitch + LDR R14, =AT91C_BASE_PITC ; Clear the PIT interrupt + LDR R0, [R14, #PITC_PIVR ] + + LDR R14, =AT91C_BASE_AIC ; Mark the End of Interrupt on the AIC + STR R14, [R14, #AIC_EOICR] + + portRESTORE_CONTEXT ; Restore the context of the selected task. + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/portmacro.h new file mode 100644 index 0000000..16bb707 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM7S64/portmacro.h @@ -0,0 +1,111 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm ( "SWI 0" ) +#define portNOP() asm ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +__arm __interwork void vPortDisableInterruptsFromThumb( void ); +__arm __interwork void vPortEnableInterruptsFromThumb( void ); +__arm __interwork void vPortEnterCritical( void ); +__arm __interwork void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() __disable_interrupt() +#define portENABLE_INTERRUPTS() __enable_interrupt() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/ISR_Support.h new file mode 100644 index 0000000..4a32f39 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/ISR_Support.h @@ -0,0 +1,78 @@ + EXTERN pxCurrentTCB + EXTERN ulCriticalNesting + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + ; Push R0 as we are going to use the register. + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP, {SP}^ + NOP + SUB SP, SP, #4 + LDMIA SP!, {R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now we have saved LR we can use it instead of R0. + MOV LR, R0 + + ; Pop R0 so we can save it onto the system mode stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR, {R0-LR}^ + NOP + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + ; Store the new top of stack for the task. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + STR LR, [R0] + + ENDM + + +portRESTORE_CONTEXT MACRO + + ; Set the LR to the task stack. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + LDR LR, [R0] + + ; The critical nesting depth is the first item on the stack. + ; Load it into the ulCriticalNesting variable. + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_cxsf, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + NOP + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + + ENDM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/port.c new file mode 100644 index 0000000..8e65038 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/port.c @@ -0,0 +1,256 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Atmel ARM7 port. + *----------------------------------------------------------*/ + + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware includes. */ +#include +#include +#include +#include +#include +#include +#include +#include + +/*-----------------------------------------------------------*/ + +/* Constants required to setup the initial stack. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to setup the PIT. */ +#define port1MHz_IN_Hz ( 1000000ul ) +#define port1SECOND_IN_uS ( 1000000.0 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + + +#define portINT_LEVEL_SENSITIVE 0 +#define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 ) +#define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 ) +/*-----------------------------------------------------------*/ + +/* Setup the PIT to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* The PIT interrupt handler - the RTOS tick. */ +static void vPortTickISR( void ); + +/* ulCriticalNesting will get set to zero when the first task starts. It +cannot be initialised to 0 as this will cause interrupts to be enabled +during the kernel initialisation process. */ +uint32_t ulCriticalNesting = ( uint32_t ) 9999; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + #ifdef THUMB_INTERWORK + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + #endif + + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +static __arm void vPortTickISR( void ) +{ +volatile uint32_t ulDummy; + + /* Increment the tick count - which may wake some tasks but as the + preemptive scheduler is not being used any woken task is not given + processor time no matter what its priority. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Clear the PIT interrupt. */ + ulDummy = AT91C_BASE_PITC->PITC_PIVR; + + /* To remove compiler warning. */ + ( void ) ulDummy; + + /* The AIC is cleared in the asm wrapper, outside of this function. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +const uint32_t ulPeriodIn_uS = ( 1.0 / ( double ) configTICK_RATE_HZ ) * port1SECOND_IN_uS; + + /* Setup the PIT for the required frequency. */ + PIT_Init( ulPeriodIn_uS, BOARD_MCK / port1MHz_IN_Hz ); + + /* Setup the PIT interrupt. */ + AIC_DisableIT( AT91C_ID_SYS ); + AIC_ConfigureIT( AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortTickISR ); + AIC_EnableIT( AT91C_ID_SYS ); + PIT_EnableIT(); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts first! */ + __disable_irq(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + __enable_irq(); + } + } +} +/*-----------------------------------------------------------*/ + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/portasm.s79 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/portasm.s79 new file mode 100644 index 0000000..d5ac7eb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/portasm.s79 @@ -0,0 +1,34 @@ + RSEG ICODE:CODE + CODE32 + + EXTERN vTaskSwitchContext + + PUBLIC vPortYieldProcessor + PUBLIC vPortStartFirstTask + +#include "ISR_Support.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is just a matter of restoring the context that +; was created by pxPortInitialiseStack(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask: + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Manual context switch function. This is the SWI hander. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortYieldProcessor: + ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly + ; as if the context was saved during and IRQ + ; handler. + + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vTaskSwitchContext ; before selecting the next task to execute. + mov lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/portmacro.h new file mode 100644 index 0000000..e9d62cd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/AtmelSAM9XE/portmacro.h @@ -0,0 +1,114 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm ( "SWI 0" ) +#define portNOP() asm ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +__arm __interwork void vPortDisableInterruptsFromThumb( void ); +__arm __interwork void vPortEnableInterruptsFromThumb( void ); +__arm __interwork void vPortEnterCritical( void ); +__arm __interwork void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() __disable_irq() +#define portENABLE_INTERRUPTS() __enable_irq() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/ISR_Support.h new file mode 100644 index 0000000..f16c592 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/ISR_Support.h @@ -0,0 +1,105 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + EXTERN pxCurrentTCB + EXTERN ulCriticalNesting + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + ; Push R0 as we are going to use the register. + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP, {SP}^ + NOP + SUB SP, SP, #4 + LDMIA SP!, {R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now we have saved LR we can use it instead of R0. + MOV LR, R0 + + ; Pop R0 so we can save it onto the system mode stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR, {R0-LR}^ + NOP + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + ; Store the new top of stack for the task. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + STR LR, [R0] + + ENDM + + +portRESTORE_CONTEXT MACRO + + ; Set the LR to the task stack. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + LDR LR, [R0] + + ; The critical nesting depth is the first item on the stack. + ; Load it into the ulCriticalNesting variable. + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_cxsf, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + NOP + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + + ENDM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/port.c new file mode 100644 index 0000000..0be2c0b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/port.c @@ -0,0 +1,317 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Philips ARM7 port. + *----------------------------------------------------------*/ + +/* + Changes from V3.2.2 + + + Bug fix - The prescale value for the timer setup is now written to T0PR + instead of T0PC. This bug would have had no effect unless a prescale + value was actually used. +*/ + +/* Standard includes. */ +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the tick ISR. */ +#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) +#define portPRESCALE_VALUE 0x00 +#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) +#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) + +/* Constants required to setup the initial stack. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to setup the PIT. */ +#define portPIT_CLOCK_DIVISOR ( ( uint32_t ) 16 ) +#define portPIT_COUNTER_VALUE ( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS ) + +/* Constants required to handle interrupts. */ +#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) +#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + + +#define portINT_LEVEL_SENSITIVE 0 +#define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 ) +#define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 ) + +/* Constants required to setup the VIC for the tick ISR. */ +#define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 ) +#define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 ) +#define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 ) + +/*-----------------------------------------------------------*/ + +/* Setup the PIT to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* ulCriticalNesting will get set to zero when the first task starts. It +cannot be initialised to 0 as this will cause interrupts to be enabled +during the kernel initialisation process. */ +uint32_t ulCriticalNesting = ( uint32_t ) 9999; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL ) + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 0 + + /* The cooperative scheduler requires a normal IRQ service routine to + simply increment the system tick. */ + static __arm __irq void vPortNonPreemptiveTick( void ); + static __arm __irq void vPortNonPreemptiveTick( void ) + { + /* Increment the tick count - which may wake some tasks but as the + preemptive scheduler is not being used any woken task is not given + processor time no matter what its priority. */ + xTaskIncrementTick(); + + /* Ready for the next interrupt. */ + T0IR = portTIMER_MATCH_ISR_BIT; + VICVectAddr = portCLEAR_VIC_INTERRUPT; + } + +#else + + /* This function is called from an asm wrapper, so does not require the __irq + keyword. */ + void vPortPreemptiveTick( void ); + void vPortPreemptiveTick( void ) + { + /* Increment the tick counter. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* The new tick value might unblock a task. Ensure the highest task that + is ready to execute is the task that will execute when the tick ISR + exits. */ + vTaskSwitchContext(); + } + + /* Ready for the next interrupt. */ + T0IR = portTIMER_MATCH_ISR_BIT; + VICVectAddr = portCLEAR_VIC_INTERRUPT; + } + +#endif + +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; + + /* A 1ms tick does not require the use of the timer prescale. This is + defaulted to zero but can be used if necessary. */ + T0PR = portPRESCALE_VALUE; + + /* Calculate the match value required for our wanted tick rate. */ + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* Protect against divide by zero. Using an if() statement still results + in a warning - hence the #if. */ + #if portPRESCALE_VALUE != 0 + { + ulCompareMatch /= ( portPRESCALE_VALUE + 1 ); + } + #endif + + T0MR0 = ulCompareMatch; + + /* Generate tick with timer 0 compare match. */ + T0MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH; + + /* Setup the VIC for the timer. */ + VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT ); + VICIntEnable |= portTIMER_VIC_CHANNEL_BIT; + + /* The ISR installed depends on whether the preemptive or cooperative + scheduler is being used. */ + #if configUSE_PREEMPTION == 1 + { + extern void ( vPortPreemptiveTickEntry )( void ); + + VICVectAddr0 = ( uint32_t ) vPortPreemptiveTickEntry; + } + #else + { + extern void ( vNonPreemptiveTick )( void ); + + VICVectAddr0 = ( int32_t ) vPortNonPreemptiveTick; + } + #endif + + VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE; + + /* Start the timer - interrupts are disabled when this function is called + so it is okay to do this here. */ + T0TCR = portENABLE_TIMER; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts first! */ + __disable_interrupt(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + __enable_interrupt(); + } + } +} +/*-----------------------------------------------------------*/ + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/portasm.s79 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/portasm.s79 new file mode 100644 index 0000000..f25a57c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/portasm.s79 @@ -0,0 +1,76 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + RSEG ICODE:CODE + CODE32 + + EXTERN vTaskSwitchContext + EXTERN vPortPreemptiveTick + + PUBLIC vPortPreemptiveTickEntry + PUBLIC vPortYieldProcessor + PUBLIC vPortStartFirstTask + +#include "FreeRTOSConfig.h" +#include "ISR_Support.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is just a matter of restoring the context that +; was created by pxPortInitialiseStack(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask: + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Manual context switch function. This is the SWI hander. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortYieldProcessor: + ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly + ; as if the context was saved during and IRQ + ; handler. + + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vTaskSwitchContext ; before selecting the next task to execute. + mov lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Preemptive context switch function. This will only ever get installed if +; portUSE_PREEMPTION is set to 1 in portmacro.h. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortPreemptiveTickEntry: +#if configUSE_PREEMPTION == 1 + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vPortPreemptiveTick; before selecting the next task to execute. + mov lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. +#endif + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/portmacro.h new file mode 100644 index 0000000..d386903 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/LPC2000/portmacro.h @@ -0,0 +1,113 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm ( "SWI 0" ) +#define portNOP() asm ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +__arm __interwork void vPortDisableInterruptsFromThumb( void ); +__arm __interwork void vPortEnableInterruptsFromThumb( void ); +__arm __interwork void vPortEnterCritical( void ); +__arm __interwork void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() __disable_interrupt() +#define portENABLE_INTERRUPTS() __enable_interrupt() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/port.c new file mode 100644 index 0000000..3c8cfc3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/port.c @@ -0,0 +1,173 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MSP430 port. + *----------------------------------------------------------*/ + +/* Constants required for hardware setup. The tick ISR runs off the ACLK, +not the MCLK. */ +#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Each task maintains a count of the critical section nesting depth. Each +time a critical section is entered the count is incremented. Each time a +critical section is exited the count is decremented - with interrupts only +being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +void vPortSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* + Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be included if required. + + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x3333; + pxTopOfStack--; + */ + + /* The msp430 automatically pushes the PC then SR onto the stack before + executing an ISR. We want the stack to look just as if this has happened + so place a pointer to the start of the task on the stack first - followed + by the flags we want the task to use when it starts up. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Next the general purpose registers. */ + *pxTopOfStack = ( StackType_t ) 0x4444; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x6666; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x7777; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x8888; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x9999; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xaaaa; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xbbbb; + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R15. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xdddd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xeeee; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xffff; + pxTopOfStack--; + + /* A variable is used to keep track of the critical section nesting. + This variable has to be stored as part of the task context and is + initially set to zero. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the MSP430 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. This uses timer 0 + * but could alternatively use the watchdog timer or timer 1. + */ +void vPortSetupTimerInterrupt( void ) +{ + /* Ensure the timer is stopped. */ + TACTL = 0; + + /* Run the timer of the ACLK. */ + TACTL = TASSEL_1; + + /* Clear everything to start with. */ + TACTL |= TACLR; + + /* Set the compare match value according to the tick rate we want. */ + TACCR0 = portACLK_FREQUENCY_HZ / configTICK_RATE_HZ; + + /* Enable the interrupts. */ + TACCTL0 = CCIE; + + /* Start up clean. */ + TACTL |= TACLR; + + /* Up mode. */ + TACTL |= MC_1; +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portasm.h new file mode 100644 index 0000000..4e726d3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portasm.h @@ -0,0 +1,84 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTASM_H +#define PORTASM_H + +portSAVE_CONTEXT macro + + IMPORT pxCurrentTCB + IMPORT usCriticalNesting + + /* Save the remaining registers. */ + push r4 + push r5 + push r6 + push r7 + push r8 + push r9 + push r10 + push r11 + push r12 + push r13 + push r14 + push r15 + mov.w &usCriticalNesting, r14 + push r14 + mov.w &pxCurrentTCB, r12 + mov.w r1, 0(r12) + endm +/*-----------------------------------------------------------*/ + +portRESTORE_CONTEXT macro + mov.w &pxCurrentTCB, r12 + mov.w @r12, r1 + pop r15 + mov.w r15, &usCriticalNesting + pop r15 + pop r14 + pop r13 + pop r12 + pop r11 + pop r10 + pop r9 + pop r8 + pop r7 + pop r6 + pop r5 + pop r4 + + /* The last thing on the stack will be the status register. + Ensure the power down bits are clear ready for the next + time this power down register is popped from the stack. */ + bic.w #0xf0,0(SP) + + reti + endm +/*-----------------------------------------------------------*/ + +#endif + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portext.s43 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portext.s43 new file mode 100644 index 0000000..ee747f3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portext.s43 @@ -0,0 +1,106 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +#include "FreeRTOSConfig.h" +#include "portasm.h" + + IMPORT xTaskIncrementTick + IMPORT vTaskSwitchContext + IMPORT vPortSetupTimerInterrupt + + EXPORT vTickISR + EXPORT vPortYield + EXPORT xPortStartScheduler + + RSEG CODE + +/* + * The RTOS tick ISR. + * + * If the cooperative scheduler is in use this simply increments the tick + * count. + * + * If the preemptive scheduler is in use a context switch can also occur. + */ +vTickISR: + portSAVE_CONTEXT + + call #xTaskIncrementTick + cmp.w #0x0, R12 + jeq SkipContextSwitch + call #vTaskSwitchContext +SkipContextSwitch: + + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + +/* + * Manual context switch called by the portYIELD() macro. + */ +vPortYield: + + /* Mimic an interrupt by pushing the SR. */ + push SR + + /* Now the SR is stacked we can disable interrupts. */ + dint + + /* Save the context of the current task. */ + portSAVE_CONTEXT + + /* Switch to the highest priority task that is ready to run. */ + call #vTaskSwitchContext + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + +/* + * Start off the scheduler by initialising the RTOS tick timer, then restoring + * the context of the first task. + */ +xPortStartScheduler: + + /* Setup the hardware to generate the tick. Interrupts are disabled + when this function is called. */ + call #vPortSetupTimerInterrupt + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + + /* Install vTickISR as the timer A0 interrupt. */ + ASEG + ORG 0xFFE0 + TIMERA0_VECTOR + + _vTickISR_: DC16 vTickISR + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portmacro.h new file mode 100644 index 0000000..f68d271 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430/portmacro.h @@ -0,0 +1,133 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() _DINT(); _NOP() +#define portENABLE_INTERRUPTS() _EINT(); _NOP() +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled usCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() +#define portPOINTER_SIZE_TYPE uint16_t +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#if configINTERRUPT_EXAMPLE_METHOD == 2 + +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR( x ) if( x ) vTaskSwitchContext() + +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/data_model.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/data_model.h new file mode 100644 index 0000000..89d871d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/data_model.h @@ -0,0 +1,63 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef DATA_MODEL_H +#define DATA_MODEL_H + +#if __DATA_MODEL__ == __DATA_MODEL_SMALL__ + #define pushm_x pushm.w + #define popm_x popm.w + #define push_x push.w + #define pop_x pop.w + #define mov_x mov.w + #define cmp_x cmp.w +#endif + +#if __DATA_MODEL__ == __DATA_MODEL_MEDIUM__ + #define pushm_x pushm.a + #define popm_x popm.a + #define push_x pushx.a + #define pop_x popx.a + #define mov_x mov.w + #define cmp_x cmp.w +#endif + +#if __DATA_MODEL__ == __DATA_MODEL_LARGE__ + #define pushm_x pushm.a + #define popm_x popm.a + #define push_x pushx.a + #define pop_x popx.a + #define mov_x movx.a + #define cmp_x cmpx.a +#endif + +#ifndef pushm_x + #error The assembler options must define one of the following symbols: __DATA_MODEL_SMALL__, __DATA_MODEL_MEDIUM__, or __DATA_MODEL_LARGE__ +#endif + +#endif /* DATA_MODEL_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/port.c new file mode 100644 index 0000000..a6feab8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/port.c @@ -0,0 +1,182 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MSP430X port. + *----------------------------------------------------------*/ + +/* Constants required for hardware setup. The tick ISR runs off the ACLK, +not the MCLK. */ +#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Each task maintains a count of the critical section nesting depth. Each +time a critical section is entered the count is incremented. Each time a +critical section is exited the count is decremented - with interrupts only +being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +void vPortSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint16_t *pusTopOfStack; +uint32_t *pulTopOfStack; + + /* + Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be included if required. + + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x3333; + */ + + /* StackType_t is either 16 bits or 32 bits depending on the data model. + Some stacked items do not change size depending on the data model so have + to be explicitly cast to the correct size so this function will work + whichever data model is being used. */ + if( sizeof( StackType_t ) == sizeof( uint16_t ) ) + { + /* Make room for a 20 bit value stored as a 32 bit value. */ + pusTopOfStack = ( uint16_t * ) pxTopOfStack; + pusTopOfStack--; + pulTopOfStack = ( uint32_t * ) pusTopOfStack; + } + else + { + pulTopOfStack = ( uint32_t * ) pxTopOfStack; + } + *pulTopOfStack = ( uint32_t ) pxCode; + + pusTopOfStack = ( uint16_t * ) pulTopOfStack; + pusTopOfStack--; + *pusTopOfStack = portFLAGS_INT_ENABLED; + pusTopOfStack -= ( sizeof( StackType_t ) / 2 ); + + /* From here on the size of stacked items depends on the memory model. */ + pxTopOfStack = ( StackType_t * ) pusTopOfStack; + + /* Next the general purpose registers. */ + #ifdef PRELOAD_REGISTER_VALUES + *pxTopOfStack = ( StackType_t ) 0xffff; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xeeee; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xdddd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xbbbb; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xaaaa; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x9999; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x8888; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x6666; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x4444; + pxTopOfStack--; + #else + pxTopOfStack -= 3; + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack -= 9; + #endif + + + /* A variable is used to keep track of the critical section nesting. + This variable has to be stored as part of the task context and is + initially set to zero. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the MSP430 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. + */ +void vPortSetupTimerInterrupt( void ) +{ + vApplicationSetupTimerInterrupt(); +} +/*-----------------------------------------------------------*/ + +#pragma vector=configTICK_VECTOR +__interrupt __raw void vTickISREntry( void ) +{ +extern void vPortTickISR( void ); + + __bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF ); + vPortTickISR(); +} + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/portext.s43 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/portext.s43 new file mode 100644 index 0000000..a1eede9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/portext.s43 @@ -0,0 +1,138 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ +#include "msp430.h" +#include "FreeRTOSConfig.h" +#include "data_model.h" + + IMPORT xTaskIncrementTick + IMPORT vTaskSwitchContext + IMPORT vPortSetupTimerInterrupt + IMPORT pxCurrentTCB + IMPORT usCriticalNesting + + EXPORT vPortTickISR + EXPORT vPortYield + EXPORT xPortStartScheduler + +portSAVE_CONTEXT macro + + /* Save the remaining registers. */ + pushm_x #12, r15 + mov.w &usCriticalNesting, r14 + push_x r14 + mov_x &pxCurrentTCB, r12 + mov_x sp, 0( r12 ) + endm +/*-----------------------------------------------------------*/ + +portRESTORE_CONTEXT macro + + mov_x &pxCurrentTCB, r12 + mov_x @r12, sp + pop_x r15 + mov.w r15, &usCriticalNesting + popm_x #12, r15 + nop + pop.w sr + nop + reta + endm +/*-----------------------------------------------------------*/ + + +/* + * The RTOS tick ISR. + * + * If the cooperative scheduler is in use this simply increments the tick + * count. + * + * If the preemptive scheduler is in use a context switch can also occur. + */ + + RSEG CODE + EVEN + +vPortTickISR: + + /* The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs + to save it manually before it gets modified (interrupts get disabled). + Entering through this interrupt means the SR is already on the stack, but + this keeps the stack frames identical. */ + push.w sr + portSAVE_CONTEXT + + calla #xTaskIncrementTick + cmp.w #0x0, R12 + jeq SkipContextSwitch + calla #vTaskSwitchContext +SkipContextSwitch: + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + +/* + * Manual context switch called by the portYIELD() macro. + */ + EVEN + +vPortYield: + + /* The sr needs saving before it is modified. */ + push.w sr + + /* Now the SR is stacked interrupts can be disabled. */ + dint + nop + + /* Save the context of the current task. */ + portSAVE_CONTEXT + + /* Select the next task to run. */ + calla #vTaskSwitchContext + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + +/* + * Start off the scheduler by initialising the RTOS tick timer, then restoring + * the context of the first task. + */ + EVEN + +xPortStartScheduler: + + /* Setup the hardware to generate the tick. Interrupts are disabled + when this function is called. */ + calla #vPortSetupTimerInterrupt + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/portmacro.h new file mode 100644 index 0000000..30bfeef --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/MSP430X/portmacro.h @@ -0,0 +1,142 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Hardware includes. */ +#include "msp430.h" + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portBASE_TYPE short + +/* The stack type changes depending on the data model. */ +#if( __DATA_MODEL__ == __DATA_MODEL_SMALL__ ) + #define portSTACK_TYPE uint16_t + #define portPOINTER_SIZE_TYPE uint16_t +#else + #define portSTACK_TYPE uint32_t +#endif + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() _DINT(); _NOP() +#define portENABLE_INTERRUPTS() _EINT(); _NOP() +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled usCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __no_operation() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#define portYIELD_FROM_ISR( x ) if( x ) vPortYield() + +void vApplicationSetupTimerInterrupt( void ); + +/* sizeof( int ) != sizeof( long ) so a full printf() library is required if +run time stats information is to be displayed. */ +#define portLU_PRINTF_SPECIFIER_REQUIRED + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/Documentation.url b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/Documentation.url new file mode 100644 index 0000000..c7819d5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/Documentation.url @@ -0,0 +1,5 @@ +[{000214A0-0000-0000-C000-000000000046}] +Prop3=19,11 +[InternetShortcut] +IDList= +URL=https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions/freertos_risc_v_chip_specific_extensions.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions/freertos_risc_v_chip_specific_extensions.h new file mode 100644 index 0000000..37edd6a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/chip_specific_extensions/RV32I_CLINT_no_extensions/freertos_risc_v_chip_specific_extensions.h @@ -0,0 +1,68 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ + + +#ifndef __FREERTOS_RISC_V_EXTENSIONS_H__ +#define __FREERTOS_RISC_V_EXTENSIONS_H__ + +#define portasmHAS_SIFIVE_CLINT 1 +#define portasmHAS_MTIME 1 +#define portasmADDITIONAL_CONTEXT_SIZE 0 /* Must be even number on 32-bit cores. */ + +portasmSAVE_ADDITIONAL_REGISTERS MACRO + /* No additional registers to save, so this macro does nothing. */ + ENDM + +portasmRESTORE_ADDITIONAL_REGISTERS MACRO + /* No additional registers to restore, so this macro does nothing. */ + ENDM + +#endif /* __FREERTOS_RISC_V_EXTENSIONS_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/chip_specific_extensions/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/chip_specific_extensions/readme.txt new file mode 100644 index 0000000..69d98d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/chip_specific_extensions/readme.txt @@ -0,0 +1,23 @@ +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/port.c new file mode 100644 index 0000000..e4123df --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/port.c @@ -0,0 +1,212 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the RISC-V RV32 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "portmacro.h" + +/* Standard includes. */ +#include "string.h" + +#ifdef configCLINT_BASE_ADDRESS + #warning The configCLINT_BASE_ADDRESS constant has been deprecated. configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS are currently being derived from the (possibly 0) configCLINT_BASE_ADDRESS setting. Please update to define configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS dirctly in place of configCLINT_BASE_ADDRESS. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef configMTIME_BASE_ADDRESS + #warning configMTIME_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtime register then set configMTIME_BASE_ADDRESS to the mapped address. Otherwise set configMTIME_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef configMTIMECMP_BASE_ADDRESS + #warning configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. If the target chip includes a memory-mapped mtimecmp register then set configMTIMECMP_BASE_ADDRESS to the mapped address. Otherwise set configMTIMECMP_BASE_ADDRESS to 0. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +/* Let the user override the pre-loading of the initial LR with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS +to use a statically allocated array as the interrupt stack. Alternative leave +configISR_STACK_SIZE_WORDS undefined and update the linker script so that a +linker variable names __freertos_irq_stack_top has the same value as the top +of the stack used by main. Using the linker script method will repurpose the +stack that was used by main before the scheduler was started for use as the +interrupt stack after the scheduler has started. */ +#ifdef configISR_STACK_SIZE_WORDS + static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 }; + const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] ); + + /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for + the task stacks, and so will legitimately appear in many positions within + the ISR stack. */ + #define portISR_STACK_FILL_BYTE 0xee +#else + extern const uint32_t __freertos_irq_stack_top[]; + const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top; +#endif + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ) __attribute__(( weak )); + +/*-----------------------------------------------------------*/ + +/* Used to program the machine timer compare register. */ +uint64_t ullNextTime = 0ULL; +const uint64_t *pullNextTime = &ullNextTime; +const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */ +uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS; +volatile uint64_t * pullMachineTimerCompareRegister = NULL; + +/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task +stack checking. A problem in the ISR stack will trigger an assert, not call the +stack overflow hook function (because the stack overflow hook is specific to a +task stack, not the ISR stack). */ +#if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 ) + #warning This path not tested, or even compiled yet. + + static const uint8_t ucExpectedStackBytes[] = { + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ + + #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) +#else + /* Define the function away. */ + #define portCHECK_ISR_STACK() +#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + +/*-----------------------------------------------------------*/ + +#if( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) + + void vPortSetupTimerInterrupt( void ) + { + uint32_t ulCurrentTimeHigh, ulCurrentTimeLow; + volatile uint32_t * const pulTimeHigh = ( uint32_t * ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte typer so high 32-bit word is 4 bytes up. */ + volatile uint32_t * const pulTimeLow = ( uint32_t * ) ( configMTIME_BASE_ADDRESS ); + volatile uint32_t ulHartId; + + __asm volatile( "csrr %0, 0xf14" : "=r"( ulHartId ) ); /* 0xf14 is hartid. */ + pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) ); + + do + { + ulCurrentTimeHigh = *pulTimeHigh; + ulCurrentTimeLow = *pulTimeLow; + } while( ulCurrentTimeHigh != *pulTimeHigh ); + + ullNextTime = ( uint64_t ) ulCurrentTimeHigh; + ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */ + ullNextTime |= ( uint64_t ) ulCurrentTimeLow; + ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; + *pullMachineTimerCompareRegister = ullNextTime; + + /* Prepare the time to use after the next tick interrupt. */ + ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick; + } + +#endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIME_BASE_ADDRESS != 0 ) */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void xPortStartFirstTask( void ); + + #if( configASSERT_DEFINED == 1 ) + { + volatile uint32_t mtvec = 0; + + /* Check the least significant two bits of mtvec are 00 - indicating + single vector mode. */ + __asm volatile( "csrr %0, 0x305" : "=r"( mtvec ) ); /* 0x305 is mtvec. */ + configASSERT( ( mtvec & 0x03UL ) == 0 ); + + /* Check alignment of the interrupt stack - which is the same as the + stack that was being used by main() prior to the scheduler being + started. */ + configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 ); + + #ifdef configISR_STACK_SIZE_WORDS + { + memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); + } + #endif /* configISR_STACK_SIZE_WORDS */ + } + #endif /* configASSERT_DEFINED */ + + /* If there is a CLINT then it is ok to use the default implementation + in this file, otherwise vPortSetupTimerInterrupt() must be implemented to + configure whichever clock is to be used to generate the tick interrupt. */ + vPortSetupTimerInterrupt(); + + #if( ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) ) + { + /* Enable mtime and external interrupts. 1<<7 for timer interrupt, 1<<11 + for external interrupt. _RB_ What happens here when mtime is not present as + with pulpino? */ + __asm volatile( "csrs 0x304, %0" :: "r"(0x880) ); /* 0x304 is mie. */ + } + #else + { + /* Enable external interrupts. */ + __asm volatile( "csrs 0x304, %0" :: "r"(0x800) ); /* 304 is mie. */ + } + #endif /* ( configMTIME_BASE_ADDRESS != 0 ) && ( configMTIMECMP_BASE_ADDRESS != 0 ) */ + + xPortStartFirstTask(); + + /* Should not get here as after calling xPortStartFirstTask() only tasks + should be executing. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ + for( ;; ); +} + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/portASM.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/portASM.s new file mode 100644 index 0000000..b2beaae --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/portASM.s @@ -0,0 +1,447 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code which tailors the port to a specific RISC-V chip: + * + * + The code that is common to all RISC-V chips is implemented in + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S. There is only one + * portASM.S file because the same file is used no matter which RISC-V chip is + * in use. + * + * + The code that tailors the kernel's RISC-V port to a specific RISC-V + * chip is implemented in freertos_risc_v_chip_specific_extensions.h. There + * is one freertos_risc_v_chip_specific_extensions.h that can be used with any + * RISC-V chip that both includes a standard CLINT and does not add to the + * base set of RISC-V registers. There are additional + * freertos_risc_v_chip_specific_extensions.h files for RISC-V implementations + * that do not include a standard CLINT or do add to the base set of RISC-V + * registers. + * + * CARE MUST BE TAKEN TO INCLDUE THE CORRECT + * freertos_risc_v_chip_specific_extensions.h HEADER FILE FOR THE CHIP + * IN USE. To include the correct freertos_risc_v_chip_specific_extensions.h + * header file ensure the path to the correct header file is in the assembler's + * include path. + * + * This freertos_risc_v_chip_specific_extensions.h is for use on RISC-V chips + * that include a standard CLINT and do not add to the base set of RISC-V + * registers. + * + */ +#if __riscv_xlen == 64 + #define portWORD_SIZE 8 + #define store_x sd + #define load_x ld +#elif __riscv_xlen == 32 + #define store_x sw + #define load_x lw + #define portWORD_SIZE 4 +#else + #error Assembler did not define __riscv_xlen +#endif + +#include "freertos_risc_v_chip_specific_extensions.h" + +/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line +definitions. */ +#if defined( portasmHAS_CLINT ) && defined( portasmHAS_MTIME ) + #error The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME. portasmHAS_CLINT and portasmHAS_MTIME cannot both be defined at once. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifdef portasmHAS_CLINT + #warning The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT. For now portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT are derived from portasmHAS_CLINT. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html + #define portasmHAS_MTIME portasmHAS_CLINT + #define portasmHAS_SIFIVE_CLINT portasmHAS_CLINT +#endif + +#ifndef portasmHAS_MTIME + #error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + +#ifndef portasmHANDLE_INTERRUPT + #error portasmHANDLE_INTERRUPT must be defined to the function to be called to handle external/peripheral interrupts. portasmHANDLE_INTERRUPT can be defined on the assembler command line or in the appropriate freertos_risc_v_chip_specific_extensions.h header file. https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + + +#ifndef portasmHAS_SIFIVE_CLINT + #define portasmHAS_SIFIVE_CLINT 0 +#endif + +/* CSR definitions. */ +#define CSR_MSTATUS 0x300 +#define CSR_MTVEC 0x305 +#define CSR_MEPC 0x341 +#define CSR_MCAUSE 0x342 + + +/* Only the standard core registers are stored by default. Any additional +registers must be saved by the portasmSAVE_ADDITIONAL_REGISTERS and +portasmRESTORE_ADDITIONAL_REGISTERS macros - which can be defined in a chip +specific version of freertos_risc_v_chip_specific_extensions.h. See the notes +at the top of this file. */ +#define portCONTEXT_SIZE ( 30 * portWORD_SIZE ) + + PUBLIC xPortStartFirstTask + PUBLIC freertos_risc_v_trap_handler + PUBLIC pxPortInitialiseStack + EXTERN pxCurrentTCB + EXTERN ulPortTrapHandler + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + EXTERN Timer_IRQHandler + EXTERN pullMachineTimerCompareRegister + EXTERN pullNextTime + EXTERN uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */ + EXTERN xISRStackTop + EXTERN portasmHANDLE_INTERRUPT + +/*-----------------------------------------------------------*/ + + SECTION `.text`:CODE:NOROOT(2) + CODE + +freertos_risc_v_trap_handler: + addi sp, sp, -portCONTEXT_SIZE + store_x x1, 1 * portWORD_SIZE( sp ) + store_x x5, 2 * portWORD_SIZE( sp ) + store_x x6, 3 * portWORD_SIZE( sp ) + store_x x7, 4 * portWORD_SIZE( sp ) + store_x x8, 5 * portWORD_SIZE( sp ) + store_x x9, 6 * portWORD_SIZE( sp ) + store_x x10, 7 * portWORD_SIZE( sp ) + store_x x11, 8 * portWORD_SIZE( sp ) + store_x x12, 9 * portWORD_SIZE( sp ) + store_x x13, 10 * portWORD_SIZE( sp ) + store_x x14, 11 * portWORD_SIZE( sp ) + store_x x15, 12 * portWORD_SIZE( sp ) + store_x x16, 13 * portWORD_SIZE( sp ) + store_x x17, 14 * portWORD_SIZE( sp ) + store_x x18, 15 * portWORD_SIZE( sp ) + store_x x19, 16 * portWORD_SIZE( sp ) + store_x x20, 17 * portWORD_SIZE( sp ) + store_x x21, 18 * portWORD_SIZE( sp ) + store_x x22, 19 * portWORD_SIZE( sp ) + store_x x23, 20 * portWORD_SIZE( sp ) + store_x x24, 21 * portWORD_SIZE( sp ) + store_x x25, 22 * portWORD_SIZE( sp ) + store_x x26, 23 * portWORD_SIZE( sp ) + store_x x27, 24 * portWORD_SIZE( sp ) + store_x x28, 25 * portWORD_SIZE( sp ) + store_x x29, 26 * portWORD_SIZE( sp ) + store_x x30, 27 * portWORD_SIZE( sp ) + store_x x31, 28 * portWORD_SIZE( sp ) + + csrr t0, CSR_MSTATUS /* Required for MPIE bit. */ + store_x t0, 29 * portWORD_SIZE( sp ) + + portasmSAVE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to save any registers unique to the RISC-V implementation. */ + + load_x t0, pxCurrentTCB /* Load pxCurrentTCB. */ + store_x sp, 0( t0 ) /* Write sp to first TCB member. */ + + csrr a0, CSR_MCAUSE + csrr a1, CSR_MEPC + +test_if_asynchronous: + srli a2, a0, __riscv_xlen - 1 /* MSB of mcause is 1 if handing an asynchronous interrupt - shift to LSB to clear other bits. */ + beq a2, x0, handle_synchronous /* Branch past interrupt handing if not asynchronous. */ + store_x a1, 0( sp ) /* Asynch so save unmodified exception return address. */ + +handle_asynchronous: + +#if( portasmHAS_MTIME != 0 ) + + test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */ + + addi t0, x0, 1 + + slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */ + addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */ + bne a0, t1, test_if_external_interrupt + + load_x t0, pullMachineTimerCompareRegister /* Load address of compare register into t0. */ + load_x t1, pullNextTime /* Load the address of ullNextTime into t1. */ + + #if( __riscv_xlen == 32 ) + + /* Update the 64-bit mtimer compare match value in two 32-bit writes. */ + li t4, -1 + lw t2, 0(t1) /* Load the low word of ullNextTime into t2. */ + lw t3, 4(t1) /* Load the high word of ullNextTime into t3. */ + sw t4, 0(t0) /* Low word no smaller than old value to start with - will be overwritten below. */ + sw t3, 4(t0) /* Store high word of ullNextTime into compare register. No smaller than new value. */ + sw t2, 0(t0) /* Store low word of ullNextTime into compare register. */ + lw t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */ + add t4, t0, t2 /* Add the low word of ullNextTime to the timer increments for one tick (assumes timer increment for one tick fits in 32-bits). */ + sltu t5, t4, t2 /* See if the sum of low words overflowed (what about the zero case?). */ + add t6, t3, t5 /* Add overflow to high word of ullNextTime. */ + sw t4, 0(t1) /* Store new low word of ullNextTime. */ + sw t6, 4(t1) /* Store new high word of ullNextTime. */ + + #endif /* __riscv_xlen == 32 */ + + #if( __riscv_xlen == 64 ) + + /* Update the 64-bit mtimer compare match value. */ + ld t2, 0(t1) /* Load ullNextTime into t2. */ + sd t2, 0(t0) /* Store ullNextTime into compare register. */ + ld t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */ + add t4, t0, t2 /* Add ullNextTime to the timer increments for one tick. */ + sd t4, 0(t1) /* Store ullNextTime. */ + + #endif /* __riscv_xlen == 64 */ + + load_x sp, xISRStackTop /* Switch to ISR stack before function call. */ + jal xTaskIncrementTick + beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */ + jal vTaskSwitchContext + j processed_source + + test_if_external_interrupt: /* If there is a CLINT and the mtimer interrupt is not pending then check to see if an external interrupt is pending. */ + addi t1, t1, 4 /* 0x80000007 + 4 = 0x8000000b == Machine external interrupt. */ + bne a0, t1, as_yet_unhandled /* Something as yet unhandled. */ + +#endif /* portasmHAS_MTIME */ + + load_x sp, xISRStackTop /* Switch to ISR stack before function call. */ + jal portasmHANDLE_INTERRUPT /* Jump to the interrupt handler if there is no CLINT or if there is a CLINT and it has been determined that an external interrupt is pending. */ + j processed_source + +handle_synchronous: + addi a1, a1, 4 /* Synchronous so updated exception return address to the instruction after the instruction that generated the exeption. */ + store_x a1, 0( sp ) /* Save updated exception return address. */ + +test_if_environment_call: + li t0, 11 /* 11 == environment call. */ + bne a0, t0, is_exception /* Not an M environment call, so some other exception. */ + load_x sp, xISRStackTop /* Switch to ISR stack before function call. */ + jal vTaskSwitchContext + j processed_source + +is_exception: + csrr t0, CSR_MCAUSE /* For viewing in the debugger only. */ + csrr t1, CSR_MEPC /* For viewing in the debugger only */ + csrr t2, CSR_MSTATUS + j is_exception /* No other exceptions handled yet. */ + +as_yet_unhandled: + csrr t0, mcause /* For viewing in the debugger only. */ + j as_yet_unhandled + +processed_source: + load_x t1, pxCurrentTCB /* Load pxCurrentTCB. */ + load_x sp, 0( t1 ) /* Read sp from first TCB member. */ + + /* Load mret with the address of the next instruction in the task to run next. */ + load_x t0, 0( sp ) + csrw CSR_MEPC, t0 + + portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */ + + /* Load mstatus with the interrupt enable bits used by the task. */ + load_x t0, 29 * portWORD_SIZE( sp ) + csrw CSR_MSTATUS, t0 /* Required for MPIE bit. */ + + load_x x1, 1 * portWORD_SIZE( sp ) + load_x x5, 2 * portWORD_SIZE( sp ) /* t0 */ + load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */ + load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */ + load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */ + load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */ + load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */ + load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */ + load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */ + load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */ + load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */ + load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */ + load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */ + load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */ + load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */ + load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */ + load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */ + load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */ + load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */ + load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */ + load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */ + load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */ + load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */ + load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */ + load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */ + load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */ + load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */ + load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */ + addi sp, sp, portCONTEXT_SIZE + + mret + +/*-----------------------------------------------------------*/ + +xPortStartFirstTask: + +#if( portasmHAS_SIFIVE_CLINT != 0 ) + /* If there is a clint then interrupts can branch directly to the FreeRTOS + trap handler. Otherwise the interrupt controller will need to be configured + outside of this file. */ + la t0, freertos_risc_v_trap_handler + csrw CSR_MTVEC, t0 +#endif /* portasmHAS_CLILNT */ + + load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */ + load_x sp, 0( sp ) /* Read sp from first TCB member. */ + + load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */ + + portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */ + + load_x x6, 3 * portWORD_SIZE( sp ) /* t1 */ + load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */ + load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */ + load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */ + load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */ + load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */ + load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */ + load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */ + load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */ + load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */ + load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */ + load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */ + load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */ + load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */ + load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */ + load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */ + load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */ + load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */ + load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */ + load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */ + load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */ + load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */ + load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */ + load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */ + load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */ + load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */ + + load_x x5, 29 * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0) */ + addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */ + csrrw x0, CSR_MSTATUS, x5 /* Interrupts enabled from here! */ + load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */ + addi sp, sp, portCONTEXT_SIZE + ret + +/*-----------------------------------------------------------*/ + +/* + * Unlike other ports pxPortInitialiseStack() is written in assembly code as it + * needs access to the portasmADDITIONAL_CONTEXT_SIZE constant. The prototype + * for the function is as per the other ports: + * StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ); + * + * As per the standard RISC-V ABI pxTopcOfStack is passed in in a0, pxCode in + * a1, and pvParameters in a2. The new top of stack is passed out in a0. + * + * RISC-V maps registers to ABI names as follows (X1 to X31 integer registers + * for the 'I' profile, X1 to X15 for the 'E' profile, currently I assumed). + * + * Register ABI Name Description Saver + * x0 zero Hard-wired zero - + * x1 ra Return address Caller + * x2 sp Stack pointer Callee + * x3 gp Global pointer - + * x4 tp Thread pointer - + * x5-7 t0-2 Temporaries Caller + * x8 s0/fp Saved register/Frame pointer Callee + * x9 s1 Saved register Callee + * x10-11 a0-1 Function Arguments/return values Caller + * x12-17 a2-7 Function arguments Caller + * x18-27 s2-11 Saved registers Callee + * x28-31 t3-6 Temporaries Caller + * + * The RISC-V context is saved t FreeRTOS tasks in the following stack frame, + * where the global and thread pointers are currently assumed to be constant so + * are not saved: + * + * mstatus + * x31 + * x30 + * x29 + * x28 + * x27 + * x26 + * x25 + * x24 + * x23 + * x22 + * x21 + * x20 + * x19 + * x18 + * x17 + * x16 + * x15 + * x14 + * x13 + * x12 + * x11 + * pvParameters + * x9 + * x8 + * x7 + * x6 + * x5 + * portTASK_RETURN_ADDRESS + * [chip specific registers go here] + * pxCode + */ +pxPortInitialiseStack: + + csrr t0, CSR_MSTATUS /* Obtain current mstatus value. */ + andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */ + addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */ + slli t1, t1, 4 + or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */ + + addi a0, a0, -portWORD_SIZE + store_x t0, 0(a0) /* mstatus onto the stack. */ + addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x11-x31. */ + store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */ + addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9. */ + store_x x0, 0(a0) /* Return address onto the stack, could be portTASK_RETURN_ADDRESS */ + addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */ +chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */ + beq t0, x0, no_more_regs /* No more chip specific registers to save. */ + addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */ + store_x x0, 0(a0) /* Give the chip specific register an initial value of zero. */ + addi t0, t0, -1 /* Decrement the count of chip specific registers remaining. */ + j chip_specific_stack_frame /* Until no more chip specific registers. */ +no_more_regs: + addi a0, a0, -portWORD_SIZE + store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */ + ret + +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/portmacro.h new file mode 100644 index 0000000..6899fec --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/portmacro.h @@ -0,0 +1,177 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include "intrinsics.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#if __riscv_xlen == 64 + #define portSTACK_TYPE uint64_t + #define portBASE_TYPE int64_t + #define portUBASE_TYPE uint64_t + #define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL + #define portPOINTER_SIZE_TYPE uint64_t +#elif __riscv_xlen == 32 + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE int32_t + #define portUBASE_TYPE uint32_t + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#else + #error Assembler did not define __riscv_xlen +#endif + + +typedef portSTACK_TYPE StackType_t; +typedef portBASE_TYPE BaseType_t; +typedef portUBASE_TYPE UBaseType_t; +typedef portUBASE_TYPE TickType_t; + +/* Legacy type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do +not need to be guarded with a critical section. */ +#define portTICK_TYPE_IS_ATOMIC 1 +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#ifdef __riscv64 + #error This is the RV32 port that has not yet been adapted for 64. + #define portBYTE_ALIGNMENT 16 +#else + #define portBYTE_ALIGNMENT 16 +#endif +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ +extern void vTaskSwitchContext( void ); +#define portYIELD() __asm volatile( "ecall" ); +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vTaskSwitchContext() +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ +#define portCRITICAL_NESTING_IN_TCB 1 +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); + +#define portSET_INTERRUPT_MASK_FROM_ISR() 0 +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue +#define portDISABLE_INTERRUPTS() __disable_interrupt() +#define portENABLE_INTERRUPTS() __enable_interrupt() +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ +#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 ) + + #error configUSE_PORT_OPTIMISED_TASK_SELECTION cannot yet be used in the IAR RISC-V port, the CLZ instruction needs to be emulated. + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not necessary for to use this port. They are defined so the common demo files +(which build with all the ports) will build. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/*-----------------------------------------------------------*/ + +#define portNOP() __asm volatile ( " nop " ) + +#define portINLINE __inline + +#ifndef portFORCE_INLINE + #define portFORCE_INLINE inline __attribute__(( always_inline)) +#endif + +#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) + + +/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in +the source code because to do so would cause other compilers to generate +warnings. */ +#pragma diag_suppress=Pa082 + +/* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the +configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For +backward compatibility derive the newer definitions from the old if the old +definition is found. */ +#if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 ) + /* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate + there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP + addresses to 0. */ + #define configMTIME_BASE_ADDRESS ( 0 ) + #define configMTIMECMP_BASE_ADDRESS ( 0 ) +#elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) + /* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of + the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses + from the CLINT address. */ + #define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL ) + #define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL ) +#elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS ) + #error configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html +#endif + + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/readme.txt new file mode 100644 index 0000000..69d98d9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RISC-V/readme.txt @@ -0,0 +1,23 @@ +/* + * The FreeRTOS kernel's RISC-V port is split between the the code that is + * common across all currently supported RISC-V chips (implementations of the + * RISC-V ISA), and code that tailors the port to a specific RISC-V chip: + * + * + FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S contains the code that + * is common to all currently supported RISC-V chips. There is only one + * portASM.S file because the same file is built for all RISC-V target chips. + * + * + Header files called freertos_risc_v_chip_specific_extensions.h contain the + * code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V + * chip. There are multiple freertos_risc_v_chip_specific_extensions.h files + * as there are multiple RISC-V chip implementations. + * + * !!!NOTE!!! + * TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h + * HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the + * compiler's!) include path. For example, if the chip in use includes a core + * local interrupter (CLINT) and does not include any chip specific register + * extensions then add the path below to the assembler's include path: + * FreeRTOS\Source\portable\GCC\RISC-V-RV32\chip_specific_extensions\RV32I_CLINT_no_extensions + * + */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/ISR_Support.h new file mode 100644 index 0000000..3ca3b85 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/ISR_Support.h @@ -0,0 +1,83 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + +#include "FreeRTOSConfig.h" + +; Variables used by scheduler +;------------------------------------------------------------------------------ + EXTERN pxCurrentTCB + EXTERN usCriticalNesting + +;------------------------------------------------------------------------------ +; portSAVE_CONTEXT MACRO +; Saves the context of the general purpose registers, CS and ES (only in far +; memory mode) registers the usCriticalNesting Value and the Stack Pointer +; of the active Task onto the task stack +;------------------------------------------------------------------------------ +portSAVE_CONTEXT MACRO + + PUSH AX ; Save AX Register to stack. + PUSH HL + MOV A, CS ; Save CS register. + XCH A, X + MOV A, ES ; Save ES register. + PUSH AX + PUSH DE ; Save the remaining general purpose registers. + PUSH BC + MOVW AX, usCriticalNesting ; Save the usCriticalNesting value. + PUSH AX + MOVW AX, pxCurrentTCB ; Save the Stack pointer. + MOVW HL, AX + MOVW AX, SP + MOVW [HL], AX + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; portRESTORE_CONTEXT MACRO +; Restores the task Stack Pointer then use this to restore usCriticalNesting, +; general purpose registers and the CS and ES (only in far memory mode) +; of the selected task from the task stack +;------------------------------------------------------------------------------ +portRESTORE_CONTEXT MACRO + MOVW AX, pxCurrentTCB ; Restore the Stack pointer. + MOVW HL, AX + MOVW AX, [HL] + MOVW SP, AX + POP AX ; Restore usCriticalNesting value. + MOVW usCriticalNesting, AX + POP BC ; Restore the necessary general purpose registers. + POP DE + POP AX ; Restore the ES register. + MOV ES, A + XCH A, X ; Restore the CS register. + MOV CS, A + POP HL ; Restore general purpose register HL. + POP AX ; Restore AX. + ENDM +;------------------------------------------------------------------------------ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/port.c new file mode 100644 index 0000000..0247213 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/port.c @@ -0,0 +1,280 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* The critical nesting value is initialised to a non zero value to ensure +interrupts don't accidentally become enabled before the scheduler is started. */ +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) + +/* Initial PSW value allocated to a newly created task. + * 1100011000000000 + * ||||||||-------------- Fill byte + * |||||||--------------- Carry Flag cleared + * |||||----------------- In-service priority Flags set to low level + * ||||------------------ Register bank Select 0 Flag cleared + * |||------------------- Auxiliary Carry Flag cleared + * ||-------------------- Register bank Select 1 Flag cleared + * |--------------------- Zero Flag set + * ---------------------- Global Interrupt Flag set (enabled) + */ +#define portPSW ( 0xc6UL ) + +/* The address of the pxCurrentTCB variable, but don't know or need to know its +type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Each task maintains a count of the critical section nesting depth. Each time +a critical section is entered the count is incremented. Each time a critical +section is exited the count is decremented - with interrupts only being +re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as that could cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; + +/*-----------------------------------------------------------*/ + +/* + * Sets up the periodic ISR used for the RTOS tick using the interval timer. + * The application writer can define configSETUP_TICK_INTERRUPT() (in + * FreeRTOSConfig.h) such that their own tick interrupt configuration is used + * in place of prvSetupTimerInterrupt(). + */ +static void prvSetupTimerInterrupt( void ); +#ifndef configSETUP_TICK_INTERRUPT + /* The user has not provided their own tick interrupt configuration so use + the definition in this file (which uses the interval timer). */ + #define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt() +#endif /* configSETUP_TICK_INTERRUPT */ + +/* + * Defined in portasm.s87, this function starts the scheduler by loading the + * context of the first task to run. + */ +extern void vPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t *pulLocal; + + /* With large code and large data sizeof( StackType_t ) == 2, and + sizeof( StackType_t * ) == 4. With small code and small data + sizeof( StackType_t ) == 2 and sizeof( StackType_t * ) == 2. */ + + #if __DATA_MODEL__ == __DATA_MODEL_FAR__ + { + /* Parameters are passed in on the stack, and written using a 32-bit value + hence a space is left for the second two bytes. */ + pxTopOfStack--; + + /* Write in the parameter value. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( uint32_t ) pvParameters; + pxTopOfStack--; + + /* The return address, leaving space for the first two bytes of the + 32-bit value. See the comments above the prvTaskExitError() prototype + at the top of this file. */ + pxTopOfStack--; + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( uint32_t ) prvTaskExitError; + pxTopOfStack--; + + /* The start address / PSW value is also written in as a 32-bit value, + so leave a space for the second two bytes. */ + pxTopOfStack--; + + /* Task function start address combined with the PSW. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); + pxTopOfStack--; + + /* An initial value for the AX register. */ + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + } + #else + { + /* The return address, leaving space for the first two bytes of the + 32-bit value. See the comments above the prvTaskExitError() prototype + at the top of this file. */ + pxTopOfStack--; + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( uint32_t ) prvTaskExitError; + pxTopOfStack--; + + /* Task function. Again as it is written as a 32-bit value a space is + left on the stack for the second two bytes. */ + pxTopOfStack--; + + /* Task function start address combined with the PSW. */ + pulLocal = ( uint32_t * ) pxTopOfStack; + *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); + pxTopOfStack--; + + /* The parameter is passed in AX. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + } + #endif + + /* An initial value for the HL register. */ + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + + /* CS and ES registers. */ + *pxTopOfStack = ( StackType_t ) 0x0F00; + pxTopOfStack--; + + /* The remaining general purpose registers DE and BC */ + *pxTopOfStack = ( StackType_t ) 0xDEDE; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBCBC; + pxTopOfStack--; + + /* Finally the critical section nesting count is set to zero when the task + first starts. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack that has been generated so it + can be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( usCriticalNesting == ~0U ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. */ + configSETUP_TICK_INTERRUPT(); + + /* Restore the context of the first task that is going to run. */ + vPortStartFirstTask(); + + /* Execution should not reach here as the tasks are now running! + prvSetupTimerInterrupt() is called here to prevent the compiler outputting + a warning about a statically declared function not being referenced in the + case that the application writer has provided their own tick interrupt + configuration routine (and defined configSETUP_TICK_INTERRUPT() such that + their own routine will be called in place of prvSetupTimerInterrupt()). */ + prvSetupTimerInterrupt(); + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the RL78 port will get stopped. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +const uint16_t usClockHz = 15000UL; /* Internal clock. */ +const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL; + + /* Use the internal 15K clock. */ + OSMC = ( uint8_t ) 0x16; + + #ifdef RTCEN + { + /* Supply the interval timer clock. */ + RTCEN = ( uint8_t ) 1U; + + /* Disable INTIT interrupt. */ + ITMK = ( uint8_t ) 1; + + /* Disable ITMC operation. */ + ITMC = ( uint8_t ) 0x0000; + + /* Clear INIT interrupt. */ + ITIF = ( uint8_t ) 0; + + /* Set interval and enable interrupt operation. */ + ITMC = usCompareMatch | 0x8000U; + + /* Enable INTIT interrupt. */ + ITMK = ( uint8_t ) 0; + } + #endif + + #ifdef TMKAEN + { + /* Supply the interval timer clock. */ + TMKAEN = ( uint8_t ) 1U; + + /* Disable INTIT interrupt. */ + TMKAMK = ( uint8_t ) 1; + + /* Disable ITMC operation. */ + ITMC = ( uint8_t ) 0x0000; + + /* Clear INIT interrupt. */ + TMKAIF = ( uint8_t ) 0; + + /* Set interval and enable interrupt operation. */ + ITMC = usCompareMatch | 0x8000U; + + /* Enable INTIT interrupt. */ + TMKAMK = ( uint8_t ) 0; + } + #endif +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/portasm.s87 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/portasm.s87 new file mode 100644 index 0000000..4f23f45 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/portasm.s87 @@ -0,0 +1,83 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +#include "ISR_Support.h" + +#define CS 0xFFFFC +#define ES 0xFFFFD + + PUBLIC vPortYield + PUBLIC vPortStartFirstTask + PUBLIC vPortTickISR + + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + +; FreeRTOS yield handler. This is installed as the BRK software interrupt +; handler. + RSEG CODE:CODE +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler to select the next task. + portRESTORE_CONTEXT ; Restore the context of the next task to run. + retb + + +; Starts the scheduler by restoring the context of the task that will execute +; first. + RSEG CODE:CODE +vPortStartFirstTask: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; An interrupt stack frame is used so the task + ; is started using a RETI instruction. + +; FreeRTOS tick handler. This is installed as the interval timer interrupt +; handler. + RSEG CODE:CODE +vPortTickISR: + + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. + cmpw ax, #0x00 + skz + call vTaskSwitchContext ; Call the scheduler to select the next task. + portRESTORE_CONTEXT ; Restore the context of the next task to run. + reti + + +; Install the interrupt handlers + + COMMON INTVEC:CODE:ROOT(1) + ORG configTICK_VECTOR + DW vPortTickISR + + COMMON INTVEC:CODE:ROOT(1) + ORG 126 + DW vPortYield + + + END \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/portmacro.h new file mode 100644 index 0000000..e2d1889 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RL78/portmacro.h @@ -0,0 +1,144 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +#if __DATA_MODEL__ == __DATA_MODEL_FAR__ && __CODE_MODEL__ == __CODE_MODEL_NEAR__ + #warning This port has not been tested with your selected memory model combination. If a far data model is required it is recommended to also use a far code model. +#endif + +#if __DATA_MODEL__ == __DATA_MODEL_NEAR__ && __CODE_MODEL__ == __CODE_MODEL_FAR__ + #warning This port has not been tested with your selected memory model combination. If a far code model is required it is recommended to also use a far data model. +#endif + +/* Type definitions. */ + +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if __DATA_MODEL__ == __DATA_MODEL_FAR__ + #define portPOINTER_SIZE_TYPE uint32_t +#else + #define portPOINTER_SIZE_TYPE uint16_t +#endif + + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef unsigned int TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() __asm ( "DI" ) +#define portENABLE_INTERRUPTS() __asm ( "EI" ) +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled ulCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portYIELD() __asm( "BRK" ) +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken ) vTaskSwitchContext() +#define portNOP() __asm( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Hardwware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/port.c new file mode 100644 index 0000000..6677dd6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/port.c @@ -0,0 +1,516 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Standard C includes. */ +#include "limits.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#include "machine.h" + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) + +/* The peripheral clock is divided by this value before being supplying the +CMT. */ +#if ( configUSE_TICKLESS_IDLE == 0 ) + /* If tickless idle is not used then the divisor can be fixed. */ + #define portCLOCK_DIVISOR 8UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 12000000 ) + #define portCLOCK_DIVISOR 512UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 6000000 ) + #define portCLOCK_DIVISOR 128UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 1000000 ) + #define portCLOCK_DIVISOR 32UL +#else + #define portCLOCK_DIVISOR 8UL +#endif + + +/* Keys required to lock and unlock access to certain system registers +respectively. */ +#define portUNLOCK_KEY 0xA50B +#define portLOCK_KEY 0xA500 + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +extern void prvStartFirstTask( void ); + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +__interrupt static void prvTickISR( void ); + +/* + * Sets up the periodic ISR used for the RTOS tick using the CMT. + * The application writer can define configSETUP_TICK_INTERRUPT() (in + * FreeRTOSConfig.h) such that their own tick interrupt configuration is used + * in place of prvSetupTimerInterrupt(). + */ +static void prvSetupTimerInterrupt( void ); +#ifndef configSETUP_TICK_INTERRUPT + /* The user has not provided their own tick interrupt configuration so use + the definition in this file (which uses the interval timer). */ + #define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt() +#endif /* configSETUP_TICK_INTERRUPT */ + +/* + * Called after the sleep mode registers have been configured, prvSleep() + * executes the pre and post sleep macros, and actually calls the wait + * instruction. + */ +#if configUSE_TICKLESS_IDLE == 1 + static void prvSleep( TickType_t xExpectedIdleTime ); +#endif /* configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +extern void *pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* Calculate how many clock increments make up a single tick period. */ +static const uint32_t ulMatchValueForOneTick = ( ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) / configTICK_RATE_HZ ); + +#if configUSE_TICKLESS_IDLE == 1 + + /* Holds the maximum number of ticks that can be suppressed - which is + basically how far into the future an interrupt can be generated. Set + during initialisation. This is the maximum possible value that the + compare match register can hold divided by ulMatchValueForOneTick. */ + static const TickType_t xMaximumPossibleSuppressedTicks = USHRT_MAX / ( ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) / configTICK_RATE_HZ ); + + /* Flag set from the tick interrupt to allow the sleep processing to know if + sleep mode was exited because of a tick interrupt, or an interrupt + generated by something else. */ + static volatile uint32_t ulTickFlag = pdFALSE; + + /* The CMT counter is stopped temporarily each time it is re-programmed. + The following constant offsets the CMT counter match value by the number of + CMT counts that would typically be missed while the counter was stopped to + compensate for the lost time. The large difference between the divided CMT + clock and the CPU clock means it is likely ulStoppedTimerCompensation will + equal zero - and be optimised away. */ + static const uint32_t ulStoppedTimerCompensation = 100UL / ( configCPU_CLOCK_HZ / ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) ); + +#endif + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Offset to end up on 8 byte boundary. */ + pxTopOfStack--; + + /* R0 is not included as it is the stack pointer. */ + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xaaaabbbb; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + /* Leave space for the registers that will get popped from the stack + when the task first starts executing. */ + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate + the tick interrupt. This way the application can decide which + peripheral to use. If tickless mode is used then the default + implementation defined in this file (which uses CMT0) should not be + overridden. */ + configSETUP_TICK_INTERRUPT(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Execution should not reach here as the tasks are now running! + prvSetupTimerInterrupt() is called here to prevent the compiler outputting + a warning about a statically declared function not being referenced in the + case that the application writer has provided their own tick interrupt + configuration routine (and defined configSETUP_TICK_INTERRUPT() such that + their own routine will be called in place of prvSetupTimerInterrupt()). */ + prvSetupTimerInterrupt(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma vector = configTICK_VECTOR +__interrupt static void prvTickISR( void ) +{ + /* Re-enable interrupts. */ + __enable_interrupt(); + + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY ); + + #if configUSE_TICKLESS_IDLE == 1 + { + /* The CPU woke because of a tick. */ + ulTickFlag = pdTRUE; + + /* If this is the first tick since exiting tickless mode then the CMT + compare match value needs resetting. */ + CMT0.CMCOR = ( uint16_t ) ulMatchValueForOneTick; + } + #endif +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Unlock. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Enable CMT0. */ + MSTP( CMT0 ) = 0; + + /* Lock again. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Interrupt on compare match. */ + CMT0.CMCR.BIT.CMIE = 1; + + /* Set the compare match value. */ + CMT0.CMCOR = ( uint16_t ) ulMatchValueForOneTick; + + /* Divide the PCLK. */ + #if portCLOCK_DIVISOR == 512 + { + CMT0.CMCR.BIT.CKS = 3; + } + #elif portCLOCK_DIVISOR == 128 + { + CMT0.CMCR.BIT.CKS = 2; + } + #elif portCLOCK_DIVISOR == 32 + { + CMT0.CMCR.BIT.CKS = 1; + } + #elif portCLOCK_DIVISOR == 8 + { + CMT0.CMCR.BIT.CKS = 0; + } + #else + { + #error Invalid portCLOCK_DIVISOR setting + } + #endif + + + /* Enable the interrupt... */ + _IEN( _CMT0_CMI0 ) = 1; + + /* ...and set its priority to the application defined kernel priority. */ + _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the timer. */ + CMT.CMSTR0.BIT.STR0 = 1; +} +/*-----------------------------------------------------------*/ + +#if configUSE_TICKLESS_IDLE == 1 + + static void prvSleep( TickType_t xExpectedIdleTime ) + { + /* Allow the application to define some pre-sleep processing. */ + configPRE_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* xExpectedIdleTime being set to 0 by configPRE_SLEEP_PROCESSING() + means the application defined code has already executed the WAIT + instruction. */ + if( xExpectedIdleTime > 0 ) + { + __wait_for_interrupt(); + } + + /* Allow the application to define some post sleep processing. */ + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if configUSE_TICKLESS_IDLE == 1 + + void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulMatchValue, ulCompleteTickPeriods, ulCurrentCount; + eSleepModeStatus eSleepAction; + + /* THIS FUNCTION IS CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* Make sure the CMT reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Calculate the reload value required to wait xExpectedIdleTime tick + periods. */ + ulMatchValue = ulMatchValueForOneTick * xExpectedIdleTime; + if( ulMatchValue > ulStoppedTimerCompensation ) + { + /* Compensate for the fact that the CMT is going to be stopped + momentarily. */ + ulMatchValue -= ulStoppedTimerCompensation; + } + + /* Stop the CMT momentarily. The time the CMT is stopped for is + accounted for as best it can be, but using the tickless mode will + inevitably result in some tiny drift of the time maintained by the + kernel with respect to calendar time. */ + CMT.CMSTR0.BIT.STR0 = 0; + while( CMT.CMSTR0.BIT.STR0 == 1 ) + { + /* Nothing to do here. */ + } + + /* Critical section using the global interrupt bit as the i bit is + automatically reset by the WAIT instruction. */ + __disable_interrupt(); + + /* The tick flag is set to false before sleeping. If it is true when + sleep mode is exited then sleep mode was probably exited because the + tick was suppressed for the entire xExpectedIdleTime period. */ + ulTickFlag = pdFALSE; + + /* If a context switch is pending then abandon the low power entry as + the context switch might have been pended by an external interrupt that + requires processing. */ + eSleepAction = eTaskConfirmSleepModeStatus(); + if( eSleepAction == eAbortSleep ) + { + /* Restart tick. */ + CMT.CMSTR0.BIT.STR0 = 1; + __enable_interrupt(); + } + else if( eSleepAction == eNoTasksWaitingTimeout ) + { + /* Protection off. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Ready for software standby with all clocks stopped. */ + SYSTEM.SBYCR.BIT.SSBY = 1; + + /* Protection on. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Sleep until something happens. Calling prvSleep() will + automatically reset the i bit in the PSW. */ + prvSleep( xExpectedIdleTime ); + + /* Restart the CMT. */ + CMT.CMSTR0.BIT.STR0 = 1; + } + else + { + /* Protection off. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Ready for deep sleep mode. */ + SYSTEM.MSTPCRC.BIT.DSLPE = 1; + SYSTEM.MSTPCRA.BIT.MSTPA28 = 1; + SYSTEM.SBYCR.BIT.SSBY = 0; + + /* Protection on. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Adjust the match value to take into account that the current + time slice is already partially complete. */ + ulMatchValue -= ( uint32_t ) CMT0.CMCNT; + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + + /* Restart the CMT to count up to the new match value. */ + CMT0.CMCNT = 0; + CMT.CMSTR0.BIT.STR0 = 1; + + /* Sleep until something happens. Calling prvSleep() will + automatically reset the i bit in the PSW. */ + prvSleep( xExpectedIdleTime ); + + /* Stop CMT. Again, the time the SysTick is stopped for is + accounted for as best it can be, but using the tickless mode will + inevitably result in some tiny drift of the time maintained by the + kernel with respect to calendar time. */ + CMT.CMSTR0.BIT.STR0 = 0; + while( CMT.CMSTR0.BIT.STR0 == 1 ) + { + /* Nothing to do here. */ + } + + ulCurrentCount = ( uint32_t ) CMT0.CMCNT; + + if( ulTickFlag != pdFALSE ) + { + /* The tick interrupt has already executed, although because + this function is called with the scheduler suspended the actual + tick processing will not occur until after this function has + exited. Reset the match value with whatever remains of this + tick period. */ + ulMatchValue = ulMatchValueForOneTick - ulCurrentCount; + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + + /* The tick interrupt handler will already have pended the tick + processing in the kernel. As the pending tick will be + processed as soon as this function exits, the tick value + maintained by the tick is stepped forward by one less than the + time spent sleeping. The actual stepping of the tick appears + later in this function. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + How many complete tick periods passed while the processor was + sleeping? */ + ulCompleteTickPeriods = ulCurrentCount / ulMatchValueForOneTick; + + /* The match value is set to whatever fraction of a single tick + period remains. */ + ulMatchValue = ulCurrentCount - ( ulCompleteTickPeriods * ulMatchValueForOneTick ); + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + } + + /* Restart the CMT so it runs up to the match value. The match value + will get set to the value required to generate exactly one tick period + the next time the CMT interrupt executes. */ + CMT0.CMCNT = 0; + CMT.CMSTR0.BIT.STR0 = 1; + + /* Wind the tick forward by the number of tick periods that the CPU + remained in a low power state. */ + vTaskStepTick( ulCompleteTickPeriods ); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/port_asm.s new file mode 100644 index 0000000..dcf184d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/port_asm.s @@ -0,0 +1,151 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "PriorityDefinitions.h" + + PUBLIC _prvStartFirstTask + PUBLIC ___interrupt_27 + + EXTERN _pxCurrentTCB + EXTERN _vTaskSwitchContext + + RSEG CODE:CODE(4) + +_prvStartFirstTask: + + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15 + + /* R1 to R15 - R0 is not included as it is the SP. */ + POPM R1-R15 + + /* This pops the remaining registers. */ + RTE + NOP + NOP + +/*-----------------------------------------------------------*/ + +/* The software interrupt - overwrite the default 'weak' definition. */ +___interrupt_27: + + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across, R15, then PC, then PSW. */ + MOV.L [ R0 ], [ R15 ] + MOV.L 4[ R0 ], 4[ R15 ] + MOV.L 8[ R0 ], 8[ R15 ] + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the accumulator. */ + MVFACHI R15 + PUSH.L R15 + + /* Middle word. */ + MVFACMI R15 + + /* Shifted left as it is restored to the low order word. */ + SHLL #16, R15 + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + MVTACLO R15 + POP R15 + MVTACHI R15 + POPM R1-R15 + RTE + NOP + NOP + +/*-----------------------------------------------------------*/ + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/portmacro.h new file mode 100644 index 0000000..b3f9571 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/portmacro.h @@ -0,0 +1,150 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* Hardware specifics. */ +#include "machine.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __no_operation() + +#define portYIELD() \ + __asm volatile \ + ( \ + "MOV.L #0x872E0, R15 \n" \ + "MOV.B #1, [R15] \n" \ + "MOV.L [R15], R15 \n" \ + ::: "R15" \ + ) + +#define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) { portYIELD(); } + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( __get_interrupt_level() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( __get_interrupt_level() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_level(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) __set_interrupt_level( ( uint8_t ) ( uxSavedInterruptStatus ) ) + +/* Tickless idle/low power functionality. */ +#if configUSE_TICKLESS_IDLE == 1 + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +#endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Prevent warnings of undefined behaviour: the order of volatile accesses is +undefined - all warnings have been manually checked and are not an issue, and +the warnings cannot be prevent by code changes without undesirable effects. */ +#pragma diag_suppress=Pa082 + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX100/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/port.c new file mode 100644 index 0000000..29af0f4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/port.c @@ -0,0 +1,193 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#include + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +extern void prvStartFirstTask( void ); + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +__interrupt void vTickISR( void ); + +/*-----------------------------------------------------------*/ + +extern void *pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma vector = configTICK_VECTOR +__interrupt void vTickISR( void ) +{ + /* Re-enable interrupts. */ + __enable_interrupt(); + + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/port_asm.s new file mode 100644 index 0000000..f0b7690 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/port_asm.s @@ -0,0 +1,159 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "PriorityDefinitions.h" + + PUBLIC _prvStartFirstTask + PUBLIC ___interrupt_27 + + EXTERN _pxCurrentTCB + EXTERN _vTaskSwitchContext + + RSEG CODE:CODE(4) + +_prvStartFirstTask: + + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15 + POP R15 + + /* Floating point status word. */ + MVTC R15, FPSW + + /* R1 to R15 - R0 is not included as it is the SP. */ + POPM R1-R15 + + /* This pops the remaining registers. */ + RTE + NOP + NOP + +/*-----------------------------------------------------------*/ + +/* The software interrupt - overwrite the default 'weak' definition. */ +___interrupt_27: + + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across, R15, then PC, then PSW. */ + MOV.L [ R0 ], [ R15 ] + MOV.L 4[ R0 ], 4[ R15 ] + MOV.L 8[ R0 ], 8[ R15 ] + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the FPSW and accumulator. */ + MVFC FPSW, R15 + PUSH.L R15 + MVFACHI R15 + PUSH.L R15 + + /* Middle word. */ + MVFACMI R15 + + /* Shifted left as it is restored to the low order word. */ + SHLL #16, R15 + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + MVTACLO R15 + POP R15 + MVTACHI R15 + POP R15 + MVTC R15, FPSW + POPM R1-R15 + RTE + NOP + NOP + +/*-----------------------------------------------------------*/ + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/portmacro.h new file mode 100644 index 0000000..e6a762e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/portmacro.h @@ -0,0 +1,139 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __no_operation() + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" +where portITU_SWINTR is the location of the software interrupt register +(0x000872E0). Don't rely on the assembler to select a register, so instead +save and restore clobbered registers manually. */ +#define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n" \ + "MOV.L #0x872E0, R10 \n" \ + "MOV.B #0x1, [R10] \n" \ + "MOV.L [R10], R10 \n" \ + "POP R10 \n" \ + ) + +#define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( __get_interrupt_level() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( __get_interrupt_level() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_level(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) __set_interrupt_level( ( uint8_t ) ( uxSavedInterruptStatus ) ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX600/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/port.c new file mode 100644 index 0000000..83a5f40 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/port.c @@ -0,0 +1,567 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the RXv3 DPFPU port. +*----------------------------------------------------------*/ + +#warning Testing for DFPU support in this port is not yet complete + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore + * PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) +#define portINITIAL_DPSW ( ( StackType_t ) 0x00000100 ) +#define portINITIAL_DCMR ( ( StackType_t ) 0x00000000 ) +#define portINITIAL_DECNT ( ( StackType_t ) 0x00000001 ) + +/* Tasks are not created with a DPFPU context, but can be given a DPFPU context + * after they have been created. A variable is stored as part of the tasks context + * that holds portNO_DPFPU_CONTEXT if the task does not have a DPFPU context, or + * any other value if the task does have a DPFPU context. */ +#define portNO_DPFPU_CONTEXT ( ( StackType_t ) 0 ) +#define portHAS_DPFPU_CONTEXT ( ( StackType_t ) 1 ) + +/* The space on the stack required to hold the DPFPU data registers. This is 16 + * 64-bit registers. */ +#define portDPFPU_DATA_REGISTER_WORDS ( 16 * 2 ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +__interrupt void vSoftwareInterruptISR( void ); + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +__interrupt void vTickISR( void ); + +/*-----------------------------------------------------------*/ + +/* Saved as part of the task context. If ulPortTaskHasDPFPUContext is non-zero + * then a DPFPU context must be saved and restored for the task. */ +#if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + StackType_t ulPortTaskHasDPFPUContext = portNO_DPFPU_CONTEXT; + +#endif /* configUSE_TASK_DPFPU_SUPPORT */ + +/* This is accessed by the inline assembler functions so is file scope for + * convenience. */ +extern void * pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + * value. Otherwise code space can be saved by just setting the registers + * that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ + { + pxTopOfStack -= 15; + } + #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 0. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + { + /* The task will start without a DPFPU context. A task that + * uses the DPFPU hardware must call vPortTaskUsesDPFPU() before + * executing any floating point instructions. */ + pxTopOfStack--; + *pxTopOfStack = portNO_DPFPU_CONTEXT; + } + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + { + /* The task will start with a DPFPU context. Leave enough + * space for the registers - and ensure they are initialised if desired. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1515.1515; /* DR15. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1414.1414; /* DR14. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1313.1313; /* DR13. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1212.1212; /* DR12. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1111.1111; /* DR11. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1010.1010; /* DR10. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 909.0909; /* DR9. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 808.0808; /* DR8. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 707.0707; /* DR7. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 606.0606; /* DR6. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 505.0505; /* DR5. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 404.0404; /* DR4. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 303.0303; /* DR3. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 202.0202; /* DR2. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 101.0101; /* DR1. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 9876.54321;/* DR0. */ + } + #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ + { + pxTopOfStack -= portDPFPU_DATA_REGISTER_WORDS; + memset( pxTopOfStack, 0x00, portDPFPU_DATA_REGISTER_WORDS * sizeof( StackType_t ) ); + } + #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DECNT; /* DECNT. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DCMR; /* DCMR. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DPSW; /* DPSW. */ + } + #elif ( configUSE_TASK_DPFPU_SUPPORT == 0 ) + { + /* Omit DPFPU support. */ + } + #else /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + { + #error Invalid configUSE_TASK_DPFPU_SUPPORT setting - configUSE_TASK_DPFPU_SUPPORT must be set to 0, 1, 2, or left undefined. + } + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + void vPortTaskUsesDPFPU( void ) + { + /* A task is registering the fact that it needs a DPFPU context. Set the + * DPFPU flag (which is saved as part of the task context). */ + ulPortTaskHasDPFPUContext = portHAS_DPFPU_CONTEXT; + } + +#endif /* configUSE_TASK_DPFPU_SUPPORT */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + * tick interrupt. This way the application can decide which peripheral to + * use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); + + /* The following line is just to prevent the symbol getting optimised away. */ + ( void ) vTaskSwitchContext(); +} +/*-----------------------------------------------------------*/ + +static void prvStartFirstTask( void ) +{ + __asm volatile + ( + + /* When starting the scheduler there is nothing that needs moving to the + * interrupt stack because the function is not called from an interrupt. + * Just ensure the current stack is the user stack. */ + "SETPSW U \n"\ + + + /* Obtain the location of the stack associated with which ever task + * pxCurrentTCB is currently pointing to. */ + "MOV.L #_pxCurrentTCB, R15 \n"\ + "MOV.L [R15], R15 \n"\ + "MOV.L [R15], R0 \n"\ + + + /* Restore the registers from the stack of the task pointed to by + * pxCurrentTCB. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* The restored ulPortTaskHasDPFPUContext is to be zero here. + * So, it is never necessary to restore the DPFPU context here. */ + "POP R15 \n"\ + "MOV.L #_ulPortTaskHasDPFPUContext, R14 \n"\ + "MOV.L R15, [R14] \n"\ + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Restore the DPFPU context. */ + "DPOPM.L DPSW-DECNT \n"\ + "DPOPM.D DR0-DR15 \n"\ + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n"\ + "POP R15 \n"\ + + /* Floating point status word. */ + "MVTC R15, FPSW \n"\ + + /* R1 to R15 - R0 is not included as it is the SP. */ + "POPM R1-R15 \n"\ + + /* This pops the remaining registers. */ + "RTE \n"\ + "NOP \n"\ + "NOP \n" + ); +} +/*-----------------------------------------------------------*/ + +#pragma vector = VECT( ICU, SWINT ) +__interrupt void vSoftwareInterruptISR( void ) +{ + __asm volatile + ( + /* Re-enable interrupts. */ + "SETPSW I \n"\ + + + /* Move the data that was automatically pushed onto the interrupt stack when + * the interrupt occurred from the interrupt stack to the user stack. + * + * R15 is saved before it is clobbered. */ + "PUSH.L R15 \n"\ + + /* Read the user stack pointer. */ + "MVFC USP, R15 \n"\ + + /* Move the address down to the data being moved. */ + "SUB #12, R15 \n"\ + "MVTC R15, USP \n"\ + + /* Copy the data across, R15, then PC, then PSW. */ + "MOV.L [ R0 ], [ R15 ] \n"\ + "MOV.L 4[ R0 ], 4[ R15 ] \n"\ + "MOV.L 8[ R0 ], 8[ R15 ] \n"\ + + /* Move the interrupt stack pointer to its new correct position. */ + "ADD #12, R0 \n"\ + + /* All the rest of the registers are saved directly to the user stack. */ + "SETPSW U \n"\ + + /* Save the rest of the general registers (R15 has been saved already). */ + "PUSHM R1-R14 \n"\ + + /* Save the FPSW and accumulators. */ + "MVFC FPSW, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACGU #0, A1, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACHI #0, A1, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACLO #0, A1, R15 \n" /* Low order word. */ \ + "PUSH.L R15 \n"\ + "MVFACGU #0, A0, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACHI #0, A0, R15 \n"\ + "PUSH.L R15 \n"\ + "MVFACLO #0, A0, R15 \n" /* Low order word. */ \ + "PUSH.L R15 \n"\ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* Does the task have a DPFPU context that needs saving? If + * ulPortTaskHasDPFPUContext is 0 then no. */ + "MOV.L #_ulPortTaskHasDPFPUContext, R15 \n"\ + "MOV.L [R15], R15 \n"\ + "CMP #0, R15 \n"\ + + /* Save the DPFPU context, if any. */ + "BEQ.B __lab1 \n"\ + "DPUSHM.D DR0-DR15 \n"\ + "DPUSHM.L DPSW-DECNT \n"\ + "__lab1: \n"\ + + /* Save ulPortTaskHasDPFPUContext itself. */ + "PUSH.L R15 \n"\ + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Save the DPFPU context, always. */ + "DPUSHM.D DR0-DR15 \n"\ + "DPUSHM.L DPSW-DECNT \n"\ + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + + /* Save the stack pointer to the TCB. */ + "MOV.L #_pxCurrentTCB, R15 \n"\ + "MOV.L [ R15 ], R15 \n"\ + "MOV.L R0, [ R15 ] \n"\ + + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + * structures are being accessed. */ + "MVTIPL %0 \n"\ + + /* Select the next task to run. */ + "BSR.A _vTaskSwitchContext \n"\ + + /* Reset the interrupt mask as no more data structure access is required. */ + "MVTIPL %1 \n"\ + + + /* Load the stack pointer of the task that is now selected as the Running + * state task from its TCB. */ + "MOV.L #_pxCurrentTCB,R15 \n"\ + "MOV.L [ R15 ], R15 \n"\ + "MOV.L [ R15 ], R0 \n"\ + + + /* Restore the context of the new task. The PSW (Program Status Word) and + * PC will be popped by the RTE instruction. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* Is there a DPFPU context to restore? If the restored + * ulPortTaskHasDPFPUContext is zero then no. */ + "POP R15 \n"\ + "MOV.L #_ulPortTaskHasDPFPUContext, R14 \n"\ + "MOV.L R15, [R14] \n"\ + "CMP #0, R15 \n"\ + + /* Restore the DPFPU context, if any. */ + "BEQ.B __lab2 \n"\ + "DPOPM.L DPSW-DECNT \n"\ + "DPOPM.D DR0-DR15 \n"\ + "__lab2: \n"\ + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Restore the DPFPU context, always. */ + "DPOPM.L DPSW-DECNT \n"\ + "DPOPM.D DR0-DR15 \n"\ + + #endif /* if( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A0 \n"\ + "POP R15 \n"\ + + /* Accumulator low 32 bits. */ + "MVTACLO R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator high 32 bits. */ + "MVTACHI R15, A1 \n"\ + "POP R15 \n"\ + + /* Accumulator guard. */ + "MVTACGU R15, A1 \n"\ + "POP R15 \n"\ + "MVTC R15, FPSW \n"\ + "POPM R1-R15 \n"\ + "RTE \n"\ + "NOP \n"\ + "NOP " + portCDT_NO_PARSE( :: ) "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ), "i" ( configKERNEL_INTERRUPT_PRIORITY ) + ); +} +/*-----------------------------------------------------------*/ + +#pragma vector = _VECT( configTICK_VECTOR ) +__interrupt void vTickISR( void ) +{ + /* Re-enable interrupts. */ + __enable_interrupt(); + + /* Increment the tick, and perform any processing the new tick value + * necessitates. Ensure IPL is at the max syscall value first. */ + __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/portmacro.h new file mode 100644 index 0000000..df45877 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/portmacro.h @@ -0,0 +1,195 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + +/* Hardware specifics. */ + #include + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ + #ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 + #endif + +/* If configUSE_TASK_DPFPU_SUPPORT is set to 1 (or undefined) then each task will + * be created without a DPFPU context, and a task must call vTaskUsesDPFPU() before + * making use of any DPFPU registers. If configUSE_TASK_DPFPU_SUPPORT is set to 2 then + * tasks are created with a DPFPU context by default, and calling vTaskUsesDPFPU() has + * no effect. If configUSE_TASK_DPFPU_SUPPORT is set to 0 then tasks never take care + * of any DPFPU context (even if DPFPU registers are used). */ + #ifndef configUSE_TASK_DPFPU_SUPPORT + #define configUSE_TASK_DPFPU_SUPPORT 1 + #endif + +/*-----------------------------------------------------------*/ + +/* Type definitions - these are a bit legacy and not really used now, other than + * portSTACK_TYPE and portBASE_TYPE. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ + #define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ + #define portSTACK_GROWTH -1 + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portNOP() __no_operation() + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" + * where portITU_SWINTR is the location of the software interrupt register + * (0x000872E0). Don't rely on the assembler to select a register, so instead + * save and restore clobbered registers manually. */ + #define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n"\ + "MOV.L #0x872E0, R10 \n"\ + "MOV.B #0x1, [R10] \n"\ + "CMP [R10].UB, R10 \n"\ + "POP R10 \n"\ + portCDT_NO_PARSE( ::: ) "cc"\ + ) + + #define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) portYIELD() + +/* Workaround to reduce errors/warnings caused by e2 studio CDT's INDEXER and CODAN. */ + #ifdef __CDT_PARSER__ + #ifndef __asm + #define __asm asm + #endif + #ifndef __attribute__ + #define __attribute__( ... ) + #endif + #define portCDT_NO_PARSE( token ) + #else + #define portCDT_NO_PARSE( token ) token + #endif + +/* These macros should not be called directly, but through the + * taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is + * performed if configASSERT() is defined to ensure an assertion handler does not + * inadvertently attempt to lower the IPL when the call to assert was triggered + * because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY + * when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API + * functions are those that end in FromISR. FreeRTOS maintains a separate + * interrupt API to ensure API function and interrupt entry is as fast and as + * simple as possible. */ + #define portENABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) 0 ) + #ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( __get_interrupt_level() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( __get_interrupt_level() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) + #else + #define portDISABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) + #endif + +/* Critical nesting counts are stored in the TCB. */ + #define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ + extern void vTaskEnterCritical( void ); + extern void vTaskExitCritical( void ); + #define portENTER_CRITICAL() vTaskEnterCritical() + #define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ + #define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_level(); portDISABLE_INTERRUPTS() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) __set_interrupt_level( ( uint8_t ) ( uxSavedInterruptStatus ) ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/*-----------------------------------------------------------*/ + +/* If configUSE_TASK_DPFPU_SUPPORT is set to 1 (or left undefined) then tasks are + * created without a DPFPU context and must call vPortTaskUsesDPFPU() to give + * themselves a DPFPU context before using any DPFPU instructions. If + * configUSE_TASK_DPFPU_SUPPORT is set to 2 then all tasks will have a DPFPU context + * by default. */ + #if( configUSE_TASK_DPFPU_SUPPORT == 1 ) + void vPortTaskUsesDPFPU( void ); + #else +/* Each task has a DPFPU context already, so define this function away to + * nothing to prevent it being called accidentally. */ + #define vPortTaskUsesDPFPU() + #endif + #define portTASK_USES_DPFPU() vPortTaskUsesDPFPU() + +/* Definition to allow compatibility with existing FreeRTOS Demo using flop.c. */ + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesDPFPU() + +/* Prevent warnings of undefined behaviour: the order of volatile accesses is + * undefined - all warnings have been manually checked and are not an issue, and + * the warnings cannot be prevent by code changes without undesirable effects. */ + #pragma diag_suppress=Pa082 + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RX700v3_DPFPU/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/port.c new file mode 100644 index 0000000..fd81f5d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/port.c @@ -0,0 +1,201 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#include + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +extern void prvStartFirstTask( void ); + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +__interrupt void vTickISR( void ); + +/*-----------------------------------------------------------*/ + +extern void *pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 1. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma vector = configTICK_VECTOR +__interrupt void vTickISR( void ) +{ + /* Re-enable interrupts. */ + __enable_interrupt(); + + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/port_asm.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/port_asm.s new file mode 100644 index 0000000..5313755 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/port_asm.s @@ -0,0 +1,200 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "PriorityDefinitions.h" + + PUBLIC _prvStartFirstTask + PUBLIC ___interrupt_27 + + EXTERN _pxCurrentTCB + EXTERN _vTaskSwitchContext + + RSEG CODE:CODE(4) + +_prvStartFirstTask: + + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A0 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A0 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A0 + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A1 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A1 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A1 + POP R15 + + /* Floating point status word. */ + MVTC R15, FPSW + + /* R1 to R15 - R0 is not included as it is the SP. */ + POPM R1-R15 + + /* This pops the remaining registers. */ + RTE + NOP + NOP + +/*-----------------------------------------------------------*/ + +/* The software interrupt - overwrite the default 'weak' definition. */ +___interrupt_27: + + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across, R15, then PC, then PSW. */ + MOV.L [ R0 ], [ R15 ] + MOV.L 4[ R0 ], 4[ R15 ] + MOV.L 8[ R0 ], 8[ R15 ] + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the FPSW and accumulator. */ + MVFC FPSW, R15 + PUSH.L R15 + MVFACGU #0, A1, R15 + PUSH.L R15 + MVFACHI #0, A1, R15 + PUSH.L R15 + /* Low order word. */ + MVFACLO #0, A1, R15 + PUSH.L R15 + MVFACGU #0, A0, R15 + PUSH.L R15 + MVFACHI #0, A0, R15 + PUSH.L R15 + /* Low order word. */ + MVFACLO #0, A0, R15 + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A0 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A0 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A0 + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A1 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A1 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A1 + POP R15 + MVTC R15, FPSW + POPM R1-R15 + RTE + NOP + NOP + +/*-----------------------------------------------------------*/ + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/portmacro.h new file mode 100644 index 0000000..6a0602a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/portmacro.h @@ -0,0 +1,144 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() __no_operation() + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" +where portITU_SWINTR is the location of the software interrupt register +(0x000872E0). Don't rely on the assembler to select a register, so instead +save and restore clobbered registers manually. */ +#define portYIELD() \ + __asm volatile \ + ( \ + "PUSH.L R10 \n" \ + "MOV.L #0x872E0, R10 \n" \ + "MOV.B #0x1, [R10] \n" \ + "MOV.L [R10], R10 \n" \ + "POP R10 \n" \ + ) + +#define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( __get_interrupt_level() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( __get_interrupt_level() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() __set_interrupt_level( ( uint8_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_level(); portDISABLE_INTERRUPTS() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) __set_interrupt_level( ( uint8_t ) ( uxSavedInterruptStatus ) ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Prevent warnings of undefined behaviour: the order of volatile accesses is +undefined - all warnings have been manually checked and are not an issue, and +the warnings cannot be prevent by code changes without undesirable effects. */ +#pragma diag_suppress=Pa082 + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/RXv2/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/ISR_Support.h new file mode 100644 index 0000000..f16c592 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/ISR_Support.h @@ -0,0 +1,105 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + EXTERN pxCurrentTCB + EXTERN ulCriticalNesting + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + ; Push R0 as we are going to use the register. + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP, {SP}^ + NOP + SUB SP, SP, #4 + LDMIA SP!, {R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now we have saved LR we can use it instead of R0. + MOV LR, R0 + + ; Pop R0 so we can save it onto the system mode stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR, {R0-LR}^ + NOP + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + ; Store the new top of stack for the task. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + STR LR, [R0] + + ENDM + + +portRESTORE_CONTEXT MACRO + + ; Set the LR to the task stack. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + LDR LR, [R0] + + ; The critical nesting depth is the first item on the stack. + ; Load it into the ulCriticalNesting variable. + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_cxsf, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + NOP + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + + ENDM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/port.c new file mode 100644 index 0000000..88a1a21 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/port.c @@ -0,0 +1,258 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ST STR71x ARM7 + * port. + *----------------------------------------------------------*/ + +/* Library includes. */ +#include "wdg.h" +#include "eic.h" + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the initial stack. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +#define portMICROS_PER_SECOND 1000000 + +/*-----------------------------------------------------------*/ + +/* Setup the watchdog to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* ulCriticalNesting will get set to zero when the first task starts. It +cannot be initialised to 0 as this will cause interrupts to be enabled +during the kernel initialisation process. */ +uint32_t ulCriticalNesting = ( uint32_t ) 9999; + +/* Tick interrupt routines for cooperative and preemptive operation +respectively. The preemptive version is not defined as __irq as it is called +from an asm wrapper function. */ +__arm __irq void vPortNonPreemptiveTick( void ); +void vPortPreemptiveTick( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL ) + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* The cooperative scheduler requires a normal IRQ service routine to +simply increment the system tick. */ +__arm __irq void vPortNonPreemptiveTick( void ) +{ + /* Increment the tick count - which may wake some tasks but as the + preemptive scheduler is not being used any woken task is not given + processor time no matter what its priority. */ + xTaskIncrementTick(); + + /* Clear the interrupt in the watchdog and EIC. */ + WDG->SR = 0x0000; + portCLEAR_EIC(); +} +/*-----------------------------------------------------------*/ + +/* This function is called from an asm wrapper, so does not require the __irq +keyword. */ +void vPortPreemptiveTick( void ) +{ + /* Increment the tick counter. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Select a new task to execute. */ + vTaskSwitchContext(); + } + + /* Clear the interrupt in the watchdog and EIC. */ + WDG->SR = 0x0000; + portCLEAR_EIC(); +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Set the watchdog up to generate a periodic tick. */ + WDG_ECITConfig( DISABLE ); + WDG_CntOnOffConfig( DISABLE ); + WDG_PeriodValueConfig( portMICROS_PER_SECOND / configTICK_RATE_HZ ); + + /* Setup the tick interrupt in the EIC. */ + EIC_IRQChannelPriorityConfig( WDG_IRQChannel, 1 ); + EIC_IRQChannelConfig( WDG_IRQChannel, ENABLE ); + EIC_IRQConfig( ENABLE ); + WDG_ECITConfig( ENABLE ); + + /* Start the timer - interrupts are actually disabled at this point so + it is safe to do this here. */ + WDG_CntOnOffConfig( ENABLE ); +} +/*-----------------------------------------------------------*/ + +__arm __interwork void vPortEnterCritical( void ) +{ + /* Disable interrupts first! */ + __disable_interrupt(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +__arm __interwork void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + __enable_interrupt(); + } + } +} +/*-----------------------------------------------------------*/ + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/portasm.s79 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/portasm.s79 new file mode 100644 index 0000000..943b814 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/portasm.s79 @@ -0,0 +1,76 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + RSEG ICODE:CODE + CODE32 + + EXTERN vPortPreemptiveTick + EXTERN vTaskSwitchContext + + PUBLIC vPortYieldProcessor + PUBLIC vPortStartFirstTask + PUBLIC vPortPreemptiveTickISR + +#include "ISR_Support.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is just a matter of restoring the context that +; was created by pxPortInitialiseStack(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask: + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Manual context switch function. This is the SWI hander. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortYieldProcessor: + ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly + ; as if the context was saved during and IRQ + ; handler. + + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vTaskSwitchContext ; before selecting the next task to execute. + mov lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Preemptive context switch function. This will only ever get used if +; portUSE_PREEMPTION is set to 1 in portmacro.h. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortPreemptiveTickISR: + portSAVE_CONTEXT ; Save the context of the current task. + + LDR R0, =vPortPreemptiveTick ; Increment the tick count - this may wake a task. + MOV lr, pc + BX R0 + + portRESTORE_CONTEXT ; Restore the context of the selected task. + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/portmacro.h new file mode 100644 index 0000000..5e75a1d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR71x/portmacro.h @@ -0,0 +1,121 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm ( "SWI 0" ) +#define portNOP() asm ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +__arm __interwork void vPortDisableInterruptsFromThumb( void ); +__arm __interwork void vPortEnableInterruptsFromThumb( void ); +__arm __interwork void vPortEnterCritical( void ); +__arm __interwork void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() __disable_interrupt() +#define portENABLE_INTERRUPTS() __enable_interrupt() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* EIC utilities. */ +#define portEIC_CICR_ADDR *( ( uint32_t * ) 0xFFFFF804 ) +#define portEIC_IPR_ADDR *( ( uint32_t * ) 0xFFFFF840 ) +#define portCLEAR_EIC() portEIC_IPR_ADDR = 0x01 << portEIC_CICR_ADDR + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/ISR_Support.h new file mode 100644 index 0000000..f16c592 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/ISR_Support.h @@ -0,0 +1,105 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + EXTERN pxCurrentTCB + EXTERN ulCriticalNesting + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + ; Push R0 as we are going to use the register. + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP, {SP}^ + NOP + SUB SP, SP, #4 + LDMIA SP!, {R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now we have saved LR we can use it instead of R0. + MOV LR, R0 + + ; Pop R0 so we can save it onto the system mode stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR, {R0-LR}^ + NOP + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + ; Store the new top of stack for the task. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + STR LR, [R0] + + ENDM + + +portRESTORE_CONTEXT MACRO + + ; Set the LR to the task stack. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + LDR LR, [R0] + + ; The critical nesting depth is the first item on the stack. + ; Load it into the ulCriticalNesting variable. + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_cxsf, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + NOP + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + + ENDM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/port.c new file mode 100644 index 0000000..49871fe --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/port.c @@ -0,0 +1,237 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ST STR75x ARM7 + * port. + *----------------------------------------------------------*/ + +/* Library includes. */ +#include "75x_tb.h" +#include "75x_eic.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the initial stack. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x3f ) /* System mode, THUMB mode, interrupts enabled. */ +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* Prescale used on the timer clock when calculating the tick period. */ +#define portPRESCALE 20 + + +/*-----------------------------------------------------------*/ + +/* Setup the TB to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* ulCriticalNesting will get set to zero when the first task starts. It +cannot be initialised to 0 as this will cause interrupts to be enabled +during the kernel initialisation process. */ +uint32_t ulCriticalNesting = ( uint32_t ) 9999; + +/* Tick interrupt routines for preemptive operation. */ +__arm void vPortPreemptiveTick( void ); + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +__arm void vPortPreemptiveTick( void ) +{ + /* Increment the tick counter. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Select a new task to execute. */ + vTaskSwitchContext(); + } + + TB_ClearITPendingBit( TB_IT_Update ); +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +EIC_IRQInitTypeDef EIC_IRQInitStructure; +TB_InitTypeDef TB_InitStructure; + + /* Setup the EIC for the TB. */ + EIC_IRQInitStructure.EIC_IRQChannelCmd = ENABLE; + EIC_IRQInitStructure.EIC_IRQChannel = TB_IRQChannel; + EIC_IRQInitStructure.EIC_IRQChannelPriority = 1; + EIC_IRQInit(&EIC_IRQInitStructure); + + /* Setup the TB for the generation of the tick interrupt. */ + TB_InitStructure.TB_Mode = TB_Mode_Timing; + TB_InitStructure.TB_CounterMode = TB_CounterMode_Down; + TB_InitStructure.TB_Prescaler = portPRESCALE - 1; + TB_InitStructure.TB_AutoReload = ( ( configCPU_CLOCK_HZ / portPRESCALE ) / configTICK_RATE_HZ ); + TB_Init(&TB_InitStructure); + + /* Enable TB Update interrupt */ + TB_ITConfig(TB_IT_Update, ENABLE); + + /* Clear TB Update interrupt pending bit */ + TB_ClearITPendingBit(TB_IT_Update); + + /* Enable TB */ + TB_Cmd(ENABLE); +} +/*-----------------------------------------------------------*/ + +__arm __interwork void vPortEnterCritical( void ) +{ + /* Disable interrupts first! */ + __disable_interrupt(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +__arm __interwork void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + __enable_interrupt(); + } + } +} +/*-----------------------------------------------------------*/ + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/portasm.s79 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/portasm.s79 new file mode 100644 index 0000000..df40a70 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/portasm.s79 @@ -0,0 +1,63 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + RSEG ICODE:CODE + CODE32 + + EXTERN vPortPreemptiveTick + EXTERN vTaskSwitchContext + + PUBLIC vPortYieldProcessor + PUBLIC vPortStartFirstTask + +#include "ISR_Support.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is just a matter of restoring the context that +; was created by pxPortInitialiseStack(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask: + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Manual context switch function. This is the SWI hander. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortYieldProcessor: + ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly + ; as if the context was saved during and IRQ + ; handler. + + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vTaskSwitchContext ; before selecting the next task to execute. + mov lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. + + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/portmacro.h new file mode 100644 index 0000000..89652b1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR75x/portmacro.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm ( "SWI 0" ) +#define portNOP() asm ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +__arm __interwork void vPortEnterCritical( void ); +__arm __interwork void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() __disable_interrupt() +#define portENABLE_INTERRUPTS() __enable_interrupt() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/ISR_Support.h new file mode 100644 index 0000000..a4f3544 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/ISR_Support.h @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + EXTERN pxCurrentTCB + EXTERN ulCriticalNesting + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + ; Push R0 as we are going to use the register. + STMDB SP!, {R0} + + ; Set R0 to point to the task stack pointer. + STMDB SP, {SP}^ + NOP + SUB SP, SP, #4 + LDMIA SP!, {R0} + + ; Push the return address onto the stack. + STMDB R0!, {LR} + + ; Now we have saved LR we can use it instead of R0. + MOV LR, R0 + + ; Pop R0 so we can save it onto the system mode stack. + LDMIA SP!, {R0} + + ; Push all the system mode registers onto the task stack. + STMDB LR, {R0-LR}^ + NOP + SUB LR, LR, #60 + + ; Push the SPSR onto the task stack. + MRS R0, SPSR + STMDB LR!, {R0} + + LDR R0, =ulCriticalNesting + LDR R0, [R0] + STMDB LR!, {R0} + + ; Store the new top of stack for the task. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + STR LR, [R0] + + ENDM + + +portRESTORE_CONTEXT MACRO + + ; Set the LR to the task stack. + LDR R1, =pxCurrentTCB + LDR R0, [R1] + LDR LR, [R0] + + ; The critical nesting depth is the first item on the stack. + ; Load it into the ulCriticalNesting variable. + LDR R0, =ulCriticalNesting + LDMFD LR!, {R1} + STR R1, [R0] + + ; Get the SPSR from the stack. + LDMFD LR!, {R0} + MSR SPSR_cxsf, R0 + + ; Restore all system mode registers for the task. + LDMFD LR, {R0-R14}^ + NOP + + ; Restore the return address. + LDR LR, [LR, #+60] + + ; And return - correcting the offset in the LR to obtain the + ; correct address. + SUBS PC, LR, #4 + + ENDM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/port.c new file mode 100644 index 0000000..59cd0a7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/port.c @@ -0,0 +1,421 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ST STR91x ARM9 + * port. + *----------------------------------------------------------*/ + +/* Library includes. */ +#include "91x_lib.h" + +/* Standard includes. */ +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configUSE_WATCHDOG_TICK + #error configUSE_WATCHDOG_TICK must be set to either 1 or 0 in FreeRTOSConfig.h to use either the Watchdog or timer 2 to generate the tick interrupt respectively. +#endif + +/* Constants required to setup the initial stack. */ +#ifndef _RUN_TASK_IN_ARM_MODE_ + #define portINITIAL_SPSR ( ( StackType_t ) 0x3f ) /* System mode, THUMB mode, interrupts enabled. */ +#else + #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#endif + +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) + +/* Constants required to handle critical sections. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +#ifndef abs + #define abs(x) ((x)>0 ? (x) : -(x)) +#endif + +/** + * Toggle a led using the following algorithm: + * if ( GPIO_ReadBit(GPIO9, GPIO_Pin_2) ) + * { + * GPIO_WriteBit( GPIO9, GPIO_Pin_2, Bit_RESET ); + * } + * else + * { + * GPIO_WriteBit( GPIO9, GPIO_Pin_2, Bit_RESET ); + * } + * + */ +#define TOGGLE_LED(port,pin) \ + if ( ((((port)->DR[(pin)<<2])) & (pin)) != Bit_RESET ) \ + { \ + (port)->DR[(pin) <<2] = 0x00; \ + } \ + else \ + { \ + (port)->DR[(pin) <<2] = (pin); \ + } + + +/*-----------------------------------------------------------*/ + +/* Setup the watchdog to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* ulCriticalNesting will get set to zero when the first task starts. It +cannot be initialised to 0 as this will cause interrupts to be enabled +during the kernel initialisation process. */ +uint32_t ulCriticalNesting = ( uint32_t ) 9999; + +/* Tick interrupt routines for cooperative and preemptive operation +respectively. The preemptive version is not defined as __irq as it is called +from an asm wrapper function. */ +void WDG_IRQHandler( void ); + +/* VIC interrupt default handler. */ +static void prvDefaultHandler( void ); + +#if configUSE_WATCHDOG_TICK == 0 + /* Used to update the OCR timer register */ + static u16 s_nPulseLength; +#endif + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + StackType_t *pxOriginalTOS; + + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. */ + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The status register is set for system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + pxTopOfStack--; + + /* Interrupt flags cannot always be stored on the stack and will + instead be stored in a variable, which is then saved as part of the + tasks context. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +/* This function is called from an asm wrapper, so does not require the __irq +keyword. */ +#if configUSE_WATCHDOG_TICK == 1 + + static void prvFindFactors(u32 n, u16 *a, u32 *b) + { + /* This function is copied from the ST STR7 library and is + copyright STMicroelectronics. Reproduced with permission. */ + + u32 b0; + u16 a0; + int32_t err, err_min=n; + + *a = a0 = ((n-1)/65536ul) + 1; + *b = b0 = n / *a; + + for (; *a <= 256; (*a)++) + { + *b = n / *a; + err = (int32_t)*a * (int32_t)*b - (int32_t)n; + if (abs(err) > (*a / 2)) + { + (*b)++; + err = (int32_t)*a * (int32_t)*b - (int32_t)n; + } + if (abs(err) < abs(err_min)) + { + err_min = err; + a0 = *a; + b0 = *b; + if (err == 0) break; + } + } + + *a = a0; + *b = b0; + } + /*-----------------------------------------------------------*/ + + static void prvSetupTimerInterrupt( void ) + { + WDG_InitTypeDef xWdg; + uint16_t a; + uint32_t n = configCPU_PERIPH_HZ / configTICK_RATE_HZ, b; + + /* Configure the watchdog as a free running timer that generates a + periodic interrupt. */ + + SCU_APBPeriphClockConfig( __WDG, ENABLE ); + WDG_DeInit(); + WDG_StructInit(&xWdg); + prvFindFactors( n, &a, &b ); + xWdg.WDG_Prescaler = a - 1; + xWdg.WDG_Preload = b - 1; + WDG_Init( &xWdg ); + WDG_ITConfig(ENABLE); + + /* Configure the VIC for the WDG interrupt. */ + VIC_Config( WDG_ITLine, VIC_IRQ, 10 ); + VIC_ITCmd( WDG_ITLine, ENABLE ); + + /* Install the default handlers for both VIC's. */ + VIC0->DVAR = ( uint32_t ) prvDefaultHandler; + VIC1->DVAR = ( uint32_t ) prvDefaultHandler; + + WDG_Cmd(ENABLE); + } + /*-----------------------------------------------------------*/ + + void WDG_IRQHandler( void ) + { + { + /* Increment the tick counter. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Select a new task to execute. */ + vTaskSwitchContext(); + } + + /* Clear the interrupt in the watchdog. */ + WDG->SR &= ~0x0001; + } + } + +#else + + static void prvFindFactors(u32 n, u8 *a, u16 *b) + { + /* This function is copied from the ST STR7 library and is + copyright STMicroelectronics. Reproduced with permission. */ + + u16 b0; + u8 a0; + int32_t err, err_min=n; + + + *a = a0 = ((n-1)/256) + 1; + *b = b0 = n / *a; + + for (; *a <= 256; (*a)++) + { + *b = n / *a; + err = (int32_t)*a * (int32_t)*b - (int32_t)n; + if (abs(err) > (*a / 2)) + { + (*b)++; + err = (int32_t)*a * (int32_t)*b - (int32_t)n; + } + if (abs(err) < abs(err_min)) + { + err_min = err; + a0 = *a; + b0 = *b; + if (err == 0) break; + } + } + + *a = a0; + *b = b0; + } + /*-----------------------------------------------------------*/ + + static void prvSetupTimerInterrupt( void ) + { + uint8_t a; + uint16_t b; + uint32_t n = configCPU_PERIPH_HZ / configTICK_RATE_HZ; + + TIM_InitTypeDef timer; + + SCU_APBPeriphClockConfig( __TIM23, ENABLE ); + TIM_DeInit(TIM2); + TIM_StructInit(&timer); + prvFindFactors( n, &a, &b ); + + timer.TIM_Mode = TIM_OCM_CHANNEL_1; + timer.TIM_OC1_Modes = TIM_TIMING; + timer.TIM_Clock_Source = TIM_CLK_APB; + timer.TIM_Clock_Edge = TIM_CLK_EDGE_RISING; + timer.TIM_Prescaler = a-1; + timer.TIM_Pulse_Level_1 = TIM_HIGH; + timer.TIM_Pulse_Length_1 = s_nPulseLength = b-1; + + TIM_Init (TIM2, &timer); + TIM_ITConfig(TIM2, TIM_IT_OC1, ENABLE); + /* Configure the VIC for the WDG interrupt. */ + VIC_Config( TIM2_ITLine, VIC_IRQ, 10 ); + VIC_ITCmd( TIM2_ITLine, ENABLE ); + + /* Install the default handlers for both VIC's. */ + VIC0->DVAR = ( uint32_t ) prvDefaultHandler; + VIC1->DVAR = ( uint32_t ) prvDefaultHandler; + + TIM_CounterCmd(TIM2, TIM_CLEAR); + TIM_CounterCmd(TIM2, TIM_START); + } + /*-----------------------------------------------------------*/ + + void TIM2_IRQHandler( void ) + { + /* Reset the timer counter to avioid overflow. */ + TIM2->OC1R += s_nPulseLength; + + /* Increment the tick counter. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Select a new task to run. */ + vTaskSwitchContext(); + } + + /* Clear the interrupt in the watchdog. */ + TIM2->SR &= ~TIM_FLAG_OC1; + } + +#endif /* USE_WATCHDOG_TICK */ + +/*-----------------------------------------------------------*/ + +__arm __interwork void vPortEnterCritical( void ) +{ + /* Disable interrupts first! */ + portDISABLE_INTERRUPTS(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +__arm __interwork void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + portENABLE_INTERRUPTS(); + } + } +} +/*-----------------------------------------------------------*/ + +static void prvDefaultHandler( void ) +{ +} + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/portasm.s79 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/portasm.s79 new file mode 100644 index 0000000..146d8d7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/portasm.s79 @@ -0,0 +1,60 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + RSEG ICODE:CODE + CODE32 + + EXTERN vTaskSwitchContext + + PUBLIC vPortYieldProcessor + PUBLIC vPortStartFirstTask + +#include "ISR_Support.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is just a matter of restoring the context that +; was created by pxPortInitialiseStack(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask: + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Manual context switch function. This is the SWI hander. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortYieldProcessor: + ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly + ; as if the context was saved during and IRQ + ; handler. + + portSAVE_CONTEXT ; Save the context of the current task... + LDR R0, =vTaskSwitchContext ; before selecting the next task to execute. + MOV lr, pc + BX R0 + portRESTORE_CONTEXT ; Restore the context of the selected task. + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/portmacro.h new file mode 100644 index 0000000..4940934 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/STR91x/portmacro.h @@ -0,0 +1,114 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portYIELD() asm ( "SWI 0" ) +#define portNOP() asm ( "NOP" ) +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +__arm __interwork void vPortEnterCritical( void ); +__arm __interwork void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#define portDISABLE_INTERRUPTS() __disable_interrupt() +#define portENABLE_INTERRUPTS() __enable_interrupt() + + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +#define portEND_SWITCHING_ISR( xSwitchRequired ) \ +{ \ +extern void vTaskSwitchContext( void ); \ + \ + if( xSwitchRequired ) \ + { \ + vTaskSwitchContext(); \ + } \ +} +/*-----------------------------------------------------------*/ + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/ISR_Support.h new file mode 100644 index 0000000..f1f97ee --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/ISR_Support.h @@ -0,0 +1,149 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + EXTERN pxCurrentTCB + EXTERN usCriticalNesting + +#include "FreeRTOSConfig.h" + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Context save and restore macro definitions +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +portSAVE_CONTEXT MACRO + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack +#if configDATA_MODE == 1 ; Using the Tiny data model + prepare {r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30},76,sp ; save general purpose registers + sst.w r19,72[ep] + sst.w r18,68[ep] + sst.w r17,64[ep] + sst.w r16,60[ep] + sst.w r15,56[ep] + sst.w r14,52[ep] + sst.w r13,48[ep] + sst.w r12,44[ep] + sst.w r11,40[ep] + sst.w r10,36[ep] + sst.w r9,32[ep] + sst.w r8,28[ep] + sst.w r7,24[ep] + sst.w r6,20[ep] + sst.w r5,16[ep] + sst.w r4,12[ep] +#else ; Using the Small/Large data model + prepare {r20,r21,r22,r23,r24,r26,r27,r28,r29,r30},72,sp ; save general purpose registers + sst.w r19,68[ep] + sst.w r18,64[ep] + sst.w r17,60[ep] + sst.w r16,56[ep] + sst.w r15,52[ep] + sst.w r14,48[ep] + sst.w r13,44[ep] + sst.w r12,40[ep] + sst.w r11,36[ep] + sst.w r10,32[ep] + sst.w r9,28[ep] + sst.w r8,24[ep] + sst.w r7,20[ep] + sst.w r6,16[ep] + sst.w r5,12[ep] +#endif /* configDATA_MODE */ + sst.w r2,8[ep] + sst.w r1,4[ep] + MOVHI hi1(usCriticalNesting),r0,r1 ; save usCriticalNesting value to stack + ld.w lw1(usCriticalNesting)[r1],r2 + sst.w r2,0[ep] + MOVHI hi1(pxCurrentTCB),r0,r1 ; save SP to top of current TCB + ld.w lw1(pxCurrentTCB)[r1],r2 + st.w sp,0[r2] + ENDM + + +portRESTORE_CONTEXT MACRO + + MOVHI hi1(pxCurrentTCB),r0,r1 ; get Stackpointer address + ld.w lw1(pxCurrentTCB)[r1],sp + MOV sp,r1 + ld.w 0[r1],sp ; load stackpointer + MOV sp,ep ; set stack pointer to element pointer + sld.w 0[ep],r1 ; load usCriticalNesting value from stack + MOVHI hi1(usCriticalNesting),r0,r2 + st.w r1,lw1(usCriticalNesting)[r2] + sld.w 4[ep],r1 ; restore general purpose registers + sld.w 8[ep],r2 +#if configDATA_MODE == 1 ; Using Tiny data model + sld.w 12[ep],r4 + sld.w 16[ep],r5 + sld.w 20[ep],r6 + sld.w 24[ep],r7 + sld.w 28[ep],r8 + sld.w 32[ep],r9 + sld.w 36[ep],r10 + sld.w 40[ep],r11 + sld.w 44[ep],r12 + sld.w 48[ep],r13 + sld.w 52[ep],r14 + sld.w 56[ep],r15 + sld.w 60[ep],r16 + sld.w 64[ep],r17 + sld.w 68[ep],r18 + sld.w 72[ep],r19 + dispose 76,{r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30} +#else ; Using Small/Large data model + sld.w 12[ep],r5 + sld.w 16[ep],r6 + sld.w 20[ep],r7 + sld.w 24[ep],r8 + sld.w 28[ep],r9 + sld.w 32[ep],r10 + sld.w 36[ep],r11 + sld.w 40[ep],r12 + sld.w 44[ep],r13 + sld.w 48[ep],r14 + sld.w 52[ep],r15 + sld.w 56[ep],r16 + sld.w 60[ep],r17 + sld.w 64[ep],r18 + sld.w 68[ep],r19 + dispose 72,{r20,r21,r22,r23,r24,r26,r27,r28,r29,r30} +#endif /* configDATA_MODE */ + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI + + ENDM diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/port.c new file mode 100644 index 0000000..2172f54 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/port.c @@ -0,0 +1,183 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Critical nesting should be initialised to a non zero value so interrupts don't +accidentally get enabled before the scheduler is started. */ +#define portINITIAL_CRITICAL_NESTING (( StackType_t ) 10) + +/* The PSW value assigned to tasks when they start to run for the first time. */ +#define portPSW (( StackType_t ) 0x00000000) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Keeps track of the nesting level of critical sections. */ +volatile StackType_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + +/* Sets up the timer to generate the tick interrupt. */ +static void prvSetupTimerInterrupt( void ); + +/*-----------------------------------------------------------*/ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + *pxTopOfStack = ( StackType_t ) pxCode; /* Task function start address */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* Task function start address */ + pxTopOfStack--; + *pxTopOfStack = portPSW; /* Initial PSW value */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20202020; /* Initial Value of R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21212121; /* Initial Value of R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22222222; /* Initial Value of R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23232323; /* Initial Value of R23 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x24242424; /* Initial Value of R24 */ + pxTopOfStack--; +#if (__DATA_MODEL__ == 0) || (__DATA_MODEL__ == 1) + *pxTopOfStack = ( StackType_t ) 0x25252525; /* Initial Value of R25 */ + pxTopOfStack--; +#endif /* configDATA_MODE */ + *pxTopOfStack = ( StackType_t ) 0x26262626; /* Initial Value of R26 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27272727; /* Initial Value of R27 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x28282828; /* Initial Value of R28 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x29292929; /* Initial Value of R29 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x30303030; /* Initial Value of R30 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19191919; /* Initial Value of R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x18181818; /* Initial Value of R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x17171717; /* Initial Value of R17 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x16161616; /* Initial Value of R16 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15151515; /* Initial Value of R15 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14141414; /* Initial Value of R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13131313; /* Initial Value of R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* Initial Value of R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* Initial Value of R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* Initial Value of R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x99999999; /* Initial Value of R09 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x88888888; /* Initial Value of R08 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x77777777; /* Initial Value of R07 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x66666666; /* Initial Value of R06 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x55555555; /* Initial Value of R05 */ + pxTopOfStack--; +#if __DATA_MODEL__ == 0 || __DATA_MODEL__ == 1 + *pxTopOfStack = ( StackType_t ) 0x44444444; /* Initial Value of R04 */ + pxTopOfStack--; +#endif /* configDATA_MODE */ + *pxTopOfStack = ( StackType_t ) 0x22222222; /* Initial Value of R02 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 is expected to hold the function parameter*/ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* + * Return a pointer to the top of the stack we have generated so this can + * be stored in the task control block for the task. + */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. Interrupts are disabled when + this function is called. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + vPortStart(); + + /* Should not get here as the tasks are now running! */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the V850ES/Fx3 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. This uses + */ +static void prvSetupTimerInterrupt( void ) +{ + TM0CE = 0; /* TMM0 operation disable */ + TM0EQMK0 = 1; /* INTTM0EQ0 interrupt disable */ + TM0EQIF0 = 0; /* clear INTTM0EQ0 interrupt flag */ + + #ifdef __IAR_V850ES_Fx3__ + { + TM0CMP0 = (((configCPU_CLOCK_HZ / configTICK_RATE_HZ) / 2)-1); /* divided by 2 because peripherals only run at CPU_CLOCK/2 */ + } + #else + { + TM0CMP0 = (configCPU_CLOCK_HZ / configTICK_RATE_HZ); + } + #endif + + TM0EQIC0 &= 0xF8; + TM0CTL0 = 0x00; + TM0EQIF0 = 0; /* clear INTTM0EQ0 interrupt flag */ + TM0EQMK0 = 0; /* INTTM0EQ0 interrupt enable */ + TM0CE = 1; /* TMM0 operation enable */ +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm.s85 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm.s85 new file mode 100644 index 0000000..aca09de --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm.s85 @@ -0,0 +1,315 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ +; Note: Select the correct include files for the device used by the application. +#include "FreeRTOSConfig.h" +;------------------------------------------------------------------------------ + +; Functions used by scheduler +;------------------------------------------------------------------------------ + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + +; Variables used by scheduler +;------------------------------------------------------------------------------ + EXTERN pxCurrentTCB + EXTERN usCriticalNesting + +; Functions implemented in this file +;------------------------------------------------------------------------------ + PUBLIC vPortYield + PUBLIC vPortStart + +; Security ID definition +;------------------------------------------------------------------------------ +#define CG_SECURITY0 0FFH +#define CG_SECURITY1 0FFH +#define CG_SECURITY2 0FFH +#define CG_SECURITY3 0FFH +#define CG_SECURITY4 0FFH +#define CG_SECURITY5 0FFH +#define CG_SECURITY6 0FFH +#define CG_SECURITY7 0FFH +#define CG_SECURITY8 0FFH +#define CG_SECURITY9 0FFH + +; Tick ISR Prototype +;------------------------------------------------------------------------------ + PUBWEAK `??MD_INTTM0EQ0??INTVEC 640` + PUBLIC MD_INTTM0EQ0 + +MD_INTTM0EQ0 SYMBOL "MD_INTTM0EQ0" +`??MD_INTTM0EQ0??INTVEC 640` SYMBOL "??INTVEC 640", MD_INTTM0EQ0 + +;------------------------------------------------------------------------------ +; portSAVE_CONTEXT MACRO +; Saves the context of the remaining general purpose registers +; and the usCriticalNesting Value of the active Task onto the task stack +; saves stack pointer to the TCB +;------------------------------------------------------------------------------ +portSAVE_CONTEXT MACRO +#if configDATA_MODE == 1 ; Using the Tiny data model + prepare {r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30},76,sp ; save general purpose registers + sst.w r19,72[ep] + sst.w r18,68[ep] + sst.w r17,64[ep] + sst.w r16,60[ep] + sst.w r15,56[ep] + sst.w r14,52[ep] + sst.w r13,48[ep] + sst.w r12,44[ep] + sst.w r11,40[ep] + sst.w r10,36[ep] + sst.w r9,32[ep] + sst.w r8,28[ep] + sst.w r7,24[ep] + sst.w r6,20[ep] + sst.w r5,16[ep] + sst.w r4,12[ep] +#else ; Using the Small/Large data model + prepare {r20,r21,r22,r23,r24,r26,r27,r28,r29,r30},72,sp ; save general purpose registers + sst.w r19,68[ep] + sst.w r18,64[ep] + sst.w r17,60[ep] + sst.w r16,56[ep] + sst.w r15,52[ep] + sst.w r14,48[ep] + sst.w r13,44[ep] + sst.w r12,40[ep] + sst.w r11,36[ep] + sst.w r10,32[ep] + sst.w r9,28[ep] + sst.w r8,24[ep] + sst.w r7,20[ep] + sst.w r6,16[ep] + sst.w r5,12[ep] +#endif /* configDATA_MODE */ + sst.w r2,8[ep] + sst.w r1,4[ep] + MOVHI hi1(usCriticalNesting),r0,r1 ; save usCriticalNesting value to stack + ld.w lw1(usCriticalNesting)[r1],r2 + sst.w r2,0[ep] + MOVHI hi1(pxCurrentTCB),r0,r1 ; save SP to top of current TCB + ld.w lw1(pxCurrentTCB)[r1],r2 + st.w sp,0[r2] + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; portRESTORE_CONTEXT MACRO +; Gets stack pointer from the current TCB +; Restores the context of the usCriticalNesting value and general purpose +; registers of the selected task from the task stack +;------------------------------------------------------------------------------ +portRESTORE_CONTEXT MACRO + MOVHI hi1(pxCurrentTCB),r0,r1 ; get Stackpointer address + ld.w lw1(pxCurrentTCB)[r1],sp + MOV sp,r1 + ld.w 0[r1],sp ; load stackpointer + MOV sp,ep ; set stack pointer to element pointer + sld.w 0[ep],r1 ; load usCriticalNesting value from stack + MOVHI hi1(usCriticalNesting),r0,r2 + st.w r1,lw1(usCriticalNesting)[r2] + sld.w 4[ep],r1 ; restore general purpose registers + sld.w 8[ep],r2 +#if configDATA_MODE == 1 ; Using Tiny data model + sld.w 12[ep],r4 + sld.w 16[ep],r5 + sld.w 20[ep],r6 + sld.w 24[ep],r7 + sld.w 28[ep],r8 + sld.w 32[ep],r9 + sld.w 36[ep],r10 + sld.w 40[ep],r11 + sld.w 44[ep],r12 + sld.w 48[ep],r13 + sld.w 52[ep],r14 + sld.w 56[ep],r15 + sld.w 60[ep],r16 + sld.w 64[ep],r17 + sld.w 68[ep],r18 + sld.w 72[ep],r19 + dispose 76,{r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30} +#else ; Using Small/Large data model + sld.w 12[ep],r5 + sld.w 16[ep],r6 + sld.w 20[ep],r7 + sld.w 24[ep],r8 + sld.w 28[ep],r9 + sld.w 32[ep],r10 + sld.w 36[ep],r11 + sld.w 40[ep],r12 + sld.w 44[ep],r13 + sld.w 48[ep],r14 + sld.w 52[ep],r15 + sld.w 56[ep],r16 + sld.w 60[ep],r17 + sld.w 64[ep],r18 + sld.w 68[ep],r19 + dispose 72,{r20,r21,r22,r23,r24,r26,r27,r28,r29,r30} +#endif /* configDATA_MODE */ + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Restore the context of the first task that is going to run. +; +; Input: NONE +; +; Call: CALL vPortStart +; +; Output: NONE +;------------------------------------------------------------------------------ + RSEG CODE:CODE +vPortStart: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ld.w 0[sp],lp + ldsr lp,5 ; restore PSW + DI + ld.w 4[sp],lp ; restore LP + ld.w 8[sp],lp ; restore LP + ADD 0x0C,sp ; set SP to right position + EI + jmp [lp] +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Port Yield function to check for a Task switch in the cooperative and +; preemptive mode +; +; Input: NONE +; +; Call: CALL vPortYield +; +; Output: NONE +;------------------------------------------------------------------------------ + + RSEG CODE:CODE +vPortYield: + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack + portSAVE_CONTEXT ; Save the context of the current task. + jarl vTaskSwitchContext,lp ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ; ... scheduler decided should run. + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI + +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Perform the necessary steps of the Tick Count Increment and Task Switch +; depending on the chosen kernel configuration +; +; Input: NONE +; +; Call: ISR +; +; Output: NONE +;------------------------------------------------------------------------------ +#if configUSE_PREEMPTION == 1 ; use preemptive kernel mode + +MD_INTTM0EQ0: + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack + portSAVE_CONTEXT ; Save the context of the current task. + jarl xTaskIncrementTick,lp ; Call the timer tick function. + jarl vTaskSwitchContext,lp ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ; ... scheduler decided should run. + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI +;------------------------------------------------------------------------------ +#else ; use cooperative kernel mode + +MD_INTTM0EQ0: + prepare {lp,ep},8,sp + sst.w r1,4[ep] + sst.w r5,0[ep] + jarl xTaskIncrementTick,lp ; Call the timer tick function. + sld.w 0[ep],r5 + sld.w 4[ep],r1 + dispose 8,{lp,ep} + RETI +#endif /* configUSE_PREEMPTION */ + +;------------------------------------------------------------------------------ + COMMON INTVEC:CODE:ROOT(2) + ORG 640 +`??MD_INTTM0EQ0??INTVEC 640`: + JR MD_INTTM0EQ0 + + RSEG NEAR_ID:CONST:SORT:NOROOT(2) +`?`: + DW 10 + + COMMON INTVEC:CODE:ROOT(2) + ORG 40H +`??vPortYield??INTVEC 40`: + JR vPortYield + +;------------------------------------------------------------------------------ +; set microcontroller security ID + + COMMON INTVEC:CODE:ROOT(2) + ORG 70H +`SECUID`: + DB CG_SECURITY0 + DB CG_SECURITY1 + DB CG_SECURITY2 + DB CG_SECURITY3 + DB CG_SECURITY4 + DB CG_SECURITY5 + DB CG_SECURITY6 + DB CG_SECURITY7 + DB CG_SECURITY8 + DB CG_SECURITY9 + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm_Fx3.s85 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm_Fx3.s85 new file mode 100644 index 0000000..f8cd6f2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm_Fx3.s85 @@ -0,0 +1,335 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ +; Note: Select the correct include files for the device used by the application. +#include "FreeRTOSConfig.h" +;------------------------------------------------------------------------------ + +; Functions used by scheduler +;------------------------------------------------------------------------------ + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + +; Variables used by scheduler +;------------------------------------------------------------------------------ + EXTERN pxCurrentTCB + EXTERN usCriticalNesting + +; Functions implemented in this file +;------------------------------------------------------------------------------ + PUBLIC vPortYield + PUBLIC vPortStart + +; Security ID definition +;------------------------------------------------------------------------------ +#define CG_SECURITY0 0FFH +#define CG_SECURITY1 0FFH +#define CG_SECURITY2 0FFH +#define CG_SECURITY3 0FFH +#define CG_SECURITY4 0FFH +#define CG_SECURITY5 0FFH +#define CG_SECURITY6 0FFH +#define CG_SECURITY7 0FFH +#define CG_SECURITY8 0FFH +#define CG_SECURITY9 0FFH + +; Option Byte definitions +;------------------------------------------------------------------------------ +#define CG_OPTION7A 0x00 +#define CG_OPTION7B 0x04 +#define OPT7C 0x00 +#define OPT7D 0x00 +#define OPT7E 0x00 +#define OPT7F 0x00 + +; Tick ISR Prototype +;------------------------------------------------------------------------------ + PUBWEAK `??MD_INTTM0EQ0??INTVEC 608` + PUBLIC MD_INTTM0EQ0 + +MD_INTTM0EQ0 SYMBOL "MD_INTTM0EQ0" +`??MD_INTTM0EQ0??INTVEC 608` SYMBOL "??INTVEC 608", MD_INTTM0EQ0 + +;------------------------------------------------------------------------------ +; portSAVE_CONTEXT MACRO +; Saves the context of the remaining general purpose registers +; and the usCriticalNesting Value of the active Task onto the task stack +; saves stack pointer to the TCB +;------------------------------------------------------------------------------ +portSAVE_CONTEXT MACRO +#if configDATA_MODE == 1 ; Using the Tiny data model + prepare {r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30},76,sp ; save general purpose registers + sst.w r19,72[ep] + sst.w r18,68[ep] + sst.w r17,64[ep] + sst.w r16,60[ep] + sst.w r15,56[ep] + sst.w r14,52[ep] + sst.w r13,48[ep] + sst.w r12,44[ep] + sst.w r11,40[ep] + sst.w r10,36[ep] + sst.w r9,32[ep] + sst.w r8,28[ep] + sst.w r7,24[ep] + sst.w r6,20[ep] + sst.w r5,16[ep] + sst.w r4,12[ep] +#else ; Using the Small/Large data model + prepare {r20,r21,r22,r23,r24,r26,r27,r28,r29,r30},72,sp ; save general purpose registers + sst.w r19,68[ep] + sst.w r18,64[ep] + sst.w r17,60[ep] + sst.w r16,56[ep] + sst.w r15,52[ep] + sst.w r14,48[ep] + sst.w r13,44[ep] + sst.w r12,40[ep] + sst.w r11,36[ep] + sst.w r10,32[ep] + sst.w r9,28[ep] + sst.w r8,24[ep] + sst.w r7,20[ep] + sst.w r6,16[ep] + sst.w r5,12[ep] +#endif /* configDATA_MODE */ + sst.w r2,8[ep] + sst.w r1,4[ep] + MOVHI hi1(usCriticalNesting),r0,r1 ; save usCriticalNesting value to stack + ld.w lw1(usCriticalNesting)[r1],r2 + sst.w r2,0[ep] + MOVHI hi1(pxCurrentTCB),r0,r1 ; save SP to top of current TCB + ld.w lw1(pxCurrentTCB)[r1],r2 + st.w sp,0[r2] + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; portRESTORE_CONTEXT MACRO +; Gets stack pointer from the current TCB +; Restores the context of the usCriticalNesting value and general purpose +; registers of the selected task from the task stack +;------------------------------------------------------------------------------ +portRESTORE_CONTEXT MACRO + MOVHI hi1(pxCurrentTCB),r0,r1 ; get Stackpointer address + ld.w lw1(pxCurrentTCB)[r1],sp + MOV sp,r1 + ld.w 0[r1],sp ; load stackpointer + MOV sp,ep ; set stack pointer to element pointer + sld.w 0[ep],r1 ; load usCriticalNesting value from stack + MOVHI hi1(usCriticalNesting),r0,r2 + st.w r1,lw1(usCriticalNesting)[r2] + sld.w 4[ep],r1 ; restore general purpose registers + sld.w 8[ep],r2 +#if configDATA_MODE == 1 ; Using Tiny data model + sld.w 12[ep],r4 + sld.w 16[ep],r5 + sld.w 20[ep],r6 + sld.w 24[ep],r7 + sld.w 28[ep],r8 + sld.w 32[ep],r9 + sld.w 36[ep],r10 + sld.w 40[ep],r11 + sld.w 44[ep],r12 + sld.w 48[ep],r13 + sld.w 52[ep],r14 + sld.w 56[ep],r15 + sld.w 60[ep],r16 + sld.w 64[ep],r17 + sld.w 68[ep],r18 + sld.w 72[ep],r19 + dispose 76,{r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30} +#else ; Using Small/Large data model + sld.w 12[ep],r5 + sld.w 16[ep],r6 + sld.w 20[ep],r7 + sld.w 24[ep],r8 + sld.w 28[ep],r9 + sld.w 32[ep],r10 + sld.w 36[ep],r11 + sld.w 40[ep],r12 + sld.w 44[ep],r13 + sld.w 48[ep],r14 + sld.w 52[ep],r15 + sld.w 56[ep],r16 + sld.w 60[ep],r17 + sld.w 64[ep],r18 + sld.w 68[ep],r19 + dispose 72,{r20,r21,r22,r23,r24,r26,r27,r28,r29,r30} +#endif /* configDATA_MODE */ + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Restore the context of the first task that is going to run. +; +; Input: NONE +; +; Call: CALL vPortStart +; +; Output: NONE +;------------------------------------------------------------------------------ + RSEG CODE:CODE +vPortStart: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ld.w 0[sp],lp + ldsr lp,5 ; restore PSW + DI + ld.w 4[sp],lp ; restore LP + ld.w 8[sp],lp ; restore LP + ADD 0x0C,sp ; set SP to right position + EI + jmp [lp] +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Port Yield function to check for a Task switch in the cooperative and +; preemptive mode +; +; Input: NONE +; +; Call: CALL vPortYield +; +; Output: NONE +;------------------------------------------------------------------------------ + + RSEG CODE:CODE +vPortYield: + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack + portSAVE_CONTEXT ; Save the context of the current task. + jarl vTaskSwitchContext,lp ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ; ... scheduler decided should run. + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI + +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Perform the necessary steps of the Tick Count Increment and Task Switch +; depending on the chosen kernel configuration +; +; Input: NONE +; +; Call: ISR +; +; Output: NONE +;------------------------------------------------------------------------------ +#if configUSE_PREEMPTION == 1 ; use preemptive kernel mode + +MD_INTTM0EQ0: + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack + portSAVE_CONTEXT ; Save the context of the current task. + jarl xTaskIncrementTick,lp ; Call the timer tick function. + jarl vTaskSwitchContext,lp ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ; ... scheduler decided should run. + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI +;------------------------------------------------------------------------------ +#else ; use cooperative kernel mode + +MD_INTTM0EQ0: + prepare {lp,ep},8,sp + sst.w r1,4[ep] + sst.w r5,0[ep] + jarl xTaskIncrementTick,lp ; Call the timer tick function. + sld.w 0[ep],r5 + sld.w 4[ep],r1 + dispose 8,{lp,ep} + RETI +#endif /* configUSE_PREEMPTION */ + +;------------------------------------------------------------------------------ + COMMON INTVEC:CODE:ROOT(2) + ORG 608 +`??MD_INTTM0EQ0??INTVEC 608`: + JR MD_INTTM0EQ0 + + RSEG NEAR_ID:CONST:SORT:NOROOT(2) +`?`: + DW 10 + + COMMON INTVEC:CODE:ROOT(2) + ORG 40H +`??vPortYield??INTVEC 40`: + JR vPortYield + +;------------------------------------------------------------------------------ +; set microcontroller security ID + + COMMON INTVEC:CODE:ROOT(2) + ORG 70H +`SECUID`: + DB CG_SECURITY0 + DB CG_SECURITY1 + DB CG_SECURITY2 + DB CG_SECURITY3 + DB CG_SECURITY4 + DB CG_SECURITY5 + DB CG_SECURITY6 + DB CG_SECURITY7 + DB CG_SECURITY8 + DB CG_SECURITY9 + +;------------------------------------------------------------------------------ +; set microcontroller option bytes + + COMMON INTVEC:CODE:ROOT(2) + ORG 7AH +`OPTBYTES`: + DB CG_OPTION7A + DB CG_OPTION7B + DB OPT7C + DB OPT7D + DB OPT7E + DB OPT7F + + END \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm_Hx2.s85 b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm_Hx2.s85 new file mode 100644 index 0000000..cc831bb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portasm_Hx2.s85 @@ -0,0 +1,350 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ +; Note: Select the correct include files for the device used by the application. +#include "FreeRTOSConfig.h" +;------------------------------------------------------------------------------ + +; Functions used by scheduler +;------------------------------------------------------------------------------ + EXTERN vTaskSwitchContext + EXTERN xTaskIncrementTick + +; Variables used by scheduler +;------------------------------------------------------------------------------ + EXTERN pxCurrentTCB + EXTERN usCriticalNesting + +; Functions implemented in this file +;------------------------------------------------------------------------------ + PUBLIC vPortYield + PUBLIC vPortStart + +; Security ID definition +;------------------------------------------------------------------------------ +#define CG_SECURITY0 0FFH +#define CG_SECURITY1 0FFH +#define CG_SECURITY2 0FFH +#define CG_SECURITY3 0FFH +#define CG_SECURITY4 0FFH +#define CG_SECURITY5 0FFH +#define CG_SECURITY6 0FFH +#define CG_SECURITY7 0FFH +#define CG_SECURITY8 0FFH +#define CG_SECURITY9 0FFH + +; Tick ISR Prototype +;------------------------------------------------------------------------------ + PUBWEAK `??MD_INTTM0EQ0??INTVEC 544` + PUBLIC MD_INTTM0EQ0 + +MD_INTTM0EQ0 SYMBOL "MD_INTTM0EQ0" +`??MD_INTTM0EQ0??INTVEC 544` SYMBOL "??INTVEC 544", MD_INTTM0EQ0 + +;------------------------------------------------------------------------------ +; portSAVE_CONTEXT MACRO +; Saves the context of the remaining general purpose registers +; and the usCriticalNesting Value of the active Task onto the task stack +; saves stack pointer to the TCB +;------------------------------------------------------------------------------ +portSAVE_CONTEXT MACRO +#if configDATA_MODE == 1 ; Using the Tiny data model + prepare {r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30},76,sp ; save general purpose registers + sst.w r19,72[ep] + sst.w r18,68[ep] + sst.w r17,64[ep] + sst.w r16,60[ep] + sst.w r15,56[ep] + sst.w r14,52[ep] + sst.w r13,48[ep] + sst.w r12,44[ep] + sst.w r11,40[ep] + sst.w r10,36[ep] + sst.w r9,32[ep] + sst.w r8,28[ep] + sst.w r7,24[ep] + sst.w r6,20[ep] + sst.w r5,16[ep] + sst.w r4,12[ep] +#else ; Using the Small/Large data model + prepare {r20,r21,r22,r23,r24,r26,r27,r28,r29,r30},72,sp ; save general purpose registers + sst.w r19,68[ep] + sst.w r18,64[ep] + sst.w r17,60[ep] + sst.w r16,56[ep] + sst.w r15,52[ep] + sst.w r14,48[ep] + sst.w r13,44[ep] + sst.w r12,40[ep] + sst.w r11,36[ep] + sst.w r10,32[ep] + sst.w r9,28[ep] + sst.w r8,24[ep] + sst.w r7,20[ep] + sst.w r6,16[ep] + sst.w r5,12[ep] +#endif /* configDATA_MODE */ + sst.w r2,8[ep] + sst.w r1,4[ep] + MOVHI hi1(usCriticalNesting),r0,r1 ; save usCriticalNesting value to stack + ld.w lw1(usCriticalNesting)[r1],r2 + sst.w r2,0[ep] + MOVHI hi1(pxCurrentTCB),r0,r1 ; save SP to top of current TCB + ld.w lw1(pxCurrentTCB)[r1],r2 + st.w sp,0[r2] + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; portRESTORE_CONTEXT MACRO +; Gets stack pointer from the current TCB +; Restores the context of the usCriticalNesting value and general purpose +; registers of the selected task from the task stack +;------------------------------------------------------------------------------ +portRESTORE_CONTEXT MACRO + MOVHI hi1(pxCurrentTCB),r0,r1 ; get Stackpointer address + ld.w lw1(pxCurrentTCB)[r1],sp + MOV sp,r1 + ld.w 0[r1],sp ; load stackpointer + MOV sp,ep ; set stack pointer to element pointer + sld.w 0[ep],r1 ; load usCriticalNesting value from stack + MOVHI hi1(usCriticalNesting),r0,r2 + st.w r1,lw1(usCriticalNesting)[r2] + sld.w 4[ep],r1 ; restore general purpose registers + sld.w 8[ep],r2 +#if configDATA_MODE == 1 ; Using Tiny data model + sld.w 12[ep],r4 + sld.w 16[ep],r5 + sld.w 20[ep],r6 + sld.w 24[ep],r7 + sld.w 28[ep],r8 + sld.w 32[ep],r9 + sld.w 36[ep],r10 + sld.w 40[ep],r11 + sld.w 44[ep],r12 + sld.w 48[ep],r13 + sld.w 52[ep],r14 + sld.w 56[ep],r15 + sld.w 60[ep],r16 + sld.w 64[ep],r17 + sld.w 68[ep],r18 + sld.w 72[ep],r19 + dispose 76,{r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30} +#else ; Using Small/Large data model + sld.w 12[ep],r5 + sld.w 16[ep],r6 + sld.w 20[ep],r7 + sld.w 24[ep],r8 + sld.w 28[ep],r9 + sld.w 32[ep],r10 + sld.w 36[ep],r11 + sld.w 40[ep],r12 + sld.w 44[ep],r13 + sld.w 48[ep],r14 + sld.w 52[ep],r15 + sld.w 56[ep],r16 + sld.w 60[ep],r17 + sld.w 64[ep],r18 + sld.w 68[ep],r19 + dispose 72,{r20,r21,r22,r23,r24,r26,r27,r28,r29,r30} +#endif /* configDATA_MODE */ + ENDM +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Restore the context of the first task that is going to run. +; +; Input: NONE +; +; Call: CALL vPortStart +; +; Output: NONE +;------------------------------------------------------------------------------ + RSEG CODE:CODE +vPortStart: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ld.w 0[sp],lp + ldsr lp,5 ; restore PSW + DI + ld.w 4[sp],lp ; restore LP + ld.w 8[sp],lp ; restore LP + ADD 0x0C,sp ; set SP to right position + EI + jmp [lp] +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Port Yield function to check for a Task switch in the cooperative and +; preemptive mode +; +; Input: NONE +; +; Call: CALL vPortYield +; +; Output: NONE +;------------------------------------------------------------------------------ + + RSEG CODE:CODE +vPortYield: + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack + portSAVE_CONTEXT ; Save the context of the current task. + jarl vTaskSwitchContext,lp ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ; ... scheduler decided should run. + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI + +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Perform the necessary steps of the Tick Count Increment and Task Switch +; depending on the chosen kernel configuration +; +; Input: NONE +; +; Call: ISR +; +; Output: NONE +;------------------------------------------------------------------------------ +#if configUSE_PREEMPTION == 1 ; use preemptive kernel mode + +MD_INTTM0EQ0: + + add -0x0C,sp ; prepare stack to save necessary values + st.w lp,8[sp] ; store LP to stack + stsr 0,r31 + st.w lp,4[sp] ; store EIPC to stack + stsr 1,lp + st.w lp,0[sp] ; store EIPSW to stack + portSAVE_CONTEXT ; Save the context of the current task. + jarl xTaskIncrementTick,lp ; Call the timer tick function. + jarl vTaskSwitchContext,lp ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ; ... scheduler decided should run. + ld.w 0[sp],lp ; restore EIPSW from stack + ldsr lp,1 + ld.w 4[sp],lp ; restore EIPC from stack + ldsr lp,0 + ld.w 8[sp],lp ; restore LP from stack + add 0x0C,sp ; set SP to right position + + RETI +;------------------------------------------------------------------------------ +#else ; use cooperative kernel mode + +MD_INTTM0EQ0: + prepare {lp,ep},8,sp + sst.w r1,4[ep] + sst.w r5,0[ep] + jarl xTaskIncrementTick,lp ; Call the timer tick function. + sld.w 0[ep],r5 + sld.w 4[ep],r1 + dispose 8,{lp,ep} + RETI +#endif /* configUSE_PREEMPTION */ + +;------------------------------------------------------------------------------ + COMMON INTVEC:CODE:ROOT(2) + ORG 544 +`??MD_INTTM0EQ0??INTVEC 544`: + JR MD_INTTM0EQ0 + + RSEG NEAR_ID:CONST:SORT:NOROOT(2) +`?`: + DW 10 + + COMMON INTVEC:CODE:ROOT(2) + ORG 40H +`??vPortYield??INTVEC 40`: + JR vPortYield + +;------------------------------------------------------------------------------ +; set microcontroller security ID + + COMMON INTVEC:CODE:ROOT(2) + ORG 70H +`SECUID`: + DB CG_SECURITY0 + DB CG_SECURITY1 + DB CG_SECURITY2 + DB CG_SECURITY3 + DB CG_SECURITY4 + DB CG_SECURITY5 + DB CG_SECURITY6 + DB CG_SECURITY7 + DB CG_SECURITY8 + DB CG_SECURITY9 + + +; set microcontroller Option bytes + + COMMON INTVEC:CODE:ROOT(2) + ORG 122 +`OPTBYTES`: + DB 0xFD + DB 0xFF + DB 0xFF + DB 0xFF + DB 0xFF + DB 0xFF + +#if configOCD_USAGE == 1 + + COMMON INTVEC:CODE:ROOT(4) + ORG 0x230 + PUBLIC ROM_INT2 +ROM_INT2: + DB 0xff, 0xff, 0xff, 0xff + DB 0xff, 0xff, 0xff, 0xff + DB 0xff, 0xff, 0xff, 0xff + DB 0xff, 0xff, 0xff, 0xff + + + COMMON INTVEC:CODE:ROOT(4) + ORG 0x60 + PUBLIC ROM_INT +ROM_INT: + DB 0xff, 0xff, 0xff, 0xff + DB 0xff, 0xff, 0xff, 0xff + DB 0xff, 0xff, 0xff, 0xff + DB 0xff, 0xff, 0xff, 0xff + +#endif /* configOCD_USAGE */ + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portmacro.h new file mode 100644 index 0000000..8f808c6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/IAR/V850ES/portmacro.h @@ -0,0 +1,135 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE unsigned int +#define portBASE_TYPE int + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if (configUSE_16_BIT_TICKS==1) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() __asm ( "DI" ) +#define portENABLE_INTERRUPTS() __asm ( "EI" ) +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( UBaseType_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile /*uint16_t*/ portSTACK_TYPE usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled ulCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile /*uint16_t*/ portSTACK_TYPE usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +extern void vPortYield( void ); +extern void vPortStart( void ); +extern void portSAVE_CONTEXT( void ); +extern void portRESTORE_CONTEXT( void ); +#define portYIELD() __asm ( "trap 0" ) +#define portNOP() __asm ( "NOP" ) +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken ) vTaskSwitchContext() + +/*-----------------------------------------------------------*/ + +/* Hardwware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Keil/See-also-the-RVDS-directory.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Keil/See-also-the-RVDS-directory.txt new file mode 100644 index 0000000..bd7fab7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Keil/See-also-the-RVDS-directory.txt @@ -0,0 +1 @@ +Nothing to see here. \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/port.c new file mode 100644 index 0000000..b255007 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/port.c @@ -0,0 +1,615 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes between V1.2.4 and V1.2.5 + + + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global + interrupt flag setting. Using the two bits defined within + portINITAL_INTERRUPT_STATE was causing the w register to get clobbered + before the test was performed. + +Changes from V1.2.5 + + + Set the interrupt vector address to 0x08. Previously it was at the + incorrect address for compatibility mode of 0x18. + +Changes from V2.1.1 + + + PCLATU and PCLATH are now saved as part of the context. This allows + function pointers to be used within tasks. Thanks to Javier Espeche + for the enhancement. + +Changes from V2.3.1 + + + TABLAT is now saved as part of the task context. + +Changes from V3.2.0 + + + TBLPTRU is now initialised to zero as the MPLAB compiler expects this + value and does not write to the register. +*/ + +/* Scheduler include files. */ +#include "FreeRTOS.h" +#include "task.h" + +/* MPLAB library include file. */ +#include "timers.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PIC port. + *----------------------------------------------------------*/ + +/* Hardware setup for tick. */ +#define portTIMER_FOSC_SCALE ( ( uint32_t ) 4 ) + +/* Initial interrupt enable state for newly created tasks. This value is +copied into INTCON when a task switches in for the first time. */ +#define portINITAL_INTERRUPT_STATE 0xc0 + +/* Just the bit within INTCON for the global interrupt flag. */ +#define portGLOBAL_INTERRUPT_FLAG 0x80 + +/* Constant used for context switch macro when we require the interrupt +enable state to be unchanged when the interrupted task is switched back in. */ +#define portINTERRUPTS_UNCHANGED 0x00 + +/* Some memory areas get saved as part of the task context. These memory +area's get used by the compiler for temporary storage, especially when +performing mathematical operations, or when using 32bit data types. This +constant defines the size of memory area which must be saved. */ +#define portCOMPILER_MANAGED_MEMORY_SIZE ( ( uint8_t ) 0x13 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* IO port constants. */ +#define portBIT_SET ( ( uint8_t ) 1 ) +#define portBIT_CLEAR ( ( uint8_t ) 0 ) + +/* + * The serial port ISR's are defined in serial.c, but are called from portable + * as they use the same vector as the tick ISR. + */ +void vSerialTxISR( void ); +void vSerialRxISR( void ); + +/* + * Perform hardware setup to enable ticks. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * ISR to maintain the tick, and perform tick context switches if the + * preemptive scheduler is being used. + */ +static void prvTickISR( void ); + +/* + * ISR placed on the low priority vector. This calls the appropriate ISR for + * the actual interrupt. + */ +static void prvLowInterrupt( void ); + +/* + * Macro that pushes all the registers that make up the context of a task onto + * the stack, then saves the new top of stack into the TCB. + * + * If this is called from an ISR then the interrupt enable bits must have been + * set for the ISR to ever get called. Therefore we want to save the INTCON + * register with the enable bits forced to be set - and ucForcedInterruptFlags + * must contain these bit settings. This means the interrupts will again be + * enabled when the interrupted task is switched back in. + * + * If this is called from a manual context switch (i.e. from a call to yield), + * then we want to save the INTCON so it is restored with its current state, + * and ucForcedInterruptFlags must be 0. This allows a yield from within + * a critical section. + * + * The compiler uses some locations at the bottom of the memory for temporary + * storage during math and other computations. This is especially true if + * 32bit data types are utilised (as they are by the scheduler). The .tmpdata + * and MATH_DATA sections have to be stored in there entirety as part of a task + * context. This macro stores from data address 0x00 to + * portCOMPILER_MANAGED_MEMORY_SIZE. This is sufficient for the demo + * applications but you should check the map file for your project to ensure + * this is sufficient for your needs. It is not clear whether this size is + * fixed for all compilations or has the potential to be program specific. + */ +#define portSAVE_CONTEXT( ucForcedInterruptFlags ) \ +{ \ + _asm \ + /* Save the status and WREG registers first, as these will get modified \ + by the operations below. */ \ + MOVFF WREG, PREINC1 \ + MOVFF STATUS, PREINC1 \ + /* Save the INTCON register with the appropriate bits forced if \ + necessary - as described above. */ \ + MOVFF INTCON, WREG \ + IORLW ucForcedInterruptFlags \ + MOVFF WREG, PREINC1 \ + _endasm \ + \ + portDISABLE_INTERRUPTS(); \ + \ + _asm \ + /* Store the necessary registers to the stack. */ \ + MOVFF BSR, PREINC1 \ + MOVFF FSR2L, PREINC1 \ + MOVFF FSR2H, PREINC1 \ + MOVFF FSR0L, PREINC1 \ + MOVFF FSR0H, PREINC1 \ + MOVFF TABLAT, PREINC1 \ + MOVFF TBLPTRU, PREINC1 \ + MOVFF TBLPTRH, PREINC1 \ + MOVFF TBLPTRL, PREINC1 \ + MOVFF PRODH, PREINC1 \ + MOVFF PRODL, PREINC1 \ + MOVFF PCLATU, PREINC1 \ + MOVFF PCLATH, PREINC1 \ + /* Store the .tempdata and MATH_DATA areas as described above. */ \ + CLRF FSR0L, 0 \ + CLRF FSR0H, 0 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF POSTINC0, PREINC1 \ + MOVFF INDF0, PREINC1 \ + MOVFF FSR0L, PREINC1 \ + MOVFF FSR0H, PREINC1 \ + /* Store the hardware stack pointer in a temp register before we \ + modify it. */ \ + MOVFF STKPTR, FSR0L \ + _endasm \ + \ + /* Store each address from the hardware stack. */ \ + while( STKPTR > ( uint8_t ) 0 ) \ + { \ + _asm \ + MOVFF TOSL, PREINC1 \ + MOVFF TOSH, PREINC1 \ + MOVFF TOSU, PREINC1 \ + POP \ + _endasm \ + } \ + \ + _asm \ + /* Store the number of addresses on the hardware stack (from the \ + temporary register). */ \ + MOVFF FSR0L, PREINC1 \ + MOVF PREINC1, 1, 0 \ + _endasm \ + \ + /* Save the new top of the software stack in the TCB. */ \ + _asm \ + MOVFF pxCurrentTCB, FSR0L \ + MOVFF pxCurrentTCB + 1, FSR0H \ + MOVFF FSR1L, POSTINC0 \ + MOVFF FSR1H, POSTINC0 \ + _endasm \ +} +/*-----------------------------------------------------------*/ + +/* + * This is the reverse of portSAVE_CONTEXT. See portSAVE_CONTEXT for more + * details. + */ +#define portRESTORE_CONTEXT() \ +{ \ + _asm \ + /* Set FSR0 to point to pxCurrentTCB->pxTopOfStack. */ \ + MOVFF pxCurrentTCB, FSR0L \ + MOVFF pxCurrentTCB + 1, FSR0H \ + \ + /* De-reference FSR0 to set the address it holds into FSR1. \ + (i.e. *( pxCurrentTCB->pxTopOfStack ) ). */ \ + MOVFF POSTINC0, FSR1L \ + MOVFF POSTINC0, FSR1H \ + \ + /* How many return addresses are there on the hardware stack? Discard \ + the first byte as we are pointing to the next free space. */ \ + MOVFF POSTDEC1, FSR0L \ + MOVFF POSTDEC1, FSR0L \ + _endasm \ + \ + /* Fill the hardware stack from our software stack. */ \ + STKPTR = 0; \ + \ + while( STKPTR < FSR0L ) \ + { \ + _asm \ + PUSH \ + MOVF POSTDEC1, 0, 0 \ + MOVWF TOSU, 0 \ + MOVF POSTDEC1, 0, 0 \ + MOVWF TOSH, 0 \ + MOVF POSTDEC1, 0, 0 \ + MOVWF TOSL, 0 \ + _endasm \ + } \ + \ + _asm \ + /* Restore the .tmpdata and MATH_DATA memory. */ \ + MOVFF POSTDEC1, FSR0H \ + MOVFF POSTDEC1, FSR0L \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, POSTDEC0 \ + MOVFF POSTDEC1, INDF0 \ + /* Restore the other registers forming the tasks context. */ \ + MOVFF POSTDEC1, PCLATH \ + MOVFF POSTDEC1, PCLATU \ + MOVFF POSTDEC1, PRODL \ + MOVFF POSTDEC1, PRODH \ + MOVFF POSTDEC1, TBLPTRL \ + MOVFF POSTDEC1, TBLPTRH \ + MOVFF POSTDEC1, TBLPTRU \ + MOVFF POSTDEC1, TABLAT \ + MOVFF POSTDEC1, FSR0H \ + MOVFF POSTDEC1, FSR0L \ + MOVFF POSTDEC1, FSR2H \ + MOVFF POSTDEC1, FSR2L \ + MOVFF POSTDEC1, BSR \ + /* The next byte is the INTCON register. Read this into WREG as some \ + manipulation is required. */ \ + MOVFF POSTDEC1, WREG \ + _endasm \ + \ + /* From the INTCON register, only the interrupt enable bits form part \ + of the tasks context. It is perfectly legitimate for another task to \ + have modified any other bits. We therefore only restore the top two bits. \ + */ \ + if( WREG & portGLOBAL_INTERRUPT_FLAG ) \ + { \ + _asm \ + MOVFF POSTDEC1, STATUS \ + MOVFF POSTDEC1, WREG \ + /* Return enabling interrupts. */ \ + RETFIE 0 \ + _endasm \ + } \ + else \ + { \ + _asm \ + MOVFF POSTDEC1, STATUS \ + MOVFF POSTDEC1, WREG \ + /* Return without effecting interrupts. The context may have \ + been saved from a critical region. */ \ + RETURN 0 \ + _endasm \ + } \ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t ulAddress; +uint8_t ucBlock; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x11; + pxTopOfStack++; + *pxTopOfStack = 0x22; + pxTopOfStack++; + *pxTopOfStack = 0x33; + pxTopOfStack++; + + + /* Simulate how the stack would look after a call to vPortYield() generated + by the compiler. + + First store the function parameters. This is where the task will expect to + find them when it starts running. */ + ulAddress = ( uint32_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( ulAddress & ( uint32_t ) 0x00ff ); + pxTopOfStack++; + + ulAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( ulAddress & ( uint32_t ) 0x00ff ); + pxTopOfStack++; + + /* Next we just leave a space. When a context is saved the stack pointer + is incremented before it is used so as not to corrupt whatever the stack + pointer is actually pointing to. This is especially necessary during + function epilogue code generated by the compiler. */ + *pxTopOfStack = 0x44; + pxTopOfStack++; + + /* Next are all the registers that form part of the task context. */ + + *pxTopOfStack = ( StackType_t ) 0x66; /* WREG. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0xcc; /* Status. */ + pxTopOfStack++; + + /* INTCON is saved with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITAL_INTERRUPT_STATE; /* INTCON */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x11; /* BSR. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x22; /* FSR2L. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x33; /* FSR2H. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x44; /* FSR0L. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x55; /* FSR0H. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x66; /* TABLAT. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x00; /* TBLPTRU. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x88; /* TBLPTRUH. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x99; /* TBLPTRUL. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0xaa; /* PRODH. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0xbb; /* PRODL. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x00; /* PCLATU. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x00; /* PCLATH. */ + pxTopOfStack++; + + /* Next the .tmpdata and MATH_DATA sections. */ + for( ucBlock = 0; ucBlock <= portCOMPILER_MANAGED_MEMORY_SIZE; ucBlock++ ) + { + *pxTopOfStack = ( StackType_t ) ucBlock; + *pxTopOfStack++; + } + + /* Store the top of the global data section. */ + *pxTopOfStack = ( StackType_t ) portCOMPILER_MANAGED_MEMORY_SIZE; /* Low. */ + pxTopOfStack++; + + *pxTopOfStack = ( StackType_t ) 0x00; /* High. */ + pxTopOfStack++; + + /* The only function return address so far is the address of the + task. */ + ulAddress = ( uint32_t ) pxCode; + + /* TOS low. */ + *pxTopOfStack = ( StackType_t ) ( ulAddress & ( uint32_t ) 0x00ff ); + pxTopOfStack++; + ulAddress >>= 8; + + /* TOS high. */ + *pxTopOfStack = ( StackType_t ) ( ulAddress & ( uint32_t ) 0x00ff ); + pxTopOfStack++; + ulAddress >>= 8; + + /* TOS even higher. */ + *pxTopOfStack = ( StackType_t ) ( ulAddress & ( uint32_t ) 0x00ff ); + pxTopOfStack++; + + /* Store the number of return addresses on the hardware stack - so far only + the address of the task entry point. */ + *pxTopOfStack = ( StackType_t ) 1; + pxTopOfStack++; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup a timer for the tick ISR is using the preemptive scheduler. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task to run. */ + portRESTORE_CONTEXT(); + + /* Should not get here. Use the function name to stop compiler warnings. */ + ( void ) prvLowInterrupt; + ( void ) prvTickISR; + + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the scheduler for the PIC port will get stopped + once running. If required disable the tick interrupt here, then return + to xPortStartScheduler(). */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. This is similar to the tick context switch, + * but does not increment the tick count. It must be identical to the + * tick context switch in how it stores the stack of a task. + */ +void vPortYield( void ) +{ + /* This can get called with interrupts either enabled or disabled. We + will save the INTCON register with the interrupt enable bits unmodified. */ + portSAVE_CONTEXT( portINTERRUPTS_UNCHANGED ); + + /* Switch to the highest priority task that is ready to run. */ + vTaskSwitchContext(); + + /* Start executing the task we have just switched to. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Vector for ISR. Nothing here must alter any registers! + */ +#pragma code high_vector=0x08 +static void prvLowInterrupt( void ) +{ + /* Was the interrupt the tick? */ + if( PIR1bits.CCP1IF ) + { + _asm + goto prvTickISR + _endasm + } + + /* Was the interrupt a byte being received? */ + if( PIR1bits.RCIF ) + { + _asm + goto vSerialRxISR + _endasm + } + + /* Was the interrupt the Tx register becoming empty? */ + if( PIR1bits.TXIF ) + { + if( PIE1bits.TXIE ) + { + _asm + goto vSerialTxISR + _endasm + } + } +} +#pragma code + +/*-----------------------------------------------------------*/ + +/* + * ISR for the tick. + * This increments the tick count and, if using the preemptive scheduler, + * performs a context switch. This must be identical to the manual + * context switch in how it stores the context of a task. + */ +static void prvTickISR( void ) +{ + /* Interrupts must have been enabled for the ISR to fire, so we have to + save the context with interrupts enabled. */ + portSAVE_CONTEXT( portGLOBAL_INTERRUPT_FLAG ); + PIR1bits.CCP1IF = 0; + + /* Maintain the tick count. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch to the highest priority task that is ready to run. */ + vTaskSwitchContext(); + } + + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. + */ +static void prvSetupTimerInterrupt( void ) +{ +const uint32_t ulConstCompareValue = ( ( configCPU_CLOCK_HZ / portTIMER_FOSC_SCALE ) / configTICK_RATE_HZ ); +uint32_t ulCompareValue; +uint8_t ucByte; + + /* Interrupts are disabled when this function is called. + + Setup CCP1 to provide the tick interrupt using a compare match on timer + 1. + + Clear the time count then setup timer. */ + TMR1H = ( uint8_t ) 0x00; + TMR1L = ( uint8_t ) 0x00; + + /* Set the compare match value. */ + ulCompareValue = ulConstCompareValue; + CCPR1L = ( uint8_t ) ( ulCompareValue & ( uint32_t ) 0xff ); + ulCompareValue >>= ( uint32_t ) 8; + CCPR1H = ( uint8_t ) ( ulCompareValue & ( uint32_t ) 0xff ); + + CCP1CONbits.CCP1M0 = portBIT_SET; /*< Compare match mode. */ + CCP1CONbits.CCP1M1 = portBIT_SET; /*< Compare match mode. */ + CCP1CONbits.CCP1M2 = portBIT_CLEAR; /*< Compare match mode. */ + CCP1CONbits.CCP1M3 = portBIT_SET; /*< Compare match mode. */ + PIE1bits.CCP1IE = portBIT_SET; /*< Interrupt enable. */ + + /* We are only going to use the global interrupt bit, so set the peripheral + bit to true. */ + INTCONbits.GIEL = portBIT_SET; + + /* Provided library function for setting up the timer that will produce the + tick. */ + OpenTimer1( T1_16BIT_RW & T1_SOURCE_INT & T1_PS_1_1 & T1_CCP1_T3_CCP2 ); +} + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/portmacro.h new file mode 100644 index 0000000..e194736 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/portmacro.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 1 +#define portGLOBAL_INT_ENABLE_BIT 0x80 +#define portSTACK_GROWTH 1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portDISABLE_INTERRUPTS() INTCONbits.GIEH = 0; +#define portENABLE_INTERRUPTS() INTCONbits.GIEH = 1; + +/* Push the INTCON register onto the stack, then disable interrupts. */ +#define portENTER_CRITICAL() POSTINC1 = INTCON; \ + INTCONbits.GIEH = 0; + +/* Retrieve the INTCON register from the stack, and enable interrupts +if they were saved as being enabled. Don't modify any other bits +within the INTCON register as these may have lagitimately have been +modified within the critical region. */ +#define portEXIT_CRITICAL() _asm \ + MOVF POSTDEC1, 1, 0 \ + _endasm \ + if( INDF1 & portGLOBAL_INT_ENABLE_BIT ) \ + { \ + portENABLE_INTERRUPTS(); \ + } +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +/* Required by the kernel aware debugger. */ +#ifdef __DEBUG + #define portREMOVE_STATIC_QUALIFIER +#endif + + +#define portNOP() _asm \ + NOP \ + _endasm + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/stdio.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC18F/stdio.h new file mode 100644 index 0000000..e69de29 diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/port.c new file mode 100644 index 0000000..fc43c62 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/port.c @@ -0,0 +1,333 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + Changes from V4.2.1 + + + Introduced the configKERNEL_INTERRUPT_PRIORITY definition. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PIC24 port. + *----------------------------------------------------------*/ + +/* Scheduler include files. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware specifics. */ +#define portBIT_SET 1 +#define portTIMER_PRESCALE 8 +#define portINITIAL_SR 0 + +/* Defined for backward compatability with project created prior to +FreeRTOS.org V4.3.0. */ +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 1 +#endif + +/* Use _T1Interrupt as the interrupt handler name if the application writer has +not provided their own. */ +#ifndef configTICK_INTERRUPT_HANDLER + #define configTICK_INTERRUPT_HANDLER _T1Interrupt +#endif /* configTICK_INTERRUPT_HANDLER */ + +/* The program counter is only 23 bits. */ +#define portUNUSED_PR_BITS 0x7f + +/* Records the nesting depth of calls to portENTER_CRITICAL(). */ +UBaseType_t uxCriticalNesting = 0xef; + +#if configKERNEL_INTERRUPT_PRIORITY != 1 + #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 ) +#endif + +#if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) + + #ifdef __HAS_EDS__ + #define portRESTORE_CONTEXT() \ + asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ + "MOV [W0], W15 \n" \ + "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ + "MOV W0, _uxCriticalNesting \n" \ + "POP DSWPAG \n" \ + "POP DSRPAG \n" \ + "POP CORCON \n" \ + "POP TBLPAG \n" \ + "POP RCOUNT \n" /* Restore the registers from the stack. */ \ + "POP W14 \n" \ + "POP.D W12 \n" \ + "POP.D W10 \n" \ + "POP.D W8 \n" \ + "POP.D W6 \n" \ + "POP.D W4 \n" \ + "POP.D W2 \n" \ + "POP.D W0 \n" \ + "POP SR " ); + #else /* __HAS_EDS__ */ + #define portRESTORE_CONTEXT() \ + asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ + "MOV [W0], W15 \n" \ + "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ + "MOV W0, _uxCriticalNesting \n" \ + "POP PSVPAG \n" \ + "POP CORCON \n" \ + "POP TBLPAG \n" \ + "POP RCOUNT \n" /* Restore the registers from the stack. */ \ + "POP W14 \n" \ + "POP.D W12 \n" \ + "POP.D W10 \n" \ + "POP.D W8 \n" \ + "POP.D W6 \n" \ + "POP.D W4 \n" \ + "POP.D W2 \n" \ + "POP.D W0 \n" \ + "POP SR " ); + #endif /* __HAS_EDS__ */ +#endif /* MPLAB_PIC24_PORT */ + +#if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) + + #define portRESTORE_CONTEXT() \ + asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ + "MOV [W0], W15 \n" \ + "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ + "MOV W0, _uxCriticalNesting \n" \ + "POP PSVPAG \n" \ + "POP CORCON \n" \ + "POP DOENDH \n" \ + "POP DOENDL \n" \ + "POP DOSTARTH \n" \ + "POP DOSTARTL \n" \ + "POP DCOUNT \n" \ + "POP ACCBU \n" \ + "POP ACCBH \n" \ + "POP ACCBL \n" \ + "POP ACCAU \n" \ + "POP ACCAH \n" \ + "POP ACCAL \n" \ + "POP TBLPAG \n" \ + "POP RCOUNT \n" /* Restore the registers from the stack. */ \ + "POP W14 \n" \ + "POP.D W12 \n" \ + "POP.D W10 \n" \ + "POP.D W8 \n" \ + "POP.D W6 \n" \ + "POP.D W4 \n" \ + "POP.D W2 \n" \ + "POP.D W0 \n" \ + "POP SR " ); + +#endif /* MPLAB_DSPIC_PORT */ + +#ifndef portRESTORE_CONTEXT + #error Unrecognised device selected + + /* Note: dsPIC parts with EDS are not supported as there is no easy way to + recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */ +#endif + +/* + * Setup the timer used to generate the tick interrupt. + */ +void vApplicationSetupTickTimerInterrupt( void ); + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint16_t usCode; +UBaseType_t i; + +const StackType_t xInitialStack[] = +{ + 0x1111, /* W1 */ + 0x2222, /* W2 */ + 0x3333, /* W3 */ + 0x4444, /* W4 */ + 0x5555, /* W5 */ + 0x6666, /* W6 */ + 0x7777, /* W7 */ + 0x8888, /* W8 */ + 0x9999, /* W9 */ + 0xaaaa, /* W10 */ + 0xbbbb, /* W11 */ + 0xcccc, /* W12 */ + 0xdddd, /* W13 */ + 0xeeee, /* W14 */ + 0xcdce, /* RCOUNT */ + 0xabac, /* TBLPAG */ + + /* dsPIC specific registers. */ + #ifdef MPLAB_DSPIC_PORT + 0x0202, /* ACCAL */ + 0x0303, /* ACCAH */ + 0x0404, /* ACCAU */ + 0x0505, /* ACCBL */ + 0x0606, /* ACCBH */ + 0x0707, /* ACCBU */ + 0x0808, /* DCOUNT */ + 0x090a, /* DOSTARTL */ + 0x1010, /* DOSTARTH */ + 0x1110, /* DOENDL */ + 0x1212, /* DOENDH */ + #endif +}; + + /* Setup the stack as if a yield had occurred. + + Save the low bytes of the program counter. */ + usCode = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) usCode; + pxTopOfStack++; + + /* Save the high byte of the program counter. This will always be zero + here as it is passed in a 16bit pointer. If the address is greater than + 16 bits then the pointer will point to a jump table. */ + *pxTopOfStack = ( StackType_t ) 0; + pxTopOfStack++; + + /* Status register with interrupts enabled. */ + *pxTopOfStack = portINITIAL_SR; + pxTopOfStack++; + + /* Parameters are passed in W0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack++; + + for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ ) + { + *pxTopOfStack = xInitialStack[ i ]; + pxTopOfStack++; + } + + *pxTopOfStack = CORCON; + pxTopOfStack++; + + #if defined(__HAS_EDS__) + *pxTopOfStack = DSRPAG; + pxTopOfStack++; + *pxTopOfStack = DSWPAG; + pxTopOfStack++; + #else /* __HAS_EDS__ */ + *pxTopOfStack = PSVPAG; + pxTopOfStack++; + #endif /* __HAS_EDS__ */ + + /* Finally the critical nesting depth. */ + *pxTopOfStack = 0x00; + pxTopOfStack++; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup a timer for the tick ISR. */ + vApplicationSetupTickTimerInterrupt(); + + /* Restore the context of the first task to run. */ + portRESTORE_CONTEXT(); + + /* Simulate the end of the yield function. */ + asm volatile ( "return" ); + + /* Should not reach here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. + */ +__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) +{ +const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1; + + /* Prescale of 8. */ + T1CON = 0; + TMR1 = 0; + + PR1 = ( uint16_t ) ulCompareMatch; + + /* Setup timer 1 interrupt priority. */ + IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; + + /* Clear the interrupt as a starting condition. */ + IFS0bits.T1IF = 0; + + /* Enable the interrupt. */ + IEC0bits.T1IE = 1; + + /* Setup the prescale value. */ + T1CONbits.TCKPS0 = 1; + T1CONbits.TCKPS1 = 0; + + /* Start the timer. */ + T1CONbits.TON = 1; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void ) +{ + /* Clear the timer interrupt. */ + IFS0bits.T1IF = 0; + + if( xTaskIncrementTick() != pdFALSE ) + { + portYIELD(); + } +} + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portasm_PIC24.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portasm_PIC24.S new file mode 100644 index 0000000..87e8a2c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portasm_PIC24.S @@ -0,0 +1,92 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) + + .global _vPortYield + .extern _vTaskSwitchContext + .extern uxCriticalNesting + +_vPortYield: + + PUSH SR /* Save the SR used by the task.... */ + PUSH W0 /* ....then disable interrupts. */ + MOV #32, W0 + MOV W0, SR + PUSH W1 /* Save registers to the stack. */ + PUSH.D W2 + PUSH.D W4 + PUSH.D W6 + PUSH.D W8 + PUSH.D W10 + PUSH.D W12 + PUSH W14 + PUSH RCOUNT + PUSH TBLPAG + + PUSH CORCON + #ifdef __HAS_EDS__ + PUSH DSRPAG + PUSH DSWPAG + #else + PUSH PSVPAG + #endif /* __HAS_EDS__ */ + MOV _uxCriticalNesting, W0 /* Save the critical nesting counter for the task. */ + PUSH W0 + MOV _pxCurrentTCB, W0 /* Save the new top of stack into the TCB. */ + MOV W15, [W0] + + call _vTaskSwitchContext + + MOV _pxCurrentTCB, W0 /* Restore the stack pointer for the task. */ + MOV [W0], W15 + POP W0 /* Restore the critical nesting counter for the task. */ + MOV W0, _uxCriticalNesting + #ifdef __HAS_EDS__ + POP DSWPAG + POP DSRPAG + #else + POP PSVPAG + #endif /* __HAS_EDS__ */ + POP CORCON + POP TBLPAG + POP RCOUNT /* Restore the registers from the stack. */ + POP W14 + POP.D W12 + POP.D W10 + POP.D W8 + POP.D W6 + POP.D W4 + POP.D W2 + POP.D W0 + POP SR + + return + + .end + +#endif /* defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) */ \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portasm_dsPIC.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portasm_dsPIC.S new file mode 100644 index 0000000..f9273b4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portasm_dsPIC.S @@ -0,0 +1,106 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) + + .global _vPortYield + .extern _vTaskSwitchContext + .extern uxCriticalNesting + +_vPortYield: + + PUSH SR /* Save the SR used by the task.... */ + PUSH W0 /* ....then disable interrupts. */ + MOV #32, W0 + MOV W0, SR + PUSH W1 /* Save registers to the stack. */ + PUSH.D W2 + PUSH.D W4 + PUSH.D W6 + PUSH.D W8 + PUSH.D W10 + PUSH.D W12 + PUSH W14 + PUSH RCOUNT + PUSH TBLPAG + PUSH ACCAL + PUSH ACCAH + PUSH ACCAU + PUSH ACCBL + PUSH ACCBH + PUSH ACCBU + PUSH DCOUNT + PUSH DOSTARTL + PUSH DOSTARTH + PUSH DOENDL + PUSH DOENDH + + + PUSH CORCON + PUSH PSVPAG + MOV _uxCriticalNesting, W0 /* Save the critical nesting counter for the task. */ + PUSH W0 + MOV _pxCurrentTCB, W0 /* Save the new top of stack into the TCB. */ + MOV W15, [W0] + + call _vTaskSwitchContext + + MOV _pxCurrentTCB, W0 /* Restore the stack pointer for the task. */ + MOV [W0], W15 + POP W0 /* Restore the critical nesting counter for the task. */ + MOV W0, _uxCriticalNesting + POP PSVPAG + POP CORCON + POP DOENDH + POP DOENDL + POP DOSTARTH + POP DOSTARTL + POP DCOUNT + POP ACCBU + POP ACCBH + POP ACCBL + POP ACCAU + POP ACCAH + POP ACCAL + POP TBLPAG + POP RCOUNT /* Restore the registers from the stack. */ + POP W14 + POP.D W12 + POP.D W10 + POP.D W8 + POP.D W6 + POP.D W4 + POP.D W2 + POP.D W0 + POP SR + + return + + .end + +#endif /* defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portmacro.h new file mode 100644 index 0000000..b237d2d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/portmacro.h @@ -0,0 +1,108 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH 1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portDISABLE_INTERRUPTS() SET_CPU_IPL( configKERNEL_INTERRUPT_PRIORITY ); __asm volatile ( "NOP" ) +#define portENABLE_INTERRUPTS() SET_CPU_IPL( 0 ) + +/* Note that exiting a critical sectino will set the IPL bits to 0, nomatter +what their value was prior to entering the critical section. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +extern void vPortYield( void ); +#define portYIELD() asm volatile ( "CALL _vPortYield \n" \ + "NOP " ); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +/* Required by the kernel aware debugger. */ +#ifdef __DEBUG + #define portREMOVE_STATIC_QUALIFIER +#endif + +#define portNOP() asm volatile ( "NOP" ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/ISR_Support.h new file mode 100644 index 0000000..c5047d7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/ISR_Support.h @@ -0,0 +1,214 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" + +#define portCONTEXT_SIZE 132 +#define portEPC_STACK_LOCATION 124 +#define portSTATUS_STACK_LOCATION 128 + +#ifdef __LANGUAGE_ASSEMBLY__ + +/******************************************************************/ +.macro portSAVE_CONTEXT + + /* Make room for the context. First save the current status so it can be + manipulated, and the cause and EPC registers so their original values are + captured. */ + mfc0 k0, _CP0_CAUSE + addiu sp, sp, -portCONTEXT_SIZE + mfc0 k1, _CP0_STATUS + + /* Also save s6 and s5 so they can be used. Any nesting interrupts should + maintain the values of these registers across the ISR. */ + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + + /* Prepare to enable interrupts above the current priority. + k0 = k0 >> 10. Moves RIPL[17:10] to [7:0] */ + srl k0, k0, 0xa + + /* Insert bit field. 7 bits k0[6:0] to k1[16:10] */ + ins k1, k0, 10, 7 + + /* Sets CP0.Status.IPL = CP0.Cause.RIPL + Copy the MSB of the IPL, but it would be an error if it was set anyway. */ + srl k0, k0, 0x7 + + /* MSB of IPL is bit[18] of CP0.Status */ + ins k1, k0, 18, 1 + + /* CP0.Status[5:1] = 0 b[5]=Rsvd, b[4]=UM, + b[3]=Rsvd, b[2]=ERL, b[1]=EXL + Setting EXL=0 allows higher priority interrupts + to preempt this handler */ + ins k1, zero, 1, 4 + + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Check the nesting count value. */ + la k0, uxInterruptNesting + lw s6, (k0) + + /* If the nesting count is 0 then swap to the the system stack, otherwise + the system stack is already being used. */ + bne s6, zero, 1f + nop + + /* Swap to the system stack. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Increment and save the nesting count. */ +1: addiu s6, s6, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved after interrupts are re-enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. No other s registers need be + saved. */ + sw ra, 120(s5) /* Return address (RA=R31) */ + sw s8, 116(s5) /* Frame Pointer (FP=R30) */ + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s6, portEPC_STACK_LOCATION(s5) + sw $1, 16(s5) + + /* MEC14xx does not have DSP, removed 7 words */ + mfhi s6 + sw s6, 12(s5) + mflo s6 + sw s6, 8(s5) + + /* Update the task stack pointer value if nesting is zero. */ + la s6, uxInterruptNesting + lw s6, (s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + + /* Save the stack pointer. */ + la s6, uxSavedTaskStackPointer + sw s5, (s6) +1: + .endm + +/******************************************************************/ +.macro portRESTORE_CONTEXT + + /* Restore the stack pointer from the TCB. This is only done if the + nesting count is 1. */ + la s6, uxInterruptNesting + lw s6, (s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + la s6, uxSavedTaskStackPointer + lw s5, (s6) + + /* Restore the context. + MCHP MEC14xx does not include DSP */ +1: + lw s6, 8(s5) + mtlo s6 + lw s6, 12(s5) + mthi s6 + lw $1, 16(s5) + + /* s6 is loaded as it was used as a scratch register and therefore saved + as part of the interrupt context. */ + lw s6, 44(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Decrement the nesting count. */ + la k0, uxInterruptNesting + lw k1, (k0) + addiu k1, k1, -1 + sw k1, 0(k0) + + lw k0, portSTATUS_STACK_LOCATION(s5) + lw k1, portEPC_STACK_LOCATION(s5) + + /* Leave the stack in its original state. First load sp from s5, then + restore s5 from the stack. */ + add sp, zero, s5 + lw s5, 40(sp) + addiu sp, sp, portCONTEXT_SIZE + + mtc0 k0, _CP0_STATUS + mtc0 k1, _CP0_EPC + ehb + eret + nop + + .endm + +#endif /* #ifdef __LANGUAGE_ASSEMBLY__ */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/port.c new file mode 100644 index 0000000..108f263 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/port.c @@ -0,0 +1,345 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PIC32MEC14xx port. + *----------------------------------------------------------*/ + +/* Scheduler include files. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Microchip includes. */ +#include +#include + +#if !defined(__MEC__) + #error This port is designed to work with XC32 on MEC14xx. Please update your C compiler version or settings. +#endif + +#if( ( configMAX_SYSCALL_INTERRUPT_PRIORITY >= 0x7 ) || ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must be less than 7 and greater than 0 +#endif + +/* Bits within various registers. */ +#define portIE_BIT ( 0x00000001 ) +#define portEXL_BIT ( 0x00000002 ) + +/* The EXL bit is set to ensure interrupts do not occur while the context of +the first task is being restored. MEC14xx does not have DSP HW. */ +#define portINITIAL_SR ( portIE_BIT | portEXL_BIT ) + +/* MEC14xx RTOS Timer MMCR's. */ +#define portMMCR_RTMR_PRELOAD *((volatile uint32_t *)(0xA0007404ul)) +#define portMMCR_RTMR_CONTROL *((volatile uint32_t *)(0xA0007408ul)) + +/* MEC14xx JTVIC external interrupt controller is mapped to M14K closely-coupled +peripheral space. */ +#define portGIRQ23_RTOS_TIMER_BITPOS ( 4 ) +#define portGIRQ23_RTOS_TIMER_MASK ( 1ul << ( portGIRQ23_RTOS_TIMER_BITPOS ) ) +#define portMMCR_JTVIC_GIRQ23_SRC *((volatile uint32_t *)(0xBFFFC0F0ul)) +#define portMMCR_JTVIC_GIRQ23_SETEN *((volatile uint32_t *)(0xBFFFC0F4ul)) +#define portMMCR_JTVIC_GIRQ23_PRIA *((volatile uint32_t *)(0xBFFFC3F0ul)) + +/* MIPS Software Interrupts are routed through JTVIC GIRQ24 */ +#define portGIRQ24_M14K_SOFTIRQ0_BITPOS ( 1 ) +#define portGIRQ24_M14K_SOFTIRQ0_MASK ( 1ul << ( portGIRQ24_M14K_SOFTIRQ0_BITPOS ) ) +#define portMMCR_JTVIC_GIRQ24_SRC *((volatile uint32_t *)(0xBFFFC100ul)) +#define portMMCR_JTVIC_GIRQ24_SETEN *((volatile uint32_t *)(0xBFFFC104ul)) +#define portMMCR_JTVIC_GIRQ24_PRIA *((volatile uint32_t *)(0xBFFFC400ul)) + +/* +By default port.c generates its tick interrupt from the RTOS timer. The user +can override this behaviour by: + 1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(), + which is the function that configures the timer. The function is defined + as a weak symbol in this file so if the same function name is used in the + application code then the version in the application code will be linked + into the application in preference to the version defined in this file. + 2: Provide a vector implementation in port_asm.S that overrides the default + behaviour for the specified interrupt vector. + 3: Specify the correct bit to clear the interrupt during the timer interrupt + handler. +*/ +#ifndef configTICK_INTERRUPT_VECTOR + #define configTICK_INTERRUPT_VECTOR girq23_b4 + #define configCLEAR_TICK_TIMER_INTERRUPT() portMMCR_JTVIC_GIRQ23_SRC = portGIRQ23_RTOS_TIMER_MASK +#else + #ifndef configCLEAR_TICK_TIMER_INTERRUPT + #error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code. + #endif +#endif + +/* Let the user override the pre-loading of the initial RA with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the debugger - +in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task +stack checking. A problem in the ISR stack will trigger an assert, not call the +stack overflow hook function (because the stack overflow hook is specific to a +task stack, not the ISR stack). */ +#if( configCHECK_FOR_STACK_OVERFLOW > 2 ) + + /* Don't use 0xa5 as the stack fill bytes as that is used by the kernel for + the task stacks, and so will legitimately appear in many positions within + the ISR stack. */ + #define portISR_STACK_FILL_BYTE 0xee + + static const uint8_t ucExpectedStackBytes[] = { + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ + + #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) +#else + /* Define the function away. */ + #define portCHECK_ISR_STACK() +#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + + +/*-----------------------------------------------------------*/ + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Records the interrupt nesting depth. This is initialised to one as it is +decremented to 0 when the first task starts. */ +volatile UBaseType_t uxInterruptNesting = 0x01; + +/* Stores the task stack pointer when a switch is made to use the system stack. */ +UBaseType_t uxSavedTaskStackPointer = 0; + +/* The stack used by interrupt service routines that cause a context switch. */ +StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 }; + +/* The top of stack value ensures there is enough space to store 6 registers on +the callers stack, as some functions seem to want to do this. */ +const StackType_t * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Ensure byte alignment is maintained when leaving this function. */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0xDEADBEEF; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0x12345678; /* Word to which the stack pointer will be left pointing after context restore. */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) ulPortGetCP0Cause(); + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) portINITIAL_SR; /* CP0_STATUS */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) pxCode; /* CP0_EPC */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS; /* ra */ + pxTopOfStack -= 15; + + *pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */ + pxTopOfStack -= 15; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static __inline uint32_t prvDisableInterrupt( void ) +{ +uint32_t prev_state; + + __asm volatile( "di %0; ehb" : "=r" ( prev_state ) :: "memory" ); + return prev_state; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( uxSavedTaskStackPointer == 0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. This function uses the RTOS timer. + * The function is declared weak so an application writer can use a different + * timer by redefining this implementation. If a different timer is used then + * configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to + * ensure the RTOS provided tick interrupt handler is installed on the correct + * vector number. + */ +__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) +{ +/* MEC14xx RTOS Timer whose input clock is 32KHz. */ +const uint32_t ulPreload = ( 32768ul / ( configTICK_RATE_HZ ) ); + + configASSERT( ulPreload != 0UL ); + + /* Configure the RTOS timer. */ + portMMCR_RTMR_CONTROL = 0ul; + portMMCR_RTMR_PRELOAD = ulPreload; + + /* Configure interrupts from the RTOS timer. */ + portMMCR_JTVIC_GIRQ23_SRC = ( portGIRQ23_RTOS_TIMER_MASK ); + portMMCR_JTVIC_GIRQ23_PRIA &= ~( 0x0Ful << 16 ); + portMMCR_JTVIC_GIRQ23_PRIA |= ( ( portIPL_TO_CODE( configKERNEL_INTERRUPT_PRIORITY ) ) << 16 ); + portMMCR_JTVIC_GIRQ23_SETEN = ( portGIRQ23_RTOS_TIMER_MASK ); + + /* Enable the RTOS timer. */ + portMMCR_RTMR_CONTROL = 0x0Fu; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler(void) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( uxInterruptNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); +extern void *pxCurrentTCB; + + #if ( configCHECK_FOR_STACK_OVERFLOW > 2 ) + { + /* Fill the ISR stack to make it easy to asses how much is being used. */ + memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); + } + #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + + /* Clear the software interrupt flag. */ + portMMCR_JTVIC_GIRQ24_SRC = (portGIRQ24_M14K_SOFTIRQ0_MASK); + + /* Set software timer priority. Each GIRQn has one nibble containing its + priority */ + portMMCR_JTVIC_GIRQ24_PRIA &= ~(0xF0ul); + portMMCR_JTVIC_GIRQ24_PRIA |= ( portIPL_TO_CODE( configKERNEL_INTERRUPT_PRIORITY ) << 4 ); + + /* Enable software interrupt. */ + portMMCR_JTVIC_GIRQ24_SETEN = ( portGIRQ24_M14K_SOFTIRQ0_MASK ); + + /* Setup the timer to generate the tick. Interrupts will have been disabled + by the time we get here. */ + vApplicationSetupTickTimerInterrupt(); + + /* Start the highest priority task that has been created so far. Its stack + location is loaded into uxSavedTaskStackPointer. */ + uxSavedTaskStackPointer = *( UBaseType_t * ) pxCurrentTCB; + vPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + exit error function to prevent compiler warnings about a static function + not being called in the case that the application writer overrides this + functionality by defining configTASK_RETURN_ADDRESS. */ + prvTaskExitError(); + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortIncrementTick( void ) +{ +UBaseType_t uxSavedStatus; +uint32_t ulCause; + + uxSavedStatus = uxPortSetInterruptMaskFromISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + ulCause = ulPortGetCP0Cause(); + ulCause |= ( 1ul << 8UL ); + vPortSetCP0Cause( ulCause ); + } + } + vPortClearInterruptMaskFromISR( uxSavedStatus ); + + /* Look for the ISR stack getting near or past its limit. */ + portCHECK_ISR_STACK(); + + /* Clear timer interrupt. */ + configCLEAR_TICK_TIMER_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxPortSetInterruptMaskFromISR( void ) +{ +UBaseType_t uxSavedStatusRegister; + + prvDisableInterrupt(); + uxSavedStatusRegister = ulPortGetCP0Status() | 0x01; + + /* This clears the IPL bits, then sets them to + configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called + from an interrupt that has a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action + can only result in the IPL being unchanged or raised, and therefore never + lowered. */ + vPortSetCP0Status( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ); + + return uxSavedStatusRegister; +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMaskFromISR( UBaseType_t uxSavedStatusRegister ) +{ + vPortSetCP0Status( uxSavedStatusRegister ); +} +/*-----------------------------------------------------------*/ + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/port_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/port_asm.S new file mode 100644 index 0000000..fea9443 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/port_asm.S @@ -0,0 +1,348 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* FreeRTOS includes. */ +#include "FreeRTOSConfig.h" +#include "ISR_Support.h" + +/* Microchip includes. */ +#include +#include + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vPortIncrementTick + .extern xISRStackTop + + PORT_CPP_JTVIC_BASE = 0xBFFFC000 + PORT_CCP_JTVIC_GIRQ24_SRC = 0xBFFFC100 + + .global vPortStartFirstTask .text + .global vPortYieldISR .text + .global vPortTickInterruptHandler .text + + +/******************************************************************/ + + +/*************************************************************** +* The following is needed to locate the +* vPortTickInterruptHandler function into the correct vector +* MEC14xx - This ISR will only be used if HW timers' interrupts +* in GIRQ23 are disaggregated. +* +***************************************************************/ + + .set noreorder + .set noat + .set micromips + + .section .text, code + .ent vPortTickInterruptHandler + +#if configTIMERS_DISAGGREGATED_ISRS == 0 + + .globl girq23_isr + +girq23_isr: +vPortTickInterruptHandler: + + portSAVE_CONTEXT + + jal girq23_handler + nop + + portRESTORE_CONTEXT + +.end vPortTickInterruptHandler + +#else + + .globl girq23_b4 + +girq23_b4: +vPortTickInterruptHandler: + + portSAVE_CONTEXT + + jal vPortIncrementTick + nop + + portRESTORE_CONTEXT + +.end vPortTickInterruptHandler + +#endif /* #if configTIMERS_DISAGGREGATED_ISRS == 0 */ + +/******************************************************************/ + + .set micromips + .set noreorder + .set noat + + .section .text, code + .ent vPortStartFirstTask + +vPortStartFirstTask: + + /* Simply restore the context of the highest priority task that has + been created so far. */ + portRESTORE_CONTEXT + +.end vPortStartFirstTask + + + +/*******************************************************************/ + +/*************************************************************** +* The following is needed to locate the vPortYieldISR function into the correct +* vector. +***************************************************************/ + + .set micromips + .set noreorder + .set noat + + .section .text, code + + .global vPortYieldISR + + +#if configCPU_DISAGGREGATED_ISRS == 0 + .global girq24_isr + .ent girq24_isr +girq24_isr: + la k0, PORT_CPP_JTVIC_BASE + lw k0, 0x10C(k0) + andi k1, k0, 0x2 + bgtz k1, vPortYieldISR + nop + + portSAVE_CONTEXT + + jal girq24_b_0_2 + + portRESTORE_CONTEXT + + .end girq24_isr + +#else + .global girq24_b1 +girq24_b1: +#endif + .ent vPortYieldISR +vPortYieldISR: + + /* Make room for the context. First save the current status so it can be + manipulated, and the cause and EPC registers so thier original values + are captured. */ + addiu sp, sp, -portCONTEXT_SIZE + mfc0 k1, _CP0_STATUS + + /* Also save s6 and s5 so they can be used. Any nesting interrupts should + maintain the values of these registers across the ISR. */ + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + + /* Prepare to re-enable interrupts above the kernel priority. */ + ins k1, zero, 10, 7 /* Clear IPL bits 0:6. */ + ins k1, zero, 18, 1 /* Clear IPL bit 7 */ + ori k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) + ins k1, zero, 1, 4 /* Clear EXL, ERL and UM. */ + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Swap to the system stack. This is not conditional on the nesting + count as this interrupt is always the lowest priority and therefore + the nesting is always 0. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Set the nesting count. */ + la k0, uxInterruptNesting + addiu s6, zero, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved with the rest of the context + after interrupts are enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. */ + sw ra, 120(s5) + sw s8, 116(s5) + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s7, 48(s5) + sw s6, portEPC_STACK_LOCATION(s5) + /* s5 and s6 has already been saved. */ + sw s4, 36(s5) + sw s3, 32(s5) + sw s2, 28(s5) + sw s1, 24(s5) + sw s0, 20(s5) + sw $1, 16(s5) + + /* s7 is used as a scratch register as this should always be saved acro ss + nesting interrupts. */ + mfhi s7 + sw s7, 12(s5) + mflo s7 + sw s7, 8(s5) + + /* Save the stack pointer to the task. */ + la s7, pxCurrentTCB + lw s7, (s7) + sw s5, (s7) + + /* Set the interrupt mask to the max priority that can use the API. + The yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY + which is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only + ever raise the IPL value and never lower it. */ + di + ehb + mfc0 s7, _CP0_STATUS + ins s7, zero, 10, 7 + ins s7, zero, 18, 1 + ori s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1 + + /* This mtc0 re-enables interrupts, but only above + configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 s6, _CP0_STATUS + ehb + + /* Clear the software interrupt in the core. */ + mfc0 s6, _CP0_CAUSE + ins s6, zero, 8, 1 + mtc0 s6, _CP0_CAUSE + ehb + + /* Clear the interrupt in the interrupt controller. + MEC14xx GIRQ24 Source bit[1] = 1 to clear */ + la s6, PORT_CCP_JTVIC_GIRQ24_SRC + addiu s4, zero, 2 + sw s4, (s6) + jal vTaskSwitchContext + nop + + /* Clear the interrupt mask again. The saved status value is still in s7 */ + mtc0 s7, _CP0_STATUS + ehb + + /* Restore the stack pointer from the TCB. */ + la s0, pxCurrentTCB + lw s0, (s0) + lw s5, (s0) + + /* Restore the rest of the context. */ + lw s0, 8(s5) + mtlo s0 + lw s0, 12(s5) + mthi s0 + + lw $1, 16(s5) + lw s0, 20(s5) + lw s1, 24(s5) + lw s2, 28(s5) + lw s3, 32(s5) + lw s4, 36(s5) + + /* s5 is loaded later. */ + lw s6, 44(s5) + lw s7, 48(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Set nesting back to zero. As the lowest priority interrupt this + interrupt cannot have nested. */ + la k0, uxInterruptNesting + sw zero, 0(k0) + + /* Switch back to use the real stack pointer. */ + add sp, zero, s5 + + /* Restore the real s5 value. */ + lw s5, 40(sp) + + /* Pop the status and epc values. */ + lw k1, portSTATUS_STACK_LOCATION(sp) + lw k0, portEPC_STACK_LOCATION(sp) + + /* Remove stack frame. */ + addiu sp, sp, portCONTEXT_SIZE + + mtc0 k1, _CP0_STATUS + mtc0 k0, _CP0_EPC + ehb + eret + nop + +.end vPortYieldISR + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/portmacro.h new file mode 100644 index 0000000..2b95626 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MEC14xx/portmacro.h @@ -0,0 +1,252 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portIPL_SHIFT ( 10UL ) +/* Don't straddle the CEE bit. Interrupts calling FreeRTOS functions should +never have higher IPL bits set anyway. */ +#define portALL_IPL_BITS ( 0x7FUL << portIPL_SHIFT ) +#define portSW0_BIT ( 0x01 << 8 ) + +/* Interrupt priority conversion */ +#define portIPL_TO_CODE( iplNumber ) ( ( iplNumber >> 1 ) & 0x03ul ) +#define portCODE_TO_IPL( iplCode ) ( ( iplCode << 1 ) | 0x01ul ) + +/*-----------------------------------------------------------*/ + +static inline uint32_t ulPortGetCP0Status( void ) +{ +uint32_t rv; + + __asm volatile( + "\n\t" + "mfc0 %0,$12,0 \n\t" + : "=r" ( rv ) :: ); + + return rv; +} +/*-----------------------------------------------------------*/ + +static inline void vPortSetCP0Status( uint32_t new_status) +{ + ( void ) new_status; + + __asm__ __volatile__( + "\n\t" + "mtc0 %0,$12,0 \n\t" + "ehb \n\t" + : + :"r" ( new_status ) : ); +} +/*-----------------------------------------------------------*/ + +static inline uint32_t ulPortGetCP0Cause( void ) +{ +uint32_t rv; + + __asm volatile( + "\n\t" + "mfc0 %0,$13,0 \n\t" + : "=r" ( rv ) :: ); + + return rv; +} +/*-----------------------------------------------------------*/ + +static inline void vPortSetCP0Cause( uint32_t new_cause ) +{ + ( void ) new_cause; + + __asm__ __volatile__( + "\n\t" + "mtc0 %0,$13,0 \n\t" + "ehb \n\t" + : + :"r" ( new_cause ) : ); +} +/*-----------------------------------------------------------*/ + +/* This clears the IPL bits, then sets them to +configMAX_SYSCALL_INTERRUPT_PRIORITY. An extra check is performed if +configASSERT() is defined to ensure an assertion handler does not inadvertently +attempt to lower the IPL when the call to assert was triggered because the IPL +value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR +safe FreeRTOS API function was executed. ISR safe FreeRTOS API functions are +those that end in FromISR. FreeRTOS maintains a separate interrupt API to +ensure API function and interrupt entry is as fast and as simple as possible. */ +#ifdef configASSERT + #define portDISABLE_INTERRUPTS() \ + { \ + uint32_t ulStatus; \ + /* Mask interrupts at and below the kernel interrupt priority. */ \ + ulStatus = ulPortGetCP0Status(); \ + /* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */ \ + if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY ) \ + { \ + ulStatus &= ~portALL_IPL_BITS; \ + vPortSetCP0Status( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \ + } \ + } +#else /* configASSERT */ + #define portDISABLE_INTERRUPTS() \ + { \ + uint32_t ulStatus; \ + /* Mask interrupts at and below the kernel interrupt priority. */ \ + ulStatus = ulPortGetCP0Status(); \ + ulStatus &= ~portALL_IPL_BITS; \ + vPortSetCP0Status( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \ + } +#endif /* configASSERT */ + +#define portENABLE_INTERRUPTS() \ +{ \ +uint32_t ulStatus; \ + /* Unmask all interrupts. */ \ + ulStatus = ulPortGetCP0Status(); \ + ulStatus &= ~portALL_IPL_BITS; \ + vPortSetCP0Status( ulStatus ); \ +} + + +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portCRITICAL_NESTING_IN_TCB 1 +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +extern UBaseType_t uxPortSetInterruptMaskFromISR(); +extern void vPortClearInterruptMaskFromISR( UBaseType_t ); +#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) vPortClearInterruptMaskFromISR( uxSavedStatusRegister ) + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - _clz( ( uxReadyPriorities ) ) ) + +#endif /* taskRECORD_READY_PRIORITY */ + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +#define portYIELD() \ +{ \ +uint32_t ulCause; \ + /* Trigger software interrupt. */ \ + ulCause = ulPortGetCP0Cause(); \ + ulCause |= portSW0_BIT; \ + vPortSetCP0Cause( ulCause ); \ +} + +extern volatile UBaseType_t uxInterruptNesting; +#define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 ) + +#define portNOP() __asm volatile ( "nop" ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) \ + { \ + portYIELD(); \ + } + +/* Required by the kernel aware debugger. */ +#ifdef __DEBUG + #define portREMOVE_STATIC_QUALIFIER +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/ISR_Support.h new file mode 100644 index 0000000..4409fde --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/ISR_Support.h @@ -0,0 +1,191 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" + +#define portCONTEXT_SIZE 132 +#define portEPC_STACK_LOCATION 124 +#define portSTATUS_STACK_LOCATION 128 + +/******************************************************************/ +.macro portSAVE_CONTEXT + + /* Make room for the context. First save the current status so it can be + manipulated, and the cause and EPC registers so their original values are + captured. */ + mfc0 k0, _CP0_CAUSE + addiu sp, sp, -portCONTEXT_SIZE + mfc0 k1, _CP0_STATUS + + /* Also save s6 and s5 so they can be used. Any nesting interrupts should + maintain the values of these registers across the ISR. */ + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + + /* Prepare to enable interrupts above the current priority. */ + srl k0, k0, 0xa + ins k1, k0, 10, 6 + ins k1, zero, 1, 4 + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Check the nesting count value. */ + la k0, uxInterruptNesting + lw s6, (k0) + + /* If the nesting count is 0 then swap to the the system stack, otherwise + the system stack is already being used. */ + bne s6, zero, 1f + nop + + /* Swap to the system stack. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Increment and save the nesting count. */ +1: addiu s6, s6, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved after interrupts are re-enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. No other s registers need be + saved. */ + sw ra, 120(s5) + sw s8, 116(s5) + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s6, portEPC_STACK_LOCATION(s5) + sw $1, 16(s5) + + /* s6 is used as a scratch register. */ + mfhi s6 + sw s6, 12(s5) + mflo s6 + sw s6, 8(s5) + + /* Update the task stack pointer value if nesting is zero. */ + la s6, uxInterruptNesting + lw s6, (s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + + /* Save the stack pointer. */ + la s6, uxSavedTaskStackPointer + sw s5, (s6) +1: + .endm + +/******************************************************************/ +.macro portRESTORE_CONTEXT + + /* Restore the stack pointer from the TCB. This is only done if the + nesting count is 1. */ + la s6, uxInterruptNesting + lw s6, (s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + la s6, uxSavedTaskStackPointer + lw s5, (s6) + + /* Restore the context. */ +1: lw s6, 8(s5) + mtlo s6 + lw s6, 12(s5) + mthi s6 + lw $1, 16(s5) + /* s6 is loaded as it was used as a scratch register and therefore saved + as part of the interrupt context. */ + lw s6, 44(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Decrement the nesting count. */ + la k0, uxInterruptNesting + lw k1, (k0) + addiu k1, k1, -1 + sw k1, 0(k0) + + lw k0, portSTATUS_STACK_LOCATION(s5) + lw k1, portEPC_STACK_LOCATION(s5) + + /* Leave the stack in its original state. First load sp from s5, then + restore s5 from the stack. */ + add sp, zero, s5 + lw s5, 40(sp) + addiu sp, sp, portCONTEXT_SIZE + + mtc0 k0, _CP0_STATUS + mtc0 k1, _CP0_EPC + ehb + eret + nop + + .endm + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c new file mode 100644 index 0000000..dc98f4a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c @@ -0,0 +1,334 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PIC32MX port. + *----------------------------------------------------------*/ + +#ifndef __XC + #error This port is designed to work with XC32. Please update your C compiler version. +#endif + +/* Scheduler include files. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware specifics. */ +#define portTIMER_PRESCALE 8 +#define portPRESCALE_BITS 1 + +/* Bits within various registers. */ +#define portIE_BIT ( 0x00000001 ) +#define portEXL_BIT ( 0x00000002 ) + +/* Bits within the CAUSE register. */ +#define portCORE_SW_0 ( 0x00000100 ) +#define portCORE_SW_1 ( 0x00000200 ) + +/* The EXL bit is set to ensure interrupts do not occur while the context of +the first task is being restored. */ +#define portINITIAL_SR ( portIE_BIT | portEXL_BIT ) + +/* +By default port.c generates its tick interrupt from TIMER1. The user can +override this behaviour by: + 1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(), + which is the function that configures the timer. The function is defined + as a weak symbol in this file so if the same function name is used in the + application code then the version in the application code will be linked + into the application in preference to the version defined in this file. + 2: Define configTICK_INTERRUPT_VECTOR to the vector number of the timer used + to generate the tick interrupt. For example, when timer 1 is used then + configTICK_INTERRUPT_VECTOR is set to _TIMER_1_VECTOR. + configTICK_INTERRUPT_VECTOR should be defined in FreeRTOSConfig.h. + 3: Define configCLEAR_TICK_TIMER_INTERRUPT() to clear the interrupt in the + timer used to generate the tick interrupt. For example, when timer 1 is + used configCLEAR_TICK_TIMER_INTERRUPT() is defined to + IFS0CLR = _IFS0_T1IF_MASK. +*/ +#ifndef configTICK_INTERRUPT_VECTOR + #define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR + #define configCLEAR_TICK_TIMER_INTERRUPT() IFS0CLR = _IFS0_T1IF_MASK +#else + #ifndef configCLEAR_TICK_TIMER_INTERRUPT + #error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code. + #endif +#endif + +/* Let the user override the pre-loading of the initial RA with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task +stack checking. A problem in the ISR stack will trigger an assert, not call the +stack overflow hook function (because the stack overflow hook is specific to a +task stack, not the ISR stack). */ +#if( configCHECK_FOR_STACK_OVERFLOW > 2 ) + + /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for + the task stacks, and so will legitimately appear in many positions within + the ISR stack. */ + #define portISR_STACK_FILL_BYTE 0xee + + static const uint8_t ucExpectedStackBytes[] = { + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ + + #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) +#else + /* Define the function away. */ + #define portCHECK_ISR_STACK() +#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + +/*-----------------------------------------------------------*/ + + +/* + * Place the prototype here to ensure the interrupt vector is correctly installed. + * Note that because the interrupt is written in assembly, the IPL setting in the + * following line of code has no effect. The interrupt priority is set by the + * call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt(). + */ +extern void __attribute__( (interrupt(IPL1AUTO), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void ); + +/* + * The software interrupt handler that performs the yield. Note that, because + * the interrupt is written in assembly, the IPL setting in the following line of + * code has no effect. The interrupt priority is set by the call to + * mConfigIntCoreSW0() in xPortStartScheduler(). + */ +void __attribute__( (interrupt(IPL1AUTO), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Records the interrupt nesting depth. This is initialised to one as it is +decremented to 0 when the first task starts. */ +volatile UBaseType_t uxInterruptNesting = 0x01; + +/* Stores the task stack pointer when a switch is made to use the system stack. */ +UBaseType_t uxSavedTaskStackPointer = 0; + +/* The stack used by interrupt service routines that cause a context switch. */ +__attribute__ ((aligned(8))) StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 }; + +/* The top of stack value ensures there is enough space to store 6 registers on +the callers stack, as some functions seem to want to do this. */ +const StackType_t * const xISRStackTop = &( xISRStack[ ( configISR_STACK_SIZE & ~portBYTE_ALIGNMENT_MASK ) - 8 ] ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Ensure 8 byte alignment is maintained when the context is popped from + * stack. The size of the context is 33 words (132 bytes). */ + pxTopOfStack--; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0xDEADBEEF; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0x12345678; /* Word to which the stack pointer will be left pointing after context restore. */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) _CP0_GET_CAUSE(); + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) portINITIAL_SR;/* CP0_STATUS */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) pxCode; /* CP0_EPC */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS; /* ra */ + pxTopOfStack -= 15; + + *pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */ + pxTopOfStack -= 15; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( uxSavedTaskStackPointer == 0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. This function uses peripheral timer 1. + * The function is declared weak so an application writer can use a different + * timer by redefining this implementation. If a different timer is used then + * configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to + * ensure the RTOS provided tick interrupt handler is installed on the correct + * vector number. When Timer 1 is used the vector number is defined as + * _TIMER_1_VECTOR. + */ +__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) +{ +const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1; + + T1CON = 0x0000; + T1CONbits.TCKPS = portPRESCALE_BITS; + PR1 = ulCompareMatch; + IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; + + /* Clear the interrupt as a starting condition. */ + IFS0bits.T1IF = 0; + + /* Enable the interrupt. */ + IEC0bits.T1IE = 1; + + /* Start the timer. */ + T1CONbits.TON = 1; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler(void) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( uxInterruptNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); +extern void *pxCurrentTCB; + + #if ( configCHECK_FOR_STACK_OVERFLOW > 2 ) + { + /* Fill the ISR stack to make it easy to asses how much is being used. */ + memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); + } + #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + + /* Clear the software interrupt flag. */ + IFS0CLR = _IFS0_CS0IF_MASK; + + /* Set software timer priority. */ + IPC0CLR = _IPC0_CS0IP_MASK; + IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION ); + + /* Enable software interrupt. */ + IEC0CLR = _IEC0_CS0IE_MASK; + IEC0SET = 1 << _IEC0_CS0IE_POSITION; + + /* Setup the timer to generate the tick. Interrupts will have been + disabled by the time we get here. */ + vApplicationSetupTickTimerInterrupt(); + + /* Kick off the highest priority task that has been created so far. + Its stack location is loaded into uxSavedTaskStackPointer. */ + uxSavedTaskStackPointer = *( UBaseType_t * ) pxCurrentTCB; + vPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + exit error function to prevent compiler warnings about a static function + not being called in the case that the application writer overrides this + functionality by defining configTASK_RETURN_ADDRESS. */ + prvTaskExitError(); + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortIncrementTick( void ) +{ +UBaseType_t uxSavedStatus; + + uxSavedStatus = uxPortSetInterruptMaskFromISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + _CP0_BIS_CAUSE( portCORE_SW_0 ); + } + } + vPortClearInterruptMaskFromISR( uxSavedStatus ); + + /* Look for the ISR stack getting near or past its limit. */ + portCHECK_ISR_STACK(); + + /* Clear timer interrupt. */ + configCLEAR_TICK_TIMER_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxPortSetInterruptMaskFromISR( void ) +{ +UBaseType_t uxSavedStatusRegister; + + __builtin_disable_interrupts(); + uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01; + /* This clears the IPL bits, then sets them to + configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called + from an interrupt that has a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action + can only result in the IPL being unchanged or raised, and therefore never + lowered. */ + _CP0_SET_STATUS( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ); + + return uxSavedStatusRegister; +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMaskFromISR( UBaseType_t uxSavedStatusRegister ) +{ + _CP0_SET_STATUS( uxSavedStatusRegister ); +} +/*-----------------------------------------------------------*/ + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/port_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/port_asm.S new file mode 100644 index 0000000..6271543 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/port_asm.S @@ -0,0 +1,268 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include +#include +#include "ISR_Support.h" + + + .set nomips16 + .set noreorder + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vPortIncrementTick + .extern xISRStackTop + + .global vPortStartFirstTask + .global vPortYieldISR + .global vPortTickInterruptHandler + + +/******************************************************************/ + + .set noreorder + .set noat + .ent vPortTickInterruptHandler + +vPortTickInterruptHandler: + + portSAVE_CONTEXT + + jal vPortIncrementTick + nop + + portRESTORE_CONTEXT + + .end vPortTickInterruptHandler + +/******************************************************************/ + + .set noreorder + .set noat + .ent vPortStartFirstTask + +vPortStartFirstTask: + + /* Simply restore the context of the highest priority task that has been + created so far. */ + portRESTORE_CONTEXT + + .end vPortStartFirstTask + + + +/*******************************************************************/ + + .set noreorder + .set noat + .ent vPortYieldISR + +vPortYieldISR: + + /* Make room for the context. First save the current status so it can be + manipulated. */ + addiu sp, sp, -portCONTEXT_SIZE + mfc0 k1, _CP0_STATUS + + /* Also save s6 and s5 so they can be used. Any nesting interrupts should + maintain the values of these registers across the ISR. */ + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + + /* Prepare to re-enabled interrupt above the kernel priority. */ + ins k1, zero, 10, 6 + ori k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) + ins k1, zero, 1, 4 + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Swap to the system stack. This is not conditional on the nesting + count as this interrupt is always the lowest priority and therefore + the nesting is always 0. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Set the nesting count. */ + la k0, uxInterruptNesting + addiu s6, zero, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved with the rest of the context + after interrupts are enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. */ + sw ra, 120(s5) + sw s8, 116(s5) + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s7, 48(s5) + sw s6, portEPC_STACK_LOCATION(s5) + /* s5 and s6 has already been saved. */ + sw s4, 36(s5) + sw s3, 32(s5) + sw s2, 28(s5) + sw s1, 24(s5) + sw s0, 20(s5) + sw $1, 16(s5) + + /* s7 is used as a scratch register as this should always be saved across + nesting interrupts. */ + mfhi s7 + sw s7, 12(s5) + mflo s7 + sw s7, 8(s5) + + /* Save the stack pointer to the task. */ + la s7, pxCurrentTCB + lw s7, (s7) + sw s5, (s7) + + /* Set the interrupt mask to the max priority that can use the API. The + yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which + is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever + raise the IPL value and never lower it. */ + di + ehb + mfc0 s7, _CP0_STATUS + ins s7, zero, 10, 6 + ori s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1 + + /* This mtc0 re-enables interrupts, but only above + configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 s6, _CP0_STATUS + ehb + + /* Clear the software interrupt in the core. */ + mfc0 s6, _CP0_CAUSE + ins s6, zero, 8, 1 + mtc0 s6, _CP0_CAUSE + ehb + + /* Clear the interrupt in the interrupt controller. */ + la s6, IFS0CLR + addiu s4, zero, 2 + sw s4, (s6) + + jal vTaskSwitchContext + nop + + /* Clear the interrupt mask again. The saved status value is still in s7. */ + mtc0 s7, _CP0_STATUS + ehb + + /* Restore the stack pointer from the TCB. */ + la s0, pxCurrentTCB + lw s0, (s0) + lw s5, (s0) + + /* Restore the rest of the context. */ + lw s0, 8(s5) + mtlo s0 + lw s0, 12(s5) + mthi s0 + lw $1, 16(s5) + lw s0, 20(s5) + lw s1, 24(s5) + lw s2, 28(s5) + lw s3, 32(s5) + lw s4, 36(s5) + /* s5 is loaded later. */ + lw s6, 44(s5) + lw s7, 48(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Set nesting back to zero. As the lowest priority interrupt this + interrupt cannot have nested. */ + la k0, uxInterruptNesting + sw zero, 0(k0) + + /* Switch back to use the real stack pointer. */ + add sp, zero, s5 + + /* Restore the real s5 value. */ + lw s5, 40(sp) + + /* Pop the status and epc values. */ + lw k1, portSTATUS_STACK_LOCATION(sp) + lw k0, portEPC_STACK_LOCATION(sp) + + /* Remove stack frame. */ + addiu sp, sp, portCONTEXT_SIZE + + mtc0 k1, _CP0_STATUS + mtc0 k0, _CP0_EPC + ehb + eret + nop + + .end vPortYieldISR + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h new file mode 100644 index 0000000..0495e18 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h @@ -0,0 +1,204 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* System include files */ +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portIPL_SHIFT ( 10UL ) +#define portALL_IPL_BITS ( 0x3fUL << portIPL_SHIFT ) +#define portSW0_BIT ( 0x01 << 8 ) + +/* This clears the IPL bits, then sets them to +configMAX_SYSCALL_INTERRUPT_PRIORITY. An extra check is performed if +configASSERT() is defined to ensure an assertion handler does not inadvertently +attempt to lower the IPL when the call to assert was triggered because the IPL +value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR +safe FreeRTOS API function was executed. ISR safe FreeRTOS API functions are +those that end in FromISR. FreeRTOS maintains a separate interrupt API to +ensure API function and interrupt entry is as fast and as simple as possible. */ +#ifdef configASSERT + #define portDISABLE_INTERRUPTS() \ + { \ + uint32_t ulStatus; \ + \ + /* Mask interrupts at and below the kernel interrupt priority. */ \ + ulStatus = _CP0_GET_STATUS(); \ + \ + /* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */ \ + if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY ) \ + { \ + ulStatus &= ~portALL_IPL_BITS; \ + _CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \ + } \ + } +#else /* configASSERT */ + #define portDISABLE_INTERRUPTS() \ + { \ + uint32_t ulStatus; \ + \ + /* Mask interrupts at and below the kernel interrupt priority. */ \ + ulStatus = _CP0_GET_STATUS(); \ + ulStatus &= ~portALL_IPL_BITS; \ + _CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \ + } +#endif /* configASSERT */ + +#define portENABLE_INTERRUPTS() \ +{ \ +uint32_t ulStatus; \ + \ + /* Unmask all interrupts. */ \ + ulStatus = _CP0_GET_STATUS(); \ + ulStatus &= ~portALL_IPL_BITS; \ + _CP0_SET_STATUS( ulStatus ); \ +} + + +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portCRITICAL_NESTING_IN_TCB 1 +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +extern UBaseType_t uxPortSetInterruptMaskFromISR(); +extern void vPortClearInterruptMaskFromISR( UBaseType_t ); +#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) vPortClearInterruptMaskFromISR( uxSavedStatusRegister ) + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - _clz( ( uxReadyPriorities ) ) ) + +#endif /* taskRECORD_READY_PRIORITY */ + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +#define portYIELD() \ +{ \ +uint32_t ulCause; \ + \ + /* Trigger software interrupt. */ \ + ulCause = _CP0_GET_CAUSE(); \ + ulCause |= portSW0_BIT; \ + _CP0_SET_CAUSE( ulCause ); \ +} + +extern volatile UBaseType_t uxInterruptNesting; +#define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 ) + +#define portNOP() __asm volatile ( "nop" ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) \ + { \ + portYIELD(); \ + } + +/* Required by the kernel aware debugger. */ +#ifdef __DEBUG + #define portREMOVE_STATIC_QUALIFIER +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/ISR_Support.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/ISR_Support.h new file mode 100644 index 0000000..73e7b58 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/ISR_Support.h @@ -0,0 +1,432 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" + +#define portCONTEXT_SIZE 160 +#define portEPC_STACK_LOCATION 152 +#define portSTATUS_STACK_LOCATION 156 +#define portFPCSR_STACK_LOCATION 0 +#define portTASK_HAS_FPU_STACK_LOCATION 0 +#define portFPU_CONTEXT_SIZE 264 + +/******************************************************************/ +.macro portSAVE_FPU_REGS offset, base + /* Macro to assist with saving just the FPU registers to the + * specified address and base offset, + * offset is a constant, base is the base pointer register */ + + sdc1 $f31, \offset + 248(\base) + sdc1 $f30, \offset + 240(\base) + sdc1 $f29, \offset + 232(\base) + sdc1 $f28, \offset + 224(\base) + sdc1 $f27, \offset + 216(\base) + sdc1 $f26, \offset + 208(\base) + sdc1 $f25, \offset + 200(\base) + sdc1 $f24, \offset + 192(\base) + sdc1 $f23, \offset + 184(\base) + sdc1 $f22, \offset + 176(\base) + sdc1 $f21, \offset + 168(\base) + sdc1 $f20, \offset + 160(\base) + sdc1 $f19, \offset + 152(\base) + sdc1 $f18, \offset + 144(\base) + sdc1 $f17, \offset + 136(\base) + sdc1 $f16, \offset + 128(\base) + sdc1 $f15, \offset + 120(\base) + sdc1 $f14, \offset + 112(\base) + sdc1 $f13, \offset + 104(\base) + sdc1 $f12, \offset + 96(\base) + sdc1 $f11, \offset + 88(\base) + sdc1 $f10, \offset + 80(\base) + sdc1 $f9, \offset + 72(\base) + sdc1 $f8, \offset + 64(\base) + sdc1 $f7, \offset + 56(\base) + sdc1 $f6, \offset + 48(\base) + sdc1 $f5, \offset + 40(\base) + sdc1 $f4, \offset + 32(\base) + sdc1 $f3, \offset + 24(\base) + sdc1 $f2, \offset + 16(\base) + sdc1 $f1, \offset + 8(\base) + sdc1 $f0, \offset + 0(\base) + + .endm + +/******************************************************************/ +.macro portLOAD_FPU_REGS offset, base + /* Macro to assist with loading just the FPU registers from the + * specified address and base offset, offset is a constant, + * base is the base pointer register */ + + ldc1 $f0, \offset + 0(\base) + ldc1 $f1, \offset + 8(\base) + ldc1 $f2, \offset + 16(\base) + ldc1 $f3, \offset + 24(\base) + ldc1 $f4, \offset + 32(\base) + ldc1 $f5, \offset + 40(\base) + ldc1 $f6, \offset + 48(\base) + ldc1 $f7, \offset + 56(\base) + ldc1 $f8, \offset + 64(\base) + ldc1 $f9, \offset + 72(\base) + ldc1 $f10, \offset + 80(\base) + ldc1 $f11, \offset + 88(\base) + ldc1 $f12, \offset + 96(\base) + ldc1 $f13, \offset + 104(\base) + ldc1 $f14, \offset + 112(\base) + ldc1 $f15, \offset + 120(\base) + ldc1 $f16, \offset + 128(\base) + ldc1 $f17, \offset + 136(\base) + ldc1 $f18, \offset + 144(\base) + ldc1 $f19, \offset + 152(\base) + ldc1 $f20, \offset + 160(\base) + ldc1 $f21, \offset + 168(\base) + ldc1 $f22, \offset + 176(\base) + ldc1 $f23, \offset + 184(\base) + ldc1 $f24, \offset + 192(\base) + ldc1 $f25, \offset + 200(\base) + ldc1 $f26, \offset + 208(\base) + ldc1 $f27, \offset + 216(\base) + ldc1 $f28, \offset + 224(\base) + ldc1 $f29, \offset + 232(\base) + ldc1 $f30, \offset + 240(\base) + ldc1 $f31, \offset + 248(\base) + + .endm + +/******************************************************************/ +.macro portSAVE_CONTEXT + + /* Make room for the context. First save the current status so it can be + manipulated, and the cause and EPC registers so their original values are + captured. */ + mfc0 k0, _CP0_CAUSE + addiu sp, sp, -portCONTEXT_SIZE + + #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + /* Test if we are already using the system stack. Only tasks may use the + FPU so if we are already in a nested interrupt then the FPU context does + not require saving. */ + la k1, uxInterruptNesting + lw k1, 0(k1) + bne k1, zero, 2f + nop + + /* Test if the current task needs the FPU context saving. */ + la k1, ulTaskHasFPUContext + lw k1, 0(k1) + beq k1, zero, 1f + nop + + /* Adjust the stack to account for the additional FPU context.*/ + addiu sp, sp, -portFPU_CONTEXT_SIZE + + 1: + /* Save the ulTaskHasFPUContext flag. */ + sw k1, portTASK_HAS_FPU_STACK_LOCATION(sp) + + 2: + #endif + + mfc0 k1, _CP0_STATUS + + /* Also save s7, s6 and s5 so they can be used. Any nesting interrupts + should maintain the values of these registers across the ISR. */ + sw s7, 48(sp) + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + + /* Prepare to enable interrupts above the current priority. */ + srl k0, k0, 0xa + ins k1, k0, 10, 7 + srl k0, k0, 0x7 /* This copies the MSB of the IPL, but it would be an error if it was set anyway. */ + ins k1, k0, 18, 1 + ins k1, zero, 1, 4 + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Check the nesting count value. */ + la k0, uxInterruptNesting + lw s6, (k0) + + /* If the nesting count is 0 then swap to the the system stack, otherwise + the system stack is already being used. */ + bne s6, zero, 1f + nop + + /* Swap to the system stack. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Increment and save the nesting count. */ +1: addiu s6, s6, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved after interrupts are re-enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. No other s registers need be + saved. */ + sw ra, 120(s5) + sw s8, 116(s5) + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s6, portEPC_STACK_LOCATION(s5) + sw $1, 16(s5) + + /* Save the AC0, AC1, AC2, AC3 registers from the DSP. s6 is used as a + scratch register. */ + mfhi s6, $ac1 + sw s6, 128(s5) + mflo s6, $ac1 + sw s6, 124(s5) + + mfhi s6, $ac2 + sw s6, 136(s5) + mflo s6, $ac2 + sw s6, 132(s5) + + mfhi s6, $ac3 + sw s6, 144(s5) + mflo s6, $ac3 + sw s6, 140(s5) + + /* Save the DSP Control register */ + rddsp s6 + sw s6, 148(s5) + + /* ac0 is done separately to match the MX port. */ + mfhi s6, $ac0 + sw s6, 12(s5) + mflo s6, $ac0 + sw s6, 8(s5) + + /* Save the FPU context if the nesting count was zero. */ + #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + la s6, uxInterruptNesting + lw s6, 0(s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + + /* Test if the current task needs the FPU context saving. */ + lw s6, portTASK_HAS_FPU_STACK_LOCATION(s5) + beq s6, zero, 1f + nop + + /* Save the FPU registers. */ + portSAVE_FPU_REGS ( portCONTEXT_SIZE + 8 ), s5 + + /* Save the FPU status register */ + cfc1 s6, $f31 + sw s6, (portCONTEXT_SIZE + portFPCSR_STACK_LOCATION)(s5) + + 1: + #endif + + /* Update the task stack pointer value if nesting is zero. */ + la s6, uxInterruptNesting + lw s6, (s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + + /* Save the stack pointer. */ + la s6, uxSavedTaskStackPointer + sw s5, (s6) +1: + .endm + +/******************************************************************/ +.macro portRESTORE_CONTEXT + + /* Restore the stack pointer from the TCB. This is only done if the + nesting count is 1. */ + la s6, uxInterruptNesting + lw s6, (s6) + addiu s6, s6, -1 + bne s6, zero, 1f + nop + la s6, uxSavedTaskStackPointer + lw s5, (s6) + + #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + /* Restore the FPU context if required. */ + lw s6, portTASK_HAS_FPU_STACK_LOCATION(s5) + beq s6, zero, 1f + nop + + /* Restore the FPU registers. */ + portLOAD_FPU_REGS ( portCONTEXT_SIZE + 8 ), s5 + + /* Restore the FPU status register. */ + lw s6, ( portCONTEXT_SIZE + portFPCSR_STACK_LOCATION )(s5) + ctc1 s6, $f31 + #endif + +1: + + /* Restore the context. */ + lw s6, 128(s5) + mthi s6, $ac1 + lw s6, 124(s5) + mtlo s6, $ac1 + + lw s6, 136(s5) + mthi s6, $ac2 + lw s6, 132(s5) + mtlo s6, $ac2 + + lw s6, 144(s5) + mthi s6, $ac3 + lw s6, 140(s5) + mtlo s6, $ac3 + + /* Restore DSPControl. */ + lw s6, 148(s5) + wrdsp s6 + + lw s6, 8(s5) + mtlo s6, $ac0 + lw s6, 12(s5) + mthi s6, $ac0 + lw $1, 16(s5) + + /* s6 is loaded as it was used as a scratch register and therefore saved + as part of the interrupt context. */ + lw s7, 48(s5) + lw s6, 44(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Decrement the nesting count. */ + la k0, uxInterruptNesting + lw k1, (k0) + addiu k1, k1, -1 + sw k1, 0(k0) + + #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + /* If the nesting count is now zero then the FPU context may be restored. */ + bne k1, zero, 1f + nop + + /* Restore the value of ulTaskHasFPUContext */ + la k0, ulTaskHasFPUContext + lw k1, 0(s5) + sw k1, 0(k0) + + /* If the task does not have an FPU context then adjust the stack normally. */ + beq k1, zero, 1f + nop + + /* Restore the STATUS and EPC registers */ + lw k0, portSTATUS_STACK_LOCATION(s5) + lw k1, portEPC_STACK_LOCATION(s5) + + /* Leave the stack in its original state. First load sp from s5, then + restore s5 from the stack. */ + add sp, zero, s5 + lw s5, 40(sp) + + /* Adjust the stack pointer to remove the FPU context */ + addiu sp, sp, portFPU_CONTEXT_SIZE + beq zero, zero, 2f + nop + + 1: /* Restore the STATUS and EPC registers */ + lw k0, portSTATUS_STACK_LOCATION(s5) + lw k1, portEPC_STACK_LOCATION(s5) + + /* Leave the stack in its original state. First load sp from s5, then + restore s5 from the stack. */ + add sp, zero, s5 + lw s5, 40(sp) + + 2: /* Adjust the stack pointer */ + addiu sp, sp, portCONTEXT_SIZE + + #else + + /* Restore the frame when there is no hardware FP support. */ + lw k0, portSTATUS_STACK_LOCATION(s5) + lw k1, portEPC_STACK_LOCATION(s5) + + /* Leave the stack in its original state. First load sp from s5, then + restore s5 from the stack. */ + add sp, zero, s5 + lw s5, 40(sp) + + addiu sp, sp, portCONTEXT_SIZE + + #endif // ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + + mtc0 k0, _CP0_STATUS + mtc0 k1, _CP0_EPC + ehb + eret + nop + + .endm + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c new file mode 100644 index 0000000..3225dde --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c @@ -0,0 +1,372 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PIC32MZ port. + *----------------------------------------------------------*/ + +/* Microchip specific headers. */ +#include + +/* Standard headers. */ +#include + +/* Scheduler include files. */ +#include "FreeRTOS.h" +#include "task.h" + +#if !defined(__PIC32MZ__) + #error This port is designed to work with XC32 on PIC32MZ MCUs. Please update your C compiler version or settings. +#endif + +#if( ( configMAX_SYSCALL_INTERRUPT_PRIORITY >= 0x7 ) || ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) ) + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must be less than 7 and greater than 0 +#endif + +/* Hardware specifics. */ +#define portTIMER_PRESCALE 8 +#define portPRESCALE_BITS 1 + +/* Bits within various registers. */ +#define portIE_BIT ( 0x00000001 ) +#define portEXL_BIT ( 0x00000002 ) +#define portMX_BIT ( 0x01000000 ) /* Allow access to DSP instructions. */ +#define portCU1_BIT ( 0x20000000 ) /* enable CP1 for parts with hardware. */ +#define portFR_BIT ( 0x04000000 ) /* Enable 64 bit floating point registers. */ + +/* Bits within the CAUSE register. */ +#define portCORE_SW_0 ( 0x00000100 ) +#define portCORE_SW_1 ( 0x00000200 ) + +/* The EXL bit is set to ensure interrupts do not occur while the context of +the first task is being restored. */ +#if ( __mips_hard_float == 1 ) + #define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT | portFR_BIT | portCU1_BIT ) +#else + #define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT ) +#endif + +/* The initial value to store into the FPU status and control register. This is + only used on parts that support a hardware FPU. */ +#define portINITIAL_FPSCR (0x1000000) /* High perf on denormal ops */ + + +/* +By default port.c generates its tick interrupt from TIMER1. The user can +override this behaviour by: + 1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(), + which is the function that configures the timer. The function is defined + as a weak symbol in this file so if the same function name is used in the + application code then the version in the application code will be linked + into the application in preference to the version defined in this file. + 2: Define configTICK_INTERRUPT_VECTOR to the vector number of the timer used + to generate the tick interrupt. For example, when timer 1 is used then + configTICK_INTERRUPT_VECTOR is set to _TIMER_1_VECTOR. + configTICK_INTERRUPT_VECTOR should be defined in FreeRTOSConfig.h. + 3: Define configCLEAR_TICK_TIMER_INTERRUPT() to clear the interrupt in the + timer used to generate the tick interrupt. For example, when timer 1 is + used configCLEAR_TICK_TIMER_INTERRUPT() is defined to + IFS0CLR = _IFS0_T1IF_MASK. +*/ +#ifndef configTICK_INTERRUPT_VECTOR + #define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR + #define configCLEAR_TICK_TIMER_INTERRUPT() IFS0CLR = _IFS0_T1IF_MASK +#else + #ifndef configCLEAR_TICK_TIMER_INTERRUPT + #error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code. + #endif +#endif + +/* Let the user override the pre-loading of the initial RA with the address of +prvTaskExitError() in case it messes up unwinding of the stack in the +debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task +stack checking. A problem in the ISR stack will trigger an assert, not call the +stack overflow hook function (because the stack overflow hook is specific to a +task stack, not the ISR stack). */ +#if( configCHECK_FOR_STACK_OVERFLOW > 2 ) + + /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for + the task stacks, and so will legitimately appear in many positions within + the ISR stack. */ + #define portISR_STACK_FILL_BYTE 0xee + + static const uint8_t ucExpectedStackBytes[] = { + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ + portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ + + #define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) ) +#else + /* Define the function away. */ + #define portCHECK_ISR_STACK() +#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + +/*-----------------------------------------------------------*/ + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Records the interrupt nesting depth. This is initialised to one as it is +decremented to 0 when the first task starts. */ +volatile UBaseType_t uxInterruptNesting = 0x01; + +/* Stores the task stack pointer when a switch is made to use the system stack. */ +UBaseType_t uxSavedTaskStackPointer = 0; + +/* The stack used by interrupt service routines that cause a context switch. */ +__attribute__ ((aligned(8))) StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 }; + +/* The top of stack value ensures there is enough space to store 6 registers on +the callers stack, as some functions seem to want to do this. 8 byte alignment +is required to allow double word floating point stack pushes generated by the +compiler. */ +const StackType_t * const xISRStackTop = &( xISRStack[ ( configISR_STACK_SIZE & ~portBYTE_ALIGNMENT_MASK ) - 8 ] ); + +/* Saved as part of the task context. Set to pdFALSE if the task does not + require an FPU context. */ +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + uint32_t ulTaskHasFPUContext = 0; +#endif + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Ensure 8 byte alignment is maintained when leaving this function. */ + pxTopOfStack--; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0xDEADBEEF; + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0x12345678; /* Word to which the stack pointer will be left pointing after context restore. */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) _CP0_GET_CAUSE(); + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) portINITIAL_SR;/* CP0_STATUS */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) pxCode; /* CP0_EPC */ + pxTopOfStack--; + + *pxTopOfStack = (StackType_t) 0x00000000; /* DSPControl */ + pxTopOfStack -= 7; /* Includes space for AC1 - AC3. */ + + *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS; /* ra */ + pxTopOfStack -= 15; + + *pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */ + pxTopOfStack -= 15; + + *pxTopOfStack = (StackType_t) pdFALSE; /*by default disable FPU context save on parts with FPU */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( uxSavedTaskStackPointer == 0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. This function uses peripheral timer 1. + * The function is declared weak so an application writer can use a different + * timer by redefining this implementation. If a different timer is used then + * configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to + * ensure the RTOS provided tick interrupt handler is installed on the correct + * vector number. When Timer 1 is used the vector number is defined as + * _TIMER_1_VECTOR. + */ +__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) +{ +const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1UL; + + T1CON = 0x0000; + T1CONbits.TCKPS = portPRESCALE_BITS; + PR1 = ulCompareMatch; + IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; + + /* Clear the interrupt as a starting condition. */ + IFS0bits.T1IF = 0; + + /* Enable the interrupt. */ + IEC0bits.T1IE = 1; + + /* Start the timer. */ + T1CONbits.TON = 1; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler(void) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( uxInterruptNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vPortStartFirstTask( void ); +extern void *pxCurrentTCB; + + #if ( configCHECK_FOR_STACK_OVERFLOW > 2 ) + { + /* Fill the ISR stack to make it easy to asses how much is being used. */ + memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); + } + #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ + + /* Clear the software interrupt flag. */ + IFS0CLR = _IFS0_CS0IF_MASK; + + /* Set software timer priority. */ + IPC0CLR = _IPC0_CS0IP_MASK; + IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION ); + + /* Enable software interrupt. */ + IEC0CLR = _IEC0_CS0IE_MASK; + IEC0SET = 1 << _IEC0_CS0IE_POSITION; + + /* Setup the timer to generate the tick. Interrupts will have been + disabled by the time we get here. */ + vApplicationSetupTickTimerInterrupt(); + + /* Kick off the highest priority task that has been created so far. + Its stack location is loaded into uxSavedTaskStackPointer. */ + uxSavedTaskStackPointer = *( UBaseType_t * ) pxCurrentTCB; + vPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + exit error function to prevent compiler warnings about a static function + not being called in the case that the application writer overrides this + functionality by defining configTASK_RETURN_ADDRESS. */ + prvTaskExitError(); + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +void vPortIncrementTick( void ) +{ +UBaseType_t uxSavedStatus; + + uxSavedStatus = uxPortSetInterruptMaskFromISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + _CP0_BIS_CAUSE( portCORE_SW_0 ); + } + } + vPortClearInterruptMaskFromISR( uxSavedStatus ); + + /* Look for the ISR stack getting near or past its limit. */ + portCHECK_ISR_STACK(); + + /* Clear timer interrupt. */ + configCLEAR_TICK_TIMER_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxPortSetInterruptMaskFromISR( void ) +{ +UBaseType_t uxSavedStatusRegister; + + __builtin_disable_interrupts(); + uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01; + /* This clears the IPL bits, then sets them to + configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called + from an interrupt that has a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action + can only result in the IPL being unchanged or raised, and therefore never + lowered. */ + _CP0_SET_STATUS( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ); + + return uxSavedStatusRegister; +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMaskFromISR( UBaseType_t uxSavedStatusRegister ) +{ + _CP0_SET_STATUS( uxSavedStatusRegister ); +} +/*-----------------------------------------------------------*/ + +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + + void vPortTaskUsesFPU(void) + { + extern void vPortInitialiseFPSCR( uint32_t uxFPSCRInit ); + + portENTER_CRITICAL(); + + /* Initialise the floating point status register. */ + vPortInitialiseFPSCR(portINITIAL_FPSCR); + + /* A task is registering the fact that it needs a FPU context. Set the + FPU flag (saved as part of the task context). */ + ulTaskHasFPUContext = pdTRUE; + + portEXIT_CRITICAL(); + } + +#endif /* __mips_hard_float == 1 */ + +/*-----------------------------------------------------------*/ + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port_asm.S new file mode 100644 index 0000000..020b2c4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port_asm.S @@ -0,0 +1,768 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include +#include +#include "FreeRTOSConfig.h" +#include "ISR_Support.h" + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern vPortIncrementTick + .extern xISRStackTop + .extern ulTaskHasFPUContext + + .global vPortStartFirstTask + .global vPortYieldISR + .global vPortTickInterruptHandler + .global vPortInitialiseFPSCR + + +/******************************************************************/ + + .set nomips16 + .set nomicromips + .set noreorder + .set noat + + /*************************************************************** + * The following is needed to locate the + * vPortTickInterruptHandler function into the correct vector + ***************************************************************/ + #ifdef configTICK_INTERRUPT_VECTOR + #if (configTICK_INTERRUPT_VECTOR == _CORE_TIMER_VECTOR) + .equ __vector_dispatch_0, vPortTickInterruptHandler + .global __vector_dispatch_0 + .section .vector_0, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_1_VECTOR) + .equ __vector_dispatch_4, vPortTickInterruptHandler + .global __vector_dispatch_4 + .section .vector_4, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_2_VECTOR) + .equ __vector_dispatch_9, vPortTickInterruptHandler + .global __vector_dispatch_9 + .section .vector_9, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_3_VECTOR) + .equ __vector_dispatch_14, vPortTickInterruptHandler + .global __vector_dispatch_14 + .section .vector_14, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_4_VECTOR) + .equ __vector_dispatch_19, vPortTickInterruptHandler + .global __vector_dispatch_19 + .section .vector_19, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_5_VECTOR) + .equ __vector_dispatch_24, vPortTickInterruptHandler + .global __vector_dispatch_24 + .section .vector_24, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_6_VECTOR) + .equ __vector_dispatch_28, vPortTickInterruptHandler + .global __vector_dispatch_28 + .section .vector_28, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_7_VECTOR) + .equ __vector_dispatch_32, vPortTickInterruptHandler + .global __vector_dispatch_32 + .section .vector_32, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_8_VECTOR) + .equ __vector_dispatch_36, vPortTickInterruptHandler + .global __vector_dispatch_36 + .section .vector_36, code, keep + #elif (configTICK_INTERRUPT_VECTOR == _TIMER_9_VECTOR) + .equ __vector_dispatch_40, vPortTickInterruptHandler + .global __vector_dispatch_40 + .section .vector_40, code, keep + #endif + #else + .equ __vector_dispatch_4, vPortTickInterruptHandler + .global __vector_dispatch_4 + .section .vector_4, code, keep + #endif + + .ent vPortTickInterruptHandler + +vPortTickInterruptHandler: + + portSAVE_CONTEXT + + jal vPortIncrementTick + nop + + portRESTORE_CONTEXT + + .end vPortTickInterruptHandler + +/******************************************************************/ + + .set noreorder + .set noat + .section .text, code + .ent vPortStartFirstTask + +vPortStartFirstTask: + + /* Simply restore the context of the highest priority task that has been + created so far. */ + portRESTORE_CONTEXT + + .end vPortStartFirstTask + + + +/*******************************************************************/ + + .set nomips16 + .set nomicromips + .set noreorder + .set noat + /*************************************************************** + * The following is needed to locate the vPortYieldISR function + * into the correct vector + ***************************************************************/ + .equ __vector_dispatch_1, vPortYieldISR + .global __vector_dispatch_1 + .section .vector_1, code + + .ent vPortYieldISR +vPortYieldISR: + + #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + /* Code sequence for FPU support, the context save requires advance + knowledge of the stack frame size and if the current task actually uses the + FPU. */ + + /* Make room for the context. First save the current status so it can be + manipulated, and the cause and EPC registers so their original values are + captured. */ + la k0, ulTaskHasFPUContext + lw k0, 0(k0) + beq k0, zero, 1f + addiu sp, sp, -portCONTEXT_SIZE /* always reserve space for the context. */ + addiu sp, sp, -portFPU_CONTEXT_SIZE /* reserve additional space for the FPU context. */ + 1: + mfc0 k1, _CP0_STATUS + + /* Also save s6 and s5 so they can be used. Any nesting interrupts should + maintain the values of these registers across the ISR. */ + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + sw k0, portTASK_HAS_FPU_STACK_LOCATION(sp) + + /* Prepare to re-enabled interrupts above the kernel priority. */ + ins k1, zero, 10, 7 /* Clear IPL bits 0:6. */ + ins k1, zero, 18, 1 /* Clear IPL bit 7. It would be an error here if this bit were set anyway. */ + ori k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) + ins k1, zero, 1, 4 /* Clear EXL, ERL and UM. */ + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Swap to the system stack. This is not conditional on the nesting + count as this interrupt is always the lowest priority and therefore + the nesting is always 0. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Set the nesting count. */ + la k0, uxInterruptNesting + addiu s6, zero, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved with the rest of the context + after interrupts are enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. */ + sw ra, 120(s5) + sw s8, 116(s5) + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s7, 48(s5) + sw s6, portEPC_STACK_LOCATION(s5) + /* s5 and s6 has already been saved. */ + sw s4, 36(s5) + sw s3, 32(s5) + sw s2, 28(s5) + sw s1, 24(s5) + sw s0, 20(s5) + sw $1, 16(s5) + + /* s7 is used as a scratch register as this should always be saved across + nesting interrupts. */ + + /* Save the AC0, AC1, AC2 and AC3. */ + mfhi s7, $ac1 + sw s7, 128(s5) + mflo s7, $ac1 + sw s7, 124(s5) + + mfhi s7, $ac2 + sw s7, 136(s5) + mflo s7, $ac2 + sw s7, 132(s5) + + mfhi s7, $ac3 + sw s7, 144(s5) + mflo s7, $ac3 + sw s7, 140(s5) + + rddsp s7 + sw s7, 148(s5) + + mfhi s7, $ac0 + sw s7, 12(s5) + mflo s7, $ac0 + sw s7, 8(s5) + + /* Test if FPU context save is required. */ + lw s7, portTASK_HAS_FPU_STACK_LOCATION(s5) + beq s7, zero, 1f + nop + + /* Save the FPU registers above the normal context. */ + portSAVE_FPU_REGS (portCONTEXT_SIZE + 8), s5 + + /* Save the FPU status register */ + cfc1 s7, $f31 + sw s7, ( portCONTEXT_SIZE + portFPCSR_STACK_LOCATION )(s5) + + 1: + /* Save the stack pointer to the task. */ + la s7, pxCurrentTCB + lw s7, (s7) + sw s5, (s7) + + /* Set the interrupt mask to the max priority that can use the API. The + yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which + is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever + raise the IPL value and never lower it. */ + di + ehb + mfc0 s7, _CP0_STATUS + ins s7, zero, 10, 7 + ins s7, zero, 18, 1 + ori s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1 + + /* This mtc0 re-enables interrupts, but only above + configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 s6, _CP0_STATUS + ehb + + /* Clear the software interrupt in the core. */ + mfc0 s6, _CP0_CAUSE + ins s6, zero, 8, 1 + mtc0 s6, _CP0_CAUSE + ehb + + /* Clear the interrupt in the interrupt controller. */ + la s6, IFS0CLR + addiu s4, zero, 2 + sw s4, (s6) + + jal vTaskSwitchContext + nop + + /* Clear the interrupt mask again. The saved status value is still in s7. */ + mtc0 s7, _CP0_STATUS + ehb + + /* Restore the stack pointer from the TCB. */ + la s0, pxCurrentTCB + lw s0, (s0) + lw s5, (s0) + + /* Test if the FPU context needs restoring. */ + lw s0, portTASK_HAS_FPU_STACK_LOCATION(s5) + beq s0, zero, 1f + nop + + /* Restore the FPU status register. */ + lw s0, ( portCONTEXT_SIZE + portFPCSR_STACK_LOCATION )(s5) + ctc1 s0, $f31 + + /* Restore the FPU registers. */ + portLOAD_FPU_REGS ( portCONTEXT_SIZE + 8 ), s5 + + 1: + /* Restore the rest of the context. */ + lw s0, 128(s5) + mthi s0, $ac1 + lw s0, 124(s5) + mtlo s0, $ac1 + + lw s0, 136(s5) + mthi s0, $ac2 + lw s0, 132(s5) + mtlo s0, $ac2 + + lw s0, 144(s5) + mthi s0, $ac3 + lw s0, 140(s5) + mtlo s0, $ac3 + + lw s0, 148(s5) + wrdsp s0 + + lw s0, 8(s5) + mtlo s0, $ac0 + lw s0, 12(s5) + mthi s0, $ac0 + + lw $1, 16(s5) + lw s0, 20(s5) + lw s1, 24(s5) + lw s2, 28(s5) + lw s3, 32(s5) + lw s4, 36(s5) + + /* s5 is loaded later. */ + lw s6, 44(s5) + lw s7, 48(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Set nesting back to zero. As the lowest priority interrupt this + interrupt cannot have nested. */ + la k0, uxInterruptNesting + sw zero, 0(k0) + + /* Switch back to use the real stack pointer. */ + add sp, zero, s5 + + /* Restore the real s5 value. */ + lw s5, 40(sp) + + /* Pop the FPU context value from the stack */ + lw k0, portTASK_HAS_FPU_STACK_LOCATION(sp) + la k1, ulTaskHasFPUContext + sw k0, 0(k1) + beq k0, zero, 1f + nop + + /* task has FPU context so adjust the stack frame after popping the + status and epc values. */ + lw k1, portSTATUS_STACK_LOCATION(sp) + lw k0, portEPC_STACK_LOCATION(sp) + addiu sp, sp, portFPU_CONTEXT_SIZE + beq zero, zero, 2f + nop + + 1: + /* Pop the status and epc values. */ + lw k1, portSTATUS_STACK_LOCATION(sp) + lw k0, portEPC_STACK_LOCATION(sp) + + 2: + /* Remove stack frame. */ + addiu sp, sp, portCONTEXT_SIZE + + #else + /* Code sequence for no FPU support, the context save requires advance + knowledge of the stack frame size when no FPU is being used */ + + /* Make room for the context. First save the current status so it can be + manipulated, and the cause and EPC registers so thier original values are + captured. */ + addiu sp, sp, -portCONTEXT_SIZE + mfc0 k1, _CP0_STATUS + + /* Also save s6 and s5 so they can be used. Any nesting interrupts should + maintain the values of these registers across the ISR. */ + sw s6, 44(sp) + sw s5, 40(sp) + sw k1, portSTATUS_STACK_LOCATION(sp) + + /* Prepare to re-enabled interrupts above the kernel priority. */ + ins k1, zero, 10, 7 /* Clear IPL bits 0:6. */ + ins k1, zero, 18, 1 /* Clear IPL bit 7. It would be an error here if this bit were set anyway. */ + ori k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) + ins k1, zero, 1, 4 /* Clear EXL, ERL and UM. */ + + /* s5 is used as the frame pointer. */ + add s5, zero, sp + + /* Swap to the system stack. This is not conditional on the nesting + count as this interrupt is always the lowest priority and therefore + the nesting is always 0. */ + la sp, xISRStackTop + lw sp, (sp) + + /* Set the nesting count. */ + la k0, uxInterruptNesting + addiu s6, zero, 1 + sw s6, 0(k0) + + /* s6 holds the EPC value, this is saved with the rest of the context + after interrupts are enabled. */ + mfc0 s6, _CP0_EPC + + /* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 k1, _CP0_STATUS + + /* Save the context into the space just created. s6 is saved again + here as it now contains the EPC value. */ + sw ra, 120(s5) + sw s8, 116(s5) + sw t9, 112(s5) + sw t8, 108(s5) + sw t7, 104(s5) + sw t6, 100(s5) + sw t5, 96(s5) + sw t4, 92(s5) + sw t3, 88(s5) + sw t2, 84(s5) + sw t1, 80(s5) + sw t0, 76(s5) + sw a3, 72(s5) + sw a2, 68(s5) + sw a1, 64(s5) + sw a0, 60(s5) + sw v1, 56(s5) + sw v0, 52(s5) + sw s7, 48(s5) + sw s6, portEPC_STACK_LOCATION(s5) + /* s5 and s6 has already been saved. */ + sw s4, 36(s5) + sw s3, 32(s5) + sw s2, 28(s5) + sw s1, 24(s5) + sw s0, 20(s5) + sw $1, 16(s5) + + /* s7 is used as a scratch register as this should always be saved across + nesting interrupts. */ + + /* Save the AC0, AC1, AC2 and AC3. */ + mfhi s7, $ac1 + sw s7, 128(s5) + mflo s7, $ac1 + sw s7, 124(s5) + + mfhi s7, $ac2 + sw s7, 136(s5) + mflo s7, $ac2 + sw s7, 132(s5) + + mfhi s7, $ac3 + sw s7, 144(s5) + mflo s7, $ac3 + sw s7, 140(s5) + + rddsp s7 + sw s7, 148(s5) + + mfhi s7, $ac0 + sw s7, 12(s5) + mflo s7, $ac0 + sw s7, 8(s5) + + /* Save the stack pointer to the task. */ + la s7, pxCurrentTCB + lw s7, (s7) + sw s5, (s7) + + /* Set the interrupt mask to the max priority that can use the API. The + yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which + is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever + raise the IPL value and never lower it. */ + di + ehb + mfc0 s7, _CP0_STATUS + ins s7, zero, 10, 7 + ins s7, zero, 18, 1 + ori s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1 + + /* This mtc0 re-enables interrupts, but only above + configMAX_SYSCALL_INTERRUPT_PRIORITY. */ + mtc0 s6, _CP0_STATUS + ehb + + /* Clear the software interrupt in the core. */ + mfc0 s6, _CP0_CAUSE + ins s6, zero, 8, 1 + mtc0 s6, _CP0_CAUSE + ehb + + /* Clear the interrupt in the interrupt controller. */ + la s6, IFS0CLR + addiu s4, zero, 2 + sw s4, (s6) + + jal vTaskSwitchContext + nop + + /* Clear the interrupt mask again. The saved status value is still in s7. */ + mtc0 s7, _CP0_STATUS + ehb + + /* Restore the stack pointer from the TCB. */ + la s0, pxCurrentTCB + lw s0, (s0) + lw s5, (s0) + + /* Restore the rest of the context. */ + lw s0, 128(s5) + mthi s0, $ac1 + lw s0, 124(s5) + mtlo s0, $ac1 + + lw s0, 136(s5) + mthi s0, $ac2 + lw s0, 132(s5) + mtlo s0, $ac2 + + lw s0, 144(s5) + mthi s0, $ac3 + lw s0, 140(s5) + mtlo s0, $ac3 + + lw s0, 148(s5) + wrdsp s0 + + lw s0, 8(s5) + mtlo s0, $ac0 + lw s0, 12(s5) + mthi s0, $ac0 + + lw $1, 16(s5) + lw s0, 20(s5) + lw s1, 24(s5) + lw s2, 28(s5) + lw s3, 32(s5) + lw s4, 36(s5) + + /* s5 is loaded later. */ + lw s6, 44(s5) + lw s7, 48(s5) + lw v0, 52(s5) + lw v1, 56(s5) + lw a0, 60(s5) + lw a1, 64(s5) + lw a2, 68(s5) + lw a3, 72(s5) + lw t0, 76(s5) + lw t1, 80(s5) + lw t2, 84(s5) + lw t3, 88(s5) + lw t4, 92(s5) + lw t5, 96(s5) + lw t6, 100(s5) + lw t7, 104(s5) + lw t8, 108(s5) + lw t9, 112(s5) + lw s8, 116(s5) + lw ra, 120(s5) + + /* Protect access to the k registers, and others. */ + di + ehb + + /* Set nesting back to zero. As the lowest priority interrupt this + interrupt cannot have nested. */ + la k0, uxInterruptNesting + sw zero, 0(k0) + + /* Switch back to use the real stack pointer. */ + add sp, zero, s5 + + /* Restore the real s5 value. */ + lw s5, 40(sp) + + /* Pop the status and epc values. */ + lw k1, portSTATUS_STACK_LOCATION(sp) + lw k0, portEPC_STACK_LOCATION(sp) + + /* Remove stack frame. */ + addiu sp, sp, portCONTEXT_SIZE + + #endif /* ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) */ + + /* Restore the status and EPC registers and return */ + mtc0 k1, _CP0_STATUS + mtc0 k0, _CP0_EPC + ehb + eret + nop + + .end vPortYieldISR + +/******************************************************************/ + +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + + .macro portFPUSetAndInc reg, dest + mtc1 \reg, \dest + cvt.d.w \dest, \dest + addiu \reg, \reg, 1 + .endm + + .set noreorder + .set noat + .section .text, code + .ent vPortInitialiseFPSCR + +vPortInitialiseFPSCR: + + /* Initialize the floating point status register in CP1. The initial + value is passed in a0. */ + ctc1 a0, $f31 + + /* Clear the FPU registers */ + addiu a0, zero, 0x0000 + portFPUSetAndInc a0, $f0 + portFPUSetAndInc a0, $f1 + portFPUSetAndInc a0, $f2 + portFPUSetAndInc a0, $f3 + portFPUSetAndInc a0, $f4 + portFPUSetAndInc a0, $f5 + portFPUSetAndInc a0, $f6 + portFPUSetAndInc a0, $f7 + portFPUSetAndInc a0, $f8 + portFPUSetAndInc a0, $f9 + portFPUSetAndInc a0, $f10 + portFPUSetAndInc a0, $f11 + portFPUSetAndInc a0, $f12 + portFPUSetAndInc a0, $f13 + portFPUSetAndInc a0, $f14 + portFPUSetAndInc a0, $f15 + portFPUSetAndInc a0, $f16 + portFPUSetAndInc a0, $f17 + portFPUSetAndInc a0, $f18 + portFPUSetAndInc a0, $f19 + portFPUSetAndInc a0, $f20 + portFPUSetAndInc a0, $f21 + portFPUSetAndInc a0, $f22 + portFPUSetAndInc a0, $f23 + portFPUSetAndInc a0, $f24 + portFPUSetAndInc a0, $f25 + portFPUSetAndInc a0, $f26 + portFPUSetAndInc a0, $f27 + portFPUSetAndInc a0, $f28 + portFPUSetAndInc a0, $f29 + portFPUSetAndInc a0, $f30 + portFPUSetAndInc a0, $f31 + + jr ra + nop + + .end vPortInitialiseFPSCR + +#endif /* ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) */ + +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + + /**********************************************************************/ + /* Test read back */ + /* a0 = address to store registers */ + + .set noreorder + .set noat + .section .text, code + .ent vPortFPUReadback + .global vPortFPUReadback + +vPortFPUReadback: + sdc1 $f0, 0(a0) + sdc1 $f1, 8(a0) + sdc1 $f2, 16(a0) + sdc1 $f3, 24(a0) + sdc1 $f4, 32(a0) + sdc1 $f5, 40(a0) + sdc1 $f6, 48(a0) + sdc1 $f7, 56(a0) + sdc1 $f8, 64(a0) + sdc1 $f9, 72(a0) + sdc1 $f10, 80(a0) + sdc1 $f11, 88(a0) + sdc1 $f12, 96(a0) + sdc1 $f13, 104(a0) + sdc1 $f14, 112(a0) + sdc1 $f15, 120(a0) + sdc1 $f16, 128(a0) + sdc1 $f17, 136(a0) + sdc1 $f18, 144(a0) + sdc1 $f19, 152(a0) + sdc1 $f20, 160(a0) + sdc1 $f21, 168(a0) + sdc1 $f22, 176(a0) + sdc1 $f23, 184(a0) + sdc1 $f24, 192(a0) + sdc1 $f25, 200(a0) + sdc1 $f26, 208(a0) + sdc1 $f27, 216(a0) + sdc1 $f28, 224(a0) + sdc1 $f29, 232(a0) + sdc1 $f30, 240(a0) + sdc1 $f31, 248(a0) + + jr ra + nop + + .end vPortFPUReadback + +#endif /* ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) */ + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h new file mode 100644 index 0000000..58c4236 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h @@ -0,0 +1,215 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* System include files */ +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portIPL_SHIFT ( 10UL ) +/* Don't straddle the CEE bit. Interrupts calling FreeRTOS functions should +never have higher IPL bits set anyway. */ +#define portALL_IPL_BITS ( 0x7FUL << portIPL_SHIFT ) +#define portSW0_BIT ( 0x01 << 8 ) + +/* This clears the IPL bits, then sets them to +configMAX_SYSCALL_INTERRUPT_PRIORITY. An extra check is performed if +configASSERT() is defined to ensure an assertion handler does not inadvertently +attempt to lower the IPL when the call to assert was triggered because the IPL +value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR +safe FreeRTOS API function was executed. ISR safe FreeRTOS API functions are +those that end in FromISR. FreeRTOS maintains a separate interrupt API to +ensure API function and interrupt entry is as fast and as simple as possible. */ +#ifdef configASSERT + #define portDISABLE_INTERRUPTS() \ + { \ + uint32_t ulStatus; \ + \ + /* Mask interrupts at and below the kernel interrupt priority. */ \ + ulStatus = _CP0_GET_STATUS(); \ + \ + /* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */ \ + if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY ) \ + { \ + ulStatus &= ~portALL_IPL_BITS; \ + _CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \ + } \ + } +#else /* configASSERT */ + #define portDISABLE_INTERRUPTS() \ + { \ + uint32_t ulStatus; \ + \ + /* Mask interrupts at and below the kernel interrupt priority. */ \ + ulStatus = _CP0_GET_STATUS(); \ + ulStatus &= ~portALL_IPL_BITS; \ + _CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \ + } +#endif /* configASSERT */ + +#define portENABLE_INTERRUPTS() \ +{ \ +uint32_t ulStatus; \ + \ + /* Unmask all interrupts. */ \ + ulStatus = _CP0_GET_STATUS(); \ + ulStatus &= ~portALL_IPL_BITS; \ + _CP0_SET_STATUS( ulStatus ); \ +} + + +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portCRITICAL_NESTING_IN_TCB 1 +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +extern UBaseType_t uxPortSetInterruptMaskFromISR(); +extern void vPortClearInterruptMaskFromISR( UBaseType_t ); +#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) vPortClearInterruptMaskFromISR( uxSavedStatusRegister ) + +#if ( __mips_hard_float == 0 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + #error configUSE_TASK_FPU_SUPPORT can only be set to 1 when the part supports a hardware FPU module. +#endif + +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + void vPortTaskUsesFPU( void ); + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() +#endif + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - _clz( ( uxReadyPriorities ) ) ) + +#endif /* taskRECORD_READY_PRIORITY */ + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +#define portYIELD() \ +{ \ +uint32_t ulCause; \ + \ + /* Trigger software interrupt. */ \ + ulCause = _CP0_GET_CAUSE(); \ + ulCause |= portSW0_BIT; \ + _CP0_SET_CAUSE( ulCause ); \ +} + +extern volatile UBaseType_t uxInterruptNesting; +#define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 ) + +#define portNOP() __asm volatile ( "nop" ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) \ + { \ + portYIELD(); \ + } + +/* Required by the kernel aware debugger. */ +#ifdef __DEBUG + #define portREMOVE_STATIC_QUALIFIER +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MSVC-MingW/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MSVC-MingW/port.c new file mode 100644 index 0000000..48f15e7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MSVC-MingW/port.c @@ -0,0 +1,699 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifdef __GNUC__ + #include "mmsystem.h" +#else + #pragma comment(lib, "winmm.lib") +#endif + +#define portMAX_INTERRUPTS ( ( uint32_t ) sizeof( uint32_t ) * 8UL ) /* The number of bits in an uint32_t. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* The priorities at which the various components of the simulation execute. */ +#define portDELETE_SELF_THREAD_PRIORITY THREAD_PRIORITY_TIME_CRITICAL /* Must be highest. */ +#define portSIMULATED_INTERRUPTS_THREAD_PRIORITY THREAD_PRIORITY_TIME_CRITICAL +#define portSIMULATED_TIMER_THREAD_PRIORITY THREAD_PRIORITY_HIGHEST +#define portTASK_THREAD_PRIORITY THREAD_PRIORITY_ABOVE_NORMAL + +/* + * Created as a high priority thread, this function uses a timer to simulate + * a tick interrupt being generated on an embedded target. In this Windows + * environment the timer does not achieve anything approaching real time + * performance though. + */ +static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter ); + +/* + * Process all the simulated interrupts - each represented by a bit in + * ulPendingInterrupts variable. + */ +static void prvProcessSimulatedInterrupts( void ); + +/* + * Interrupt handlers used by the kernel itself. These are executed from the + * simulated interrupt handler thread. + */ +static uint32_t prvProcessYieldInterrupt( void ); +static uint32_t prvProcessTickInterrupt( void ); + +/* + * Exiting a critical section will cause the calling task to block on yield + * event to wait for an interrupt to process if an interrupt was pended while + * inside the critical section. This variable protects against a recursive + * attempt to obtain pvInterruptEventMutex if a critical section is used inside + * an interrupt handler itself. + */ +volatile BaseType_t xInsideInterrupt = pdFALSE; + +/* + * Called when the process exits to let Windows know the high timer resolution + * is no longer required. + */ +static BOOL WINAPI prvEndProcess( DWORD dwCtrlType ); + +/*-----------------------------------------------------------*/ + +/* The WIN32 simulator runs each task in a thread. The context switching is +managed by the threads, so the task stack does not have to be managed directly, +although the task stack is still used to hold an xThreadState structure this is +the only thing it will ever hold. The structure indirectly maps the task handle +to a thread handle. */ +typedef struct +{ + /* Handle of the thread that executes the task. */ + void *pvThread; + + /* Event used to make sure the thread does not execute past a yield point + between the call to SuspendThread() to suspend the thread and the + asynchronous SuspendThread() operation actually being performed. */ + void *pvYieldEvent; +} ThreadState_t; + +/* Simulated interrupts waiting to be processed. This is a bit mask where each +bit represents one interrupt, so a maximum of 32 interrupts can be simulated. */ +static volatile uint32_t ulPendingInterrupts = 0UL; + +/* An event used to inform the simulated interrupt processing thread (a high +priority thread that simulated interrupt processing) that an interrupt is +pending. */ +static void *pvInterruptEvent = NULL; + +/* Mutex used to protect all the simulated interrupt variables that are accessed +by multiple threads. */ +static void *pvInterruptEventMutex = NULL; + +/* The critical nesting count for the currently executing task. This is +initialised to a non-zero value so interrupts do not become enabled during +the initialisation phase. As each task has its own critical nesting value +ulCriticalNesting will get set to zero when the first task runs. This +initialisation is probably not critical in this simulated environment as the +simulated interrupt handlers do not get created until the FreeRTOS scheduler is +started anyway. */ +static volatile uint32_t ulCriticalNesting = 9999UL; + +/* Handlers for all the simulated software interrupts. The first two positions +are used for the Yield and Tick interrupts so are handled slightly differently, +all the other interrupts can be user defined. */ +static uint32_t (*ulIsrHandler[ portMAX_INTERRUPTS ])( void ) = { 0 }; + +/* Pointer to the TCB of the currently executing task. */ +extern void * volatile pxCurrentTCB; + +/* Used to ensure nothing is processed during the startup sequence. */ +static BaseType_t xPortRunning = pdFALSE; + +/*-----------------------------------------------------------*/ + +static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter ) +{ +TickType_t xMinimumWindowsBlockTime; +TIMECAPS xTimeCaps; + + /* Set the timer resolution to the maximum possible. */ + if( timeGetDevCaps( &xTimeCaps, sizeof( xTimeCaps ) ) == MMSYSERR_NOERROR ) + { + xMinimumWindowsBlockTime = ( TickType_t ) xTimeCaps.wPeriodMin; + timeBeginPeriod( xTimeCaps.wPeriodMin ); + + /* Register an exit handler so the timeBeginPeriod() function can be + matched with a timeEndPeriod() when the application exits. */ + SetConsoleCtrlHandler( prvEndProcess, TRUE ); + } + else + { + xMinimumWindowsBlockTime = ( TickType_t ) 20; + } + + /* Just to prevent compiler warnings. */ + ( void ) lpParameter; + + for( ;; ) + { + /* Wait until the timer expires and we can access the simulated interrupt + variables. *NOTE* this is not a 'real time' way of generating tick + events as the next wake time should be relative to the previous wake + time, not the time that Sleep() is called. It is done this way to + prevent overruns in this very non real time simulated/emulated + environment. */ + if( portTICK_PERIOD_MS < xMinimumWindowsBlockTime ) + { + Sleep( xMinimumWindowsBlockTime ); + } + else + { + Sleep( portTICK_PERIOD_MS ); + } + + configASSERT( xPortRunning ); + + /* Can't proceed if in a critical section as pvInterruptEventMutex won't + be available. */ + WaitForSingleObject( pvInterruptEventMutex, INFINITE ); + + /* The timer has expired, generate the simulated tick event. */ + ulPendingInterrupts |= ( 1 << portINTERRUPT_TICK ); + + /* The interrupt is now pending - notify the simulated interrupt + handler thread. Must be outside of a critical section to get here so + the handler thread can execute immediately pvInterruptEventMutex is + released. */ + configASSERT( ulCriticalNesting == 0UL ); + SetEvent( pvInterruptEvent ); + + /* Give back the mutex so the simulated interrupt handler unblocks + and can access the interrupt handler variables. */ + ReleaseMutex( pvInterruptEventMutex ); + } + + #ifdef __GNUC__ + /* Should never reach here - MingW complains if you leave this line out, + MSVC complains if you put it in. */ + return 0; + #endif +} +/*-----------------------------------------------------------*/ + +static BOOL WINAPI prvEndProcess( DWORD dwCtrlType ) +{ +TIMECAPS xTimeCaps; + + ( void ) dwCtrlType; + + if( timeGetDevCaps( &xTimeCaps, sizeof( xTimeCaps ) ) == MMSYSERR_NOERROR ) + { + /* Match the call to timeBeginPeriod( xTimeCaps.wPeriodMin ) made when + the process started with a timeEndPeriod() as the process exits. */ + timeEndPeriod( xTimeCaps.wPeriodMin ); + } + + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +ThreadState_t *pxThreadState = NULL; +int8_t *pcTopOfStack = ( int8_t * ) pxTopOfStack; +const SIZE_T xStackSize = 1024; /* Set the size to a small number which will get rounded up to the minimum possible. */ + + /* In this simulated case a stack is not initialised, but instead a thread + is created that will execute the task being created. The thread handles + the context switching itself. The ThreadState_t object is placed onto + the stack that was created for the task - so the stack buffer is still + used, just not in the conventional way. It will not be used for anything + other than holding this structure. */ + pxThreadState = ( ThreadState_t * ) ( pcTopOfStack - sizeof( ThreadState_t ) ); + + /* Create the event used to prevent the thread from executing past its yield + point if the SuspendThread() call that suspends the thread does not take + effect immediately (it is an asynchronous call). */ + pxThreadState->pvYieldEvent = CreateEvent( NULL, /* Default security attributes. */ + FALSE, /* Auto reset. */ + FALSE, /* Start not signalled. */ + NULL );/* No name. */ + + /* Create the thread itself. */ + pxThreadState->pvThread = CreateThread( NULL, xStackSize, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED | STACK_SIZE_PARAM_IS_A_RESERVATION, NULL ); + configASSERT( pxThreadState->pvThread ); /* See comment where TerminateThread() is called. */ + SetThreadAffinityMask( pxThreadState->pvThread, 0x01 ); + SetThreadPriorityBoost( pxThreadState->pvThread, TRUE ); + SetThreadPriority( pxThreadState->pvThread, portTASK_THREAD_PRIORITY ); + + return ( StackType_t * ) pxThreadState; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +void *pvHandle = NULL; +int32_t lSuccess; +ThreadState_t *pxThreadState = NULL; +SYSTEM_INFO xSystemInfo; + + /* This port runs windows threads with extremely high priority. All the + threads execute on the same core - to prevent locking up the host only start + if the host has multiple cores. */ + GetSystemInfo( &xSystemInfo ); + if( xSystemInfo.dwNumberOfProcessors <= 1 ) + { + printf( "This version of the FreeRTOS Windows port can only be used on multi-core hosts.\r\n" ); + lSuccess = pdFAIL; + } + else + { + lSuccess = pdPASS; + + /* The highest priority class is used to [try to] prevent other Windows + activity interfering with FreeRTOS timing too much. */ + if( SetPriorityClass( GetCurrentProcess(), REALTIME_PRIORITY_CLASS ) == 0 ) + { + printf( "SetPriorityClass() failed\r\n" ); + } + + /* Install the interrupt handlers used by the scheduler itself. */ + vPortSetInterruptHandler( portINTERRUPT_YIELD, prvProcessYieldInterrupt ); + vPortSetInterruptHandler( portINTERRUPT_TICK, prvProcessTickInterrupt ); + + /* Create the events and mutexes that are used to synchronise all the + threads. */ + pvInterruptEventMutex = CreateMutex( NULL, FALSE, NULL ); + pvInterruptEvent = CreateEvent( NULL, FALSE, FALSE, NULL ); + + if( ( pvInterruptEventMutex == NULL ) || ( pvInterruptEvent == NULL ) ) + { + lSuccess = pdFAIL; + } + + /* Set the priority of this thread such that it is above the priority of + the threads that run tasks. This higher priority is required to ensure + simulated interrupts take priority over tasks. */ + pvHandle = GetCurrentThread(); + if( pvHandle == NULL ) + { + lSuccess = pdFAIL; + } + } + + if( lSuccess == pdPASS ) + { + if( SetThreadPriority( pvHandle, portSIMULATED_INTERRUPTS_THREAD_PRIORITY ) == 0 ) + { + lSuccess = pdFAIL; + } + SetThreadPriorityBoost( pvHandle, TRUE ); + SetThreadAffinityMask( pvHandle, 0x01 ); + } + + if( lSuccess == pdPASS ) + { + /* Start the thread that simulates the timer peripheral to generate + tick interrupts. The priority is set below that of the simulated + interrupt handler so the interrupt event mutex is used for the + handshake / overrun protection. */ + pvHandle = CreateThread( NULL, 0, prvSimulatedPeripheralTimer, NULL, CREATE_SUSPENDED, NULL ); + if( pvHandle != NULL ) + { + SetThreadPriority( pvHandle, portSIMULATED_TIMER_THREAD_PRIORITY ); + SetThreadPriorityBoost( pvHandle, TRUE ); + SetThreadAffinityMask( pvHandle, 0x01 ); + ResumeThread( pvHandle ); + } + + /* Start the highest priority task by obtaining its associated thread + state structure, in which is stored the thread handle. */ + pxThreadState = ( ThreadState_t * ) *( ( size_t * ) pxCurrentTCB ); + ulCriticalNesting = portNO_CRITICAL_NESTING; + + /* Start the first task. */ + ResumeThread( pxThreadState->pvThread ); + + /* Handle all simulated interrupts - including yield requests and + simulated ticks. */ + prvProcessSimulatedInterrupts(); + } + + /* Would not expect to return from prvProcessSimulatedInterrupts(), so should + not get here. */ + return 0; +} +/*-----------------------------------------------------------*/ + +static uint32_t prvProcessYieldInterrupt( void ) +{ + /* Always return true as this is a yield. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +static uint32_t prvProcessTickInterrupt( void ) +{ +uint32_t ulSwitchRequired; + + /* Process the tick itself. */ + configASSERT( xPortRunning ); + ulSwitchRequired = ( uint32_t ) xTaskIncrementTick(); + + return ulSwitchRequired; +} +/*-----------------------------------------------------------*/ + +static void prvProcessSimulatedInterrupts( void ) +{ +uint32_t ulSwitchRequired, i; +ThreadState_t *pxThreadState; +void *pvObjectList[ 2 ]; +CONTEXT xContext; + + /* Going to block on the mutex that ensured exclusive access to the simulated + interrupt objects, and the event that signals that a simulated interrupt + should be processed. */ + pvObjectList[ 0 ] = pvInterruptEventMutex; + pvObjectList[ 1 ] = pvInterruptEvent; + + /* Create a pending tick to ensure the first task is started as soon as + this thread pends. */ + ulPendingInterrupts |= ( 1 << portINTERRUPT_TICK ); + SetEvent( pvInterruptEvent ); + + xPortRunning = pdTRUE; + + for(;;) + { + xInsideInterrupt = pdFALSE; + WaitForMultipleObjects( sizeof( pvObjectList ) / sizeof( void * ), pvObjectList, TRUE, INFINITE ); + + /* Cannot be in a critical section to get here. Tasks that exit a + critical section will block on a yield mutex to wait for an interrupt to + process if an interrupt was set pending while the task was inside the + critical section. xInsideInterrupt prevents interrupts that contain + critical sections from doing the same. */ + xInsideInterrupt = pdTRUE; + + /* Used to indicate whether the simulated interrupt processing has + necessitated a context switch to another task/thread. */ + ulSwitchRequired = pdFALSE; + + /* For each interrupt we are interested in processing, each of which is + represented by a bit in the 32bit ulPendingInterrupts variable. */ + for( i = 0; i < portMAX_INTERRUPTS; i++ ) + { + /* Is the simulated interrupt pending? */ + if( ( ulPendingInterrupts & ( 1UL << i ) ) != 0 ) + { + /* Is a handler installed? */ + if( ulIsrHandler[ i ] != NULL ) + { + /* Run the actual handler. Handlers return pdTRUE if they + necessitate a context switch. */ + if( ulIsrHandler[ i ]() != pdFALSE ) + { + /* A bit mask is used purely to help debugging. */ + ulSwitchRequired |= ( 1 << i ); + } + } + + /* Clear the interrupt pending bit. */ + ulPendingInterrupts &= ~( 1UL << i ); + } + } + + if( ulSwitchRequired != pdFALSE ) + { + void *pvOldCurrentTCB; + + pvOldCurrentTCB = pxCurrentTCB; + + /* Select the next task to run. */ + vTaskSwitchContext(); + + /* If the task selected to enter the running state is not the task + that is already in the running state. */ + if( pvOldCurrentTCB != pxCurrentTCB ) + { + /* Suspend the old thread. In the cases where the (simulated) + interrupt is asynchronous (tick event swapping a task out rather + than a task blocking or yielding) it doesn't matter if the + 'suspend' operation doesn't take effect immediately - if it + doesn't it would just be like the interrupt occurring slightly + later. In cases where the yield was caused by a task blocking + or yielding then the task will block on a yield event after the + yield operation in case the 'suspend' operation doesn't take + effect immediately. */ + pxThreadState = ( ThreadState_t *) *( ( size_t * ) pvOldCurrentTCB ); + SuspendThread( pxThreadState->pvThread ); + + /* Ensure the thread is actually suspended by performing a + synchronous operation that can only complete when the thread is + actually suspended. The below code asks for dummy register + data. Experimentation shows that these two lines don't appear + to do anything now, but according to + https://devblogs.microsoft.com/oldnewthing/20150205-00/?p=44743 + they do - so as they do not harm (slight run-time hit). */ + xContext.ContextFlags = CONTEXT_INTEGER; + ( void ) GetThreadContext( pxThreadState->pvThread, &xContext ); + + /* Obtain the state of the task now selected to enter the + Running state. */ + pxThreadState = ( ThreadState_t * ) ( *( size_t *) pxCurrentTCB ); + + /* pxThreadState->pvThread can be NULL if the task deleted + itself - but a deleted task should never be resumed here. */ + configASSERT( pxThreadState->pvThread != NULL ); + ResumeThread( pxThreadState->pvThread ); + } + } + + /* If the thread that is about to be resumed stopped running + because it yielded then it will wait on an event when it resumed + (to ensure it does not continue running after the call to + SuspendThread() above as SuspendThread() is asynchronous). + Signal the event to ensure the thread can proceed now it is + valid for it to do so. Signaling the event is benign in the case that + the task was switched out asynchronously by an interrupt as the event + is reset before the task blocks on it. */ + pxThreadState = ( ThreadState_t * ) ( *( size_t *) pxCurrentTCB ); + SetEvent( pxThreadState->pvYieldEvent ); + ReleaseMutex( pvInterruptEventMutex ); + } +} +/*-----------------------------------------------------------*/ + +void vPortDeleteThread( void *pvTaskToDelete ) +{ +ThreadState_t *pxThreadState; +uint32_t ulErrorCode; + + /* Remove compiler warnings if configASSERT() is not defined. */ + ( void ) ulErrorCode; + + /* Find the handle of the thread being deleted. */ + pxThreadState = ( ThreadState_t * ) ( *( size_t *) pvTaskToDelete ); + + /* Check that the thread is still valid, it might have been closed by + vPortCloseRunningThread() - which will be the case if the task associated + with the thread originally deleted itself rather than being deleted by a + different task. */ + if( pxThreadState->pvThread != NULL ) + { + WaitForSingleObject( pvInterruptEventMutex, INFINITE ); + + /* !!! This is not a nice way to terminate a thread, and will eventually + result in resources being depleted if tasks frequently delete other + tasks (rather than deleting themselves) as the task stacks will not be + freed. */ + ulErrorCode = TerminateThread( pxThreadState->pvThread, 0 ); + configASSERT( ulErrorCode ); + + ulErrorCode = CloseHandle( pxThreadState->pvThread ); + configASSERT( ulErrorCode ); + + ReleaseMutex( pvInterruptEventMutex ); + } +} +/*-----------------------------------------------------------*/ + +void vPortCloseRunningThread( void *pvTaskToDelete, volatile BaseType_t *pxPendYield ) +{ +ThreadState_t *pxThreadState; +void *pvThread; +uint32_t ulErrorCode; + + /* Remove compiler warnings if configASSERT() is not defined. */ + ( void ) ulErrorCode; + + /* Find the handle of the thread being deleted. */ + pxThreadState = ( ThreadState_t * ) ( *( size_t *) pvTaskToDelete ); + pvThread = pxThreadState->pvThread; + + /* Raise the Windows priority of the thread to ensure the FreeRTOS scheduler + does not run and swap it out before it is closed. If that were to happen + the thread would never run again and effectively be a thread handle and + memory leak. */ + SetThreadPriority( pvThread, portDELETE_SELF_THREAD_PRIORITY ); + + /* This function will not return, therefore a yield is set as pending to + ensure a context switch occurs away from this thread on the next tick. */ + *pxPendYield = pdTRUE; + + /* Mark the thread associated with this task as invalid so + vPortDeleteThread() does not try to terminate it. */ + pxThreadState->pvThread = NULL; + + /* Close the thread. */ + ulErrorCode = CloseHandle( pvThread ); + configASSERT( ulErrorCode ); + + /* This is called from a critical section, which must be exited before the + thread stops. */ + taskEXIT_CRITICAL(); + CloseHandle( pxThreadState->pvYieldEvent ); + ExitThread( 0 ); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + exit( 0 ); +} +/*-----------------------------------------------------------*/ + +void vPortGenerateSimulatedInterrupt( uint32_t ulInterruptNumber ) +{ +ThreadState_t *pxThreadState = ( ThreadState_t *) *( ( size_t * ) pxCurrentTCB ); + + configASSERT( xPortRunning ); + + if( ( ulInterruptNumber < portMAX_INTERRUPTS ) && ( pvInterruptEventMutex != NULL ) ) + { + WaitForSingleObject( pvInterruptEventMutex, INFINITE ); + ulPendingInterrupts |= ( 1 << ulInterruptNumber ); + + /* The simulated interrupt is now held pending, but don't actually + process it yet if this call is within a critical section. It is + possible for this to be in a critical section as calls to wait for + mutexes are accumulative. If in a critical section then the event + will get set when the critical section nesting count is wound back + down to zero. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + SetEvent( pvInterruptEvent ); + + /* Going to wait for an event - make sure the event is not already + signaled. */ + ResetEvent( pxThreadState->pvYieldEvent ); + } + + ReleaseMutex( pvInterruptEventMutex ); + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* An interrupt was pended so ensure to block to allow it to + execute. In most cases the (simulated) interrupt will have + executed before the next line is reached - so this is just to make + sure. */ + WaitForSingleObject( pxThreadState->pvYieldEvent, INFINITE ); + } + } +} +/*-----------------------------------------------------------*/ + +void vPortSetInterruptHandler( uint32_t ulInterruptNumber, uint32_t (*pvHandler)( void ) ) +{ + if( ulInterruptNumber < portMAX_INTERRUPTS ) + { + if( pvInterruptEventMutex != NULL ) + { + WaitForSingleObject( pvInterruptEventMutex, INFINITE ); + ulIsrHandler[ ulInterruptNumber ] = pvHandler; + ReleaseMutex( pvInterruptEventMutex ); + } + else + { + ulIsrHandler[ ulInterruptNumber ] = pvHandler; + } + } +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + if( xPortRunning == pdTRUE ) + { + /* The interrupt event mutex is held for the entire critical section, + effectively disabling (simulated) interrupts. */ + WaitForSingleObject( pvInterruptEventMutex, INFINITE ); + } + + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ +int32_t lMutexNeedsReleasing; + + /* The interrupt event mutex should already be held by this thread as it was + obtained on entry to the critical section. */ + lMutexNeedsReleasing = pdTRUE; + + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + ulCriticalNesting--; + + /* Don't need to wait for any pending interrupts to execute if the + critical section was exited from inside an interrupt. */ + if( ( ulCriticalNesting == portNO_CRITICAL_NESTING ) && ( xInsideInterrupt == pdFALSE ) ) + { + /* Were any interrupts set to pending while interrupts were + (simulated) disabled? */ + if( ulPendingInterrupts != 0UL ) + { + ThreadState_t *pxThreadState = ( ThreadState_t *) *( ( size_t * ) pxCurrentTCB ); + + configASSERT( xPortRunning ); + + /* The interrupt won't actually executed until + pvInterruptEventMutex is released as it waits on both + pvInterruptEventMutex and pvInterruptEvent. + pvInterruptEvent is only set when the simulated + interrupt is pended if the interrupt is pended + from outside a critical section - hence it is set + here. */ + SetEvent( pvInterruptEvent ); + /* The calling task is going to wait for an event to ensure the + interrupt that is pending executes immediately after the + critical section is exited - so make sure the event is not + already signaled. */ + ResetEvent( pxThreadState->pvYieldEvent ); + + /* Mutex will be released now so the (simulated) interrupt can + execute, so does not require releasing on function exit. */ + lMutexNeedsReleasing = pdFALSE; + ReleaseMutex( pvInterruptEventMutex ); + WaitForSingleObject( pxThreadState->pvYieldEvent, INFINITE ); + } + } + } + + if( pvInterruptEventMutex != NULL ) + { + if( lMutexNeedsReleasing == pdTRUE ) + { + configASSERT( xPortRunning ); + ReleaseMutex( pvInterruptEventMutex ); + } + } +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MSVC-MingW/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MSVC-MingW/portmacro.h new file mode 100644 index 0000000..55ece9f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MSVC-MingW/portmacro.h @@ -0,0 +1,162 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include +#include + +/****************************************************************************** + Defines +******************************************************************************/ +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE size_t +#define portBASE_TYPE long +#define portPOINTER_SIZE_TYPE size_t + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32/64-bit tick type on a 32/64-bit architecture, so reads of the tick + count do not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portINLINE __inline + +#if defined( __x86_64__) || defined( _M_X64 ) + #define portBYTE_ALIGNMENT 8 +#else + #define portBYTE_ALIGNMENT 4 +#endif + +#define portYIELD() vPortGenerateSimulatedInterrupt( portINTERRUPT_YIELD ) + + +extern volatile BaseType_t xInsideInterrupt; +#define portSOFTWARE_BARRIER() while( xInsideInterrupt != pdFALSE ) + + +/* Simulated interrupts return pdFALSE if no context switch should be performed, +or a non-zero number if a context switch should be performed. */ +#define portYIELD_FROM_ISR( x ) ( void ) x +#define portEND_SWITCHING_ISR( x ) portYIELD_FROM_ISR( ( x ) ) + +void vPortCloseRunningThread( void *pvTaskToDelete, volatile BaseType_t *pxPendYield ); +void vPortDeleteThread( void *pvThreadToDelete ); +#define portCLEAN_UP_TCB( pxTCB ) vPortDeleteThread( pxTCB ) +#define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxPendYield ) vPortCloseRunningThread( ( pvTaskToDelete ), ( pxPendYield ) ) +#define portDISABLE_INTERRUPTS() vPortEnterCritical() +#define portENABLE_INTERRUPTS() vPortExitCritical() + +/* Critical section handling. */ +void vPortEnterCritical( void ); +void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + + /*-----------------------------------------------------------*/ + + #ifdef __GNUC__ + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) \ + __asm volatile( "bsr %1, %0\n\t" \ + :"=r"(uxTopPriority) : "rm"(uxReadyPriorities) : "cc" ) + #else + /* BitScanReverse returns the bit position of the most significant '1' + in the word. */ + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) _BitScanReverse( ( DWORD * ) &( uxTopPriority ), ( uxReadyPriorities ) ) + #endif /* __GNUC__ */ + +#endif /* taskRECORD_READY_PRIORITY */ + +#ifndef __GNUC__ + __pragma( warning( disable:4211 ) ) /* Nonstandard extension used, as extern is only nonstandard to MSVC. */ +#endif + + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#define portINTERRUPT_YIELD ( 0UL ) +#define portINTERRUPT_TICK ( 1UL ) + +/* + * Raise a simulated interrupt represented by the bit mask in ulInterruptMask. + * Each bit can be used to represent an individual interrupt - with the first + * two bits being used for the Yield and Tick interrupts respectively. +*/ +void vPortGenerateSimulatedInterrupt( uint32_t ulInterruptNumber ); + +/* + * Install an interrupt handler to be called by the simulated interrupt handler + * thread. The interrupt number must be above any used by the kernel itself + * (at the time of writing the kernel was using interrupt numbers 0, 1, and 2 + * as defined above). The number must also be lower than 32. + * + * Interrupt handler functions must return a non-zero value if executing the + * handler resulted in a task switch being required. + */ +void vPortSetInterruptHandler( uint32_t ulInterruptNumber, uint32_t (*pvHandler)( void ) ); + +#endif + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/ReadMe.url b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/ReadMe.url new file mode 100644 index 0000000..4d2d044 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/ReadMe.url @@ -0,0 +1,5 @@ +[{000214A0-0000-0000-C000-000000000046}] +Prop3=19,2 +[InternetShortcut] +URL=https://www.FreeRTOS.org/a00111.html +IDList= diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_1.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_1.c new file mode 100644 index 0000000..a1e96bd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_1.c @@ -0,0 +1,151 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +/* + * The simplest possible implementation of pvPortMalloc(). Note that this + * implementation does NOT allow allocated memory to be freed again. + * + * See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the + * memory management pages of https://www.FreeRTOS.org for more information. + */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 +#endif + +/* A few bytes might be lost to byte aligning the heap start address. */ +#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT ) + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#else + static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/* Index into the ucHeap array. */ +static size_t xNextFreeByte = ( size_t ) 0; + +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + void * pvReturn = NULL; + static uint8_t * pucAlignedHeap = NULL; + + /* Ensure that blocks are always aligned. */ + #if ( portBYTE_ALIGNMENT != 1 ) + { + if( xWantedSize & portBYTE_ALIGNMENT_MASK ) + { + /* Byte alignment required. Check for overflow. */ + if ( (xWantedSize + ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) )) > xWantedSize ) + { + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); + } + else + { + xWantedSize = 0; + } + } + } + #endif + + vTaskSuspendAll(); + { + if( pucAlignedHeap == NULL ) + { + /* Ensure the heap starts on a correctly aligned boundary. */ + pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) & ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); + } + + /* Check there is enough room left for the allocation and. */ + if( ( xWantedSize > 0 ) && /* valid size */ + ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) && + ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) ) /* Check for overflow. */ + { + /* Return the next free byte then increment the index past this + * block. */ + pvReturn = pucAlignedHeap + xNextFreeByte; + xNextFreeByte += xWantedSize; + } + + traceMALLOC( pvReturn, xWantedSize ); + } + ( void ) xTaskResumeAll(); + + #if ( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + } + #endif + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + /* Memory cannot be freed using this scheme. See heap_2.c, heap_3.c and + * heap_4.c for alternative implementations, and the memory management pages of + * https://www.FreeRTOS.org for more information. */ + ( void ) pv; + + /* Force an assert as it is invalid to call this function. */ + configASSERT( pv == NULL ); +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* Only required when static memory is not cleared. */ + xNextFreeByte = ( size_t ) 0; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return( configADJUSTED_HEAP_SIZE - xNextFreeByte ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_2.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_2.c new file mode 100644 index 0000000..42fdaa9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_2.c @@ -0,0 +1,284 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * A sample implementation of pvPortMalloc() and vPortFree() that permits + * allocated blocks to be freed, but does not combine adjacent free blocks + * into a single larger block (and so will fragment memory). See heap_4.c for + * an equivalent that does combine adjacent blocks into single larger blocks. + * + * See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the + * memory management pages of https://www.FreeRTOS.org for more information. + */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 +#endif + +/* A few bytes might be lost to byte aligning the heap start address. */ +#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT ) + +/* + * Initialises the heap structures before their first use. + */ +static void prvHeapInit( void ); + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#else + static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + + +/* Define the linked list structure. This is used to link free blocks in order + * of their size. */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /*<< The next free block in the list. */ + size_t xBlockSize; /*<< The size of the free block. */ +} BlockLink_t; + + +static const uint16_t heapSTRUCT_SIZE = ( ( sizeof( BlockLink_t ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK ); +#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) ) + +/* Create a couple of list links to mark the start and end of the list. */ +static BlockLink_t xStart, xEnd; + +/* Keeps track of the number of free bytes remaining, but says nothing about + * fragmentation. */ +static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE; + +/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ + +/* + * Insert a block into the list of free blocks - which is ordered by size of + * the block. Small blocks at the start of the list and large blocks at the end + * of the list. + */ +#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \ + { \ + BlockLink_t * pxIterator; \ + size_t xBlockSize; \ + \ + xBlockSize = pxBlockToInsert->xBlockSize; \ + \ + /* Iterate through the list until a block is found that has a larger size */ \ + /* than the block we are inserting. */ \ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \ + { \ + /* There is nothing to do here - just iterate to the correct position. */ \ + } \ + \ + /* Update the list to include the block being inserted in the correct */ \ + /* position. */ \ + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \ + pxIterator->pxNextFreeBlock = pxBlockToInsert; \ + } +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + static BaseType_t xHeapHasBeenInitialised = pdFALSE; + void * pvReturn = NULL; + + vTaskSuspendAll(); + { + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( xHeapHasBeenInitialised == pdFALSE ) + { + prvHeapInit(); + xHeapHasBeenInitialised = pdTRUE; + } + + /* The wanted size must be increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( ( xWantedSize > 0 ) && + ( ( xWantedSize + heapSTRUCT_SIZE ) > xWantedSize ) ) /* Overflow check */ + { + xWantedSize += heapSTRUCT_SIZE; + + /* Byte alignment required. Check for overflow. */ + if( ( xWantedSize + ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ) ) + > xWantedSize ) + { + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); + configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + xWantedSize = 0; + } + } + else + { + xWantedSize = 0; + } + + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Blocks are stored in byte order - traverse the list from the start + * (smallest) block until one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If we found the end marker then a block of adequate size was not found. */ + if( pxBlock != &xEnd ) + { + /* Return the memory space - jumping over the BlockLink_t structure + * at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE ); + + /* This block is being returned for use so must be taken out of the + * list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new block + * following the number of bytes requested. The void cast is + * used to prevent byte alignment warnings from the compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + + /* Calculate the sizes of two blocks split from the single + * block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + } + } + + traceMALLOC( pvReturn, xWantedSize ); + } + ( void ) xTaskResumeAll(); + + #if ( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + } + #endif + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= heapSTRUCT_SIZE; + + /* This unexpected casting is to keep some compilers from issuing + * byte alignment warnings. */ + pxLink = ( void * ) puc; + + vTaskSuspendAll(); + { + /* Add this block to the list of free blocks. */ + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + } + ( void ) xTaskResumeAll(); + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + + /* Ensure the heap starts on a correctly aligned boundary. */ + pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) & ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* xEnd is used to mark the end of the list of free blocks. */ + xEnd.xBlockSize = configADJUSTED_HEAP_SIZE; + xEnd.pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE; + pxFirstFreeBlock->pxNextFreeBlock = &xEnd; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_3.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_3.c new file mode 100644 index 0000000..677fefb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_3.c @@ -0,0 +1,94 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/* + * Implementation of pvPortMalloc() and vPortFree() that relies on the + * compilers own malloc() and free() implementations. + * + * This file can only be used if the linker is configured to to generate + * a heap memory area. + * + * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the + * memory management pages of https://www.FreeRTOS.org for more information. + */ + +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 +#endif + +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + void * pvReturn; + + vTaskSuspendAll(); + { + pvReturn = malloc( xWantedSize ); + traceMALLOC( pvReturn, xWantedSize ); + } + ( void ) xTaskResumeAll(); + + #if ( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + } + #endif + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + if( pv ) + { + vTaskSuspendAll(); + { + free( pv ); + traceFREE( pv, 0 ); + } + ( void ) xTaskResumeAll(); + } +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_4.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_4.c new file mode 100644 index 0000000..e4e52a8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_4.c @@ -0,0 +1,502 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * A sample implementation of pvPortMalloc() and vPortFree() that combines + * (coalescences) adjacent memory blocks as they are freed, and in so doing + * limits memory fragmentation. + * + * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the + * memory management pages of https://www.FreeRTOS.org for more information. + */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 +#endif + +/* Block sizes must not get too small. */ +#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define heapBITS_PER_BYTE ( ( size_t ) 8 ) + +/* Allocate the memory for the heap. */ +#if ( configAPPLICATION_ALLOCATED_HEAP == 1 ) + +/* The application writer has already defined the array used for the RTOS +* heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#else + PRIVILEGED_DATA static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ + +/* Define the linked list structure. This is used to link free blocks in order + * of their memory address. */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /*<< The next free block in the list. */ + size_t xBlockSize; /*<< The size of the free block. */ +} BlockLink_t; + +/*-----------------------------------------------------------*/ + +/* + * Inserts a block of memory that is being freed into the correct position in + * the list of free memory blocks. The block being freed will be merged with + * the block in front it and/or the block behind it if the memory blocks are + * adjacent to each other. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) PRIVILEGED_FUNCTION; + +/* + * Called automatically to setup the required heap structures the first time + * pvPortMalloc() is called. + */ +static void prvHeapInit( void ) PRIVILEGED_FUNCTION; + +/*-----------------------------------------------------------*/ + +/* The size of the structure placed at the beginning of each allocated memory + * block must by correctly byte aligned. */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + +/* Create a couple of list links to mark the start and end of the list. */ +PRIVILEGED_DATA static BlockLink_t xStart, * pxEnd = NULL; + +/* Keeps track of the number of calls to allocate and free memory as well as the + * number of free bytes remaining, but says nothing about fragmentation. */ +PRIVILEGED_DATA static size_t xFreeBytesRemaining = 0U; +PRIVILEGED_DATA static size_t xMinimumEverFreeBytesRemaining = 0U; +PRIVILEGED_DATA static size_t xNumberOfSuccessfulAllocations = 0; +PRIVILEGED_DATA static size_t xNumberOfSuccessfulFrees = 0; + +/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize + * member of an BlockLink_t structure is set then the block belongs to the + * application. When the bit is free the block is still part of the free heap + * space. */ +PRIVILEGED_DATA static size_t xBlockAllocatedBit = 0; + +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + vTaskSuspendAll(); + { + /* If this is the first call to malloc then the heap will require + * initialisation to setup the list of free blocks. */ + if( pxEnd == NULL ) + { + prvHeapInit(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Check the requested block size is not so large that the top bit is + * set. The top bit of the block size member of the BlockLink_t structure + * is used to determine who owns the block - the application or the + * kernel, so it must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size must be increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( ( xWantedSize > 0 ) && + ( ( xWantedSize + xHeapStructSize ) > xWantedSize ) ) /* Overflow check */ + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned. */ + if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. Check for overflow. */ + if( ( xWantedSize + ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ) ) + > xWantedSize ) + { + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); + configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 ); + } + else + { + xWantedSize = 0; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + xWantedSize = 0; + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size + * was not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 ); + + /* Calculate the sizes of two blocks split from the + * single block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( pxNewBlockLink ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned + * by the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + xNumberOfSuccessfulAllocations++; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + } + ( void ) xTaskResumeAll(); + + #if ( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( configUSE_MALLOC_FAILED_HOOK == 1 ) */ + + configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 ); + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + configASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + vTaskSuspendAll(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + xNumberOfSuccessfulFrees++; + } + ( void ) xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* This just exists to keep the linker quiet. */ +} +/*-----------------------------------------------------------*/ + +static void prvHeapInit( void ) /* PRIVILEGED_FUNCTION */ +{ + BlockLink_t * pxFirstFreeBlock; + uint8_t * pucAlignedHeap; + size_t uxAddress; + size_t xTotalHeapSize = configTOTAL_HEAP_SIZE; + + /* Ensure the heap starts on a correctly aligned boundary. */ + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( portBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; + + /* xStart is used to hold a pointer to the first item in the list of free + * blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + + /* pxEnd is used to mark the end of the list of free blocks and is inserted + * at the end of the heap space. */ + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block that is sized to take up the + * entire heap space, minus the space taken by pxEnd. */ + pxFirstFreeBlock = ( void * ) pucAlignedHeap; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; + pxFirstFreeBlock->pxNextFreeBlock = pxEnd; + + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) /* PRIVILEGED_FUNCTION */ +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void vPortGetHeapStats( HeapStats_t * pxHeapStats ) +{ + BlockLink_t * pxBlock; + size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */ + + vTaskSuspendAll(); + { + pxBlock = xStart.pxNextFreeBlock; + + /* pxBlock will be NULL if the heap has not been initialised. The heap + * is initialised automatically when the first allocation is made. */ + if( pxBlock != NULL ) + { + do + { + /* Increment the number of blocks and record the largest block seen + * so far. */ + xBlocks++; + + if( pxBlock->xBlockSize > xMaxSize ) + { + xMaxSize = pxBlock->xBlockSize; + } + + if( pxBlock->xBlockSize < xMinSize ) + { + xMinSize = pxBlock->xBlockSize; + } + + /* Move to the next block in the chain until the last block is + * reached. */ + pxBlock = pxBlock->pxNextFreeBlock; + } while( pxBlock != pxEnd ); + } + } + ( void ) xTaskResumeAll(); + + pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize; + pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize; + pxHeapStats->xNumberOfFreeBlocks = xBlocks; + + taskENTER_CRITICAL(); + { + pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining; + pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations; + pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees; + pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining; + } + taskEXIT_CRITICAL(); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_5.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_5.c new file mode 100644 index 0000000..52390f5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MemMang/heap_5.c @@ -0,0 +1,557 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * A sample implementation of pvPortMalloc() that allows the heap to be defined + * across multiple non-contigous blocks and combines (coalescences) adjacent + * memory blocks as they are freed. + * + * See heap_1.c, heap_2.c, heap_3.c and heap_4.c for alternative + * implementations, and the memory management pages of https://www.FreeRTOS.org + * for more information. + * + * Usage notes: + * + * vPortDefineHeapRegions() ***must*** be called before pvPortMalloc(). + * pvPortMalloc() will be called if any task objects (tasks, queues, event + * groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be + * called before any other objects are defined. + * + * vPortDefineHeapRegions() takes a single parameter. The parameter is an array + * of HeapRegion_t structures. HeapRegion_t is defined in portable.h as + * + * typedef struct HeapRegion + * { + * uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap. + * size_t xSizeInBytes; << Size of the block of memory. + * } HeapRegion_t; + * + * The array is terminated using a NULL zero sized region definition, and the + * memory regions defined in the array ***must*** appear in address order from + * low address to high address. So the following is a valid example of how + * to use the function. + * + * HeapRegion_t xHeapRegions[] = + * { + * { ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000 + * { ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000 + * { NULL, 0 } << Terminates the array. + * }; + * + * vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions(). + * + * Note 0x80000000 is the lower address so appears in the array first. + * + */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 +#endif + +/* Block sizes must not get too small. */ +#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define heapBITS_PER_BYTE ( ( size_t ) 8 ) + +/* Define the linked list structure. This is used to link free blocks in order + * of their memory address. */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK * pxNextFreeBlock; /*<< The next free block in the list. */ + size_t xBlockSize; /*<< The size of the free block. */ +} BlockLink_t; + +/*-----------------------------------------------------------*/ + +/* + * Inserts a block of memory that is being freed into the correct position in + * the list of free memory blocks. The block being freed will be merged with + * the block in front it and/or the block behind it if the memory blocks are + * adjacent to each other. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ); + +/*-----------------------------------------------------------*/ + +/* The size of the structure placed at the beginning of each allocated memory + * block must by correctly byte aligned. */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + +/* Create a couple of list links to mark the start and end of the list. */ +static BlockLink_t xStart, * pxEnd = NULL; + +/* Keeps track of the number of calls to allocate and free memory as well as the + * number of free bytes remaining, but says nothing about fragmentation. */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; +static size_t xNumberOfSuccessfulAllocations = 0; +static size_t xNumberOfSuccessfulFrees = 0; + +/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize + * member of an BlockLink_t structure is set then the block belongs to the + * application. When the bit is free the block is still part of the free heap + * space. */ +static size_t xBlockAllocatedBit = 0; + +/*-----------------------------------------------------------*/ + +void * pvPortMalloc( size_t xWantedSize ) +{ + BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink; + void * pvReturn = NULL; + + /* The heap must be initialised before the first call to + * prvPortMalloc(). */ + configASSERT( pxEnd ); + + vTaskSuspendAll(); + { + /* Check the requested block size is not so large that the top bit is + * set. The top bit of the block size member of the BlockLink_t structure + * is used to determine who owns the block - the application or the + * kernel, so it must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + * structure in addition to the requested amount of bytes. */ + if( ( xWantedSize > 0 ) && + ( ( xWantedSize + xHeapStructSize ) > xWantedSize ) ) /* Overflow check */ + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned */ + if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. Check for overflow */ + if( ( xWantedSize + ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ) ) > + xWantedSize ) + { + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); + } + else + { + xWantedSize = 0; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + xWantedSize = 0; + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + * one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size + * was not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + * BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + * of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + * two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + * block following the number of bytes requested. The void + * cast is used to prevent byte alignment warnings from the + * compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + + /* Calculate the sizes of two blocks split from the + * single block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned + * by the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + xNumberOfSuccessfulAllocations++; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + } + ( void ) xTaskResumeAll(); + + #if ( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( configUSE_MALLOC_FAILED_HOOK == 1 ) */ + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void * pv ) +{ + uint8_t * puc = ( uint8_t * ) pv; + BlockLink_t * pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + * before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + configASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + * allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + vTaskSuspendAll(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + xNumberOfSuccessfulFrees++; + } + ( void ) xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) +{ + BlockLink_t * pxIterator; + uint8_t * puc; + + /* Iterate through the list until a block is found that has a higher address + * than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + * make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + * before and the block after, then it's pxNextFreeBlock pointer will have + * already been set, and should not be set here as that would make it point + * to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) +{ + BlockLink_t * pxFirstFreeBlockInRegion = NULL, * pxPreviousFreeBlock; + size_t xAlignedHeap; + size_t xTotalRegionSize, xTotalHeapSize = 0; + BaseType_t xDefinedRegions = 0; + size_t xAddress; + const HeapRegion_t * pxHeapRegion; + + /* Can only call once! */ + configASSERT( pxEnd == NULL ); + + pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); + + while( pxHeapRegion->xSizeInBytes > 0 ) + { + xTotalRegionSize = pxHeapRegion->xSizeInBytes; + + /* Ensure the heap region starts on a correctly aligned boundary. */ + xAddress = ( size_t ) pxHeapRegion->pucStartAddress; + + if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) + { + xAddress += ( portBYTE_ALIGNMENT - 1 ); + xAddress &= ~portBYTE_ALIGNMENT_MASK; + + /* Adjust the size for the bytes lost to alignment. */ + xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress; + } + + xAlignedHeap = xAddress; + + /* Set xStart if it has not already been set. */ + if( xDefinedRegions == 0 ) + { + /* xStart is used to hold a pointer to the first item in the list of + * free blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( BlockLink_t * ) xAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + } + else + { + /* Should only get here if one region has already been added to the + * heap. */ + configASSERT( pxEnd != NULL ); + + /* Check blocks are passed in with increasing start addresses. */ + configASSERT( xAddress > ( size_t ) pxEnd ); + } + + /* Remember the location of the end marker in the previous region, if + * any. */ + pxPreviousFreeBlock = pxEnd; + + /* pxEnd is used to mark the end of the list of free blocks and is + * inserted at the end of the region space. */ + xAddress = xAlignedHeap + xTotalRegionSize; + xAddress -= xHeapStructSize; + xAddress &= ~portBYTE_ALIGNMENT_MASK; + pxEnd = ( BlockLink_t * ) xAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block in this region that is + * sized to take up the entire heap region minus the space taken by the + * free block structure. */ + pxFirstFreeBlockInRegion = ( BlockLink_t * ) xAlignedHeap; + pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion; + pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd; + + /* If this is not the first region that makes up the entire heap space + * then link the previous region to this region. */ + if( pxPreviousFreeBlock != NULL ) + { + pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion; + } + + xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize; + + /* Move onto the next HeapRegion_t structure. */ + xDefinedRegions++; + pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); + } + + xMinimumEverFreeBytesRemaining = xTotalHeapSize; + xFreeBytesRemaining = xTotalHeapSize; + + /* Check something was actually defined before it is accessed. */ + configASSERT( xTotalHeapSize ); + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); +} +/*-----------------------------------------------------------*/ + +void vPortGetHeapStats( HeapStats_t * pxHeapStats ) +{ + BlockLink_t * pxBlock; + size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */ + + vTaskSuspendAll(); + { + pxBlock = xStart.pxNextFreeBlock; + + /* pxBlock will be NULL if the heap has not been initialised. The heap + * is initialised automatically when the first allocation is made. */ + if( pxBlock != NULL ) + { + do + { + /* Increment the number of blocks and record the largest block seen + * so far. */ + xBlocks++; + + if( pxBlock->xBlockSize > xMaxSize ) + { + xMaxSize = pxBlock->xBlockSize; + } + + /* Heap five will have a zero sized block at the end of each + * each region - the block is only used to link to the next + * heap region so it not a real block. */ + if( pxBlock->xBlockSize != 0 ) + { + if( pxBlock->xBlockSize < xMinSize ) + { + xMinSize = pxBlock->xBlockSize; + } + } + + /* Move to the next block in the chain until the last block is + * reached. */ + pxBlock = pxBlock->pxNextFreeBlock; + } while( pxBlock != pxEnd ); + } + } + ( void ) xTaskResumeAll(); + + pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize; + pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize; + pxHeapStats->xNumberOfFreeBlocks = xBlocks; + + taskENTER_CRITICAL(); + { + pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining; + pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations; + pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees; + pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining; + } + taskEXIT_CRITICAL(); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MikroC/ARM_CM4F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MikroC/ARM_CM4F/port.c new file mode 100644 index 0000000..e079395 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MikroC/ARM_CM4F/port.c @@ -0,0 +1,839 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case it messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* Cannot find a weak linkage attribute, so the + * configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if the + * application writer wants to provide their own implementation of + * vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION + * is defined. */ +#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION + #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 +#endif + +/* Manual definition of missing asm names. */ +#define psp 9 +#define basepri 17 +#define msp 8 +#define ipsr 5 +#define control 20 + +/* From port.c. */ +extern void * pxCurrentTCB; + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvPortStartFirstTask( void ); + +/* + * Function to enable the VFP. + */ +static void vPortEnableVFP( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + /* Sometimes the parameters are loaded from the stack. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) iv IVT_INT_SVCall ics ICS_OFF +{ + __asm { +/* *INDENT-OFF* */ + ldr r3, =_pxCurrentTCB /* Restore the context. */ + ldr r1, [ r3 ] /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ + ldr r0, [ r1 ] /* The first item in pxCurrentTCB is the task top of stack. */ + ldm r0 !, ( r4 - r11, r14 ) /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ + msr psp, r0 /* Restore the task stack pointer. */ + isb + mov r0, #0 + msr basepri, r0 + bx r14 +/* *INDENT-ON* */ + }; +} +/*-----------------------------------------------------------*/ + +static void prvPortStartFirstTask( void ) +{ + __asm { +/* *INDENT-OFF* */ + ldr r0, =0xE000ED08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [ r0 ] + ldr r0, [ r0 ] + msr msp, r0 /* Set the msp back to the start of the stack. */ + + /* Clear the bit that indicates the FPU is in use in case the FPU was used + * before the scheduler was started - which would otherwise result in the + * unnecessary leaving of space in the SVC stack for lazy saving of FPU + * registers. */ + mov r0, #0 + msr control, r0 + cpsie i /* Globally enable interrupts. */ + cpsie f + dsb + isb + svc #0 /* System call to start first task. */ + nop +/* *INDENT-ON* */ + }; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* The kernel interrupt priority should be set to the lowest + * priority. */ + configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) ); + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + prvPortStartFirstTask(); + + /* Should never get here as the tasks will now be executing! Call the task + * exit error function to prevent compiler warnings about a static function + * not being called in the case that the application writer overrides this + * functionality by defining configTASK_RETURN_ADDRESS. */ + prvTaskExitError(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +const uint8_t ucMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY; +void xPortPendSVHandler( void ) iv IVT_INT_PendSV ics ICS_OFF +{ + __asm { + #ifdef HW_DEBUG +/* *INDENT-OFF* */ + + /* The function is not truly naked, so add back the 4 bytes subtracted + * from the stack pointer by the function prologue. */ + add sp, sp, # 4 + #endif + mrs r0, psp + isb + + ldr r3, =_pxCurrentTCB /* Get the location of the current TCB. */ + ldr r2, [ r3 ] + + tst r14, #0x10 /* Is the task using the FPU context? If so, push high vfp registers. */ + it eq + vstmdbeq r0 !, ( s16 - s31 ) + + stmdb r0 !, ( r4 - r11, r14 ) /* Save the core registers. */ + + str r0, [ r2 ] /* Save the new top of stack into the first member of the TCB. */ + + stmdb sp !, ( r0, r3 ) + ldr r0, = _ucMaxSyscallInterruptPriority + ldr r1, [ r0 ] + msr basepri, r1 + dsb + isb + bl _vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldm sp !, ( r0, r3 ) + + ldr r1, [ r3 ] /* The first item in pxCurrentTCB is the task top of stack. */ + ldr r0, [ r1 ] + + ldm r0 !, ( r4 - r11, r14 ) /* Pop the core registers. */ + + tst r14, #0x10 /* Is the task using the FPU context? If so, pop the high vfp registers too. */ + it eq + vldmiaeq r0 !, ( s16 - s31 ) + + msr psp, r0 + isb + bx r14 +/* *INDENT-ON* */ + } +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known - therefore the slightly faster portDISABLE_INTERRUPTS() function is + * used in place of portSET_INTERRUPT_MASK_FROM_ISR(). */ + portDISABLE_INTERRUPTS(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + + #if ( ( configUSE_TICKLESS_IDLE == 1 ) && ( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 ) ) + + void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __asm { + "cpsid i" + }; + __asm { + "dsb" + }; + __asm { + "isb" + }; + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above the cpsid instruction() + * above. */ + __asm { + "cpsie i" + }; + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __asm { + "dsb" + }; + __asm { + "wfi" + }; + __asm { + "isb" + }; + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __asm { + "cpsie i" + }; + __asm { + "dsb" + }; + __asm { + "isb" + }; + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __asm { + "cpsid i" + }; + __asm { + "dsb" + }; + __asm { + "isb" + }; + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __asm { + "cpsie i" + }; + } + } + + #endif /* #if configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ + #if ( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 ) + + void vPortSetupTimerInterrupt( void ) + { + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Reset SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); + } + + #endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ +/*-----------------------------------------------------------*/ + +/* This is a naked function. */ +static void vPortEnableVFP( void ) +{ + __asm { +/* *INDENT-OFF* */ + ldr r0, =0xE000ED88 /* The FPU enable bits are in the CPACR. */ + ldr r1, [ r0 ] + + orr r1, r1, #0xF00000 /* Enable CP10 and CP11 coprocessors, then save back. */ + str r1, [ r0 ] + bx r14 +/* *INDENT-ON* */ + }; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortIsInsideInterrupt( void ) +{ + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + if( CPU_REG_GET( CPU_IPSR ) == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + + #if ( configASSERT_DEFINED == 1 ) + +/* Limitations in the MikroC inline asm means ulCurrentInterrupt has to be + * global - which makes vPortValidateInterruptPriority() non re-entrant. + * However that should not matter as an interrupt can only itself be + * interrupted by a higher priority interrupt. That means if + * ulCurrentInterrupt, so ulCurrentInterrupt getting corrupted cannot lead to + * an invalid interrupt priority being missed. */ + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + void vPortValidateInterruptPriority( void ) + { + /* Obtain the number of the currently executing interrupt. */ + __asm { +/* *INDENT-OFF* */ + push( r0, r1 ) + mrs r0, ipsr + ldr r1, =_ulCurrentInterrupt + str r0, [ r1 ] + pop( r0, r1 ) +/* *INDENT-ON* */ + }; + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = *( ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + ulCurrentInterrupt ) ); + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + + #endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MikroC/ARM_CM4F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MikroC/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..6a9a9ce --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/MikroC/ARM_CM4F/portmacro.h @@ -0,0 +1,189 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* The compiler needs to be told functions that are only referenced by pointer + * are to be included in the build. NOTE: Omitting these lines will result in a + * run-time crash, not a linker error! */ + #pragma funcall vTaskStartScheduler prvIdleTask + #pragma funcall xTimerCreateTimerTask prvTimerTask + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __asm{ dsb }; \ + __asm{ isb }; \ + } + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + #define portDISABLE_INTERRUPTS() CPU_REG_SET( CPU_BASEPRI, configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm{ dsb }; __asm{ isb } + #define portENABLE_INTERRUPTS() CPU_REG_SET( CPU_BASEPRI, 0 ); + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) CPU_REG_SET( CPU_BASEPRI, x ); /* Barrier instructions not used as this is only used to lower the basepri. */ + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Generic helper function. */ + __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) + { + uint8_t ucReturn; + + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) ); + + return ucReturn; + } + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + + #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + BaseType_t xPortIsInsideInterrupt( void ); + +/*-----------------------------------------------------------*/ + + static inline uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulOriginalBASEPRI; + + ulOriginalBASEPRI = CPU_REG_GET( CPU_BASEPRI ); + CPU_REG_SET( CPU_BASEPRI, configMAX_SYSCALL_INTERRUPT_PRIORITY ); + __asm{ dsb }; + __asm{ isb }; + return ulOriginalBASEPRI; + } +/*-----------------------------------------------------------*/ + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/port.c new file mode 100644 index 0000000..e4017b9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/port.c @@ -0,0 +1,239 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Tern EE 186 + * port. + *----------------------------------------------------------*/ + +/* Library includes. */ +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "portasm.h" + +/* The timer increments every four clocks, hence the divide by 4. */ +#define portTIMER_COMPARE ( uint16_t ) ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / ( uint32_t ) 4 ) + +/* From the RDC data sheet. */ +#define portENABLE_TIMER_AND_INTERRUPT ( uint16_t ) 0xe001 + +/* Interrupt control. */ +#define portEIO_REGISTER 0xff22 +#define portCLEAR_INTERRUPT 0x0008 + +/* Setup the hardware to generate the required tick frequency. */ +static void prvSetupTimerInterrupt( void ); + +/* The ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if( configUSE_PREEMPTION == 1 ) + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ); +#else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + static void __interrupt __far prvNonPreemptiveTick( void ); +#endif + +/* Trap routine used by taskYIELD() to manually cause a context switch. */ +static void __interrupt __far prvYieldProcessor( void ); + +/* The timer initialisation functions leave interrupts enabled, +which is not what we want. This ISR is installed temporarily in case +the timer fires before we get a change to disable interrupts again. */ +static void __interrupt __far prvDummyISR( void ); + +/*-----------------------------------------------------------*/ +/* See header file for description. */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t DS_Reg = 0; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x1111; + pxTopOfStack--; + *pxTopOfStack = 0x2222; + pxTopOfStack--; + *pxTopOfStack = 0x3333; + pxTopOfStack--; + + /* We are going to start the scheduler using a return from interrupt + instruction to load the program counter, so first there would be the + function call with parameters preamble. */ + + *pxTopOfStack = FP_SEG( pvParameters ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pvParameters ); + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pxCode ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* Next the status register and interrupt return address. */ + *pxTopOfStack = portINITIAL_SW; + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pxCode ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* The remaining registers would be pushed on the stack by our context + switch function. These are loaded with values simply to make debugging + easier. */ + *pxTopOfStack = ( StackType_t ) 0xAAAA; /* AX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xCCCC; /* CX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xEEEE; /* ES */ + pxTopOfStack--; + + /* We need the true data segment. */ + __asm{ MOV DS_Reg, DS }; + + *pxTopOfStack = DS_Reg; /* DS */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0123; /* SI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BP */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* This is called with interrupts already disabled. */ + + /* Put our manual switch (yield) function on a known + vector. */ + setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); + + /* Setup the tick interrupt. */ + prvSetupTimerInterrupt(); + + /* Kick off the scheduler by setting up the context of the first task. */ + portFIRST_CONTEXT(); + + /* Should not get here! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +static void __interrupt __far prvDummyISR( void ) +{ + /* The timer initialisation functions leave interrupts enabled, + which is not what we want. This ISR is installed temporarily in case + the timer fires before we get a change to disable interrupts again. */ + outport( portEIO_REGISTER, portCLEAR_INTERRUPT ); +} +/*-----------------------------------------------------------*/ + +/* The ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if( configUSE_PREEMPTION == 1 ) + static void __interrupt __far prvPreemptiveTick( void ) + { + /* Get the scheduler to update the task states following the tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); + } + + /* Reset interrupt. */ + outport( portEIO_REGISTER, portCLEAR_INTERRUPT ); + } +#else + static void __interrupt __far prvNonPreemptiveTick( void ) + { + /* Same as preemptive tick, but the cooperative scheduler is being used + so we don't have to switch in the context of the next task. */ + xTaskIncrementTick(); + + /* Reset interrupt. */ + outport( portEIO_REGISTER, portCLEAR_INTERRUPT ); + } +#endif +/*-----------------------------------------------------------*/ + +static void __interrupt __far prvYieldProcessor( void ) +{ + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +const uint16_t usTimerACompare = portTIMER_COMPARE, usTimerAMode = portENABLE_TIMER_AND_INTERRUPT; +const uint16_t usT2_IRQ = 0x13; + + /* Configure the timer, the dummy handler is used here as the init + function leaves interrupts enabled. */ + t2_init( usTimerAMode, usTimerACompare, prvDummyISR ); + + /* Disable interrupts again before installing the real handlers. */ + portDISABLE_INTERRUPTS(); + + #if( configUSE_PREEMPTION == 1 ) + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + setvect( usT2_IRQ, prvPreemptiveTick ); + #else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + setvect( usT2_IRQ, prvNonPreemptiveTick ); + #endif +} + + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/portasm.h new file mode 100644 index 0000000..ed37545 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/portasm.h @@ -0,0 +1,76 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/* + * Saves the stack pointer for one task into its TCB, calls + * vTaskSwitchContext() to update the TCB being used, then restores the stack + * from the new TCB read to run the task. + */ +void portSWITCH_CONTEXT( void ); + +/* + * Load the stack pointer from the TCB of the task which is going to be first + * to execute. Then force an IRET so the registers and IP are popped off the + * stack. + */ +void portFIRST_CONTEXT( void ); + +#define portSWITCH_CONTEXT() \ + asm { mov ax, seg pxCurrentTCB } \ + asm { mov ds, ax } \ + asm { les bx, pxCurrentTCB } /* Save the stack pointer into the TCB. */ \ + asm { mov es:0x2[ bx ], ss } \ + asm { mov es:[ bx ], sp } \ + asm { call far ptr vTaskSwitchContext } /* Perform the switch. */ \ + asm { mov ax, seg pxCurrentTCB } /* Restore the stack pointer from the TCB. */ \ + asm { mov ds, ax } \ + asm { les bx, dword ptr pxCurrentTCB } \ + asm { mov ss, es:[ bx + 2 ] } \ + asm { mov sp, es:[ bx ] } + +#define portFIRST_CONTEXT() \ + asm { mov ax, seg pxCurrentTCB } \ + asm { mov ds, ax } \ + asm { les bx, dword ptr pxCurrentTCB } \ + asm { mov ss, es:[ bx + 2 ] } \ + asm { mov sp, es:[ bx ] } \ + asm { pop bp } \ + asm { pop di } \ + asm { pop si } \ + asm { pop ds } \ + asm { pop es } \ + asm { pop dx } \ + asm { pop cx } \ + asm { pop bx } \ + asm { pop ax } \ + asm { iret } + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/portmacro.h new file mode 100644 index 0000000..ffe264e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/large_untested/portmacro.h @@ -0,0 +1,106 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE long +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#define portENTER_CRITICAL() __asm{ pushf } \ + __asm{ cli } \ + +#define portEXIT_CRITICAL() __asm{ popf } + +#define portDISABLE_INTERRUPTS() __asm{ cli } + +#define portENABLE_INTERRUPTS() __asm{ sti } +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portNOP() __asm{ nop } +#define portSTACK_GROWTH ( -1 ) +#define portSWITCH_INT_NUMBER 0x80 +#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 2 +#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define portINPUT_BYTE( xAddr ) inp( xAddr ) +#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) +#define portINPUT_WORD( xAddr ) inpw( xAddr ) +#define portOUTPUT_WORD( xAddr, usValue ) outpw( xAddr, usValue ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) +#define portTASK_FUNCTION( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/port.c new file mode 100644 index 0000000..c949b8e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/port.c @@ -0,0 +1,219 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Tern EE 186 + * port. + *----------------------------------------------------------*/ + +/* Library includes. */ +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "portasm.h" + +/* The timer increments every four clocks, hence the divide by 4. */ +#define portPRESCALE_VALUE ( 16 ) +#define portTIMER_COMPARE ( configCPU_CLOCK_HZ / ( configTICK_RATE_HZ * 4UL ) ) + +/* From the RDC data sheet. */ +#define portENABLE_TIMER_AND_INTERRUPT ( uint16_t ) 0xe00b +#define portENABLE_TIMER ( uint16_t ) 0xC001 + +/* Interrupt control. */ +#define portEIO_REGISTER 0xff22 +#define portCLEAR_INTERRUPT 0x0008 + +/* Setup the hardware to generate the required tick frequency. */ +static void prvSetupTimerInterrupt( void ); + +/* The ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if( configUSE_PREEMPTION == 1 ) + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ); +#else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + static void __interrupt __far prvNonPreemptiveTick( void ); +#endif + +/* Trap routine used by taskYIELD() to manually cause a context switch. */ +static void __interrupt __far prvYieldProcessor( void ); + +/*-----------------------------------------------------------*/ +/* See header file for description. */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t DS_Reg = 0; + + /* We need the true data segment. */ + __asm{ MOV DS_Reg, DS }; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x1111; + pxTopOfStack--; + *pxTopOfStack = 0x2222; + pxTopOfStack--; + *pxTopOfStack = 0x3333; + pxTopOfStack--; + + /* We are going to start the scheduler using a return from interrupt + instruction to load the program counter, so first there would be the + function call with parameters preamble. */ + + *pxTopOfStack = FP_OFF( pvParameters ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* Next the status register and interrupt return address. */ + *pxTopOfStack = portINITIAL_SW; + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pxCode ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* The remaining registers would be pushed on the stack by our context + switch function. These are loaded with values simply to make debugging + easier. */ + *pxTopOfStack = ( StackType_t ) 0xAAAA; /* AX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xCCCC; /* CX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xEEEE; /* ES */ + pxTopOfStack--; + + *pxTopOfStack = DS_Reg; /* DS */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0123; /* SI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BP */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* This is called with interrupts already disabled. */ + + /* Put our manual switch (yield) function on a known + vector. */ + setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); + + /* Setup the tick interrupt. */ + prvSetupTimerInterrupt(); + + /* Kick off the scheduler by setting up the context of the first task. */ + portFIRST_CONTEXT(); + + /* Should not get here! */ + return pdFALSE; +} +/*-----------------------------------------------------------*/ + +/* The ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if( configUSE_PREEMPTION == 1 ) + static void __interrupt __far prvPreemptiveTick( void ) + { + /* Get the scheduler to update the task states following the tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch in the context of the next task to be run. */ + portEND_SWITCHING_ISR(); + } + + /* Reset interrupt. */ + outport( portEIO_REGISTER, portCLEAR_INTERRUPT ); + } +#else + static void __interrupt __far prvNonPreemptiveTick( void ) + { + /* Same as preemptive tick, but the cooperative scheduler is being used + so we don't have to switch in the context of the next task. */ + xTaskIncrementTick(); + + /* Reset interrupt. */ + outport( portEIO_REGISTER, portCLEAR_INTERRUPT ); + } +#endif +/*-----------------------------------------------------------*/ + +static void __interrupt __far prvYieldProcessor( void ) +{ + /* Switch in the context of the next task to be run. */ + portEND_SWITCHING_ISR(); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +const uint32_t ulCompareValue = portTIMER_COMPARE; +uint16_t usTimerCompare; + + usTimerCompare = ( uint16_t ) ( ulCompareValue >> 4 ); + t2_init( portENABLE_TIMER, portPRESCALE_VALUE, NULL ); + + #if( configUSE_PREEMPTION == 1 ) + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + t1_init( portENABLE_TIMER_AND_INTERRUPT, usTimerCompare, usTimerCompare, prvPreemptiveTick ); + #else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + t1_init( portENABLE_TIMER_AND_INTERRUPT, usTimerCompare, usTimerCompare, prvNonPreemptiveTick ); + #endif +} + + + + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/portasm.h new file mode 100644 index 0000000..521e404 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/portasm.h @@ -0,0 +1,72 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORT_ASM_H +#define PORT_ASM_H + +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/* + * Saves the stack pointer for one task into its TCB, calls + * vTaskSwitchContext() to update the TCB being used, then restores the stack + * from the new TCB read to run the task. + */ +void portEND_SWITCHING_ISR( void ); + +/* + * Load the stack pointer from the TCB of the task which is going to be first + * to execute. Then force an IRET so the registers and IP are popped off the + * stack. + */ +void portFIRST_CONTEXT( void ); + +#define portEND_SWITCHING_ISR() \ + asm { mov bx, [pxCurrentTCB] } \ + asm { mov word ptr [bx], sp } \ + asm { call far ptr vTaskSwitchContext } \ + asm { mov bx, [pxCurrentTCB] } \ + asm { mov sp, [bx] } + +#define portFIRST_CONTEXT() \ + asm { mov bx, [pxCurrentTCB] } \ + asm { mov sp, [bx] } \ + asm { pop bp } \ + asm { pop di } \ + asm { pop si } \ + asm { pop ds } \ + asm { pop es } \ + asm { pop dx } \ + asm { pop cx } \ + asm { pop bx } \ + asm { pop ax } \ + asm { iret } + + +#endif + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/portmacro.h new file mode 100644 index 0000000..dd7265a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Paradigm/Tern_EE/small/portmacro.h @@ -0,0 +1,107 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE long +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +typedef void ( __interrupt __far *pxISR )(); + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#define portENTER_CRITICAL() __asm{ pushf } \ + __asm{ cli } \ + +#define portEXIT_CRITICAL() __asm{ popf } + +#define portDISABLE_INTERRUPTS() __asm{ cli } + +#define portENABLE_INTERRUPTS() __asm{ sti } +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portNOP() __asm{ nop } +#define portSTACK_GROWTH ( -1 ) +#define portSWITCH_INT_NUMBER 0x80 +#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 2 +#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define portINPUT_BYTE( xAddr ) inp( xAddr ) +#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) +#define portINPUT_WORD( xAddr ) inpw( xAddr ) +#define portOUTPUT_WORD( xAddr, usValue ) outpw( xAddr, usValue ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) +#define portTASK_FUNCTION( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/port.c new file mode 100644 index 0000000..4089326 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/port.c @@ -0,0 +1,291 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) +#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) + +/* Constants required to setup the tick ISR. */ +#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) +#define portPRESCALE_VALUE 0x00 +#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) +#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) + +/* Constants required to setup the VIC for the tick ISR. */ +#define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 ) +#define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 ) +#define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 ) + +/* Constants required to handle interrupts. */ +#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) +#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) + +/*-----------------------------------------------------------*/ + +/* The code generated by the Keil compiler does not maintain separate +stack and frame pointers. The portENTER_CRITICAL macro cannot therefore +use the stack as per other ports. Instead a variable is used to keep +track of the critical section nesting. This variable has to be stored +as part of the task context and must be initialised to a non zero value. */ + +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +volatile uint32_t ulCriticalNesting = 9999UL; + +/*-----------------------------------------------------------*/ + +/* Setup the timer to generate the tick interrupts. */ +static void prvSetupTimerInterrupt( void ); + +/* + * The scheduler can only be started from ARM mode, so + * vPortStartFirstSTask() is defined in portISR.c. + */ +extern __asm void vPortStartFirstTask( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t *pxOriginalTOS; + + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + Remember where the top of the (simulated) stack is before we place + anything on it. */ + pxOriginalTOS = pxTopOfStack; + + /* To ensure asserts in tasks.c don't fail, although in this case the assert + is not really required. */ + pxTopOfStack--; + + /* First on the stack is the return address - which in this case is the + start of the task. The offset is added to make the return address appear + as it would within an IRQ ISR. */ + *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The last thing onto the stack is the status register, which is set for + system mode, with interrupts enabled. */ + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL ) + { + /* We want the task to start in thumb mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* The code generated by the Keil compiler does not maintain separate + stack and frame pointers. The portENTER_CRITICAL macro cannot therefore + use the stack as per other ports. Instead a variable is used to keep + track of the critical section nesting. This variable has to be stored + as part of the task context and is initially set to zero. */ + *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. */ + prvSetupTimerInterrupt(); + + /* Start the first task. This is done from portISR.c as ARM mode must be + used. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ARM port will require this function as there + is nothing to return to. If this is required - stop the tick ISR then + return back to main. */ +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 0 + + /* + * The cooperative scheduler requires a normal IRQ service routine to + * simply increment the system tick. + */ + void vNonPreemptiveTick( void ) __irq; + void vNonPreemptiveTick( void ) __irq + { + /* Increment the tick count - this may make a delaying task ready + to run - but a context switch is not performed. */ + xTaskIncrementTick(); + + T0IR = portTIMER_MATCH_ISR_BIT; /* Clear the timer event */ + VICVectAddr = portCLEAR_VIC_INTERRUPT; /* Acknowledge the Interrupt */ + } + + #else + + /* + ************************************************************************** + * The preemptive scheduler ISR is written in assembler and can be found + * in the portASM.s file. This will only get used if portUSE_PREEMPTION + * is set to 1 in portmacro.h + ************************************************************************** + */ + + void vPreemptiveTick( void ); + +#endif +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; + + /* A 1ms tick does not require the use of the timer prescale. This is + defaulted to zero but can be used if necessary. */ + T0PR = portPRESCALE_VALUE; + + /* Calculate the match value required for our wanted tick rate. */ + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* Protect against divide by zero. Using an if() statement still results + in a warning - hence the #if. */ + #if portPRESCALE_VALUE != 0 + { + ulCompareMatch /= ( portPRESCALE_VALUE + 1 ); + } + #endif + + T0MR0 = ulCompareMatch; + + /* Generate tick with timer 0 compare match. */ + T0MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH; + + /* Setup the VIC for the timer. */ + VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT ); + VICIntEnable |= portTIMER_VIC_CHANNEL_BIT; + + /* The ISR installed depends on whether the preemptive or cooperative + scheduler is being used. */ + #if configUSE_PREEMPTION == 1 + { + VICVectAddr0 = ( uint32_t ) vPreemptiveTick; + } + #else + { + VICVectAddr0 = ( uint32_t ) vNonPreemptiveTick; + } + #endif + + VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE; + + /* Start the timer - interrupts are disabled when this function is called + so it is okay to do this here. */ + T0TCR = portENABLE_TIMER; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + __disable_irq(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as we are leaving a critical section. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then interrupts should be + re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Enable interrupts as per portEXIT_CRITICAL(). */ + __enable_irq(); + } + } +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portASM.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portASM.s new file mode 100644 index 0000000..92967e0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portASM.s @@ -0,0 +1,124 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + INCLUDE portmacro.inc + + IMPORT vTaskSwitchContext + IMPORT xTaskIncrementTick + + EXPORT vPortYieldProcessor + EXPORT vPortStartFirstTask + EXPORT vPreemptiveTick + EXPORT vPortYield + + +VICVECTADDR EQU 0xFFFFF030 +T0IR EQU 0xE0004000 +T0MATCHBIT EQU 0x00000001 + + ARM + AREA PORT_ASM, CODE, READONLY + + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Starting the first task is done by just restoring the context +; setup by pxPortInitialiseStack +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortStartFirstTask + + PRESERVE8 + + portRESTORE_CONTEXT + +vPortYield + + PRESERVE8 + + SVC 0 + bx lr + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Interrupt service routine for the SWI interrupt. The vector table is +; configured in the startup.s file. +; +; vPortYieldProcessor() is used to manually force a context switch. The +; SWI interrupt is generated by a call to taskYIELD() or portYIELD(). +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +vPortYieldProcessor + + PRESERVE8 + + ; Within an IRQ ISR the link register has an offset from the true return + ; address, but an SWI ISR does not. Add the offset manually so the same + ; ISR return code can be used in both cases. + ADD LR, LR, #4 + + ; Perform the context switch. + portSAVE_CONTEXT ; Save current task context + LDR R0, =vTaskSwitchContext ; Get the address of the context switch function + MOV LR, PC ; Store the return address + BX R0 ; Call the contedxt switch function + portRESTORE_CONTEXT ; restore the context of the selected task + + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; Interrupt service routine for preemptive scheduler tick timer +; Only used if portUSE_PREEMPTION is set to 1 in portmacro.h +; +; Uses timer 0 of LPC21XX Family +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +vPreemptiveTick + + PRESERVE8 + + portSAVE_CONTEXT ; Save the context of the current task. + + LDR R0, =xTaskIncrementTick ; Increment the tick count. + MOV LR, PC ; This may make a delayed task ready + BX R0 ; to run. + + CMP R0, #0 + BEQ SkipContextSwitch + LDR R0, =vTaskSwitchContext ; Find the highest priority task that + MOV LR, PC ; is ready to run. + BX R0 +SkipContextSwitch + MOV R0, #T0MATCHBIT ; Clear the timer event + LDR R1, =T0IR + STR R0, [R1] + + LDR R0, =VICVECTADDR ; Acknowledge the interrupt + STR R0,[R0] + + portRESTORE_CONTEXT ; Restore the context of the highest + ; priority task that is ready to run. + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h new file mode 100644 index 0000000..6c67230 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h @@ -0,0 +1,149 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/*----------------------------------------------------------- + * ISR entry and exit macros. These are only required if a task switch + * is required from an ISR. + *----------------------------------------------------------*/ + +/* If a switch is required then we just need to call */ +/* vTaskSwitchContext() as the context has already been */ +/* saved. */ + +#define portEXIT_SWITCHING_ISR(SwitchRequired) \ +{ \ +extern void vTaskSwitchContext(void); \ + \ + if(SwitchRequired) \ + { \ + vTaskSwitchContext(); \ + } \ +} \ + +extern void vPortYield( void ); +#define portYIELD() vPortYield() + + +/* Critical section management. */ + +/* + ****************************************************************** + * We don't need to worry about whether we're in ARM or + * THUMB mode with the Keil Real View compiler when enabling + * or disabling interrupts as the compiler's intrinsic functions + * take care of that for us. + ******************************************************************* + */ +#define portDISABLE_INTERRUPTS() __disable_irq() +#define portENABLE_INTERRUPTS() __enable_irq() + + +/*----------------------------------------------------------- + * Critical section control + * + * The code generated by the Keil compiler does not maintain separate + * stack and frame pointers. The portENTER_CRITICAL macro cannot therefore + * use the stack as per other ports. Instead a variable is used to keep + * track of the critical section nesting. This necessitates the use of a + * function in place of the macro. + *----------------------------------------------------------*/ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define inline +#define register +#define portNOP() __asm{ NOP } +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc new file mode 100644 index 0000000..ffdfab0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc @@ -0,0 +1,91 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + IMPORT ulCriticalNesting ; + IMPORT pxCurrentTCB ; + + + MACRO + portRESTORE_CONTEXT + + + LDR R0, =pxCurrentTCB ; Set the LR to the task stack. The location was... + LDR R0, [R0] ; ... stored in pxCurrentTCB + LDR LR, [R0] + + LDR R0, =ulCriticalNesting ; The critical nesting depth is the first item on... + LDMFD LR!, {R1} ; ...the stack. Load it into the ulCriticalNesting var. + STR R1, [R0] ; + + LDMFD LR!, {R0} ; Get the SPSR from the stack. + MSR SPSR_cxsf, R0 ; + + LDMFD LR, {R0-R14}^ ; Restore all system mode registers for the task. + NOP ; + + LDR LR, [LR, #+60] ; Restore the return address + + ; And return - correcting the offset in the LR to obtain ... + SUBS PC, LR, #4 ; ...the correct address. + + MEND + +; /**********************************************************************/ + + MACRO + portSAVE_CONTEXT + + + STMDB SP!, {R0} ; Store R0 first as we need to use it. + + STMDB SP,{SP}^ ; Set R0 to point to the task stack pointer. + NOP ; + SUB SP, SP, #4 ; + LDMIA SP!,{R0} ; + + STMDB R0!, {LR} ; Push the return address onto the stack. + MOV LR, R0 ; Now we have saved LR we can use it instead of R0. + LDMIA SP!, {R0} ; Pop R0 so we can save it onto the system mode stack. + + STMDB LR,{R0-LR}^ ; Push all the system mode registers onto the task stack. + NOP ; + SUB LR, LR, #60 ; + + MRS R0, SPSR ; Push the SPSR onto the task stack. + STMDB LR!, {R0} ; + + LDR R0, =ulCriticalNesting ; + LDR R0, [R0] ; + STMDB LR!, {R0} ; + + LDR R0, =pxCurrentTCB ; Store the new top of stack for the task. + LDR R1, [R0] ; + STR LR, [R1] ; + + MEND + + END diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/port.c new file mode 100644 index 0000000..9219e81 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/port.c @@ -0,0 +1,480 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS + #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET + #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configUNIQUE_INTERRUPT_PRIORITIES + #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#ifndef configSETUP_TICK_INTERRUPT + #error configSETUP_TICK_INTERRUPT() must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif /* configSETUP_TICK_INTERRUPT */ + +#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See https://www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 + #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 +#endif + +#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + /* Check the configuration. */ + #if( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/* In case security extensions are implemented. */ +#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) + #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) +#endif + +#ifndef configCLEAR_TICK_INTERRUPT + #define configCLEAR_TICK_INTERRUPT() +#endif + +/* The number of bits to shift for an interrupt priority is dependent on the +number of bits implemented by the interrupt controller. */ +#if configUNIQUE_INTERRUPT_PRIORITIES == 16 + #define portPRIORITY_SHIFT 4 + #define portMAX_BINARY_POINT_VALUE 3 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 + #define portPRIORITY_SHIFT 3 + #define portMAX_BINARY_POINT_VALUE 2 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 + #define portPRIORITY_SHIFT 2 + #define portMAX_BINARY_POINT_VALUE 1 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 + #define portPRIORITY_SHIFT 1 + #define portMAX_BINARY_POINT_VALUE 0 +#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 + #define portPRIORITY_SHIFT 0 + #define portMAX_BINARY_POINT_VALUE 0 +#else + #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware +#endif + +/* A critical section is exited when the critical section nesting count reaches +this value. */ +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + +/* In all GICs 255 can be written to the priority mask register to unmask all +(but the lowest) interrupt priority. */ +#define portUNMASK_VALUE ( 0xFFUL ) + +/* Tasks are not created with a floating point context, but can be given a +floating point context after they have been created. A variable is stored as +part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task +does not have an FPU context, or any other value if the task does have an FPU +context. */ +#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) + +/* Interrupt controller access addresses. */ +#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) +#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) +#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) +#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) +#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) +#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) +#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) +#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) +#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) ) +#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) ) + +/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary +point is zero. */ +#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) + +/* Constants required to setup the initial task context. */ +#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ +#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) +#define portTHUMB_MODE_ADDRESS ( 0x01UL ) + +/* Masks all bits in the APSR other than the mode bits. */ +#define portAPSR_MODE_BITS_MASK ( 0x1F ) + +/* The value of the mode bits in the APSR when the CPU is executing in user +mode. */ +#define portAPSR_USER_MODE ( 0x10 ) + +/* Macro to unmask all interrupt priorities. */ +#define portCLEAR_INTERRUPT_MASK() \ +{ \ + __disable_irq(); \ + portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ + __asm( "DSB \n" \ + "ISB \n" ); \ + __enable_irq(); \ +} + +/*-----------------------------------------------------------*/ + +/* + * Starts the first task executing. This function is necessarily written in + * assembly code so is implemented in portASM.s. + */ +extern void vPortRestoreTaskContext( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* A variable is used to keep track of the critical section nesting. This +variable has to be stored as part of the task context and must be initialised to +a non zero value to ensure interrupts don't inadvertently become unmasked before +the scheduler starts. As it is stored as part of the task context it will +automatically be set to 0 when the first task is started. */ +volatile uint32_t ulCriticalNesting = 9999UL; + +/* Used to pass constants into the ASM code. The address at which variables are +placed is the constant value so indirect loads in the asm code are not +required. */ +uint32_t ulICCIAR __attribute__( ( at( portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ) ) ); +uint32_t ulICCEOIR __attribute__( ( at( portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ) ) ); +uint32_t ulICCPMR __attribute__( ( at( portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ) ) ); +uint32_t ulAsmAPIPriorityMask __attribute__( ( at( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ) ); + +/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then +a floating point context must be saved and restored for the task. */ +uint32_t ulPortTaskHasFPUContext = pdFALSE; + +/* Set to 1 to pend a context switch from an ISR. */ +uint32_t ulPortYieldRequired = pdFALSE; + +/* Counts the interrupt nesting depth. A context switch is only performed if +if the nesting depth is 0. */ +uint32_t ulPortInterruptNesting = 0UL; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Setup the initial stack of the task. The stack is set exactly as + expected by the portRESTORE_CONTEXT() macro. + + The fist real value on the stack is the status register, which is set for + system mode, with interrupts enabled. A few NULLs are added first to ensure + GDB does not try decoding a non-existent return address. */ + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = NULL; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; + + if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) + { + /* The task will start in THUMB mode. */ + *pxTopOfStack |= portTHUMB_MODE_BIT; + } + + pxTopOfStack--; + + /* Next the return address, which in this case is the start of the task. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + + /* Next all the registers other than the stack pointer. */ + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack--; + + /* The task will start with a critical nesting count of 0 as interrupts are + enabled. */ + *pxTopOfStack = portNO_CRITICAL_NESTING; + pxTopOfStack--; + + /* The task will start without a floating point context. A task that uses + the floating point hardware must call vPortTaskUsesFPU() before executing + any floating point instructions. */ + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + its caller as there is nothing to return to. If a task wants to exit it + should instead call vTaskDelete( NULL ). + + Artificially force an assert() to be triggered if configASSERT() is + defined, then stop here so application writers can catch the error. */ + configASSERT( ulPortInterruptNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + for( ;; ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +uint32_t ulAPSR; + + /* Only continue if the CPU is not in User mode. The CPU must be in a + Privileged mode for the scheduler to start. */ + __asm( "MRS ulAPSR, APSR" ); + ulAPSR &= portAPSR_MODE_BITS_MASK; + configASSERT( ulAPSR != portAPSR_USER_MODE ); + + if( ulAPSR != portAPSR_USER_MODE ) + { + /* Only continue if the binary point value is set to its lowest possible + setting. See the comments in vPortValidateInterruptPriority() below for + more information. */ + configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); + + if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ) + { + /* Start the timer that generates the tick ISR. */ + configSETUP_TICK_INTERRUPT(); + + __enable_irq(); + vPortRestoreTaskContext(); + } + } + + /* Will only get here if vTaskStartScheduler() was called with the CPU in + a non-privileged mode or the binary point register was not set to its lowest + possible value. */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ + ulPortSetInterruptMask(); + + /* Now interrupts are disabled ulCriticalNesting can be accessed + directly. Increment ulCriticalNesting to keep a count of how many times + portENTER_CRITICAL() has been called. */ + ulCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + assert() if it is being called from an interrupt context. Only API + functions that end in "FromISR" can be used in an interrupt. Only assert if + the critical nesting count is 1 to protect against recursive calls if the + assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ulPortInterruptNesting == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) + { + /* Decrement the nesting count as the critical section is being + exited. */ + ulCriticalNesting--; + + /* If the nesting level has reached zero then all interrupt + priorities must be re-enabled. */ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) + { + /* Critical nesting has reached zero so all interrupt priorities + should be unmasked. */ + portCLEAR_INTERRUPT_MASK(); + } + } +} +/*-----------------------------------------------------------*/ + +void FreeRTOS_Tick_Handler( void ) +{ + /* Set interrupt mask before altering scheduler structures. The tick + handler runs at the lowest priority, so interrupts cannot already be masked, + so there is no need to save and restore the current mask value. */ + __disable_irq(); + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm( "DSB \n" + "ISB \n" ); + __enable_irq(); + + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + ulPortYieldRequired = pdTRUE; + } + + /* Ensure all interrupt priorities are active again. */ + portCLEAR_INTERRUPT_MASK(); + configCLEAR_TICK_INTERRUPT(); +} +/*-----------------------------------------------------------*/ + +void vPortTaskUsesFPU( void ) +{ +uint32_t ulInitialFPSCR = 0; + + /* A task is registering the fact that it needs an FPU context. Set the + FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; + + /* Initialise the floating point status register. */ + __asm( "FMXR FPSCR, ulInitialFPSCR" ); +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( uint32_t ulNewMaskValue ) +{ + if( ulNewMaskValue == pdFALSE ) + { + portCLEAR_INTERRUPT_MASK(); + } +} +/*-----------------------------------------------------------*/ + +uint32_t ulPortSetInterruptMask( void ) +{ +uint32_t ulReturn; + + __disable_irq(); + if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ) + { + /* Interrupts were already masked. */ + ulReturn = pdTRUE; + } + else + { + ulReturn = pdFALSE; + portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); + __asm( "DSB \n" + "ISB \n" ); + } + __enable_irq(); + + return ulReturn; +} +/*-----------------------------------------------------------*/ + +#if( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + /* The following assertion will fail if a service routine (ISR) for + an interrupt that has been assigned a priority above + configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + function. ISR safe FreeRTOS API functions must *only* be called + from interrupts that have been assigned a priority at or below + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + Numerically low interrupt priority numbers represent logically high + interrupt priorities, therefore the priority of the interrupt must + be set to a value equal to or numerically *higher* than + configMAX_SYSCALL_INTERRUPT_PRIORITY. + + FreeRTOS maintains separate thread and ISR API functions to ensure + interrupt entry is as fast and simple as possible. + + The following links provide detailed information: + https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); + + /* Priority grouping: The interrupt controller (GIC) allows the bits + that define each interrupt's priority to be split between bits that + define the interrupt's pre-emption priority bits and bits that define + the interrupt's sub-priority. For simplicity all bits must be defined + to be pre-emption priority bits. The following assertion will fail if + this is not the case (if some bits represent a sub-priority). + + The priority grouping is configured by the GIC's binary point register + (ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest + possible value (which may be above 0). */ + configASSERT( portICCBPR_BINARY_POINT_REGISTER <= portMAX_BINARY_POINT_VALUE ); + } + +#endif /* configASSERT_DEFINED */ + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portASM.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portASM.s new file mode 100644 index 0000000..dfde98a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portASM.s @@ -0,0 +1,174 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + INCLUDE portmacro.inc + + IMPORT vApplicationIRQHandler + IMPORT vTaskSwitchContext + IMPORT ulPortYieldRequired + IMPORT ulPortInterruptNesting + IMPORT vTaskSwitchContext + IMPORT ulICCIAR + IMPORT ulICCEOIR + + EXPORT FreeRTOS_SWI_Handler + EXPORT FreeRTOS_IRQ_Handler + EXPORT vPortRestoreTaskContext + + ARM + AREA PORT_ASM, CODE, READONLY + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; SVC handler is used to yield a task. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +FreeRTOS_SWI_Handler + + PRESERVE8 + + ; Save the context of the current task and select a new task to run. + portSAVE_CONTEXT + LDR R0, =vTaskSwitchContext + BLX R0 + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; vPortRestoreTaskContext is used to start the scheduler. +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +vPortRestoreTaskContext + ; Switch to system mode + CPS #SYS_MODE + portRESTORE_CONTEXT + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +; PL390 GIC interrupt handler +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +FreeRTOS_IRQ_Handler + + ; Return to the interrupted instruction. + SUB lr, lr, #4 + + ; Push the return address and SPSR + PUSH {lr} + MRS lr, SPSR + PUSH {lr} + + ; Change to supervisor mode to allow reentry. + CPS #SVC_MODE + + ; Push used registers. + PUSH {r0-r4, r12} + + ; Increment nesting count. r3 holds the address of ulPortInterruptNesting + ; for future use. r1 holds the original ulPortInterruptNesting value for + ; future use. + LDR r3, =ulPortInterruptNesting + LDR r1, [r3] + ADD r4, r1, #1 + STR r4, [r3] + + ; Read value from the interrupt acknowledge register, which is stored in r0 + ; for future parameter and interrupt clearing use. + LDR r2, =ulICCIAR + LDR r0, [r2] + + ; Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for + ; future use. _RB_ Does this ever actually need to be done provided the + ; start of the stack is 8-byte aligned? + MOV r2, sp + AND r2, r2, #4 + SUB sp, sp, r2 + + ; Call the interrupt handler. r4 is pushed to maintain alignment. + PUSH {r0-r4, lr} + LDR r1, =vApplicationIRQHandler + BLX r1 + POP {r0-r4, lr} + ADD sp, sp, r2 + + CPSID i + + ; Write the value read from ICCIAR to ICCEOIR + LDR r4, =ulICCEOIR + STR r0, [r4] + + ; Restore the old nesting count + STR r1, [r3] + + ; A context switch is never performed if the nesting count is not 0 + CMP r1, #0 + BNE exit_without_switch + + ; Did the interrupt request a context switch? r1 holds the address of + ; ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + ; use. + LDR r1, =ulPortYieldRequired + LDR r0, [r1] + CMP r0, #0 + BNE switch_before_exit + +exit_without_switch + ; No context switch. Restore used registers, LR_irq and SPSR before + ; returning. + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + MOVS PC, LR + +switch_before_exit + ; A context swtich is to be performed. Clear the context switch pending + ; flag. + MOV r0, #0 + STR r0, [r1] + + ; Restore used registers, LR-irq and SPSR before saving the context + ; to the task stack. + POP {r0-r4, r12} + CPS #IRQ_MODE + POP {LR} + MSR SPSR_cxsf, LR + POP {LR} + portSAVE_CONTEXT + + ; Call the function that selects the new task to execute. + ; vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + ; instructions, or 8 byte aligned stack allocated data. LR does not need + ; saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. + LDR r0, =vTaskSwitchContext + BLX r0 + + ; Restore the context of, and branch to, the task selected to execute next. + portRESTORE_CONTEXT + + + END + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.h new file mode 100644 index 0000000..38a9778 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.h @@ -0,0 +1,162 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the given hardware + * and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 + +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* Called at the end of an ISR that can cause a context switch. */ +#define portEND_SWITCHING_ISR( xSwitchRequired )\ +{ \ +extern uint32_t ulPortYieldRequired; \ + \ + if( xSwitchRequired != pdFALSE ) \ + { \ + ulPortYieldRequired = pdTRUE; \ + } \ +} + +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +#define portYIELD() __asm( "SWI 0" ); + + +/*----------------------------------------------------------- + * Critical section control + *----------------------------------------------------------*/ + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern uint32_t ulPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); + +/* These macros do not globally disable/enable interrupts. They do mask off +interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() +#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are +not required for this port but included in case common demo code that uses these +macros is used. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +/* Prototype of the FreeRTOS tick handler. This must be installed as the +handler for whichever peripheral is used to generate the RTOS tick. */ +void FreeRTOS_Tick_Handler( void ); + +/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() +before any floating point instructions are executed. */ +void vPortTaskUsesFPU( void ); +#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() + +#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) +#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + + /* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + + /*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( uxReadyPriorities ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +#ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() +#endif + +#define portNOP() __nop() + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.inc b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.inc new file mode 100644 index 0000000..cf2557f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.inc @@ -0,0 +1,120 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + +SYS_MODE EQU 0x1f +SVC_MODE EQU 0x13 +IRQ_MODE EQU 0x12 + + IMPORT ulCriticalNesting + IMPORT pxCurrentTCB + IMPORT ulPortTaskHasFPUContext + IMPORT ulAsmAPIPriorityMask + IMPORT ulICCPMR + + + MACRO + portSAVE_CONTEXT + + ; Save the LR and SPSR onto the system mode stack before switching to + ; system mode to save the remaining system mode registers + SRSDB sp!, #SYS_MODE + CPS #SYS_MODE + PUSH {R0-R12, R14} + + ; Push the critical nesting count + LDR R2, =ulCriticalNesting + LDR R1, [R2] + PUSH {R1} + + ; Does the task have a floating point context that needs saving? If + ; ulPortTaskHasFPUContext is 0 then no. + LDR R2, =ulPortTaskHasFPUContext + LDR R3, [R2] + CMP R3, #0 + + ; Save the floating point context, if any + FMRXNE R1, FPSCR + VPUSHNE {D0-D15} + VPUSHNE {D16-D31} + PUSHNE {R1} + + ; Save ulPortTaskHasFPUContext itself + PUSH {R3} + + ; Save the stack pointer in the TCB + LDR R0, =pxCurrentTCB + LDR R1, [R0] + STR SP, [R1] + + MEND + +; /**********************************************************************/ + + MACRO + portRESTORE_CONTEXT + + ; Set the SP to point to the stack of the task being restored. + LDR R0, =pxCurrentTCB + LDR R1, [R0] + LDR SP, [R1] + + ; Is there a floating point context to restore? If the restored + ; ulPortTaskHasFPUContext is zero then no. + LDR R0, =ulPortTaskHasFPUContext + POP {R1} + STR R1, [R0] + CMP R1, #0 + + ; Restore the floating point context, if any + POPNE {R0} + VPOPNE {D16-D31} + VPOPNE {D0-D15} + VMSRNE FPSCR, R0 + + ; Restore the critical section nesting depth + LDR R0, =ulCriticalNesting + POP {R1} + STR R1, [R0] + + ; Ensure the priority mask is correct for the critical nesting depth + LDR R2, =ulICCPMR + CMP R1, #0 + MOVEQ R4, #255 + LDRNE R4, =ulAsmAPIPriorityMask + STR R4, [r2] + + ; Restore all system mode registers other than the SP (which is already + ; being used) + POP {R0-R12, R14} + + ; Return to the task code, loading CPSR on the way. + RFEIA sp! + + MEND + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM0/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM0/port.c new file mode 100644 index 0000000..c4a4d36 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM0/port.c @@ -0,0 +1,547 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM0 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) +#define portMIN_INTERRUPT_PRIORITY ( 255UL ) +#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) +#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#ifndef portMISSED_COUNTS_FACTOR + #define portMISSED_COUNTS_FACTOR ( 45UL ) +#endif + +/* Constants used with memory barrier intrinsics. */ +#define portSY_FULL_READ_WRITE ( 15 ) + +/* Legacy macro for backward compatibility only. This macro used to be used to + * replace the function that configures the clock used to generate the tick + * interrupt (prvSetupTimerInterrupt()), but now the function is declared weak so + * the application writer can override it by simply defining a function of the + * same name (vApplicationSetupTickInterrupt()). */ +#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION + #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 +#endif + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* The number of SysTick increments that make up one tick period. */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11..R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + /* This function is no longer used, but retained for backward + * compatibility. */ +} +/*-----------------------------------------------------------*/ + +__asm void prvPortStartFirstTask( void ) +{ + extern pxCurrentTCB; + + PRESERVE8 + + /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector + * table offset register that can be used to locate the initial stack value. + * Not all M0 parts have the application vector table at address 0. */ +/* *INDENT-OFF* */ + + ldr r3, = pxCurrentTCB /* Obtain location of pxCurrentTCB. */ + ldr r1, [ r3 ] + ldr r0, [ r1 ] /* The first item in pxCurrentTCB is the task top of stack. */ + adds r0, # 32 /* Discard everything up to r0. */ + msr psp, r0 /* This is now the new top of stack to use in the task. */ + movs r0, # 2 /* Switch to the psp stack. */ + msr CONTROL, r0 + isb + pop { r0 - r5 } /* Pop the registers that are saved automatically. */ + mov lr, r5 /* lr is now in r5. */ + pop { r3 } /* The return address is now in r3. */ + pop { r2 } /* Pop and discard the XPSR. */ + cpsie i /* The first task has its context and interrupts can be enabled. */ + bx r3 /* Finally, jump to the user defined task code. */ + + ALIGN +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + prvPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ + /* Set a PendSV to request a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required but do ensure the code is completely + * within the specified behaviour for the architecture. */ + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +__asm uint32_t ulSetInterruptMaskFromISR( void ) +{ +/* *INDENT-OFF* */ + mrs r0, PRIMASK + cpsid i + bx lr +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void vClearInterruptMaskFromISR( uint32_t ulMask ) +{ +/* *INDENT-OFF* */ + msr PRIMASK, r0 + bx lr +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void xPortPendSVHandler( void ) +{ + extern vTaskSwitchContext + extern pxCurrentTCB + +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, psp + + ldr r3, = pxCurrentTCB /* Get the location of the current TCB. */ + ldr r2, [ r3 ] + + subs r0, # 32 /* Make space for the remaining low registers. */ + str r0, [ r2 ] /* Save the new top of stack. */ + stmia r0 !, { r4 - r7 } /* Store the low registers that are not saved automatically. */ + mov r4, r8 /* Store the high registers. */ + mov r5, r9 + mov r6, r10 + mov r7, r11 + stmia r0 !, { r4 - r7 } + + push { r3, r14 } + cpsid i + bl vTaskSwitchContext + cpsie i + pop { r2, r3 } /* lr goes in r3. r2 now holds tcb pointer. */ + + ldr r1, [ r2 ] + ldr r0, [ r1 ] /* The first item in pxCurrentTCB is the task top of stack. */ + adds r0, # 16 /* Move to the high registers. */ + ldmia r0 !, { r4 - r7 } /* Pop the high registers. */ + mov r8, r4 + mov r9, r5 + mov r10, r6 + mov r11, r7 + + msr psp, r0 /* Remember the new top of stack for the task. */ + + subs r0, # 32 /* Go back for the low registers that are not automatically restored. */ + ldmia r0 !, { r4 - r7 } /* Pop low registers. */ + + bx r3 + ALIGN +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + uint32_t ulPreviousMask; + + ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +#if ( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 ) + + __weak void vPortSetupTimerInterrupt( void ) + { + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + ulTimerCountsForOneTick = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR; + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; + } + +#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_irq() call + * above. */ + __enable_irq(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __dsb( portSY_FULL_READ_WRITE ); + __wfi(); + __isb( portSY_FULL_READ_WRITE ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD + * again, then set portNVIC_SYSTICK_LOAD back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrpts enabled. */ + __enable_irq(); + } + } + +#endif /* #if configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM0/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM0/portmacro.h new file mode 100644 index 0000000..a6c88c8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM0/portmacro.h @@ -0,0 +1,123 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + extern void vPortYield( void ); + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portYIELD() vPortYield() + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + extern uint32_t ulSetInterruptMaskFromISR( void ); + extern void vClearInterruptMaskFromISR( uint32_t ulMask ); + + #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMaskFromISR( x ) + #define portDISABLE_INTERRUPTS() __disable_irq() + #define portENABLE_INTERRUPTS() __enable_irq() + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + + #define portNOP() + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c new file mode 100644 index 0000000..014c4b5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c @@ -0,0 +1,716 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM3 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 255 +#endif + +#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Legacy macro for backward compatibility only. This macro used to be used to + * replace the function that configures the clock used to generate the tick + * interrupt (prvSetupTimerInterrupt()), but now the function is declared weak so + * the application writer can override it by simply defining a function of the + * same name (vApplicationSetupTickInterrupt()). */ +#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION + #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +__asm void vPortSVCHandler( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + ldr r3, = pxCurrentTCB /* Restore the context. */ + ldr r1, [ r3 ] /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ + ldr r0, [ r1 ] /* The first item in pxCurrentTCB is the task top of stack. */ + ldmia r0 !, { r4 - r11 } /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ + msr psp, r0 /* Restore the task stack pointer. */ + isb + mov r0, # 0 + msr basepri, r0 + orr r14, # 0xd + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void prvStartFirstTask( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [ r0 ] + ldr r0, [ r0 ] + + /* Set the msp back to the start of the stack. */ + msr msp, r0 + /* Globally enable interrupts. */ + cpsie i + cpsie f + dsb + isb + /* Call SVC to start the first task. */ + svc 0 + nop + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* The kernel interrupt priority should be set to the lowest + * priority. */ + configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) ); + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + prvStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +__asm void xPortPendSVHandler( void ) +{ + extern uxCriticalNesting; + extern pxCurrentTCB; + extern vTaskSwitchContext; + +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, psp + isb + + ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */ + ldr r2, [ r3 ] + + stmdb r0 !, { r4 - r11 } /* Save the remaining registers. */ + str r0, [ r2 ] /* Save the new top of stack into the first member of the TCB. */ + + stmdb sp !, { r3, r14 } + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp !, { r3, r14 } + + ldr r1, [ r3 ] + ldr r0, [ r1 ] /* The first item in pxCurrentTCB is the task top of stack. */ + ldmia r0 !, { r4 - r11 } /* Pop the registers and the critical nesting count. */ + msr psp, r0 + isb + bx r14 + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known - therefore the slightly faster vPortRaiseBASEPRI() function is used + * in place of portSET_INTERRUPT_MASK_FROM_ISR(). */ + vPortRaiseBASEPRI(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + + vPortClearBASEPRIFromISR(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_irq() call + * above. */ + __enable_irq(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __dsb( portSY_FULL_READ_WRITE ); + __wfi(); + __isb( portSY_FULL_READ_WRITE ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __enable_irq(); + } + } + +#endif /* #if configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +/* + * Setup the SysTick timer to generate the tick interrupts at the required + * frequency. + */ +#if ( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 ) + + __weak void vPortSetupTimerInterrupt( void ) + { + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); + } + +#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ +/*-----------------------------------------------------------*/ + +__asm uint32_t vPortGetIPSR( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, ipsr + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + ulCurrentInterrupt = vPortGetIPSR(); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h new file mode 100644 index 0000000..5b6ba43 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h @@ -0,0 +1,264 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + +/* Constants used with memory barrier intrinsics. */ + #define portSY_FULL_READ_WRITE ( 15 ) + +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __dsb( portSY_FULL_READ_WRITE ); \ + __isb( portSY_FULL_READ_WRITE ); \ + } +/*-----------------------------------------------------------*/ + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Port specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __clz( ( uxReadyPriorities ) ) ) + + #endif /* taskRECORD_READY_PRIORITY */ +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE __forceinline + #endif + +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI ) + { + __asm + { + /* Barrier instructions are not used as this function is only used to + * lower the BASEPRI value. */ +/* *INDENT-OFF* */ + msr basepri, ulBASEPRI +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + msr basepri, ulNewBASEPRI + dsb + isb +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortClearBASEPRIFromISR( void ) + { + __asm + { + /* Set BASEPRI to 0 so no interrupts are masked. This function is only + * used to lower the mask in an interrupt, so memory barriers are not + * used. */ +/* *INDENT-OFF* */ + msr basepri, # 0 +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + mrs ulReturn, basepri + msr basepri, ulNewBASEPRI + dsb + isb +/* *INDENT-ON* */ + } + + return ulReturn; + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm + { +/* *INDENT-OFF* */ + mrs ulCurrentInterrupt, ipsr +/* *INDENT-ON* */ + } + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c new file mode 100644 index 0000000..c01589c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c @@ -0,0 +1,808 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __TARGET_FPU_VFP + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* Legacy macro for backward compatibility only. This macro used to be used to + * replace the function that configures the clock used to generate the tick + * interrupt (prvSetupTimerInterrupt()), but now the function is declared weak so + * the application writer can override it by simply defining a function of the + * same name (vApplicationSetupTickInterrupt()). */ +#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION + #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7 + * r0p1 port. */ +#define portCPUID ( *( ( volatile uint32_t * ) 0xE000ed00 ) ) +#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL ) +#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvStartFirstTask( void ); + +/* + * Functions defined in portasm.s to enable the VFP. + */ +static void prvEnableVFP( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +__asm void vPortSVCHandler( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* Get the location of the current TCB. */ + ldr r3, = pxCurrentTCB + ldr r1, [ r3 ] + ldr r0, [ r1 ] + /* Pop the core registers. */ + ldmia r0 !, {r4-r11,r14} + msr psp, r0 + isb + mov r0, # 0 + msr basepri, r0 + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void prvStartFirstTask( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [ r0 ] + ldr r0, [ r0 ] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + + /* Clear the bit that indicates the FPU is in use in case the FPU was used + * before the scheduler was started - which would otherwise result in the + * unnecessary leaving of space in the SVC stack for lazy saving of FPU + * registers. */ + mov r0, #0 + msr control, r0 + /* Globally enable interrupts. */ + cpsie i + cpsie f + dsb + isb + /* Call SVC to start the first task. */ + svc 0 + nop + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void prvEnableVFP( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* The FPU enable bits are in the CPACR. */ + ldr.w r0, =0xE000ED88 + ldr r1, [ r0 ] + + /* Enable CP10 and CP11 coprocessors, then save back. */ + orr r1, r1, #( 0xf << 20 ) + str r1, [ r0 ] + bx r14 + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + + /* This port can be used on all revisions of the Cortex-M7 core other than + * the r0p1 parts. r0p1 parts should use the port from the + * /source/portable/GCC/ARM_CM7/r0p1 directory. */ + configASSERT( portCPUID != portCORTEX_M7_r0p1_ID ); + configASSERT( portCPUID != portCORTEX_M7_r0p0_ID ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* The kernel interrupt priority should be set to the lowest + * priority. */ + configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) ); + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + prvEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + prvStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +__asm void xPortPendSVHandler( void ) +{ + extern uxCriticalNesting; + extern pxCurrentTCB; + extern vTaskSwitchContext; + +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, psp + isb + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r2, [ r3 ] + + /* Is the task using the FPU context? If so, push high vfp registers. */ + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + /* Save the core registers. */ + stmdb r0!, {r4-r11, r14} + + /* Save the new top of stack into the first member of the TCB. */ + str r0, [ r2 ] + + stmdb sp!, {r0, r3} + mov r0, # configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 + dsb + isb + bl vTaskSwitchContext + mov r0, # 0 + msr basepri, r0 + ldmia sp!, {r0, r3} + + /* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [ r3 ] + ldr r0, [ r1 ] + + /* Pop the core registers. */ + ldmia r0!, {r4-r11, r14} + + /* Is the task using the FPU context? If so, pop the high vfp registers + * too. */ + tst r14, # 0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */ + #if WORKAROUND_PMU_CM001 == 1 + push { r14 } + pop { pc } + nop + #endif + #endif + + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known - therefore the slightly faster vPortRaiseBASEPRI() function is used + * in place of portSET_INTERRUPT_MASK_FROM_ISR(). */ + vPortRaiseBASEPRI(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + + vPortClearBASEPRIFromISR(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_irq() call + * above. */ + __enable_irq(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __dsb( portSY_FULL_READ_WRITE ); + __wfi(); + __isb( portSY_FULL_READ_WRITE ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __enable_irq(); + } + } + +#endif /* #if configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +/* + * Setup the SysTick timer to generate the tick interrupts at the required + * frequency. + */ +#if ( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 ) + + __weak void vPortSetupTimerInterrupt( void ) + { + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); + } + +#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ +/*-----------------------------------------------------------*/ + +__asm uint32_t vPortGetIPSR( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, ipsr + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + ulCurrentInterrupt = vPortGetIPSR(); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..0fddf40 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h @@ -0,0 +1,264 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H +/* *INDENT-OFF* */ + +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + +/* Constants used with memory barrier intrinsics. */ + #define portSY_FULL_READ_WRITE ( 15 ) + +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __dsb( portSY_FULL_READ_WRITE ); \ + __isb( portSY_FULL_READ_WRITE ); \ + } +/*-----------------------------------------------------------*/ + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Port specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __clz( ( uxReadyPriorities ) ) ) + + #endif /* taskRECORD_READY_PRIORITY */ +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE __forceinline + #endif + +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI ) + { + __asm + { + /* Barrier instructions are not used as this function is only used to + * lower the BASEPRI value. */ +/* *INDENT-OFF* */ + msr basepri, ulBASEPRI +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + msr basepri, ulNewBASEPRI + dsb + isb +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortClearBASEPRIFromISR( void ) + { + __asm + { + /* Set BASEPRI to 0 so no interrupts are masked. This function is only + * used to lower the mask in an interrupt, so memory barriers are not + * used. */ +/* *INDENT-OFF* */ + msr basepri, # 0 +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + mrs ulReturn, basepri + msr basepri, ulNewBASEPRI + dsb + isb +/* *INDENT-ON* */ + } + + return ulReturn; + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm + { +/* *INDENT-OFF* */ + mrs ulCurrentInterrupt, ipsr +/* *INDENT-ON* */ + } + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4_MPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4_MPU/port.c new file mode 100644 index 0000000..c09b1c6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4_MPU/port.c @@ -0,0 +1,976 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4 MPU port. +*----------------------------------------------------------*/ + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __TARGET_FPU_VFP + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Constants required to access and manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) ) +#define portNVIC_SYS_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) ) +#define portNVIC_MEM_FAULT_ENABLE ( 1UL << 16UL ) + +/* Constants required to access and manipulate the MPU. */ +#define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) +#define portMPU_REGION_BASE_ADDRESS_REG ( *( ( volatile uint32_t * ) 0xe000ed9C ) ) +#define portMPU_REGION_ATTRIBUTE_REG ( *( ( volatile uint32_t * ) 0xe000edA0 ) ) +#define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) +#define portEXPECTED_MPU_TYPE_VALUE ( portTOTAL_NUM_REGIONS << 8UL ) +#define portMPU_ENABLE ( 0x01UL ) +#define portMPU_BACKGROUND_ENABLE ( 1UL << 2UL ) +#define portPRIVILEGED_EXECUTION_START_ADDRESS ( 0UL ) +#define portMPU_REGION_VALID ( 0x10UL ) +#define portMPU_REGION_ENABLE ( 0x01UL ) +#define portPERIPHERALS_START_ADDRESS 0x40000000UL +#define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL + +/* Constants required to access and manipulate the SysTick. */ +#define portNVIC_SYSTICK_CLK ( 0x00000004UL ) +#define portNVIC_SYSTICK_INT ( 0x00000002UL ) +#define portNVIC_SYSTICK_ENABLE ( 0x00000001UL ) +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) +#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34UL ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000UL ) +#define portINITIAL_EXC_RETURN ( 0xfffffffdUL ) +#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 ) +#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Offsets in the stack to the parameters when inside the SVC handler. */ +#define portOFFSET_TO_PC ( 6 ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* Each task maintains its own interrupt status in the critical nesting + * variable. Note this is not saved as part of the task context as context + * switches can only occur when uxCriticalNesting is zero. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * Setup the timer to generate the tick interrupts. + */ +void vSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; + +/* + * Configure a number of standard MPU regions that are used by all tasks. + */ +static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvStartFirstTask( void ) PRIVILEGED_FUNCTION; + +/* + * Return the smallest MPU region size that a given number of bytes will fit + * into. The region size is returned as the value that should be programmed + * into the region attribute register for that region. + */ +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION; + +/* + * Standard FreeRTOS exception handlers. + */ +void xPortPendSVHandler( void ) PRIVILEGED_FUNCTION; +void xPortSysTickHandler( void ) PRIVILEGED_FUNCTION; +void vPortSVCHandler( void ) PRIVILEGED_FUNCTION; + +/* + * Starts the scheduler by restoring the context of the first task to run. + */ +static void prvRestoreContextOfFirstTask( void ) PRIVILEGED_FUNCTION; + +/* + * C portion of the SVC handler. The SVC handler is split between an asm entry + * and a C wrapper for simplicity of coding and maintenance. + */ +void prvSVCHandler( uint32_t * pulRegisters ) __attribute__( ( used ) ) PRIVILEGED_FUNCTION; + +/* + * Function to enable the VFP. + */ +static void vPortEnableVFP( void ); + +/* + * Utility function. + */ +static uint32_t prvPortGetIPSR( void ); + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +BaseType_t xIsPrivileged( void ); + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + * + * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. + * Bit[0] = 0 --> The processor is running privileged + * Bit[0] = 1 --> The processor is running unprivileged. + */ +void vResetPrivilege( void ); + +/** + * @brief Calls the port specific code to raise the privilege. + * + * @return pdFALSE if privilege was raised, pdTRUE otherwise. + */ +extern BaseType_t xPortRaisePrivilege( void ); + +/** + * @brief If xRunningPrivileged is not pdTRUE, calls the port specific + * code to reset the privilege, otherwise does nothing. + */ +extern void vPortResetPrivilege( BaseType_t xRunningPrivileged ); +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = 0; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + if( xRunPrivileged == pdTRUE ) + { + *pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED; + } + else + { + *pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED; + } + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void prvSVCHandler( uint32_t * pulParam ) +{ + uint8_t ucSVCNumber; + uint32_t ulReg, ulPC; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + extern uint32_t __syscalls_flash_start__; + extern uint32_t __syscalls_flash_end__; + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + /* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR. The first + * argument (r0) is pulParam[ 0 ]. */ + ulPC = pulParam[ portOFFSET_TO_PC ]; + ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; + + switch( ucSVCNumber ) + { + case portSVC_START_SCHEDULER: + portNVIC_SHPR2_REG |= portNVIC_SVC_PRI; + prvRestoreContextOfFirstTask(); + break; + + case portSVC_YIELD: + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + + /* Barriers are normally not required + * but do ensure the code is completely + * within the specified behaviour for the + * architecture. */ + __asm volatile ( "dsb" ); + __asm volatile ( "isb" ); + + break; + + #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) + case portSVC_RAISE_PRIVILEGE: /* Only raise the privilege, if the + * svc was raised from any of the + * system calls. */ + + if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && + ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) + { + __asm + { +/* *INDENT-OFF* */ + mrs ulReg, control /* Obtain current control value. */ + bic ulReg, # 1 /* Set privilege bit. */ + msr control, ulReg /* Write back new control value. */ +/* *INDENT-ON* */ + } + } + + break; + #else /* if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + case portSVC_RAISE_PRIVILEGE: + __asm + { +/* *INDENT-OFF* */ + mrs ulReg, control /* Obtain current control value. */ + bic ulReg, # 1 /* Set privilege bit. */ + msr control, ulReg /* Write back new control value. */ +/* *INDENT-ON* */ + } + break; + #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ + + default: /* Unknown SVC call. */ + break; + } +} +/*-----------------------------------------------------------*/ + +__asm void vPortSVCHandler( void ) +{ + extern prvSVCHandler + +/* *INDENT-OFF* */ + PRESERVE8 + + /* Assumes psp was in use. */ + #ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */ + tst lr, # 4 + ite eq + mrseq r0, msp + mrsne r0, psp + #else + mrs r0, psp + #endif + + b prvSVCHandler +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void prvRestoreContextOfFirstTask( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + ldr r0, =0xE000ED08 /* Use the NVIC offset register to locate the stack. */ + ldr r0, [ r0 ] + ldr r0, [ r0 ] + msr msp, r0 /* Set the msp back to the start of the stack. */ + ldr r3, =pxCurrentTCB /* Restore the context. */ + ldr r1, [ r3 ] + ldr r0, [ r1 ] /* The first item in the TCB is the task top of stack. */ + add r1, r1, #4 /* Move onto the second item in the TCB... */ + + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [ r2 ] /* Read the value of MPU_CTRL. */ + bic r3, r3, # 1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + str r3, [ r2 ] /* Disable MPU. */ + + ldr r2, =0xe000ed9c /* Region Base Address register. */ + ldmia r1 !, { r4 - r11 } /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */ + stmia r2, { r4 - r11 } /* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */ + + #if ( portTOTAL_NUM_REGIONS == 16 ) + ldmia r1 !, { r4 - r11 } /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */ + stmia r2, { r4 - r11 } /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */ + ldmia r1 !, { r4 - r11 } /* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */ + stmia r2, { r4 - r11 } /* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */ + #endif /* portTOTAL_NUM_REGIONS == 16. */ + + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [ r2 ] /* Read the value of MPU_CTRL. */ + orr r3, r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + str r3, [ r2 ] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + + ldmia r0 !, { r3 - r11, r14 } /* Pop the registers that are not automatically saved on exception entry. */ + msr control, r3 + msr psp, r0 /* Restore the task stack pointer. */ + mov r0, #0 + msr basepri, r0 + bx r14 + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); + + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the same priority as the kernel, and the SVC + * handler higher priority so it can be used to exit a critical section (where + * lower priorities are masked). */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Configure the regions in the MPU that are common to all tasks. */ + prvSetupMPU(); + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + prvStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +__asm void prvStartFirstTask( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [ r0 ] + ldr r0, [ r0 ] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + + /* Clear the bit that indicates the FPU is in use in case the FPU was used + * before the scheduler was started - which would otherwise result in the + * unnecessary leaving of space in the SVC stack for lazy saving of FPU + * registers. */ + mov r0, #0 + msr control, r0 + /* Globally enable interrupts. */ + cpsie i + cpsie f + dsb + isb + svc portSVC_START_SCHEDULER /* System call to start first task. */ + nop + nop +/* *INDENT-ON* */ +} + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + BaseType_t xRunningPrivileged = xPortRaisePrivilege(); + + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } + + vPortResetPrivilege( xRunningPrivileged ); +} +/*-----------------------------------------------------------*/ + +__asm void xPortPendSVHandler( void ) +{ + extern uxCriticalNesting; + extern pxCurrentTCB; + extern vTaskSwitchContext; + +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, psp + + ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */ + ldr r2, [ r3 ] + + tst r14, #0x10 /* Is the task using the FPU context? If so, push high vfp registers. */ + it eq + vstmdbeq r0 !, { s16 - s31 } + + mrs r1, control + stmdb r0 !, { r1, r4 - r11, r14 } /* Save the remaining registers. */ + str r0, [ r2 ] /* Save the new top of stack into the first member of the TCB. */ + + stmdb sp !, { r0, r3 } + mov r0, # configMAX_SYSCALL_INTERRUPT_PRIORITY + msr basepri, r0 + dsb + isb + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp !, { r0, r3 } + /* Restore the context. */ + ldr r1, [ r3 ] + ldr r0, [ r1 ] /* The first item in the TCB is the task top of stack. */ + add r1, r1, #4 /* Move onto the second item in the TCB... */ + + dmb /* Complete outstanding transfers before disabling MPU. */ + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [ r2 ] /* Read the value of MPU_CTRL. */ + bic r3, r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ + str r3, [ r2 ] /* Disable MPU. */ + + ldr r2, =0xe000ed9c /* Region Base Address register. */ + ldmia r1 !, { r4 - r11 } /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */ + stmia r2, { r4 - r11 } /* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */ + + #if ( portTOTAL_NUM_REGIONS == 16 ) + ldmia r1 !, { r4 - r11 } /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */ + stmia r2, { r4 - r11 } /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */ + ldmia r1 !, { r4 - r11 } /* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */ + stmia r2, { r4 - r11 } /* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */ + #endif /* portTOTAL_NUM_REGIONS == 16. */ + + ldr r2, =0xe000ed94 /* MPU_CTRL register. */ + ldr r3, [ r2 ] /* Read the value of MPU_CTRL. */ + orr r3, r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ + str r3, [ r2 ] /* Enable MPU. */ + dsb /* Force memory writes before continuing. */ + + ldmia r0 !, { r3 - r11, r14 } /* Pop the registers that are not automatically saved on exception entry. */ + msr control, r3 + + tst r14, #0x10 /* Is the task using the FPU context? If so, pop the high vfp registers too. */ + it eq + vldmiaeq r0 !, { s16 - s31 } + + msr psp, r0 + bx r14 + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + uint32_t ulDummy; + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +__weak void vSetupTimerInterrupt( void ) +{ + /* Reset the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE; +} +/*-----------------------------------------------------------*/ + +__asm void vPortSwitchToUserMode( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, control + orr r0, #1 + msr control, r0 + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void vPortEnableVFP( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + ldr.w r0, =0xE000ED88 /* The FPU enable bits are in the CPACR. */ + ldr r1, [ r0 ] + + orr r1, r1, #( 0xf << 20 ) /* Enable CP10 and CP11 coprocessors, then save back. */ + str r1, [ r0 ] + bx r14 + nop + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupMPU( void ) +{ + extern uint32_t __privileged_functions_start__; + extern uint32_t __privileged_functions_end__; + extern uint32_t __FLASH_segment_start__; + extern uint32_t __FLASH_segment_end__; + extern uint32_t __privileged_data_start__; + extern uint32_t __privileged_data_end__; + + /* The only permitted number of regions are 8 or 16. */ + configASSERT( ( portTOTAL_NUM_REGIONS == 8 ) || ( portTOTAL_NUM_REGIONS == 16 ) ); + + /* Ensure that the configTOTAL_MPU_REGIONS is configured correctly. */ + configASSERT( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ); + + /* Check the expected MPU is present. */ + if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) + { + /* First setup the unprivileged flash for unprivileged read only access. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portUNPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_ONLY ) | + ( ( configTEX_S_C_B_FLASH & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged flash for privileged only access. This is where + * the kernel code is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_functions_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_FLASH_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_ONLY ) | + ( ( configTEX_S_C_B_FLASH & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __privileged_functions_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Setup the privileged data RAM region. This is where the kernel data + * is placed. */ + portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portPRIVILEGED_RAM_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* By default allow everything to access the general peripherals. The + * system peripherals and registers are protected. */ + portMPU_REGION_BASE_ADDRESS_REG = ( portPERIPHERALS_START_ADDRESS ) | + ( portMPU_REGION_VALID ) | + ( portGENERAL_PERIPHERALS_REGION ); + + portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) | + ( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) | + ( portMPU_REGION_ENABLE ); + + /* Enable the memory fault exception. */ + portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE; + + /* Enable the MPU with the background region configured. */ + portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE ); + } +} +/*-----------------------------------------------------------*/ + +static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) +{ + uint32_t ulRegionSize, ulReturnValue = 4; + + /* 32 is the smallest region size, 31 is the largest valid value for + * ulReturnValue. */ + for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) ) + { + if( ulActualSizeInBytes <= ulRegionSize ) + { + break; + } + else + { + ulReturnValue++; + } + } + + /* Shift the code by one before returning so it can be written directly + * into the the correct bit position of the attribute register. */ + return( ulReturnValue << 1UL ); +} +/*-----------------------------------------------------------*/ + +__asm BaseType_t xIsPrivileged( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, control /* r0 = CONTROL. */ + tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ + ite ne + movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ + moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ + bx lr /* Return. */ +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void vResetPrivilege( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, control /* r0 = CONTROL. */ + orrs r0, #1 /* r0 = r0 | 1. */ + msr control, r0 /* CONTROL = r0. */ + bx lr /* Return. */ +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) +{ + extern uint32_t __SRAM_segment_start__; + extern uint32_t __SRAM_segment_end__; + extern uint32_t __privileged_data_start__; + extern uint32_t __privileged_data_end__; + + + int32_t lIndex; + uint32_t ul; + + if( xRegions == NULL ) + { + /* No MPU regions are specified so allow access to all RAM. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) | + ( portMPU_REGION_ENABLE ); + + /* Re-instate the privileged only RAM region as xRegion[ 0 ] will have + * just removed the privileged only parameters. */ + xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress = + ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + 1 ); + + xMPUSettings->xRegion[ 1 ].ulRegionAttribute = + ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | + ( portMPU_REGION_ENABLE ); + + /* Invalidate all other regions. */ + for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + } + else + { + /* This function is called automatically when the task is created - in + * which case the stack region parameters will be valid. At all other + * times the stack parameters will not be valid and it is assumed that the + * stack region has already been configured. */ + if( ulStackDepth > 0 ) + { + /* Define the region that allows access to the stack. */ + xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = + ( ( uint32_t ) pxBottomOfStack ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION ); /* Region number. */ + + xMPUSettings->xRegion[ 0 ].ulRegionAttribute = + ( portMPU_REGION_READ_WRITE ) | /* Read and write. */ + ( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) | + ( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) | + ( portMPU_REGION_ENABLE ); + } + + lIndex = 0; + + for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) + { + if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL ) + { + /* Translate the generic region definition contained in + * xRegions into the CM4 specific MPU settings that are then + * stored in xMPUSettings. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = + ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) | + ( portMPU_REGION_VALID ) | + ( portSTACK_REGION + ul ); /* Region number. */ + + xMPUSettings->xRegion[ ul ].ulRegionAttribute = + ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) | + ( xRegions[ lIndex ].ulParameters ) | + ( portMPU_REGION_ENABLE ); + } + else + { + /* Invalidate the region. */ + xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID; + xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; + } + + lIndex++; + } + } +} +/*-----------------------------------------------------------*/ + +__asm uint32_t prvPortGetIPSR( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, ipsr + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + ulCurrentInterrupt = prvPortGetIPSR(); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredicable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4_MPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4_MPU/portmacro.h new file mode 100644 index 0000000..7cc5bbf --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM4_MPU/portmacro.h @@ -0,0 +1,413 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* MPU specific constants. */ +#define portUSING_MPU_WRAPPERS 1 +#define portPRIVILEGE_BIT ( 0x80000000UL ) + +#define portMPU_REGION_READ_WRITE ( 0x03UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 0x05UL << 24UL ) +#define portMPU_REGION_READ_ONLY ( 0x06UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0x01UL << 24UL ) +#define portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY ( 0x02UL << 24UL ) +#define portMPU_REGION_CACHEABLE_BUFFERABLE ( 0x07UL << 16UL ) +#define portMPU_REGION_EXECUTE_NEVER ( 0x01UL << 28UL ) + +/* Location of the TEX,S,C,B bits in the MPU Region Attribute and Size + * Register (RASR). */ +#define portMPU_RASR_TEX_S_C_B_LOCATION ( 16UL ) +#define portMPU_RASR_TEX_S_C_B_MASK ( 0x3FUL ) + +/* MPU settings that can be overriden in FreeRTOSConfig.h. */ +#ifndef configTOTAL_MPU_REGIONS + /* Define to 8 for backward compatibility. */ + #define configTOTAL_MPU_REGIONS ( 8UL ) +#endif + +/* + * The TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits define the + * memory type, and where necessary the cacheable and shareable properties + * of the memory region. + * + * The TEX, C, and B bits together indicate the memory type of the region, + * and: + * - For Normal memory, the cacheable properties of the region. + * - For Device memory, whether the region is shareable. + * + * For Normal memory regions, the S bit indicates whether the region is + * shareable. For Strongly-ordered and Device memory, the S bit is ignored. + * + * See the following two tables for setting TEX, S, C and B bits for + * unprivileged flash, privileged flash and privileged RAM regions. + * + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | TEX | C | B | Memory type | Description or Normal region cacheability | Shareable? | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 0 | 0 | Strongly-ordered | Strongly ordered | Shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 0 | 1 | Device | Shared device | Shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 1 | 0 | Normal | Outer and inner write-through; no write allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 000 | 1 | 1 | Normal | Outer and inner write-back; no write allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 0 | 0 | Normal | Outer and inner Non-cacheable | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 0 | 1 | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 1 | 0 | IMPLEMENTATION DEFINED | IMPLEMENTATION DEFINED | IMPLEMENTATION DEFINED | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 001 | 1 | 1 | Normal | Outer and inner write-back; write and read allocate | S bit | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 0 | 0 | Device | Non-shared device | Not shareable | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 0 | 1 | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 010 | 1 | X | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 011 | X | X | Reserved | Reserved | Reserved | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | 1BB | A | A | Normal | Cached memory, with AA and BB indicating the inner and | Reserved | + | | | | | outer cacheability rules that must be exported on the | | + | | | | | bus. See the table below for the cacheability policy | | + | | | | | encoding. memory, BB=Outer policy, AA=Inner policy. | | + +-----+---+---+------------------------+--------------------------------------------------------+-------------------------+ + | + +-----------------------------------------+----------------------------------------+ + | AA or BB subfield of {TEX,C,B} encoding | Cacheability policy | + +-----------------------------------------+----------------------------------------+ + | 00 | Non-cacheable | + +-----------------------------------------+----------------------------------------+ + | 01 | Write-back, write and read allocate | + +-----------------------------------------+----------------------------------------+ + | 10 | Write-through, no write allocate | + +-----------------------------------------+----------------------------------------+ + | 11 | Write-back, no write allocate | + +-----------------------------------------+----------------------------------------+ + */ + +/* TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for Flash + * region. */ +#ifndef configTEX_S_C_B_FLASH + /* Default to TEX=000, S=1, C=1, B=1 for backward compatibility. */ + #define configTEX_S_C_B_FLASH ( 0x07UL ) +#endif + +/* TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for SRAM + * region. */ +#ifndef configTEX_S_C_B_SRAM + /* Default to TEX=000, S=1, C=1, B=1 for backward compatibility. */ + #define configTEX_S_C_B_SRAM ( 0x07UL ) +#endif + +#define portUNPRIVILEGED_FLASH_REGION ( 0UL ) +#define portPRIVILEGED_FLASH_REGION ( 1UL ) +#define portPRIVILEGED_RAM_REGION ( 2UL ) +#define portGENERAL_PERIPHERALS_REGION ( 3UL ) +#define portSTACK_REGION ( 4UL ) +#define portFIRST_CONFIGURABLE_REGION ( 5UL ) +#define portTOTAL_NUM_REGIONS ( configTOTAL_MPU_REGIONS ) +#define portNUM_CONFIGURABLE_REGIONS ( portTOTAL_NUM_REGIONS - portFIRST_CONFIGURABLE_REGION ) +#define portLAST_CONFIGURABLE_REGION ( portTOTAL_NUM_REGIONS - 1 ) + +void vPortSwitchToUserMode( void ); +#define portSWITCH_TO_USER_MODE() vPortSwitchToUserMode() + +typedef struct MPU_REGION_REGISTERS +{ + uint32_t ulRegionBaseAddress; + uint32_t ulRegionAttribute; +} xMPU_REGION_REGISTERS; + +/* Plus 1 to create space for the stack region. */ +typedef struct MPU_SETTINGS +{ + xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS ]; +} xMPU_SETTINGS; + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 + +/* Constants used with memory barrier intrinsics. */ +#define portSY_FULL_READ_WRITE ( 15 ) + +/*-----------------------------------------------------------*/ + +/* SVC numbers for various services. */ +#define portSVC_START_SCHEDULER 0 +#define portSVC_YIELD 1 +#define portSVC_RAISE_PRIVILEGE 2 + +/* Scheduler utilities. */ + +#define portYIELD() __asm{ SVC portSVC_YIELD } +#define portYIELD_WITHIN_API() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __dsb( portSY_FULL_READ_WRITE ); \ + __isb( portSY_FULL_READ_WRITE ); \ + } +/*-----------------------------------------------------------*/ + +#define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) +#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() +#define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + +/*-----------------------------------------------------------*/ + +/* Architecture specific optimisations. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 +#endif + +#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __clz( ( uxReadyPriorities ) ) ) + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + +#ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() +#endif + +/* portNOP() is not required by this port. */ +#define portNOP() + +#define portINLINE __inline + +#ifndef portFORCE_INLINE + #define portFORCE_INLINE __forceinline +#endif +/*-----------------------------------------------------------*/ + +extern BaseType_t xIsPrivileged( void ); +extern void vResetPrivilege( void ); + +/** + * @brief Checks whether or not the processor is privileged. + * + * @return 1 if the processor is already privileged, 0 otherwise. + */ +#define portIS_PRIVILEGED() xIsPrivileged() + +/** + * @brief Raise an SVC request to raise privilege. + */ +#define portRAISE_PRIVILEGE() __asm { svc portSVC_RAISE_PRIVILEGE } + +/** + * @brief Lowers the privilege level by setting the bit 0 of the CONTROL + * register. + */ +#define portRESET_PRIVILEGE() vResetPrivilege() +/*-----------------------------------------------------------*/ + +static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI ) +{ + __asm + { + /* Barrier instructions are not used as this function is only used to + * lower the BASEPRI value. */ +/* *INDENT-OFF* */ + msr basepri, ulBASEPRI +/* *INDENT-ON* */ + } +} +/*-----------------------------------------------------------*/ + +static portFORCE_INLINE void vPortRaiseBASEPRI( void ) +{ + uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + msr basepri, ulNewBASEPRI + dsb + isb +/* *INDENT-ON* */ + } +} +/*-----------------------------------------------------------*/ + +static portFORCE_INLINE void vPortClearBASEPRIFromISR( void ) +{ + __asm + { + /* Set BASEPRI to 0 so no interrupts are masked. This function is only + * used to lower the mask in an interrupt, so memory barriers are not + * used. */ +/* *INDENT-OFF* */ + msr basepri, # 0 +/* *INDENT-ON* */ + } +} +/*-----------------------------------------------------------*/ + +static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void ) +{ + uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + mrs ulReturn, basepri + msr basepri, ulNewBASEPRI + dsb + isb +/* *INDENT-ON* */ + } + + return ulReturn; +} +/*-----------------------------------------------------------*/ + +static portFORCE_INLINE BaseType_t xPortIsInsideInterrupt( void ) +{ + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm + { + mrs ulCurrentInterrupt, ipsr + } + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY + #warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html" + #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0 +#endif +/*-----------------------------------------------------------*/ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/ReadMe.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/ReadMe.txt new file mode 100644 index 0000000..b3950da --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/ReadMe.txt @@ -0,0 +1,18 @@ +There are two options for running FreeRTOS on ARM Cortex-M7 microcontrollers. +The best option depends on the revision of the ARM Cortex-M7 core in use. The +revision is specified by an 'r' number, and a 'p' number, so will look something +like 'r0p1'. Check the documentation for the microcontroller in use to find the +revision of the Cortex-M7 core used in that microcontroller. If in doubt, use +the FreeRTOS port provided specifically for r0p1 revisions, as that can be used +with all core revisions. + +The first option is to use the ARM Cortex-M4F port, and the second option is to +use the Cortex-M7 r0p1 port - the latter containing a minor errata workaround. + +If the revision of the ARM Cortex-M7 core is not r0p1 then either option can be +used, but it is recommended to use the FreeRTOS ARM Cortex-M4F port located in +the /FreeRTOS/Source/portable/RVDS/ARM_CM4F directory. + +If the revision of the ARM Cortex-M7 core is r0p1 then use the FreeRTOS ARM +Cortex-M7 r0p1 port located in the /FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1 +directory. \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1/port.c new file mode 100644 index 0000000..25e5f5a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1/port.c @@ -0,0 +1,795 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM7 port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +#ifndef __TARGET_FPU_VFP + #error This port can only be used when the project options are configured to enable hardware floating point support. +#endif + +#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ +#endif + +#ifndef configSYSTICK_CLOCK_HZ + #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ + /* Ensure the SysTick is clocked at the same frequency as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) +#else + +/* The way the SysTick is clocked is not modified in case it is not the same + * as the core. */ + #define portNVIC_SYSTICK_CLK_BIT ( 0 ) +#endif + +/* The __weak attribute does not work as you might expect with the Keil tools + * so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if + * the application writer wants to provide their own implementation of + * vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION + * is defined. */ +#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION + #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 +#endif + +/* Constants required to manipulate the core. Registers first... */ +#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) +#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) +#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) ) +#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) +/* ...then bits in the registers. */ +#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) +#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) +#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) +#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) +#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) + +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) + +/* Constants required to check the validity of an interrupt priority. */ +#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) +#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) +#define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) +#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* The systick is a 24-bit counter. */ +#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) + +/* A fiddle factor to estimate the number of SysTick counts that would have + * occurred while the SysTick counter is stopped during tickless idle + * calculations. */ +#define portMISSED_COUNTS_FACTOR ( 45UL ) + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* + * Setup the timer to generate the tick interrupts. The implementation in this + * file is weak to allow application writers to change the timer used to + * generate the tick interrupt. + */ +void vPortSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvStartFirstTask( void ); + +/* + * Functions defined in portasm.s to enable the VFP. + */ +static void prvEnableVFP( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/*-----------------------------------------------------------*/ + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + +/* + * The number of SysTick increments that make up one tick period. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulTimerCountsForOneTick = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * The maximum number of tick periods that can be suppressed is limited by the + * 24 bit resolution of the SysTick timer. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t xMaximumPossibleSuppressedTicks = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Compensate for the CPU cycles that pass while the SysTick is stopped (low + * power functionality only. + */ +#if ( configUSE_TICKLESS_IDLE == 1 ) + static uint32_t ulStoppedTimerCompensation = 0; +#endif /* configUSE_TICKLESS_IDLE */ + +/* + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * FreeRTOS API functions are not called from interrupts that have been assigned + * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. + */ +#if ( configASSERT_DEFINED == 1 ) + static uint8_t ucMaxSysCallPriority = 0; + static uint32_t ulMaxPRIGROUPValue = 0; + static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; +#endif /* configASSERT_DEFINED */ + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( uxCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +__asm void vPortSVCHandler( void ) +{ + PRESERVE8 + +/* *INDENT-OFF* */ + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r1, [ r3 ] + ldr r0, [ r1 ] + /* Pop the core registers. */ + ldmia r0 !, { r4 - r11, r14 } + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void prvStartFirstTask( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* Use the NVIC offset register to locate the stack. */ + ldr r0, =0xE000ED08 + ldr r0, [ r0 ] + ldr r0, [ r0 ] + /* Set the msp back to the start of the stack. */ + msr msp, r0 + + /* Clear the bit that indicates the FPU is in use in case the FPU was used + * before the scheduler was started - which would otherwise result in the + * unnecessary leaving of space in the SVC stack for lazy saving of FPU + * registers. */ + mov r0, #0 + msr control, r0 + /* Globally enable interrupts. */ + cpsie i + cpsie f + dsb + isb + /* Call SVC to start the first task. */ + svc 0 + nop + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +__asm void prvEnableVFP( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + /* The FPU enable bits are in the CPACR. */ + ldr.w r0, =0xE000ED88 + ldr r1, [ r0 ] + + /* Enable CP10 and CP11 coprocessors, then save back. */ + orr r1, r1, #( 0xf << 20 ) + str r1, [ r0 ] + bx r14 + nop +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + #if ( configASSERT_DEFINED == 1 ) + { + volatile uint32_t ulOriginalPriority; + volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile uint8_t ucMaxPriorityValue; + + /* Determine the maximum priority from which ISR safe FreeRTOS API + * functions can be called. ISR safe functions are those that end in + * "FromISR". FreeRTOS maintains separate thread and ISR API functions to + * ensure interrupt entry is as fast and simple as possible. + * + * Save the interrupt priority value that is about to be clobbered. */ + ulOriginalPriority = *pucFirstUserPriorityRegister; + + /* Determine the number of priority bits available. First write to all + * possible bits. */ + *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pucFirstUserPriorityRegister; + + /* The kernel interrupt priority should be set to the lowest + * priority. */ + configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) ); + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + * of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( uint8_t ) 0x01; + } + + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + * priority bits matches the number of priority bits actually queried + * from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + + /* Shift the priority group value back to its position within the AIRCR + * register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; + + /* Restore the clobbered interrupt priority register to its original + * value. */ + *pucFirstUserPriorityRegister = ulOriginalPriority; + } + #endif /* conifgASSERT_DEFINED */ + + /* Make PendSV and SysTick the lowest priority interrupts. */ + portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; + + portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + vPortSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + prvEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + prvStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( uxCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( uxCriticalNesting == 1 ) + { + configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( uxCriticalNesting ); + uxCriticalNesting--; + + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +__asm void xPortPendSVHandler( void ) +{ + extern uxCriticalNesting; + extern pxCurrentTCB; + extern vTaskSwitchContext; + +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, psp + isb + /* Get the location of the current TCB. */ + ldr r3, =pxCurrentTCB + ldr r2, [ r3 ] + + /* Is the task using the FPU context? If so, push high vfp registers. */ + tst r14, #0x10 + it eq + vstmdbeq r0 !, { s16 - s31 } + + /* Save the core registers. */ + stmdb r0 !, { r4 - r11, r14 } + + /* Save the new top of stack into the first member of the TCB. */ + str r0, [ r2 ] + + stmdb sp !, { r0, r3 } + mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY + cpsid i + msr basepri, r0 + dsb + isb + cpsie i + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp !, { r0, r3 } + + /* The first item in pxCurrentTCB is the task top of stack. */ + ldr r1, [ r3 ] + ldr r0, [ r1 ] + + /* Pop the core registers. */ + ldmia r0 !, { r4 - r11, r14 } + + /* Is the task using the FPU context? If so, pop the high vfp registers + * too. */ + tst r14, #0x10 + it eq + vldmiaeq r0 !, { s16 - s31 } + + msr psp, r0 + isb + #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */ + #if WORKAROUND_PMU_CM001 == 1 + push { r14 } + pop { pc } + nop + #endif + #endif + + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ + /* The SysTick runs at the lowest interrupt priority, so when this interrupt + * executes all interrupts must be unmasked. There is therefore no need to + * save and then restore the interrupt mask value as its value is already + * known - therefore the slightly faster vPortRaiseBASEPRI() function is used + * in place of portSET_INTERRUPT_MASK_FROM_ISR(). */ + vPortRaiseBASEPRI(); + { + /* Increment the RTOS tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* A context switch is required. Context switching is performed in + * the PendSV interrupt. Pend the PendSV interrupt. */ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; + } + } + + vPortClearBASEPRIFromISR(); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE == 1 ) + + __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; + TickType_t xModifiableIdleTime; + + /* Make sure the SysTick reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Stop the SysTick momentarily. The time the SysTick is stopped for + * is accounted for as best it can be, but using the tickless mode will + * inevitably result in some tiny drift of the time maintained by the + * kernel with respect to calendar time. */ + portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; + + /* Calculate the reload value required to wait xExpectedIdleTime + * tick periods. -1 is used because this code will execute part way + * through one of the tick periods. */ + ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); + + if( ulReloadValue > ulStoppedTimerCompensation ) + { + ulReloadValue -= ulStoppedTimerCompensation; + } + + /* Enter a critical section but don't use the taskENTER_CRITICAL() + * method as that will mask interrupts that should exit sleep mode. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* If a context switch is pending or a task is waiting for the scheduler + * to be unsuspended then abandon the low power entry. */ + if( eTaskConfirmSleepModeStatus() == eAbortSleep ) + { + /* Restart from whatever is left in the count register to complete + * this tick period. */ + portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Reset the reload register to the value required for normal tick + * periods. */ + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Re-enable interrupts - see comments above __disable_irq() call + * above. */ + __enable_irq(); + } + else + { + /* Set the new reload value. */ + portNVIC_SYSTICK_LOAD_REG = ulReloadValue; + + /* Clear the SysTick count flag and set the count value back to + * zero. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Restart SysTick. */ + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + + /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can + * set its parameter to 0 to indicate that its implementation contains + * its own wait for interrupt or wait for event instruction, and so wfi + * should not be executed again. However, the original expected idle + * time variable must remain unmodified, so a copy is taken. */ + xModifiableIdleTime = xExpectedIdleTime; + configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); + + if( xModifiableIdleTime > 0 ) + { + __dsb( portSY_FULL_READ_WRITE ); + __wfi(); + __isb( portSY_FULL_READ_WRITE ); + } + + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* Re-enable interrupts to allow the interrupt that brought the MCU + * out of sleep mode to execute immediately. see comments above + * __disable_interrupt() call above. */ + __enable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable interrupts again because the clock is about to be stopped + * and interrupts that execute while the clock is stopped will increase + * any slippage between the time maintained by the RTOS and calendar + * time. */ + __disable_irq(); + __dsb( portSY_FULL_READ_WRITE ); + __isb( portSY_FULL_READ_WRITE ); + + /* Disable the SysTick clock without reading the + * portNVIC_SYSTICK_CTRL_REG register to ensure the + * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, + * the time the SysTick is stopped for is accounted for as best it can + * be, but using the tickless mode will inevitably result in some tiny + * drift of the time maintained by the kernel with respect to calendar + * time*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + * been set back to the current reload value (the reload back being + * correct for the entire expected idle time) or if the SysTick is yet + * to count to zero (in which case an interrupt other than the SysTick + * must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) + { + uint32_t ulCalculatedLoadValue; + + /* The tick interrupt is already pending, and the SysTick count + * reloaded with ulReloadValue. Reset the + * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick + * period. */ + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); + + /* Don't allow a tiny value, or values that have somehow + * underflowed because the post sleep hook did something + * that took too long. */ + if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) + { + ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); + } + + portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; + + /* As the pending tick will be processed as soon as this + * function exits, the tick value maintained by the tick is stepped + * forward by one less than the time spent waiting. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + * Work out how long the sleep lasted rounded to complete tick + * periods (not the ulReload value which accounted for part + * ticks). */ + ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; + + /* How many complete tick periods passed while the processor + * was waiting? */ + ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; + + /* The reload value is set to whatever fraction of a single tick + * period remains. */ + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + } + + /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG + * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard + * value. */ + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrupts enabled. */ + __enable_irq(); + } + } + +#endif /* #if configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +/* + * Setup the SysTick timer to generate the tick interrupts at the required + * frequency. + */ +#if ( configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 ) + + __weak void vPortSetupTimerInterrupt( void ) + { + /* Calculate the constants required to configure the tick interrupt. */ + #if ( configUSE_TICKLESS_IDLE == 1 ) + { + ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); + xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; + ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); + } + #endif /* configUSE_TICKLESS_IDLE */ + + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + + /* Configure SysTick to interrupt at the requested rate. */ + portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); + } + +#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ +/*-----------------------------------------------------------*/ + +__asm uint32_t vPortGetIPSR( void ) +{ +/* *INDENT-OFF* */ + PRESERVE8 + + mrs r0, ipsr + bx r14 +/* *INDENT-ON* */ +} +/*-----------------------------------------------------------*/ + +#if ( configASSERT_DEFINED == 1 ) + + void vPortValidateInterruptPriority( void ) + { + uint32_t ulCurrentInterrupt; + uint8_t ucCurrentPriority; + + /* Obtain the number of the currently executing interrupt. */ + ulCurrentInterrupt = vPortGetIPSR(); + + /* Is the interrupt number a user defined interrupt? */ + if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) + { + /* Look up the interrupt's priority. */ + ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; + + /* The following assertion will fail if a service routine (ISR) for + * an interrupt that has been assigned a priority above + * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API + * function. ISR safe FreeRTOS API functions must *only* be called + * from interrupts that have been assigned a priority at or below + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Numerically low interrupt priority numbers represent logically high + * interrupt priorities, therefore the priority of the interrupt must + * be set to a value equal to or numerically *higher* than + * configMAX_SYSCALL_INTERRUPT_PRIORITY. + * + * Interrupts that use the FreeRTOS API must not be left at their + * default priority of zero as that is the highest possible priority, + * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + * and therefore also guaranteed to be invalid. + * + * FreeRTOS maintains separate thread and ISR API functions to ensure + * interrupt entry is as fast and simple as possible. + * + * The following links provide detailed information: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html + * https://www.FreeRTOS.org/FAQHelp.html */ + configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); + } + + /* Priority grouping: The interrupt controller (NVIC) allows the bits + * that define each interrupt's priority to be split between bits that + * define the interrupt's pre-emption priority bits and bits that define + * the interrupt's sub-priority. For simplicity all bits must be defined + * to be pre-emption priority bits. The following assertion will fail if + * this is not the case (if some bits represent a sub-priority). + * + * If the application only uses CMSIS libraries for interrupt + * configuration then the correct setting can be achieved on all Cortex-M + * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + * scheduler. Note however that some vendor specific peripheral libraries + * assume a non-zero priority group setting, in which cases using a value + * of zero will result in unpredictable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); + } + +#endif /* configASSERT_DEFINED */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1/portmacro.h new file mode 100644 index 0000000..82671b1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1/portmacro.h @@ -0,0 +1,265 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + +/* Constants used with memory barrier intrinsics. */ + #define portSY_FULL_READ_WRITE ( 15 ) + +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ + #define portYIELD() \ + { \ + /* Set a PendSV to request a context switch. */ \ + portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ + \ + /* Barriers are normally not required but do ensure the code is completely \ + * within the specified behaviour for the architecture. */ \ + __dsb( portSY_FULL_READ_WRITE ); \ + __isb( portSY_FULL_READ_WRITE ); \ + } +/*-----------------------------------------------------------*/ + + #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) ) + #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() + #define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 ) + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortSetBASEPRI( x ) + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +/*-----------------------------------------------------------*/ + +/* Port specific optimisations. */ + #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + #endif + + #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 + +/* Check the configuration. */ + #if ( configMAX_PRIORITIES > 32 ) + #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. + #endif + +/* Store/clear the ready priorities in a bit map. */ + #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) + #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) + +/*-----------------------------------------------------------*/ + + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __clz( ( uxReadyPriorities ) ) ) + + #endif /* taskRECORD_READY_PRIORITY */ +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. These are + * not necessary for to use this port. They are defined so the common demo files + * (which build with all the ports) will build. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) +/*-----------------------------------------------------------*/ + + #ifdef configASSERT + void vPortValidateInterruptPriority( void ); + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() + #endif + +/* portNOP() is not required by this port. */ + #define portNOP() + + #define portINLINE __inline + + #ifndef portFORCE_INLINE + #define portFORCE_INLINE __forceinline + #endif + +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI ) + { + __asm + { + /* Barrier instructions are not used as this function is only used to + * lower the BASEPRI value. */ +/* *INDENT-OFF* */ + msr basepri, ulBASEPRI +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortRaiseBASEPRI( void ) + { + uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + cpsid i + msr basepri, ulNewBASEPRI + dsb + isb + cpsie i +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE void vPortClearBASEPRIFromISR( void ) + { + __asm + { + /* Set BASEPRI to 0 so no interrupts are masked. This function is only + * used to lower the mask in an interrupt, so memory barriers are not + * used. */ +/* *INDENT-OFF* */ + msr basepri, # 0 +/* *INDENT-ON* */ + } + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void ) + { + uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY; + + __asm + { + /* Set BASEPRI to the max syscall priority to effect a critical + * section. */ +/* *INDENT-OFF* */ + mrs ulReturn, basepri + cpsid i + msr basepri, ulNewBASEPRI + dsb + isb + cpsie i +/* *INDENT-ON* */ + } + + return ulReturn; + } +/*-----------------------------------------------------------*/ + + static portFORCE_INLINE BaseType_t xPortIsInsideInterrupt( void ) + { + uint32_t ulCurrentInterrupt; + BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm + { +/* *INDENT-OFF* */ + mrs ulCurrentInterrupt, ipsr +/* *INDENT-ON* */ + } + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; + } + + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/port.c new file mode 100644 index 0000000..0b8bf8e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/port.c @@ -0,0 +1,646 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the RX100 port. + *----------------------------------------------------------*/ + +/* Standard C includes. */ +#include "limits.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#include "iodefine.h" + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) + +/* The peripheral clock is divided by this value before being supplying the +CMT. */ +#if ( configUSE_TICKLESS_IDLE == 0 ) + /* If tickless idle is not used then the divisor can be fixed. */ + #define portCLOCK_DIVISOR 8UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 12000000 ) + #define portCLOCK_DIVISOR 512UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 6000000 ) + #define portCLOCK_DIVISOR 128UL +#elif ( configPERIPHERAL_CLOCK_HZ >= 1000000 ) + #define portCLOCK_DIVISOR 32UL +#else + #define portCLOCK_DIVISOR 8UL +#endif + + +/* Keys required to lock and unlock access to certain system registers +respectively. */ +#define portUNLOCK_KEY 0xA50B +#define portLOCK_KEY 0xA500 + +/*-----------------------------------------------------------*/ + +/* The following lines are to ensure vSoftwareInterruptEntry can be referenced, + and therefore installed in the vector table, when the FreeRTOS code is built +as a library. */ +extern BaseType_t vSoftwareInterruptEntry; +const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +static void prvYieldHandler( void ); + +/* + * The entry point for the software interrupt handler. This is the function + * that calls the inline asm function prvYieldHandler(). It is installed in + * the vector table, but the code that installs it is in prvYieldHandler rather + * than using a #pragma. + */ +void vSoftwareInterruptISR( void ); + +/* + * Sets up the periodic ISR used for the RTOS tick using the CMT. + * The application writer can define configSETUP_TICK_INTERRUPT() (in + * FreeRTOSConfig.h) such that their own tick interrupt configuration is used + * in place of prvSetupTimerInterrupt(). + */ +static void prvSetupTimerInterrupt( void ); +#ifndef configSETUP_TICK_INTERRUPT + /* The user has not provided their own tick interrupt configuration so use + the definition in this file (which uses the interval timer). */ + #define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt() +#endif /* configSETUP_TICK_INTERRUPT */ + +/* + * Called after the sleep mode registers have been configured, prvSleep() + * executes the pre and post sleep macros, and actually calls the wait + * instruction. + */ +#if configUSE_TICKLESS_IDLE == 1 + static void prvSleep( TickType_t xExpectedIdleTime ); +#endif /* configUSE_TICKLESS_IDLE */ + +/*-----------------------------------------------------------*/ + +/* These is accessed by the inline assembler functions. */ +extern void *pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* Calculate how many clock increments make up a single tick period. */ +static const uint32_t ulMatchValueForOneTick = ( ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) / configTICK_RATE_HZ ); + +#if configUSE_TICKLESS_IDLE == 1 + + /* Holds the maximum number of ticks that can be suppressed - which is + basically how far into the future an interrupt can be generated. Set + during initialisation. This is the maximum possible value that the + compare match register can hold divided by ulMatchValueForOneTick. */ + static const TickType_t xMaximumPossibleSuppressedTicks = USHRT_MAX / ( ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) / configTICK_RATE_HZ ); + + /* Flag set from the tick interrupt to allow the sleep processing to know if + sleep mode was exited because of a tick interrupt, or an interrupt + generated by something else. */ + static volatile uint32_t ulTickFlag = pdFALSE; + + /* The CMT counter is stopped temporarily each time it is re-programmed. + The following constant offsets the CMT counter match value by the number of + CMT counts that would typically be missed while the counter was stopped to + compensate for the lost time. The large difference between the divided CMT + clock and the CPU clock means it is likely ulStoppedTimerCompensation will + equal zero - and be optimised away. */ + static const uint32_t ulStoppedTimerCompensation = 100UL / ( configCPU_CLOCK_HZ / ( configPERIPHERAL_CLOCK_HZ / portCLOCK_DIVISOR ) ); + +#endif + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Offset to end up on 8 byte boundary. */ + pxTopOfStack--; + + /* R0 is not included as it is the stack pointer. */ + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xaaaabbbb; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + /* Leave space for the registers that will get popped from the stack + when the task first starts executing. */ + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate + the tick interrupt. This way the application can decide which + peripheral to use. If tickless mode is used then the default + implementation defined in this file (which uses CMT0) should not be + overridden. */ + configSETUP_TICK_INTERRUPT(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Execution should not reach here as the tasks are now running! + prvSetupTimerInterrupt() is called here to prevent the compiler outputting + a warning about a statically declared function not being referenced in the + case that the application writer has provided their own tick interrupt + configuration routine (and defined configSETUP_TICK_INTERRUPT() such that + their own routine will be called in place of prvSetupTimerInterrupt()). */ + prvSetupTimerInterrupt(); + + /* Just to make sure the function is not optimised away. */ + ( void ) vSoftwareInterruptISR(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvStartFirstTask +static void prvStartFirstTask( void ) +{ + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + MVTACLO R15 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15 /* Accumulator high 32 bits. */ + POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */ + RTE /* This pops the remaining registers. */ + NOP + NOP +} +/*-----------------------------------------------------------*/ + +#pragma interrupt ( prvTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) +void prvTickISR( void ) +{ + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + set_ipl( configKERNEL_INTERRUPT_PRIORITY ); + + #if configUSE_TICKLESS_IDLE == 1 + { + /* The CPU woke because of a tick. */ + ulTickFlag = pdTRUE; + + /* If this is the first tick since exiting tickless mode then the CMT + compare match value needs resetting. */ + CMT0.CMCOR = ( uint16_t ) ulMatchValueForOneTick; + } + #endif +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + prvYieldHandler(); +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvYieldHandler +static void prvYieldHandler( void ) +{ + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack + when the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across. */ + MOV.L [ R0 ], [ R15 ] ; R15 + MOV.L 4[ R0 ], 4[ R15 ] ; PC + MOV.L 8[ R0 ], 8[ R15 ] ; PSW + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the accumulator. */ + MVFACHI R15 + PUSH.L R15 + MVFACMI R15 ; Middle order word. + SHLL #16, R15 ; Shifted left as it is restored to the low order word. + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the + kernel structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is + required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + MVTACLO R15 + POP R15 + MVTACHI R15 + POPM R1-R15 + RTE + NOP + NOP +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); + + /* The following line is just to prevent the symbol getting optimised away. */ + ( void ) vTaskSwitchContext(); +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ + /* Unlock. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Enable CMT0. */ + MSTP( CMT0 ) = 0; + + /* Lock again. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Interrupt on compare match. */ + CMT0.CMCR.BIT.CMIE = 1; + + /* Set the compare match value. */ + CMT0.CMCOR = ( uint16_t ) ulMatchValueForOneTick; + + /* Divide the PCLK. */ + #if portCLOCK_DIVISOR == 512 + { + CMT0.CMCR.BIT.CKS = 3; + } + #elif portCLOCK_DIVISOR == 128 + { + CMT0.CMCR.BIT.CKS = 2; + } + #elif portCLOCK_DIVISOR == 32 + { + CMT0.CMCR.BIT.CKS = 1; + } + #elif portCLOCK_DIVISOR == 8 + { + CMT0.CMCR.BIT.CKS = 0; + } + #else + { + #error Invalid portCLOCK_DIVISOR setting + } + #endif + + + /* Enable the interrupt... */ + _IEN( _CMT0_CMI0 ) = 1; + + /* ...and set its priority to the application defined kernel priority. */ + _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the timer. */ + CMT.CMSTR0.BIT.STR0 = 1; +} +/*-----------------------------------------------------------*/ + +#if configUSE_TICKLESS_IDLE == 1 + + static void prvSleep( TickType_t xExpectedIdleTime ) + { + /* Allow the application to define some pre-sleep processing. */ + configPRE_SLEEP_PROCESSING( xExpectedIdleTime ); + + /* xExpectedIdleTime being set to 0 by configPRE_SLEEP_PROCESSING() + means the application defined code has already executed the WAIT + instruction. */ + if( xExpectedIdleTime > 0 ) + { + wait(); + } + + /* Allow the application to define some post sleep processing. */ + configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if configUSE_TICKLESS_IDLE == 1 + + void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) + { + uint32_t ulMatchValue, ulCompleteTickPeriods, ulCurrentCount; + eSleepModeStatus eSleepAction; + + /* THIS FUNCTION IS CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* Make sure the CMT reload value does not overflow the counter. */ + if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) + { + xExpectedIdleTime = xMaximumPossibleSuppressedTicks; + } + + /* Calculate the reload value required to wait xExpectedIdleTime tick + periods. */ + ulMatchValue = ulMatchValueForOneTick * xExpectedIdleTime; + if( ulMatchValue > ulStoppedTimerCompensation ) + { + /* Compensate for the fact that the CMT is going to be stopped + momentarily. */ + ulMatchValue -= ulStoppedTimerCompensation; + } + + /* Stop the CMT momentarily. The time the CMT is stopped for is + accounted for as best it can be, but using the tickless mode will + inevitably result in some tiny drift of the time maintained by the + kernel with respect to calendar time. */ + CMT.CMSTR0.BIT.STR0 = 0; + while( CMT.CMSTR0.BIT.STR0 == 1 ) + { + /* Nothing to do here. */ + } + + /* Critical section using the global interrupt bit as the i bit is + automatically reset by the WAIT instruction. */ + clrpsw_i(); + + /* The tick flag is set to false before sleeping. If it is true when + sleep mode is exited then sleep mode was probably exited because the + tick was suppressed for the entire xExpectedIdleTime period. */ + ulTickFlag = pdFALSE; + + /* If a context switch is pending then abandon the low power entry as + the context switch might have been pended by an external interrupt that + requires processing. */ + eSleepAction = eTaskConfirmSleepModeStatus(); + if( eSleepAction == eAbortSleep ) + { + /* Restart tick. */ + CMT.CMSTR0.BIT.STR0 = 1; + setpsw_i(); + } + else if( eSleepAction == eNoTasksWaitingTimeout ) + { + /* Protection off. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Ready for software standby with all clocks stopped. */ + SYSTEM.SBYCR.BIT.SSBY = 1; + + /* Protection on. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Sleep until something happens. Calling prvSleep() will + automatically reset the i bit in the PSW. */ + prvSleep( xExpectedIdleTime ); + + /* Restart the CMT. */ + CMT.CMSTR0.BIT.STR0 = 1; + } + else + { + /* Protection off. */ + SYSTEM.PRCR.WORD = portUNLOCK_KEY; + + /* Ready for deep sleep mode. */ + SYSTEM.MSTPCRC.BIT.DSLPE = 1; + SYSTEM.MSTPCRA.BIT.MSTPA28 = 1; + SYSTEM.SBYCR.BIT.SSBY = 0; + + /* Protection on. */ + SYSTEM.PRCR.WORD = portLOCK_KEY; + + /* Adjust the match value to take into account that the current + time slice is already partially complete. */ + ulMatchValue -= ( uint32_t ) CMT0.CMCNT; + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + + /* Restart the CMT to count up to the new match value. */ + CMT0.CMCNT = 0; + CMT.CMSTR0.BIT.STR0 = 1; + + /* Sleep until something happens. Calling prvSleep() will + automatically reset the i bit in the PSW. */ + prvSleep( xExpectedIdleTime ); + + /* Stop CMT. Again, the time the SysTick is stopped for is + accounted for as best it can be, but using the tickless mode will + inevitably result in some tiny drift of the time maintained by the + kernel with respect to calendar time. */ + CMT.CMSTR0.BIT.STR0 = 0; + while( CMT.CMSTR0.BIT.STR0 == 1 ) + { + /* Nothing to do here. */ + } + + ulCurrentCount = ( uint32_t ) CMT0.CMCNT; + + if( ulTickFlag != pdFALSE ) + { + /* The tick interrupt has already executed, although because + this function is called with the scheduler suspended the actual + tick processing will not occur until after this function has + exited. Reset the match value with whatever remains of this + tick period. */ + ulMatchValue = ulMatchValueForOneTick - ulCurrentCount; + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + + /* The tick interrupt handler will already have pended the tick + processing in the kernel. As the pending tick will be + processed as soon as this function exits, the tick value + maintained by the tick is stepped forward by one less than the + time spent sleeping. The actual stepping of the tick appears + later in this function. */ + ulCompleteTickPeriods = xExpectedIdleTime - 1UL; + } + else + { + /* Something other than the tick interrupt ended the sleep. + How many complete tick periods passed while the processor was + sleeping? */ + ulCompleteTickPeriods = ulCurrentCount / ulMatchValueForOneTick; + + /* The match value is set to whatever fraction of a single tick + period remains. */ + ulMatchValue = ulCurrentCount - ( ulCompleteTickPeriods * ulMatchValueForOneTick ); + CMT0.CMCOR = ( uint16_t ) ulMatchValue; + } + + /* Restart the CMT so it runs up to the match value. The match value + will get set to the value required to generate exactly one tick period + the next time the CMT interrupt executes. */ + CMT0.CMCNT = 0; + CMT.CMSTR0.BIT.STR0 = 1; + + /* Wind the tick forward by the number of tick periods that the CPU + remained in a low power state. */ + vTaskStepTick( ulCompleteTickPeriods ); + } + } + +#endif /* configUSE_TICKLESS_IDLE */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/port_asm.src b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/port_asm.src new file mode 100644 index 0000000..05631c9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/port_asm.src @@ -0,0 +1,41 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + .GLB _vSoftwareInterruptISR + .GLB _vSoftwareInterruptEntry + + .SECTION P,CODE + +_vSoftwareInterruptEntry: + + BRA _vSoftwareInterruptISR + + .RVECTOR 27, _vSoftwareInterruptEntry + + .END + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/portmacro.h new file mode 100644 index 0000000..b0fdcf9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/portmacro.h @@ -0,0 +1,151 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Hardware specifics. */ +#include "machine.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other +than portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() nop() + +#pragma inline_asm vPortYield +static void vPortYield( void ) +{ + /* Save clobbered register - may not actually be necessary if inline asm + functions are considered to use the same rules as function calls by the + compiler. */ + PUSH.L R5 + /* Set ITU SWINTR. */ + MOV.L #872E0H, R5 + MOV.B #1, [R5] + /* Read back to ensure the value is taken before proceeding. */ + MOV.L [R5], R5 + /* Restore clobbered register to its previous value. */ + POP R5 +} +#define portYIELD() vPortYield() +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) { portYIELD(); } + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() ( UBaseType_t ) get_ipl(); set_ipl( ( signed long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( signed long ) uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Tickless idle/low power functionality. */ +#if configUSE_TICKLESS_IDLE == 1 + #ifndef portSUPPRESS_TICKS_AND_SLEEP + extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) + #endif +#endif + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX100/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/port.c new file mode 100644 index 0000000..7762372 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/port.c @@ -0,0 +1,324 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the RX200 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#include "iodefine.h" + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) + +/*-----------------------------------------------------------*/ + +/* The following lines are to ensure vSoftwareInterruptEntry can be referenced, + and therefore installed in the vector table, when the FreeRTOS code is built +as a library. */ +extern BaseType_t vSoftwareInterruptEntry; +const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +static void prvYieldHandler( void ); + +/* + * The entry point for the software interrupt handler. This is the function + * that calls the inline asm function prvYieldHandler(). It is installed in + * the vector table, but the code that installs it is in prvYieldHandler rather + * than using a #pragma. + */ +void vSoftwareInterruptISR( void ); + +/*-----------------------------------------------------------*/ + +/* This is accessed by the inline assembler functions so is file scope for +convenience. */ +extern void *pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Offset to end up on 8 byte boundary. */ + pxTopOfStack--; + + /* R0 is not included as it is the stack pointer. */ + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xaaaabbbb; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Just to make sure the function is not optimised away. */ + ( void ) vSoftwareInterruptISR(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvStartFirstTask +static void prvStartFirstTask( void ) +{ + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + MVTACLO R15 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15 /* Accumulator high 32 bits. */ + POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */ + RTE /* This pops the remaining registers. */ + NOP + NOP +} +/*-----------------------------------------------------------*/ + +#pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) +void vTickISR( void ) +{ + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + set_ipl( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + prvYieldHandler(); +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvYieldHandler +static void prvYieldHandler( void ) +{ + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across. */ + MOV.L [ R0 ], [ R15 ] ; R15 + MOV.L 4[ R0 ], 4[ R15 ] ; PC + MOV.L 8[ R0 ], 8[ R15 ] ; PSW + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the accumulator. */ + MVFACHI R15 + PUSH.L R15 + MVFACMI R15 ; Middle order word. + SHLL #16, R15 ; Shifted left as it is restored to the low order word. + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + MVTACLO R15 + POP R15 + MVTACHI R15 + POPM R1-R15 + RTE + NOP + NOP +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); + + /* The following line is just to prevent the symbol getting optimised away. */ + ( void ) vTaskSwitchContext(); +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/port_asm.src b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/port_asm.src new file mode 100644 index 0000000..05631c9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/port_asm.src @@ -0,0 +1,41 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + .GLB _vSoftwareInterruptISR + .GLB _vSoftwareInterruptEntry + + .SECTION P,CODE + +_vSoftwareInterruptEntry: + + BRA _vSoftwareInterruptISR + + .RVECTOR 27, _vSoftwareInterruptEntry + + .END + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/portmacro.h new file mode 100644 index 0000000..17bcf60 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/portmacro.h @@ -0,0 +1,141 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Hardware specifics. */ +#include "machine.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() nop() + +#pragma inline_asm vPortYield +static void vPortYield( void ) +{ + /* Save clobbered register - may not actually be necessary if inline asm + functions are considered to use the same rules as function calls by the + compiler. */ + PUSH.L R5 + /* Set ITU SWINTR. */ + MOV.L #553696, R5 + MOV.B #1, [R5] + /* Read back to ensure the value is taken before proceeding. */ + MOV.L [R5], R5 + /* Restore clobbered register to its previous value. */ + POP R5 +} +#define portYIELD() vPortYield() +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() get_ipl(); set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( long ) uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX200/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/port.c new file mode 100644 index 0000000..de7a557 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/port.c @@ -0,0 +1,329 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the RX600 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#include "iodefine.h" + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/*-----------------------------------------------------------*/ + +/* The following lines are to ensure vSoftwareInterruptEntry can be referenced, + and therefore installed in the vector table, when the FreeRTOS code is built +as a library. */ +extern BaseType_t vSoftwareInterruptEntry; +const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +static void prvYieldHandler( void ); + +/* + * The entry point for the software interrupt handler. This is the function + * that calls the inline asm function prvYieldHandler(). It is installed in + * the vector table, but the code that installs it is in prvYieldHandler rather + * than using a #pragma. + */ +void vSoftwareInterruptISR( void ); + +/*-----------------------------------------------------------*/ + +/* This is accessed by the inline assembler functions so is file scope for +convenience. */ +extern void *pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x12345678; /* Accumulator. */ + pxTopOfStack--; + *pxTopOfStack = 0x87654321; /* Accumulator. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Just to make sure the function is not optimised away. */ + ( void ) vSoftwareInterruptISR(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvStartFirstTask +static void prvStartFirstTask( void ) +{ + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + MVTACLO R15 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15 /* Accumulator high 32 bits. */ + POP R15 + MVTC R15,FPSW /* Floating point status word. */ + POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */ + RTE /* This pops the remaining registers. */ + NOP + NOP +} +/*-----------------------------------------------------------*/ + +#pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) +void vTickISR( void ) +{ + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + set_ipl( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + prvYieldHandler(); +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvYieldHandler +static void prvYieldHandler( void ) +{ + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across. */ + MOV.L [ R0 ], [ R15 ] ; R15 + MOV.L 4[ R0 ], 4[ R15 ] ; PC + MOV.L 8[ R0 ], 8[ R15 ] ; PSW + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the FPSW and accumulator. */ + MVFC FPSW, R15 + PUSH.L R15 + MVFACHI R15 + PUSH.L R15 + MVFACMI R15 ; Middle order word. + SHLL #16, R15 ; Shifted left as it is restored to the low order word. + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + MVTACLO R15 + POP R15 + MVTACHI R15 + POP R15 + MVTC R15,FPSW + POPM R1-R15 + RTE + NOP + NOP +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); + + /* The following line is just to prevent the symbol getting optimised away. */ + ( void ) vTaskSwitchContext(); +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/port_asm.src b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/port_asm.src new file mode 100644 index 0000000..05631c9 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/port_asm.src @@ -0,0 +1,41 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + .GLB _vSoftwareInterruptISR + .GLB _vSoftwareInterruptEntry + + .SECTION P,CODE + +_vSoftwareInterruptEntry: + + BRA _vSoftwareInterruptISR + + .RVECTOR 27, _vSoftwareInterruptEntry + + .END + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/portmacro.h new file mode 100644 index 0000000..2e49aa5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/portmacro.h @@ -0,0 +1,142 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Hardware specifics. */ +#include "machine.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() nop() + + +#pragma inline_asm vPortYield +static void vPortYield( void ) +{ + /* Save clobbered register - may not actually be necessary if inline asm + functions are considered to use the same rules as function calls by the + compiler. */ + PUSH.L R5 + /* Set ITU SWINTR. */ + MOV.L #553696, R5 + MOV.B #1, [R5] + /* Read back to ensure the value is taken before proceeding. */ + MOV.L [R5], R5 + /* Restore clobbered register to its previous value. */ + POP R5 +} +#define portYIELD() vPortYield() +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() get_ipl(); set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( long ) uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/port.c new file mode 100644 index 0000000..16a7d8a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/port.c @@ -0,0 +1,364 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the RX600 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if defined( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H ) && ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + #include "platform.h" +#else + #include "iodefine.h" +#endif + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore +PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) + +/*-----------------------------------------------------------*/ + +/* The following lines are to ensure vSoftwareInterruptEntry can be referenced, + and therefore installed in the vector table, when the FreeRTOS code is built +as a library. */ +extern BaseType_t vSoftwareInterruptEntry; +const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +static void prvYieldHandler( void ); + +/* + * The entry point for the software interrupt handler. This is the function + * that calls the inline asm function prvYieldHandler(). It is installed in + * the vector table, but the code that installs it is in prvYieldHandler rather + * than using a #pragma. + */ +void vSoftwareInterruptISR( void ); + +/*-----------------------------------------------------------*/ + +/* This is accessed by the inline assembler functions so is file scope for +convenience. */ +extern void *pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + value. Otherwise code space can be saved by just setting the registers + that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else + { + pxTopOfStack -= 15; + } + #endif + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 1. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Just to make sure the function is not optimised away. */ + ( void ) vSoftwareInterruptISR(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvStartFirstTask +static void prvStartFirstTask( void ) +{ + /* When starting the scheduler there is nothing that needs moving to the + interrupt stack because the function is not called from an interrupt. + Just ensure the current stack is the user stack. */ + SETPSW U + + /* Obtain the location of the stack associated with which ever task + pxCurrentTCB is currently pointing to. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [R15], R15 + MOV.L [R15], R0 + + /* Restore the registers from the stack of the task pointed to by + pxCurrentTCB. */ + POP R15 + MVTACLO R15, A0 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A0 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A0 /* Accumulator guard. */ + POP R15 + MVTACLO R15, A1 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A1 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A1 /* Accumulator guard. */ + POP R15 + MVTC R15,FPSW /* Floating point status word. */ + POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */ + RTE /* This pops the remaining registers. */ + NOP + NOP +} +/*-----------------------------------------------------------*/ + +#pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) +void vTickISR( void ) +{ + /* Increment the tick, and perform any processing the new tick value + necessitates. */ + set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + set_ipl( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + prvYieldHandler(); +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvYieldHandler +static void prvYieldHandler( void ) +{ + /* Re-enable interrupts. */ + SETPSW I + + /* Move the data that was automatically pushed onto the interrupt stack when + the interrupt occurred from the interrupt stack to the user stack. + + R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB #12, R15 + MVTC R15, USP + + /* Copy the data across. */ + MOV.L [ R0 ], [ R15 ] ; R15 + MOV.L 4[ R0 ], 4[ R15 ] ; PC + MOV.L 8[ R0 ], 8[ R15 ] ; PSW + + /* Move the interrupt stack pointer to its new correct position. */ + ADD #12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the FPSW and accumulators. */ + MVFC FPSW, R15 + PUSH.L R15 + MVFACGU #0, A1, R15 + PUSH.L R15 + MVFACHI #0, A1, R15 + PUSH.L R15 + MVFACLO #0, A1, R15 ; Low order word. + PUSH.L R15 + MVFACGU #0, A0, R15 + PUSH.L R15 + MVFACHI #0, A0, R15 + PUSH.L R15 + MVFACLO #0, A0, R15 ; Low order word. + PUSH.L R15 + + /* Save the stack pointer to the TCB. */ + MOV.L #_pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + structures are being accessed. */ + MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL #configKERNEL_INTERRUPT_PRIORITY + + /* Load the stack pointer of the task that is now selected as the Running + state task from its TCB. */ + MOV.L #_pxCurrentTCB,R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + /* Restore the context of the new task. The PSW (Program Status Word) and + PC will be popped by the RTE instruction. */ + POP R15 + MVTACLO R15, A0 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A0 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A0 /* Accumulator guard. */ + POP R15 + MVTACLO R15, A1 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A1 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A1 /* Accumulator guard. */ + POP R15 + MVTC R15,FPSW + POPM R1-R15 + RTE + NOP + NOP +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); + + /* The following line is just to prevent the symbol getting optimised away. */ + ( void ) vTaskSwitchContext(); +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/port_asm.src b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/port_asm.src new file mode 100644 index 0000000..459432e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/port_asm.src @@ -0,0 +1,41 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + .GLB _vSoftwareInterruptISR + .GLB _vSoftwareInterruptEntry + + .SECTION P,CODE + +_vSoftwareInterruptEntry: + + BRA _vSoftwareInterruptISR + + .RVECTOR 27, _vSoftwareInterruptEntry + + .END + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/portmacro.h new file mode 100644 index 0000000..2ad5465 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/portmacro.h @@ -0,0 +1,142 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Hardware specifics. */ +#include "machine.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() nop() + + +#pragma inline_asm vPortYield +static void vPortYield( void ) +{ + /* Save clobbered register - may not actually be necessary if inline asm + functions are considered to use the same rules as function calls by the + compiler. */ + PUSH.L R5 + /* Set ITU SWINTR. */ + MOV.L #553696, R5 + MOV.B #1, [R5] + /* Read back to ensure the value is taken before proceeding. */ + MOV.L [R5], R5 + /* Restore clobbered register to its previous value. */ + POP R5 +} +#define portYIELD() vPortYield() +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() ( UBaseType_t ) get_ipl(); set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( long ) uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX600v2/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/port.c new file mode 100644 index 0000000..1d708a3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/port.c @@ -0,0 +1,590 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the RXv3 DPFPU port. +*----------------------------------------------------------*/ + +#warning Testing for DFPU support in this port is not yet complete + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/* Hardware specifics. */ +#if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) + + #include "platform.h" + +#else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + + #include "iodefine.h" + +#endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ + +/*-----------------------------------------------------------*/ + +/* Tasks should start with interrupts enabled and in Supervisor mode, therefore + * PSW is set with U and I set, and PM and IPL clear. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) +#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) +#define portINITIAL_DPSW ( ( StackType_t ) 0x00000100 ) +#define portINITIAL_DCMR ( ( StackType_t ) 0x00000000 ) +#define portINITIAL_DECNT ( ( StackType_t ) 0x00000001 ) + +/* Tasks are not created with a DPFPU context, but can be given a DPFPU context + * after they have been created. A variable is stored as part of the tasks context + * that holds portNO_DPFPU_CONTEXT if the task does not have a DPFPU context, or + * any other value if the task does have a DPFPU context. */ +#define portNO_DPFPU_CONTEXT ( ( StackType_t ) 0 ) +#define portHAS_DPFPU_CONTEXT ( ( StackType_t ) 1 ) + +/* The space on the stack required to hold the DPFPU data registers. This is 16 + * 64-bit registers. */ +#define portDPFPU_DATA_REGISTER_WORDS ( 16 * 2 ) + +/*-----------------------------------------------------------*/ + +/* The following lines are to ensure vSoftwareInterruptEntry can be referenced, + * and therefore installed in the vector table, when the FreeRTOS code is built + * as a library. */ +extern BaseType_t vSoftwareInterruptEntry; +const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; + +/*-----------------------------------------------------------*/ + +/* + * Function to start the first task executing - written in asm code as direct + * access to registers is required. + */ +static void prvStartFirstTask( void ); + +/* + * Software interrupt handler. Performs the actual context switch (saving and + * restoring of registers). Written in asm code as direct register access is + * required. + */ +static void prvYieldHandler( void ); + +/* + * The entry point for the software interrupt handler. This is the function + * that calls the inline asm function prvYieldHandler(). It is installed in + * the vector table, but the code that installs it is in prvYieldHandler rather + * than using a #pragma. + */ +void vSoftwareInterruptISR( void ); + +/* + * The tick ISR handler. The peripheral used is configured by the application + * via a hook/callback function. + */ +void vTickISR( void ); + +/*-----------------------------------------------------------*/ + +/* Saved as part of the task context. If ulPortTaskHasDPFPUContext is non-zero + * then a DPFPU context must be saved and restored for the task. */ +#if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + StackType_t ulPortTaskHasDPFPUContext = portNO_DPFPU_CONTEXT; + +#endif /* configUSE_TASK_DPFPU_SUPPORT */ + +/* This is accessed by the inline assembler functions so is file scope for + * convenience. */ +extern void * pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* R0 is not included as it is the stack pointer. */ + + *pxTopOfStack = 0x00; + pxTopOfStack--; + *pxTopOfStack = portINITIAL_PSW; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; + + /* When debugging it can be useful if every register is set to a known + * value. Otherwise code space can be saved by just setting the registers + * that need to be set. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack--; + *pxTopOfStack = 0xffffffff; /* r15. */ + pxTopOfStack--; + *pxTopOfStack = 0xeeeeeeee; + pxTopOfStack--; + *pxTopOfStack = 0xdddddddd; + pxTopOfStack--; + *pxTopOfStack = 0xcccccccc; + pxTopOfStack--; + *pxTopOfStack = 0xbbbbbbbb; + pxTopOfStack--; + *pxTopOfStack = 0xaaaaaaaa; + pxTopOfStack--; + *pxTopOfStack = 0x99999999; + pxTopOfStack--; + *pxTopOfStack = 0x88888888; + pxTopOfStack--; + *pxTopOfStack = 0x77777777; + pxTopOfStack--; + *pxTopOfStack = 0x66666666; + pxTopOfStack--; + *pxTopOfStack = 0x55555555; + pxTopOfStack--; + *pxTopOfStack = 0x44444444; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + } + #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ + { + pxTopOfStack -= 15; + } + #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ + + *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_FPSW; + pxTopOfStack--; + *pxTopOfStack = 0x11111111; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 0. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + { + /* The task will start without a DPFPU context. A task that + * uses the DPFPU hardware must call vPortTaskUsesDPFPU() before + * executing any floating point instructions. */ + pxTopOfStack--; + *pxTopOfStack = portNO_DPFPU_CONTEXT; + } + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + { + /* The task will start with a DPFPU context. Leave enough + * space for the registers - and ensure they are initialised if desired. */ + #ifdef USE_FULL_REGISTER_INITIALISATION + { + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1515.1515; /* DR15. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1414.1414; /* DR14. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1313.1313; /* DR13. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1212.1212; /* DR12. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1111.1111; /* DR11. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 1010.1010; /* DR10. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 909.0909; /* DR9. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 808.0808; /* DR8. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 707.0707; /* DR7. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 606.0606; /* DR6. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 505.0505; /* DR5. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 404.0404; /* DR4. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 303.0303; /* DR3. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 202.0202; /* DR2. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 101.0101; /* DR1. */ + pxTopOfStack -= 2; + *(double *)pxTopOfStack = 9876.54321;/* DR0. */ + } + #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ + { + pxTopOfStack -= portDPFPU_DATA_REGISTER_WORDS; + memset( pxTopOfStack, 0x00, portDPFPU_DATA_REGISTER_WORDS * sizeof( StackType_t ) ); + } + #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DECNT; /* DECNT. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DCMR; /* DCMR. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_DPSW; /* DPSW. */ + } + #elif ( configUSE_TASK_DPFPU_SUPPORT == 0 ) + { + /* Omit DPFPU support. */ + } + #else /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + { + #error Invalid configUSE_TASK_DPFPU_SUPPORT setting - configUSE_TASK_DPFPU_SUPPORT must be set to 0, 1, 2, or left undefined. + } + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + void vPortTaskUsesDPFPU( void ) + { + /* A task is registering the fact that it needs a DPFPU context. Set the + * DPFPU flag (which is saved as part of the task context). */ + ulPortTaskHasDPFPUContext = portHAS_DPFPU_CONTEXT; + } + +#endif /* configUSE_TASK_DPFPU_SUPPORT */ +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + extern void vApplicationSetupTimerInterrupt( void ); + + /* Use pxCurrentTCB just so it does not get optimised away. */ + if( pxCurrentTCB != NULL ) + { + /* Call an application function to set up the timer that will generate the + * tick interrupt. This way the application can decide which peripheral to + * use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Enable the software interrupt. */ + _IEN( _ICU_SWINT ) = 1; + + /* Ensure the software interrupt is clear. */ + _IR( _ICU_SWINT ) = 0; + + /* Ensure the software interrupt is set to the kernel priority. */ + _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; + + /* Start the first task. */ + prvStartFirstTask(); + } + + /* Just to make sure the function is not optimised away. */ + ( void ) vSoftwareInterruptISR(); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( pxCurrentTCB == NULL ); + + /* The following line is just to prevent the symbol getting optimised away. */ + ( void ) vTaskSwitchContext(); +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvStartFirstTask +static void prvStartFirstTask( void ) +{ +#ifndef __CDT_PARSER__ + + /* When starting the scheduler there is nothing that needs moving to the + * interrupt stack because the function is not called from an interrupt. + * Just ensure the current stack is the user stack. */ + SETPSW U + + + /* Obtain the location of the stack associated with which ever task + * pxCurrentTCB is currently pointing to. */ + MOV.L # _pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + + /* Restore the registers from the stack of the task pointed to by + * pxCurrentTCB. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* The restored ulPortTaskHasDPFPUContext is to be zero here. + * So, it is never necessary to restore the DPFPU context here. */ + POP R15 + MOV.L # _ulPortTaskHasDPFPUContext, R14 + MOV.L R15, [ R14 ] + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Restore the DPFPU context. */ + DPOPM.L DPSW-DECNT + DPOPM.D DR0-DR15 + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A0 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A0 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A0 + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A1 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A1 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A1 + POP R15 + + /* Floating point status word. */ + MVTC R15, FPSW + + /* R1 to R15 - R0 is not included as it is the SP. */ + POPM R1-R15 + + /* This pops the remaining registers. */ + RTE + NOP + NOP + +#endif /* ifndef __CDT_PARSER__ */ +} +/*-----------------------------------------------------------*/ + +void vSoftwareInterruptISR( void ) +{ + prvYieldHandler(); +} +/*-----------------------------------------------------------*/ + +#pragma inline_asm prvYieldHandler +static void prvYieldHandler( void ) +{ +#ifndef __CDT_PARSER__ + + /* Re-enable interrupts. */ + SETPSW I + + + /* Move the data that was automatically pushed onto the interrupt stack when + * the interrupt occurred from the interrupt stack to the user stack. + * + * R15 is saved before it is clobbered. */ + PUSH.L R15 + + /* Read the user stack pointer. */ + MVFC USP, R15 + + /* Move the address down to the data being moved. */ + SUB # 12, R15 + MVTC R15, USP + + /* Copy the data across, R15, then PC, then PSW. */ + MOV.L [ R0 ], [ R15 ] + MOV.L 4[ R0 ], 4[ R15 ] + MOV.L 8[ R0 ], 8[ R15 ] + + /* Move the interrupt stack pointer to its new correct position. */ + ADD # 12, R0 + + /* All the rest of the registers are saved directly to the user stack. */ + SETPSW U + + /* Save the rest of the general registers (R15 has been saved already). */ + PUSHM R1-R14 + + /* Save the FPSW and accumulators. */ + MVFC FPSW, R15 + PUSH.L R15 + MVFACGU # 0, A1, R15 + PUSH.L R15 + MVFACHI # 0, A1, R15 + PUSH.L R15 + MVFACLO # 0, A1, R15 /* Low order word. */ + PUSH.L R15 + MVFACGU # 0, A0, R15 + PUSH.L R15 + MVFACHI # 0, A0, R15 + PUSH.L R15 + MVFACLO # 0, A0, R15 /* Low order word. */ + PUSH.L R15 + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* Does the task have a DPFPU context that needs saving? If + * ulPortTaskHasDPFPUContext is 0 then no. */ + MOV.L # _ulPortTaskHasDPFPUContext, R15 + MOV.L [ R15 ], R15 + CMP # 0, R15 + + /* Save the DPFPU context, if any. */ + BEQ.B ?+ + DPUSHM.D DR0-DR15 + DPUSHM.L DPSW-DECNT + ?: + + /* Save ulPortTaskHasDPFPUContext itself. */ + PUSH.L R15 + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Save the DPFPU context, always. */ + DPUSHM.D DR0-DR15 + DPUSHM.L DPSW-DECNT + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + + /* Save the stack pointer to the TCB. */ + MOV.L # _pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L R0, [ R15 ] + + + /* Ensure the interrupt mask is set to the syscall priority while the kernel + * structures are being accessed. */ + MVTIPL # configMAX_SYSCALL_INTERRUPT_PRIORITY + + /* Select the next task to run. */ + BSR.A _vTaskSwitchContext + + /* Reset the interrupt mask as no more data structure access is required. */ + MVTIPL # configKERNEL_INTERRUPT_PRIORITY + + + /* Load the stack pointer of the task that is now selected as the Running + * state task from its TCB. */ + MOV.L # _pxCurrentTCB, R15 + MOV.L [ R15 ], R15 + MOV.L [ R15 ], R0 + + + /* Restore the context of the new task. The PSW (Program Status Word) and + * PC will be popped by the RTE instruction. */ + + #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) + + /* Is there a DPFPU context to restore? If the restored + * ulPortTaskHasDPFPUContext is zero then no. */ + POP R15 + MOV.L # _ulPortTaskHasDPFPUContext, R14 + MOV.L R15, [ R14 ] + CMP # 0, R15 + + /* Restore the DPFPU context, if any. */ + BEQ.B ?+ + DPOPM.L DPSW-DECNT + DPOPM.D DR0-DR15 + ?: + + #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) + + /* Restore the DPFPU context, always. */ + DPOPM.L DPSW-DECNT + DPOPM.D DR0-DR15 + + #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ + + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A0 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A0 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A0 + POP R15 + + /* Accumulator low 32 bits. */ + MVTACLO R15, A1 + POP R15 + + /* Accumulator high 32 bits. */ + MVTACHI R15, A1 + POP R15 + + /* Accumulator guard. */ + MVTACGU R15, A1 + POP R15 + MVTC R15, FPSW + POPM R1-R15 + RTE + NOP + NOP + +#endif /* ifndef __CDT_PARSER__ */ +} +/*-----------------------------------------------------------*/ + +#pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) +void vTickISR( void ) +{ + /* Increment the tick, and perform any processing the new tick value + * necessitates. Ensure IPL is at the max syscall value first. */ + set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); + { + if( xTaskIncrementTick() != pdFALSE ) + { + taskYIELD(); + } + } + set_ipl( configKERNEL_INTERRUPT_PRIORITY ); +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/port_asm.src b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/port_asm.src new file mode 100644 index 0000000..ba6e3b7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/port_asm.src @@ -0,0 +1,41 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + .GLB _vSoftwareInterruptISR + .GLB _vSoftwareInterruptEntry + + .SECTION P,CODE + +_vSoftwareInterruptEntry: + + BRA _vSoftwareInterruptISR + + .RVECTOR 27, _vSoftwareInterruptEntry + + .END + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/portmacro.h new file mode 100644 index 0000000..f576e81 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/portmacro.h @@ -0,0 +1,185 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/* Hardware specifics. */ + #include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* When the FIT configurator or the Smart Configurator is used, platform.h has to be + * used. */ + #ifndef configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H + #define configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H 0 + #endif + +/* If configUSE_TASK_DPFPU_SUPPORT is set to 1 (or undefined) then each task will + * be created without a DPFPU context, and a task must call vTaskUsesDPFPU() before + * making use of any DPFPU registers. If configUSE_TASK_DPFPU_SUPPORT is set to 2 then + * tasks are created with a DPFPU context by default, and calling vTaskUsesDPFPU() has + * no effect. If configUSE_TASK_DPFPU_SUPPORT is set to 0 then tasks never take care + * of any DPFPU context (even if DPFPU registers are used). */ + #ifndef configUSE_TASK_DPFPU_SUPPORT + #define configUSE_TASK_DPFPU_SUPPORT 1 + #endif + +/*-----------------------------------------------------------*/ + +/* Type definitions - these are a bit legacy and not really used now, other than + * portSTACK_TYPE and portBASE_TYPE. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif + +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ + #define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ + #define portSTACK_GROWTH -1 + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portNOP() nop() + +/* Yield equivalent to "*portITU_SWINTR = 0x01; ( void ) *portITU_SWINTR;" + * where portITU_SWINTR is the location of the software interrupt register + * (0x000872E0). Don't rely on the assembler to select a register, so instead + * save and restore clobbered registers manually. */ + #pragma inline_asm vPortYield + static void vPortYield( void ) + { + #ifndef __CDT_PARSER__ + /* Save clobbered register - may not actually be necessary if inline asm + * functions are considered to use the same rules as function calls by the + * compiler. */ + PUSH.L R5 + /* Set ITU SWINTR. */ + MOV.L # 000872E0H, R5 + MOV.B # 1, [ R5 ] + /* Read back to ensure the value is taken before proceeding. */ + CMP [ R5 ].UB, R5 + /* Restore clobbered register to its previous value. */ + POP R5 + #endif + } + + #define portYIELD() vPortYield() + #define portYIELD_FROM_ISR( x ) if( ( x ) != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the + * taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is + * performed if configASSERT() is defined to ensure an assertion handler does not + * inadvertently attempt to lower the IPL when the call to assert was triggered + * because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY + * when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API + * functions are those that end in FromISR. FreeRTOS maintains a separate + * interrupt API to ensure API function and interrupt entry is as fast and as + * simple as possible. */ + #define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 ) + #ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) + #else + #define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) + #endif + +/* Critical nesting counts are stored in the TCB. */ + #define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ + extern void vTaskEnterCritical( void ); + extern void vTaskExitCritical( void ); + #define portENTER_CRITICAL() vTaskEnterCritical() + #define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ + #define portSET_INTERRUPT_MASK_FROM_ISR() ( UBaseType_t ) get_ipl(); set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( long ) uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/*-----------------------------------------------------------*/ + +/* If configUSE_TASK_DPFPU_SUPPORT is set to 1 (or left undefined) then tasks are + * created without a DPFPU context and must call vPortTaskUsesDPFPU() to give + * themselves a DPFPU context before using any DPFPU instructions. If + * configUSE_TASK_DPFPU_SUPPORT is set to 2 then all tasks will have a DPFPU context + * by default. */ + #if( configUSE_TASK_DPFPU_SUPPORT == 1 ) + void vPortTaskUsesDPFPU( void ); + #else +/* Each task has a DPFPU context already, so define this function away to + * nothing to prevent it being called accidentally. */ + #define vPortTaskUsesDPFPU() + #endif + #define portTASK_USES_DPFPU() vPortTaskUsesDPFPU() + +/* Definition to allow compatibility with existing FreeRTOS Demo using flop.c. */ + #define portTASK_USES_FLOATING_POINT() vPortTaskUsesDPFPU() + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/readme.txt new file mode 100644 index 0000000..9e89a09 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/RX700v3_DPFPU/readme.txt @@ -0,0 +1,72 @@ +The following table shows which port is recommended to be used. + + +RX MCU Group CPU FPU FPU Port Layer + Core (Single (Double CC-RX GNURX ICCRX (*6) + Type Precision) Precision) + +RX110 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX111 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX113 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX130 RXv1 No --- Renesas/RX100 (*1,*2) GCC/RX100 (*1,*2) IAR/RX100 (*1,*2) +RX13T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 + +RX210 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX21A RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX220 RXv1 No --- Renesas/RX200 (*3) N/A (*3) N/A (*3) +RX230,RX231 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23E-A RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23W RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX23T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24T RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX24U RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 + +RX610 RXv1 Yes --- N/A (*4) N/A (*4) N/A (*4) +RX62N,RX621 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX630 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX634 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63N,RX631 RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX64M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX65N,RX651 RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX66N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX62T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX62G RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX63T RXv1 Yes --- Renesas/RX600 GCC/RX600 IAR/RX600 +RX66T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +RX71M RXv2 Yes --- Renesas/RX600v2 GCC/RX600v2 IAR/RXv2 +RX72M RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72N RXv3 Yes Yes Renesas/RX700v3_DPFPU GCC/RX700v3_DPFPU IAR/RX700v3_DPFPU +RX72T RXv3 Yes No Renesas/RX600v2 (*5) GCC/RX600v2 (*5) IAR/RXv2 (*5) + +Notes: + +*1: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is not used, please define configSETUP_TICK_INTERRUPT() (in FreeRTOSConfig.h) and provide +the configuration function. Please be aware that port.c is hard coded to use CMT0 though it seems to be +configured to use any CMTn according to the definition of configTICK_VECTOR (in FreeRTOSConfig.h). + +*2: If the application writer wants to use their own tick interrupt configuration when tickless idle +functionality is used, please modify port.c for the configuration. Please be aware that port.c is +hard coded to use CMT0 though it seems to be configured to use any CMTn according to the definition of +configTICK_VECTOR (in FreeRTOSConfig.h). + +*3: RX100 ports are also available. + +*4: RX600 ports use MVTIPL instruction but RX610 MCUs don't support this instruction. + +*5: RX700v3_DPFPU ports are also available with the following definition in FreeRTOSConfig.h. + +#define configUSE_TASK_DPFPU_SUPPORT 0 + +*6: PriorityDefinitions.h has to be provided for port_asm.s in case of other than RX700v3_DPFPU port. +It contains two definitions of interrupt priority like the following. + +#define configKERNEL_INTERRUPT_PRIORITY 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 4 + + +For more information about Renesas RX MCUs, please visit the following URL: + +https://www.renesas.com/products/microcontrollers-microprocessors/rx.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/ISR_Support.inc b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/ISR_Support.inc new file mode 100644 index 0000000..30edf90 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/ISR_Support.inc @@ -0,0 +1,74 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + .macro portSAVE_CONTEXT + + ; Save r0 to r14 and pr. + movml.l r15, @-r15 + + ; Save mac1, mach and gbr + sts.l macl, @-r15 + sts.l mach, @-r15 + stc.l gbr, @-r15 + + ; Get the address of pxCurrentTCB + mov.l #_pxCurrentTCB, r0 + + ; Get the address of pxTopOfStack from the TCB. + mov.l @r0, r0 + + ; Save the stack pointer in pxTopOfStack. + mov.l r15, @r0 + + .endm + +;----------------------------------------------------------- + + .macro portRESTORE_CONTEXT + + ; Get the address of the pxCurrentTCB variable. + mov.l #_pxCurrentTCB, r0 + + ; Get the address of the task stack from pxCurrentTCB. + mov.l @r0, r0 + + ; Get the task stack itself into the stack pointer. + mov.l @r0, r15 + + ; Restore system registers. + ldc.l @r15+, gbr + lds.l @r15+, mach + lds.l @r15+, macl + + ; Restore r0 to r14 and PR + movml.l @r15+, r15 + + ; Pop the SR and PC to jump to the start of the task. + rte + nop + + .endm +;----------------------------------------------------------- \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/port.c new file mode 100644 index 0000000..6b54d15 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/port.c @@ -0,0 +1,271 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the SH2A port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Library includes. */ +#include "string.h" + +/*-----------------------------------------------------------*/ + +/* The SR assigned to a newly created task. The only important thing in this +value is for all interrupts to be enabled. */ +#define portINITIAL_SR ( 0UL ) + +/* Dimensions the array into which the floating point context is saved. +Allocate enough space for FPR0 to FPR15, FPUL and FPSCR, each of which is 4 +bytes big. If this number is changed then the 72 in portasm.src also needs +changing. */ +#define portFLOP_REGISTERS_TO_STORE ( 18 ) +#define portFLOP_STORAGE_SIZE ( portFLOP_REGISTERS_TO_STORE * 4 ) + +#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) + #error configSUPPORT_DYNAMIC_ALLOCATION must be 1 to use this port. +#endif + +/*-----------------------------------------------------------*/ + +/* + * The TRAPA handler used to force a context switch. + */ +void vPortYield( void ); + +/* + * Function to start the first task executing - defined in portasm.src. + */ +extern void vPortStartFirstTask( void ); + +/* + * Obtains the current GBR value - defined in portasm.src. + */ +extern uint32_t ulPortGetGBR( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Mark the end of the stack - used for debugging only and can be removed. */ + *pxTopOfStack = 0x11111111UL; + pxTopOfStack--; + *pxTopOfStack = 0x22222222UL; + pxTopOfStack--; + *pxTopOfStack = 0x33333333UL; + pxTopOfStack--; + + /* SR. */ + *pxTopOfStack = portINITIAL_SR; + pxTopOfStack--; + + /* PC. */ + *pxTopOfStack = ( uint32_t ) pxCode; + pxTopOfStack--; + + /* PR. */ + *pxTopOfStack = 15; + pxTopOfStack--; + + /* 14. */ + *pxTopOfStack = 14; + pxTopOfStack--; + + /* R13. */ + *pxTopOfStack = 13; + pxTopOfStack--; + + /* R12. */ + *pxTopOfStack = 12; + pxTopOfStack--; + + /* R11. */ + *pxTopOfStack = 11; + pxTopOfStack--; + + /* R10. */ + *pxTopOfStack = 10; + pxTopOfStack--; + + /* R9. */ + *pxTopOfStack = 9; + pxTopOfStack--; + + /* R8. */ + *pxTopOfStack = 8; + pxTopOfStack--; + + /* R7. */ + *pxTopOfStack = 7; + pxTopOfStack--; + + /* R6. */ + *pxTopOfStack = 6; + pxTopOfStack--; + + /* R5. */ + *pxTopOfStack = 5; + pxTopOfStack--; + + /* R4. */ + *pxTopOfStack = ( uint32_t ) pvParameters; + pxTopOfStack--; + + /* R3. */ + *pxTopOfStack = 3; + pxTopOfStack--; + + /* R2. */ + *pxTopOfStack = 2; + pxTopOfStack--; + + /* R1. */ + *pxTopOfStack = 1; + pxTopOfStack--; + + /* R0 */ + *pxTopOfStack = 0; + pxTopOfStack--; + + /* MACL. */ + *pxTopOfStack = 16; + pxTopOfStack--; + + /* MACH. */ + *pxTopOfStack = 17; + pxTopOfStack--; + + /* GBR. */ + *pxTopOfStack = ulPortGetGBR(); + + /* GBR = global base register. + VBR = vector base register. + TBR = jump table base register. + R15 is the stack pointer. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ +extern void vApplicationSetupTimerInterrupt( void ); + + /* Call an application function to set up the timer that will generate the + tick interrupt. This way the application can decide which peripheral to + use. A demo application is provided to show a suitable example. */ + vApplicationSetupTimerInterrupt(); + + /* Start the first task. This will only restore the standard registers and + not the flop registers. This does not really matter though because the only + flop register that is initialised to a particular value is fpscr, and it is + only initialised to the current value, which will still be the current value + when the first task starts executing. */ + trapa( portSTART_SCHEDULER_TRAP_NO ); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented as there is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ +int32_t lInterruptMask; + + /* Ensure the yield trap runs at the same priority as the other interrupts + that can cause a context switch. */ + lInterruptMask = get_imask(); + + /* taskYIELD() can only be called from a task, not an interrupt, so the + current interrupt mask can only be 0 or portKERNEL_INTERRUPT_PRIORITY and + the mask can be set without risk of accidentally lowering the mask value. */ + set_imask( portKERNEL_INTERRUPT_PRIORITY ); + + trapa( portYIELD_TRAP_NO ); + + /* Restore the interrupt mask to whatever it was previously (when the + function was entered). */ + set_imask( ( int ) lInterruptMask ); +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortUsesFloatingPoint( TaskHandle_t xTask ) +{ +uint32_t *pulFlopBuffer; +BaseType_t xReturn; +extern void * volatile pxCurrentTCB; + + /* This function tells the kernel that the task referenced by xTask is + going to use the floating point registers and therefore requires the + floating point registers saved as part of its context. */ + + /* Passing NULL as xTask is used to indicate that the calling task is the + subject task - so pxCurrentTCB is the task handle. */ + if( xTask == NULL ) + { + xTask = ( TaskHandle_t ) pxCurrentTCB; + } + + /* Allocate a buffer large enough to hold all the flop registers. */ + pulFlopBuffer = ( uint32_t * ) pvPortMalloc( portFLOP_STORAGE_SIZE ); + + if( pulFlopBuffer != NULL ) + { + /* Start with the registers in a benign state. */ + memset( ( void * ) pulFlopBuffer, 0x00, portFLOP_STORAGE_SIZE ); + + /* The first thing to get saved in the buffer is the FPSCR value - + initialise this to the current FPSCR value. */ + *pulFlopBuffer = get_fpscr(); + + /* Use the task tag to point to the flop buffer. Pass pointer to just + above the buffer because the flop save routine uses a pre-decrement. */ + vTaskSetApplicationTaskTag( xTask, ( void * ) ( pulFlopBuffer + portFLOP_REGISTERS_TO_STORE ) ); + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/portasm.src b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/portasm.src new file mode 100644 index 0000000..e2c1758 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/portasm.src @@ -0,0 +1,150 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + .import _pxCurrentTCB + .import _vTaskSwitchContext + .import _xTaskIncrementTick + + .export _vPortStartFirstTask + .export _ulPortGetGBR + .export _vPortYieldHandler + .export _vPortPreemptiveTick + .export _vPortCooperativeTick + .export _vPortSaveFlopRegisters + .export _vPortRestoreFlopRegisters + + .section P + + .INCLUDE "ISR_Support.inc" + +_vPortStartFirstTask: + + portRESTORE_CONTEXT + +;----------------------------------------------------------- + +_vPortYieldHandler: + + portSAVE_CONTEXT + + mov.l #_vTaskSwitchContext, r0 + jsr @r0 + nop + + portRESTORE_CONTEXT + +;----------------------------------------------------------- + +_vPortPreemptiveTick + + portSAVE_CONTEXT + + mov.l #_xTaskIncrementTick, r0 + jsr @r0 + nop + + mov.l #_vTaskSwitchContext, r0 + jsr @r0 + nop + + portRESTORE_CONTEXT + +;----------------------------------------------------------- + +_vPortCooperativeTick + + portSAVE_CONTEXT + + mov.l #_xTaskIncrementTick, r0 + jsr @r0 + nop + + portRESTORE_CONTEXT + +;----------------------------------------------------------- + +_ulPortGetGBR: + + stc.l gbr, r0 + rts + nop + +;----------------------------------------------------------- + +_vPortSaveFlopRegisters: + + fmov.s fr0, @-r4 + fmov.s fr1, @-r4 + fmov.s fr2, @-r4 + fmov.s fr3, @-r4 + fmov.s fr4, @-r4 + fmov.s fr5, @-r4 + fmov.s fr6, @-r4 + fmov.s fr7, @-r4 + fmov.s fr8, @-r4 + fmov.s fr9, @-r4 + fmov.s fr10, @-r4 + fmov.s fr11, @-r4 + fmov.s fr12, @-r4 + fmov.s fr13, @-r4 + fmov.s fr14, @-r4 + fmov.s fr15, @-r4 + sts.l fpul, @-r4 + sts.l fpscr, @-r4 + + rts + nop + +;----------------------------------------------------------- + +_vPortRestoreFlopRegisters: + + add.l #-72, r4 + lds.l @r4+, fpscr + lds.l @r4+, fpul + fmov.s @r4+, fr15 + fmov.s @r4+, fr14 + fmov.s @r4+, fr13 + fmov.s @r4+, fr12 + fmov.s @r4+, fr11 + fmov.s @r4+, fr10 + fmov.s @r4+, fr9 + fmov.s @r4+, fr8 + fmov.s @r4+, fr7 + fmov.s @r4+, fr6 + fmov.s @r4+, fr5 + fmov.s @r4+, fr4 + fmov.s @r4+, fr3 + fmov.s @r4+, fr2 + fmov.s @r4+, fr1 + fmov.s @r4+, fr0 + + rts + nop + + .end + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/portmacro.h new file mode 100644 index 0000000..d7ccc1f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Renesas/SH2A_FPU/portmacro.h @@ -0,0 +1,139 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + + /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() nop() +#define portSTART_SCHEDULER_TRAP_NO ( 32 ) +#define portYIELD_TRAP_NO ( 33 ) +#define portKERNEL_INTERRUPT_PRIORITY ( 1 ) + +void vPortYield( void ); +#define portYIELD() vPortYield() + +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) vTaskSwitchContext() + +/* + * This function tells the kernel that the task referenced by xTask is going to + * use the floating point registers and therefore requires the floating point + * registers saved as part of its context. + */ +BaseType_t xPortUsesFloatingPoint( void* xTask ); + +/* + * The flop save and restore functions are defined in portasm.src and called by + * the trace "task switched in" and "trace task switched out" macros. + */ +void vPortSaveFlopRegisters( void *pulBuffer ); +void vPortRestoreFlopRegisters( void *pulBuffer ); + +/* + * pxTaskTag is used to point to the buffer into which the floating point + * context should be saved. If pxTaskTag is NULL then the task does not use + * a floating point context. + */ +#define traceTASK_SWITCHED_OUT() if( pxCurrentTCB->pxTaskTag != NULL ) vPortSaveFlopRegisters( pxCurrentTCB->pxTaskTag ) +#define traceTASK_SWITCHED_IN() if( pxCurrentTCB->pxTaskTag != NULL ) vPortRestoreFlopRegisters( pxCurrentTCB->pxTaskTag ) + +/* + * These macros should be called directly, but through the taskENTER_CRITICAL() + * and taskEXIT_CRITICAL() macros. + */ +#define portENABLE_INTERRUPTS() set_imask( 0x00 ) +#define portDISABLE_INTERRUPTS() set_imask( portKERNEL_INTERRUPT_PRIORITY ) + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical(); +#define portEXIT_CRITICAL() vTaskExitCritical(); + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/ARM7/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/ARM7/readme.txt new file mode 100644 index 0000000..8d3e87f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/ARM7/readme.txt @@ -0,0 +1 @@ +The Rowley ARM7 demo uses the GCC ARM7 port files. \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/port.c new file mode 100644 index 0000000..0c60283 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/port.c @@ -0,0 +1,172 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MSP430 port. + *----------------------------------------------------------*/ + +/* Constants required for hardware setup. The tick ISR runs off the ACLK, +not the MCLK. */ +#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) +#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) +#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* Each task maintains a count of the critical section nesting depth. Each +time a critical section is entered the count is incremented. Each time a +critical section is exited the count is decremented - with interrupts only +being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* + Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be included if required. + + *pxTopOfStack = ( StackType_t ) 0x1111; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x2222; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x3333; + pxTopOfStack--; + */ + + /* The msp430 automatically pushes the PC then SR onto the stack before + executing an ISR. We want the stack to look just as if this has happened + so place a pointer to the start of the task on the stack first - followed + by the flags we want the task to use when it starts up. */ + *pxTopOfStack = ( StackType_t ) pxCode; + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Next the general purpose registers. */ + *pxTopOfStack = ( StackType_t ) 0x4444; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x6666; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x7777; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x8888; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x9999; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xaaaa; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xbbbb; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xcccc; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xdddd; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xeeee; + pxTopOfStack--; + + /* When the task starts is will expect to find the function parameter in + R15. */ + *pxTopOfStack = ( StackType_t ) pvParameters; + pxTopOfStack--; + + /* A variable is used to keep track of the critical section nesting. + This variable has to be stored as part of the task context and is + initially set to zero. */ + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the MSP430 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. This uses timer 0 + * but could alternatively use the watchdog timer or timer 1. + */ +void prvSetupTimerInterrupt( void ) +{ + /* Ensure the timer is stopped. */ + TACTL = 0; + + /* Run the timer of the ACLK. */ + TACTL = TASSEL_1; + + /* Clear everything to start with. */ + TACTL |= TACLR; + + /* Set the compare match value according to the tick rate we want. */ + TACCR0 = portACLK_FREQUENCY_HZ / configTICK_RATE_HZ; + + /* Enable the interrupts. */ + TACCTL0 = CCIE; + + /* Start up clean. */ + TACTL |= TACLR; + + /* Up mode. */ + TACTL |= MC_1; +} +/*-----------------------------------------------------------*/ + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portasm.h new file mode 100644 index 0000000..63fd246 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portasm.h @@ -0,0 +1,80 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORT_ASM_H +#define PORT_ASM_H + +portSAVE_CONTEXT macro + /* Save the remaining registers. */ + push r4 + push r5 + push r6 + push r7 + push r8 + push r9 + push r10 + push r11 + push r12 + push r13 + push r14 + push r15 + mov.w &_usCriticalNesting, r14 + push r14 + mov.w &_pxCurrentTCB, r12 + mov.w r1, @r12 + endm +/*-----------------------------------------------------------*/ + +portRESTORE_CONTEXT macro + mov.w &_pxCurrentTCB, r12 + mov.w @r12, r1 + pop r15 + mov.w r15, &_usCriticalNesting + pop r15 + pop r14 + pop r13 + pop r12 + pop r11 + pop r10 + pop r9 + pop r8 + pop r7 + pop r6 + pop r5 + pop r4 + + /* The last thing on the stack will be the status register. + Ensure the power down bits are clear ready for the next + time this power down register is popped from the stack. */ + bic.w #0xf0,0(SP) + + reti + endm +/*-----------------------------------------------------------*/ + +#endif + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portext.asm b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portext.asm new file mode 100644 index 0000000..a0567c2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portext.asm @@ -0,0 +1,102 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOSConfig.h" +#include "portasm.h" + + +.CODE + +/* + * The RTOS tick ISR. + * + * If the cooperative scheduler is in use this simply increments the tick + * count. + * + * If the preemptive scheduler is in use a context switch can also occur. + */ +_vTickISR: + portSAVE_CONTEXT + + call #_xTaskIncrementTick + cmp.w #0x00, r15 + jeq _SkipContextSwitch + call #_vTaskSwitchContext +_SkipContextSwitch: + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + +/* + * Manual context switch called by the portYIELD() macro. + */ +_vPortYield:: + + /* Mimic an interrupt by pushing the SR. */ + push SR + + /* Now the SR is stacked we can disable interrupts. */ + dint + + /* Save the context of the current task. */ + portSAVE_CONTEXT + + /* Switch to the highest priority task that is ready to run. */ + call #_vTaskSwitchContext + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + +/* + * Start off the scheduler by initialising the RTOS tick timer, then restoring + * the context of the first task. + */ +_xPortStartScheduler:: + + /* Setup the hardware to generate the tick. Interrupts are disabled + when this function is called. */ + call #_prvSetupTimerInterrupt + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + + + /* Place the tick ISR in the correct vector. */ + .VECTORS + + .KEEP + + ORG TIMERA0_VECTOR + DW _vTickISR + + + + END + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portmacro.h new file mode 100644 index 0000000..bd8780f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Rowley/MSP430F449/portmacro.h @@ -0,0 +1,132 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() _DINT(); _NOP() +#define portENABLE_INTERRUPTS() _EINT(); +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled usCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile uint16_t usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) __toplevel + +#if configINTERRUPT_EXAMPLE_METHOD == 2 + +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR( x ) if( x ) vTaskSwitchContext() + +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/SDCC/Cygnal/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/SDCC/Cygnal/port.c new file mode 100644 index 0000000..c7ca00f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/SDCC/Cygnal/port.c @@ -0,0 +1,424 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Cygnal port. + *----------------------------------------------------------*/ + +/* Standard includes. */ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to setup timer 2 to produce the RTOS tick. */ +#define portCLOCK_DIVISOR ( ( uint32_t ) 12 ) +#define portMAX_TIMER_VALUE ( ( uint32_t ) 0xffff ) +#define portENABLE_TIMER ( ( uint8_t ) 0x04 ) +#define portTIMER_2_INTERRUPT_ENABLE ( ( uint8_t ) 0x20 ) + +/* The value used in the IE register when a task first starts. */ +#define portGLOBAL_INTERRUPT_BIT ( ( StackType_t ) 0x80 ) + +/* The value used in the PSW register when a task first starts. */ +#define portINITIAL_PSW ( ( StackType_t ) 0x00 ) + +/* Macro to clear the timer 2 interrupt flag. */ +#define portCLEAR_INTERRUPT_FLAG() TMR2CN &= ~0x80; + +/* Used during a context switch to store the size of the stack being copied +to or from XRAM. */ +data static uint8_t ucStackBytes; + +/* Used during a context switch to point to the next byte in XRAM from/to which +a RAM byte is to be copied. */ +xdata static StackType_t * data pxXRAMStack; + +/* Used during a context switch to point to the next byte in RAM from/to which +an XRAM byte is to be copied. */ +data static StackType_t * data pxRAMStack; + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* + * Setup the hardware to generate an interrupt off timer 2 at the required + * frequency. + */ +static void prvSetupTimerInterrupt( void ); + +/*-----------------------------------------------------------*/ +/* + * Macro that copies the current stack from internal RAM to XRAM. This is + * required as the 8051 only contains enough internal RAM for a single stack, + * but we have a stack for every task. + */ +#define portCOPY_STACK_TO_XRAM() \ +{ \ + /* pxCurrentTCB points to a TCB which itself points to the location into \ + which the first stack byte should be copied. Set pxXRAMStack to point \ + to the location into which the first stack byte is to be copied. */ \ + pxXRAMStack = ( xdata StackType_t * ) *( ( xdata StackType_t ** ) pxCurrentTCB ); \ + \ + /* Set pxRAMStack to point to the first byte to be coped from the stack. */ \ + pxRAMStack = ( data StackType_t * data ) configSTACK_START; \ + \ + /* Calculate the size of the stack we are about to copy from the current \ + stack pointer value. */ \ + ucStackBytes = SP - ( configSTACK_START - 1 ); \ + \ + /* Before starting to copy the stack, store the calculated stack size so \ + the stack can be restored when the task is resumed. */ \ + *pxXRAMStack = ucStackBytes; \ + \ + /* Copy each stack byte in turn. pxXRAMStack is incremented first as we \ + have already stored the stack size into XRAM. */ \ + while( ucStackBytes ) \ + { \ + pxXRAMStack++; \ + *pxXRAMStack = *pxRAMStack; \ + pxRAMStack++; \ + ucStackBytes--; \ + } \ +} +/*-----------------------------------------------------------*/ + +/* + * Macro that copies the stack of the task being resumed from XRAM into + * internal RAM. + */ +#define portCOPY_XRAM_TO_STACK() \ +{ \ + /* Setup the pointers as per portCOPY_STACK_TO_XRAM(), but this time to \ + copy the data back out of XRAM and into the stack. */ \ + pxXRAMStack = ( xdata StackType_t * ) *( ( xdata StackType_t ** ) pxCurrentTCB ); \ + pxRAMStack = ( data StackType_t * data ) ( configSTACK_START - 1 ); \ + \ + /* The first value stored in XRAM was the size of the stack - i.e. the \ + number of bytes we need to copy back. */ \ + ucStackBytes = pxXRAMStack[ 0 ]; \ + \ + /* Copy the required number of bytes back into the stack. */ \ + do \ + { \ + pxXRAMStack++; \ + pxRAMStack++; \ + *pxRAMStack = *pxXRAMStack; \ + ucStackBytes--; \ + } while( ucStackBytes ); \ + \ + /* Restore the stack pointer ready to use the restored stack. */ \ + SP = ( uint8_t ) pxRAMStack; \ +} +/*-----------------------------------------------------------*/ + +/* + * Macro to push the current execution context onto the stack, before the stack + * is moved to XRAM. + */ +#define portSAVE_CONTEXT() \ +{ \ + _asm \ + /* Push ACC first, as when restoring the context it must be restored \ + last (it is used to set the IE register). */ \ + push ACC \ + /* Store the IE register then disable interrupts. */ \ + push IE \ + clr _EA \ + push DPL \ + push DPH \ + push b \ + push ar2 \ + push ar3 \ + push ar4 \ + push ar5 \ + push ar6 \ + push ar7 \ + push ar0 \ + push ar1 \ + push PSW \ + _endasm; \ + PSW = 0; \ + _asm \ + push _bp \ + _endasm; \ +} +/*-----------------------------------------------------------*/ + +/* + * Macro that restores the execution context from the stack. The execution + * context was saved into the stack before the stack was copied into XRAM. + */ +#define portRESTORE_CONTEXT() \ +{ \ + _asm \ + pop _bp \ + pop PSW \ + pop ar1 \ + pop ar0 \ + pop ar7 \ + pop ar6 \ + pop ar5 \ + pop ar4 \ + pop ar3 \ + pop ar2 \ + pop b \ + pop DPH \ + pop DPL \ + /* The next byte of the stack is the IE register. Only the global \ + enable bit forms part of the task context. Pop off the IE then set \ + the global enable bit to match that of the stored IE register. */ \ + pop ACC \ + JB ACC.7,0098$ \ + CLR IE.7 \ + LJMP 0099$ \ + 0098$: \ + SETB IE.7 \ + 0099$: \ + /* Finally pop off the ACC, which was the first register saved. */ \ + pop ACC \ + reti \ + _endasm; \ +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint32_t ulAddress; +StackType_t *pxStartOfStack; + + /* Leave space to write the size of the stack as the first byte. */ + pxStartOfStack = pxTopOfStack; + pxTopOfStack++; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be uncommented if required. + *pxTopOfStack = 0x11; + pxTopOfStack++; + *pxTopOfStack = 0x22; + pxTopOfStack++; + *pxTopOfStack = 0x33; + pxTopOfStack++; + */ + + /* Simulate how the stack would look after a call to the scheduler tick + ISR. + + The return address that would have been pushed by the MCU. */ + ulAddress = ( uint32_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ulAddress; + ulAddress >>= 8; + pxTopOfStack++; + *pxTopOfStack = ( StackType_t ) ( ulAddress ); + pxTopOfStack++; + + /* Next all the registers will have been pushed by portSAVE_CONTEXT(). */ + *pxTopOfStack = 0xaa; /* acc */ + pxTopOfStack++; + + /* We want tasks to start with interrupts enabled. */ + *pxTopOfStack = portGLOBAL_INTERRUPT_BIT; + pxTopOfStack++; + + /* The function parameters will be passed in the DPTR and B register as + a three byte generic pointer is used. */ + ulAddress = ( uint32_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ulAddress; /* DPL */ + ulAddress >>= 8; + *pxTopOfStack++; + *pxTopOfStack = ( StackType_t ) ulAddress; /* DPH */ + ulAddress >>= 8; + pxTopOfStack++; + *pxTopOfStack = ( StackType_t ) ulAddress; /* b */ + pxTopOfStack++; + + /* The remaining registers are straight forward. */ + *pxTopOfStack = 0x02; /* R2 */ + pxTopOfStack++; + *pxTopOfStack = 0x03; /* R3 */ + pxTopOfStack++; + *pxTopOfStack = 0x04; /* R4 */ + pxTopOfStack++; + *pxTopOfStack = 0x05; /* R5 */ + pxTopOfStack++; + *pxTopOfStack = 0x06; /* R6 */ + pxTopOfStack++; + *pxTopOfStack = 0x07; /* R7 */ + pxTopOfStack++; + *pxTopOfStack = 0x00; /* R0 */ + pxTopOfStack++; + *pxTopOfStack = 0x01; /* R1 */ + pxTopOfStack++; + *pxTopOfStack = 0x00; /* PSW */ + pxTopOfStack++; + *pxTopOfStack = 0xbb; /* BP */ + + /* Dont increment the stack size here as we don't want to include + the stack size byte as part of the stack size count. + + Finally we place the stack size at the beginning. */ + *pxStartOfStack = ( StackType_t ) ( pxTopOfStack - pxStartOfStack ); + + /* Unlike most ports, we return the start of the stack as this is where the + size of the stack is stored. */ + return pxStartOfStack; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* Setup timer 2 to generate the RTOS tick. */ + prvSetupTimerInterrupt(); + + /* Make sure we start with the expected SFR page. This line should not + really be required. */ + SFRPAGE = 0; + + /* Copy the stack for the first task to execute from XRAM into the stack, + restore the task context from the new stack, then start running the task. */ + portCOPY_XRAM_TO_STACK(); + portRESTORE_CONTEXT(); + + /* Should never get here! */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented for this port. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. The first thing we do is save the registers so we + * can use a naked attribute. + */ +void vPortYield( void ) _naked +{ + /* Save the execution context onto the stack, then copy the entire stack + to XRAM. This is necessary as the internal RAM is only large enough to + hold one stack, and we want one per task. + + PERFORMANCE COULD BE IMPROVED BY ONLY COPYING TO XRAM IF A TASK SWITCH + IS REQUIRED. */ + portSAVE_CONTEXT(); + portCOPY_STACK_TO_XRAM(); + + /* Call the standard scheduler context switch function. */ + vTaskSwitchContext(); + + /* Copy the stack of the task about to execute from XRAM into RAM and + restore it's context ready to run on exiting. */ + portCOPY_XRAM_TO_STACK(); + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + void vTimer2ISR( void ) interrupt 5 _naked + { + /* Preemptive context switch function triggered by the timer 2 ISR. + This does the same as vPortYield() (see above) with the addition + of incrementing the RTOS tick count. */ + + portSAVE_CONTEXT(); + portCOPY_STACK_TO_XRAM(); + + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + portCLEAR_INTERRUPT_FLAG(); + portCOPY_XRAM_TO_STACK(); + portRESTORE_CONTEXT(); + } +#else + void vTimer2ISR( void ) interrupt 5 + { + /* When using the cooperative scheduler the timer 2 ISR is only + required to increment the RTOS tick count. */ + + xTaskIncrementTick(); + portCLEAR_INTERRUPT_FLAG(); + } +#endif +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +uint8_t ucOriginalSFRPage; + +/* Constants calculated to give the required timer capture values. */ +const uint32_t ulTicksPerSecond = configCPU_CLOCK_HZ / portCLOCK_DIVISOR; +const uint32_t ulCaptureTime = ulTicksPerSecond / configTICK_RATE_HZ; +const uint32_t ulCaptureValue = portMAX_TIMER_VALUE - ulCaptureTime; +const uint8_t ucLowCaptureByte = ( uint8_t ) ( ulCaptureValue & ( uint32_t ) 0xff ); +const uint8_t ucHighCaptureByte = ( uint8_t ) ( ulCaptureValue >> ( uint32_t ) 8 ); + + /* NOTE: This uses a timer only present on 8052 architecture. */ + + /* Remember the current SFR page so we can restore it at the end of the + function. */ + ucOriginalSFRPage = SFRPAGE; + SFRPAGE = 0; + + /* TMR2CF can be left in its default state. */ + TMR2CF = ( uint8_t ) 0; + + /* Setup the overflow reload value. */ + RCAP2L = ucLowCaptureByte; + RCAP2H = ucHighCaptureByte; + + /* The initial load is performed manually. */ + TMR2L = ucLowCaptureByte; + TMR2H = ucHighCaptureByte; + + /* Enable the timer 2 interrupts. */ + IE |= portTIMER_2_INTERRUPT_ENABLE; + + /* Interrupts are disabled when this is called so the timer can be started + here. */ + TMR2CN = portENABLE_TIMER; + + /* Restore the original SFR page. */ + SFRPAGE = ucOriginalSFRPage; +} + + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/SDCC/Cygnal/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/SDCC/Cygnal/portmacro.h new file mode 100644 index 0000000..0c51e56 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/SDCC/Cygnal/portmacro.h @@ -0,0 +1,115 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#if configUSE_PREEMPTION == 0 + void vTimer2ISR( void ) interrupt 5; +#else + void vTimer2ISR( void ) interrupt 5 _naked; +#endif + +void vSerialISR( void ) interrupt 4; + + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE float +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portENTER_CRITICAL() _asm \ + push ACC \ + push IE \ + _endasm; \ + EA = 0; + +#define portEXIT_CRITICAL() _asm \ + pop ACC \ + _endasm; \ + ACC &= 0x80; \ + IE |= ACC; \ + _asm \ + pop ACC \ + _endasm; + +#define portDISABLE_INTERRUPTS() EA = 0; +#define portENABLE_INTERRUPTS() EA = 1; +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 1 +#define portSTACK_GROWTH ( 1 ) +#define portTICK_PERIOD_MS ( ( uint32_t ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +void vPortYield( void ) _naked; +#define portYIELD() vPortYield(); +/*-----------------------------------------------------------*/ + +#define portNOP() _asm \ + nop \ + _endasm; + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#endif /* PORTMACRO_H */ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/__STD_LIB_sbrk.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/__STD_LIB_sbrk.c new file mode 100644 index 0000000..fe70d48 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/__STD_LIB_sbrk.c @@ -0,0 +1,23 @@ +#include "FreeRTOSConfig.h" +#include + + static long brk_siz = 0; +// #if configTOTAL_HEAP_SIZE != 0 + typedef int _heep_t; + #define ROUNDUP(s) (((s)+sizeof(_heep_t)-1)&~(sizeof(_heep_t)-1)) + static _heep_t _heep[ROUNDUP(configTOTAL_HEAP_SIZE)/sizeof(_heep_t)]; + #define _heep_size ROUNDUP(configTOTAL_HEAP_SIZE) +/* #else + extern char *_heep; + extern long _heep_size; + #endif +*/ + extern char *sbrk(int size) + { + if (brk_siz + size > _heep_size || brk_siz + size < 0) + + return((char*)-1); + brk_siz += size; + return( (char*)_heep + brk_siz - size); + } + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/port.c new file mode 100644 index 0000000..b8faac0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/port.c @@ -0,0 +1,321 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOS.h" +#include "task.h" +#include "mb91467d.h" + +/*-----------------------------------------------------------*/ + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +#pragma asm +#macro SaveContext + ORCCR #0x20 ;Switch to user stack + ST RP,@-R15 ;Store RP + STM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Store R7-R0 + STM1 (R14,R13,R12,R11,R10,R9,R8) ;Store R14-R8 + ST MDH, @-R15 ;Store MDH + ST MDL, @-R15 ;Store MDL + + ANDCCR #0xDF ;Switch back to system stack + LD @R15+,R0 ;Store PC to R0 + ORCCR #0x20 ;Switch to user stack + ST R0,@-R15 ;Store PC to User stack + + ANDCCR #0xDF ;Switch back to system stack + LD @R15+,R0 ;Store PS to R0 + ORCCR #0x20 ;Switch to user stack + ST R0,@-R15 ;Store PS to User stack + + LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address + LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address + ST R15,@R0 ;Store USP to pxCurrentTCB->pxTopOfStack + + ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR +#endm + +#macro RestoreContext + LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address + LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address + ORCCR #0x20 ;Switch to user stack + LD @R0, R15 ;Restore USP from pxCurrentTCB->pxTopOfStack + + LD @R15+,R0 ;Store PS to R0 + ANDCCR #0xDF ;Switch to system stack + ST R0,@-R15 ;Store PS to system stack + + ORCCR #0x20 ;Switch to user stack + LD @R15+,R0 ;Store PC to R0 + ANDCCR #0xDF ;Switch to system stack + ST R0,@-R15 ;Store PC to system stack + + ORCCR #0x20 ;Switch back to retrieve the remaining context + + LD @R15+, MDL ;Restore MDL + LD @R15+, MDH ;Restore MDH + LDM1 (R14,R13,R12,R11,R10,R9,R8) ;Restore R14-R8 + LDM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Restore R7-R0 + LD @R15+, RP ;Restore RP + + ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR +#endm +#pragma endasm + +/*-----------------------------------------------------------*/ + +/* + * Perform hardware setup to enable ticks from timer 1, + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x11111111; + pxTopOfStack--; + *pxTopOfStack = 0x22222222; + pxTopOfStack--; + *pxTopOfStack = 0x33333333; + pxTopOfStack--; + + /* This is a redundant push to the stack, it may be required if + in some implementations of the compiler the parameter to the task + is passed on to the stack rather than in R4 register. */ + *pxTopOfStack = (StackType_t)(pvParameters); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x00000000; /* RP */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00007777; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00006666; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00005555; /* R5 */ + pxTopOfStack--; + + /* In the current implementation of the compiler the first + parameter to the task (or function) is passed via R4 parameter + to the task, hence the pvParameters pointer is copied into the R4 + register. See compiler manual section 4.6.2 for more information. */ + *pxTopOfStack = ( StackType_t ) (pvParameters); /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00003333; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00002222; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00001111; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00000001; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0000EEEE; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0000DDDD; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0000CCCC; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0000BBBB; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0000AAAA; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00009999; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00008888; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11110000; /* MDH */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22220000; /* MDL */ + pxTopOfStack--; + + /* The start of the task code. */ + *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + pxTopOfStack--; + + /* PS - User Mode, USP, ILM=31, Interrupts enabled */ + *pxTopOfStack = ( StackType_t ) 0x001F0030; /* PS */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + #pragma asm + RestoreContext + #pragma endasm + + /* Simulate a function call end as generated by the compiler. We will now + jump to the start of the task the context of which we have just restored. */ + __asm(" reti "); + + /* Should not get here. */ + return pdFAIL; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented - unlikely to ever be required as there is nothing to + return to. */ +} +/*-----------------------------------------------------------*/ + +static void prvSetupTimerInterrupt( void ) +{ +/* The peripheral clock divided by 32 is used by the timer. */ +const uint16_t usReloadValue = ( uint16_t ) ( ( ( configPER_CLOCK_HZ / configTICK_RATE_HZ ) / 32UL ) - 1UL ); + + /* Setup RLT0 to generate a tick interrupt. */ + + TMCSR0_CNTE = 0; /* Count Disable */ + TMCSR0_CSL = 0x2; /* CLKP/32 */ + TMCSR0_MOD = 0; /* Software trigger */ + TMCSR0_RELD = 1; /* Reload */ + + TMCSR0_UF = 0; /* Clear underflow flag */ + TMRLR0 = usReloadValue; + TMCSR0_INTE = 1; /* Interrupt Enable */ + TMCSR0_CNTE = 1; /* Count Enable */ + TMCSR0_TRG = 1; /* Trigger */ + + PORTEN = 0x3; /* Port Enable */ +} +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + + /* + * Tick ISR for preemptive scheduler. The tick count is incremented + * after the context is saved. Then the context is switched if required, + * and last the context of the task which is to be resumed is restored. + */ + + #pragma asm + + .global _ReloadTimer0_IRQHandler + _ReloadTimer0_IRQHandler: + + ANDCCR #0xEF ;Disable Interrupts + SaveContext ;Save context + ORCCR #0x10 ;Re-enable Interrupts + + LDI #0xFFFB,R1 + LDI #_tmcsr0, R0 + AND R1,@R0 ;Clear RLT0 interrupt flag + + CALL32 _xTaskIncrementTick,R12 ;Increment Tick + CALL32 _vTaskSwitchContext,R12 ;Switch context if required + + ANDCCR #0xEF ;Disable Interrupts + RestoreContext ;Restore context + ORCCR #0x10 ;Re-enable Interrupts + + RETI + + #pragma endasm + +#else + + /* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + __interrupt void ReloadTimer0_IRQHandler( void ) + { + /* Clear RLT0 interrupt flag */ + TMCSR0_UF = 0; + xTaskIncrementTick(); + } + +#endif + +/* + * Manual context switch. We can use a __nosavereg attribute as the context + * would be saved by PortSAVE_CONTEXT(). The context is switched and then + * the context of the new task is restored saved. + */ +#pragma asm + + .global _vPortYieldDelayed + _vPortYieldDelayed: + + ANDCCR #0xEF ;Disable Interrupts + SaveContext ;Save context + ORCCR #0x10 ;Re-enable Interrupts + + LDI #_dicr, R0 + BANDL #0x0E, @R0 ;Clear Delayed interrupt flag + + CALL32 _vTaskSwitchContext,R12 ;Switch context if required + + ANDCCR #0xEF ;Disable Interrupts + RestoreContext ;Restore context + ORCCR #0x10 ;Re-enable Interrupts + + RETI + +#pragma endasm +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. We can use a __nosavereg attribute as the context + * would be saved by PortSAVE_CONTEXT(). The context is switched and then + * the context of the new task is restored saved. + */ +#pragma asm + + .global _vPortYield + _vPortYield: + + SaveContext ;Save context + CALL32 _vTaskSwitchContext,R12 ;Switch context if required + RestoreContext ;Restore context + + RETI + +#pragma endasm +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/portmacro.h new file mode 100644 index 0000000..6f4bcf2 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB91460/portmacro.h @@ -0,0 +1,109 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* Hardware specific includes. */ +#include "mb91467d.h" + +/* Standard includes. */ +#include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#if configKERNEL_INTERRUPT_PRIORITY != 30 + #error configKERNEL_INTERRUPT_PRIORITY (set in FreeRTOSConfig.h) must match the ILM value set in the following line - 30 (1Eh) being the default. +#endif +#define portDISABLE_INTERRUPTS() __asm(" STILM #1Eh ") +#define portENABLE_INTERRUPTS() __asm(" STILM #1Fh ") + +#define portENTER_CRITICAL() \ + __asm(" ST PS,@-R15 "); \ + __asm(" ANDCCR #0xef "); \ + + +#define portEXIT_CRITICAL() \ + __asm(" LD @R15+,PS "); \ + +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() __asm( " nop " ); +/*-----------------------------------------------------------*/ + +/* portYIELD() uses a SW interrupt */ +#define portYIELD() __asm( " INT #40H " ); + +/* portYIELD_FROM_ISR() uses delayed interrupt */ +#define portYIELD_FROM_ISR() DICR_DLYI = 1 +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#define portMINIMAL_STACK_SIZE configMINIMAL_STACK_SIZE + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/__STD_LIB_sbrk.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/__STD_LIB_sbrk.c new file mode 100644 index 0000000..a520aff --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/__STD_LIB_sbrk.c @@ -0,0 +1,28 @@ +/* THIS SAMPLE CODE IS PROVIDED AS IS AND IS SUBJECT TO ALTERATIONS. FUJITSU */ +/* MICROELECTRONICS ACCEPTS NO RESPONSIBILITY OR LIABILITY FOR ANY ERRORS OR */ +/* ELIGIBILITY FOR ANY PURPOSES. */ +/* (C) Fujitsu Microelectronics Europe GmbH */ +/*--------------------------------------------------------------------------- + __STD_LIB_sbrk.C + - Used by heap_3.c for memory accocation and deletion. + +/*---------------------------------------------------------------------------*/ + +#include "FreeRTOSConfig.h" +#include + + static long brk_siz = 0; + typedef int _heep_t; + #define ROUNDUP(s) (((s)+sizeof(_heep_t)-1)&~(sizeof(_heep_t)-1)) + static _heep_t _heep[ROUNDUP(configTOTAL_HEAP_SIZE)/sizeof(_heep_t)]; + #define _heep_size ROUNDUP(configTOTAL_HEAP_SIZE) + + extern char *sbrk(int size) + { + if (brk_siz + size > _heep_size || brk_siz + size < 0) + + return((char*)-1); + brk_siz += size; + return( (char*)_heep + brk_siz - size); + } + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/port.c new file mode 100644 index 0000000..813db10 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/port.c @@ -0,0 +1,509 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the 16FX port. + *----------------------------------------------------------*/ + +/* + * Get current value of DPR and ADB registers + */ +StackType_t xGet_DPR_ADB_bank( void ); + +/* + * Get current value of DTB and PCB registers + */ +StackType_t xGet_DTB_PCB_bank( void ); + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses RLT0, but + * can be done using any given RLT. + */ +static void prvSetupRLT0Interrupt( void ); + +/*-----------------------------------------------------------*/ + +/* + * We require the address of the pxCurrentTCB variable, but don't want to know + * any details of its type. + */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/* + * Macro to save a task context to the task stack. This macro copies the + * saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from the system + * stack to task stack pointed by user stack pointer ( USP for SMALL and + * MEDIUM memory model amd USB:USP for COMPACT and LARGE memory model ), + * then it pushes the general purpose registers RW0-RW7 on to the task + * stack. Finally the resultant stack pointer value is saved into the + * task control block so it can be retrieved the next time the task + * executes. + */ +#if( ( configMEMMODEL == portSMALL ) || ( configMEMMODEL == portMEDIUM ) ) + + #define portSAVE_CONTEXT() \ + { __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ + __asm(" MOVW A, _pxCurrentTCB "); \ + __asm(" MOVW A, SP "); \ + __asm(" SWAPW "); \ + __asm(" MOVW @AL, AH "); \ + __asm(" OR CCR,#H'20 "); \ + } + +/* + * Macro to restore a task context from the task stack. This is effecti- + * vely the reverse of SAVE_CONTEXT(). First the stack pointer value + * (USP for SMALL and MEDIUM memory model amd USB:USP for COMPACT and + * LARGE memory model ) is loaded from the task control block. Next the + * value of all the general purpose registers RW0-RW7 is retrieved. Fina- + * lly it copies of the context ( AH:AL, DPR:ADB, DTB:PCB, PC and PS) of + * the task to be executed upon RETI from user stack to system stack. + */ + + #define portRESTORE_CONTEXT() \ + { __asm(" MOVW A, _pxCurrentTCB "); \ + __asm(" MOVW A, @A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" MOVW SP, A "); \ + __asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + } + +#elif( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) ) + + #define portSAVE_CONTEXT() \ + { __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" POPW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" PUSHW A "); \ + __asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ + __asm(" MOVL A, _pxCurrentTCB "); \ + __asm(" MOVL RL2, A "); \ + __asm(" MOVW A, SP "); \ + __asm(" MOVW @RL2+0, A "); \ + __asm(" MOV A, USB "); \ + __asm(" MOV @RL2+2, A "); \ + } + + #define portRESTORE_CONTEXT() \ + { __asm(" MOVL A, _pxCurrentTCB "); \ + __asm(" MOVL RL2, A "); \ + __asm(" MOVW A, @RL2+0 "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" MOVW SP, A "); \ + __asm(" MOV A, @RL2+2 "); \ + __asm(" MOV USB, A "); \ + __asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + __asm(" AND CCR,#H'DF "); \ + __asm(" POPW A "); \ + __asm(" OR CCR,#H'20 "); \ + __asm(" PUSHW A "); \ + } +#endif + +/*-----------------------------------------------------------*/ + +/* + * Functions for obtaining the current value of DPR:ADB, DTB:PCB bank registers + */ + +#pragma asm + + .GLOBAL _xGet_DPR_ADB_bank + .GLOBAL _xGet_DTB_PCB_bank + .SECTION CODE, CODE, ALIGN=1 + +_xGet_DPR_ADB_bank: + + MOV A, DPR + SWAP + MOV A, ADB + ORW A + #if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE + RETP + #elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT + RET + #endif + + +_xGet_DTB_PCB_bank: + + MOV A, DTB + SWAP + MOV A, PCB + ORW A + #if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE + RETP + #elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT + RET + #endif + +#pragma endasm +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + *pxTopOfStack = 0x1111; + pxTopOfStack--; + *pxTopOfStack = 0x2222; + pxTopOfStack--; + *pxTopOfStack = 0x3333; + pxTopOfStack--; + + /* Once the task is called the task would push the pointer to the + parameter onto the stack. Hence here the pointer would be copied to the stack + first. When using the COMPACT or LARGE memory model the pointer would be 24 + bits, and when using the SMALL or MEDIUM memory model the pointer would be 16 + bits. */ + #if( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) ) + { + *pxTopOfStack = ( StackType_t ) ( ( uint32_t ) ( pvParameters ) >> 16 ); + pxTopOfStack--; + } + #endif + + *pxTopOfStack = ( StackType_t ) ( pvParameters ); + pxTopOfStack--; + + /* This is redundant push to the stack. This is required in order to introduce + an offset so that the task accesses a parameter correctly that is passed on to + the task stack. */ + #if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) ) + { + *pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( int32_t ) ( pxCode ) >> 16 ) & 0xff ); + pxTopOfStack--; + } + #endif + + /* This is redundant push to the stack. This is required in order to introduce + an offset so the task correctly accesses the parameter passed on the task stack. */ + *pxTopOfStack = ( StackType_t ) ( pxCode ); + pxTopOfStack--; + + /* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */ + *pxTopOfStack = 0xE0C0; + pxTopOfStack--; + + /* PC */ + *pxTopOfStack = ( StackType_t ) ( pxCode ); + pxTopOfStack--; + + /* DTB | PCB */ + #if configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT + { + *pxTopOfStack = xGet_DTB_PCB_bank(); + pxTopOfStack--; + } + #endif + + /* DTB | PCB, in case of MEDIUM and LARGE memory models, PCB would be used + along with PC to indicate the start address of the function. */ + #if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) ) + { + *pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( int32_t ) ( pxCode ) >> 16 ) & 0xff ); + pxTopOfStack--; + } + #endif + + /* DPR | ADB */ + *pxTopOfStack = xGet_DPR_ADB_bank(); + pxTopOfStack--; + + /* AL */ + *pxTopOfStack = ( StackType_t ) 0x9999; + pxTopOfStack--; + + /* AH */ + *pxTopOfStack = ( StackType_t ) 0xAAAA; + pxTopOfStack--; + + /* Next the general purpose registers. */ + *pxTopOfStack = ( StackType_t ) 0x7777; /* RW7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x6666; /* RW6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x5555; /* RW5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x4444; /* RW4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x3333; /* RW3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x2222; /* RW2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x1111; /* RW1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x8888; /* RW0 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvSetupRLT0Interrupt( void ) +{ +/* The peripheral clock divided by 16 is used by the timer. */ +const uint16_t usReloadValue = ( uint16_t ) ( ( ( configCLKP1_CLOCK_HZ / configTICK_RATE_HZ ) / 16UL ) - 1UL ); + + /* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */ + TMRLR0 = usReloadValue; + + /* prescaler 1:16, reload, interrupt enable, count enable, trigger */ + TMCSR0 = 0x041B; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the hardware to generate the tick. */ + prvSetupRLT0Interrupt(); + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); + + /* Simulate a function call end as generated by the compiler. We will now + jump to the start of the task the context of which we have just restored. */ + __asm(" reti "); + + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented - unlikely to ever be required as there is nothing to + return to. */ +} + +/*-----------------------------------------------------------*/ + +/* + * The interrupt service routine used depends on whether the pre-emptive + * scheduler is being used or not. + */ + +#if configUSE_PREEMPTION == 1 + + /* + * Tick ISR for preemptive scheduler. We can use a __nosavereg attribute + * as the context is to be saved by the portSAVE_CONTEXT() macro, not the + * compiler generated code. The tick count is incremented after the context + * is saved. + */ + __nosavereg __interrupt void prvRLT0_TICKISR( void ) + { + /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ + __DI(); + + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* Enable interrupts */ + __EI(); + + /* Clear RLT0 interrupt flag */ + TMCSR0_UF = 0; + + /* Increment the tick count then switch to the highest priority task + that is ready to run. */ + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + + /* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */ + __DI(); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); + + /* Enable interrupts */ + __EI(); + } + +#else + + /* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + __interrupt void prvRLT0_TICKISR( void ) + { + /* Clear RLT0 interrupt flag */ + TMCSR0_UF = 0; + + xTaskIncrementTick(); + } + +#endif + +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. We can use a __nosavereg attribute as the context + * is to be saved by the portSAVE_CONTEXT() macro, not the compiler generated + * code. + */ +__nosavereg __interrupt void vPortYield( void ) +{ + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* Switch to the highest priority task that is ready to run. */ + vTaskSwitchContext(); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +__nosavereg __interrupt void vPortYieldDelayed( void ) +{ + /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ + __DI(); + + /* Save the context of the interrupted task. */ + portSAVE_CONTEXT(); + + /* Enable interrupts */ + __EI(); + + /* Clear delayed interrupt flag */ + __asm (" CLRB 03A4H:0 "); + + /* Switch to the highest priority task that is ready to run. */ + vTaskSwitchContext(); + + /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ + __DI(); + + /* Restore the context of the new task. */ + portRESTORE_CONTEXT(); + + /* Enable interrupts */ + __EI(); +} +/*-----------------------------------------------------------*/ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/portmacro.h new file mode 100644 index 0000000..941cd2a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Softune/MB96340/portmacro.h @@ -0,0 +1,116 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* Standard includes. */ +#include + +/* Constants denoting the available memory models. These are used within +FreeRTOSConfig.h to set the configMEMMODEL value. */ +#define portSMALL 0 +#define portMEDIUM 1 +#define portCOMPACT 2 +#define portLARGE 3 + + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section handling. */ +#if configKERNEL_INTERRUPT_PRIORITY != 6 + #error configKERNEL_INTERRUPT_PRIORITY (set in FreeRTOSConfig.h) must match the ILM value set in the following line - #06H being the default. +#endif +#define portDISABLE_INTERRUPTS() __asm(" MOV ILM, #06h ") +#define portENABLE_INTERRUPTS() __asm(" MOV ILM, #07h ") + +#define portENTER_CRITICAL() \ + { __asm(" PUSHW PS "); \ + portDISABLE_INTERRUPTS(); \ + } + +#define portEXIT_CRITICAL() \ + { __asm(" POPW PS "); \ + } + +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 2 +#define portNOP() __asm( " NOP " ); +/*-----------------------------------------------------------*/ + +/* portYIELD() uses SW interrupt */ +#define portYIELD() __asm( " INT #122 " ); + +/* portYIELD_FROM_ISR() uses delayed interrupt */ +#define portYIELD_FROM_ISR() __asm( " SETB 03A4H:0 " ); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#define portMINIMAL_STACK_SIZE configMINIMAL_STACK_SIZE + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/port.c new file mode 100644 index 0000000..76b570f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/port.c @@ -0,0 +1,267 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- +* Implementation of functions defined in portable.h for the ARM CM4F port. +*----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL ( ( volatile uint32_t * ) 0xe000e010 ) +#define portNVIC_SYSTICK_LOAD ( ( volatile uint32_t * ) 0xe000e014 ) +#define portNVIC_SHPR3_REG ( ( volatile uint32_t * ) 0xe000ed20 ) +#define portNVIC_SYSTICK_CLK 0x00000004 +#define portNVIC_SYSTICK_INT 0x00000002 +#define portNVIC_SYSTICK_ENABLE 0x00000001 +#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16 ) +#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24 ) + +/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ +#define portVECTACTIVE_MASK ( 0xFFUL ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) + +/* Let the user override the pre-loading of the initial LR with the address of + * prvTaskExitError() in case it messes up unwinding of the stack in the + * debugger. */ +#ifdef configTASK_RETURN_ADDRESS + #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS +#else + #define portTASK_RETURN_ADDRESS prvTaskExitError +#endif + +/* For strict compliance with the Cortex-M spec the task start address should + * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + +/* The priority used by the kernel is assigned to a variable to make access + * from inline assembler easier. */ +const uint32_t ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY; + +/* Each task maintains its own interrupt status in the critical nesting + * variable. */ +static uint32_t ulCriticalNesting = 0xaaaaaaaaUL; + +/* + * Setup the timer to generate the tick interrupts. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void SysTick_Handler( void ); + +/* + * Functions defined in port_asm.asm. + */ +extern void vPortEnableVFP( void ); +extern void vPortStartFirstTask( void ); + +/* + * Used to catch tasks that attempt to return from their implementing function. + */ +static void prvTaskExitError( void ); + +/* This exists purely to allow the const to be used from within the + * port_asm.asm assembly file. */ +const uint32_t ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + * interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + * of interrupts, and to ensure alignment. */ + pxTopOfStack--; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + /* A save method is being used that requires each task to maintain its + * own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +static void prvTaskExitError( void ) +{ + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). + * + * Artificially force an assert() to be triggered if configASSERT() is + * defined, then stop here so application writers can catch the error. */ + configASSERT( ulCriticalNesting == ~0UL ); + portDISABLE_INTERRUPTS(); + + for( ; ; ) + { + } +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +BaseType_t xPortStartScheduler( void ) +{ + /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. + * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); + + /* Make PendSV and SysTick the lowest priority interrupts. */ + *( portNVIC_SHPR3_REG ) |= portNVIC_PENDSV_PRI; + *( portNVIC_SHPR3_REG ) |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + * here already. */ + prvSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Not implemented in ports where there is nothing to return to. + * Artificially force an assert. */ + configASSERT( ulCriticalNesting == 1000UL ); +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ + /* Set a PendSV to request a context switch. */ + *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET; + + /* Barriers are normally not required but do ensure the code is completely + * within the specified behaviour for the architecture. */ + __DSB(); + __ISB(); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; + __DSB(); + __ISB(); + + /* This is not the interrupt safe version of the enter critical function so + * assert() if it is being called from an interrupt context. Only API + * functions that end in "FromISR" can be used in an interrupt. Only assert if + * the critical nesting count is 1 to protect against recursive calls if the + * assert function also uses a critical section. */ + if( ulCriticalNesting == 1 ) + { + configASSERT( ( ( *( portNVIC_INT_CTRL ) ) & portVECTACTIVE_MASK ) == 0 ); + } +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + configASSERT( ulCriticalNesting ); + ulCriticalNesting--; + + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) +{ + uint32_t ulDummy; + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( xTaskIncrementTick() != pdFALSE ) + { + /* Pend a context switch. */ + *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +void prvSetupTimerInterrupt( void ) +{ + /* Configure SysTick to interrupt at the requested rate. */ + *( portNVIC_SYSTICK_LOAD ) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + *( portNVIC_SYSTICK_CTRL ) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/port_asm.asm b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/port_asm.asm new file mode 100644 index 0000000..2069ad4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/port_asm.asm @@ -0,0 +1,236 @@ +;/* +; * FreeRTOS Kernel V10.4.3 +; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. +; * +; * Permission is hereby granted, free of charge, to any person obtaining a copy of +; * this software and associated documentation files (the "Software"), to deal in +; * the Software without restriction, including without limitation the rights to +; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +; * the Software, and to permit persons to whom the Software is furnished to do so, +; * subject to the following conditions: +; * +; * The above copyright notice and this permission notice shall be included in all +; * copies or substantial portions of the Software. +; * +; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +; * +; * https://www.FreeRTOS.org +; * https://github.com/FreeRTOS +; * +; * 1 tab == 4 spaces! +; */ + + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern ulMaxSyscallInterruptPriorityConst + + .global _vector_14 + .global _lc_ref__vector_pp_14 + .global SVC_Handler + .global vPortStartFirstTask + .global vPortEnableVFP + .global ulPortSetInterruptMask + .global vPortClearInterruptMask + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +_vector_14: .type func + + mrs r0, psp + isb + + ;Get the location of the current TCB. + ldr.w r3, =pxCurrentTCB + ldr r2, [r3] + + ;Is the task using the FPU context? If so, push high vfp registers. + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + ;Save the core registers. + stmdb r0!, {r4-r11, r14} + + ;Save the new top of stack into the first member of the TCB. + str r0, [r2] + + stmdb sp!, {r0, r3} + ldr.w r0, =ulMaxSyscallInterruptPriorityConst + ldr r0, [r0] + msr basepri, r0 + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r0, r3} + + ;The first item in pxCurrentTCB is the task top of stack. + ldr r1, [r3] + ldr r0, [r1] + + ;Pop the core registers. + ldmia r0!, {r4-r11, r14} + + ;Is the task using the FPU context? If so, pop the high vfp registers too. + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + bx r14 + + .size _vector_14, $-_vector_14 + .endsec + +;----------------------------------------------------------- + +; This function is an XMC4000 silicon errata workaround. It will get used when +; the SILICON_BUG_PMC_CM_001 linker macro is defined. + .section .text + .thumb + .align 4 +_lc_ref__vector_pp_14: .type func + + mrs r0, psp + isb + + ;Get the location of the current TCB. + ldr.w r3, =pxCurrentTCB + ldr r2, [r3] + + ;Is the task using the FPU context? If so, push high vfp registers. + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + ;Save the core registers. + stmdb r0!, {r4-r11, r14} + + ;Save the new top of stack into the first member of the TCB. + str r0, [r2] + + stmdb sp!, {r3} + ldr.w r0, =ulMaxSyscallInterruptPriorityConst + ldr r0, [r0] + msr basepri, r0 + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r3} + + ;The first item in pxCurrentTCB is the task top of stack. + ldr r1, [r3] + ldr r0, [r1] + + ;Pop the core registers. + ldmia r0!, {r4-r11, r14} + + ;Is the task using the FPU context? If so, pop the high vfp registers too. + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + isb + push { lr } + pop { pc } ; XMC4000 specific errata workaround. Do not used "bx lr" here. + + .size _lc_ref__vector_pp_14, $-_lc_ref__vector_pp_14 + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +SVC_Handler: .type func + ;Get the location of the current TCB. + ldr.w r3, =pxCurrentTCB + ldr r1, [r3] + ldr r0, [r1] + ;Pop the core registers. + ldmia r0!, {r4-r11, r14} + msr psp, r0 + isb + mov r0, #0 + msr basepri, r0 + bx r14 + .size SVC_Handler, $-SVC_Handler + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +vPortStartFirstTask .type func + ;Use the NVIC offset register to locate the stack. + ldr.w r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + ;Set the msp back to the start of the stack. + msr msp, r0 + ;Call SVC to start the first task. + cpsie i + cpsie f + dsb + isb + svc 0 + .size vPortStartFirstTask, $-vPortStartFirstTask + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +vPortEnableVFP .type func + ;The FPU enable bits are in the CPACR. + ldr.w r0, =0xE000ED88 + ldr r1, [r0] + + ;Enable CP10 and CP11 coprocessors, then save back. + orr r1, r1, #( 0xf << 20 ) + str r1, [r0] + bx r14 + .size vPortEnableVFP, $-vPortEnableVFP + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +ulPortSetInterruptMask: + mrs r0, basepri + ldr.w r1, =ulMaxSyscallInterruptPriorityConst + ldr r1, [r1] + msr basepri, r1 + bx r14 + .size ulPortSetInterruptMask, $-ulPortSetInterruptMask + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +vPortClearInterruptMask: + msr basepri, r0 + bx r14 + .size vPortClearInterruptMask, $-vPortClearInterruptMask + .endsec + +;----------------------------------------------------------- + + .end + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..b2a48e8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/Tasking/ARM_CM4F/portmacro.h @@ -0,0 +1,132 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H + #define PORTMACRO_H + + #ifdef __cplusplus + extern "C" { + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE uint32_t + #define portBASE_TYPE long + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + +/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do + * not need to be guarded with a critical section. */ + #define portTICK_TYPE_IS_ATOMIC 1 + #endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ + extern void vPortYield( void ); + #define portNVIC_INT_CTRL ( ( volatile uint32_t * ) 0xe000ed04 ) + #define portNVIC_PENDSVSET 0x10000000 + #define portYIELD() vPortYield() + + #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET + #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + +/* + * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other + * registers. r0 is clobbered. + */ + #define portSET_INTERRUPT_MASK() __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + +/* + * Set basepri back to 0 without effective other registers. + * r0 is clobbered. FAQ: Setting BASEPRI to 0 is not a bug. Please see + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing. + */ + #define portCLEAR_INTERRUPT_MASK() __set_BASEPRI( 0 ) + + extern uint32_t ulPortSetInterruptMask( void ); + extern void vPortClearInterruptMask( uint32_t ulNewMask ); + #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortClearInterruptMask( x ) + + + extern void vPortEnterCritical( void ); + extern void vPortExitCritical( void ); + + #define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK() + #define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK() + #define portENTER_CRITICAL() vPortEnterCritical() + #define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + + #define portNOP() + + #ifdef __cplusplus + } + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/port.c new file mode 100644 index 0000000..db8d50f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/port.c @@ -0,0 +1,150 @@ +/* + * Copyright (C) 2017 C-SKY Microsystems Co., Ltd. All rights reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * 1 tab == 4 spaces! + */ + +/* Kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" + +extern void vPortStartTask(void); + +/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This +will be set to 0 prior to the first task being started. */ +portLONG ulCriticalNesting = 0x9999UL; + +/* Used to record one tack want to swtich task after enter critical area, we need know it + * and implement task switch after exit critical area */ +portLONG pendsvflag = 0; + +StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ + StackType_t *stk = NULL; + + stk = pxTopOfStack; + + *(--stk) = (uint32_t)pxCode; /* Entry Point */ + *(--stk) = (uint32_t)0xE0000140L; /* PSR */ + *(--stk) = (uint32_t)0xFFFFFFFEL; /* R15 (LR) (init value will cause fault if ever used) */ + *(--stk) = (uint32_t)0x13131313L; /* R13 */ + *(--stk) = (uint32_t)0x12121212L; /* R12 */ + *(--stk) = (uint32_t)0x11111111L; /* R11 */ + *(--stk) = (uint32_t)0x10101010L; /* R10 */ + *(--stk) = (uint32_t)0x09090909L; /* R9 */ + *(--stk) = (uint32_t)0x08080808L; /* R8 */ + *(--stk) = (uint32_t)0x07070707L; /* R7 */ + *(--stk) = (uint32_t)0x06060606L; /* R6 */ + *(--stk) = (uint32_t)0x05050505L; /* R5 */ + *(--stk) = (uint32_t)0x04040404L; /* R4 */ + *(--stk) = (uint32_t)0x03030303L; /* R3 */ + *(--stk) = (uint32_t)0x02020202L; /* R2 */ + *(--stk) = (uint32_t)0x01010101L; /* R1 */ + *(--stk) = (uint32_t)pvParameters; /* R0 : argument */ + + return stk; +} + +BaseType_t xPortStartScheduler( void ) +{ + ulCriticalNesting = 0UL; + + vPortStartTask(); + + return pdFALSE; +} + + +void vPortEndScheduler( void ) +{ + /* Not implemented as there is nothing to return to. */ +} + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting ++; +} + +void vPortExitCritical( void ) +{ + if (ulCriticalNesting == 0) { + while(1); + } + + ulCriticalNesting --; + if (ulCriticalNesting == 0) + { + portENABLE_INTERRUPTS(); + + if (pendsvflag) + { + pendsvflag = 0; + portYIELD(); + } + } +} + +#if configUSE_PREEMPTION == 0 +void xPortSysTickHandler( void ) +{ + portLONG ulDummy; + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + xTaskIncrementTick(); + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} + +#else +void xPortSysTickHandler( void ) +{ + portLONG ulDummy; + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if (xTaskIncrementTick() != pdFALSE) + { + portYIELD_FROM_ISR(pdTRUE); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +#endif + +void vPortYieldHandler( void ) +{ + uint32_t ulSavedInterruptMask; + + ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + + vTaskSwitchContext(); + + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); +} + +__attribute__((weak)) void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ) +{ + for(;;); +} + +__attribute__((weak)) void vApplicationMallocFailedHook( void ) +{ + for(;;); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/portasm.S new file mode 100644 index 0000000..693ec64 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/portasm.S @@ -0,0 +1,126 @@ +/* + * Copyright (C) 2017 C-SKY Microsystems Co., Ltd. All rights reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * 1 tab == 4 spaces! + */ + +//#include + +/******************************************************************** + * Functions: vPortStartTask + * + ********************************************************************/ +.global vPortStartTask +.type vPortStartTask, %function +vPortStartTask: + psrclr ie + lrw r4, pxCurrentTCB + ld.w r4, (r4) // the current task stack pointer is the first member + ld.w sp, (r4) + + ldw r0, (sp, 64) + mtcr r0, epc + ldw r0, (sp, 60) + mtcr r0, epsr + ldw r15, (sp, 56) + ldm r0-r13, (sp) + addi sp, 68 + rte + +/******************************************************************** + * Functions: vPortYield + * + ********************************************************************/ +.global vPortYield +.type vPortYield, %function +vPortYield: + psrclr ee + subi sp, 68 + stm r0-r13, (sp) + stw r15, (sp, 56) + mfcr r0, psr + bseti r0, 8 + stw r0, (sp, 60) + stw r15, (sp, 64) + + lrw r2, pxCurrentTCB + ld.w r3, (r2) + st.w sp, (r3) + + jbsr vTaskSwitchContext + lrw r4, pxCurrentTCB + ld.w r4, (r4) + ld.w sp, (r4) + + ldw r0, (sp, 64) + mtcr r0, epc + ldw r0, (sp, 60) + mtcr r0, epsr + ldw r15, (sp, 56) + ldm r0-r13, (sp) + addi sp, 68 + + rte + +/******************************************************************** + * Functions: NOVIC_IRQ_Default_Handler + * + ********************************************************************/ +.global NOVIC_IRQ_Default_Handler +.type NOVIC_IRQ_Default_Handler, %function +NOVIC_IRQ_Default_Handler: + psrset ee + subi sp, 68 + stm r0-r13, (sp) + stw r15, (sp, 56) + mfcr r0, epsr + stw r0, (sp, 60) + mfcr r0, epc + stw r0, (sp, 64) + + lrw r7, pxCurrentTCB + ldw r7, (r7) + stw sp, (r7) + + lrw sp, g_top_irqstack + + lrw r1, g_irqvector + mfcr r0, psr + lsri r0, 16 + sextb r0 + subi r0, 32 + lsli r0, 2 + add r1, r0 + ldw r1, (r1) + lsri r0, 2 + jsr r1 + + lrw r7, pxCurrentTCB + ldw r7, (r7) + ldw sp, (r7) + + ldw r0, (sp, 64) + mtcr r0, epc + ldw r0, (sp, 60) + mtcr r0, epsr + ldm r0-r13, (sp) + ldw r15, (sp, 56) + addi sp, 68 + rte diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/portmacro.h new file mode 100644 index 0000000..6db37cc --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/CDK/T-HEAD_CK802/portmacro.h @@ -0,0 +1,159 @@ +/* + * Copyright (C) 2017 C-SKY Microsystems Co., Ltd. All rights reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#include +#include +#include + +extern void vPortYield(void); +#ifdef __cplusplus +class vPortYield; +extern "C" { +#endif + + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; +typedef void (*portvectorfunc)(void); + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 +#define portSTACK_GROWTH -1 +#define portMS_PERIOD_TICK 10 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + + +static inline void vPortEnableInterrupt( void ) +{ + __enable_irq(); +} + +static inline void vPortDisableInterrupt( void ) +{ + __disable_irq(); +} + +static inline portLONG GetCurrentPSR (void) +{ + return __get_PSR(); +} + +static inline portLONG SaveLocalPSR (void) +{ + portLONG flags = __get_PSR(); + __disable_irq(); + return flags; +} + +static inline void RestoreLocalPSR (portLONG newMask) +{ + __asm__ __volatile__( + "mtcr %0, psr \n" + : + :"r" (newMask) + :"memory" + ); +} + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +extern __attribute__((naked)) void cpu_yeild(void); + +#define portDISABLE_INTERRUPTS() vPortDisableInterrupt() +#define portENABLE_INTERRUPTS() vPortEnableInterrupt() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +#define portSET_INTERRUPT_MASK_FROM_ISR() SaveLocalPSR() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(a) RestoreLocalPSR(a) + +#define portNOP() asm("nop") + +extern portLONG ulCriticalNesting; +extern portLONG pendsvflag; + +#define portYIELD() if (ulCriticalNesting == 0) \ + { \ + vPortYield(); \ + } \ + else \ + { \ + pendsvflag = 1; \ + } \ + portNOP();portNOP() + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn)) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +#define portEND_SWITCHING_ISR( xSwitchRequired ) do { \ + if( xSwitchRequired != pdFALSE ) \ + { \ + portYIELD(); \ + } \ + }while(0) + +#define portYIELD_FROM_ISR( a ) vTaskSwitchContext() + + + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_freertos_exceptions.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_freertos_exceptions.c new file mode 100644 index 0000000..9e6b565 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_freertos_exceptions.c @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/** + * \file + * \brief exception processing for freertos + */ + +/* #include "embARC.h" */ + +#include "arc_freertos_exceptions.h" + +#ifdef __GNU__ + extern void gnu_printf_setup( void ); +#endif + +/** + * \brief freertos related cpu exception initialization, all the interrupts handled by freertos must be not + * fast irqs. If fiq is needed, please install the default firq_exc_entry or your own fast irq entry into + * the specific interrupt exception. + */ +void freertos_exc_init( void ) +{ + #ifdef __GNU__ + gnu_printf_setup(); + #endif +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_freertos_exceptions.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_freertos_exceptions.h new file mode 100644 index 0000000..29a7038 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_freertos_exceptions.h @@ -0,0 +1,45 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef ARC_FREERTOS_EXCEPTIONS_H +#define ARC_FREERTOS_EXCEPTIONS_H + +/* + * here, all arc cpu exceptions share the same entry, also for all interrupt + * exceptions + */ +extern void exc_entry_cpu( void ); /* cpu exception entry for freertos */ +extern void exc_entry_int( void ); /* int exception entry for freertos */ + +/* task dispatch functions in .s */ +extern void start_r( void ); +extern void start_dispatch(); +extern void dispatch(); + +extern void freertos_exc_init( void ); + +#endif /* ARC_FREERTOS_EXCEPTIONS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_support.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_support.s new file mode 100644 index 0000000..ba1e911 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/arc_support.s @@ -0,0 +1,521 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/** + * \file + * \ingroup OS_FREERTOS + * \brief freertos support for arc processor + * like task dispatcher, interrupt handler + */ +/** @cond OS_FREERTOS_ASM_ARC_SUPPORT */ + +/* + * core-dependent part in assemble language (for arc) + */ +#define __ASSEMBLY__ +#include "arc/arc.h" +#include "arc/arc_asm_common.h" + +/* + * task dispatcher + * + */ + .text + .align 4 + .global dispatch +dispatch: +/* + * the pre-conditions of this routine are task context, CPU is + * locked, dispatch is enabled. + */ + SAVE_NONSCRATCH_REGS /* save callee save registers */ + mov r1, dispatch_r + PUSH r1 /* save return address */ + ld r0, [pxCurrentTCB] + bl dispatcher + +/* return routine when task dispatch happened in task context */ +dispatch_r: + RESTORE_NONSCRATCH_REGS /* recover registers */ + j [blink] + +/* + * start dispatch + */ + .global start_dispatch + .align 4 +start_dispatch: +/* + * this routine is called in the non-task context during the startup of the kernel + * , and all the interrupts are locked. + * + * when the dispatcher is called, the cpu is locked, no nest exception (CPU exception/interrupt). + * In target_initialize, all interrupt priority mask should be cleared, cpu should be + * locked, the interrupts outside the kernel such as fiq can be + * enabled. + */ + clri + mov r0, 0 + st r0, [exc_nest_count] + b dispatcher_0 +/* + * dispatcher + */ +dispatcher: + ld r1, [ulCriticalNesting] + PUSH r1 /* save critical nesting */ + st sp, [r0] /* save stack pointer of current task, r0->pxCurrentTCB */ + jl vTaskSwitchContext /* change the value of pxCurrentTCB */ +/* + * before dispatcher is called, task context | cpu locked | dispatch enabled + * should be satisfied. In this routine, the processor will jump + * into the entry of next to run task + * + * i.e. kernel mode, IRQ disabled, dispatch enabled + */ +dispatcher_0: + ld r1, [pxCurrentTCB] + ld sp, [r1] /* recover task stack */ +#if ARC_FEATURE_STACK_CHECK +#if ARC_FEATURE_SEC_PRESENT + lr r0, [AUX_SEC_STAT] + bclr r0, r0, AUX_SEC_STAT_BIT_SSC + sflag r0 +#else + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_SC + kflag r0 +#endif + jl vPortSetStackCheck +#if ARC_FEATURE_SEC_PRESENT + lr r0, [AUX_SEC_STAT] + bset r0, r0, AUX_SEC_STAT_BIT_SSC + sflag r0 +#else + lr r0, [AUX_STATUS32] + bset r0, r0, AUX_STATUS_BIT_SC + kflag r0 +#endif +#endif + POP r0 /* get critical nesting */ + st r0, [ulCriticalNesting] + POP r0 /* get return address */ + j [r0] + +/* + * task startup routine + * + */ + .text + .global start_r + .align 4 +start_r: + seti /* unlock cpu */ + mov blink, vPortEndTask /* set return address */ + POP r1 /* get task function body */ + POP r0 /* get task parameters */ + j [r1] + +/****** exceptions and interrupts handing ******/ +/****** entry for exception handling ******/ + .global exc_entry_cpu + .align 4 +exc_entry_cpu: + + EXCEPTION_PROLOGUE + + mov blink, sp + mov r3, sp /* as exception handler's para(p_excinfo) */ + + ld r0, [exc_nest_count] + add r1, r0, 1 + st r1, [exc_nest_count] + brne r0, 0, exc_handler_1 +/* change to exception stack if interrupt happened in task context */ + mov sp, _e_stack +exc_handler_1: + PUSH blink + + lr r0, [AUX_ECR] + lsr r0, r0, 16 + mov r1, exc_int_handler_table + ld.as r2, [r1, r0] + + mov r0, r3 + jl [r2] /* !!!!jump to exception handler where interrupts are not allowed! */ + +/* interrupts are not allowed */ +ret_exc: + POP sp + mov r1, exc_nest_count + ld r0, [r1] + sub r0, r0, 1 + st r0, [r1] + brne r0, 0, ret_exc_1 /* nest exception case */ + lr r1, [AUX_IRQ_ACT] /* nest interrupt case */ + brne r1, 0, ret_exc_1 + + ld r0, [context_switch_reqflg] + brne r0, 0, ret_exc_2 +ret_exc_1: /* return from non-task context, interrupts or exceptions are nested */ + + EXCEPTION_EPILOGUE + rtie + +/* there is a dispatch request */ +ret_exc_2: + /* clear dispatch request */ + mov r0, 0 + st r0, [context_switch_reqflg] + + ld r0, [pxCurrentTCB] + breq r0, 0, ret_exc_1 + + SAVE_CALLEE_REGS /* save callee save registers */ + + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_AE /* clear exception bit */ + kflag r0 + + mov r1, ret_exc_r /* save return address */ + PUSH r1 + + bl dispatcher /* r0->pxCurrentTCB */ + +ret_exc_r: + /* recover exception status */ + lr r0, [AUX_STATUS32] + bset r0, r0, AUX_STATUS_BIT_AE + kflag r0 + + RESTORE_CALLEE_REGS /* recover registers */ + EXCEPTION_EPILOGUE + rtie + +/****** entry for normal interrupt exception handling ******/ + .global exc_entry_int /* entry for interrupt handling */ + .align 4 +exc_entry_int: +#if ARC_FEATURE_FIRQ == 1 +#if ARC_FEATURE_RGF_NUM_BANKS > 1 + lr r0, [AUX_IRQ_ACT] /* check whether it is P0 interrupt */ + btst r0, 0 + jnz exc_entry_firq +#else + PUSH r10 + lr r10, [AUX_IRQ_ACT] + btst r10, 0 + POP r10 + jnz exc_entry_firq +#endif +#endif + INTERRUPT_PROLOGUE + + mov blink, sp + + clri /* disable interrupt */ + ld r3, [exc_nest_count] + add r2, r3, 1 + st r2, [exc_nest_count] + seti /* enable higher priority interrupt */ + + brne r3, 0, irq_handler_1 +/* change to exception stack if interrupt happened in task context */ + mov sp, _e_stack +#if ARC_FEATURE_STACK_CHECK +#if ARC_FEATURE_SEC_PRESENT + lr r0, [AUX_SEC_STAT] + bclr r0, r0, AUX_SEC_STAT_BIT_SSC + sflag r0 +#else + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_SC + kflag r0 +#endif +#endif +irq_handler_1: + PUSH blink + + lr r0, [AUX_IRQ_CAUSE] + mov r1, exc_int_handler_table + ld.as r2, [r1, r0] /* r2 = exc_int_handler_table + irqno *4 */ +/* handle software triggered interrupt */ + lr r3, [AUX_IRQ_HINT] + cmp r3, r0 + bne.d irq_hint_handled + xor r3, r3, r3 + sr r3, [AUX_IRQ_HINT] +irq_hint_handled: + + jl [r2] /* jump to interrupt handler */ +/* no interrupts are allowed from here */ +ret_int: + clri /* disable interrupt */ + + POP sp + mov r1, exc_nest_count + ld r0, [r1] + sub r0, r0, 1 + st r0, [r1] +/* if there are multi-bits set in IRQ_ACT, it's still in nest interrupt */ + lr r0, [AUX_IRQ_CAUSE] + sr r0, [AUX_IRQ_SELECT] + lr r3, [AUX_IRQ_PRIORITY] + lr r1, [AUX_IRQ_ACT] + bclr r2, r1, r3 + brne r2, 0, ret_int_1 + + ld r0, [context_switch_reqflg] + brne r0, 0, ret_int_2 +ret_int_1: /* return from non-task context */ + INTERRUPT_EPILOGUE + rtie +/* there is a dispatch request */ +ret_int_2: + /* clear dispatch request */ + mov r0, 0 + st r0, [context_switch_reqflg] + + ld r0, [pxCurrentTCB] + breq r0, 0, ret_int_1 + +/* r1 has old AUX_IRQ_ACT */ + PUSH r1 +/* clear related bits in IRQ_ACT manually to simulate a irq return */ + sr r2, [AUX_IRQ_ACT] + + SAVE_CALLEE_REGS /* save callee save registers */ + mov r1, ret_int_r /* save return address */ + PUSH r1 + + bl dispatcher /* r0->pxCurrentTCB */ + +ret_int_r: + RESTORE_CALLEE_REGS /* recover registers */ + POPAX AUX_IRQ_ACT + INTERRUPT_EPILOGUE + rtie + +#if ARC_FEATURE_FIRQ == 1 + .global exc_entry_firq + .align 4 +exc_entry_firq: +#if ARC_FEATURE_STACK_CHECK && ARC_FEATURE_RGF_NUM_BANKS > 1 +#if ARC_FEATURE_SEC_PRESENT + lr r0, [AUX_SEC_STAT] + bclr r0, r0, AUX_SEC_STAT_BIT_SSC + sflag r0 +#else + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_SC + kflag r0 +#endif +#endif + SAVE_FIQ_EXC_REGS + + mov blink, sp + + ld r3, [exc_nest_count] + add r2, r3, 1 + st r2, [exc_nest_count] + + brne r3, 0, firq_handler_1 +#if ARC_FEATURE_STACK_CHECK && ARC_FEATURE_RGF_NUM_BANKS == 1 +#if ARC_FEATURE_SEC_PRESENT + lr r0, [AUX_SEC_STAT] + bclr r0, r0, AUX_SEC_STAT_BIT_SSC + sflag r0 +#else + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_SC + kflag r0 +#endif +#endif +/* change to exception stack if interrupt happened in task context */ + mov sp, _e_stack +firq_handler_1: + PUSH blink + + lr r0, [AUX_IRQ_CAUSE] + mov r1, exc_int_handler_table + ld.as r2, [r1, r0] /* r2 = exc_int_handler_table + irqno *4 */ +/* handle software triggered interrupt */ + lr r3, [AUX_IRQ_HINT] + brne r3, r0, firq_hint_handled + xor r3, r3, r3 + sr r3, [AUX_IRQ_HINT] +firq_hint_handled: + + jl [r2] /* jump to interrupt handler */ +/* no interrupts are allowed from here */ +ret_firq: + clri + POP sp + + mov r1, exc_nest_count + ld r0, [r1] + sub r0, r0, 1 + st r0, [r1] +/* if there are multi-bits set in IRQ_ACT, it's still in nest interrupt */ + lr r1, [AUX_IRQ_ACT] + bclr r1, r1, 0 + brne r1, 0, ret_firq_1 + + ld r0, [context_switch_reqflg] + brne r0, 0, ret_firq_2 +ret_firq_1: /* return from non-task context */ + RESTORE_FIQ_EXC_REGS + rtie +/* there is a dispatch request */ +ret_firq_2: + /* clear dispatch request */ + mov r0, 0 + st r0, [context_switch_reqflg] + + ld r0, [pxCurrentTCB] + breq r0, 0, ret_firq_1 + +/* reconstruct the interruptted context + * When ARC_FEATURE_RGF_BANKED_REGS >= 16 (16, 32), sp is banked + * so need to restore the fast irq stack. + */ +#if ARC_FEATURE_RGF_BANKED_REGS >= 16 + RESTORE_LP_REGS +#if ARC_FEATURE_CODE_DENSITY + RESTORE_CODE_DENSITY +#endif + RESTORE_R58_R59 +#endif + +/* when BANKED_REGS == 16, r4-r9 wiil be also saved in fast irq stack + * so pop them out + */ +#if ARC_FEATURE_RGF_BANKED_REGS == 16 && !defined(ARC_FEATURE_RF16) + POP r9 + POP r8 + POP r7 + POP r6 + POP r5 + POP r4 +#endif + +/* for other cases, unbanked regs are already in interrupted context's stack, + * so just need to save and pop the banked regs + */ + +/* save the interruptted context */ +#if ARC_FEATURE_RGF_BANKED_REGS > 0 +/* switch back to bank0 */ + lr r0, [AUX_STATUS32] + bic r0, r0, 0x70000 + kflag r0 +#endif + +#if ARC_FEATURE_RGF_BANKED_REGS == 4 +/* r4 - r12, gp, fp, r30, blink already saved */ + PUSH r0 + PUSH r1 + PUSH r2 + PUSH r3 +#elif ARC_FEATURE_RGF_BANKED_REGS == 8 +/* r4 - r9, r0, r11 gp, fp, r30, blink already saved */ + PUSH r0 + PUSH r1 + PUSH r2 + PUSH r3 + PUSH r12 +#elif ARC_FEATURE_RGF_BANKED_REGS >= 16 +/* nothing is saved, */ + SAVE_R0_TO_R12 + + SAVE_R58_R59 + PUSH gp + PUSH fp + PUSH r30 /* general purpose */ + PUSH blink + +#if ARC_FEATURE_CODE_DENSITY + SAVE_CODE_DENSITY +#endif + SAVE_LP_REGS +#endif + PUSH ilink + lr r0, [AUX_STATUS32_P0] + PUSH r0 + lr r0, [AUX_IRQ_ACT] + PUSH r0 + bclr r0, r0, 0 + sr r0, [AUX_IRQ_ACT] + + SAVE_CALLEE_REGS /* save callee save registers */ + + mov r1, ret_firq_r /* save return address */ + PUSH r1 + ld r0, [pxCurrentTCB] + bl dispatcher /* r0->pxCurrentTCB */ + +ret_firq_r: + RESTORE_CALLEE_REGS /* recover registers */ + POPAX AUX_IRQ_ACT + POPAX AUX_STATUS32_P0 + POP ilink + +#if ARC_FEATURE_RGF_NUM_BANKS > 1 +#if ARC_FEATURE_RGF_BANKED_REGS == 4 +/* r4 - r12, gp, fp, r30, blink already saved */ + POP r3 + POP r2 + POP r1 + POP r0 + RESTORE_FIQ_EXC_REGS +#elif ARC_FEATURE_RGF_BANKED_REGS == 8 +/* r4 - r9, gp, fp, r30, blink already saved */ + POP r12 + POP r3 + POP r2 + POP r1 + POP r0 + RESTORE_FIQ_EXC_REGS +#elif ARC_FEATURE_RGF_BANKED_REGS >= 16 + RESTORE_LP_REGS +#if ARC_FEATURE_CODE_DENSITY + RESTORE_CODE_DENSITY +#endif + POP blink + POP r30 + POP fp + POP gp + + RESTORE_R58_R59 + RESTORE_R0_TO_R12 +#endif /* ARC_FEATURE_RGF_BANKED_REGS */ +#else + RESTORE_FIQ_EXC_REGS +#endif /* ARC_FEATURE_RGF_NUM_BANKS */ + rtie +#endif +/** @endcond */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/freertos_tls.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/freertos_tls.c new file mode 100644 index 0000000..1762d4a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/freertos_tls.c @@ -0,0 +1,238 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#if defined( __MW__ ) + + #include + #include + #include + + #include "FreeRTOS.h" + + #include "queue.h" + #include "semphr.h" + #include "task.h" + + #include "arc/arc_exception.h" + #include "embARC_toolchain.h" + #include "embARC_debug.h" + + #ifdef ENABLE_FREERTOS_TLS_DEBUG + #define TLS_DEBUG( fmt, ... ) EMBARC_PRINTF( fmt, ## __VA_ARGS__ ) + #else + #define TLS_DEBUG( fmt, ... ) + #endif + +/* + * Runtime routines to execute constructors and + * destructors for task local storage. + */ + extern void __mw_run_tls_dtor(); + extern void __mw_run_tls_ctor(); + + extern uint32_t exc_nest_count; + +/* + * Linker generated symbols to mark .tls section addresses + * first byte .. last byte + */ + extern char _ftls[], _etls[]; + #pragma weak _ftls + #pragma weak _etls + + void executable_requires_tls_section( void ) + { + #if _ARC + for( ; ; ) + { + _flag( 1 ); + _nop(); + _nop(); + _nop(); + _nop(); + _nop(); + } + #endif + } + #pragma off_inline(executable_requires_tls_section); + #pragma alias(executable_requires_tls_section, "executable_requires_.tls_section"); + + static void * init_task_tls( void ) + { + uint32_t len = ( uint32_t ) ( _etls - _ftls ); + void * tls = NULL; + + #if FREERTOS_HEAP_SEL == 3 + #warning "FreeRTOS TLS support is not compatible with heap 3 solution(FREERTOS_HEAP_SEL=3)!" + #warning "You can change FREERTOS_HEAP_SEL in freertos.mk to select other heap solution." + #else + tls = pvPortMalloc( len ); + #endif + + if( tls ) + { + TLS_DEBUG( "Malloc task tls:%dbytes\r\n", len ); + memcpy( tls, _ftls, len ); + __mw_run_tls_ctor(); /* Run constructors */ + } + + return tls; + } + + static void free_task_tls( void * pxTCB ) + { + TaskHandle_t task2free = ( TaskHandle_t ) pxTCB; + + if( task2free != NULL ) + { + void * tls = pvTaskGetThreadLocalStoragePointer( task2free, 0 ); + + if( tls ) + { + TLS_DEBUG( "Free task tls\r\n" ); + __mw_run_tls_dtor(); + vPortFree( tls ); + vTaskSetThreadLocalStoragePointer( task2free, 0, NULL ); + } + } + } + + void task_end_hook( void * pxTCB ) + { + free_task_tls( pxTCB ); + } + + static void * get_isr_tls( void ) + { + /* In an ISR */ + static int first = 1; + + if( _Rarely( first ) ) + { + first = 0; + __mw_run_tls_ctor(); /* Run constructors */ + } + + return ( void * ) _ftls; + } + #pragma off_inline(get_isr_tls) + + static void * get_task_tls( void ) + { + TaskHandle_t cur_task; + + cur_task = xTaskGetCurrentTaskHandle(); + + if( cur_task == NULL ) + { + return get_isr_tls(); + } + + void * tls = pvTaskGetThreadLocalStoragePointer( cur_task, 0 ); + + if( tls == NULL ) + { + tls = init_task_tls(); + + if( tls ) + { + vTaskSetThreadLocalStoragePointer( cur_task, 0, tls ); + } + else + { + tls = get_isr_tls(); + } + } + + return tls; + } + #pragma off_inline(get_task_tls) + + #if _ARC /* for ARC XCALLs need to preserve flags */ + extern void * _Preserve_flags _mwget_tls( void ); + #endif + +/* + * Back end gens calls to find local data for this task + */ + void * _mwget_tls( void ) + { + if( _ftls == ( char * ) 0 ) + { + executable_requires_tls_section(); + } + + if( exc_nest_count > 0 ) /* In ISR */ + { + return get_isr_tls(); + } + else /* In Task */ + { + return get_task_tls(); + } + } + + +/* simple interface of thread safe */ + typedef xSemaphoreHandle _lock_t; + #if configUSE_RECURSIVE_MUTEXES != 1 + #error "configUSE_RECURSIVE_MUTEXES in FreeRTOSConfig.h need to 1" + #endif + + void _mwmutex_create( _lock_t * mutex_ptr ) + { + *mutex_ptr = xSemaphoreCreateRecursiveMutex(); + } + + void _mwmutex_delete( _lock_t * mutex_ptr ) + { + if( ( *mutex_ptr ) != NULL ) + { + vSemaphoreDelete( *mutex_ptr ); + } + } + + void _mwmutex_lock( _lock_t mutex ) + { + if( ( mutex ) != NULL ) + { + while( xSemaphoreTakeRecursive( mutex, portMAX_DELAY ) != pdTRUE ) + { + } + } + } + + void _mwmutex_unlock( _lock_t mutex ) + { + if( ( mutex ) != NULL ) + { + xSemaphoreGiveRecursive( mutex ); + } + } + +#else /* if defined( __MW__ ) */ + +#endif /* __MW__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/port.c new file mode 100644 index 0000000..86f63f1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/port.c @@ -0,0 +1,299 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* + * Implementation of functions defined in portable.h + */ + +#include "FreeRTOS.h" +#include "task.h" +#include "FreeRTOSConfig.h" + +#include "arc/arc_exception.h" +#include "arc/arc_timer.h" +#include "board.h" + +#include "arc_freertos_exceptions.h" + +volatile unsigned int ulCriticalNesting = 999UL; +volatile unsigned int context_switch_reqflg; /* task context switch request flag in exceptions and interrupts handling */ + +/** + * \var exc_nest_count + * \brief the counter for exc/int processing, =0 no int/exc + * >1 in int/exc processing + * @} + */ +uint32_t exc_nest_count; +/* --------------------------------------------------------------------------*/ + +/** + * @brief kernel tick interrupt handler of freertos + */ +/* ----------------------------------------------------------------------------*/ +static void vKernelTick( void * ptr ) +{ + /* clear timer interrupt */ + arc_timer_int_clear( BOARD_OS_TIMER_ID ); + board_timer_update( configTICK_RATE_HZ ); + + if( xTaskIncrementTick() ) + { + portYIELD_FROM_ISR(); /* need to make task switch */ + } +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief setup freertos kernel tick + */ +/* ----------------------------------------------------------------------------*/ +static void prvSetupTimerInterrupt( void ) +{ + unsigned int cyc = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + int_disable( BOARD_OS_TIMER_INTNO ); /* disable os timer interrupt */ + arc_timer_stop( BOARD_OS_TIMER_ID ); + arc_timer_start( BOARD_OS_TIMER_ID, TIMER_CTRL_IE | TIMER_CTRL_NH, cyc ); + + int_handler_install( BOARD_OS_TIMER_INTNO, ( INT_HANDLER_T ) vKernelTick ); + int_pri_set( BOARD_OS_TIMER_INTNO, INT_PRI_MIN ); + int_enable( BOARD_OS_TIMER_INTNO ); +} + +/* + * Setup the stack of a new task so it is ready to be placed under the + * scheduler control. The registers have to be placed on the stack in + * the order that the port expects to find them. + * + * For ARC, task context switch is implemented with the help of SWI exception + * It's not efficient but simple. + * + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* To ensure asserts in tasks.c don't fail, although in this case the assert + * is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + * expected by the portRESTORE_CONTEXT() macro. */ + + /* When the task starts is will expect to find the function parameter in + * R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* function body */ + + /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) start_r; /* dispatch return address */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING; + return pxTopOfStack; +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief start the freertos scheduler, go to the first task + * + * @returns + */ +/* ----------------------------------------------------------------------------*/ +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. */ + prvSetupTimerInterrupt(); + start_dispatch(); + + /* Should not get here! */ + return 0; +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief + */ +/* ----------------------------------------------------------------------------*/ +void vPortEndScheduler( void ) +{ +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief generate a task switch request in ISR + */ +/* ----------------------------------------------------------------------------*/ +void vPortYieldFromIsr( void ) +{ + unsigned int status32; + + status32 = cpu_lock_save(); + context_switch_reqflg = true; + cpu_unlock_restore( status32 ); +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief + */ +/* ----------------------------------------------------------------------------*/ +void vPortYield( void ) +{ + unsigned int status32; + + status32 = cpu_lock_save(); + dispatch(); + cpu_unlock_restore( status32 ); +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief + */ +/* ----------------------------------------------------------------------------*/ +void vPortEndTask( void ) +{ + #if ( INCLUDE_vTaskDelete == 1 ) + vTaskDelete( NULL ); /* Delete task itself */ + #endif + + while( 1 ) /* Yield to other task */ + { + vPortYield(); + } +} + +#if ARC_FEATURE_STACK_CHECK + +/* + * !!! Note !!! + * This a trick!!! + * It's a copy from task.c. We need to konw the definition of TCB for the purpose of hardware + * stack check. Pls don't forget to update it when FreeRTOS is updated. + */ + typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */ + { + volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */ + + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ + #endif + + ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ + ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ + UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ + StackType_t * pxStack; /*< Points to the start of the stack. */ + char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */ + #endif + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ + #endif + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ + UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ + #endif + + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ + UBaseType_t uxMutexesHeld; + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + TaskHookFunction_t pxTaskTag; + #endif + + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + + /* Allocate a Newlib reent structure that is specific to this task. + * Note Newlib support has been included by popular demand, but is not + * used by the FreeRTOS maintainers themselves. FreeRTOS is not + * responsible for resulting newlib operation. User must be familiar with + * newlib and must provide system-wide implementations of the necessary + * stubs. Be warned that (at the time of writing) the current newlib design + * implements a system-wide malloc() that must be provided with locks. */ + struct _reent xNewLib_reent; + #endif + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + volatile uint32_t ulNotifiedValue; + volatile uint8_t ucNotifyState; + #endif + + /* See the comments above the definition of + * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */ + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ + #endif + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDelayAborted; + #endif + + #if ( configUSE_POSIX_ERRNO == 1 ) + int iTaskErrno; + #endif + } tskTCB; + + + void vPortSetStackCheck( TaskHandle_t old, + TaskHandle_t new ) + { + if( new != NULL ) + { + #if ARC_FEATURE_SEC_PRESENT + arc_aux_write( AUX_S_KSTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) ); + arc_aux_write( AUX_S_KSTACK_TOP, ( uint32_t ) ( new->pxStack ) ); + #else + arc_aux_write( AUX_KSTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) ); + arc_aux_write( AUX_KSTACK_TOP, ( uint32_t ) ( new->pxStack ) ); + #endif + } + } +#endif /* if ARC_FEATURE_STACK_CHECK */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/portmacro.h new file mode 100644 index 0000000..728b21b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_EM_HS/portmacro.h @@ -0,0 +1,158 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/* record stack high address for stack check */ +#ifndef configRECORD_STACK_HIGH_ADDRESS + #define configRECORD_STACK_HIGH_ADDRESS 1 +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE unsigned int +#define portBASE_TYPE portLONG + +#ifndef Asm + #define Asm __asm__ volatile +#endif + +/* + * normal constants + */ +#ifndef NULL + #define NULL 0 /* invalid pointer */ +#endif /* NULL */ + +#ifndef true + #define true 1 /* true */ +#endif /* true */ + +#ifndef false + #define false 0 /* false */ +#endif /* false */ + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef unsigned int TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif + +#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +#define portNOP() Asm( "nop_s" ); +#define IPM_ENABLE_ALL 1 + +#define portYIELD_FROM_ISR() vPortYieldFromIsr() +#define portYIELD() vPortYield() + +/* Critical section management. */ +#define portDISABLE_INTERRUPTS() \ + { \ + Asm( "clri" ); \ + Asm( "" ::: "memory" ); \ + } \ + +#define portENABLE_INTERRUPTS() \ + { \ + Asm( "" ::: "memory" ); \ + Asm( "seti" ); \ + } \ + +extern volatile unsigned int ulCriticalNesting; + +#define portENTER_CRITICAL() \ + { \ + portDISABLE_INTERRUPTS() \ + ulCriticalNesting++; \ + } + + +#define portEXIT_CRITICAL() \ + { \ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) \ + { \ + ulCriticalNesting--; \ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) \ + { \ + portENABLE_INTERRUPTS() \ + } \ + } \ + } + + +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() do {} while( 0 ) /* we use the timer */ +#define portALT_GET_RUN_TIME_COUNTER_VALUE( dest ) ( dest = xTickCount ) + +#if defined( __MW__ ) + extern void task_end_hook( void * pxTCB ); + #define portCLEAN_UP_TCB( pxTCB ) task_end_hook( ( void * ) pxTCB ) +#else + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB +#endif + +void vPortYield( void ); +void vPortYieldFromIsr( void ); + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_freertos_exceptions.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_freertos_exceptions.c new file mode 100644 index 0000000..9e6b565 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_freertos_exceptions.c @@ -0,0 +1,51 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/** + * \file + * \brief exception processing for freertos + */ + +/* #include "embARC.h" */ + +#include "arc_freertos_exceptions.h" + +#ifdef __GNU__ + extern void gnu_printf_setup( void ); +#endif + +/** + * \brief freertos related cpu exception initialization, all the interrupts handled by freertos must be not + * fast irqs. If fiq is needed, please install the default firq_exc_entry or your own fast irq entry into + * the specific interrupt exception. + */ +void freertos_exc_init( void ) +{ + #ifdef __GNU__ + gnu_printf_setup(); + #endif +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_freertos_exceptions.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_freertos_exceptions.h new file mode 100644 index 0000000..29a7038 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_freertos_exceptions.h @@ -0,0 +1,45 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef ARC_FREERTOS_EXCEPTIONS_H +#define ARC_FREERTOS_EXCEPTIONS_H + +/* + * here, all arc cpu exceptions share the same entry, also for all interrupt + * exceptions + */ +extern void exc_entry_cpu( void ); /* cpu exception entry for freertos */ +extern void exc_entry_int( void ); /* int exception entry for freertos */ + +/* task dispatch functions in .s */ +extern void start_r( void ); +extern void start_dispatch(); +extern void dispatch(); + +extern void freertos_exc_init( void ); + +#endif /* ARC_FREERTOS_EXCEPTIONS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_support.s b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_support.s new file mode 100644 index 0000000..06d6125 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/arc_support.s @@ -0,0 +1,321 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/** + * \file + * \ingroup OS_FREERTOS + * \brief freertos support for arc processor + * like task dispatcher, interrupt handler + */ +/** @cond OS_FREERTOS_ASM_ARC_SUPPORT */ + +/* + * core-dependent part in assemble language (for arc) + */ +#define __ASSEMBLY__ +#include "arc/arc.h" +#include "arc/arc_asm_common.h" + +/* + * task dispatcher + * + */ + .text + .align 4 + .global dispatch +dispatch: +/* + * the pre-conditions of this routine are task context, CPU is + * locked, dispatch is enabled. + */ + SAVE_NONSCRATCH_REGS /* save callee save registers */ + mov r1, dispatch_r + PUSH r1 /* save return address */ + ld r0, [pxCurrentTCB] + bl dispatcher + +/* return routine when task dispatch happened in task context */ +dispatch_r: + RESTORE_NONSCRATCH_REGS /* recover registers */ + j [blink] + +/* + * start dispatch + */ + .global start_dispatch + .align 4 +start_dispatch: +/* + * this routine is called in the non-task context during the startup of the kernel + * , and all the interrupts are locked. + * + * when the dispatcher is called, the cpu is locked, no nest exception (CPU exception/interrupt). + * In target_initialize, all interrupt priority mask should be cleared, cpu should be + * locked, the interrupts outside the kernel such as fiq can be + * enabled. + */ + clri + mov r0, 0 + st r0, [exc_nest_count] + b dispatcher_0 +/* + * dispatcher + */ +dispatcher: + ld r1, [ulCriticalNesting] + PUSH r1 /* save critical nesting */ + st sp, [r0] /* save stack pointer of current task, r0->pxCurrentTCB */ + jl vTaskSwitchContext /* change the value of pxCurrentTCB */ +/* + * before dispatcher is called, task context | cpu locked | dispatch enabled + * should be satisfied. In this routine, the processor will jump + * into the entry of next to run task + * + * i.e. kernel mode, IRQ disabled, dispatch enabled + */ +dispatcher_0: + ld r1, [pxCurrentTCB] + ld sp, [r1] /* recover task stack */ +#if ARC_FEATURE_STACK_CHECK + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_SC + flag r0 + jl vPortSetStackCheck + lr r0, [AUX_STATUS32] + bset r0, r0, AUX_STATUS_BIT_SC + flag r0 +#endif + POP r0 /* get critical nesting */ + st r0, [ulCriticalNesting] + POP r0 /* get return address */ + j [r0] + +/* + * task startup routine + * + */ + .text + .global start_r + .align 4 +start_r: + seti /* unlock cpu */ + mov blink, vPortEndTask /* set return address */ + POP r1 /* get task function body */ + POP r0 /* get task parameters */ + j [r1] + +/****** exceptions and interrupts handing ******/ +/****** entry for exception handling ******/ + .global exc_entry_cpu + .align 4 +exc_entry_cpu: + + EXCEPTION_PROLOGUE + + + mov blink, sp + mov r3, sp /* as exception handler's para(p_excinfo) */ + + ld r1, [exc_nest_count] + add r1, r1, 1 + st r1, [exc_nest_count] + brne r1, 0, exc_handler_1 +/* change to exception stack if interrupt happened in task context */ + mov sp, _e_stack +exc_handler_1: + PUSH blink + +/* find the exception cause */ +#if ARC_FEATURE_CORE_700 + lr r0, [AUX_ECR] + lsr r0, r0, 16 + bmsk r0, r0, 7 +#endif + mov r1, exc_int_handler_table + ld.as r2, [r1, r0] + + mov r0, r3 + jl [r2] /* !!!!jump to exception handler where interrupts are not allowed! */ + +/* interrupts are not allowed */ +ret_exc: + POP sp + mov r1, exc_nest_count + ld r0, [r1] + sub r0, r0, 1 + st r0, [r1] + brne r0, 0, ret_exc_1 /* nested exception case */ + lr r1, [AUX_IRQ_LV12] + brne r1, 0, ret_exc_1 /* nested or pending interrupt case */ + + ld r0, [context_switch_reqflg] + brne r0, 0, ret_exc_2 +ret_exc_1: /* return from non-task context, interrupts or exceptions are nested */ + + EXCEPTION_EPILOGUE +#if ARC_FEATURE_CORE_600 + rtie ilink2 +#else + rtie +#endif + +/* there is a dispatch request */ +ret_exc_2: + /* clear dispatch request */ + mov r0, 0 + st r0, [context_switch_reqflg] + + ld r0, [pxCurrentTCB] + breq r0, 0, ret_exc_1 + + SAVE_CALLEE_REGS /* save callee save registers */ + + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_AE /* clear exception bit */ + flag r0 + + mov r1, ret_exc_r /* save return address */ + PUSH r1 + + bl dispatcher /* r0->pxCurrentTCB */ + +ret_exc_r: + /* recover exception status */ + lr r0, [AUX_STATUS32] + bset r0, r0, AUX_STATUS_BIT_AE + flag r0 + + RESTORE_CALLEE_REGS /* recover registers */ + EXCEPTION_EPILOGUE +#if ARC_FEATURE_CORE_600 + rtie ilink2 +#else + rtie +#endif + +/****** entry for normal interrupt exception handling ******/ + .global exc_entry_int /* entry for interrupt handling */ + .align 4 +exc_entry_int: + + INTERRUPT_PROLOGUE + + mov blink, sp + + /* disable interrupt */ + push r0 + lr r0, [AUX_STATUS32] + push r0 + bclr r0, r0, AUX_STATUS_BIT_E1 + bclr r0, r0, AUX_STATUS_BIT_E2 + flag r0 + ld r3, [exc_nest_count] + add r2, r3, 1 + st r2, [exc_nest_count] + /* enable interrupt */ + pop r0 + flag r0 + pop r0 + + brne r3, 0, irq_handler_1 +/* change to exception stack if interrupt happened in task context */ + mov sp, _e_stack +#if ARC_FEATURE_STACK_CHECK + lr r0, [AUX_STATUS32] + bclr r0, r0, AUX_STATUS_BIT_SC + flag r0 +#endif +irq_handler_1: + PUSH blink + +/* critical area */ +#if ARC_FEATURE_CORE_700 + lr r0, [AUX_IRQ_CAUSE1] +#endif + mov r1, exc_int_handler_table + ld.as r2, [r1, r0] /* r2 = exc_int_handler_table + irqno *4 */ +/* handle software triggered interrupt */ + lr r3, [AUX_IRQ_HINT] + cmp r3, r0 + bne.d irq_hint_handled + xor r3, r3, r3 + sr r3, [AUX_IRQ_HINT] +irq_hint_handled: + + jl [r2] /* jump to interrupt handler */ +/* no interrupts are allowed from here */ +ret_int: + clri /* disable interrupt */ + + POP sp + mov r1, exc_nest_count + ld r0, [r1] + sub r0, r0, 1 + st r0, [r1] +/* if there are multi-bits set in IRQ_LV12, it's still in nest interrupt */ + lr r1, [AUX_IRQ_LV12] + + ld r0, [context_switch_reqflg] + brne r0, 0, ret_int_2 +ret_int_1: /* return from non-task context */ + INTERRUPT_EPILOGUE +#if ARC_FEATURE_CORE_600 +/* TODO: series 600 IRQ6 and IRQ7 uses ilink2 */ + rtie ilink1 +#else + rtie +#endif +/* there is a dispatch request */ +ret_int_2: + /* clear dispatch request */ + mov r0, 0 + st r0, [context_switch_reqflg] + + ld r0, [pxCurrentTCB] + breq r0, 0, ret_int_1 + +/* r1 has old AUX_IRQ_LV12 */ + PUSH r1 +/* clear related bits in IRQ_ACT manually to simulate a irq return */ + + SAVE_CALLEE_REGS /* save callee save registers */ + mov r1, ret_int_r /* save return address */ + PUSH r1 + + bl dispatcher /* r0->pxCurrentTCB */ + +ret_int_r: + RESTORE_CALLEE_REGS /* recover registers */ + POPAX AUX_IRQ_LV12 + INTERRUPT_EPILOGUE +#if ARC_FEATURE_CORE_600 + rtie ilink1 +#else + rtie +#endif + +/** @endcond */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/port.c new file mode 100644 index 0000000..a99313a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/port.c @@ -0,0 +1,295 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * Implementation of functions defined in portable.h + */ + +#include "FreeRTOS.h" +#include "task.h" +#include "FreeRTOSConfig.h" + +#include "arc/arc_exception.h" +#include "arc/arc_timer.h" +#include "board.h" + +#include "arc_freertos_exceptions.h" + +volatile unsigned int ulCriticalNesting = 999UL; +volatile unsigned int context_switch_reqflg; /* task context switch request flag in exceptions and interrupts handling */ + +/** + * \var exc_nest_count + * \brief the counter for exc/int processing, =0 no int/exc + * >1 in int/exc processing + * @} + */ +uint32_t exc_nest_count; +/* --------------------------------------------------------------------------*/ + +/** + * @brief kernel tick interrupt handler of freertos + */ +/* ----------------------------------------------------------------------------*/ +static void vKernelTick( void * ptr ) +{ + /* clear timer interrupt */ + arc_timer_int_clear( BOARD_OS_TIMER_ID ); + board_timer_update( configTICK_RATE_HZ ); + + if( xTaskIncrementTick() ) + { + portYIELD_FROM_ISR(); /* need to make task switch */ + } +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief setup freertos kernel tick + */ +/* ----------------------------------------------------------------------------*/ +static void prvSetupTimerInterrupt( void ) +{ + unsigned int cyc = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + int_disable( BOARD_OS_TIMER_INTNO ); /* disable os timer interrupt */ + arc_timer_stop( BOARD_OS_TIMER_ID ); + arc_timer_start( BOARD_OS_TIMER_ID, TIMER_CTRL_IE | TIMER_CTRL_NH, cyc ); + + int_handler_install( BOARD_OS_TIMER_INTNO, ( INT_HANDLER_T ) vKernelTick ); + int_pri_set( BOARD_OS_TIMER_INTNO, INT_PRI_MIN ); + int_enable( BOARD_OS_TIMER_INTNO ); +} + +/* + * Setup the stack of a new task so it is ready to be placed under the + * scheduler control. The registers have to be placed on the stack in + * the order that the port expects to find them. + * + * For ARC, task context switch is implemented with the help of SWI exception + * It's not efficient but simple. + * + */ +StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +{ + /* To ensure asserts in tasks.c don't fail, although in this case the assert + * is not really required. */ + pxTopOfStack--; + + /* Setup the initial stack of the task. The stack is set exactly as + * expected by the portRESTORE_CONTEXT() macro. */ + + /* When the task starts is will expect to find the function parameter in + * R0. */ + *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) pxCode; /* function body */ + + /* PC */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) start_r; /* dispatch return address */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING; + return pxTopOfStack; +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief start the freertos scheduler, go to the first task + * + * @returns + */ +/* ----------------------------------------------------------------------------*/ +BaseType_t xPortStartScheduler( void ) +{ + /* Start the timer that generates the tick ISR. */ + prvSetupTimerInterrupt(); + start_dispatch(); + + /* Should not get here! */ + return 0; +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief + */ +/* ----------------------------------------------------------------------------*/ +void vPortEndScheduler( void ) +{ +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief generate a task switch request in ISR + */ +/* ----------------------------------------------------------------------------*/ +void vPortYieldFromIsr( void ) +{ + unsigned int status32; + + status32 = cpu_lock_save(); + context_switch_reqflg = true; + cpu_unlock_restore( status32 ); +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief + */ +/* ----------------------------------------------------------------------------*/ +void vPortYield( void ) +{ + unsigned int status32; + + status32 = cpu_lock_save(); + dispatch(); + cpu_unlock_restore( status32 ); +} + +/* --------------------------------------------------------------------------*/ + +/** + * @brief + */ +/* ----------------------------------------------------------------------------*/ +void vPortEndTask( void ) +{ + #if ( INCLUDE_vTaskDelete == 1 ) + vTaskDelete( NULL ); /* Delete task itself */ + #endif + + while( 1 ) /* Yield to other task */ + { + vPortYield(); + } +} + +#if ARC_FEATURE_STACK_CHECK + +/* + * !!! Note !!! + * This a trick!!! + * It's a copy from task.c. We need to konw the definition of TCB for the purpose of hardware + * stack check. Pls don't forget to update it when FreeRTOS is updated. + */ + typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */ + { + volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */ + + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ + #endif + + ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ + ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ + UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ + StackType_t * pxStack; /*< Points to the start of the stack. */ + char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */ + #endif + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ + #endif + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ + UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ + #endif + + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ + UBaseType_t uxMutexesHeld; + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + TaskHookFunction_t pxTaskTag; + #endif + + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + + /* Allocate a Newlib reent structure that is specific to this task. + * Note Newlib support has been included by popular demand, but is not + * used by the FreeRTOS maintainers themselves. FreeRTOS is not + * responsible for resulting newlib operation. User must be familiar with + * newlib and must provide system-wide implementations of the necessary + * stubs. Be warned that (at the time of writing) the current newlib design + * implements a system-wide malloc() that must be provided with locks. */ + struct _reent xNewLib_reent; + #endif + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + volatile uint32_t ulNotifiedValue; + volatile uint8_t ucNotifyState; + #endif + + /* See the comments above the definition of + * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */ + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ + #endif + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDelayAborted; + #endif + + #if ( configUSE_POSIX_ERRNO == 1 ) + int iTaskErrno; + #endif + } tskTCB; + + + void vPortSetStackCheck( TaskHandle_t old, + TaskHandle_t new ) + { + if( new != NULL ) + { + arc_aux_write( AUX_USTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) ); + arc_aux_write( AUX_USTACK_TOP, ( uint32_t ) ( new->pxStack ) ); + } + } +#endif /* if ARC_FEATURE_STACK_CHECK */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/portmacro.h new file mode 100644 index 0000000..73f8c29 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARC_v1/portmacro.h @@ -0,0 +1,149 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H + #define PORTMACRO_H + #include "embARC.h" + + #ifdef __cplusplus + extern "C" { + #endif + +/* record stack high address for stack check */ + #ifndef configRECORD_STACK_HIGH_ADDRESS + #define configRECORD_STACK_HIGH_ADDRESS 1 + #endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + #define portCHAR char + #define portFLOAT float + #define portDOUBLE double + #define portLONG long + #define portSHORT short + #define portSTACK_TYPE unsigned int + #define portBASE_TYPE portLONG + + #ifndef Asm + #define Asm __asm__ volatile + #endif + +/* + * normal constants + */ + #ifndef NULL + #define NULL 0 /* invalid pointer */ + #endif /* NULL */ + + #ifndef true + #define true 1 /* true */ + #endif /* true */ + + #ifndef false + #define false 0 /* false */ + #endif /* false */ + + typedef portSTACK_TYPE StackType_t; + typedef long BaseType_t; + typedef unsigned long UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef unsigned int TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + #endif + + #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 8 + #define portNOP() Asm( "nop_s" ); + #define IPM_ENABLE_ALL 1 + + #define portYIELD_FROM_ISR() vPortYieldFromIsr() + #define portYIELD() vPortYield() + +/* Critical section management. */ + #define portDISABLE_INTERRUPTS() \ + { \ + arc_lock(); \ + } \ + + #define portENABLE_INTERRUPTS() \ + { \ + arc_unlock(); \ + } \ + + extern volatile unsigned int ulCriticalNesting; + + #define portENTER_CRITICAL() \ + { \ + portDISABLE_INTERRUPTS() \ + ulCriticalNesting++; \ + } + + + #define portEXIT_CRITICAL() \ + { \ + if( ulCriticalNesting > portNO_CRITICAL_NESTING ) \ + { \ + ulCriticalNesting--; \ + if( ulCriticalNesting == portNO_CRITICAL_NESTING ) \ + { \ + portENABLE_INTERRUPTS() \ + } \ + } \ + } + + + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() do {} while( 0 ) /* we use the timer */ + #define portALT_GET_RUN_TIME_COUNTER_VALUE( dest ) ( dest = xTickCount ) + + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB + + void vPortYield( void ); + void vPortYieldFromIsr( void ); + + #ifdef __cplusplus +} + #endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARM_CM33_TFM/README.md b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARM_CM33_TFM/README.md new file mode 100644 index 0000000..6b03f56 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARM_CM33_TFM/README.md @@ -0,0 +1,71 @@ +# Target of this port + +This port adds the support that FreeRTOS applications can call the secure +services in Trusted Firmware M(TF-M) through Platform Security Architecture +(PSA) API based on the ARM Cortex-M33 platform. + +The Platform Security Architecture (PSA) makes it quicker, easier and cheaper +to design security into a device from the ground up. PSA is made up of four key +stages: analyze, architect, implement, and certify. See [PSA Resource Page](https://developer.arm.com/architectures/security-architectures/platform-security-architecture). + +TF-M is an open source project. It provides a reference implementation of PSA +for Arm M-profile architecture. Please get the details from this [link](https://git.trustedfirmware.org/TF-M/trusted-firmware-m.git/about/). + +# Derivation of the source code + +* ```os_wrapper_freertos.c``` + The implementation of APIs which are defined in ```os_wrapper\mutex.h``` by TF-M + (tag: TF-Mv1.1). The implementation is based on FreeRTOS mutex type semaphore. + +# Usage notes + +To build a project based on this port: +* Step 1: build the secure image. Please follow the **Build the Secure Side** section for details. +* Step 2: build the nonsecure image. Please follow the **Build the Non-Secure Side** for details. + +## Build the Secure Side + +### Get the TF-M source code + +See the [link](https://git.trustedfirmware.org/TF-M/trusted-firmware-m.git/) to get the source code. This port is based on TF-M version **tag: TF-Mv1.1**. + +### Build TF-M + +Please refer to this [link](https://git.trustedfirmware.org/TF-M/trusted-firmware-m.git/tree/docs/getting_started/tfm_build_instruction.rst) to build the secure side. +_**Note:** ```CONFIG_TFM_ENABLE_CTX_MGMT``` must be configured as "OFF" when building TF-M_. + +## Build the Non-Secure Side + +Please copy all the files in ```freertos_kernel\portable\GCC\ARM_CM33_NTZ``` into the ```freertos_kernel\portable\GCC\ARM_CM33_TFM``` folder before using this port. Note that TrustZone is enabled in this port. The TF-M runs in the Secure Side. + +Please call the API ```tfm_ns_interface_init()``` which is defined in ```os_wrapper_freertos.c``` at the very beginning of your application. Otherwise, it will always fail when calling a TF-M service in the Nonsecure Side. + +### Configuration in FreeRTOS kernel + +* ```configRUN_FREERTOS_SECURE_ONLY``` +This macro should be configured as 0. In this port, TF-M runs in the Secure Side while FreeRTOS +Kernel runs in the Non-Secure Side. + +* ```configENABLE_FPU``` +The setting of this macro is decided by the setting in Secure Side which is platform-specific. +If the Secure Side enables Non-Secure access to FPU, then this macro can be configured as 0 or 1. Otherwise, this macro can only be configured as 0. + +* ```configENABLE_TRUSTZONE``` +This macro should be configured as 0 because TF-M doesn't use the secure context management function of FreeRTOS. New secure context management might be introduced when TF-M supports multiple secure context. + + +### Integrate TF-M Non-Secure interface with FreeRTOS project + +To enable calling TF-M services by the Non-Secure Side, the files below should be included in the FreeRTOS project and built together. +* files in ```trusted-firmware-m\build\install\export\tfm\src``` + These files contain the implementation of PSA Functional Developer APIs which can be called by Non-Secure Side directly and PSA Firmware Framework APIs in the IPC model. These files should be taken + as part of the Non-Secure source code. +* files in ```trusted-firmware-m\build\install\export\tfm\include``` + These files are the necessary header files to call TF-M services. +* ```trusted-firmware-m\build\install\export\tfm\veneers\s_veneers.o``` + This object file contains all the Non-Secure callable functions exported by + TF-M and it should be linked when generating the Non-Secure image. + + + +*Copyright (c) 2020, Arm Limited. All rights reserved.* diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARM_CM33_TFM/os_wrapper_freertos.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARM_CM33_TFM/os_wrapper_freertos.c new file mode 100644 index 0000000..5e9145b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ARM_CM33_TFM/os_wrapper_freertos.c @@ -0,0 +1,96 @@ +/* + * Copyright (c) 2019-2020, Arm Limited. All rights reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + */ + +/* + * This file contains the implementation of APIs which are defined in + * os_wrapper/mutex.h by TF-M(tag: TF-Mv1.1). The implementation is based + * on FreeRTOS mutex type semaphore. + */ + +#include "os_wrapper/mutex.h" + +#include "FreeRTOS.h" +#include "semphr.h" +#include "mpu_wrappers.h" + +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) + /* + * In the static allocation, the RAM is required to hold the semaphore's + * state. + */ + StaticSemaphore_t xSecureMutexBuffer; +#endif + +void * os_wrapper_mutex_create( void ) +{ +SemaphoreHandle_t xMutexHandle = NULL; + +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + xMutexHandle = xSemaphoreCreateMutex(); +#elif( configSUPPORT_STATIC_ALLOCATION == 1 ) + xMutexHandle = xSemaphoreCreateMutexStatic( &xSecureMutexBuffer ); +#endif + return ( void * ) xMutexHandle; +} +/*-----------------------------------------------------------*/ + +uint32_t os_wrapper_mutex_acquire( void * handle, uint32_t timeout ) +{ +BaseType_t xRet; + + if( ! handle ) + return OS_WRAPPER_ERROR; + + xRet = xSemaphoreTake( ( SemaphoreHandle_t ) handle, + ( timeout == OS_WRAPPER_WAIT_FOREVER ) ? + portMAX_DELAY : ( TickType_t ) timeout ); + + if( xRet != pdPASS ) + return OS_WRAPPER_ERROR; + else + return OS_WRAPPER_SUCCESS; +} +/*-----------------------------------------------------------*/ + +uint32_t os_wrapper_mutex_release( void * handle ) +{ +BaseType_t xRet; + + if( !handle ) + return OS_WRAPPER_ERROR; + + xRet = xSemaphoreGive( ( SemaphoreHandle_t ) handle ); + + if( xRet != pdPASS ) + return OS_WRAPPER_ERROR; + else + return OS_WRAPPER_SUCCESS; +} +/*-----------------------------------------------------------*/ + +uint32_t os_wrapper_mutex_delete( void * handle ) +{ + vSemaphoreDelete( ( SemaphoreHandle_t ) handle ); + + return OS_WRAPPER_SUCCESS; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/port.c new file mode 100644 index 0000000..8ad81b1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/port.c @@ -0,0 +1,765 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#include + +#include +#include +#include + +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the AVR port. + *----------------------------------------------------------*/ + +/* Start tasks with interrupts enabled. */ +#define portFLAGS_INT_ENABLED ( (StackType_t) 0x80 ) + +#if defined( portUSE_WDTO) + #warning "Watchdog Timer used for scheduler." + #define portSCHEDULER_ISR WDT_vect + +#elif defined( portUSE_TIMER0 ) +/* Hardware constants for Timer0. */ + #warning "Timer0 used for scheduler." + #define portSCHEDULER_ISR TIMER0_COMPA_vect + #define portCLEAR_COUNTER_ON_MATCH ( (uint8_t) _BV(WGM01) ) + #define portPRESCALE_1024 ( (uint8_t) (_BV(CS02)|_BV(CS00)) ) + #define portCLOCK_PRESCALER ( (uint32_t) 1024 ) + #define portCOMPARE_MATCH_A_INTERRUPT_ENABLE ( (uint8_t) _BV(OCIE0A) ) + #define portOCRL OCR0A + #define portTCCRa TCCR0A + #define portTCCRb TCCR0B + #define portTIMSK TIMSK0 + #define portTIFR TIFR0 + +#endif + +/*-----------------------------------------------------------*/ + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/*-----------------------------------------------------------*/ + +/** + Enable the watchdog timer, configuring it for expire after + (value) timeout (which is a combination of the WDP0 + through WDP3 bits). + + This function is derived from but enables only + the interrupt bit (WDIE), rather than the reset bit (WDE). + + Can't find it documented but the WDT, once enabled, + rolls over and fires a new interrupt each time. + + See also the symbolic constants WDTO_15MS et al. + + Updated to match avr-libc 2.0.0 +*/ + +#if defined( portUSE_WDTO) + +static __inline__ +__attribute__ ((__always_inline__)) +void wdt_interrupt_enable (const uint8_t value) +{ + if (_SFR_IO_REG_P (_WD_CONTROL_REG)) + { + __asm__ __volatile__ ( + "in __tmp_reg__,__SREG__" "\n\t" + "cli" "\n\t" + "wdr" "\n\t" + "out %0, %1" "\n\t" + "out __SREG__,__tmp_reg__" "\n\t" + "out %0, %2" "\n\t" + : /* no outputs */ + : "I" (_SFR_IO_ADDR(_WD_CONTROL_REG)), + "r" ((uint8_t)(_BV(_WD_CHANGE_BIT) | _BV(WDE))), + "r" ((uint8_t) ((value & 0x08 ? _WD_PS3_MASK : 0x00) | + _BV(WDIF) | _BV(WDIE) | (value & 0x07)) ) + : "r0" + ); + } + else + { + __asm__ __volatile__ ( + "in __tmp_reg__,__SREG__" "\n\t" + "cli" "\n\t" + "wdr" "\n\t" + "sts %0, %1" "\n\t" + "out __SREG__,__tmp_reg__" "\n\t" + "sts %0, %2" "\n\t" + : /* no outputs */ + : "n" (_SFR_MEM_ADDR(_WD_CONTROL_REG)), + "r" ((uint8_t)(_BV(_WD_CHANGE_BIT) | _BV(WDE))), + "r" ((uint8_t) ((value & 0x08 ? _WD_PS3_MASK : 0x00) | + _BV(WDIF) | _BV(WDIE) | (value & 0x07)) ) + : "r0" + ); + } +} +#endif + +/*-----------------------------------------------------------*/ +/** + Enable the watchdog timer, configuring it for expire after + (value) timeout (which is a combination of the WDP0 + through WDP3 bits). + + This function is derived from but enables both + the reset bit (WDE), and the interrupt bit (WDIE). + + This will ensure that if the interrupt is not serviced + before the second timeout, the AVR will reset. + + Servicing the interrupt automatically clears it, + and ensures the AVR does not reset. + + Can't find it documented but the WDT, once enabled, + rolls over and fires a new interrupt each time. + + See also the symbolic constants WDTO_15MS et al. + + Updated to match avr-libc 2.0.0 +*/ + +#if defined( portUSE_WDTO) + +static __inline__ +__attribute__ ((__always_inline__)) +void wdt_interrupt_reset_enable (const uint8_t value) +{ + if (_SFR_IO_REG_P (_WD_CONTROL_REG)) + { + __asm__ __volatile__ ( + "in __tmp_reg__,__SREG__" "\n\t" + "cli" "\n\t" + "wdr" "\n\t" + "out %0, %1" "\n\t" + "out __SREG__,__tmp_reg__" "\n\t" + "out %0, %2" "\n\t" + : /* no outputs */ + : "I" (_SFR_IO_ADDR(_WD_CONTROL_REG)), + "r" ((uint8_t)(_BV(_WD_CHANGE_BIT) | _BV(WDE))), + "r" ((uint8_t) ((value & 0x08 ? _WD_PS3_MASK : 0x00) | + _BV(WDIF) | _BV(WDIE) | _BV(WDE) | (value & 0x07)) ) + : "r0" + ); + } + else + { + __asm__ __volatile__ ( + "in __tmp_reg__,__SREG__" "\n\t" + "cli" "\n\t" + "wdr" "\n\t" + "sts %0, %1" "\n\t" + "out __SREG__,__tmp_reg__" "\n\t" + "sts %0, %2" "\n\t" + : /* no outputs */ + : "n" (_SFR_MEM_ADDR(_WD_CONTROL_REG)), + "r" ((uint8_t)(_BV(_WD_CHANGE_BIT) | _BV(WDE))), + "r" ((uint8_t) ((value & 0x08 ? _WD_PS3_MASK : 0x00) | + _BV(WDIF) | _BV(WDIE) | _BV(WDE) | (value & 0x07)) ) + : "r0" + ); + } +} +#endif + +/*-----------------------------------------------------------*/ + +/* + * Macro to save all the general purpose registers, the save the stack pointer + * into the TCB. + * + * The first thing we do is save the flags then disable interrupts. This is to + * guard our stack against having a context switch interrupt after we have already + * pushed the registers onto the stack - causing the 32 registers to be on the + * stack twice. + * + * r1 is set to zero (__zero_reg__) as the compiler expects it to be thus, however + * some of the math routines make use of R1. + * + * r0 is set to __tmp_reg__ as the compiler expects it to be thus. + * + * #if defined(__AVR_HAVE_RAMPZ__) + * #define __RAMPZ__ 0x3B + * #endif + * + * #if defined(__AVR_3_BYTE_PC__) + * #define __EIND__ 0x3C + * #endif + * + * The interrupts will have been disabled during the call to portSAVE_CONTEXT() + * so we need not worry about reading/writing to the stack pointer. + */ +#if defined(__AVR_3_BYTE_PC__) && defined(__AVR_HAVE_RAMPZ__) +/* 3-Byte PC Save with RAMPZ */ +#define portSAVE_CONTEXT() \ + __asm__ __volatile__ ( "push __tmp_reg__ \n\t" \ + "in __tmp_reg__, __SREG__ \n\t" \ + "cli \n\t" \ + "push __tmp_reg__ \n\t" \ + "in __tmp_reg__, 0x3B \n\t" \ + "push __tmp_reg__ \n\t" \ + "in __tmp_reg__, 0x3C \n\t" \ + "push __tmp_reg__ \n\t" \ + "push __zero_reg__ \n\t" \ + "clr __zero_reg__ \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in __tmp_reg__, __SP_L__ \n\t" \ + "st x+, __tmp_reg__ \n\t" \ + "in __tmp_reg__, __SP_H__ \n\t" \ + "st x+, __tmp_reg__ \n\t" \ + ); +#elif defined(__AVR_HAVE_RAMPZ__) +/* 2-Byte PC Save with RAMPZ */ +#define portSAVE_CONTEXT() \ + __asm__ __volatile__ ( "push __tmp_reg__ \n\t" \ + "in __tmp_reg__, __SREG__ \n\t" \ + "cli \n\t" \ + "push __tmp_reg__ \n\t" \ + "in __tmp_reg__, 0x3B \n\t" \ + "push __tmp_reg__ \n\t" \ + "push __zero_reg__ \n\t" \ + "clr __zero_reg__ \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in __tmp_reg__, __SP_L__ \n\t" \ + "st x+, __tmp_reg__ \n\t" \ + "in __tmp_reg__, __SP_H__ \n\t" \ + "st x+, __tmp_reg__ \n\t" \ + ); +#else +/* 2-Byte PC Save */ +#define portSAVE_CONTEXT() \ + __asm__ __volatile__ ( "push __tmp_reg__ \n\t" \ + "in __tmp_reg__, __SREG__ \n\t" \ + "cli \n\t" \ + "push __tmp_reg__ \n\t" \ + "push __zero_reg__ \n\t" \ + "clr __zero_reg__ \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in __tmp_reg__, __SP_L__ \n\t" \ + "st x+, __tmp_reg__ \n\t" \ + "in __tmp_reg__, __SP_H__ \n\t" \ + "st x+, __tmp_reg__ \n\t" \ + ); +#endif + +/* + * Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during + * the context save so we can write to the stack pointer. + */ +#if defined(__AVR_3_BYTE_PC__) && defined(__AVR_HAVE_RAMPZ__) +/* 3-Byte PC Restore with RAMPZ */ +#define portRESTORE_CONTEXT() \ + __asm__ __volatile__ ( "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop __zero_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + "out 0x3C, __tmp_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + "out 0x3B, __tmp_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + "out __SREG__, __tmp_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + ); +#elif defined(__AVR_HAVE_RAMPZ__) +/* 2-Byte PC Restore with RAMPZ */ +#define portRESTORE_CONTEXT() \ + __asm__ __volatile__ ( "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop __zero_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + "out 0x3B, __tmp_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + "out __SREG__, __tmp_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + ); +#else +/* 2-Byte PC Restore */ +#define portRESTORE_CONTEXT() \ + __asm__ __volatile__ ( "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop __zero_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + "out __SREG__, __tmp_reg__ \n\t" \ + "pop __tmp_reg__ \n\t" \ + ); +#endif +/*-----------------------------------------------------------*/ + +/* + * Perform hardware setup to enable ticks from relevant Timer. + */ +static void prvSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint16_t usAddress; + /* Simulate how the stack would look after a call to vPortYield() generated by + the compiler. */ + + /* The start of the task code will be popped off the stack last, so place + it on first. */ + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + +#if defined(__AVR_3_BYTE_PC__) + /* The AVR ATmega2560/ATmega2561 have 256KBytes of program memory and a 17-bit + * program counter. When a code address is stored on the stack, it takes 3 bytes + * instead of 2 for the other ATmega* chips. + * + * Store 0 as the top byte since we force all task routines to the bottom 128K + * of flash. We do this by using the .lowtext label in the linker script. + * + * In order to do this properly, we would need to get a full 3-byte pointer to + * pxCode. That requires a change to GCC. Not likely to happen any time soon. + */ + *pxTopOfStack = 0; + pxTopOfStack--; +#endif + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + +#if defined(__AVR_3_BYTE_PC__) + /* If we have an ATmega256x, we are also saving the EIND register. + * We should default to 0. + */ + *pxTopOfStack = ( StackType_t ) 0x00; /* EIND */ + pxTopOfStack--; +#endif + +#if defined(__AVR_HAVE_RAMPZ__) + /* We are saving the RAMPZ register. + * We should default to 0. + */ + *pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */ + pxTopOfStack--; +#endif + + /* Now the remaining registers. The compiler expects R1 to be 0. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R1 */ + + /* Leave R2 - R23 untouched */ + pxTopOfStack -= 23; + + /* Place the parameter on the stack in the expected location. */ + usAddress = ( uint16_t ) pvParameters; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + + /* Leave register R26 - R31 untouched */ + pxTopOfStack -= 7; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Setup the relevant timer hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); + + /* Simulate a function call end as generated by the compiler. We will now + jump to the start of the task the context of which we have just restored. */ + __asm__ __volatile__ ( "ret" ); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the ATmega port will get stopped. */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. The first thing we do is save the registers so we + * can use a naked attribute. + */ +void vPortYield( void ) __attribute__ ( ( hot, flatten, naked ) ); +void vPortYield( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + + __asm__ __volatile__ ( "ret" ); +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch callable from ISRs. The first thing we do is save + * the registers so we can use a naked attribute. + */ +void vPortYieldFromISR(void) __attribute__ ( ( hot, flatten, naked ) ); +void vPortYieldFromISR(void) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + + __asm__ __volatile__ ( "reti" ); +} +/*-----------------------------------------------------------*/ + +/* + * Context switch function used by the tick. This must be identical to + * vPortYield() from the call to vTaskSwitchContext() onwards. The only + * difference from vPortYield() is the tick count is incremented as the + * call comes from the tick ISR. + */ +void vPortYieldFromTick( void ) __attribute__ ( ( hot, flatten, naked ) ); +void vPortYieldFromTick( void ) +{ + portSAVE_CONTEXT(); + if( xTaskIncrementTick() != pdFALSE ) + { + vTaskSwitchContext(); + } + portRESTORE_CONTEXT(); + + __asm__ __volatile__ ( "ret" ); +} +/*-----------------------------------------------------------*/ + +#if defined(portUSE_WDTO) +/* + * Setup WDT to generate a tick interrupt. + */ +void prvSetupTimerInterrupt( void ) +{ + /* reset watchdog */ + wdt_reset(); + + /* set up WDT Interrupt (rather than the WDT Reset). */ + wdt_interrupt_enable( portUSE_WDTO ); +} + +#elif defined (portUSE_TIMER0) +/* + * Setup Timer0 compare match A to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt( void ) +{ +uint32_t ulCompareMatch; +uint8_t ucLowByte; + + /* Using 8bit Timer0 to generate the tick. Correct fuses must be + selected for the configCPU_CLOCK_HZ clock.*/ + + ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; + + /* We only have 8 bits so have to scale 1024 to get our required tick rate. */ + ulCompareMatch /= portCLOCK_PRESCALER; + + /* Adjust for correct value. */ + ulCompareMatch -= ( uint32_t ) 1; + + /* Setup compare match value for compare match A. Interrupts are disabled + before this is called so we need not worry here. */ + ucLowByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff ); + portOCRL = ucLowByte; + + /* Setup clock source and compare match behaviour. */ + portTCCRa = portCLEAR_COUNTER_ON_MATCH; + portTCCRb = portPRESCALE_1024; + + + /* Enable the interrupt - this is okay as interrupt are currently globally disabled. */ + ucLowByte = portTIMSK; + ucLowByte |= portCOMPARE_MATCH_A_INTERRUPT_ENABLE; + portTIMSK = ucLowByte; +} + +#endif + +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 + + /* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + * + * use ISR_NOBLOCK where there is an important timer running, that should preempt the scheduler. + * + */ + ISR(portSCHEDULER_ISR, ISR_NAKED) __attribute__ ((hot, flatten)); +/* ISR(portSCHEDULER_ISR, ISR_NAKED ISR_NOBLOCK) __attribute__ ((hot, flatten)); + */ + ISR(portSCHEDULER_ISR) + { + vPortYieldFromTick(); + __asm__ __volatile__ ( "reti" ); + } +#else + + /* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + * + * use ISR_NOBLOCK where there is an important timer running, that should preempt the scheduler. + */ + ISR(portSCHEDULER_ISR) __attribute__ ((hot, flatten)); +/* ISR(portSCHEDULER_ISR, ISR_NOBLOCK) __attribute__ ((hot, flatten)); + */ + ISR(portSCHEDULER_ISR) + { + xTaskIncrementTick(); + } +#endif + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/portmacro.h new file mode 100644 index 0000000..46b7431 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/portmacro.h @@ -0,0 +1,156 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +#include + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int + +typedef uint8_t StackType_t; +typedef int8_t BaseType_t; +typedef uint8_t UBaseType_t; + +#if configUSE_16_BIT_TICKS == 1 + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ + +#define portENTER_CRITICAL() __asm__ __volatile__ ( \ + "in __tmp_reg__, __SREG__" "\n\t" \ + "cli" "\n\t" \ + "push __tmp_reg__" "\n\t" \ + ::: "memory" \ + ) + + +#define portEXIT_CRITICAL() __asm__ __volatile__ ( \ + "pop __tmp_reg__" "\n\t" \ + "out __SREG__, __tmp_reg__" "\n\t" \ + ::: "memory" \ + ) + + +#define portDISABLE_INTERRUPTS() __asm__ __volatile__ ( "cli" ::: "memory") +#define portENABLE_INTERRUPTS() __asm__ __volatile__ ( "sei" ::: "memory") +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + +/* System Tick - Scheduler timer + * Prefer to use the enhanced Watchdog Timer, but also Timer0 is ok. + */ + +#if defined(WDIE) && defined(WDIF) /* If Enhanced WDT with interrupt capability is available */ + +#define portUSE_WDTO WDTO_15MS /* use the Watchdog Timer for xTaskIncrementTick */ + +/* Watchdog period options: WDTO_15MS + WDTO_30MS + WDTO_60MS + WDTO_120MS + WDTO_250MS + WDTO_500MS + WDTO_1S + WDTO_2S +*/ + +#else + +#define portUSE_TIMER0 /* use the 8-bit Timer0 for xTaskIncrementTick */ + +#endif + +#define portSTACK_GROWTH ( -1 ) + +/* Timing for the scheduler. + * Watchdog Timer is 128kHz nominal, + * but 120 kHz at 5V DC and 25 degrees is actually more accurate, + * from data sheet. + */ +#if defined( portUSE_WDTO ) +#define portTICK_PERIOD_MS ( (TickType_t) _BV( portUSE_WDTO + 4 ) ) +#else +#define portTICK_PERIOD_MS ( (TickType_t) 1000 / configTICK_RATE_HZ ) +#endif + +#define portBYTE_ALIGNMENT 1 +#define portNOP() __asm__ __volatile__ ( "nop" ); +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield( void ) __attribute__ ( ( naked ) ); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR( void ) __attribute__ ( ( naked ) ); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +#if defined(__AVR_3_BYTE_PC__) +/* Task function macros as described on the FreeRTOS.org WEB site. */ + +/* Add .lowtext tag from the avr linker script avr6.x for ATmega2560 and ATmega2561 + * to make sure functions are loaded in low memory. + */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__ ((section (".lowtext"))) +#else +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#endif + +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/readme.md b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/readme.md new file mode 100644 index 0000000..4afb4fe --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/ATmega/readme.md @@ -0,0 +1,86 @@ +

ATmegaxxxx

+ +__Port for generalised Microchip ATmega architecture__ + +

Description

+ +This port provides a basis for supporting all modern ATmega devices using either the Enhanced Watchdog Timer, or Timer0 (an 8-bit Timer generally available across the whole range). + +This initial commit contains the information required to build with System Tick being generated by either the: +- Watchdog Timer, or +- Timer0 - an 8-bit Timer, or +- TimerN - a 16-bit Timer which will be configured by the user. + +Further commits can add support for 16-bit Timers available on many relevant devices. The availability of these 16-bit Timers is somewhat device specific, and these complex and highly configurable Timers are often used to generate phase correct PWM timing (for example) and they would be wasted as a simple System Tick. + +The port also provides support for the 3 byte program counter devices __ATmega2560__ and __ATmega2561__. Specific to these two devices the `EIND` register need to be preserved during a context switch. Also, due to a limitation in GCC, the scheduler needs to reside in the lower 128kB of flash for both of these devices. This is achieved by adding the `.lowtext` section attribute to the function prototype. + +To build generic Microchip (AVR) ATmega support the similarities across the family must be considered, and differences respected. Some comments on the strategy follow. + +

System Tick

+ +The Microchip (AVR) ATmega family has limited Timer and Pin capabilities, and is designed to be used in physical applications, controlling hardware with PWM and recognising level and edge voltage changes. It does this mainly through the use of 16-bit Timers (for generating phase correct PWM by up/down counting), and Pins attached to Interrupts. The 8-bit Timers are also attached to Pins, and they can be used for more simple timing tasks, requiring only a single counting direction. + +The Timers not attached to Pins (and therefore not impacting the application of the device) are some 16-bit Timers (very device dependent, eg Timer3 on 1284p), The RTC Timer, and the Watch Dog Timer. + +The Watch Dog Timer is configured identically across most of the ATmega devices. It comes in two variants. 1. Old style (eg ATmega32) which does not have an Interrupt capability, and hence on these old devices cannot be used as the System Tick. and 2. New style enhanced WDT, which can generate an Interrupt, and is available on every relevant device. + +Using the Watch Dog Timer (WDT) to generate the System Tick does not impact its use as a watch dog. It can be configured to generate a System Tick interrupt, and then one period later to Reset the device if the interrupt is not serviced. + +Configuration and usage of the WDT is covered in `` which was revised in avr-libc 2.0.0. + +Two additional WDT functions are provided in `port.c`, which extend avr-libc functions to enable the WDT Interrupt without enabling Reset `wdt_interrupt_enable()`, and to enable both the Interrupt and the Reset `wdt_interrupt_reset_enable()`. + +

3 Byte PC Devices

+ +The ATtiny, ATmega, ATxmega families can optionally support both 3 byte PC and 3 byte RAM addresses. However, focusing on just the ATmega family only two devices have a large Flash requiring them to use 3 byte PC. These are the __ATmega2560__ and __ATmega2561__. This PR provides support for these two devices in two ways. + + - providing `portSAVE_CONTEXT()` and `portRESTORE_CONTEXT` saving both the __RAMPZ__ and __EIND__ registers. + - providing a `portTASK_FUNCTION_PROTO()` with the linker attribute `.lowtext` which is used to ensure that the scheduler and relevant functions remain in the lower 128kB of Flash. + +For devices which can support __XRAM__ and have the __RAMPZ__ register, this register is also preserved during the context switch. + +

Interrupt Nesting

+ +The ATmega family does not support interrupt nesting, having only one interrupt priority. This means that when the Scheduler is running, interrupts are normally disabled. + +When a very time critical process is running, based on microsecond timing generated by one of the Timers, it is important to re-enable interrupts as early as possible in processing a Yield. Fortunately, this is supported through the use of the `NO_BLOCK` decorator when defining the Interrupt Service Routine. + +The `NO_BLOCK` decorator will enable the global interrupt early in the handling of an ISR (in this case for the Scheduler), and enable interrupts to be nested. Using this method, I've been able to successfully implement an [Audio Synthesiser](https://feilipu.me/2015/06/02/goldilocks-analogue-synthesizer/) with less than 83 microseconds for each cycle, whilst still running the Scheduler to handle display and input. + +Using `NO_BLOCK` is optional, and should only be done if a critical Timer should interrupt the Scheduler. + +

Heap Management

+ +Most users of FreeRTOS will choose to manage their own heap using one of the pre-allocated heap management algorithms, but for those that choose to use `heap_3.c`, the wrappered `malloc()` method, there is an issue that needs to be addressed. + +The avr-libc library assumes that the stack will always be above the heap, and does a check for this when responding to a `malloc()` request. This is not the case when Tasks are running, as their stack is located in the early allocated heap address ranges which will be below free heap memory, and so the `malloc()` request will fail even though heap space is available. + +To avoid this issue causing `pvPort_Malloc()` to failing, the user needs to issue this tuning statement BEFORE they use the heap, or use the `xTaskCreate()` API. + +```c +if( __malloc_heap_end == 0 ) + __malloc_heap_end = (char *)(RAMEND - __malloc_margin); +``` +Unfortunately in the repository there is nowhere sensible to include this statement as it should be included early in the `main()` function. + +For devices which can support __XRAM__ the user will need to tune the location of stack and heap according to their own requirements. + +

Supported Devices

+ +ATmega devices with __ENHANCED WDT__ Interrupt capability - will use WDT. + + - ATmega8U2/16U2/32U2 -> 2kB RAM + - ATmega16U4/32U4 - Arduino Leonardo -> 2.5kB RAM + - ATmega48PB/88PB/168PB/328PB - Arduino Uno -> 2kB RAM + - ATmega164PA/324PA/644PA/1284P - Goldilocks -> __16kB RAM__ + - ATmega324PB -> 2kB RAM + - ATmega640/1280/2560/1281/2561 - Arduino Mega -> __8kB RAM + XRAM__ + +ATmega devices without enhanced __WDT__ Interrupt capability - will use a 8-bit or 16-bit Timer. + + - ATmega8A/16A/32A/64A/128A -> 4kB RAM + - ATmega165A/165PA/325A/325PA/3250A/3250PA/645A/645P/6450A/6450P -> 4kB RAM + - ATmega169A/169PA/329A/329PA/3290A/3290PA/649A/649P/6490A/6490P -> 4kB RAM + - ATmega808/809/1608/1609/3208/3209/4808/4809 - megaAVR 0-Series -> 6kB RAM + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/FreeRTOS-simulator-for-Linux.url b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/FreeRTOS-simulator-for-Linux.url new file mode 100644 index 0000000..60f7ee8 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/FreeRTOS-simulator-for-Linux.url @@ -0,0 +1,5 @@ +[{000214A0-0000-0000-C000-000000000046}] +Prop3=19,11 +[InternetShortcut] +IDList= +URL=https://www.freertos.org/FreeRTOS-simulator-for-Linux.html diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/port.c new file mode 100644 index 0000000..05d89ff --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/port.c @@ -0,0 +1,562 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Posix port. + * + * Each task has a pthread which eases use of standard debuggers + * (allowing backtraces of tasks etc). Threads for tasks that are not + * running are blocked in sigwait(). + * + * Task switch is done by resuming the thread for the next task by + * signaling the condition variable and then waiting on a condition variable + * with the current thread. + * + * The timer interrupt uses SIGALRM and care is taken to ensure that + * the signal handler runs only on the thread for the current task. + * + * Use of part of the standard C library requires care as some + * functions can take pthread mutexes internally which can result in + * deadlocks as the FreeRTOS kernel can switch tasks while they're + * holding a pthread mutex. + * + * stdio (printf() and friends) should be called from a single task + * only or serialized with a FreeRTOS primitive such as a binary + * semaphore or mutex. + *----------------------------------------------------------*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "timers.h" +#include "utils/wait_for_event.h" +/*-----------------------------------------------------------*/ + +#define SIG_RESUME SIGUSR1 + +typedef struct THREAD +{ + pthread_t pthread; + pdTASK_CODE pxCode; + void *pvParams; + BaseType_t xDying; + struct event *ev; +} Thread_t; + +/* + * The additional per-thread data is stored at the beginning of the + * task's stack. + */ +static inline Thread_t *prvGetThreadFromTask(TaskHandle_t xTask) +{ +StackType_t *pxTopOfStack = *(StackType_t **)xTask; + + return (Thread_t *)(pxTopOfStack + 1); +} + +/*-----------------------------------------------------------*/ + +static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT; +static sigset_t xResumeSignals; +static sigset_t xAllSignals; +static sigset_t xSchedulerOriginalSignalMask; +static pthread_t hMainThread = ( pthread_t )NULL; +static volatile portBASE_TYPE uxCriticalNesting; +/*-----------------------------------------------------------*/ + +static portBASE_TYPE xSchedulerEnd = pdFALSE; +/*-----------------------------------------------------------*/ + +static void prvSetupSignalsAndSchedulerPolicy( void ); +static void prvSetupTimerInterrupt( void ); +static void *prvWaitForStart( void * pvParams ); +static void prvSwitchThread( Thread_t * xThreadToResume, + Thread_t *xThreadToSuspend ); +static void prvSuspendSelf( Thread_t * thread); +static void prvResumeThread( Thread_t * xThreadId ); +static void vPortSystemTickHandler( int sig ); +static void vPortStartFirstTask( void ); +/*-----------------------------------------------------------*/ + +static void prvFatalError( const char *pcCall, int iErrno ) +{ + fprintf( stderr, "%s: %s\n", pcCall, strerror( iErrno ) ); + abort(); +} + +/* + * See header file for description. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, + portSTACK_TYPE *pxEndOfStack, + pdTASK_CODE pxCode, void *pvParameters ) +{ +Thread_t *thread; +pthread_attr_t xThreadAttributes; +size_t ulStackSize; +int iRet; + + (void)pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy ); + + /* + * Store the additional thread data at the start of the stack. + */ + thread = (Thread_t *)(pxTopOfStack + 1) - 1; + pxTopOfStack = (portSTACK_TYPE *)thread - 1; + ulStackSize = (pxTopOfStack + 1 - pxEndOfStack) * sizeof(*pxTopOfStack); + + thread->pxCode = pxCode; + thread->pvParams = pvParameters; + thread->xDying = pdFALSE; + + pthread_attr_init( &xThreadAttributes ); + pthread_attr_setstack( &xThreadAttributes, pxEndOfStack, ulStackSize ); + + thread->ev = event_create(); + + vPortEnterCritical(); + + iRet = pthread_create( &thread->pthread, &xThreadAttributes, + prvWaitForStart, thread ); + if ( iRet ) + { + prvFatalError( "pthread_create", iRet ); + } + + vPortExitCritical(); + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortStartFirstTask( void ) +{ +Thread_t *pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); + + /* Start the first task. */ + prvResumeThread( pxFirstThread ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +portBASE_TYPE xPortStartScheduler( void ) +{ +int iSignal; +sigset_t xSignals; + + hMainThread = pthread_self(); + + /* Start the timer that generates the tick ISR(SIGALRM). + Interrupts are disabled here already. */ + prvSetupTimerInterrupt(); + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Wait until signaled by vPortEndScheduler(). */ + sigemptyset( &xSignals ); + sigaddset( &xSignals, SIG_RESUME ); + + while ( !xSchedulerEnd ) + { + sigwait( &xSignals, &iSignal ); + } + + /* Cancel the Idle task and free its resources */ +#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + vPortCancelThread( xTaskGetIdleTaskHandle() ); +#endif + +#if ( configUSE_TIMERS == 1 ) + /* Cancel the Timer task and free its resources */ + vPortCancelThread( xTimerGetTimerDaemonTaskHandle() ); +#endif /* configUSE_TIMERS */ + + /* Restore original signal mask. */ + (void)pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL ); + + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ +struct itimerval itimer; +struct sigaction sigtick; +Thread_t *xCurrentThread; + + /* Stop the timer and ignore any pending SIGALRMs that would end + * up running on the main thread when it is resumed. */ + itimer.it_value.tv_sec = 0; + itimer.it_value.tv_usec = 0; + + itimer.it_interval.tv_sec = 0; + itimer.it_interval.tv_usec = 0; + (void)setitimer( ITIMER_REAL, &itimer, NULL ); + + sigtick.sa_flags = 0; + sigtick.sa_handler = SIG_IGN; + sigemptyset( &sigtick.sa_mask ); + sigaction( SIGALRM, &sigtick, NULL ); + + /* Signal the scheduler to exit its loop. */ + xSchedulerEnd = pdTRUE; + (void)pthread_kill( hMainThread, SIG_RESUME ); + + xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); + prvSuspendSelf(xCurrentThread); +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + if ( uxCriticalNesting == 0 ) + { + vPortDisableInterrupts(); + } + uxCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + + /* If we have reached 0 then re-enable the interrupts. */ + if( uxCriticalNesting == 0 ) + { + vPortEnableInterrupts(); + } +} +/*-----------------------------------------------------------*/ + +void vPortYieldFromISR( void ) +{ +Thread_t *xThreadToSuspend; +Thread_t *xThreadToResume; + + xThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); + + vTaskSwitchContext(); + + xThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); + + prvSwitchThread( xThreadToResume, xThreadToSuspend ); +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ + vPortEnterCritical(); + + vPortYieldFromISR(); + + vPortExitCritical(); +} +/*-----------------------------------------------------------*/ + +void vPortDisableInterrupts( void ) +{ + pthread_sigmask( SIG_BLOCK, &xAllSignals, NULL ); +} +/*-----------------------------------------------------------*/ + +void vPortEnableInterrupts( void ) +{ + pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL ); +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xPortSetInterruptMask( void ) +{ + /* Interrupts are always disabled inside ISRs (signals + handlers). */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( portBASE_TYPE xMask ) +{ +} +/*-----------------------------------------------------------*/ + +static uint64_t prvGetTimeNs(void) +{ +struct timespec t; + + clock_gettime(CLOCK_MONOTONIC, &t); + + return t.tv_sec * 1000000000ull + t.tv_nsec; +} + +static uint64_t prvStartTimeNs; +/* commented as part of the code below in vPortSystemTickHandler, + * to adjust timing according to full demo requirements */ +/* static uint64_t prvTickCount; */ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +void prvSetupTimerInterrupt( void ) +{ +struct itimerval itimer; +int iRet; + + /* Initialise the structure with the current timer information. */ + iRet = getitimer( ITIMER_REAL, &itimer ); + if ( iRet ) + { + prvFatalError( "getitimer", errno ); + } + + /* Set the interval between timer events. */ + itimer.it_interval.tv_sec = 0; + itimer.it_interval.tv_usec = portTICK_RATE_MICROSECONDS; + + /* Set the current count-down. */ + itimer.it_value.tv_sec = 0; + itimer.it_value.tv_usec = portTICK_RATE_MICROSECONDS; + + /* Set-up the timer interrupt. */ + iRet = setitimer( ITIMER_REAL, &itimer, NULL ); + if ( iRet ) + { + prvFatalError( "setitimer", errno ); + } + + prvStartTimeNs = prvGetTimeNs(); +} +/*-----------------------------------------------------------*/ + +static void vPortSystemTickHandler( int sig ) +{ +Thread_t *pxThreadToSuspend; +Thread_t *pxThreadToResume; +/* uint64_t xExpectedTicks; */ + + uxCriticalNesting++; /* Signals are blocked in this signal handler. */ + +#if ( configUSE_PREEMPTION == 1 ) + pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); +#endif + + /* Tick Increment, accounting for any lost signals or drift in + * the timer. */ +/* + * Comment code to adjust timing according to full demo requirements + * xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs) + * / (portTICK_RATE_MICROSECONDS * 1000); + * do { */ + xTaskIncrementTick(); +/* prvTickCount++; + * } while (prvTickCount < xExpectedTicks); +*/ + +#if ( configUSE_PREEMPTION == 1 ) + /* Select Next Task. */ + vTaskSwitchContext(); + + pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); + + prvSwitchThread(pxThreadToResume, pxThreadToSuspend); +#endif + + uxCriticalNesting--; +} +/*-----------------------------------------------------------*/ + +void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield ) +{ +Thread_t *pxThread = prvGetThreadFromTask( pxTaskToDelete ); + + pxThread->xDying = pdTRUE; +} + +void vPortCancelThread( void *pxTaskToDelete ) +{ +Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete ); + + /* + * The thread has already been suspended so it can be safely cancelled. + */ + pthread_cancel( pxThreadToCancel->pthread ); + pthread_join( pxThreadToCancel->pthread, NULL ); + event_delete( pxThreadToCancel->ev ); +} +/*-----------------------------------------------------------*/ + +static void *prvWaitForStart( void * pvParams ) +{ +Thread_t *pxThread = pvParams; + + prvSuspendSelf(pxThread); + + /* Resumed for the first time, unblocks all signals. */ + uxCriticalNesting = 0; + vPortEnableInterrupts(); + + /* Call the task's entry point. */ + pxThread->pxCode( pxThread->pvParams ); + + /* A function that implements a task must not exit or attempt to return to + * its caller as there is nothing to return to. If a task wants to exit it + * should instead call vTaskDelete( NULL ). Artificially force an assert() + * to be triggered if configASSERT() is defined, so application writers can + * catch the error. */ + configASSERT( pdFALSE ); + + return NULL; +} +/*-----------------------------------------------------------*/ + +static void prvSwitchThread( Thread_t *pxThreadToResume, + Thread_t *pxThreadToSuspend ) +{ +BaseType_t uxSavedCriticalNesting; + + if ( pxThreadToSuspend != pxThreadToResume ) + { + /* + * Switch tasks. + * + * The critical section nesting is per-task, so save it on the + * stack of the current (suspending thread), restoring it when + * we switch back to this task. + */ + uxSavedCriticalNesting = uxCriticalNesting; + + prvResumeThread( pxThreadToResume ); + if ( pxThreadToSuspend->xDying ) + { + pthread_exit( NULL ); + } + prvSuspendSelf( pxThreadToSuspend ); + + uxCriticalNesting = uxSavedCriticalNesting; + } +} +/*-----------------------------------------------------------*/ + +static void prvSuspendSelf( Thread_t *thread ) +{ + /* + * Suspend this thread by waiting for a pthread_cond_signal event. + * + * A suspended thread must not handle signals (interrupts) so + * all signals must be blocked by calling this from: + * + * - Inside a critical section (vPortEnterCritical() / + * vPortExitCritical()). + * + * - From a signal handler that has all signals masked. + * + * - A thread with all signals blocked with pthread_sigmask(). + */ + event_wait(thread->ev); +} + +/*-----------------------------------------------------------*/ + +static void prvResumeThread( Thread_t *xThreadId ) +{ + if ( pthread_self() != xThreadId->pthread ) + { + event_signal(xThreadId->ev); + } +} +/*-----------------------------------------------------------*/ + +static void prvSetupSignalsAndSchedulerPolicy( void ) +{ +struct sigaction sigresume, sigtick; +int iRet; + + hMainThread = pthread_self(); + + /* Initialise common signal masks. */ + sigemptyset( &xResumeSignals ); + sigaddset( &xResumeSignals, SIG_RESUME ); + sigfillset( &xAllSignals ); + /* Don't block SIGINT so this can be used to break into GDB while + * in a critical section. */ + sigdelset( &xAllSignals, SIGINT ); + + /* + * Block all signals in this thread so all new threads + * inherits this mask. + * + * When a thread is resumed for the first time, all signals + * will be unblocked. + */ + (void)pthread_sigmask( SIG_SETMASK, &xAllSignals, + *&xSchedulerOriginalSignalMask ); + + /* SIG_RESUME is only used with sigwait() so doesn't need a + handler. */ + sigresume.sa_flags = 0; + sigresume.sa_handler = SIG_IGN; + sigfillset( &sigresume.sa_mask ); + + sigtick.sa_flags = 0; + sigtick.sa_handler = vPortSystemTickHandler; + sigfillset( &sigtick.sa_mask ); + + iRet = sigaction( SIG_RESUME, &sigresume, NULL ); + if ( iRet ) + { + prvFatalError( "sigaction", errno ); + } + + iRet = sigaction( SIGALRM, &sigtick, NULL ); + if ( iRet ) + { + prvFatalError( "sigaction", errno ); + } +} +/*-----------------------------------------------------------*/ + +unsigned long ulPortGetRunTime( void ) +{ +struct tms xTimes; + + times( &xTimes ); + + return ( unsigned long ) xTimes.tms_utime; +} +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/portmacro.h new file mode 100644 index 0000000..3f96b40 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/portmacro.h @@ -0,0 +1,134 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright 2020 Cambridge Consultants Ltd. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE unsigned long +#define portBASE_TYPE long +#define portPOINTER_SIZE_TYPE intptr_t + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +typedef unsigned long TickType_t; +#define portMAX_DELAY ( TickType_t ) ULONG_MAX + +#define portTICK_TYPE_IS_ATOMIC 1 + +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portHAS_STACK_OVERFLOW_CHECKING ( 1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portTICK_RATE_MICROSECONDS ( ( portTickType ) 1000000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + +/* Scheduler utilities. */ +extern void vPortYield( void ); + +#define portYIELD() vPortYield() + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) vPortYield() +#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortDisableInterrupts( void ); +extern void vPortEnableInterrupts( void ); +#define portSET_INTERRUPT_MASK() ( vPortDisableInterrupts() ) +#define portCLEAR_INTERRUPT_MASK() ( vPortEnableInterrupts() ) + +extern portBASE_TYPE xPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( portBASE_TYPE xMask ); + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portSET_INTERRUPT_MASK_FROM_ISR() xPortSetInterruptMask() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) +#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK() +#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +/*-----------------------------------------------------------*/ + +extern void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield ); +extern void vPortCancelThread( void *pxTaskToDelete ); +#define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxPendYield ) vPortThreadDying( ( pvTaskToDelete ), ( pxPendYield ) ) +#define portCLEAN_UP_TCB( pxTCB ) vPortCancelThread( pxTCB ) +/*-----------------------------------------------------------*/ + +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +/* + * Tasks run in their own pthreads and context switches between them + * are always a full memory barrier. ISRs are emulated as signals + * which also imply a full memory barrier. + * + * Thus, only a compilier barrier is needed to prevent the compiler + * reordering. + */ +#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) + +extern unsigned long ulPortGetRunTime( void ); +#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() /* no-op */ +#define portGET_RUN_TIME_COUNTER_VALUE() ulPortGetRunTime() + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c new file mode 100644 index 0000000..896604a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c @@ -0,0 +1,76 @@ +#include +#include +#include + +#include "wait_for_event.h" + +struct event +{ + pthread_mutex_t mutex; + pthread_cond_t cond; + bool event_triggered; +}; + +struct event * event_create() +{ + struct event * ev = malloc( sizeof( struct event ) ); + + ev->event_triggered = false; + pthread_mutex_init( &ev->mutex, NULL ); + pthread_cond_init( &ev->cond, NULL ); + return ev; +} + +void event_delete( struct event * ev ) +{ + pthread_mutex_destroy( &ev->mutex ); + pthread_cond_destroy( &ev->cond ); + free( ev ); +} + +bool event_wait( struct event * ev ) +{ + pthread_mutex_lock( &ev->mutex ); + + while( ev->event_triggered == false ) + { + pthread_cond_wait( &ev->cond, &ev->mutex ); + } + + ev->event_triggered = false; + pthread_mutex_unlock( &ev->mutex ); + return true; +} +bool event_wait_timed( struct event * ev, + time_t ms ) +{ + struct timespec ts; + int ret = 0; + + clock_gettime( CLOCK_REALTIME, &ts ); + //ts.tv_sec += ms; + ts.tv_nsec += (ms * 1000000); + pthread_mutex_lock( &ev->mutex ); + + while( (ev->event_triggered == false) && (ret == 0) ) + { + ret = pthread_cond_timedwait( &ev->cond, &ev->mutex, &ts ); + + if( ( ret == -1 ) && ( errno == ETIMEDOUT ) ) + { + return false; + } + } + + ev->event_triggered = false; + pthread_mutex_unlock( &ev->mutex ); + return true; +} + +void event_signal( struct event * ev ) +{ + pthread_mutex_lock( &ev->mutex ); + ev->event_triggered = true; + pthread_cond_signal( &ev->cond ); + pthread_mutex_unlock( &ev->mutex ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.h new file mode 100644 index 0000000..2693a0d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.h @@ -0,0 +1,18 @@ +#ifndef _WAIT_FOR_EVENT_H_ +#define _WAIT_FOR_EVENT_H_ + +#include +#include + +struct event; + +struct event * event_create(); +void event_delete( struct event * ); +bool event_wait( struct event * ev ); +bool event_wait_timed( struct event * ev, + time_t ms ); +void event_signal( struct event * ev ); + + + +#endif /* ifndef _WAIT_FOR_EVENT_H_ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/RISC-V/README-for-info-on-official-MIT-license-port.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/RISC-V/README-for-info-on-official-MIT-license-port.txt new file mode 100644 index 0000000..bc15d12 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/RISC-V/README-for-info-on-official-MIT-license-port.txt @@ -0,0 +1,6 @@ +The official and MIT licensed FreeRTOS ports for RISC-V are located in the following directories: +\FreeRTOS\Source\portable\GCC\RISC-V +\FreeRTOS\Source\portable\IAR\RISC-V + +Also so https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/FreeRTOS-openocd.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/FreeRTOS-openocd.c new file mode 100644 index 0000000..671c2de --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/FreeRTOS-openocd.c @@ -0,0 +1,27 @@ +/* + * Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer + * present in the kernel, so it has to be supplied by other means for + * OpenOCD's threads awareness. + * + * Add this file to your project, and, if you're using --gc-sections, + * ``--undefined=uxTopUsedPriority'' (or + * ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final + * linking) to your LDFLAGS; same with all the other symbols you need. + */ + +#include "FreeRTOS.h" +#include "esp_attr.h" +#include "sdkconfig.h" + +#ifdef __GNUC__ + #define USED __attribute__( ( used ) ) +#else + #define USED +#endif + +/* + * This file is no longer needed as AFTER FreeRTOS V10.14.1 OpenOCD is fixed in the kernel. + * #ifdef CONFIG_ESP32_DEBUG_OCDAWARE + * const int USED DRAM_ATTR uxTopUsedPriority = configMAX_PRIORITIES - 1; + * #endif + */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/portbenchmark.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/portbenchmark.h new file mode 100644 index 0000000..ce34b97 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/portbenchmark.h @@ -0,0 +1,46 @@ +/******************************************************************************* + * // Copyright (c) 2003-2015 Cadence Design Systems, Inc. + * // + * // Permission is hereby granted, free of charge, to any person obtaining + * // a copy of this software and associated documentation files (the + * // "Software"), to deal in the Software without restriction, including + * // without limitation the rights to use, copy, modify, merge, publish, + * // distribute, sublicense, and/or sell copies of the Software, and to + * // permit persons to whom the Software is furnished to do so, subject to + * // the following conditions: + * // + * // The above copyright notice and this permission notice shall be included + * // in all copies or substantial portions of the Software. + * // + * // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * -------------------------------------------------------------------------------- + */ + +/* + * This utility helps benchmarking interrupt latency and context switches. + * In order to enable it, set configBENCHMARK to 1 in FreeRTOSConfig.h. + * You will also need to download the FreeRTOS_trace patch that contains + * portbenchmark.c and the complete version of portbenchmark.h + */ + +#ifndef PORTBENCHMARK_H +#define PORTBENCHMARK_H + +#if configBENCHMARK + #error "You need to download the FreeRTOS_trace patch that overwrites this file" +#endif + +#define portbenchmarkINTERRUPT_DISABLE() +#define portbenchmarkINTERRUPT_RESTORE( newstate ) +#define portbenchmarkIntLatency() +#define portbenchmarkIntWait() +#define portbenchmarkReset() +#define portbenchmarkPrint() + +#endif /* PORTBENCHMARK */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/portmacro.h new file mode 100644 index 0000000..03ab18e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/portmacro.h @@ -0,0 +1,502 @@ +/* + * FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. + * All rights reserved + * + * VISIT https://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + * + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: https://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + * + * This file is part of the FreeRTOS distribution. + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available from the following + * link: https://www.FreeRTOS.org/a00114.html + * + * + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * https://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + * + * https://www.FreeRTOS.org - Documentation, books, training, latest versions, + * license and Real Time Engineers Ltd. contact details. + * + * https://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + * including FreeRTOS+Trace - an indispensable productivity tool, a DOS + * compatible FAT file system, and our tiny thread aware UDP/IP stack. + * + * https://www.highintegritysystems.com/openrtos/ - Real Time Engineers ltd + * license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. + * Low cost OpenRTOS licenses offer ticketed support, indemnification + * and middleware. + * + * https://www.highintegritysystems.com/safertos/ - High Integrity Systems + * also provide a safety engineered and independently SIL3 certified version + * for use in safety and mission critical applications that require + * provable dependability. + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +#ifndef __ASSEMBLER__ + + #include + + #include + #include + #include /* required for XSHAL_CLIB */ + #include + #include "esp_timer.h" /* required for FreeRTOS run time stats */ + #include "esp_system.h" + + + #include + #include "soc/soc_memory_layout.h" + +/*#include "xtensa_context.h" */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + + #define portCHAR int8_t + #define portFLOAT float + #define portDOUBLE double + #define portLONG int32_t + #define portSHORT int16_t + #define portSTACK_TYPE uint8_t + #define portBASE_TYPE int + + typedef portSTACK_TYPE StackType_t; + typedef portBASE_TYPE BaseType_t; + typedef unsigned portBASE_TYPE UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + #endif +/*-----------------------------------------------------------*/ + +/* portbenchmark */ + #include "portbenchmark.h" + + #include "sdkconfig.h" + #include "esp_attr.h" + +/* "mux" data structure (spinlock) */ + typedef struct + { + /* owner field values: + * 0 - Uninitialized (invalid) + * portMUX_FREE_VAL - Mux is free, can be locked by either CPU + * CORE_ID_PRO / CORE_ID_APP - Mux is locked to the particular core + * + * Any value other than portMUX_FREE_VAL, CORE_ID_PRO, CORE_ID_APP indicates corruption + */ + uint32_t owner; + + /* count field: + * If mux is unlocked, count should be zero. + * If mux is locked, count is non-zero & represents the number of recursive locks on the mux. + */ + uint32_t count; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + const char * lastLockedFn; + int lastLockedLine; + #endif + } portMUX_TYPE; + + #define portMUX_FREE_VAL 0xB33FFFFF + +/* Special constants for vPortCPUAcquireMutexTimeout() */ + #define portMUX_NO_TIMEOUT ( -1 ) /* When passed for 'timeout_cycles', spin forever if necessary */ + #define portMUX_TRY_LOCK 0 /* Try to acquire the spinlock a single time only */ + +/* Keep this in sync with the portMUX_TYPE struct definition please. */ + #ifndef CONFIG_FREERTOS_PORTMUX_DEBUG + #define portMUX_INITIALIZER_UNLOCKED \ + { \ + .owner = portMUX_FREE_VAL, \ + .count = 0, \ + } + #else + #define portMUX_INITIALIZER_UNLOCKED \ + { \ + .owner = portMUX_FREE_VAL, \ + .count = 0, \ + .lastLockedFn = "(never locked)", \ + .lastLockedLine = -1 \ + } + #endif /* ifndef CONFIG_FREERTOS_PORTMUX_DEBUG */ + + + #define portASSERT_IF_IN_ISR() vPortAssertIfInISR() + void vPortAssertIfInISR(); + + #define portCRITICAL_NESTING_IN_TCB 1 + +/* + * Modifications to portENTER_CRITICAL. + * + * For an introduction, see "Critical Sections & Disabling Interrupts" in docs/api-guides/freertos-smp.rst + * + * The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by + * disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because + * interrupts are disabled, ISRs can't corrupt data structures either. + * + * For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop + * the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding + * a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will + * spinlock in the portENTER_CRITICAL code until the first CPU is done. + * + * For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same + * CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the + * data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks + * do not disable the interrupts (because they already are). + * + * This all assumes that interrupts are either entirely disabled or enabled. Interrupt priority levels + * will break this scheme. + * + * Remark: For the ESP32, portENTER_CRITICAL and portENTER_CRITICAL_ISR both alias vTaskEnterCritical, meaning + * that either function can be called both from ISR as well as task context. This is not standard FreeRTOS + * behaviour; please keep this in mind if you need any compatibility with other FreeRTOS implementations. + */ + void vPortCPUInitializeMutex( portMUX_TYPE * mux ); + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + #error CONFIG_FREERTOS_PORTMUX_DEBUG not supported in Amazon FreeRTOS + #endif + + void vTaskExitCritical(); + void vTaskEnterCritical(); + static inline void vPortConsumeSpinlockArg( int unused, + ... ) + { + } + +/** @brief Acquire a portmux spinlock with a timeout + * + * @param mux Pointer to portmux to acquire. + * @param timeout_cycles Timeout to spin, in CPU cycles. Pass portMUX_NO_TIMEOUT to wait forever, + * portMUX_TRY_LOCK to try a single time to acquire the lock. + * + * @return true if mutex is successfully acquired, false on timeout. + */ + bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, + int timeout_cycles ); + void vPortCPUReleaseMutex( portMUX_TYPE * mux ); + + #define portENTER_CRITICAL( ... ) do { vTaskEnterCritical(); vPortConsumeSpinlockArg( 0, ## __VA_ARGS__ ); } while( 0 ) + #define portEXIT_CRITICAL( ... ) do { vTaskExitCritical(); vPortConsumeSpinlockArg( 0, ## __VA_ARGS__ ); } while( 0 ) + + + #define portENTER_CRITICAL_ISR( mux ) vPortCPUAcquireMutexTimeout( mux, portMUX_NO_TIMEOUT ) + #define portEXIT_CRITICAL_ISR( mux ) vPortCPUReleaseMutex( mux ) + + #define portENTER_CRITICAL_SAFE( mux ) \ + do { \ + if( xPortInIsrContext() ) { \ + portENTER_CRITICAL_ISR( mux ); \ + } \ + else { \ + portENTER_CRITICAL( mux ); \ + } \ + } while( 0 ) + + #define portEXIT_CRITICAL_SAFE( mux ) \ + do { \ + if( xPortInIsrContext() ) { \ + portEXIT_CRITICAL_ISR( mux ); \ + } \ + else { \ + portEXIT_CRITICAL( mux ); \ + } \ + } while( 0 ) + + +/* Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? */ +/* These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level. */ +/* */ +/* Only applies to one CPU. See notes above & below for reasons not to use these. */ + #define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL( XCHAL_EXCM_LEVEL ); portbenchmarkINTERRUPT_DISABLE(); } while( 0 ) + #define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE( 0 ); XTOS_SET_INTLEVEL( 0 ); } while( 0 ) + +/* Cleaner solution allows nested interrupts disabling and restoring via local registers or stack. */ +/* They can be called from interrupts too. */ +/* WARNING: Only applies to current CPU. See notes above. */ + static inline unsigned portENTER_CRITICAL_NESTED() + { + unsigned state = XTOS_SET_INTLEVEL( XCHAL_EXCM_LEVEL ); + + portbenchmarkINTERRUPT_DISABLE(); + return state; + } + #define portEXIT_CRITICAL_NESTED( state ) do { portbenchmarkINTERRUPT_RESTORE( state ); XTOS_RESTORE_JUST_INTLEVEL( state ); } while( 0 ) + +/* These FreeRTOS versions are similar to the nested versions above */ + #define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( state ) portEXIT_CRITICAL_NESTED( state ) + +/*Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force */ +/*the stack memory to always be internal. */ + #define pvPortMallocTcbMem( size ) heap_caps_malloc( size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT ) + #define pvPortMallocStackMem( size ) heap_caps_malloc( size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT ) + +/*xTaskCreateStatic uses these functions to check incoming memory. */ + #define portVALID_TCB_MEM( ptr ) ( esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ) ) + #ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY + #define portVALID_STACK_MEM( ptr ) esp_ptr_byte_accessible( ptr ) + #else + #define portVALID_STACK_MEM( ptr ) ( esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ) ) + #endif + +/* + * Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare + * *addr to 'compare'. If *addr == compare, *addr is set to *set. *set is updated with the previous + * value of *addr (either 'compare' or some other value.) + * + * Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the + * *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the + * ESP32 (portMUX assertions would fail). + */ + static inline void uxPortCompareSet( volatile uint32_t * addr, + uint32_t compare, + uint32_t * set ) + { + #if ( XCHAL_HAVE_S32C1I > 0 ) + __asm__ __volatile__ ( + "WSR %2,SCOMPARE1 \n" + "S32C1I %0, %1, 0 \n" + : "=r" ( *set ) + : "r" ( addr ), "r" ( compare ), "0" ( *set ) + ); + #else + /* No S32C1I, so do this by disabling and re-enabling interrupts (slower) */ + uint32_t intlevel, old_value; + __asm__ __volatile__ ( "rsil %0, " XTSTR( XCHAL_EXCM_LEVEL ) "\n" + : "=r" ( intlevel ) ); + + old_value = *addr; + + if( old_value == compare ) + { + *addr = *set; + } + + __asm__ __volatile__ ( "memw \n" + "wsr %0, ps\n" + : : "r" ( intlevel ) ); + + *set = old_value; + #endif /* if ( XCHAL_HAVE_S32C1I > 0 ) */ + } + + void uxPortCompareSetExtram( volatile uint32_t * addr, + uint32_t compare, + uint32_t * set ); + +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 4 + #define portNOP() XT_NOP() +/*-----------------------------------------------------------*/ + +/* Fine resolution time */ + #define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount() +/*ccount or esp_timer are initialized elsewhere */ + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() + + #ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER +/* Coarse resolution time (us) */ + #define portALT_GET_RUN_TIME_COUNTER_VALUE( x ) x = ( uint32_t ) esp_timer_get_time() + #endif + + + +/* Kernel utilities. */ + void vPortYield( void ); + void _frxt_setup_switch( void ); + #define portYIELD() vPortYield() + #define portYIELD_FROM_ISR() { traceISR_EXIT_TO_SCHEDULER(); _frxt_setup_switch(); } + + static inline uint32_t xPortGetCoreID(); + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* When coprocessors are defined, we to maintain a pointer to coprocessors area. */ +/* We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold: */ +/* MPU wrappers, coprocessor area pointer, trace code structure, and more if needed. */ +/* The field is normally used for memory protection. FreeRTOS should create another general purpose field. */ + typedef struct + { + #if XCHAL_CP_NUM > 0 + volatile StackType_t * coproc_area; /* Pointer to coprocessor save area; MUST BE FIRST */ + #endif + + #if portUSING_MPU_WRAPPERS + /* Define here mpu_settings, which is port dependent */ + int mpu_setting; /* Just a dummy example here; MPU not ported to Xtensa yet */ + #endif + + #if configUSE_TRACE_FACILITY_2 + struct + { + /* Cf. porttraceStamp() */ + int taskstamp; /* Stamp from inside task to see where we are */ + int taskstampcount; /* A counter usually incremented when we restart the task's loop */ + } porttrace; + #endif + } xMPU_SETTINGS; + +/* Main hack to use MPU_wrappers even when no MPU is defined (warning: mpu_setting should not be accessed; otherwise move this above xMPU_SETTINGS) */ + #if ( XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2 ) && !portUSING_MPU_WRAPPERS /* If MPU wrappers not used, we still need to allocate coproc area */ + #undef portUSING_MPU_WRAPPERS + #define portUSING_MPU_WRAPPERS 1 /* Enable it to allocate coproc area */ + #define MPU_WRAPPERS_H /* Override mpu_wrapper.h to disable unwanted code */ + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA + #endif + + bool vApplicationSleep( TickType_t xExpectedIdleTime ); + + #define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime ) + + + + void _xt_coproc_release( volatile void * coproc_sa_base ); + + +/* + * Map to the memory management routines required for the port. + * + * Note that libc standard malloc/free are also available for + * non-FreeRTOS-specific code, and behave the same as + * pvPortMalloc()/vPortFree(). + */ + #define pvPortMalloc heap_caps_malloc_default + #define vPortFree heap_caps_free + #define xPortGetFreeHeapSize esp_get_free_heap_size + #define xPortGetMinimumEverFreeHeapSize esp_get_minimum_free_heap_size + + +/* + * Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack + * watchpoint around. + */ + void vPortSetStackWatchpoint( void * pxStackStart ); + +/* + * Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs + * aren't detected here, but they normally cannot call C code, so that should not be an issue anyway. + */ + BaseType_t xPortInIsrContext(); + +/* + * This function will be called in High prio ISRs. Returns true if the current core was in ISR context + * before calling into high prio ISR context. + */ + BaseType_t xPortInterruptedFromISRContext(); + +/* + * The structures and methods of manipulating the MPU are contained within the + * port layer. + * + * Fills the xMPUSettings structure with the memory region information + * contained in xRegions. + */ + #if ( portUSING_MPU_WRAPPERS == 1 ) + struct xMEMORY_REGION; + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t usStackDepth ) PRIVILEGED_FUNCTION; + void vPortReleaseTaskMPUSettings( xMPU_SETTINGS * xMPUSettings ); + #endif + +/* Multi-core: get current core ID */ + static inline uint32_t IRAM_ATTR xPortGetCoreID() + { + int id; + + asm ( + "rsr.prid %0\n" + " extui %0,%0,13,1" + : "=r" ( id ) ); + return id; + } + +/* Get tick rate per second */ + uint32_t xPortGetTickRateHz( void ); + +/* porttrace */ + #if configUSE_TRACE_FACILITY_2 + #include "porttrace.h" + #endif + +/* configASSERT_2 if requested */ + #if configASSERT_2 + #include + void exit( int ); + #define configASSERT( x ) if( !( x ) ) { porttracePrint( -1 ); printf( "\nAssertion failed in %s:%d\n", __FILE__, __LINE__ ); exit( -1 ); } + #endif + +#endif // __ASSEMBLER__ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_api.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_api.h new file mode 100644 index 0000000..f91dab1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_api.h @@ -0,0 +1,132 @@ +/******************************************************************************* + * Copyright (c) 2006-2015 Cadence Design Systems Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + ******************************************************************************/ + +/****************************************************************************** +* Xtensa-specific API for RTOS ports. +******************************************************************************/ + +#ifndef __XTENSA_API_H__ +#define __XTENSA_API_H__ + +#include + +#include "xtensa_context.h" + + +/* Typedef for C-callable interrupt handler function */ +typedef void (* xt_handler)( void * ); + +/* Typedef for C-callable exception handler function */ +typedef void (* xt_exc_handler)( XtExcFrame * ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to set a handler for the specified exception. The handler + * will be installed on the core that calls this function. + * + * n - Exception number (type) + * f - Handler function address, NULL to uninstall handler. + * + * The handler will be passed a pointer to the exception frame, which is created + * on the stack of the thread that caused the exception. + * + * If the handler returns, the thread context will be restored and the faulting + * instruction will be retried. Any values in the exception frame that are + * modified by the handler will be restored as part of the context. For details + * of the exception frame structure see xtensa_context.h. + * ------------------------------------------------------------------------------- + */ +extern xt_exc_handler xt_set_exception_handler( int n, + xt_exc_handler f ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to set a handler for the specified interrupt. The handler + * will be installed on the core that calls this function. + * + * n - Interrupt number. + * f - Handler function address, NULL to uninstall handler. + * arg - Argument to be passed to handler. + * ------------------------------------------------------------------------------- + */ +extern xt_handler xt_set_interrupt_handler( int n, + xt_handler f, + void * arg ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to enable the specified interrupts on the core that runs + * this code. + * + * mask - Bit mask of interrupts to be enabled. + * ------------------------------------------------------------------------------- + */ +extern void xt_ints_on( unsigned int mask ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to disable the specified interrupts on the core that runs + * this code. + * + * mask - Bit mask of interrupts to be disabled. + * ------------------------------------------------------------------------------- + */ +extern void xt_ints_off( unsigned int mask ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to set the specified (s/w) interrupt. + * ------------------------------------------------------------------------------- + */ +static inline void xt_set_intset( unsigned int arg ) +{ + xthal_set_intset( arg ); +} + + +/* + * ------------------------------------------------------------------------------- + * Call this function to clear the specified (s/w or edge-triggered) + * interrupt. + * ------------------------------------------------------------------------------- + */ +static inline void xt_set_intclear( unsigned int arg ) +{ + xthal_set_intclear( arg ); +} + +/* + * ------------------------------------------------------------------------------- + * Call this function to get handler's argument for the specified interrupt. + * + * n - Interrupt number. + * ------------------------------------------------------------------------------- + */ +extern void * xt_get_interrupt_handler_arg( int n ); + +#endif /* __XTENSA_API_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_config.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_config.h new file mode 100644 index 0000000..4ac32d7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_config.h @@ -0,0 +1,145 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* Configuration-specific information for Xtensa build. This file must be +* included in FreeRTOSConfig.h to properly set up the config-dependent +* parameters correctly. +* +* NOTE: To enable thread-safe C library support, XT_USE_THREAD_SAFE_CLIB must +* be defined to be > 0 somewhere above or on the command line. +* +*******************************************************************************/ + +#ifndef XTENSA_CONFIG_H + #define XTENSA_CONFIG_H + + #ifdef __cplusplus + extern "C" { + #endif + + #include + #include + #include /* required for XSHAL_CLIB */ + + #include "xtensa_context.h" + + +/*----------------------------------------------------------------------------- + * STACK REQUIREMENTS + * + * This section defines the minimum stack size, and the extra space required to + * be allocated for saving coprocessor state and/or C library state information + * (if thread safety is enabled for the C library). The sizes are in bytes. + * + * Stack sizes for individual tasks should be derived from these minima based on + * the maximum call depth of the task and the maximum level of interrupt nesting. + * A minimum stack size is defined by XT_STACK_MIN_SIZE. This minimum is based + * on the requirement for a task that calls nothing else but can be interrupted. + * This assumes that interrupt handlers do not call more than a few levels deep. + * If this is not true, i.e. one or more interrupt handlers make deep calls then + * the minimum must be increased. + * + * If the Xtensa processor configuration includes coprocessors, then space is + * allocated to save the coprocessor state on the stack. + * + * If thread safety is enabled for the C runtime library, (XT_USE_THREAD_SAFE_CLIB + * is defined) then space is allocated to save the C library context in the TCB. + * + * Allocating insufficient stack space is a common source of hard-to-find errors. + * During development, it is best to enable the FreeRTOS stack checking features. + * + * Usage: + * + * XT_USE_THREAD_SAFE_CLIB -- Define this to a nonzero value to enable thread-safe + * use of the C library. This will require extra stack + * space to be allocated for tasks that use the C library + * reentrant functions. See below for more information. + * + * NOTE: The Xtensa toolchain supports multiple C libraries and not all of them + * support thread safety. Check your core configuration to see which C library + * was chosen for your system. + * + * XT_STACK_MIN_SIZE -- The minimum stack size for any task. It is recommended + * that you do not use a stack smaller than this for any + * task. In case you want to use stacks smaller than this + * size, you must verify that the smaller size(s) will work + * under all operating conditions. + * + * XT_STACK_EXTRA -- The amount of extra stack space to allocate for a task + * that does not make C library reentrant calls. Add this + * to the amount of stack space required by the task itself. + * + * XT_STACK_EXTRA_CLIB -- The amount of space to allocate for C library state. + * + * -----------------------------------------------------------------------------*/ + +/* Extra space required for interrupt/exception hooks. */ + #ifdef XT_INTEXC_HOOKS + #ifdef __XTENSA_CALL0_ABI__ + #define STK_INTEXC_EXTRA 0x200 + #else + #define STK_INTEXC_EXTRA 0x180 + #endif + #else + #define STK_INTEXC_EXTRA 0 + #endif + + #define XT_CLIB_CONTEXT_AREA_SIZE 0 + +/*------------------------------------------------------------------------------ + * Extra size -- interrupt frame plus coprocessor save area plus hook space. + * NOTE: Make sure XT_INTEXC_HOOKS is undefined unless you really need the hooks. + * ------------------------------------------------------------------------------*/ + #ifdef __XTENSA_CALL0_ABI__ + #define XT_XTRA_SIZE ( XT_STK_FRMSZ + STK_INTEXC_EXTRA + 0x10 + XT_CP_SIZE ) + #else + #define XT_XTRA_SIZE ( XT_STK_FRMSZ + STK_INTEXC_EXTRA + 0x20 + XT_CP_SIZE ) + #endif + +/*------------------------------------------------------------------------------ + * Space allocated for user code -- function calls and local variables. + * NOTE: This number can be adjusted to suit your needs. You must verify that the + * amount of space you reserve is adequate for the worst-case conditions in your + * application. + * NOTE: The windowed ABI requires more stack, since space has to be reserved + * for spilling register windows. + * ------------------------------------------------------------------------------*/ + #ifdef __XTENSA_CALL0_ABI__ + #define XT_USER_SIZE 0x200 + #else + #define XT_USER_SIZE 0x400 + #endif + +/* Minimum recommended stack size. */ + #define XT_STACK_MIN_SIZE ( ( XT_XTRA_SIZE + XT_USER_SIZE ) / sizeof( unsigned char ) ) + +/* OS overhead with and without C library thread context. */ + #define XT_STACK_EXTRA ( XT_XTRA_SIZE ) + #define XT_STACK_EXTRA_CLIB ( XT_XTRA_SIZE + XT_CLIB_CONTEXT_AREA_SIZE ) + + + #ifdef __cplusplus + } + #endif + +#endif /* XTENSA_CONFIG_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_context.h new file mode 100644 index 0000000..5a76201 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_context.h @@ -0,0 +1,378 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +-------------------------------------------------------------------------------- + + XTENSA CONTEXT FRAMES AND MACROS FOR RTOS ASSEMBLER SOURCES + +This header contains definitions and macros for use primarily by Xtensa +RTOS assembly coded source files. It includes and uses the Xtensa hardware +abstraction layer (HAL) to deal with config specifics. It may also be +included in C source files. + +!! Supports only Xtensa Exception Architecture 2 (XEA2). XEA1 not supported. !! + +NOTE: The Xtensa architecture requires stack pointer alignment to 16 bytes. + +*******************************************************************************/ + +#ifndef XTENSA_CONTEXT_H +#define XTENSA_CONTEXT_H + +#ifdef __ASSEMBLER__ +#include +#endif + +#include +#include +#include +#include + + +/* Align a value up to nearest n-byte boundary, where n is a power of 2. */ +#define ALIGNUP(n, val) (((val) + (n)-1) & -(n)) + + +/* +------------------------------------------------------------------------------- + Macros that help define structures for both C and assembler. +------------------------------------------------------------------------------- +*/ + +#ifdef STRUCT_BEGIN +#undef STRUCT_BEGIN +#undef STRUCT_FIELD +#undef STRUCT_AFIELD +#undef STRUCT_END +#endif + +#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) + +#define STRUCT_BEGIN .pushsection .text; .struct 0 +#define STRUCT_FIELD(ctype,size,asname,name) asname: .space size +#define STRUCT_AFIELD(ctype,size,asname,name,n) asname: .space (size)*(n) +#define STRUCT_END(sname) sname##Size:; .popsection + +#else + +#define STRUCT_BEGIN typedef struct { +#define STRUCT_FIELD(ctype,size,asname,name) ctype name; +#define STRUCT_AFIELD(ctype,size,asname,name,n) ctype name[n]; +#define STRUCT_END(sname) } sname; + +#endif //_ASMLANGUAGE || __ASSEMBLER__ + + +/* +------------------------------------------------------------------------------- + INTERRUPT/EXCEPTION STACK FRAME FOR A THREAD OR NESTED INTERRUPT + + A stack frame of this structure is allocated for any interrupt or exception. + It goes on the current stack. If the RTOS has a system stack for handling + interrupts, every thread stack must allow space for just one interrupt stack + frame, then nested interrupt stack frames go on the system stack. + + The frame includes basic registers (explicit) and "extra" registers introduced + by user TIE or the use of the MAC16 option in the user's Xtensa config. + The frame size is minimized by omitting regs not applicable to user's config. + + For Windowed ABI, this stack frame includes the interruptee's base save area, + another base save area to manage gcc nested functions, and a little temporary + space to help manage the spilling of the register windows. +------------------------------------------------------------------------------- +*/ + +STRUCT_BEGIN +STRUCT_FIELD (long, 4, XT_STK_EXIT, exit) /* exit point for dispatch */ +STRUCT_FIELD (long, 4, XT_STK_PC, pc) /* return PC */ +STRUCT_FIELD (long, 4, XT_STK_PS, ps) /* return PS */ +STRUCT_FIELD (long, 4, XT_STK_A0, a0) +STRUCT_FIELD (long, 4, XT_STK_A1, a1) /* stack pointer before interrupt */ +STRUCT_FIELD (long, 4, XT_STK_A2, a2) +STRUCT_FIELD (long, 4, XT_STK_A3, a3) +STRUCT_FIELD (long, 4, XT_STK_A4, a4) +STRUCT_FIELD (long, 4, XT_STK_A5, a5) +STRUCT_FIELD (long, 4, XT_STK_A6, a6) +STRUCT_FIELD (long, 4, XT_STK_A7, a7) +STRUCT_FIELD (long, 4, XT_STK_A8, a8) +STRUCT_FIELD (long, 4, XT_STK_A9, a9) +STRUCT_FIELD (long, 4, XT_STK_A10, a10) +STRUCT_FIELD (long, 4, XT_STK_A11, a11) +STRUCT_FIELD (long, 4, XT_STK_A12, a12) +STRUCT_FIELD (long, 4, XT_STK_A13, a13) +STRUCT_FIELD (long, 4, XT_STK_A14, a14) +STRUCT_FIELD (long, 4, XT_STK_A15, a15) +STRUCT_FIELD (long, 4, XT_STK_SAR, sar) +STRUCT_FIELD (long, 4, XT_STK_EXCCAUSE, exccause) +STRUCT_FIELD (long, 4, XT_STK_EXCVADDR, excvaddr) +#if XCHAL_HAVE_LOOPS +STRUCT_FIELD (long, 4, XT_STK_LBEG, lbeg) +STRUCT_FIELD (long, 4, XT_STK_LEND, lend) +STRUCT_FIELD (long, 4, XT_STK_LCOUNT, lcount) +#endif +#ifndef __XTENSA_CALL0_ABI__ +/* Temporary space for saving stuff during window spill */ +STRUCT_FIELD (long, 4, XT_STK_TMP0, tmp0) +STRUCT_FIELD (long, 4, XT_STK_TMP1, tmp1) +STRUCT_FIELD (long, 4, XT_STK_TMP2, tmp2) +#endif +#ifdef XT_USE_SWPRI +/* Storage for virtual priority mask */ +STRUCT_FIELD (long, 4, XT_STK_VPRI, vpri) +#endif +#ifdef XT_USE_OVLY +/* Storage for overlay state */ +STRUCT_FIELD (long, 4, XT_STK_OVLY, ovly) +#endif +STRUCT_END(XtExcFrame) + +#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) +#define XT_STK_NEXT1 XtExcFrameSize +#else +#define XT_STK_NEXT1 sizeof(XtExcFrame) +#endif + +/* Allocate extra storage if needed */ +#if XCHAL_EXTRA_SA_SIZE != 0 + +#if XCHAL_EXTRA_SA_ALIGN <= 16 +#define XT_STK_EXTRA ALIGNUP(XCHAL_EXTRA_SA_ALIGN, XT_STK_NEXT1) +#else +/* If need more alignment than stack, add space for dynamic alignment */ +#define XT_STK_EXTRA (ALIGNUP(XCHAL_EXTRA_SA_ALIGN, XT_STK_NEXT1) + XCHAL_EXTRA_SA_ALIGN) +#endif +#define XT_STK_NEXT2 (XT_STK_EXTRA + XCHAL_EXTRA_SA_SIZE) + +#else + +#define XT_STK_NEXT2 XT_STK_NEXT1 + +#endif + +/* +------------------------------------------------------------------------------- + This is the frame size. Add space for 4 registers (interruptee's base save + area) and some space for gcc nested functions if any. +------------------------------------------------------------------------------- +*/ +#define XT_STK_FRMSZ (ALIGNUP(0x10, XT_STK_NEXT2) + 0x20) + + +/* +------------------------------------------------------------------------------- + SOLICITED STACK FRAME FOR A THREAD + + A stack frame of this structure is allocated whenever a thread enters the + RTOS kernel intentionally (and synchronously) to submit to thread scheduling. + It goes on the current thread's stack. + + The solicited frame only includes registers that are required to be preserved + by the callee according to the compiler's ABI conventions, some space to save + the return address for returning to the caller, and the caller's PS register. + + For Windowed ABI, this stack frame includes the caller's base save area. + + Note on XT_SOL_EXIT field: + It is necessary to distinguish a solicited from an interrupt stack frame. + This field corresponds to XT_STK_EXIT in the interrupt stack frame and is + always at the same offset (0). It can be written with a code (usually 0) + to distinguish a solicted frame from an interrupt frame. An RTOS port may + opt to ignore this field if it has another way of distinguishing frames. +------------------------------------------------------------------------------- +*/ + +STRUCT_BEGIN +#ifdef __XTENSA_CALL0_ABI__ +STRUCT_FIELD (long, 4, XT_SOL_EXIT, exit) +STRUCT_FIELD (long, 4, XT_SOL_PC, pc) +STRUCT_FIELD (long, 4, XT_SOL_PS, ps) +STRUCT_FIELD (long, 4, XT_SOL_NEXT, next) +STRUCT_FIELD (long, 4, XT_SOL_A12, a12) /* should be on 16-byte alignment */ +STRUCT_FIELD (long, 4, XT_SOL_A13, a13) +STRUCT_FIELD (long, 4, XT_SOL_A14, a14) +STRUCT_FIELD (long, 4, XT_SOL_A15, a15) +#else +STRUCT_FIELD (long, 4, XT_SOL_EXIT, exit) +STRUCT_FIELD (long, 4, XT_SOL_PC, pc) +STRUCT_FIELD (long, 4, XT_SOL_PS, ps) +STRUCT_FIELD (long, 4, XT_SOL_NEXT, next) +STRUCT_FIELD (long, 4, XT_SOL_A0, a0) /* should be on 16-byte alignment */ +STRUCT_FIELD (long, 4, XT_SOL_A1, a1) +STRUCT_FIELD (long, 4, XT_SOL_A2, a2) +STRUCT_FIELD (long, 4, XT_SOL_A3, a3) +#endif +STRUCT_END(XtSolFrame) + +/* Size of solicited stack frame */ +#define XT_SOL_FRMSZ ALIGNUP(0x10, XtSolFrameSize) + + +/* +------------------------------------------------------------------------------- + CO-PROCESSOR STATE SAVE AREA FOR A THREAD + + The RTOS must provide an area per thread to save the state of co-processors + when that thread does not have control. Co-processors are context-switched + lazily (on demand) only when a new thread uses a co-processor instruction, + otherwise a thread retains ownership of the co-processor even when it loses + control of the processor. An Xtensa co-processor exception is triggered when + any co-processor instruction is executed by a thread that is not the owner, + and the context switch of that co-processor is then peformed by the handler. + Ownership represents which thread's state is currently in the co-processor. + + Co-processors may not be used by interrupt or exception handlers. If an + co-processor instruction is executed by an interrupt or exception handler, + the co-processor exception handler will trigger a kernel panic and freeze. + This restriction is introduced to reduce the overhead of saving and restoring + co-processor state (which can be quite large) and in particular remove that + overhead from interrupt handlers. + + The co-processor state save area may be in any convenient per-thread location + such as in the thread control block or above the thread stack area. It need + not be in the interrupt stack frame since interrupts don't use co-processors. + + Along with the save area for each co-processor, two bitmasks with flags per + co-processor (laid out as in the CPENABLE reg) help manage context-switching + co-processors as efficiently as possible: + + XT_CPENABLE + The contents of a non-running thread's CPENABLE register. + It represents the co-processors owned (and whose state is still needed) + by the thread. When a thread is preempted, its CPENABLE is saved here. + When a thread solicits a context-swtich, its CPENABLE is cleared - the + compiler has saved the (caller-saved) co-proc state if it needs to. + When a non-running thread loses ownership of a CP, its bit is cleared. + When a thread runs, it's XT_CPENABLE is loaded into the CPENABLE reg. + Avoids co-processor exceptions when no change of ownership is needed. + + XT_CPSTORED + A bitmask with the same layout as CPENABLE, a bit per co-processor. + Indicates whether the state of each co-processor is saved in the state + save area. When a thread enters the kernel, only the state of co-procs + still enabled in CPENABLE is saved. When the co-processor exception + handler assigns ownership of a co-processor to a thread, it restores + the saved state only if this bit is set, and clears this bit. + + XT_CP_CS_ST + A bitmask with the same layout as CPENABLE, a bit per co-processor. + Indicates whether callee-saved state is saved in the state save area. + Callee-saved state is saved by itself on a solicited context switch, + and restored when needed by the coprocessor exception handler. + Unsolicited switches will cause the entire coprocessor to be saved + when necessary. + + XT_CP_ASA + Pointer to the aligned save area. Allows it to be aligned more than + the overall save area (which might only be stack-aligned or TCB-aligned). + Especially relevant for Xtensa cores configured with a very large data + path that requires alignment greater than 16 bytes (ABI stack alignment). +------------------------------------------------------------------------------- +*/ + +#if XCHAL_CP_NUM > 0 + +/* Offsets of each coprocessor save area within the 'aligned save area': */ +#define XT_CP0_SA 0 +#define XT_CP1_SA ALIGNUP(XCHAL_CP1_SA_ALIGN, XT_CP0_SA + XCHAL_CP0_SA_SIZE) +#define XT_CP2_SA ALIGNUP(XCHAL_CP2_SA_ALIGN, XT_CP1_SA + XCHAL_CP1_SA_SIZE) +#define XT_CP3_SA ALIGNUP(XCHAL_CP3_SA_ALIGN, XT_CP2_SA + XCHAL_CP2_SA_SIZE) +#define XT_CP4_SA ALIGNUP(XCHAL_CP4_SA_ALIGN, XT_CP3_SA + XCHAL_CP3_SA_SIZE) +#define XT_CP5_SA ALIGNUP(XCHAL_CP5_SA_ALIGN, XT_CP4_SA + XCHAL_CP4_SA_SIZE) +#define XT_CP6_SA ALIGNUP(XCHAL_CP6_SA_ALIGN, XT_CP5_SA + XCHAL_CP5_SA_SIZE) +#define XT_CP7_SA ALIGNUP(XCHAL_CP7_SA_ALIGN, XT_CP6_SA + XCHAL_CP6_SA_SIZE) +#define XT_CP_SA_SIZE ALIGNUP(16, XT_CP7_SA + XCHAL_CP7_SA_SIZE) + +/* Offsets within the overall save area: */ +#define XT_CPENABLE 0 /* (2 bytes) coprocessors active for this thread */ +#define XT_CPSTORED 2 /* (2 bytes) coprocessors saved for this thread */ +#define XT_CP_CS_ST 4 /* (2 bytes) coprocessor callee-saved regs stored for this thread */ +#define XT_CP_ASA 8 /* (4 bytes) ptr to aligned save area */ +/* Overall size allows for dynamic alignment: */ +#define XT_CP_SIZE (12 + XT_CP_SA_SIZE + XCHAL_TOTAL_SA_ALIGN) +#else +#define XT_CP_SIZE 0 +#endif + + +/* + Macro to get the current core ID. Only uses the reg given as an argument. + Reading PRID on the ESP32 gives us 0xCDCD on the PRO processor (0) + and 0xABAB on the APP CPU (1). We can distinguish between the two by checking + bit 13: it's 1 on the APP and 0 on the PRO processor. +*/ +#ifdef __ASSEMBLER__ + .macro getcoreid reg + rsr.prid \reg + extui \reg,\reg,13,1 + .endm +#endif + +#define CORE_ID_PRO 0xCDCD +#define CORE_ID_APP 0xABAB + +/* +------------------------------------------------------------------------------- + MACROS TO HANDLE ABI SPECIFICS OF FUNCTION ENTRY AND RETURN + + Convenient where the frame size requirements are the same for both ABIs. + ENTRY(sz), RET(sz) are for framed functions (have locals or make calls). + ENTRY0, RET0 are for frameless functions (no locals, no calls). + + where size = size of stack frame in bytes (must be >0 and aligned to 16). + For framed functions the frame is created and the return address saved at + base of frame (Call0 ABI) or as determined by hardware (Windowed ABI). + For frameless functions, there is no frame and return address remains in a0. + Note: Because CPP macros expand to a single line, macros requiring multi-line + expansions are implemented as assembler macros. +------------------------------------------------------------------------------- +*/ + +#ifdef __ASSEMBLER__ +#ifdef __XTENSA_CALL0_ABI__ + /* Call0 */ + #define ENTRY(sz) entry1 sz + .macro entry1 size=0x10 + addi sp, sp, -\size + s32i a0, sp, 0 + .endm + #define ENTRY0 + #define RET(sz) ret1 sz + .macro ret1 size=0x10 + l32i a0, sp, 0 + addi sp, sp, \size + ret + .endm + #define RET0 ret +#else + /* Windowed */ + #define ENTRY(sz) entry sp, sz + #define ENTRY0 entry sp, 0x10 + #define RET(sz) retw + #define RET0 retw +#endif +#endif + + + + + +#endif /* XTENSA_CONTEXT_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_rtos.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_rtos.h new file mode 100644 index 0000000..dbd82b6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_rtos.h @@ -0,0 +1,231 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* RTOS-SPECIFIC INFORMATION FOR XTENSA RTOS ASSEMBLER SOURCES +* (FreeRTOS Port) +* +* This header is the primary glue between generic Xtensa RTOS support +* sources and a specific RTOS port for Xtensa. It contains definitions +* and macros for use primarily by Xtensa assembly coded source files. +* +* Macros in this header map callouts from generic Xtensa files to specific +* RTOS functions. It may also be included in C source files. +* +* Xtensa RTOS ports support all RTOS-compatible configurations of the Xtensa +* architecture, using the Xtensa hardware abstraction layer (HAL) to deal +* with configuration specifics. +* +* Should be included by all Xtensa generic and RTOS port-specific sources. +* +*******************************************************************************/ + +#ifndef XTENSA_RTOS_H +#define XTENSA_RTOS_H + +#ifdef __ASSEMBLER__ + #include +#else + #include +#endif + +#include +#include + +/* + * Include any RTOS specific definitions that are needed by this header. + */ +#include "FreeRTOSConfig.h" + +/* + * Convert FreeRTOSConfig definitions to XTENSA definitions. + * However these can still be overridden from the command line. + */ + +#ifndef XT_SIMULATOR + #if configXT_SIMULATOR + #define XT_SIMULATOR 1 /* Simulator mode */ + #endif +#endif + +#ifndef XT_BOARD + #if configXT_BOARD + #define XT_BOARD 1 /* Board mode */ + #endif +#endif + +#ifndef XT_TIMER_INDEX + #if defined configXT_TIMER_INDEX + #define XT_TIMER_INDEX configXT_TIMER_INDEX /* Index of hardware timer to be used */ + #endif +#endif + +#ifndef XT_INTEXC_HOOKS + #if configXT_INTEXC_HOOKS + #define XT_INTEXC_HOOKS 1 /* Enables exception hooks */ + #endif +#endif + +#if !defined( XT_SIMULATOR ) && !defined( XT_BOARD ) + #error Either XT_SIMULATOR or XT_BOARD must be defined. +#endif + + +/* + * Name of RTOS (for messages). + */ +#define XT_RTOS_NAME FreeRTOS + +/* + * Check some Xtensa configuration requirements and report error if not met. + * Error messages can be customize to the RTOS port. + */ + +#if !XCHAL_HAVE_XEA2 + #error "FreeRTOS/Xtensa requires XEA2 (exception architecture 2)." +#endif + + +/******************************************************************************* +* +* RTOS CALLOUT MACROS MAPPED TO RTOS PORT-SPECIFIC FUNCTIONS. +* +* Define callout macros used in generic Xtensa code to interact with the RTOS. +* The macros are simply the function names for use in calls from assembler code. +* Some of these functions may call back to generic functions in xtensa_context.h . +* +*******************************************************************************/ + +/* + * Inform RTOS of entry into an interrupt handler that will affect it. + * Allows RTOS to manage switch to any system stack and count nesting level. + * Called after minimal context has been saved, with interrupts disabled. + * RTOS port can call0 _xt_context_save to save the rest of the context. + * May only be called from assembly code by the 'call0' instruction. + */ +/* void XT_RTOS_INT_ENTER(void) */ +#define XT_RTOS_INT_ENTER _frxt_int_enter + +/* + * Inform RTOS of completion of an interrupt handler, and give control to + * RTOS to perform thread/task scheduling, switch back from any system stack + * and restore the context, and return to the exit dispatcher saved in the + * stack frame at XT_STK_EXIT. RTOS port can call0 _xt_context_restore + * to save the context saved in XT_RTOS_INT_ENTER via _xt_context_save, + * leaving only a minimal part of the context to be restored by the exit + * dispatcher. This function does not return to the place it was called from. + * May only be called from assembly code by the 'call0' instruction. + */ +/* void XT_RTOS_INT_EXIT(void) */ +#define XT_RTOS_INT_EXIT _frxt_int_exit + +/* + * Inform RTOS of the occurrence of a tick timer interrupt. + * If RTOS has no tick timer, leave XT_RTOS_TIMER_INT undefined. + * May be coded in or called from C or assembly, per ABI conventions. + * RTOS may optionally define XT_TICK_PER_SEC in its own way (eg. macro). + */ +/* void XT_RTOS_TIMER_INT(void) */ +#define XT_RTOS_TIMER_INT _frxt_timer_int +#define XT_TICK_PER_SEC configTICK_RATE_HZ + +/* + * Return in a15 the base address of the co-processor state save area for the + * thread that triggered a co-processor exception, or 0 if no thread was running. + * The state save area is structured as defined in xtensa_context.h and has size + * XT_CP_SIZE. Co-processor instructions should only be used in thread code, never + * in interrupt handlers or the RTOS kernel. May only be called from assembly code + * and by the 'call0' instruction. A result of 0 indicates an unrecoverable error. + * The implementation may use only a2-4, a15 (all other regs must be preserved). + */ +/* void* XT_RTOS_CP_STATE(void) */ +#define XT_RTOS_CP_STATE _frxt_task_coproc_state + + +/******************************************************************************* +* +* HOOKS TO DYNAMICALLY INSTALL INTERRUPT AND EXCEPTION HANDLERS PER LEVEL. +* +* This Xtensa RTOS port provides hooks for dynamically installing exception +* and interrupt handlers to facilitate automated testing where each test +* case can install its own handler for user exceptions and each interrupt +* priority (level). This consists of an array of function pointers indexed +* by interrupt priority, with index 0 being the user exception handler hook. +* Each entry in the array is initially 0, and may be replaced by a function +* pointer of type XT_INTEXC_HOOK. A handler may be uninstalled by installing 0. +* +* The handler for low and medium priority obeys ABI conventions so may be coded +* in C. For the exception handler, the cause is the contents of the EXCCAUSE +* reg, and the result is -1 if handled, else the cause (still needs handling). +* For interrupt handlers, the cause is a mask of pending enabled interrupts at +* that level, and the result is the same mask with the bits for the handled +* interrupts cleared (those not cleared still need handling). This allows a test +* case to either pre-handle or override the default handling for the exception +* or interrupt level (see xtensa_vectors.S). +* +* High priority handlers (including NMI) must be coded in assembly, are always +* called by 'call0' regardless of ABI, must preserve all registers except a0, +* and must not use or modify the interrupted stack. The hook argument 'cause' +* is not passed and the result is ignored, so as not to burden the caller with +* saving and restoring a2 (it assumes only one interrupt per level - see the +* discussion in high priority interrupts in xtensa_vectors.S). The handler +* therefore should be coded to prototype 'void h(void)' even though it plugs +* into an array of handlers of prototype 'unsigned h(unsigned)'. +* +* To enable interrupt/exception hooks, compile the RTOS with '-DXT_INTEXC_HOOKS'. +* +*******************************************************************************/ + +#define XT_INTEXC_HOOK_NUM ( 1 + XCHAL_NUM_INTLEVELS + XCHAL_HAVE_NMI ) + +#ifndef __ASSEMBLER__ + typedef unsigned (* XT_INTEXC_HOOK)( unsigned cause ); + extern volatile XT_INTEXC_HOOK _xt_intexc_hooks[ XT_INTEXC_HOOK_NUM ]; +#endif + + +/******************************************************************************* +* +* CONVENIENCE INCLUSIONS. +* +* Ensures RTOS specific files need only include this one Xtensa-generic header. +* These headers are included last so they can use the RTOS definitions above. +* +*******************************************************************************/ + +#include "xtensa_context.h" + +#ifdef XT_RTOS_TIMER_INT + #include "xtensa_timer.h" +#endif + + +/******************************************************************************* +* +* Xtensa Port Version. +* +*******************************************************************************/ + +#define XTENSA_PORT_VERSION 1.4 .2 +#define XTENSA_PORT_VERSION_STRING "1.4.2" + +#endif /* XTENSA_RTOS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_timer.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_timer.h new file mode 100644 index 0000000..431205d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/include/xtensa_timer.h @@ -0,0 +1,158 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* XTENSA INFORMATION FOR RTOS TICK TIMER AND CLOCK FREQUENCY +* +* This header contains definitions and macros for use primarily by Xtensa +* RTOS assembly coded source files. It includes and uses the Xtensa hardware +* abstraction layer (HAL) to deal with config specifics. It may also be +* included in C source files. +* +* User may edit to modify timer selection and to specify clock frequency and +* tick duration to match timer interrupt to the real-time tick duration. +* +* If the RTOS has no timer interrupt, then there is no tick timer and the +* clock frequency is irrelevant, so all of these macros are left undefined +* and the Xtensa core configuration need not have a timer. +* +*******************************************************************************/ + +#ifndef XTENSA_TIMER_H +#define XTENSA_TIMER_H + +#ifdef __ASSEMBLER__ + #include +#endif + +#include +#include + +#include "xtensa_rtos.h" /* in case this wasn't included directly */ + +#include "FreeRTOSConfig.h" + +/* + * Select timer to use for periodic tick, and determine its interrupt number + * and priority. User may specify a timer by defining XT_TIMER_INDEX with -D, + * in which case its validity is checked (it must exist in this core and must + * not be on a high priority interrupt - an error will be reported in invalid). + * Otherwise select the first low or medium priority interrupt timer available. + */ +#if XCHAL_NUM_TIMERS == 0 + + #error "This Xtensa configuration is unsupported, it has no timers." + +#else + + #ifndef XT_TIMER_INDEX + #if XCHAL_TIMER3_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER3_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 3 + #endif + #endif + #if XCHAL_TIMER2_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER2_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 2 + #endif + #endif + #if XCHAL_TIMER1_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER1_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 1 + #endif + #endif + #if XCHAL_TIMER0_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER0_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 0 + #endif + #endif + #endif /* ifndef XT_TIMER_INDEX */ + #ifndef XT_TIMER_INDEX + #error "There is no suitable timer in this Xtensa configuration." + #endif + + #define XT_CCOMPARE ( CCOMPARE + XT_TIMER_INDEX ) + #define XT_TIMER_INTNUM XCHAL_TIMER_INTERRUPT( XT_TIMER_INDEX ) + #define XT_TIMER_INTPRI XCHAL_INT_LEVEL( XT_TIMER_INTNUM ) + #define XT_TIMER_INTEN ( 1 << XT_TIMER_INTNUM ) + + #if XT_TIMER_INTNUM == XTHAL_TIMER_UNCONFIGURED + #error "The timer selected by XT_TIMER_INDEX does not exist in this core." + #elif XT_TIMER_INTPRI > XCHAL_EXCM_LEVEL + #error "The timer interrupt cannot be high priority (use medium or low)." + #endif + +#endif /* XCHAL_NUM_TIMERS */ + +/* + * Set processor clock frequency, used to determine clock divisor for timer tick. + * User should BE SURE TO ADJUST THIS for the Xtensa platform being used. + * If using a supported board via the board-independent API defined in xtbsp.h, + * this may be left undefined and frequency and tick divisor will be computed + * and cached during run-time initialization. + * + * NOTE ON SIMULATOR: + * Under the Xtensa instruction set simulator, the frequency can only be estimated + * because it depends on the speed of the host and the version of the simulator. + * Also because it runs much slower than hardware, it is not possible to achieve + * real-time performance for most applications under the simulator. A frequency + * too low does not allow enough time between timer interrupts, starving threads. + * To obtain a more convenient but non-real-time tick duration on the simulator, + * compile with xt-xcc option "-DXT_SIMULATOR". + * Adjust this frequency to taste (it's not real-time anyway!). + */ +#if defined( XT_SIMULATOR ) && !defined( XT_CLOCK_FREQ ) + #define XT_CLOCK_FREQ configCPU_CLOCK_HZ +#endif + +#if !defined( XT_CLOCK_FREQ ) && !defined( XT_BOARD ) + #error "XT_CLOCK_FREQ must be defined for the target platform." +#endif + +/* + * Default number of timer "ticks" per second (default 100 for 10ms tick). + * RTOS may define this in its own way (if applicable) in xtensa_rtos.h. + * User may redefine this to an optimal value for the application, either by + * editing this here or in xtensa_rtos.h, or compiling with xt-xcc option + * "-DXT_TICK_PER_SEC=" where is a suitable number. + */ +#ifndef XT_TICK_PER_SEC + #define XT_TICK_PER_SEC configTICK_RATE_HZ /* 10 ms tick = 100 ticks per second */ +#endif + +/* + * Derivation of clock divisor for timer tick and interrupt (one per tick). + */ +#ifdef XT_CLOCK_FREQ + #define XT_TICK_DIVISOR ( XT_CLOCK_FREQ / XT_TICK_PER_SEC ) +#endif + +#ifndef __ASSEMBLER__ + extern unsigned _xt_tick_divisor; + extern void _xt_tick_divisor_init( void ); +#endif + +#endif /* XTENSA_TIMER_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/port.c new file mode 100644 index 0000000..d3666a5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/port.c @@ -0,0 +1,517 @@ +/* + * FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. + * All rights reserved + * + * VISIT https://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + * + * This file is part of the FreeRTOS distribution. + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + *************************************************************************** + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available on the following + * link: https://www.FreeRTOS.org/a00114.html + * + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * https://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + * + * https://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + * the FAQ page "My application does not run, what could be wrong?". Have you + * defined configASSERT()? + * + * https://www.FreeRTOS.org/support - In return for receiving this top quality + * embedded software for free we request you assist our global community by + * participating in the support forum. + * + * https://www.FreeRTOS.org/training - Investing in training allows your team + * to be as productive as possible as early as possible. Now you can receive + * FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + * Ltd, and the world's leading authority on the world's leading RTOS. + * + * https://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + * including FreeRTOS+Trace - an indispensable productivity tool, a DOS + * compatible FAT file system, and our tiny thread aware UDP/IP stack. + * + * https://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + * Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + * + * https://www.highintegritysystems.com/openrtos/ - Real Time Engineers ltd. + * license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS + * brand. Low cost OpenRTOS licenses offer ticketed support, indemnification + * and commercial middleware. + * + * https://www.highintegritysystems.com/safertos/ - High Integrity Systems + * also provide a safety engineered and independently SIL3 certified version + * for use in safety and mission critical applications that require provable + * dependability. + * + */ + +/******************************************************************************* + * // Copyright (c) 2003-2015 Cadence Design Systems, Inc. + * // + * // Permission is hereby granted, free of charge, to any person obtaining + * // a copy of this software and associated documentation files (the + * // "Software"), to deal in the Software without restriction, including + * // without limitation the rights to use, copy, modify, merge, publish, + * // distribute, sublicense, and/or sell copies of the Software, and to + * // permit persons to whom the Software is furnished to do so, subject to + * // the following conditions: + * // + * // The above copyright notice and this permission notice shall be included + * // in all copies or substantial portions of the Software. + * // + * // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * ----------------------------------------------------------------------------- + */ + +#include +#include + +#include "xtensa_rtos.h" + +#if CONFIG_IDF_TARGET_ESP32S2 + #include "esp32s2/rom/ets_sys.h" +#elif CONFIG_IDF_TARGET_ESP32 + #include "esp32/rom/ets_sys.h" +#endif +#include "soc/cpu.h" + +#include "FreeRTOS.h" +#include "task.h" + +#include "esp_private/panic_reason.h" +#include "esp_debug_helpers.h" +#include "esp_heap_caps.h" +#include "esp_private/crosscore_int.h" + +#include "esp_intr_alloc.h" +#include "esp_log.h" + +/* Defined in portasm.h */ +extern void _frxt_tick_timer_init( void ); + +/* Defined in xtensa_context.S */ +extern void _xt_coproc_init( void ); + + +#if CONFIG_FREERTOS_CORETIMER_0 + #define SYSTICK_INTR_ID ( ETS_INTERNAL_TIMER0_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF ) +#endif +#if CONFIG_FREERTOS_CORETIMER_1 + #define SYSTICK_INTR_ID ( ETS_INTERNAL_TIMER1_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF ) +#endif + +/*-----------------------------------------------------------*/ + +unsigned port_xSchedulerRunning[ portNUM_PROCESSORS ] = { 0 }; /* Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting */ +unsigned port_interruptNesting[ portNUM_PROCESSORS ] = { 0 }; /* Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit */ + +/*-----------------------------------------------------------*/ + +/* User exception dispatcher when exiting */ +void _xt_user_exit( void ); + +#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER +/* Wrapper to allow task functions to return (increases stack overhead by 16 bytes) */ + static void vPortTaskWrapper( TaskFunction_t pxCode, + void * pvParameters ) + { + pxCode( pvParameters ); + /*FreeRTOS tasks should not return. Log the task name and abort. */ + char * pcTaskName = pcTaskGetTaskName( NULL ); + ESP_LOGE( "FreeRTOS", "FreeRTOS Task \"%s\" should not return, Aborting now!", pcTaskName ); + abort(); + } +#endif /* if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER */ + +/* + * Stack initialization + */ +/* *INDENT-OFF* */ +#if portUSING_MPU_WRAPPERS + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +#endif +/* *INDENT-ON* */ +{ + StackType_t * sp, * tp; + XtExcFrame * frame; + + #if XCHAL_CP_NUM > 0 + uint32_t * p; + #endif + + /* Create interrupt stack frame aligned to 16 byte boundary */ + sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf ); + + /* Clear the entire frame (do not use memset() because we don't depend on C library) */ + for( tp = sp; tp <= pxTopOfStack; ++tp ) + { + *tp = 0; + } + + frame = ( XtExcFrame * ) sp; + + /* Explicitly initialize certain saved registers */ + #if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER + frame->pc = ( UBaseType_t ) vPortTaskWrapper; /* task wrapper */ + #else + frame->pc = ( UBaseType_t ) pxCode; /* task entrypoint */ + #endif + frame->a0 = 0; /* to terminate GDB backtrace */ + frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ; /* physical top of stack frame */ + frame->exit = ( UBaseType_t ) _xt_user_exit; /* user exception exit dispatcher */ + + /* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */ + /* Also set entry point argument parameter. */ + #ifdef __XTENSA_CALL0_ABI__ + #if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER + frame->a2 = ( UBaseType_t ) pxCode; + frame->a3 = ( UBaseType_t ) pvParameters; + #else + frame->a2 = ( UBaseType_t ) pvParameters; + #endif + frame->ps = PS_UM | PS_EXCM; + #else + /* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */ + #if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER + frame->a6 = ( UBaseType_t ) pxCode; + frame->a7 = ( UBaseType_t ) pvParameters; + #else + frame->a6 = ( UBaseType_t ) pvParameters; + #endif + frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 ); + #endif /* ifdef __XTENSA_CALL0_ABI__ */ + + #ifdef XT_USE_SWPRI + /* Set the initial virtual priority mask value to all 1's. */ + frame->vpri = 0xFFFFFFFF; + #endif + + #if XCHAL_CP_NUM > 0 + /* Init the coprocessor save area (see xtensa_context.h) */ + + /* No access to TCB here, so derive indirectly. Stack growth is top to bottom. + * //p = (uint32_t *) xMPUSettings->coproc_area; + */ + p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf ); + configASSERT( ( uint32_t ) p >= frame->a1 ); + p[ 0 ] = 0; + p[ 1 ] = 0; + p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN; + #endif + + return sp; +} + +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the Xtensa port will get stopped. If required simply + * disable the tick interrupt here. */ +} + +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored */ + + #if XCHAL_CP_NUM > 0 + /* Initialize co-processor management for tasks. Leave CPENABLE alone. */ + _xt_coproc_init(); + #endif + + /* Init the tick divisor value */ + _xt_tick_divisor_init(); + + /* Setup the hardware to generate the tick. */ + _frxt_tick_timer_init(); + + port_xSchedulerRunning[ xPortGetCoreID() ] = 1; + + /* Cannot be directly called from C; never returns */ + __asm__ volatile ( "call0 _frxt_dispatch\n" ); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortSysTickHandler( void ) +{ + BaseType_t ret; + unsigned interruptMask; + + portbenchmarkIntLatency(); + traceISR_ENTER( SYSTICK_INTR_ID ); + + /* Interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY must be + * disabled before calling xTaskIncrementTick as it access the + * kernel lists. */ + interruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + ret = xTaskIncrementTick(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( interruptMask ); + + if( ret != pdFALSE ) + { + portYIELD_FROM_ISR(); + } + else + { + traceISR_EXIT(); + } + + return ret; +} + + +void vPortYieldOtherCore( BaseType_t coreid ) +{ + esp_crosscore_int_send_yield( coreid ); +} + +/*-----------------------------------------------------------*/ + +/* + * Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area. + */ +#if portUSING_MPU_WRAPPERS + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t usStackDepth ) + { + #if XCHAL_CP_NUM > 0 + xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 )); + xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); + xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf ); + + + /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to + * clear the stack area after we return. This is done in pxPortInitialiseStack(). + */ + #endif + } + + void vPortReleaseTaskMPUSettings( xMPU_SETTINGS * xMPUSettings ) + { + /* If task has live floating point registers somewhere, release them */ + _xt_coproc_release( xMPUSettings->coproc_area ); + } + +#endif /* if portUSING_MPU_WRAPPERS */ + +/* + * Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs + * aren't detected here, but they normally cannot call C code, so that should not be an issue anyway. + */ +BaseType_t xPortInIsrContext() +{ + unsigned int irqStatus; + BaseType_t ret; + + irqStatus = portENTER_CRITICAL_NESTED(); + ret = ( port_interruptNesting[ xPortGetCoreID() ] != 0 ); + portEXIT_CRITICAL_NESTED( irqStatus ); + return ret; +} + +/* + * This function will be called in High prio ISRs. Returns true if the current core was in ISR context + * before calling into high prio ISR context. + */ +BaseType_t IRAM_ATTR xPortInterruptedFromISRContext() +{ + return( port_interruptNesting[ xPortGetCoreID() ] != 0 ); +} + +void vPortAssertIfInISR() +{ + if( xPortInIsrContext() ) + { + ets_printf( "core=%d port_interruptNesting=%d\n\n", xPortGetCoreID(), port_interruptNesting[ xPortGetCoreID() ] ); + } + + configASSERT( !xPortInIsrContext() ); +} + +/* + * For kernel use: Initialize a per-CPU mux. Mux will be initialized unlocked. + */ +void vPortCPUInitializeMutex( portMUX_TYPE * mux ) +{ + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + ets_printf( "Initializing mux %p\n", mux ); + mux->lastLockedFn = "(never locked)"; + mux->lastLockedLine = -1; + #endif + mux->owner = portMUX_FREE_VAL; + mux->count = 0; +} + +#include "portmux_impl.h" + +/* + * For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long. + */ +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + void vPortCPUAcquireMutex( portMUX_TYPE * mux, + const char * fnName, + int line ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT, fnName, line ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } + + bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, + int timeout_cycles, + const char * fnName, + int line ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + bool result = vPortCPUAcquireMutexIntsDisabled( mux, timeout_cycles, fnName, line ); + + portEXIT_CRITICAL_NESTED( irqStatus ); + return result; + } + +#else /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + void vPortCPUAcquireMutex( portMUX_TYPE * mux ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } + + bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, + int timeout_cycles ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + bool result = vPortCPUAcquireMutexIntsDisabled( mux, timeout_cycles ); + + portEXIT_CRITICAL_NESTED( irqStatus ); + return result; + } +#endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + + +/* + * For kernel use: Release a per-CPU mux + * + * Mux must be already locked by this core + */ +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + void vPortCPUReleaseMutex( portMUX_TYPE * mux, + const char * fnName, + int line ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUReleaseMutexIntsDisabled( mux, fnName, line ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } +#else + void vPortCPUReleaseMutex( portMUX_TYPE * mux ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUReleaseMutexIntsDisabled( mux ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } +#endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + +void vPortSetStackWatchpoint( void * pxStackStart ) +{ + /*Set watchpoint 1 to watch the last 32 bytes of the stack. */ + /*Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because */ + /*the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32 */ + /*bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most */ + /*28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes. */ + /*This way, we make sure we trigger before/when the stack canary is corrupted, not after. */ + int addr = ( int ) pxStackStart; + + addr = ( addr + 31 ) & ( ~31 ); + esp_set_watchpoint( 1, ( char * ) addr, 32, ESP_WATCHPOINT_STORE ); +} + +#if defined( CONFIG_SPIRAM_SUPPORT ) + +/* + * Compare & set (S32C1) does not work in external RAM. Instead, this routine uses a mux (in internal memory) to fake it. + */ + static portMUX_TYPE extram_mux = portMUX_INITIALIZER_UNLOCKED; + + void uxPortCompareSetExtram( volatile uint32_t * addr, + uint32_t compare, + uint32_t * set ) + { + uint32_t prev; + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + vPortCPUAcquireMutexIntsDisabled( &extram_mux, portMUX_NO_TIMEOUT, __FUNCTION__, __LINE__ ); + #else + vPortCPUAcquireMutexIntsDisabled( &extram_mux, portMUX_NO_TIMEOUT ); + #endif + prev = *addr; + + if( prev == compare ) + { + *addr = *set; + } + + *set = prev; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + vPortCPUReleaseMutexIntsDisabled( &extram_mux, __FUNCTION__, __LINE__ ); + #else + vPortCPUReleaseMutexIntsDisabled( &extram_mux ); + #endif + } +#endif //defined(CONFIG_SPIRAM_SUPPORT) + + + +uint32_t xPortGetTickRateHz( void ) +{ + return ( uint32_t ) configTICK_RATE_HZ; +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portasm.S new file mode 100644 index 0000000..7884cf4 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portasm.S @@ -0,0 +1,677 @@ +/* +//----------------------------------------------------------------------------- +// Copyright (c) 2003-2015 Cadence Design Systems, Inc. +// +// Permission is hereby granted, free of charge, to any person obtaining +// a copy of this software and associated documentation files (the +// "Software"), to deal in the Software without restriction, including +// without limitation the rights to use, copy, modify, merge, publish, +// distribute, sublicense, and/or sell copies of the Software, and to +// permit persons to whom the Software is furnished to do so, subject to +// the following conditions: +// +// The above copyright notice and this permission notice shall be included +// in all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +// CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +// TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +//----------------------------------------------------------------------------- +*/ + +#include "xtensa_rtos.h" +#include "sdkconfig.h" + +#define TOPOFSTACK_OFFS 0x00 /* StackType_t *pxTopOfStack */ +#define CP_TOPOFSTACK_OFFS 0x04 /* xMPU_SETTINGS.coproc_area */ + +.extern pxCurrentTCB + +/* +******************************************************************************* +* Interrupt stack. The size of the interrupt stack is determined by the config +* parameter "configISR_STACK_SIZE" in FreeRTOSConfig.h +******************************************************************************* +*/ + + .data + .align 16 + .global port_IntStack + .global port_IntStackTop + .global port_switch_flag +port_IntStack: + .space configISR_STACK_SIZE*portNUM_PROCESSORS /* This allocates stacks for each individual CPU. */ +port_IntStackTop: + .word 0 +port_switch_flag: + .space portNUM_PROCESSORS*4 /* One flag for each individual CPU. */ + + .text + +/* +******************************************************************************* +* _frxt_setup_switch +* void _frxt_setup_switch(void); +* +* Sets an internal flag indicating that a task switch is required on return +* from interrupt handling. +* +******************************************************************************* +*/ + .global _frxt_setup_switch + .type _frxt_setup_switch,@function + .align 4 +_frxt_setup_switch: + + ENTRY(16) + + getcoreid a3 + movi a2, port_switch_flag + addx4 a2, a3, a2 + + movi a3, 1 + s32i a3, a2, 0 + + RET(16) + + + + + + +/* +******************************************************************************* +* _frxt_int_enter +* void _frxt_int_enter(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_INT_ENTER function for +* freeRTOS. Saves the rest of the interrupt context (not already saved). +* May only be called from assembly code by the 'call0' instruction, with +* interrupts disabled. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +******************************************************************************* +*/ + .globl _frxt_int_enter + .type _frxt_int_enter,@function + .align 4 +_frxt_int_enter: + + /* Save a12-13 in the stack frame as required by _xt_context_save. */ + s32i a12, a1, XT_STK_A12 + s32i a13, a1, XT_STK_A13 + + /* Save return address in a safe place (free a0). */ + mov a12, a0 + + /* Save the rest of the interrupted context (preserves A12-13). */ + call0 _xt_context_save + + /* + Save interrupted task's SP in TCB only if not nesting. + Manage nesting directly rather than call the generic IntEnter() + (in windowed ABI we can't call a C function here anyway because PS.EXCM is still set). + */ + getcoreid a4 + movi a2, port_xSchedulerRunning + addx4 a2, a4, a2 + movi a3, port_interruptNesting + addx4 a3, a4, a3 + l32i a2, a2, 0 /* a2 = port_xSchedulerRunning */ + beqz a2, 1f /* scheduler not running, no tasks */ + l32i a2, a3, 0 /* a2 = port_interruptNesting */ + addi a2, a2, 1 /* increment nesting count */ + s32i a2, a3, 0 /* save nesting count */ + bnei a2, 1, .Lnested /* !=0 before incr, so nested */ + + movi a2, pxCurrentTCB + addx4 a2, a4, a2 + l32i a2, a2, 0 /* a2 = current TCB */ + beqz a2, 1f + s32i a1, a2, TOPOFSTACK_OFFS /* pxCurrentTCB->pxTopOfStack = SP */ + movi a1, port_IntStack+configISR_STACK_SIZE /* a1 = top of intr stack for CPU 0 */ + movi a2, configISR_STACK_SIZE /* add configISR_STACK_SIZE * cpu_num to arrive at top of stack for cpu_num */ + mull a2, a4, a2 + add a1, a1, a2 /* for current proc */ + + #ifdef CONFIG_FREERTOS_FPU_IN_ISR + #if XCHAL_CP_NUM > 0 + rsr a3, CPENABLE /* Restore thread scope CPENABLE */ + addi sp, sp,-4 /* ISR will manage FPU coprocessor by forcing */ + s32i a3, a1, 0 /* its trigger */ + #endif + #endif + +.Lnested: +1: + #ifdef CONFIG_FREERTOS_FPU_IN_ISR + #if XCHAL_CP_NUM > 0 + movi a3, 0 /* whilst ISRs pending keep CPENABLE exception active */ + wsr a3, CPENABLE + rsync + #endif + #endif + + mov a0, a12 /* restore return addr and return */ + ret + +/* +******************************************************************************* +* _frxt_int_exit +* void _frxt_int_exit(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_INT_EXIT function for +* FreeRTOS. If required, calls vPortYieldFromInt() to perform task context +* switching, restore the (possibly) new task's context, and return to the +* exit dispatcher saved in the task's stack frame at XT_STK_EXIT. +* May only be called from assembly code by the 'call0' instruction. Does not +* return to caller. +* See the description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +******************************************************************************* +*/ + .globl _frxt_int_exit + .type _frxt_int_exit,@function + .align 4 +_frxt_int_exit: + + getcoreid a4 + movi a2, port_xSchedulerRunning + addx4 a2, a4, a2 + movi a3, port_interruptNesting + addx4 a3, a4, a3 + rsil a0, XCHAL_EXCM_LEVEL /* lock out interrupts */ + l32i a2, a2, 0 /* a2 = port_xSchedulerRunning */ + beqz a2, .Lnoswitch /* scheduler not running, no tasks */ + l32i a2, a3, 0 /* a2 = port_interruptNesting */ + addi a2, a2, -1 /* decrement nesting count */ + s32i a2, a3, 0 /* save nesting count */ + bnez a2, .Lnesting /* !=0 after decr so still nested */ + + #ifdef CONFIG_FREERTOS_FPU_IN_ISR + #if XCHAL_CP_NUM > 0 + l32i a3, sp, 0 /* Grab last CPENABLE before leave ISR */ + addi sp, sp, 4 + wsr a3, CPENABLE + rsync /* ensure CPENABLE was modified */ + #endif + #endif + + movi a2, pxCurrentTCB + addx4 a2, a4, a2 + l32i a2, a2, 0 /* a2 = current TCB */ + beqz a2, 1f /* no task ? go to dispatcher */ + l32i a1, a2, TOPOFSTACK_OFFS /* SP = pxCurrentTCB->pxTopOfStack */ + + movi a2, port_switch_flag /* address of switch flag */ + addx4 a2, a4, a2 /* point to flag for this cpu */ + l32i a3, a2, 0 /* a3 = port_switch_flag */ + beqz a3, .Lnoswitch /* flag = 0 means no switch reqd */ + movi a3, 0 + s32i a3, a2, 0 /* zero out the flag for next time */ + +1: + /* + Call0 ABI callee-saved regs a12-15 need to be saved before possible preemption. + However a12-13 were already saved by _frxt_int_enter(). + */ + #ifdef __XTENSA_CALL0_ABI__ + s32i a14, a1, XT_STK_A14 + s32i a15, a1, XT_STK_A15 + #endif + + #ifdef __XTENSA_CALL0_ABI__ + call0 vPortYieldFromInt /* call dispatch inside the function; never returns */ + #else + call4 vPortYieldFromInt /* this one returns */ + call0 _frxt_dispatch /* tail-call dispatcher */ + /* Never returns here. */ + #endif + +.Lnoswitch: + /* + If we came here then about to resume the interrupted task. + */ + +.Lnesting: + /* + We come here only if there was no context switch, that is if this + is a nested interrupt, or the interrupted task was not preempted. + In either case there's no need to load the SP. + */ + + /* Restore full context from interrupt stack frame */ + call0 _xt_context_restore + + /* + Must return via the exit dispatcher corresponding to the entrypoint from which + this was called. Interruptee's A0, A1, PS, PC are restored and the interrupt + stack frame is deallocated in the exit dispatcher. + */ + l32i a0, a1, XT_STK_EXIT + ret + + +/* +********************************************************************************************************** +* _frxt_timer_int +* void _frxt_timer_int(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_TIMER_INT function for FreeRTOS. +* Called every timer interrupt. +* Manages the tick timer and calls xPortSysTickHandler() every tick. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +* Callable from C (obeys ABI conventions). Implemented in assmebly code for performance. +* +********************************************************************************************************** +*/ + .globl _frxt_timer_int + .type _frxt_timer_int,@function + .align 4 +_frxt_timer_int: + + /* + Xtensa timers work by comparing a cycle counter with a preset value. Once the match occurs + an interrupt is generated, and the handler has to set a new cycle count into the comparator. + To avoid clock drift due to interrupt latency, the new cycle count is computed from the old, + not the time the interrupt was serviced. However if a timer interrupt is ever serviced more + than one tick late, it is necessary to process multiple ticks until the new cycle count is + in the future, otherwise the next timer interrupt would not occur until after the cycle + counter had wrapped (2^32 cycles later). + + do { + ticks++; + old_ccompare = read_ccompare_i(); + write_ccompare_i( old_ccompare + divisor ); + service one tick; + diff = read_ccount() - old_ccompare; + } while ( diff > divisor ); + */ + + ENTRY(16) + + #ifdef CONFIG_PM_TRACE + movi a6, 1 /* = ESP_PM_TRACE_TICK */ + getcoreid a7 + call4 esp_pm_trace_enter + #endif // CONFIG_PM_TRACE + +.L_xt_timer_int_catchup: + + /* Update the timer comparator for the next tick. */ + #ifdef XT_CLOCK_FREQ + movi a2, XT_TICK_DIVISOR /* a2 = comparator increment */ + #else + movi a3, _xt_tick_divisor + l32i a2, a3, 0 /* a2 = comparator increment */ + #endif + rsr a3, XT_CCOMPARE /* a3 = old comparator value */ + add a4, a3, a2 /* a4 = new comparator value */ + wsr a4, XT_CCOMPARE /* update comp. and clear interrupt */ + esync + + #ifdef __XTENSA_CALL0_ABI__ + /* Preserve a2 and a3 across C calls. */ + s32i a2, sp, 4 + s32i a3, sp, 8 + #endif + + /* Call the FreeRTOS tick handler (see port.c). */ + #ifdef __XTENSA_CALL0_ABI__ + call0 xPortSysTickHandler + #else + call4 xPortSysTickHandler + #endif + + #ifdef __XTENSA_CALL0_ABI__ + /* Restore a2 and a3. */ + l32i a2, sp, 4 + l32i a3, sp, 8 + #endif + + /* Check if we need to process more ticks to catch up. */ + esync /* ensure comparator update complete */ + rsr a4, CCOUNT /* a4 = cycle count */ + sub a4, a4, a3 /* diff = ccount - old comparator */ + blt a2, a4, .L_xt_timer_int_catchup /* repeat while diff > divisor */ + +#ifdef CONFIG_PM_TRACE + movi a6, 1 /* = ESP_PM_TRACE_TICK */ + getcoreid a7 + call4 esp_pm_trace_exit +#endif // CONFIG_PM_TRACE + + RET(16) + + /* +********************************************************************************************************** +* _frxt_tick_timer_init +* void _frxt_tick_timer_init(void) +* +* Initialize timer and timer interrrupt handler (_xt_tick_divisor_init() has already been been called). +* Callable from C (obeys ABI conventions on entry). +* +********************************************************************************************************** +*/ + .globl _frxt_tick_timer_init + .type _frxt_tick_timer_init,@function + .align 4 +_frxt_tick_timer_init: + + ENTRY(16) + + + /* Set up the periodic tick timer (assume enough time to complete init). */ + #ifdef XT_CLOCK_FREQ + movi a3, XT_TICK_DIVISOR + #else + movi a2, _xt_tick_divisor + l32i a3, a2, 0 + #endif + rsr a2, CCOUNT /* current cycle count */ + add a2, a2, a3 /* time of first timer interrupt */ + wsr a2, XT_CCOMPARE /* set the comparator */ + + /* + Enable the timer interrupt at the device level. Don't write directly + to the INTENABLE register because it may be virtualized. + */ + #ifdef __XTENSA_CALL0_ABI__ + movi a2, XT_TIMER_INTEN + call0 xt_ints_on + #else + movi a6, XT_TIMER_INTEN + call4 xt_ints_on + #endif + + RET(16) + +/* +********************************************************************************************************** +* DISPATCH THE HIGH READY TASK +* void _frxt_dispatch(void) +* +* Switch context to the highest priority ready task, restore its state and dispatch control to it. +* +* This is a common dispatcher that acts as a shared exit path for all the context switch functions +* including vPortYield() and vPortYieldFromInt(), all of which tail-call this dispatcher +* (for windowed ABI vPortYieldFromInt() calls it indirectly via _frxt_int_exit() ). +* +* The Xtensa port uses different stack frames for solicited and unsolicited task suspension (see +* comments on stack frames in xtensa_context.h). This function restores the state accordingly. +* If restoring a task that solicited entry, restores the minimal state and leaves CPENABLE clear. +* If restoring a task that was preempted, restores all state including the task's CPENABLE. +* +* Entry: +* pxCurrentTCB points to the TCB of the task to suspend, +* Because it is tail-called without a true function entrypoint, it needs no 'entry' instruction. +* +* Exit: +* If incoming task called vPortYield() (solicited), this function returns as if from vPortYield(). +* If incoming task was preempted by an interrupt, this function jumps to exit dispatcher. +* +********************************************************************************************************** +*/ + .globl _frxt_dispatch + .type _frxt_dispatch,@function + .align 4 +_frxt_dispatch: + + #ifdef __XTENSA_CALL0_ABI__ + call0 vTaskSwitchContext // Get next TCB to resume + movi a2, pxCurrentTCB + getcoreid a3 + addx4 a2, a3, a2 + #else + call4 vTaskSwitchContext // Get next TCB to resume + movi a2, pxCurrentTCB + getcoreid a3 + addx4 a2, a3, a2 + #endif + l32i a3, a2, 0 + l32i sp, a3, TOPOFSTACK_OFFS /* SP = next_TCB->pxTopOfStack; */ + s32i a3, a2, 0 + + /* Determine the type of stack frame. */ + l32i a2, sp, XT_STK_EXIT /* exit dispatcher or solicited flag */ + bnez a2, .L_frxt_dispatch_stk + +.L_frxt_dispatch_sol: + + /* Solicited stack frame. Restore minimal context and return from vPortYield(). */ + l32i a3, sp, XT_SOL_PS + #ifdef __XTENSA_CALL0_ABI__ + l32i a12, sp, XT_SOL_A12 + l32i a13, sp, XT_SOL_A13 + l32i a14, sp, XT_SOL_A14 + l32i a15, sp, XT_SOL_A15 + #endif + l32i a0, sp, XT_SOL_PC + #if XCHAL_CP_NUM > 0 + /* Ensure wsr.CPENABLE is complete (should be, it was cleared on entry). */ + rsync + #endif + /* As soons as PS is restored, interrupts can happen. No need to sync PS. */ + wsr a3, PS + #ifdef __XTENSA_CALL0_ABI__ + addi sp, sp, XT_SOL_FRMSZ + ret + #else + retw + #endif + +.L_frxt_dispatch_stk: + + #if XCHAL_CP_NUM > 0 + /* Restore CPENABLE from task's co-processor save area. */ + movi a3, pxCurrentTCB /* cp_state = */ + getcoreid a2 + addx4 a3, a2, a3 + l32i a3, a3, 0 + l32i a2, a3, CP_TOPOFSTACK_OFFS /* StackType_t *pxStack; */ + l16ui a3, a2, XT_CPENABLE /* CPENABLE = cp_state->cpenable; */ + wsr a3, CPENABLE + #endif + + /* Interrupt stack frame. Restore full context and return to exit dispatcher. */ + call0 _xt_context_restore + + /* In Call0 ABI, restore callee-saved regs (A12, A13 already restored). */ + #ifdef __XTENSA_CALL0_ABI__ + l32i a14, sp, XT_STK_A14 + l32i a15, sp, XT_STK_A15 + #endif + + #if XCHAL_CP_NUM > 0 + /* Ensure wsr.CPENABLE has completed. */ + rsync + #endif + + /* + Must return via the exit dispatcher corresponding to the entrypoint from which + this was called. Interruptee's A0, A1, PS, PC are restored and the interrupt + stack frame is deallocated in the exit dispatcher. + */ + l32i a0, sp, XT_STK_EXIT + ret + + +/* +********************************************************************************************************** +* PERFORM A SOLICTED CONTEXT SWITCH (from a task) +* void vPortYield(void) +* +* This function saves the minimal state needed for a solicited task suspension, clears CPENABLE, +* then tail-calls the dispatcher _frxt_dispatch() to perform the actual context switch +* +* At Entry: +* pxCurrentTCB points to the TCB of the task to suspend +* Callable from C (obeys ABI conventions on entry). +* +* Does not return to caller. +* +********************************************************************************************************** +*/ + .globl vPortYield + .type vPortYield,@function + .align 4 +vPortYield: + + #ifdef __XTENSA_CALL0_ABI__ + addi sp, sp, -XT_SOL_FRMSZ + #else + entry sp, XT_SOL_FRMSZ + #endif + + rsr a2, PS + s32i a0, sp, XT_SOL_PC + s32i a2, sp, XT_SOL_PS + #ifdef __XTENSA_CALL0_ABI__ + s32i a12, sp, XT_SOL_A12 /* save callee-saved registers */ + s32i a13, sp, XT_SOL_A13 + s32i a14, sp, XT_SOL_A14 + s32i a15, sp, XT_SOL_A15 + #else + /* Spill register windows. Calling xthal_window_spill() causes extra */ + /* spills and reloads, so we will set things up to call the _nw version */ + /* instead to save cycles. */ + movi a6, ~(PS_WOE_MASK|PS_INTLEVEL_MASK) /* spills a4-a7 if needed */ + and a2, a2, a6 /* clear WOE, INTLEVEL */ + addi a2, a2, XCHAL_EXCM_LEVEL /* set INTLEVEL */ + wsr a2, PS + rsync + call0 xthal_window_spill_nw + l32i a2, sp, XT_SOL_PS /* restore PS */ + wsr a2, PS + #endif + + rsil a2, XCHAL_EXCM_LEVEL /* disable low/med interrupts */ + + #if XCHAL_CP_NUM > 0 + /* Save coprocessor callee-saved state (if any). At this point CPENABLE */ + /* should still reflect which CPs were in use (enabled). */ + call0 _xt_coproc_savecs + #endif + + movi a2, pxCurrentTCB + getcoreid a3 + addx4 a2, a3, a2 + l32i a2, a2, 0 /* a2 = pxCurrentTCB */ + movi a3, 0 + s32i a3, sp, XT_SOL_EXIT /* 0 to flag as solicited frame */ + s32i sp, a2, TOPOFSTACK_OFFS /* pxCurrentTCB->pxTopOfStack = SP */ + + #if XCHAL_CP_NUM > 0 + /* Clear CPENABLE, also in task's co-processor state save area. */ + l32i a2, a2, CP_TOPOFSTACK_OFFS /* a2 = pxCurrentTCB->cp_state */ + movi a3, 0 + wsr a3, CPENABLE + beqz a2, 1f + s16i a3, a2, XT_CPENABLE /* clear saved cpenable */ +1: + #endif + + /* Tail-call dispatcher. */ + call0 _frxt_dispatch + /* Never reaches here. */ + + +/* +********************************************************************************************************** +* PERFORM AN UNSOLICITED CONTEXT SWITCH (from an interrupt) +* void vPortYieldFromInt(void) +* +* This calls the context switch hook (removed), saves and clears CPENABLE, then tail-calls the dispatcher +* _frxt_dispatch() to perform the actual context switch. +* +* At Entry: +* Interrupted task context has been saved in an interrupt stack frame at pxCurrentTCB->pxTopOfStack. +* pxCurrentTCB points to the TCB of the task to suspend, +* Callable from C (obeys ABI conventions on entry). +* +* At Exit: +* Windowed ABI defers the actual context switch until the stack is unwound to interrupt entry. +* Call0 ABI tail-calls the dispatcher directly (no need to unwind) so does not return to caller. +* +********************************************************************************************************** +*/ + .globl vPortYieldFromInt + .type vPortYieldFromInt,@function + .align 4 +vPortYieldFromInt: + + ENTRY(16) + + #if XCHAL_CP_NUM > 0 + /* Save CPENABLE in task's co-processor save area, and clear CPENABLE. */ + movi a3, pxCurrentTCB /* cp_state = */ + getcoreid a2 + addx4 a3, a2, a3 + l32i a3, a3, 0 + + l32i a2, a3, CP_TOPOFSTACK_OFFS + + rsr a3, CPENABLE + s16i a3, a2, XT_CPENABLE /* cp_state->cpenable = CPENABLE; */ + movi a3, 0 + wsr a3, CPENABLE /* disable all co-processors */ + #endif + + #ifdef __XTENSA_CALL0_ABI__ + /* Tail-call dispatcher. */ + call0 _frxt_dispatch + /* Never reaches here. */ + #else + RET(16) + #endif + +/* +********************************************************************************************************** +* _frxt_task_coproc_state +* void _frxt_task_coproc_state(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_CP_STATE function for FreeRTOS. +* +* May only be called when a task is running, not within an interrupt handler (returns 0 in that case). +* May only be called from assembly code by the 'call0' instruction. Does NOT obey ABI conventions. +* Returns in A15 a pointer to the base of the co-processor state save area for the current task. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +********************************************************************************************************** +*/ +#if XCHAL_CP_NUM > 0 + + .globl _frxt_task_coproc_state + .type _frxt_task_coproc_state,@function + .align 4 +_frxt_task_coproc_state: + + + /* We can use a3 as a scratchpad, the instances of code calling XT_RTOS_CP_STATE don't seem to need it saved. */ + getcoreid a3 + movi a15, port_xSchedulerRunning /* if (port_xSchedulerRunning */ + addx4 a15, a3,a15 + l32i a15, a15, 0 + beqz a15, 1f + movi a15, port_interruptNesting /* && port_interruptNesting == 0 */ + addx4 a15, a3, a15 + l32i a15, a15, 0 + bnez a15, 1f + + movi a15, pxCurrentTCB + addx4 a15, a3, a15 + l32i a15, a15, 0 /* && pxCurrentTCB != 0) { */ + + beqz a15, 2f + l32i a15, a15, CP_TOPOFSTACK_OFFS + ret + +1: movi a15, 0 +2: ret + +#endif /* XCHAL_CP_NUM > 0 */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portmux_impl.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portmux_impl.h new file mode 100644 index 0000000..4c2f9dc --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portmux_impl.h @@ -0,0 +1,113 @@ +/* + * Copyright (C) 2016-2017 Espressif Shanghai PTE LTD + * Copyright (C) 2015 Real Time Engineers Ltd. + * + * All rights reserved + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + *************************************************************************** + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available on the following + * link: https://www.FreeRTOS.org/a00114.html + */ + +/* This header exists for performance reasons, in order to inline the + * implementation of vPortCPUAcquireMutexIntsDisabled and + * vPortCPUReleaseMutexIntsDisabled into the + * vTaskEnterCritical/vTaskExitCritical functions in task.c as well as the + * vPortCPUAcquireMutex/vPortCPUReleaseMutex implementations. + * + * Normally this kind of performance hack is over the top, but + * vTaskEnterCritical/vTaskExitCritical is called a great + * deal by FreeRTOS internals. + * + * It should be #included by freertos port.c or tasks.c, in esp-idf. + * + * The way it works is that it essentially uses portmux_impl.inc.h as a + * generator template of sorts. When no external memory is used, this + * template is only used to generate the vPortCPUAcquireMutexIntsDisabledInternal + * and vPortCPUReleaseMutexIntsDisabledInternal functions, which use S32C1 to + * do an atomic compare & swap. When external memory is used the functions + * vPortCPUAcquireMutexIntsDisabledExtram and vPortCPUReleaseMutexIntsDisabledExtram + * are also generated, which use uxPortCompareSetExtram to fake the S32C1 instruction. + * The wrapper functions vPortCPUAcquireMutexIntsDisabled and + * vPortCPUReleaseMutexIntsDisabled will then use the appropriate function to do the + * actual lock/unlock. + */ +#include "soc/cpu.h" +#include "portable.h" + +/* XOR one core ID with this value to get the other core ID */ +#define CORE_ID_XOR_SWAP ( CORE_ID_PRO ^ CORE_ID_APP ) + + + +/*Define the mux routines for use with muxes in internal RAM */ +#define PORTMUX_AQUIRE_MUX_FN_NAME vPortCPUAcquireMutexIntsDisabledInternal +#define PORTMUX_RELEASE_MUX_FN_NAME vPortCPUReleaseMutexIntsDisabledInternal +#define PORTMUX_COMPARE_SET_FN_NAME uxPortCompareSet +#include "portmux_impl.inc.h" +#undef PORTMUX_AQUIRE_MUX_FN_NAME +#undef PORTMUX_RELEASE_MUX_FN_NAME +#undef PORTMUX_COMPARE_SET_FN_NAME + + +#if defined( CONFIG_SPIRAM_SUPPORT ) + + #define PORTMUX_AQUIRE_MUX_FN_NAME vPortCPUAcquireMutexIntsDisabledExtram + #define PORTMUX_RELEASE_MUX_FN_NAME vPortCPUReleaseMutexIntsDisabledExtram + #define PORTMUX_COMPARE_SET_FN_NAME uxPortCompareSetExtram + #include "portmux_impl.inc.h" + #undef PORTMUX_AQUIRE_MUX_FN_NAME + #undef PORTMUX_RELEASE_MUX_FN_NAME + #undef PORTMUX_COMPARE_SET_FN_NAME + +#endif + + +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + #define PORTMUX_AQUIRE_MUX_FN_ARGS portMUX_TYPE * mux, int timeout_cycles, const char * fnName, int line + #define PORTMUX_RELEASE_MUX_FN_ARGS portMUX_TYPE * mux, const char * fnName, int line + #define PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( x ) x, timeout_cycles, fnName, line + #define PORTMUX_RELEASE_MUX_FN_CALL_ARGS( x ) x, fnName, line +#else + #define PORTMUX_AQUIRE_MUX_FN_ARGS portMUX_TYPE * mux, int timeout_cycles + #define PORTMUX_RELEASE_MUX_FN_ARGS portMUX_TYPE * mux + #define PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( x ) x, timeout_cycles + #define PORTMUX_RELEASE_MUX_FN_CALL_ARGS( x ) x +#endif + + +static inline bool __attribute__( ( always_inline ) ) vPortCPUAcquireMutexIntsDisabled( PORTMUX_AQUIRE_MUX_FN_ARGS ) +{ + #if defined( CONFIG_SPIRAM_SUPPORT ) + if( esp_ptr_external_ram( mux ) ) + { + return vPortCPUAcquireMutexIntsDisabledExtram( PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( mux ) ); + } + #endif + return vPortCPUAcquireMutexIntsDisabledInternal( PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( mux ) ); +} + + +static inline void vPortCPUReleaseMutexIntsDisabled( PORTMUX_RELEASE_MUX_FN_ARGS ) +{ + #if defined( CONFIG_SPIRAM_SUPPORT ) + if( esp_ptr_external_ram( mux ) ) + { + vPortCPUReleaseMutexIntsDisabledExtram( PORTMUX_RELEASE_MUX_FN_CALL_ARGS( mux ) ); + return; + } + #endif + vPortCPUReleaseMutexIntsDisabledInternal( PORTMUX_RELEASE_MUX_FN_CALL_ARGS( mux ) ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portmux_impl.inc.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portmux_impl.inc.h new file mode 100644 index 0000000..e98d488 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/portmux_impl.inc.h @@ -0,0 +1,200 @@ +/* + * Copyright (C) 2016-2017 Espressif Shanghai PTE LTD + * Copyright (C) 2015 Real Time Engineers Ltd. + * + * All rights reserved + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + *************************************************************************** + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available on the following + * link: https://www.FreeRTOS.org/a00114.html + */ + + +/* + * Warning: funky preprocessor hackery ahead. Including these headers will generate two + * functions, which names are defined by the preprocessor macros + * PORTMUX_AQUIRE_MUX_FN_NAME and PORTMUX_RELEASE_MUX_FN_NAME. In order to do the compare + * and exchange function, they will use whatever PORTMUX_COMPARE_SET_FN_NAME resolves to. + * + * In some scenarios, this header is included *twice* in portmux_impl.h: one time + * for the 'normal' mux code which uses a compare&exchange routine, another time + * to generate code for a second set of these routines that use a second mux + * (in internal ram) to fake a compare&exchange on a variable in external memory. + */ + + + +static inline bool __attribute__( ( always_inline ) ) +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + PORTMUX_AQUIRE_MUX_FN_NAME( portMUX_TYPE * mux, + int timeout_cycles, + const char * fnName, + int line ) + { +#else + PORTMUX_AQUIRE_MUX_FN_NAME( portMUX_TYPE * mux, int timeout_cycles ) + { + #endif + + + #if !CONFIG_FREERTOS_UNICORE + uint32_t res; + portBASE_TYPE coreID, otherCoreID; + uint32_t ccount_start; + bool set_timeout = timeout_cycles > portMUX_NO_TIMEOUT; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + if( !set_timeout ) + { + timeout_cycles = 10000; /* Always set a timeout in debug mode */ + set_timeout = true; + } + #endif + + if( set_timeout ) /* Timeout */ + { + RSR( CCOUNT, ccount_start ); + } + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + uint32_t owner = mux->owner; + + if( ( owner != portMUX_FREE_VAL ) && ( owner != CORE_ID_PRO ) && ( owner != CORE_ID_APP ) ) + { + ets_printf( "ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, owner, fnName, line ); + mux->owner = portMUX_FREE_VAL; + } + #endif + + /* Spin until we own the core */ + + RSR( PRID, coreID ); + + /* Note: coreID is the full 32 bit core ID (CORE_ID_PRO/CORE_ID_APP), + * not the 0/1 value returned by xPortGetCoreID() + */ + otherCoreID = CORE_ID_XOR_SWAP ^ coreID; + + do + { + /* mux->owner should be one of portMUX_FREE_VAL, CORE_ID_PRO, + * CORE_ID_APP: + * + * - If portMUX_FREE_VAL, we want to atomically set to 'coreID'. + * - If "our" coreID, we can drop through immediately. + * - If "otherCoreID", we spin here. + */ + res = coreID; + PORTMUX_COMPARE_SET_FN_NAME( &mux->owner, portMUX_FREE_VAL, &res ); + + if( res != otherCoreID ) + { + break; /* mux->owner is "our" coreID */ + } + + if( set_timeout ) + { + uint32_t ccount_now; + RSR( CCOUNT, ccount_now ); + + if( ccount_now - ccount_start > ( unsigned ) timeout_cycles ) + { + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + ets_printf( "Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line ); + ets_printf( "Owner 0x%x count %d\n", mux->owner, mux->count ); + #endif + return false; + } + } + } while( 1 ); + + assert( res == coreID || res == portMUX_FREE_VAL ); /* any other value implies memory corruption or uninitialized mux */ + assert( ( res == portMUX_FREE_VAL ) == ( mux->count == 0 ) ); /* we're first to lock iff count is zero */ + assert( mux->count < 0xFF ); /* Bad count value implies memory corruption */ + + /* now we own it, we can increment the refcount */ + mux->count++; + + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + if( res == portMUX_FREE_VAL ) /*initial lock */ + { + mux->lastLockedFn = fnName; + mux->lastLockedLine = line; + } + else + { + ets_printf( "Recursive lock: count=%d last non-recursive lock %s line %d, curr %s line %d\n", mux->count - 1, + mux->lastLockedFn, mux->lastLockedLine, fnName, line ); + } + #endif /* CONFIG_FREERTOS_PORTMUX_DEBUG */ + #endif /* CONFIG_FREERTOS_UNICORE */ + return true; + } + +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + static inline void PORTMUX_RELEASE_MUX_FN_NAME( portMUX_TYPE * mux, + const char * fnName, + int line ) + { +#else + static inline void PORTMUX_RELEASE_MUX_FN_NAME( portMUX_TYPE * mux ) + { + #endif + + + #if !CONFIG_FREERTOS_UNICORE + portBASE_TYPE coreID; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + const char * lastLockedFn = mux->lastLockedFn; + int lastLockedLine = mux->lastLockedLine; + mux->lastLockedFn = fnName; + mux->lastLockedLine = line; + uint32_t owner = mux->owner; + + if( ( owner != portMUX_FREE_VAL ) && ( owner != CORE_ID_PRO ) && ( owner != CORE_ID_APP ) ) + { + ets_printf( "ERROR: vPortCPUReleaseMutex: mux %p is invalid (0x%x)!\n", mux, mux->owner ); + } + #endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + + #if CONFIG_FREERTOS_PORTMUX_DEBUG || !defined( NDEBUG ) + RSR( PRID, coreID ); + #endif + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + if( coreID != mux->owner ) + { + ets_printf( "ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux ); + ets_printf( "Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line ); + } + #endif + + assert( coreID == mux->owner ); /* This is a mutex we didn't lock, or it's corrupt */ + + mux->count--; + + if( mux->count == 0 ) + { + mux->owner = portMUX_FREE_VAL; + } + else + { + assert( mux->count < 0x100 ); /* Indicates memory corruption */ + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE + ets_printf( "Recursive unlock: count=%d last locked %s line %d, curr %s line %d\n", mux->count, lastLockedFn, lastLockedLine, fnName, line ); + #endif + } + #endif //!CONFIG_FREERTOS_UNICORE + } diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_context.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_context.S new file mode 100644 index 0000000..fedf428 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_context.S @@ -0,0 +1,648 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +-------------------------------------------------------------------------------- + + XTENSA CONTEXT SAVE AND RESTORE ROUTINES + +Low-level Call0 functions for handling generic context save and restore of +registers not specifically addressed by the interrupt vectors and handlers. +Those registers (not handled by these functions) are PC, PS, A0, A1 (SP). +Except for the calls to RTOS functions, this code is generic to Xtensa. + +Note that in Call0 ABI, interrupt handlers are expected to preserve the callee- +save regs (A12-A15), which is always the case if the handlers are coded in C. +However A12, A13 are made available as scratch registers for interrupt dispatch +code, so are presumed saved anyway, and are always restored even in Call0 ABI. +Only A14, A15 are truly handled as callee-save regs. + +Because Xtensa is a configurable architecture, this port supports all user +generated configurations (except restrictions stated in the release notes). +This is accomplished by conditional compilation using macros and functions +defined in the Xtensa HAL (hardware adaptation layer) for your configuration. +Only the processor state included in your configuration is saved and restored, +including any processor state added by user configuration options or TIE. + +*******************************************************************************/ + +/* Warn nicely if this file gets named with a lowercase .s instead of .S: */ +#define NOERROR # +NOERROR: .error "C preprocessor needed for this file: make sure its filename\ + ends in uppercase .S, or use xt-xcc's -x assembler-with-cpp option." + + +#include "xtensa_rtos.h" +#include "xtensa_context.h" + +#ifdef XT_USE_OVLY +#include +#endif + + .text + + + +/******************************************************************************* + +_xt_context_save + + !! MUST BE CALLED ONLY BY 'CALL0' INSTRUCTION !! + +Saves all Xtensa processor state except PC, PS, A0, A1 (SP), A12, A13, in the +interrupt stack frame defined in xtensa_rtos.h. +Its counterpart is _xt_context_restore (which also restores A12, A13). + +Caller is expected to have saved PC, PS, A0, A1 (SP), A12, A13 in the frame. +This function preserves A12 & A13 in order to provide the caller with 2 scratch +regs that need not be saved over the call to this function. The choice of which +2 regs to provide is governed by xthal_window_spill_nw and xthal_save_extra_nw, +to avoid moving data more than necessary. Caller can assign regs accordingly. + +Entry Conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + Original A12, A13 have already been saved in the interrupt stack frame. + Other processor state except PC, PS, A0, A1 (SP), A12, A13, is as at the + point of interruption. + If windowed ABI, PS.EXCM = 1 (exceptions disabled). + +Exit conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + A12, A13 as at entry (preserved). + If windowed ABI, PS.EXCM = 1 (exceptions disabled). + +*******************************************************************************/ + + .global _xt_context_save + .type _xt_context_save,@function + .align 4 + .literal_position + .align 4 +_xt_context_save: + + s32i a2, sp, XT_STK_A2 + s32i a3, sp, XT_STK_A3 + s32i a4, sp, XT_STK_A4 + s32i a5, sp, XT_STK_A5 + s32i a6, sp, XT_STK_A6 + s32i a7, sp, XT_STK_A7 + s32i a8, sp, XT_STK_A8 + s32i a9, sp, XT_STK_A9 + s32i a10, sp, XT_STK_A10 + s32i a11, sp, XT_STK_A11 + + /* + Call0 ABI callee-saved regs a12-15 do not need to be saved here. + a12-13 are the caller's responsibility so it can use them as scratch. + So only need to save a14-a15 here for Windowed ABI (not Call0). + */ + #ifndef __XTENSA_CALL0_ABI__ + s32i a14, sp, XT_STK_A14 + s32i a15, sp, XT_STK_A15 + #endif + + rsr a3, SAR + s32i a3, sp, XT_STK_SAR + + #if XCHAL_HAVE_LOOPS + rsr a3, LBEG + s32i a3, sp, XT_STK_LBEG + rsr a3, LEND + s32i a3, sp, XT_STK_LEND + rsr a3, LCOUNT + s32i a3, sp, XT_STK_LCOUNT + #endif + + #ifdef XT_USE_SWPRI + /* Save virtual priority mask */ + movi a3, _xt_vpri_mask + l32i a3, a3, 0 + s32i a3, sp, XT_STK_VPRI + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 || !defined(__XTENSA_CALL0_ABI__) + mov a9, a0 /* preserve ret addr */ + #endif + + #ifndef __XTENSA_CALL0_ABI__ + /* + To spill the reg windows, temp. need pre-interrupt stack ptr and a4-15. + Need to save a9,12,13 temporarily (in frame temps) and recover originals. + Interrupts need to be disabled below XCHAL_EXCM_LEVEL and window overflow + and underflow exceptions disabled (assured by PS.EXCM == 1). + */ + s32i a12, sp, XT_STK_TMP0 /* temp. save stuff in stack frame */ + s32i a13, sp, XT_STK_TMP1 + s32i a9, sp, XT_STK_TMP2 + + /* + Save the overlay state if we are supporting overlays. Since we just saved + three registers, we can conveniently use them here. Note that as of now, + overlays only work for windowed calling ABI. + */ + #ifdef XT_USE_OVLY + l32i a9, sp, XT_STK_PC /* recover saved PC */ + _xt_overlay_get_state a9, a12, a13 + s32i a9, sp, XT_STK_OVLY /* save overlay state */ + #endif + + l32i a12, sp, XT_STK_A12 /* recover original a9,12,13 */ + l32i a13, sp, XT_STK_A13 + l32i a9, sp, XT_STK_A9 + addi sp, sp, XT_STK_FRMSZ /* restore the interruptee's SP */ + call0 xthal_window_spill_nw /* preserves only a4,5,8,9,12,13 */ + addi sp, sp, -XT_STK_FRMSZ + l32i a12, sp, XT_STK_TMP0 /* recover stuff from stack frame */ + l32i a13, sp, XT_STK_TMP1 + l32i a9, sp, XT_STK_TMP2 + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 + /* + NOTE: Normally the xthal_save_extra_nw macro only affects address + registers a2-a5. It is theoretically possible for Xtensa processor + designers to write TIE that causes more address registers to be + affected, but it is generally unlikely. If that ever happens, + more registers need to be saved/restored around this macro invocation. + Here we assume a9,12,13 are preserved. + Future Xtensa tools releases might limit the regs that can be affected. + */ + addi a2, sp, XT_STK_EXTRA /* where to save it */ + # if XCHAL_EXTRA_SA_ALIGN > 16 + movi a3, -XCHAL_EXTRA_SA_ALIGN + and a2, a2, a3 /* align dynamically >16 bytes */ + # endif + call0 xthal_save_extra_nw /* destroys a0,2,3,4,5 */ + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 || !defined(__XTENSA_CALL0_ABI__) + mov a0, a9 /* retrieve ret addr */ + #endif + + ret + +/******************************************************************************* + +_xt_context_restore + + !! MUST BE CALLED ONLY BY 'CALL0' INSTRUCTION !! + +Restores all Xtensa processor state except PC, PS, A0, A1 (SP) (and in Call0 +ABI, A14, A15 which are preserved by all interrupt handlers) from an interrupt +stack frame defined in xtensa_rtos.h . +Its counterpart is _xt_context_save (whose caller saved A12, A13). + +Caller is responsible to restore PC, PS, A0, A1 (SP). + +Entry Conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + +Exit conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + Other processor state except PC, PS, A0, A1 (SP), is as at the point + of interruption. + +*******************************************************************************/ + + .global _xt_context_restore + .type _xt_context_restore,@function + .align 4 + .literal_position + .align 4 +_xt_context_restore: + + #if XCHAL_EXTRA_SA_SIZE > 0 + /* + NOTE: Normally the xthal_restore_extra_nw macro only affects address + registers a2-a5. It is theoretically possible for Xtensa processor + designers to write TIE that causes more address registers to be + affected, but it is generally unlikely. If that ever happens, + more registers need to be saved/restored around this macro invocation. + Here we only assume a13 is preserved. + Future Xtensa tools releases might limit the regs that can be affected. + */ + mov a13, a0 /* preserve ret addr */ + addi a2, sp, XT_STK_EXTRA /* where to find it */ + # if XCHAL_EXTRA_SA_ALIGN > 16 + movi a3, -XCHAL_EXTRA_SA_ALIGN + and a2, a2, a3 /* align dynamically >16 bytes */ + # endif + call0 xthal_restore_extra_nw /* destroys a0,2,3,4,5 */ + mov a0, a13 /* retrieve ret addr */ + #endif + + #if XCHAL_HAVE_LOOPS + l32i a2, sp, XT_STK_LBEG + l32i a3, sp, XT_STK_LEND + wsr a2, LBEG + l32i a2, sp, XT_STK_LCOUNT + wsr a3, LEND + wsr a2, LCOUNT + #endif + + #ifdef XT_USE_OVLY + /* + If we are using overlays, this is a good spot to check if we need + to restore an overlay for the incoming task. Here we have a bunch + of registers to spare. Note that this step is going to use a few + bytes of storage below SP (SP-20 to SP-32) if an overlay is going + to be restored. + */ + l32i a2, sp, XT_STK_PC /* retrieve PC */ + l32i a3, sp, XT_STK_PS /* retrieve PS */ + l32i a4, sp, XT_STK_OVLY /* retrieve overlay state */ + l32i a5, sp, XT_STK_A1 /* retrieve stack ptr */ + _xt_overlay_check_map a2, a3, a4, a5, a6 + s32i a2, sp, XT_STK_PC /* save updated PC */ + s32i a3, sp, XT_STK_PS /* save updated PS */ + #endif + + #ifdef XT_USE_SWPRI + /* Restore virtual interrupt priority and interrupt enable */ + movi a3, _xt_intdata + l32i a4, a3, 0 /* a4 = _xt_intenable */ + l32i a5, sp, XT_STK_VPRI /* a5 = saved _xt_vpri_mask */ + and a4, a4, a5 + wsr a4, INTENABLE /* update INTENABLE */ + s32i a5, a3, 4 /* restore _xt_vpri_mask */ + #endif + + l32i a3, sp, XT_STK_SAR + l32i a2, sp, XT_STK_A2 + wsr a3, SAR + l32i a3, sp, XT_STK_A3 + l32i a4, sp, XT_STK_A4 + l32i a5, sp, XT_STK_A5 + l32i a6, sp, XT_STK_A6 + l32i a7, sp, XT_STK_A7 + l32i a8, sp, XT_STK_A8 + l32i a9, sp, XT_STK_A9 + l32i a10, sp, XT_STK_A10 + l32i a11, sp, XT_STK_A11 + + /* + Call0 ABI callee-saved regs a12-15 do not need to be restored here. + However a12-13 were saved for scratch before XT_RTOS_INT_ENTER(), + so need to be restored anyway, despite being callee-saved in Call0. + */ + l32i a12, sp, XT_STK_A12 + l32i a13, sp, XT_STK_A13 + #ifndef __XTENSA_CALL0_ABI__ + l32i a14, sp, XT_STK_A14 + l32i a15, sp, XT_STK_A15 + #endif + + ret + + +/******************************************************************************* + +_xt_coproc_init + +Initializes global co-processor management data, setting all co-processors +to "unowned". Leaves CPENABLE as it found it (does NOT clear it). + +Called during initialization of the RTOS, before any threads run. + +This may be called from normal Xtensa single-threaded application code which +might use co-processors. The Xtensa run-time initialization enables all +co-processors. They must remain enabled here, else a co-processor exception +might occur outside of a thread, which the exception handler doesn't expect. + +Entry Conditions: + Xtensa single-threaded run-time environment is in effect. + No thread is yet running. + +Exit conditions: + None. + +Obeys ABI conventions per prototype: + void _xt_coproc_init(void) + +*******************************************************************************/ + +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_init + .type _xt_coproc_init,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_init: + ENTRY0 + + /* Initialize thread co-processor ownerships to 0 (unowned). */ + movi a2, _xt_coproc_owner_sa /* a2 = base of owner array */ + addi a3, a2, (XCHAL_CP_MAX*portNUM_PROCESSORS) << 2 /* a3 = top+1 of owner array */ + movi a4, 0 /* a4 = 0 (unowned) */ +1: s32i a4, a2, 0 + addi a2, a2, 4 + bltu a2, a3, 1b + + RET0 + +#endif + + +/******************************************************************************* + +_xt_coproc_release + +Releases any and all co-processors owned by a given thread. The thread is +identified by it's co-processor state save area defined in xtensa_context.h . + +Must be called before a thread's co-proc save area is deleted to avoid +memory corruption when the exception handler tries to save the state. +May be called when a thread terminates or completes but does not delete +the co-proc save area, to avoid the exception handler having to save the +thread's co-proc state before another thread can use it (optimization). + +Needs to be called on the processor the thread was running on. Unpinned threads +won't have an entry here because they get pinned as soon they use a coprocessor. + +Entry Conditions: + A2 = Pointer to base of co-processor state save area. + +Exit conditions: + None. + +Obeys ABI conventions per prototype: + void _xt_coproc_release(void * coproc_sa_base) + +*******************************************************************************/ + +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_release + .type _xt_coproc_release,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_release: + ENTRY0 /* a2 = base of save area */ + + getcoreid a5 + movi a3, XCHAL_CP_MAX << 2 + mull a5, a5, a3 + movi a3, _xt_coproc_owner_sa /* a3 = base of owner array */ + add a3, a3, a5 + + addi a4, a3, XCHAL_CP_MAX << 2 /* a4 = top+1 of owner array */ + movi a5, 0 /* a5 = 0 (unowned) */ + + rsil a6, XCHAL_EXCM_LEVEL /* lock interrupts */ + +1: l32i a7, a3, 0 /* a7 = owner at a3 */ + bne a2, a7, 2f /* if (coproc_sa_base == owner) */ + s32i a5, a3, 0 /* owner = unowned */ +2: addi a3, a3, 1<<2 /* a3 = next entry in owner array */ + bltu a3, a4, 1b /* repeat until end of array */ + +3: wsr a6, PS /* restore interrupts */ + + RET0 + +#endif + + +/******************************************************************************* +_xt_coproc_savecs + +If there is a current thread and it has a coprocessor state save area, then +save all callee-saved state into this area. This function is called from the +solicited context switch handler. It calls a system-specific function to get +the coprocessor save area base address. + +Entry conditions: + - The thread being switched out is still the current thread. + - CPENABLE state reflects which coprocessors are active. + - Registers have been saved/spilled already. + +Exit conditions: + - All necessary CP callee-saved state has been saved. + - Registers a2-a7, a13-a15 have been trashed. + +Must be called from assembly code only, using CALL0. +*******************************************************************************/ +#if XCHAL_CP_NUM > 0 + + .extern _xt_coproc_sa_offset /* external reference */ + + .global _xt_coproc_savecs + .type _xt_coproc_savecs,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_savecs: + + /* At entry, CPENABLE should be showing which CPs are enabled. */ + + rsr a2, CPENABLE /* a2 = which CPs are enabled */ + beqz a2, .Ldone /* quick exit if none */ + mov a14, a0 /* save return address */ + call0 XT_RTOS_CP_STATE /* get address of CP save area */ + mov a0, a14 /* restore return address */ + beqz a15, .Ldone /* if none then nothing to do */ + s16i a2, a15, XT_CP_CS_ST /* save mask of CPs being stored */ + movi a13, _xt_coproc_sa_offset /* array of CP save offsets */ + l32i a15, a15, XT_CP_ASA /* a15 = base of aligned save area */ + +#if XCHAL_CP0_SA_SIZE + bbci.l a2, 0, 2f /* CP 0 not enabled */ + l32i a14, a13, 0 /* a14 = _xt_coproc_sa_offset[0] */ + add a3, a14, a15 /* a3 = save area for CP 0 */ + xchal_cp0_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP1_SA_SIZE + bbci.l a2, 1, 2f /* CP 1 not enabled */ + l32i a14, a13, 4 /* a14 = _xt_coproc_sa_offset[1] */ + add a3, a14, a15 /* a3 = save area for CP 1 */ + xchal_cp1_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP2_SA_SIZE + bbci.l a2, 2, 2f + l32i a14, a13, 8 + add a3, a14, a15 + xchal_cp2_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP3_SA_SIZE + bbci.l a2, 3, 2f + l32i a14, a13, 12 + add a3, a14, a15 + xchal_cp3_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP4_SA_SIZE + bbci.l a2, 4, 2f + l32i a14, a13, 16 + add a3, a14, a15 + xchal_cp4_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP5_SA_SIZE + bbci.l a2, 5, 2f + l32i a14, a13, 20 + add a3, a14, a15 + xchal_cp5_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP6_SA_SIZE + bbci.l a2, 6, 2f + l32i a14, a13, 24 + add a3, a14, a15 + xchal_cp6_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP7_SA_SIZE + bbci.l a2, 7, 2f + l32i a14, a13, 28 + add a3, a14, a15 + xchal_cp7_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +.Ldone: + ret +#endif + + +/******************************************************************************* +_xt_coproc_restorecs + +Restore any callee-saved coprocessor state for the incoming thread. +This function is called from coprocessor exception handling, when giving +ownership to a thread that solicited a context switch earlier. It calls a +system-specific function to get the coprocessor save area base address. + +Entry conditions: + - The incoming thread is set as the current thread. + - CPENABLE is set up correctly for all required coprocessors. + - a2 = mask of coprocessors to be restored. + +Exit conditions: + - All necessary CP callee-saved state has been restored. + - CPENABLE - unchanged. + - Registers a2-a7, a13-a15 have been trashed. + +Must be called from assembly code only, using CALL0. +*******************************************************************************/ +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_restorecs + .type _xt_coproc_restorecs,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_restorecs: + + mov a14, a0 /* save return address */ + call0 XT_RTOS_CP_STATE /* get address of CP save area */ + mov a0, a14 /* restore return address */ + beqz a15, .Ldone2 /* if none then nothing to do */ + l16ui a3, a15, XT_CP_CS_ST /* a3 = which CPs have been saved */ + xor a3, a3, a2 /* clear the ones being restored */ + s32i a3, a15, XT_CP_CS_ST /* update saved CP mask */ + movi a13, _xt_coproc_sa_offset /* array of CP save offsets */ + l32i a15, a15, XT_CP_ASA /* a15 = base of aligned save area */ + +#if XCHAL_CP0_SA_SIZE + bbci.l a2, 0, 2f /* CP 0 not enabled */ + l32i a14, a13, 0 /* a14 = _xt_coproc_sa_offset[0] */ + add a3, a14, a15 /* a3 = save area for CP 0 */ + xchal_cp0_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP1_SA_SIZE + bbci.l a2, 1, 2f /* CP 1 not enabled */ + l32i a14, a13, 4 /* a14 = _xt_coproc_sa_offset[1] */ + add a3, a14, a15 /* a3 = save area for CP 1 */ + xchal_cp1_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP2_SA_SIZE + bbci.l a2, 2, 2f + l32i a14, a13, 8 + add a3, a14, a15 + xchal_cp2_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP3_SA_SIZE + bbci.l a2, 3, 2f + l32i a14, a13, 12 + add a3, a14, a15 + xchal_cp3_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP4_SA_SIZE + bbci.l a2, 4, 2f + l32i a14, a13, 16 + add a3, a14, a15 + xchal_cp4_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP5_SA_SIZE + bbci.l a2, 5, 2f + l32i a14, a13, 20 + add a3, a14, a15 + xchal_cp5_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP6_SA_SIZE + bbci.l a2, 6, 2f + l32i a14, a13, 24 + add a3, a14, a15 + xchal_cp6_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP7_SA_SIZE + bbci.l a2, 7, 2f + l32i a14, a13, 28 + add a3, a14, a15 + xchal_cp7_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +.Ldone2: + ret + +#endif + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_init.c new file mode 100644 index 0000000..2bf1da7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_init.c @@ -0,0 +1,58 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* XTENSA INITIALIZATION ROUTINES CODED IN C +* +* This file contains miscellaneous Xtensa RTOS-generic initialization functions +* that are implemented in C. +* +*******************************************************************************/ + + +#ifdef XT_BOARD + #include +#endif + +#include "xtensa_rtos.h" +#if CONFIG_IDF_TARGET_ESP32S2 +#include "esp32s2/clk.h" +#elif CONFIG_IDF_TARGET_ESP32 +#include "esp32/clk.h" +#endif + +#ifdef XT_RTOS_TIMER_INT + + unsigned _xt_tick_divisor = 0; /* cached number of cycles per tick */ + + void _xt_tick_divisor_init( void ) + { + _xt_tick_divisor = esp_clk_cpu_freq() / XT_TICK_PER_SEC; + } + +/* Deprecated, to be removed */ + int xt_clock_freq( void ) + { + return esp_clk_cpu_freq(); + } + +#endif /* XT_RTOS_TIMER_INT */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr.c new file mode 100644 index 0000000..93e4160 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr.c @@ -0,0 +1,178 @@ +/******************************************************************************* + * Copyright (c) 2006-2015 Cadence Design Systems Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + ******************************************************************************/ + +/****************************************************************************** +* Xtensa-specific interrupt and exception functions for RTOS ports. +* Also see xtensa_intr_asm.S. +******************************************************************************/ + +#include + +#include + +#include "freertos/FreeRTOS.h" +#include "freertos/xtensa_api.h" +#include "freertos/portable.h" + +#if CONFIG_IDF_TARGET_ESP32S2 +#include "esp32s2/rom/ets_sys.h" +#elif CONFIG_IDF_TARGET_ESP32 +#include "esp32/rom/ets_sys.h" +#endif + +#if XCHAL_HAVE_EXCEPTIONS + +/* Handler table is in xtensa_intr_asm.S */ + + extern xt_exc_handler _xt_exception_table[ XCHAL_EXCCAUSE_NUM * portNUM_PROCESSORS ]; + + +/* + * Default handler for unhandled exceptions. + * CHANGED: We do this in panic.c now + */ + +/*void xt_unhandled_exception(XtExcFrame *frame) */ +/*{ */ + /*exit(-1); */ +/*} */ + extern void xt_unhandled_exception( XtExcFrame * frame ); + + +/* + * This function registers a handler for the specified exception. + * The function returns the address of the previous handler. + * On error, it returns 0. + */ + xt_exc_handler xt_set_exception_handler( int n, + xt_exc_handler f ) + { + xt_exc_handler old; + + if( ( n < 0 ) || ( n >= XCHAL_EXCCAUSE_NUM ) ) + { + return 0; /* invalid exception number */ + } + + /* Convert exception number to _xt_exception_table name */ + n = n * portNUM_PROCESSORS + xPortGetCoreID(); + old = _xt_exception_table[ n ]; + + if( f ) + { + _xt_exception_table[ n ] = f; + } + else + { + _xt_exception_table[ n ] = &xt_unhandled_exception; + } + + return( ( old == &xt_unhandled_exception ) ? 0 : old ); + } + +#endif /* if XCHAL_HAVE_EXCEPTIONS */ + +#if XCHAL_HAVE_INTERRUPTS + +/* Handler table is in xtensa_intr_asm.S */ + + typedef struct xt_handler_table_entry + { + void * handler; + void * arg; + } xt_handler_table_entry; + + extern xt_handler_table_entry _xt_interrupt_table[ XCHAL_NUM_INTERRUPTS * portNUM_PROCESSORS ]; + + +/* + * Default handler for unhandled interrupts. + */ + void xt_unhandled_interrupt( void * arg ) + { + ets_printf( "Unhandled interrupt %d on cpu %d!\n", ( int ) arg, xPortGetCoreID() ); + } + + +/* + * This function registers a handler for the specified interrupt. The "arg" + * parameter specifies the argument to be passed to the handler when it is + * invoked. The function returns the address of the previous handler. + * On error, it returns 0. + */ + xt_handler xt_set_interrupt_handler( int n, + xt_handler f, + void * arg ) + { + xt_handler_table_entry * entry; + xt_handler old; + + if( ( n < 0 ) || ( n >= XCHAL_NUM_INTERRUPTS ) ) + { + return 0; /* invalid interrupt number */ + } + + if( Xthal_intlevel[ n ] > XCHAL_EXCM_LEVEL ) + { + return 0; /* priority level too high to safely handle in C */ + } + + /* Convert exception number to _xt_exception_table name */ + n = n * portNUM_PROCESSORS + xPortGetCoreID(); + + entry = _xt_interrupt_table + n; + old = entry->handler; + + if( f ) + { + entry->handler = f; + entry->arg = arg; + } + else + { + entry->handler = &xt_unhandled_interrupt; + entry->arg = ( void * ) n; + } + + return( ( old == &xt_unhandled_interrupt ) ? 0 : old ); + } + + #if CONFIG_SYSVIEW_ENABLE + void * xt_get_interrupt_handler_arg( int n ) + { + xt_handler_table_entry * entry; + + if( ( n < 0 ) || ( n >= XCHAL_NUM_INTERRUPTS ) ) + { + return 0; /* invalid interrupt number */ + } + + /* Convert exception number to _xt_exception_table name */ + n = n * portNUM_PROCESSORS + xPortGetCoreID(); + + entry = _xt_interrupt_table + n; + return entry->arg; + } + #endif /* if CONFIG_SYSVIEW_ENABLE */ + +#endif /* XCHAL_HAVE_INTERRUPTS */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr_asm.S new file mode 100644 index 0000000..ddfe4ba --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_intr_asm.S @@ -0,0 +1,225 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +******************************************************************************/ + +/****************************************************************************** + Xtensa interrupt handling data and assembly routines. + Also see xtensa_intr.c and xtensa_vectors.S. +******************************************************************************/ + +#include +#include + +#include "xtensa_context.h" +#include "FreeRTOSConfig.h" + +#if XCHAL_HAVE_INTERRUPTS + +/* +------------------------------------------------------------------------------- + INTENABLE virtualization information. +------------------------------------------------------------------------------- +*/ + + +#if XT_USE_SWPRI +/* Warning - this is not multicore-compatible. */ + .data + .global _xt_intdata + .align 8 +_xt_intdata: + .global _xt_intenable + .type _xt_intenable,@object + .size _xt_intenable,4 + .global _xt_vpri_mask + .type _xt_vpri_mask,@object + .size _xt_vpri_mask,4 + +_xt_intenable: .word 0 /* Virtual INTENABLE */ +_xt_vpri_mask: .word 0xFFFFFFFF /* Virtual priority mask */ +#endif + +/* +------------------------------------------------------------------------------- + Table of C-callable interrupt handlers for each interrupt. Note that not all + slots can be filled, because interrupts at level > EXCM_LEVEL will not be + dispatched to a C handler by default. + + Stored as: + int 0 cpu 0 + int 0 cpu 1 + ... + int 0 cpu n + int 1 cpu 0 + int 1 cpu 1 + etc +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_interrupt_table + .align 8 + +_xt_interrupt_table: + + .set i, 0 + .rept XCHAL_NUM_INTERRUPTS*portNUM_PROCESSORS + .word xt_unhandled_interrupt /* handler address */ + .word i /* handler arg (default: intnum) */ + .set i, i+1 + .endr + +#endif /* XCHAL_HAVE_INTERRUPTS */ + + +#if XCHAL_HAVE_EXCEPTIONS + +/* +------------------------------------------------------------------------------- + Table of C-callable exception handlers for each exception. Note that not all + slots will be active, because some exceptions (e.g. coprocessor exceptions) + are always handled by the OS and cannot be hooked by user handlers. + + Stored as: + exc 0 cpu 0 + exc 0 cpu 1 + ... + exc 0 cpu n + exc 1 cpu 0 + exc 1 cpu 1 + etc +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_exception_table + .align 4 + +_xt_exception_table: + .rept XCHAL_EXCCAUSE_NUM * portNUM_PROCESSORS + .word xt_unhandled_exception /* handler address */ + .endr + +#endif + + +/* +------------------------------------------------------------------------------- + unsigned int xt_ints_on ( unsigned int mask ) + + Enables a set of interrupts. Does not simply set INTENABLE directly, but + computes it as a function of the current virtual priority if XT_USE_SWPRI is + enabled. + Can be called from interrupt handlers. +------------------------------------------------------------------------------- +*/ + + .text + .align 4 + .global xt_ints_on + .type xt_ints_on,@function + +xt_ints_on: + + ENTRY0 + +#if XCHAL_HAVE_INTERRUPTS +#if XT_USE_SWPRI + movi a3, 0 + movi a4, _xt_intdata + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + l32i a3, a4, 0 /* a3 = _xt_intenable */ + l32i a6, a4, 4 /* a6 = _xt_vpri_mask */ + or a5, a3, a2 /* a5 = _xt_intenable | mask */ + s32i a5, a4, 0 /* _xt_intenable |= mask */ + and a5, a5, a6 /* a5 = _xt_intenable & _xt_vpri_mask */ + wsr a5, INTENABLE /* Reenable interrupts */ + mov a2, a3 /* Previous mask */ +#else + movi a3, 0 + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + or a2, a3, a2 /* set bits in mask */ + wsr a2, INTENABLE /* Re-enable ints */ + rsync + mov a2, a3 /* return prev mask */ +#endif +#else + movi a2, 0 /* Return zero */ +#endif + RET0 + + .size xt_ints_on, . - xt_ints_on + + +/* +------------------------------------------------------------------------------- + unsigned int xt_ints_off ( unsigned int mask ) + + Disables a set of interrupts. Does not simply set INTENABLE directly, + but computes it as a function of the current virtual priority if XT_USE_SWPRI is + enabled. + Can be called from interrupt handlers. +------------------------------------------------------------------------------- +*/ + + .text + .align 4 + .global xt_ints_off + .type xt_ints_off,@function + +xt_ints_off: + + ENTRY0 +#if XCHAL_HAVE_INTERRUPTS +#if XT_USE_SWPRI + movi a3, 0 + movi a4, _xt_intdata + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + l32i a3, a4, 0 /* a3 = _xt_intenable */ + l32i a6, a4, 4 /* a6 = _xt_vpri_mask */ + or a5, a3, a2 /* a5 = _xt_intenable | mask */ + xor a5, a5, a2 /* a5 = _xt_intenable & ~mask */ + s32i a5, a4, 0 /* _xt_intenable &= ~mask */ + and a5, a5, a6 /* a5 = _xt_intenable & _xt_vpri_mask */ + wsr a5, INTENABLE /* Reenable interrupts */ + mov a2, a3 /* Previous mask */ +#else + movi a4, 0 + xsr a4, INTENABLE /* Disables all interrupts */ + rsync + or a3, a4, a2 /* set bits in mask */ + xor a3, a3, a2 /* invert bits in mask set in mask, essentially clearing them */ + wsr a3, INTENABLE /* Re-enable ints */ + rsync + mov a2, a4 /* return prev mask */ +#endif +#else + movi a2, 0 /* return zero */ +#endif + RET0 + + .size xt_ints_off, . - xt_ints_off + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_loadstore_handler.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_loadstore_handler.S new file mode 100644 index 0000000..32d7a8a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_loadstore_handler.S @@ -0,0 +1,559 @@ +/* + Copyright 2019 Espressif Systems (Shanghai) PTE LTD + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/* + * LoadStoreErrorCause: Occurs when trying to access 32 bit addressable memory region as 8 bit or 16 bit + * LoadStoreAlignmentCause: Occurs when trying to access in an unaligned manner + * + * xxxx xxxx = imm8 field + * yyyy = imm4 field + * ssss = s field + * tttt = t field + * + * 16 0 + * ------------------- + * L32I.N yyyy ssss tttt 1000 + * S32I.N yyyy ssss tttt 1001 + * + * 23 0 + * ----------------------------- + * L8UI xxxx xxxx 0000 ssss tttt 0010 <- LoadStoreError + * L16UI xxxx xxxx 0001 ssss tttt 0010 <- LoadStoreError, LoadStoreAlignment + * L16SI xxxx xxxx 1001 ssss tttt 0010 <- LoadStoreError, LoadStoreAlignment + * L32I xxxx xxxx 0010 ssss tttt 0010 <- LoadStoreAlignment + * + * S8I xxxx xxxx 0100 ssss tttt 0010 <- LoadStoreError + * S16I xxxx xxxx 0101 ssss tttt 0010 <- LoadStoreError, LoadStoreAlignment + * S32I xxxx xxxx 0110 ssss tttt 0010 <- LoadStoreAlignment + * + * ******* UNSUPPORTED ******* + * + * L32E 0000 1001 rrrr ssss tttt 0000 + * S32E 0100 1001 rrrr ssss tttt 0000 + * ----------------------------- + */ + +#include "xtensa_rtos.h" +#include "sdkconfig.h" +#include "soc/soc.h" + +#define LOADSTORE_HANDLER_STACK_SZ 8 + .section .bss, "aw" + .balign 16 +LoadStoreHandlerStack: + .rept LOADSTORE_HANDLER_STACK_SZ + .word 0 + .endr + + +/* LoadStoreErrorCause handler: + * + * Completes 8-bit or 16-bit load/store instructions from 32-bit aligned memory region + * Called from UserExceptionVector if EXCCAUSE is LoadStoreErrorCause + */ + + .global LoadStoreErrorHandler + .section .iram1, "ax" + + .literal_position + + .balign 4 +LoadStoreErrorHandler: + .type LoadStoreErrorHandler, @function + + wsr a0, depc // Save return address in depc + mov a0, sp + movi sp, LoadStoreHandlerStack + s32i a0, sp, 0x04 // Since a0 contains value of a1 + s32i a2, sp, 0x08 + s32i a3, sp, 0x0c + s32i a4, sp, 0x10 + + rsr a0, sar // Save SAR in a0 to restore later + + /* Check whether the address lies in the valid range */ + rsr a3, excvaddr + movi a4, _iram_text_end // End of code section of IRAM + bge a3, a4, 1f + movi a4, SOC_CACHE_APP_LOW // Check if in APP cache region + blt a3, a4, .LS_wrong_opcode + movi a4, SOC_CACHE_APP_HIGH + bge a3, a4, .LS_wrong_opcode + j 2f + +1: + movi a4, SOC_IRAM_HIGH // End of IRAM address range + bge a3, a4, .LS_wrong_opcode + +2: + /* Examine the opcode which generated the exception */ + /* Note: Instructions are in this order to avoid pipeline stalls. */ + rsr a2, epc1 + movi a4, ~3 + ssa8l a2 // sar is now correct shift for aligned read + and a2, a2, a4 // a2 now 4-byte aligned address of instruction + l32i a4, a2, 0 + l32i a2, a2, 4 + + src a2, a2, a4 // a2 now instruction that failed + bbci a2, 1, .LS_wrong_opcode + bbsi a2, 14, .LSE_store_op // Store instruction + + /* l8/l16ui/l16si */ + movi a4, ~3 + and a4, a3, a4 // a4 now word aligned read address + + ssa8l a3 // sar is now shift to extract a3's byte + l32i a4, a4, 0 // perform the actual read + srl a4, a4 // shift right correct distance + extui a3, a2, 12, 4 + bnez a3, 1f // l16ui/l16si + extui a4, a4, 0, 8 // mask off bits needed for an l8 + j 2f + +1: + extui a4, a4, 0, 16 + bbci a2, 15, 2f // l16ui + + /* Sign adjustment */ + slli a4, a4, 16 + srai a4, a4, 16 // a4 contains the value + +2: + /* a4 contains the value */ + rsr a3, epc1 + addi a3, a3, 3 + wsr a3, epc1 + wsr a0, sar + rsr a0, excsave1 + + extui a2, a2, 3, 5 + blti a2, 10, .LSE_stack_reg + + movi a3, .LS_jumptable_base + addx8 a2, a2, a3 // a2 is now the address to jump to + l32i a3, sp, 0x0c + jx a2 + +.LSE_stack_reg: + addx2 a2, a2, sp + s32i a4, a2, 0 + + /* Restore all values */ + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +.LSE_store_op: + s32i a5, a1, 0x14 + s32i a6, a1, 0x18 + + /* a2 -> instruction that caused the error */ + /* a3 -> unaligned address */ + extui a4, a2, 4, 4 + blti a4, 7, 1f + movi a5, .LSE_store_reg + addx8 a5, a4, a5 + jx a5 + +1: + addx4 a4, a4, sp + l32i a4, a4, 0 + +.LSE_store_data: + /* a4 contains the value */ + rsr a6, epc1 + addi a6, a6, 3 + wsr a6, epc1 + + ssa8b a3 + movi a5, -1 + bbsi a2, 12, 1f // s16 + extui a4, a4, 0, 8 + movi a6, 0xff + j 2f +1: + extui a4, a4, 0, 16 + movi a6, 0xffff +2: + sll a4, a4 // shift the value to proper offset + sll a6, a6 + xor a5, a5, a6 // a5 contains the mask + + movi a6, ~3 + and a3, a3, a6 // a3 has the aligned address + l32i a6, a3, 0 // a6 contains the data at the aligned address + and a6, a6, a5 + or a4, a6, a4 + s32i a4, a3, 0 + + /* Restore registers */ + wsr a0, sar + + l32i a6, sp, 0x18 + l32i a5, sp, 0x14 + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rsr a0, excsave1 + + rfe + +.LSE_store_reg: + .org .LSE_store_reg + (7 * 8) + mov a4, a7 + j .LSE_store_data + + .org .LSE_store_reg + (8 * 8) + mov a4, a8 + j .LSE_store_data + + .org .LSE_store_reg + (9 * 8) + mov a4, a9 + j .LSE_store_data + + .org .LSE_store_reg + (10 * 8) + mov a4, a10 + j .LSE_store_data + + .org .LSE_store_reg + (11 * 8) + mov a4, a11 + j .LSE_store_data + + .org .LSE_store_reg + (12 * 8) + mov a4, a12 + j .LSE_store_data + + .org .LSE_store_reg + (13 * 8) + mov a4, a13 + j .LSE_store_data + + .org .LSE_store_reg + (14 * 8) + mov a4, a14 + j .LSE_store_data + + .org .LSE_store_reg + (15 * 8) + mov a4, a15 + j .LSE_store_data + + +/* LoadStoreAlignmentCause handler: + * + * Completes unaligned 16-bit and 32-bit load/store instructions from 32-bit aligned memory region + * Called from UserExceptionVector if EXCCAUSE is LoadStoreAlignmentCause + */ + + .global AlignmentErrorHandler + .section .iram1, "ax" + + .literal_position + + .balign 4 +AlignmentErrorHandler: + .type AlignmentErrorHandler, @function + + wsr a0, depc // Save return address in depc + mov a0, sp + movi sp, LoadStoreHandlerStack + s32i a0, sp, 0x04 // Since a0 contains value of a1 + s32i a2, sp, 0x08 + s32i a3, sp, 0x0c + s32i a4, sp, 0x10 + + rsr a0, sar // Save SAR in a0 to restore later + + /* Check whether the address lies in the valid range */ + rsr a3, excvaddr + movi a4, _iram_text_end // End of code section of IRAM + bge a3, a4, 1f + movi a4, SOC_CACHE_APP_LOW // Check if in APP cache region + blt a3, a4, .LS_wrong_opcode + movi a4, SOC_CACHE_APP_HIGH + bge a3, a4, .LS_wrong_opcode + j 2f + +1: + movi a4, SOC_IRAM_HIGH // End of IRAM address range + bge a3, a4, .LS_wrong_opcode + +2: + /* Examine the opcode which generated the exception */ + /* Note: Instructions are in this order to avoid pipeline stalls. */ + rsr a2, epc1 + movi a4, ~3 + ssa8l a2 // sar is now correct shift for aligned read + and a2, a2, a4 // a2 now 4-byte aligned address of instruction + l32i a4, a2, 0 + l32i a2, a2, 4 + + /* a2 has the instruction that caused the error */ + src a2, a2, a4 + extui a4, a2, 0, 4 + addi a4, a4, -9 + beqz a4, .LSA_store_op + bbsi a2, 14, .LSA_store_op + + ssa8l a3 // a3 contains the unaligned address + movi a4, ~3 + and a4, a3, a4 // a4 has the aligned address + l32i a3, a4, 0 + l32i a4, a4, 4 + src a4, a4, a3 + + rsr a3, epc1 + addi a3, a3, 2 + bbsi a2, 3, 1f // l32i.n + bbci a2, 1, .LS_wrong_opcode + addi a3, a3, 1 + + bbsi a2, 13, 1f // l32 + extui a4, a4, 0, 16 + bbci a2, 15, 1f // l16ui + + /* Sign adjustment */ + slli a4, a4, 16 + srai a4, a4, 16 // a4 contains the value + +1: + wsr a3, epc1 + wsr a0, sar + rsr a0, excsave1 + + extui a2, a2, 4, 4 + blti a2, 5, .LSA_stack_reg // a3 contains the target register + + movi a3, .LS_jumptable_base + slli a2, a2, 4 + add a2, a2, a3 // a2 is now the address to jump to + l32i a3, sp, 0x0c + jx a2 + +.LSA_stack_reg: + addx4 a2, a2, sp + s32i a4, a2, 0 + + /* Restore all values */ + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +/* Store instruction */ +.LSA_store_op: + s32i a5, sp, 0x14 + s32i a6, sp, 0x18 + s32i a7, sp, 0x1c + + /* a2 -> instruction that caused the error */ + /* a3 -> unaligned address */ + extui a4, a2, 4, 4 + blti a4, 8, 1f + movi a5, .LSA_store_reg + addx8 a5, a4, a5 + jx a5 + +1: + addx4 a4, a4, sp + l32i a4, a4, 0 // a4 contains the value + +.LSA_store_data: + movi a6, 0 + + rsr a7, epc1 + addi a7, a7 ,2 + bbsi a2, 3, 1f // s32i.n + bbci a2, 1, .LS_wrong_opcode + + addi a7, a7, 1 + bbsi a2, 13, 1f // s32i + + movi a5, -1 + extui a4, a4, 0, 16 + slli a6, a5, 16 // 0xffff0000 + +1: + wsr a7, epc1 + movi a5, ~3 + and a5, a3, a5 // a5 has the aligned address + + ssa8b a3 + movi a3, -1 + src a7, a6, a3 + src a3, a3, a6 + + /* Store data on lower address */ + l32i a6, a5, 0 + and a6, a6, a7 + sll a7, a4 + or a6, a6, a7 + s32i a6, a5, 0 + + /* Store data on higher address */ + l32i a7, a5, 4 + srl a6, a4 + and a3, a7, a3 + or a3, a3, a6 + s32i a3, a5, 4 + + /* Restore registers */ + wsr a0, sar + rsr a0, excsave1 + + l32i a7, sp, 0x1c + l32i a6, sp, 0x18 + l32i a5, sp, 0x14 + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +.LSA_store_reg: + .org .LSA_store_reg + (8 * 8) + mov a4, a8 + j .LSA_store_data + + .org .LSA_store_reg + (9 * 8) + mov a4, a9 + j .LSA_store_data + + .org .LSA_store_reg + (10 * 8) + mov a4, a10 + j .LSA_store_data + + .org .LSA_store_reg + (11 * 8) + mov a4, a11 + j .LSA_store_data + + .org .LSA_store_reg + (12 * 8) + mov a4, a12 + j .LSA_store_data + + .org .LSA_store_reg + (13 * 8) + mov a4, a13 + j .LSA_store_data + + .org .LSA_store_reg + (14 * 8) + mov a4, a14 + j .LSA_store_data + + .org .LSA_store_reg + (15 * 8) + mov a4, a15 + j .LSA_store_data + +/* + * Common routines for both the exception handlers + */ + .balign 4 +.LS_jumptable: + /* The first 5 entries (80 bytes) of this table are unused (registers + a0..a4 are handled separately above). Rather than have a whole bunch + of wasted space, just pretend that the table starts 80 bytes + earlier in memory. */ + .set .LS_jumptable_base, .LS_jumptable - (16 * 5) + + .org .LS_jumptable_base + (16 * 5) + mov a5, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 6) + mov a6, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 7) + mov a7, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 8) + mov a8, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 9) + mov a9, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 10) + mov a10, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 11) + mov a11, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 12) + mov a12, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 13) + mov a13, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 14) + mov a14, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 15) + mov a15, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +.LS_wrong_opcode: + /* Reaches here if the address is in invalid range or the opcode isn't supported. + * Restore registers and jump back to _xt_user_exc + */ + wsr a0, sar + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rsr a0, depc + ret // Equivalent to jx a0 diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_overlay_os_hook.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_overlay_os_hook.c new file mode 100644 index 0000000..ef893a7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_overlay_os_hook.c @@ -0,0 +1,67 @@ +/* xtensa_overlay_os_hook.c -- Overlay manager OS hooks for FreeRTOS. */ + +/* Copyright (c) 2015-2015 Cadence Design Systems Inc. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be included */ +/* in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ + + +#include "FreeRTOS.h" +#include "semphr.h" + +#if configUSE_MUTEX + +/* Mutex object that controls access to the overlay. Currently only one + * overlay region is supported so one mutex suffices. + */ + static SemaphoreHandle_t xt_overlay_mutex; + + +/* This function should be overridden to provide OS specific init such + * as the creation of a mutex lock that can be used for overlay locking. + * Typically this mutex would be set up with priority inheritance. See + * overlay manager documentation for more details. + */ + void xt_overlay_init_os( void ) + { + /* Create the mutex for overlay access. Priority inheritance is + * required. + */ + xt_overlay_mutex = xSemaphoreCreateMutex(); + } + + +/* This function locks access to shared overlay resources, typically + * by acquiring a mutex. + */ + void xt_overlay_lock( void ) + { + xSemaphoreTake( xt_overlay_mutex, 0 ); + } + + +/* This function releases access to shared overlay resources, typically + * by unlocking a mutex. + */ + void xt_overlay_unlock( void ) + { + xSemaphoreGive( xt_overlay_mutex ); + } + +#endif /* if configUSE_MUTEX */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vector_defaults.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vector_defaults.S new file mode 100644 index 0000000..6ce34dd --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vector_defaults.S @@ -0,0 +1,164 @@ +// Copyright 2015-2017 Espressif Systems (Shanghai) PTE LTD +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at + +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "xtensa_rtos.h" +#include "esp_private/panic_reason.h" +#include "sdkconfig.h" +#include "soc/soc.h" + +/* +This file contains the default handlers for the high interrupt levels as well as some specialized exceptions. +The default behaviour is to just exit the interrupt or call the panic handler on the exceptions +*/ + + +#if XCHAL_HAVE_DEBUG + .global xt_debugexception + .weak xt_debugexception + .set xt_debugexception, _xt_debugexception + .section .iram1,"ax" + .type _xt_debugexception,@function + .align 4 + +_xt_debugexception: + movi a0,PANIC_RSN_DEBUGEXCEPTION + wsr a0,EXCCAUSE + /* _xt_panic assumes a level 1 exception. As we're + crashing anyhow, copy EPC & EXCSAVE from DEBUGLEVEL + to level 1. */ + rsr a0,(EPC + XCHAL_DEBUGLEVEL) + wsr a0,EPC_1 + rsr a0,(EXCSAVE + XCHAL_DEBUGLEVEL) + wsr a0,EXCSAVE_1 + call0 _xt_panic /* does not return */ + rfi XCHAL_DEBUGLEVEL + +#endif /* Debug exception */ + + +#if XCHAL_NUM_INTLEVELS >=2 && XCHAL_EXCM_LEVEL <2 && XCHAL_DEBUGLEVEL !=2 + .global xt_highint2 + .weak xt_highint2 + .set xt_highint2, _xt_highint2 + .section .iram1,"ax" + .type _xt_highint2,@function + .align 4 +_xt_highint2: + + /* Default handler does nothing; just returns */ + .align 4 +.L_xt_highint2_exit: + rsr a0, EXCSAVE_2 /* restore a0 */ + rfi 2 + +#endif /* Level 2 */ + +#if XCHAL_NUM_INTLEVELS >=3 && XCHAL_EXCM_LEVEL <3 && XCHAL_DEBUGLEVEL !=3 + + .global xt_highint3 + .weak xt_highint3 + .set xt_highint3, _xt_highint3 + .section .iram1,"ax" + .type _xt_highint3,@function + .align 4 +_xt_highint3: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint3_exit: + rsr a0, EXCSAVE_3 /* restore a0 */ + rfi 3 + +#endif /* Level 3 */ + +#if XCHAL_NUM_INTLEVELS >=4 && XCHAL_EXCM_LEVEL <4 && XCHAL_DEBUGLEVEL !=4 + + .global xt_highint4 + .weak xt_highint4 + .set xt_highint4, _xt_highint4 + .section .iram1,"ax" + .type _xt_highint4,@function + .align 4 +_xt_highint4: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint4_exit: + rsr a0, EXCSAVE_4 /* restore a0 */ + rfi 4 + +#endif /* Level 4 */ + +#if XCHAL_NUM_INTLEVELS >=5 && XCHAL_EXCM_LEVEL <5 && XCHAL_DEBUGLEVEL !=5 + + .global xt_highint5 + .weak xt_highint5 + .set xt_highint5, _xt_highint5 + .section .iram1,"ax" + .type _xt_highint5,@function + .align 4 +_xt_highint5: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint5_exit: + rsr a0, EXCSAVE_5 /* restore a0 */ + rfi 5 + + +#endif /* Level 5 */ + +#if XCHAL_NUM_INTLEVELS >=6 && XCHAL_EXCM_LEVEL <6 && XCHAL_DEBUGLEVEL !=6 + + .global _xt_highint6 + .global xt_highint6 + .weak xt_highint6 + .set xt_highint6, _xt_highint6 + .section .iram1,"ax" + .type _xt_highint6,@function + .align 4 +_xt_highint6: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint6_exit: + rsr a0, EXCSAVE_6 /* restore a0 */ + rfi 6 + +#endif /* Level 6 */ + +#if XCHAL_HAVE_NMI + + .global _xt_nmi + .global xt_nmi + .weak xt_nmi + .set xt_nmi, _xt_nmi + .section .iram1,"ax" + .type _xt_nmi,@function + .align 4 +_xt_nmi: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_nmi_exit: + rsr a0, EXCSAVE + XCHAL_NMILEVEL /* restore a0 */ + rfi XCHAL_NMILEVEL + +#endif /* NMI */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vectors.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vectors.S new file mode 100644 index 0000000..eb0729f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32/xtensa_vectors.S @@ -0,0 +1,2027 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +-------------------------------------------------------------------------------- + + XTENSA VECTORS AND LOW LEVEL HANDLERS FOR AN RTOS + + Xtensa low level exception and interrupt vectors and handlers for an RTOS. + + Interrupt handlers and user exception handlers support interaction with + the RTOS by calling XT_RTOS_INT_ENTER and XT_RTOS_INT_EXIT before and + after user's specific interrupt handlers. These macros are defined in + xtensa_.h to call suitable functions in a specific RTOS. + + Users can install application-specific interrupt handlers for low and + medium level interrupts, by calling xt_set_interrupt_handler(). These + handlers can be written in C, and must obey C calling convention. The + handler table is indexed by the interrupt number. Each handler may be + provided with an argument. + + Note that the system timer interrupt is handled specially, and is + dispatched to the RTOS-specific handler. This timer cannot be hooked + by application code. + + Optional hooks are also provided to install a handler per level at + run-time, made available by compiling this source file with + '-DXT_INTEXC_HOOKS' (useful for automated testing). + +!! This file is a template that usually needs to be modified to handle !! +!! application specific interrupts. Search USER_EDIT for helpful comments !! +!! on where to insert handlers and how to write them. !! + + Users can also install application-specific exception handlers in the + same way, by calling xt_set_exception_handler(). One handler slot is + provided for each exception type. Note that some exceptions are handled + by the porting layer itself, and cannot be taken over by application + code in this manner. These are the alloca, syscall, and coprocessor + exceptions. + + The exception handlers can be written in C, and must follow C calling + convention. Each handler is passed a pointer to an exception frame as + its single argument. The exception frame is created on the stack, and + holds the saved context of the thread that took the exception. If the + handler returns, the context will be restored and the instruction that + caused the exception will be retried. If the handler makes any changes + to the saved state in the exception frame, the changes will be applied + when restoring the context. + + Because Xtensa is a configurable architecture, this port supports all user + generated configurations (except restrictions stated in the release notes). + This is accomplished by conditional compilation using macros and functions + defined in the Xtensa HAL (hardware adaptation layer) for your configuration. + Only the relevant parts of this file will be included in your RTOS build. + For example, this file provides interrupt vector templates for all types and + all priority levels, but only the ones in your configuration are built. + + NOTES on the use of 'call0' for long jumps instead of 'j': + 1. This file should be assembled with the -mlongcalls option to xt-xcc. + 2. The -mlongcalls compiler option causes 'call0 dest' to be expanded to + a sequence 'l32r a0, dest' 'callx0 a0' which works regardless of the + distance from the call to the destination. The linker then relaxes + it back to 'call0 dest' if it determines that dest is within range. + This allows more flexibility in locating code without the performance + overhead of the 'l32r' literal data load in cases where the destination + is in range of 'call0'. There is an additional benefit in that 'call0' + has a longer range than 'j' due to the target being word-aligned, so + the 'l32r' sequence is less likely needed. + 3. The use of 'call0' with -mlongcalls requires that register a0 not be + live at the time of the call, which is always the case for a function + call but needs to be ensured if 'call0' is used as a jump in lieu of 'j'. + 4. This use of 'call0' is independent of the C function call ABI. + +*******************************************************************************/ + +#include "xtensa_rtos.h" +#include "esp_private/panic_reason.h" +#include "sdkconfig.h" +#include "soc/soc.h" + +/* + Define for workaround: pin no-cpu-affinity tasks to a cpu when fpu is used. + Please change this when the tcb structure is changed +*/ +#define TASKTCB_XCOREID_OFFSET (0x38+configMAX_TASK_NAME_LEN+3)&~3 +.extern pxCurrentTCB + +/* +-------------------------------------------------------------------------------- + In order for backtracing to be able to trace from the pre-exception stack + across to the exception stack (including nested interrupts), we need to create + a pseudo base-save area to make it appear like the exception dispatcher was + triggered by a CALL4 from the pre-exception code. In reality, the exception + dispatcher uses the same window as pre-exception code, and only CALL0s are + used within the exception dispatcher. + + To create the pseudo base-save area, we need to store a copy of the pre-exception's + base save area (a0 to a4) below the exception dispatcher's SP. EXCSAVE_x will + be used to store a copy of the SP that points to the interrupted code's exception + frame just in case the exception dispatcher's SP does not point to the exception + frame (which is the case when switching from task to interrupt stack). + + Clearing the pseudo base-save area is uncessary as the interrupt dispatcher + will restore the current SP to that of the pre-exception SP. +-------------------------------------------------------------------------------- +*/ +#ifdef CONFIG_FREERTOS_INTERRUPT_BACKTRACE +#define XT_DEBUG_BACKTRACE 1 +#endif + + +/* +-------------------------------------------------------------------------------- + Defines used to access _xtos_interrupt_table. +-------------------------------------------------------------------------------- +*/ +#define XIE_HANDLER 0 +#define XIE_ARG 4 +#define XIE_SIZE 8 + + +/* + Macro get_percpu_entry_for - convert a per-core ID into a multicore entry. + Basically does reg=reg*portNUM_PROCESSORS+current_core_id + Multiple versions here to optimize for specific portNUM_PROCESSORS values. +*/ + .macro get_percpu_entry_for reg scratch +#if (portNUM_PROCESSORS == 1) + /* No need to do anything */ +#elif (portNUM_PROCESSORS == 2) + /* Optimized 2-core code. */ + getcoreid \scratch + addx2 \reg,\reg,\scratch +#else + /* Generalized n-core code. Untested! */ + movi \scratch,portNUM_PROCESSORS + mull \scratch,\reg,\scratch + getcoreid \reg + add \reg,\scratch,\reg +#endif + .endm +/* +-------------------------------------------------------------------------------- + Macro extract_msb - return the input with only the highest bit set. + + Input : "ain" - Input value, clobbered. + Output : "aout" - Output value, has only one bit set, MSB of "ain". + The two arguments must be different AR registers. +-------------------------------------------------------------------------------- +*/ + + .macro extract_msb aout ain +1: + addi \aout, \ain, -1 /* aout = ain - 1 */ + and \ain, \ain, \aout /* ain = ain & aout */ + bnez \ain, 1b /* repeat until ain == 0 */ + addi \aout, \aout, 1 /* return aout + 1 */ + .endm + +/* +-------------------------------------------------------------------------------- + Macro dispatch_c_isr - dispatch interrupts to user ISRs. + This will dispatch to user handlers (if any) that are registered in the + XTOS dispatch table (_xtos_interrupt_table). These handlers would have + been registered by calling _xtos_set_interrupt_handler(). There is one + exception - the timer interrupt used by the OS will not be dispatched + to a user handler - this must be handled by the caller of this macro. + + Level triggered and software interrupts are automatically deasserted by + this code. + + ASSUMPTIONS: + -- PS.INTLEVEL is set to "level" at entry + -- PS.EXCM = 0, C calling enabled + + NOTE: For CALL0 ABI, a12-a15 have not yet been saved. + + NOTE: This macro will use registers a0 and a2-a7. The arguments are: + level -- interrupt level + mask -- interrupt bitmask for this level +-------------------------------------------------------------------------------- +*/ + + .macro dispatch_c_isr level mask + + #ifdef CONFIG_PM_TRACE + movi a6, 0 /* = ESP_PM_TRACE_IDLE */ + getcoreid a7 + call4 esp_pm_trace_exit + #endif // CONFIG_PM_TRACE + + /* Get mask of pending, enabled interrupts at this level into a2. */ + +.L_xt_user_int_&level&: + rsr a2, INTENABLE + rsr a3, INTERRUPT + movi a4, \mask + and a2, a2, a3 + and a2, a2, a4 + beqz a2, 9f /* nothing to do */ + + /* This bit of code provides a nice debug backtrace in the debugger. + It does take a few more instructions, so undef XT_DEBUG_BACKTRACE + if you want to save the cycles. + At this point, the exception frame should have been allocated and filled, + and current sp points to the interrupt stack (for non-nested interrupt) + or below the allocated exception frame (for nested interrupts). Copy the + pre-exception's base save area below the current SP. + */ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + rsr a0, EXCSAVE_1 + \level - 1 /* Get exception frame pointer stored in EXCSAVE_x */ + l32i a3, a0, XT_STK_A0 /* Copy pre-exception a0 (return address) */ + s32e a3, a1, -16 + l32i a3, a0, XT_STK_A1 /* Copy pre-exception a1 (stack pointer) */ + s32e a3, a1, -12 + /* Backtracing only needs a0 and a1, no need to create full base save area. + Also need to change current frame's return address to point to pre-exception's + last run instruction. + */ + rsr a0, EPC_1 + \level - 1 /* return address */ + movi a4, 0xC0000000 /* constant with top 2 bits set (call size) */ + or a0, a0, a4 /* set top 2 bits */ + addx2 a0, a4, a0 /* clear top bit -- simulating call4 size */ + #endif + #endif + + #ifdef CONFIG_PM_ENABLE + call4 esp_pm_impl_isr_hook + #endif + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a4, _xt_intexc_hooks + l32i a4, a4, \level << 2 + beqz a4, 2f + #ifdef __XTENSA_CALL0_ABI__ + callx0 a4 + beqz a2, 9f + #else + mov a6, a2 + callx4 a4 + beqz a6, 9f + mov a2, a6 + #endif +2: + #endif + + /* Now look up in the dispatch table and call user ISR if any. */ + /* If multiple bits are set then MSB has highest priority. */ + + extract_msb a4, a2 /* a4 = MSB of a2, a2 trashed */ + + #ifdef XT_USE_SWPRI + /* Enable all interrupts at this level that are numerically higher + than the one we just selected, since they are treated as higher + priority. + */ + movi a3, \mask /* a3 = all interrupts at this level */ + add a2, a4, a4 /* a2 = a4 << 1 */ + addi a2, a2, -1 /* a2 = mask of 1's <= a4 bit */ + and a2, a2, a3 /* a2 = mask of all bits <= a4 at this level */ + movi a3, _xt_intdata + l32i a6, a3, 4 /* a6 = _xt_vpri_mask */ + neg a2, a2 + addi a2, a2, -1 /* a2 = mask to apply */ + and a5, a6, a2 /* mask off all bits <= a4 bit */ + s32i a5, a3, 4 /* update _xt_vpri_mask */ + rsr a3, INTENABLE + and a3, a3, a2 /* mask off all bits <= a4 bit */ + wsr a3, INTENABLE + rsil a3, \level - 1 /* lower interrupt level by 1 */ + #endif + + movi a3, XT_TIMER_INTEN /* a3 = timer interrupt bit */ + wsr a4, INTCLEAR /* clear sw or edge-triggered interrupt */ + beq a3, a4, 7f /* if timer interrupt then skip table */ + + find_ms_setbit a3, a4, a3, 0 /* a3 = interrupt number */ + + get_percpu_entry_for a3, a12 + movi a4, _xt_interrupt_table + addx8 a3, a3, a4 /* a3 = address of interrupt table entry */ + l32i a4, a3, XIE_HANDLER /* a4 = handler address */ + #ifdef __XTENSA_CALL0_ABI__ + mov a12, a6 /* save in callee-saved reg */ + l32i a2, a3, XIE_ARG /* a2 = handler arg */ + callx0 a4 /* call handler */ + mov a2, a12 + #else + mov a2, a6 /* save in windowed reg */ + l32i a6, a3, XIE_ARG /* a6 = handler arg */ + callx4 a4 /* call handler */ + #endif + + #ifdef XT_USE_SWPRI + j 8f + #else + j .L_xt_user_int_&level& /* check for more interrupts */ + #endif + +7: + + .ifeq XT_TIMER_INTPRI - \level +.L_xt_user_int_timer_&level&: + /* + Interrupt handler for the RTOS tick timer if at this level. + We'll be reading the interrupt state again after this call + so no need to preserve any registers except a6 (vpri_mask). + */ + + #ifdef __XTENSA_CALL0_ABI__ + mov a12, a6 + call0 XT_RTOS_TIMER_INT + mov a2, a12 + #else + mov a2, a6 + call4 XT_RTOS_TIMER_INT + #endif + .endif + + #ifdef XT_USE_SWPRI + j 8f + #else + j .L_xt_user_int_&level& /* check for more interrupts */ + #endif + + #ifdef XT_USE_SWPRI +8: + /* Restore old value of _xt_vpri_mask from a2. Also update INTENABLE from + virtual _xt_intenable which _could_ have changed during interrupt + processing. */ + + movi a3, _xt_intdata + l32i a4, a3, 0 /* a4 = _xt_intenable */ + s32i a2, a3, 4 /* update _xt_vpri_mask */ + and a4, a4, a2 /* a4 = masked intenable */ + wsr a4, INTENABLE /* update INTENABLE */ + #endif + +9: + /* done */ + + .endm + + +/* +-------------------------------------------------------------------------------- + Panic handler. + Should be reached by call0 (preferable) or jump only. If call0, a0 says where + from. If on simulator, display panic message and abort, else loop indefinitely. +-------------------------------------------------------------------------------- +*/ + + .section .iram1,"ax" + .global panicHandler + + .global _xt_panic + .type _xt_panic,@function + .align 4 + .literal_position + .align 4 + +_xt_panic: + /* Allocate exception frame and save minimal context. */ + mov a0, sp + addi sp, sp, -XT_STK_FRMSZ + s32i a0, sp, XT_STK_A1 + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -12 /* for debug backtrace */ + #endif + rsr a0, PS /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_1 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -16 /* for debug backtrace */ + #endif + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + + /* Save exc cause and vaddr into exception frame */ + rsr a0, EXCCAUSE + s32i a0, sp, XT_STK_EXCCAUSE + rsr a0, EXCVADDR + s32i a0, sp, XT_STK_EXCVADDR + + /* _xt_context_save seems to save the current a0, but we need the interuptees a0. Fix this. */ + rsr a0, EXCSAVE_1 /* save interruptee's a0 */ + + s32i a0, sp, XT_STK_A0 + + /* Set up PS for C, disable all interrupts except NMI and debug, and clear EXCM. */ + movi a0, PS_INTLEVEL(5) | PS_UM | PS_WOE + wsr a0, PS + + //Call panic handler + mov a6,sp + call4 panicHandler + + + .align 4 +//Call using call0. Prints the hex char in a2. Kills a3, a4, a5 +panic_print_hex: + movi a3,0x60000000 + movi a4,8 +panic_print_hex_loop: + l32i a5, a3, 0x1c + extui a5, a5, 16, 8 + bgei a5,64,panic_print_hex_loop + + srli a5,a2,28 + bgei a5,10,panic_print_hex_a + addi a5,a5,'0' + j panic_print_hex_ok +panic_print_hex_a: + addi a5,a5,'A'-10 +panic_print_hex_ok: + s32i a5,a3,0 + slli a2,a2,4 + + addi a4,a4,-1 + bnei a4,0,panic_print_hex_loop + movi a5,' ' + s32i a5,a3,0 + + ret + + + + .section .rodata, "a" + .align 4 + + + +/* +-------------------------------------------------------------------------------- + Hooks to dynamically install handlers for exceptions and interrupts. + Allows automated regression frameworks to install handlers per test. + Consists of an array of function pointers indexed by interrupt level, + with index 0 containing the entry for user exceptions. + Initialized with all 0s, meaning no handler is installed at each level. + See comment in xtensa_rtos.h for more details. + + *WARNING* This array is for all CPUs, that is, installing a hook for + one CPU will install it for all others as well! +-------------------------------------------------------------------------------- +*/ + + #ifdef XT_INTEXC_HOOKS + .data + .global _xt_intexc_hooks + .type _xt_intexc_hooks,@object + .align 4 + +_xt_intexc_hooks: + .fill XT_INTEXC_HOOK_NUM, 4, 0 + #endif + + +/* +-------------------------------------------------------------------------------- + EXCEPTION AND LEVEL 1 INTERRUPT VECTORS AND LOW LEVEL HANDLERS + (except window exception vectors). + + Each vector goes at a predetermined location according to the Xtensa + hardware configuration, which is ensured by its placement in a special + section known to the Xtensa linker support package (LSP). It performs + the minimum necessary before jumping to the handler in the .text section. + + The corresponding handler goes in the normal .text section. It sets up + the appropriate stack frame, saves a few vector-specific registers and + calls XT_RTOS_INT_ENTER to save the rest of the interrupted context + and enter the RTOS, then sets up a C environment. It then calls the + user's interrupt handler code (which may be coded in C) and finally + calls XT_RTOS_INT_EXIT to transfer control to the RTOS for scheduling. + + While XT_RTOS_INT_EXIT does not return directly to the interruptee, + eventually the RTOS scheduler will want to dispatch the interrupted + task or handler. The scheduler will return to the exit point that was + saved in the interrupt stack frame at XT_STK_EXIT. +-------------------------------------------------------------------------------- +*/ + + +/* +-------------------------------------------------------------------------------- +Debug Exception. +-------------------------------------------------------------------------------- +*/ + +#if XCHAL_HAVE_DEBUG + + .begin literal_prefix .DebugExceptionVector + .section .DebugExceptionVector.text, "ax" + .global _DebugExceptionVector + .align 4 + .global xt_debugexception +_DebugExceptionVector: + wsr a0, EXCSAVE+XCHAL_DEBUGLEVEL /* preserve a0 */ + call0 xt_debugexception /* load exception handler */ + + .end literal_prefix + +#endif + +/* +-------------------------------------------------------------------------------- +Double Exception. +Double exceptions are not a normal occurrence. They indicate a bug of some kind. +-------------------------------------------------------------------------------- +*/ + +#ifdef XCHAL_DOUBLEEXC_VECTOR_VADDR + + .begin literal_prefix .DoubleExceptionVector + .section .DoubleExceptionVector.text, "ax" + .global _DoubleExceptionVector + .align 4 + +_DoubleExceptionVector: + + #if XCHAL_HAVE_DEBUG + break 1, 4 /* unhandled double exception */ + #endif + movi a0,PANIC_RSN_DOUBLEEXCEPTION + wsr a0,EXCCAUSE + call0 _xt_panic /* does not return */ + rfde /* make a0 point here not later */ + + .end literal_prefix + +#endif /* XCHAL_DOUBLEEXC_VECTOR_VADDR */ + +/* +-------------------------------------------------------------------------------- +Kernel Exception (including Level 1 Interrupt from kernel mode). +-------------------------------------------------------------------------------- +*/ + + .begin literal_prefix .KernelExceptionVector + .section .KernelExceptionVector.text, "ax" + .global _KernelExceptionVector + .align 4 + +_KernelExceptionVector: + + wsr a0, EXCSAVE_1 /* preserve a0 */ + call0 _xt_kernel_exc /* kernel exception handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .section .iram1,"ax" + .align 4 + +_xt_kernel_exc: + #if XCHAL_HAVE_DEBUG + break 1, 0 /* unhandled kernel exception */ + #endif + movi a0,PANIC_RSN_KERNELEXCEPTION + wsr a0,EXCCAUSE + call0 _xt_panic /* does not return */ + rfe /* make a0 point here not there */ + + +/* +-------------------------------------------------------------------------------- +User Exception (including Level 1 Interrupt from user mode). +-------------------------------------------------------------------------------- +*/ + + .begin literal_prefix .UserExceptionVector + .section .UserExceptionVector.text, "ax" + .global _UserExceptionVector + .type _UserExceptionVector,@function + .align 4 + +_UserExceptionVector: + + wsr a0, EXCSAVE_1 /* preserve a0 */ + call0 _xt_user_exc /* user exception handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +/* +-------------------------------------------------------------------------------- + Insert some waypoints for jumping beyond the signed 8-bit range of + conditional branch instructions, so the conditional branchces to specific + exception handlers are not taken in the mainline. Saves some cycles in the + mainline. +-------------------------------------------------------------------------------- +*/ + +#ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY + .global LoadStoreErrorHandler + .global AlignmentErrorHandler +#endif + + .section .iram1,"ax" + + #if XCHAL_HAVE_WINDOWED + .align 4 +_xt_to_alloca_exc: + call0 _xt_alloca_exc /* in window vectors section */ + /* never returns here - call0 is used as a jump (see note at top) */ + #endif + + .align 4 +_xt_to_syscall_exc: + call0 _xt_syscall_exc + /* never returns here - call0 is used as a jump (see note at top) */ + + #if XCHAL_CP_NUM > 0 + .align 4 +_xt_to_coproc_exc: + call0 _xt_coproc_exc + /* never returns here - call0 is used as a jump (see note at top) */ + #endif + +#ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY + .align 4 +_call_loadstore_handler: + call0 LoadStoreErrorHandler + /* This will return only if wrong opcode or address out of range*/ + j .LS_exit + + .align 4 +_call_alignment_handler: + call0 AlignmentErrorHandler + /* This will return only if wrong opcode or address out of range*/ + addi a0, a0, 1 + j .LS_exit +#endif + +/* +-------------------------------------------------------------------------------- + User exception handler. +-------------------------------------------------------------------------------- +*/ + + .type _xt_user_exc,@function + .align 4 + +_xt_user_exc: + + /* If level 1 interrupt then jump to the dispatcher */ + rsr a0, EXCCAUSE + beqi a0, EXCCAUSE_LEVEL1INTERRUPT, _xt_lowint1 + + /* Handle any coprocessor exceptions. Rely on the fact that exception + numbers above EXCCAUSE_CP0_DISABLED all relate to the coprocessors. + */ + #if XCHAL_CP_NUM > 0 + bgeui a0, EXCCAUSE_CP0_DISABLED, _xt_to_coproc_exc + #endif + + /* Handle alloca and syscall exceptions */ + #if XCHAL_HAVE_WINDOWED + beqi a0, EXCCAUSE_ALLOCA, _xt_to_alloca_exc + #endif + beqi a0, EXCCAUSE_SYSCALL, _xt_to_syscall_exc + +#ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY + beqi a0, EXCCAUSE_LOAD_STORE_ERROR, _call_loadstore_handler + + addi a0, a0, -1 + beqi a0, 8, _call_alignment_handler + addi a0, a0, 1 +.LS_exit: +#endif + + /* Handle all other exceptions. All can have user-defined handlers. */ + /* NOTE: we'll stay on the user stack for exception handling. */ + + /* Allocate exception frame and save minimal context. */ + mov a0, sp + addi sp, sp, -XT_STK_FRMSZ + s32i a0, sp, XT_STK_A1 + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -12 /* for debug backtrace */ + #endif + rsr a0, PS /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_1 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -16 /* for debug backtrace */ + #endif + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + + /* Save exc cause and vaddr into exception frame */ + rsr a0, EXCCAUSE + s32i a0, sp, XT_STK_EXCCAUSE + rsr a0, EXCVADDR + s32i a0, sp, XT_STK_EXCVADDR + + /* _xt_context_save seems to save the current a0, but we need the interuptees a0. Fix this. */ + rsr a0, EXCSAVE_1 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + + /* Set up PS for C, reenable hi-pri interrupts, and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(XCHAL_EXCM_LEVEL) | PS_UM + #else + movi a0, PS_INTLEVEL(XCHAL_EXCM_LEVEL) | PS_UM | PS_WOE + #endif + wsr a0, PS + + /* + Create pseudo base save area. At this point, sp is still pointing to the + allocated and filled exception stack frame. + */ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + l32i a3, sp, XT_STK_A0 /* Copy pre-exception a0 (return address) */ + s32e a3, sp, -16 + l32i a3, sp, XT_STK_A1 /* Copy pre-exception a1 (stack pointer) */ + s32e a3, sp, -12 + rsr a0, EPC_1 /* return address for debug backtrace */ + movi a5, 0xC0000000 /* constant with top 2 bits set (call size) */ + rsync /* wait for WSR.PS to complete */ + or a0, a0, a5 /* set top 2 bits */ + addx2 a0, a5, a0 /* clear top bit -- thus simulating call4 size */ + #else + rsync /* wait for WSR.PS to complete */ + #endif + #endif + + rsr a2, EXCCAUSE /* recover exc cause */ + + #ifdef XT_INTEXC_HOOKS + /* + Call exception hook to pre-handle exceptions (if installed). + Pass EXCCAUSE in a2, and check result in a2 (if -1, skip default handling). + */ + movi a4, _xt_intexc_hooks + l32i a4, a4, 0 /* user exception hook index 0 */ + beqz a4, 1f +.Ln_xt_user_exc_call_hook: + #ifdef __XTENSA_CALL0_ABI__ + callx0 a4 + beqi a2, -1, .L_xt_user_done + #else + mov a6, a2 + callx4 a4 + beqi a6, -1, .L_xt_user_done + mov a2, a6 + #endif +1: + #endif + + rsr a2, EXCCAUSE /* recover exc cause */ + movi a3, _xt_exception_table + get_percpu_entry_for a2, a4 + addx4 a4, a2, a3 /* a4 = address of exception table entry */ + l32i a4, a4, 0 /* a4 = handler address */ + #ifdef __XTENSA_CALL0_ABI__ + mov a2, sp /* a2 = pointer to exc frame */ + callx0 a4 /* call handler */ + #else + mov a6, sp /* a6 = pointer to exc frame */ + callx4 a4 /* call handler */ + #endif + +.L_xt_user_done: + + /* Restore context and return */ + call0 _xt_context_restore + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, PS + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_1 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove exception frame */ + rsync /* ensure PS and EPC written */ + rfe /* PS.EXCM is cleared */ + + +/* +-------------------------------------------------------------------------------- + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. +-------------------------------------------------------------------------------- +*/ + + .global _xt_user_exit + .type _xt_user_exit,@function + .align 4 +_xt_user_exit: + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, PS + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_1 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure PS and EPC written */ + rfe /* PS.EXCM is cleared */ + + +/* + +-------------------------------------------------------------------------------- +Syscall Exception Handler (jumped to from User Exception Handler). +Syscall 0 is required to spill the register windows (no-op in Call 0 ABI). +Only syscall 0 is handled here. Other syscalls return -1 to caller in a2. +-------------------------------------------------------------------------------- +*/ + + .section .iram1,"ax" + .type _xt_syscall_exc,@function + .align 4 +_xt_syscall_exc: + + #ifdef __XTENSA_CALL0_ABI__ + /* + Save minimal regs for scratch. Syscall 0 does nothing in Call0 ABI. + Use a minimal stack frame (16B) to save A2 & A3 for scratch. + PS.EXCM could be cleared here, but unlikely to improve worst-case latency. + rsr a0, PS + addi a0, a0, -PS_EXCM_MASK + wsr a0, PS + */ + addi sp, sp, -16 + s32i a2, sp, 8 + s32i a3, sp, 12 + #else /* Windowed ABI */ + /* + Save necessary context and spill the register windows. + PS.EXCM is still set and must remain set until after the spill. + Reuse context save function though it saves more than necessary. + For this reason, a full interrupt stack frame is allocated. + */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + #endif + + /* + Grab the interruptee's PC and skip over the 'syscall' instruction. + If it's at the end of a zero-overhead loop and it's not on the last + iteration, decrement loop counter and skip to beginning of loop. + */ + rsr a2, EPC_1 /* a2 = PC of 'syscall' */ + addi a3, a2, 3 /* ++PC */ + #if XCHAL_HAVE_LOOPS + rsr a0, LEND /* if (PC == LEND */ + bne a3, a0, 1f + rsr a0, LCOUNT /* && LCOUNT != 0) */ + beqz a0, 1f /* { */ + addi a0, a0, -1 /* --LCOUNT */ + rsr a3, LBEG /* PC = LBEG */ + wsr a0, LCOUNT /* } */ + #endif +1: wsr a3, EPC_1 /* update PC */ + + /* Restore interruptee's context and return from exception. */ + #ifdef __XTENSA_CALL0_ABI__ + l32i a2, sp, 8 + l32i a3, sp, 12 + addi sp, sp, 16 + #else + call0 _xt_context_restore + addi sp, sp, XT_STK_FRMSZ + #endif + movi a0, -1 + movnez a2, a0, a2 /* return -1 if not syscall 0 */ + rsr a0, EXCSAVE_1 + rfe + +/* +-------------------------------------------------------------------------------- +Co-Processor Exception Handler (jumped to from User Exception Handler). +These exceptions are generated by co-processor instructions, which are only +allowed in thread code (not in interrupts or kernel code). This restriction is +deliberately imposed to reduce the burden of state-save/restore in interrupts. +-------------------------------------------------------------------------------- +*/ +#if XCHAL_CP_NUM > 0 + + .section .rodata, "a" + +/* Offset to CP n save area in thread's CP save area. */ + .global _xt_coproc_sa_offset + .type _xt_coproc_sa_offset,@object + .align 16 /* minimize crossing cache boundaries */ +_xt_coproc_sa_offset: + .word XT_CP0_SA, XT_CP1_SA, XT_CP2_SA, XT_CP3_SA + .word XT_CP4_SA, XT_CP5_SA, XT_CP6_SA, XT_CP7_SA + +/* Bitmask for CP n's CPENABLE bit. */ + .type _xt_coproc_mask,@object + .align 16,,8 /* try to keep it all in one cache line */ + .set i, 0 +_xt_coproc_mask: + .rept XCHAL_CP_MAX + .long (i<<16) | (1<= 2 + + .begin literal_prefix .Level2InterruptVector + .section .Level2InterruptVector.text, "ax" + .global _Level2Vector + .type _Level2Vector,@function + .align 4 +_Level2Vector: + wsr a0, EXCSAVE_2 /* preserve a0 */ + call0 _xt_medint2 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint2,@function + .align 4 +_xt_medint2: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_2 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_2 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_2 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint2_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* EXCSAVE_2 should now be free to use. Use it to keep a copy of the + current stack pointer that points to the exception frame (XT_STK_FRAME).*/ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + mov a0, sp + wsr a0, EXCSAVE_2 + #endif + #endif + + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(2) | PS_UM + #else + movi a0, PS_INTLEVEL(2) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 2 XCHAL_INTLEVEL2_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint2_exit + .type _xt_medint2_exit,@function + .align 4 +_xt_medint2_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_2 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_2 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 2 + +#endif /* Level 2 */ + +#if XCHAL_EXCM_LEVEL >= 3 + + .begin literal_prefix .Level3InterruptVector + .section .Level3InterruptVector.text, "ax" + .global _Level3Vector + .type _Level3Vector,@function + .align 4 +_Level3Vector: + wsr a0, EXCSAVE_3 /* preserve a0 */ + call0 _xt_medint3 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint3,@function + .align 4 +_xt_medint3: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_3 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_3 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_3 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint3_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* EXCSAVE_3 should now be free to use. Use it to keep a copy of the + current stack pointer that points to the exception frame (XT_STK_FRAME).*/ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + mov a0, sp + wsr a0, EXCSAVE_3 + #endif + #endif + + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(3) | PS_UM + #else + movi a0, PS_INTLEVEL(3) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 3 XCHAL_INTLEVEL3_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint3_exit + .type _xt_medint3_exit,@function + .align 4 +_xt_medint3_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_3 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_3 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 3 + +#endif /* Level 3 */ + +#if XCHAL_EXCM_LEVEL >= 4 + + .begin literal_prefix .Level4InterruptVector + .section .Level4InterruptVector.text, "ax" + .global _Level4Vector + .type _Level4Vector,@function + .align 4 +_Level4Vector: + wsr a0, EXCSAVE_4 /* preserve a0 */ + call0 _xt_medint4 /* load interrupt handler */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint4,@function + .align 4 +_xt_medint4: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_4 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_4 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_4 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint4_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* EXCSAVE_4 should now be free to use. Use it to keep a copy of the + current stack pointer that points to the exception frame (XT_STK_FRAME).*/ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + mov a0, sp + wsr a0, EXCSAVE_4 + #endif + #endif + + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(4) | PS_UM + #else + movi a0, PS_INTLEVEL(4) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 4 XCHAL_INTLEVEL4_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint4_exit + .type _xt_medint4_exit,@function + .align 4 +_xt_medint4_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_4 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_4 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 4 + +#endif /* Level 4 */ + +#if XCHAL_EXCM_LEVEL >= 5 + + .begin literal_prefix .Level5InterruptVector + .section .Level5InterruptVector.text, "ax" + .global _Level5Vector + .type _Level5Vector,@function + .align 4 +_Level5Vector: + wsr a0, EXCSAVE_5 /* preserve a0 */ + call0 _xt_medint5 /* load interrupt handler */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint5,@function + .align 4 +_xt_medint5: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_5 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_5 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_5 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint5_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* EXCSAVE_5 should now be free to use. Use it to keep a copy of the + current stack pointer that points to the exception frame (XT_STK_FRAME).*/ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + mov a0, sp + wsr a0, EXCSAVE_5 + #endif + #endif + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(5) | PS_UM + #else + movi a0, PS_INTLEVEL(5) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 5 XCHAL_INTLEVEL5_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint5_exit + .type _xt_medint5_exit,@function + .align 4 +_xt_medint5_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_5 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_5 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 5 + +#endif /* Level 5 */ + +#if XCHAL_EXCM_LEVEL >= 6 + + .begin literal_prefix .Level6InterruptVector + .section .Level6InterruptVector.text, "ax" + .global _Level6Vector + .type _Level6Vector,@function + .align 4 +_Level6Vector: + wsr a0, EXCSAVE_6 /* preserve a0 */ + call0 _xt_medint6 /* load interrupt handler */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint6,@function + .align 4 +_xt_medint6: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_6 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_6 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_6 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint6_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* EXCSAVE_6 should now be free to use. Use it to keep a copy of the + current stack pointer that points to the exception frame (XT_STK_FRAME).*/ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + mov a0, sp + wsr a0, EXCSAVE_6 + #endif + #endif + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(6) | PS_UM + #else + movi a0, PS_INTLEVEL(6) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 6 XCHAL_INTLEVEL6_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint6_exit + .type _xt_medint6_exit,@function + .align 4 +_xt_medint6_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_6 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_6 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 6 + +#endif /* Level 6 */ + + +/******************************************************************************* + +HIGH PRIORITY (LEVEL > XCHAL_EXCM_LEVEL) INTERRUPT VECTORS AND HANDLERS + +High priority interrupts are by definition those with priorities greater +than XCHAL_EXCM_LEVEL. This includes non-maskable (NMI). High priority +interrupts cannot interact with the RTOS, that is they must save all regs +they use and not call any RTOS function. + +A further restriction imposed by the Xtensa windowed architecture is that +high priority interrupts must not modify the stack area even logically +"above" the top of the interrupted stack (they need to provide their +own stack or static save area). + +Cadence Design Systems recommends high priority interrupt handlers be coded in assembly +and used for purposes requiring very short service times. + +Here are templates for high priority (level 2+) interrupt vectors. +They assume only one interrupt per level to avoid the burden of identifying +which interrupts at this level are pending and enabled. This allows for +minimum latency and avoids having to save/restore a2 in addition to a0. +If more than one interrupt per high priority level is configured, this burden +is on the handler which in any case must provide a way to save and restore +registers it uses without touching the interrupted stack. + +Each vector goes at a predetermined location according to the Xtensa +hardware configuration, which is ensured by its placement in a special +section known to the Xtensa linker support package (LSP). It performs +the minimum necessary before jumping to the handler in the .text section. + +*******************************************************************************/ + +/* +These stubs just call xt_highintX/xt_nmi to handle the real interrupt. Please define +these in an external assembly source file. If these symbols are not defined anywhere +else, the defaults in xtensa_vector_defaults.S are used. +*/ + +#if XCHAL_NUM_INTLEVELS >=2 && XCHAL_EXCM_LEVEL <2 && XCHAL_DEBUGLEVEL !=2 + + .begin literal_prefix .Level2InterruptVector + .section .Level2InterruptVector.text, "ax" + .global _Level2Vector + .type _Level2Vector,@function + .global xt_highint2 + .align 4 +_Level2Vector: + wsr a0, EXCSAVE_2 /* preserve a0 */ + call0 xt_highint2 /* load interrupt handler */ + + .end literal_prefix + +#endif /* Level 2 */ + +#if XCHAL_NUM_INTLEVELS >=3 && XCHAL_EXCM_LEVEL <3 && XCHAL_DEBUGLEVEL !=3 + + .begin literal_prefix .Level3InterruptVector + .section .Level3InterruptVector.text, "ax" + .global _Level3Vector + .type _Level3Vector,@function + .global xt_highint3 + .align 4 +_Level3Vector: + wsr a0, EXCSAVE_3 /* preserve a0 */ + call0 xt_highint3 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 3 */ + +#if XCHAL_NUM_INTLEVELS >=4 && XCHAL_EXCM_LEVEL <4 && XCHAL_DEBUGLEVEL !=4 + + .begin literal_prefix .Level4InterruptVector + .section .Level4InterruptVector.text, "ax" + .global _Level4Vector + .type _Level4Vector,@function + .global xt_highint4 + .align 4 +_Level4Vector: + wsr a0, EXCSAVE_4 /* preserve a0 */ + call0 xt_highint4 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 4 */ + +#if XCHAL_NUM_INTLEVELS >=5 && XCHAL_EXCM_LEVEL <5 && XCHAL_DEBUGLEVEL !=5 + + .begin literal_prefix .Level5InterruptVector + .section .Level5InterruptVector.text, "ax" + .global _Level5Vector + .type _Level5Vector,@function + .global xt_highint5 + .align 4 +_Level5Vector: + wsr a0, EXCSAVE_5 /* preserve a0 */ + call0 xt_highint5 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 5 */ + +#if XCHAL_NUM_INTLEVELS >=6 && XCHAL_EXCM_LEVEL <6 && XCHAL_DEBUGLEVEL !=6 + + .begin literal_prefix .Level6InterruptVector + .section .Level6InterruptVector.text, "ax" + .global _Level6Vector + .type _Level6Vector,@function + .global xt_highint6 + .align 4 +_Level6Vector: + wsr a0, EXCSAVE_6 /* preserve a0 */ + call0 xt_highint6 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 6 */ + +#if XCHAL_HAVE_NMI + + .begin literal_prefix .NMIExceptionVector + .section .NMIExceptionVector.text, "ax" + .global _NMIExceptionVector + .type _NMIExceptionVector,@function + .global xt_nmi + .align 4 +_NMIExceptionVector: + wsr a0, EXCSAVE + XCHAL_NMILEVEL _ /* preserve a0 */ + call0 xt_nmi /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* NMI */ + + +/******************************************************************************* + +WINDOW OVERFLOW AND UNDERFLOW EXCEPTION VECTORS AND ALLOCA EXCEPTION HANDLER + +Here is the code for each window overflow/underflow exception vector and +(interspersed) efficient code for handling the alloca exception cause. +Window exceptions are handled entirely in the vector area and are very +tight for performance. The alloca exception is also handled entirely in +the window vector area so comes at essentially no cost in code size. +Users should never need to modify them and Cadence Design Systems recommends +they do not. + +Window handlers go at predetermined vector locations according to the +Xtensa hardware configuration, which is ensured by their placement in a +special section known to the Xtensa linker support package (LSP). Since +their offsets in that section are always the same, the LSPs do not define +a section per vector. + +These things are coded for XEA2 only (XEA1 is not supported). + +Note on Underflow Handlers: +The underflow handler for returning from call[i+1] to call[i] +must preserve all the registers from call[i+1]'s window. +In particular, a0 and a1 must be preserved because the RETW instruction +will be reexecuted (and may even underflow if an intervening exception +has flushed call[i]'s registers). +Registers a2 and up may contain return values. + +*******************************************************************************/ + +#if XCHAL_HAVE_WINDOWED + + .section .WindowVectors.text, "ax" + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call4. + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call4 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a3 are registers to be saved; + a4-a15 must be preserved; + a5 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x0 + .global _WindowOverflow4 +_WindowOverflow4: + + s32e a0, a5, -16 /* save a0 to call[j+1]'s stack frame */ + s32e a1, a5, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a5, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a5, -4 /* save a3 to call[j+1]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call4 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call4 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a3 are undefined, must be reloaded with call[i].reg[0..3]; + a4-a15 must be preserved (they are call[i+1].reg[0..11]); + a5 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x40 + .global _WindowUnderflow4 +_WindowUnderflow4: + + l32e a0, a5, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a5, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a5, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a3, a5, -4 /* restore a3 from call[i+1]'s stack frame */ + rfwu + +/* +-------------------------------------------------------------------------------- +Handle alloca exception generated by interruptee executing 'movsp'. +This uses space between the window vectors, so is essentially "free". +All interruptee's regs are intact except a0 which is saved in EXCSAVE_1, +and PS.EXCM has been set by the exception hardware (can't be interrupted). +The fact the alloca exception was taken means the registers associated with +the base-save area have been spilled and will be restored by the underflow +handler, so those 4 registers are available for scratch. +The code is optimized to avoid unaligned branches and minimize cache misses. +-------------------------------------------------------------------------------- +*/ + + .align 4 + .global _xt_alloca_exc +_xt_alloca_exc: + + rsr a0, WINDOWBASE /* grab WINDOWBASE before rotw changes it */ + rotw -1 /* WINDOWBASE goes to a4, new a0-a3 are scratch */ + rsr a2, PS + extui a3, a2, XCHAL_PS_OWB_SHIFT, XCHAL_PS_OWB_BITS + xor a3, a3, a4 /* bits changed from old to current windowbase */ + rsr a4, EXCSAVE_1 /* restore original a0 (now in a4) */ + slli a3, a3, XCHAL_PS_OWB_SHIFT + xor a2, a2, a3 /* flip changed bits in old window base */ + wsr a2, PS /* update PS.OWB to new window base */ + rsync + + _bbci.l a4, 31, _WindowUnderflow4 + rotw -1 /* original a0 goes to a8 */ + _bbci.l a8, 30, _WindowUnderflow8 + rotw -1 + j _WindowUnderflow12 + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call8 + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call8 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a7 are registers to be saved; + a8-a15 must be preserved; + a9 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x80 + .global _WindowOverflow8 +_WindowOverflow8: + + s32e a0, a9, -16 /* save a0 to call[j+1]'s stack frame */ + l32e a0, a1, -12 /* a0 <- call[j-1]'s sp + (used to find end of call[j]'s frame) */ + s32e a1, a9, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a9, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a9, -4 /* save a3 to call[j+1]'s stack frame */ + s32e a4, a0, -32 /* save a4 to call[j]'s stack frame */ + s32e a5, a0, -28 /* save a5 to call[j]'s stack frame */ + s32e a6, a0, -24 /* save a6 to call[j]'s stack frame */ + s32e a7, a0, -20 /* save a7 to call[j]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call8 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call8 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a7 are undefined, must be reloaded with call[i].reg[0..7]; + a8-a15 must be preserved (they are call[i+1].reg[0..7]); + a9 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0xC0 + .global _WindowUnderflow8 +_WindowUnderflow8: + + l32e a0, a9, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a9, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a9, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a7, a1, -12 /* a7 <- call[i-1]'s sp + (used to find end of call[i]'s frame) */ + l32e a3, a9, -4 /* restore a3 from call[i+1]'s stack frame */ + l32e a4, a7, -32 /* restore a4 from call[i]'s stack frame */ + l32e a5, a7, -28 /* restore a5 from call[i]'s stack frame */ + l32e a6, a7, -24 /* restore a6 from call[i]'s stack frame */ + l32e a7, a7, -20 /* restore a7 from call[i]'s stack frame */ + rfwu + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call12 + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call12 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a11 are registers to be saved; + a12-a15 must be preserved; + a13 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x100 + .global _WindowOverflow12 +_WindowOverflow12: + + s32e a0, a13, -16 /* save a0 to call[j+1]'s stack frame */ + l32e a0, a1, -12 /* a0 <- call[j-1]'s sp + (used to find end of call[j]'s frame) */ + s32e a1, a13, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a13, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a13, -4 /* save a3 to call[j+1]'s stack frame */ + s32e a4, a0, -48 /* save a4 to end of call[j]'s stack frame */ + s32e a5, a0, -44 /* save a5 to end of call[j]'s stack frame */ + s32e a6, a0, -40 /* save a6 to end of call[j]'s stack frame */ + s32e a7, a0, -36 /* save a7 to end of call[j]'s stack frame */ + s32e a8, a0, -32 /* save a8 to end of call[j]'s stack frame */ + s32e a9, a0, -28 /* save a9 to end of call[j]'s stack frame */ + s32e a10, a0, -24 /* save a10 to end of call[j]'s stack frame */ + s32e a11, a0, -20 /* save a11 to end of call[j]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call12 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call12 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a11 are undefined, must be reloaded with call[i].reg[0..11]; + a12-a15 must be preserved (they are call[i+1].reg[0..3]); + a13 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x140 + .global _WindowUnderflow12 +_WindowUnderflow12: + + l32e a0, a13, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a13, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a13, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a11, a1, -12 /* a11 <- call[i-1]'s sp + (used to find end of call[i]'s frame) */ + l32e a3, a13, -4 /* restore a3 from call[i+1]'s stack frame */ + l32e a4, a11, -48 /* restore a4 from end of call[i]'s stack frame */ + l32e a5, a11, -44 /* restore a5 from end of call[i]'s stack frame */ + l32e a6, a11, -40 /* restore a6 from end of call[i]'s stack frame */ + l32e a7, a11, -36 /* restore a7 from end of call[i]'s stack frame */ + l32e a8, a11, -32 /* restore a8 from end of call[i]'s stack frame */ + l32e a9, a11, -28 /* restore a9 from end of call[i]'s stack frame */ + l32e a10, a11, -24 /* restore a10 from end of call[i]'s stack frame */ + l32e a11, a11, -20 /* restore a11 from end of call[i]'s stack frame */ + rfwu + +#endif /* XCHAL_HAVE_WINDOWED */ + + .section .UserEnter.text, "ax" + .global call_user_start + .type call_user_start,@function + .align 4 + .literal_position + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/FreeRTOS-openocd.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/FreeRTOS-openocd.c new file mode 100644 index 0000000..671c2de --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/FreeRTOS-openocd.c @@ -0,0 +1,27 @@ +/* + * Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer + * present in the kernel, so it has to be supplied by other means for + * OpenOCD's threads awareness. + * + * Add this file to your project, and, if you're using --gc-sections, + * ``--undefined=uxTopUsedPriority'' (or + * ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final + * linking) to your LDFLAGS; same with all the other symbols you need. + */ + +#include "FreeRTOS.h" +#include "esp_attr.h" +#include "sdkconfig.h" + +#ifdef __GNUC__ + #define USED __attribute__( ( used ) ) +#else + #define USED +#endif + +/* + * This file is no longer needed as AFTER FreeRTOS V10.14.1 OpenOCD is fixed in the kernel. + * #ifdef CONFIG_ESP32_DEBUG_OCDAWARE + * const int USED DRAM_ATTR uxTopUsedPriority = configMAX_PRIORITIES - 1; + * #endif + */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/portbenchmark.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/portbenchmark.h new file mode 100644 index 0000000..ce34b97 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/portbenchmark.h @@ -0,0 +1,46 @@ +/******************************************************************************* + * // Copyright (c) 2003-2015 Cadence Design Systems, Inc. + * // + * // Permission is hereby granted, free of charge, to any person obtaining + * // a copy of this software and associated documentation files (the + * // "Software"), to deal in the Software without restriction, including + * // without limitation the rights to use, copy, modify, merge, publish, + * // distribute, sublicense, and/or sell copies of the Software, and to + * // permit persons to whom the Software is furnished to do so, subject to + * // the following conditions: + * // + * // The above copyright notice and this permission notice shall be included + * // in all copies or substantial portions of the Software. + * // + * // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * -------------------------------------------------------------------------------- + */ + +/* + * This utility helps benchmarking interrupt latency and context switches. + * In order to enable it, set configBENCHMARK to 1 in FreeRTOSConfig.h. + * You will also need to download the FreeRTOS_trace patch that contains + * portbenchmark.c and the complete version of portbenchmark.h + */ + +#ifndef PORTBENCHMARK_H +#define PORTBENCHMARK_H + +#if configBENCHMARK + #error "You need to download the FreeRTOS_trace patch that overwrites this file" +#endif + +#define portbenchmarkINTERRUPT_DISABLE() +#define portbenchmarkINTERRUPT_RESTORE( newstate ) +#define portbenchmarkIntLatency() +#define portbenchmarkIntWait() +#define portbenchmarkReset() +#define portbenchmarkPrint() + +#endif /* PORTBENCHMARK */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/portmacro.h new file mode 100644 index 0000000..7835eab --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/portmacro.h @@ -0,0 +1,489 @@ +/* + * FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. + * All rights reserved + * + * VISIT https://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + * + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: https://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + * + * This file is part of the FreeRTOS distribution. + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available from the following + * link: https://www.FreeRTOS.org/a00114.html + * + * + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * https://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + * + * https://www.FreeRTOS.org - Documentation, books, training, latest versions, + * license and Real Time Engineers Ltd. contact details. + * + * https://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + * including FreeRTOS+Trace - an indispensable productivity tool, a DOS + * compatible FAT file system, and our tiny thread aware UDP/IP stack. + * + * https://www.highintegritysystems.com/openrtos/ - Real Time Engineers ltd + * license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. + * Low cost OpenRTOS licenses offer ticketed support, indemnification + * and middleware. + * + * https://www.highintegritysystems.com/safertos/ - High Integrity Systems + * also provide a safety engineered and independently SIL3 certified version + * for use in safety and mission critical applications that require + * provable dependability. + * + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +#ifndef __ASSEMBLER__ + + #include + + #include + #include + #include /* required for XSHAL_CLIB */ + #include + #include "esp_timer.h" /* required for FreeRTOS run time stats */ + #include "esp_system.h" + + + #include + #include "soc/soc_memory_layout.h" + +/*#include "xtensa_context.h" */ + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + + #define portCHAR int8_t + #define portFLOAT float + #define portDOUBLE double + #define portLONG int32_t + #define portSHORT int16_t + #define portSTACK_TYPE uint8_t + #define portBASE_TYPE int + + typedef portSTACK_TYPE StackType_t; + typedef portBASE_TYPE BaseType_t; + typedef unsigned portBASE_TYPE UBaseType_t; + + #if ( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff + #else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL + #endif +/*-----------------------------------------------------------*/ + +/* portbenchmark */ + #include "portbenchmark.h" + + #include "sdkconfig.h" + #include "esp_attr.h" + +/* "mux" data structure (spinlock) */ + typedef struct + { + /* owner field values: + * 0 - Uninitialized (invalid) + * portMUX_FREE_VAL - Mux is free, can be locked by either CPU + * CORE_ID_PRO / CORE_ID_APP - Mux is locked to the particular core + * + * Any value other than portMUX_FREE_VAL, CORE_ID_PRO, CORE_ID_APP indicates corruption + */ + uint32_t owner; + + /* count field: + * If mux is unlocked, count should be zero. + * If mux is locked, count is non-zero & represents the number of recursive locks on the mux. + */ + uint32_t count; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + const char * lastLockedFn; + int lastLockedLine; + #endif + } portMUX_TYPE; + + #define portMUX_FREE_VAL 0xB33FFFFF + +/* Special constants for vPortCPUAcquireMutexTimeout() */ + #define portMUX_NO_TIMEOUT ( -1 ) /* When passed for 'timeout_cycles', spin forever if necessary */ + #define portMUX_TRY_LOCK 0 /* Try to acquire the spinlock a single time only */ + +/* Keep this in sync with the portMUX_TYPE struct definition please. */ + #ifndef CONFIG_FREERTOS_PORTMUX_DEBUG + #define portMUX_INITIALIZER_UNLOCKED \ + { \ + .owner = portMUX_FREE_VAL, \ + .count = 0, \ + } + #else + #define portMUX_INITIALIZER_UNLOCKED \ + { \ + .owner = portMUX_FREE_VAL, \ + .count = 0, \ + .lastLockedFn = "(never locked)", \ + .lastLockedLine = -1 \ + } + #endif /* ifndef CONFIG_FREERTOS_PORTMUX_DEBUG */ + + + #define portASSERT_IF_IN_ISR() vPortAssertIfInISR() + void vPortAssertIfInISR(); + + #define portCRITICAL_NESTING_IN_TCB 1 + +/* + * Modifications to portENTER_CRITICAL. + * + * For an introduction, see "Critical Sections & Disabling Interrupts" in docs/api-guides/freertos-smp.rst + * + * The original portENTER_CRITICAL only disabled the ISRs. This is enough for single-CPU operation: by + * disabling the interrupts, there is no task switch so no other tasks can meddle in the data, and because + * interrupts are disabled, ISRs can't corrupt data structures either. + * + * For multiprocessing, things get a bit more hairy. First of all, disabling the interrupts doesn't stop + * the tasks or ISRs on the other processors meddling with our CPU. For tasks, this is solved by adding + * a spinlock to the portENTER_CRITICAL macro. A task running on the other CPU accessing the same data will + * spinlock in the portENTER_CRITICAL code until the first CPU is done. + * + * For ISRs, we now also need muxes: while portENTER_CRITICAL disabling interrupts will stop ISRs on the same + * CPU from meddling with the data, it does not stop interrupts on the other cores from interfering with the + * data. For this, we also use a spinlock in the routines called by the ISR, but these spinlocks + * do not disable the interrupts (because they already are). + * + * This all assumes that interrupts are either entirely disabled or enabled. Interrupt priority levels + * will break this scheme. + * + * Remark: For the ESP32, portENTER_CRITICAL and portENTER_CRITICAL_ISR both alias vTaskEnterCritical, meaning + * that either function can be called both from ISR as well as task context. This is not standard FreeRTOS + * behaviour; please keep this in mind if you need any compatibility with other FreeRTOS implementations. + */ + void vPortCPUInitializeMutex( portMUX_TYPE * mux ); + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + #error CONFIG_FREERTOS_PORTMUX_DEBUG not supported in Amazon FreeRTOS + #endif + + void vTaskExitCritical(); + void vTaskEnterCritical(); + static inline void vPortConsumeSpinlockArg( int unused, + ... ) + { + } + +/** @brief Acquire a portmux spinlock with a timeout + * + * @param mux Pointer to portmux to acquire. + * @param timeout_cycles Timeout to spin, in CPU cycles. Pass portMUX_NO_TIMEOUT to wait forever, + * portMUX_TRY_LOCK to try a single time to acquire the lock. + * + * @return true if mutex is successfully acquired, false on timeout. + */ + bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, + int timeout_cycles ); + void vPortCPUReleaseMutex( portMUX_TYPE * mux ); + + #define portENTER_CRITICAL( ... ) do { vTaskEnterCritical(); vPortConsumeSpinlockArg( 0, ## __VA_ARGS__ ); } while( 0 ) + #define portEXIT_CRITICAL( ... ) do { vTaskExitCritical(); vPortConsumeSpinlockArg( 0, ## __VA_ARGS__ ); } while( 0 ) + + + #define portENTER_CRITICAL_ISR( mux ) vPortCPUAcquireMutexTimeout( mux, portMUX_NO_TIMEOUT ) + #define portEXIT_CRITICAL_ISR( mux ) vPortCPUReleaseMutex( mux ) + + #define portENTER_CRITICAL_SAFE( mux ) \ + do { \ + if( xPortInIsrContext() ) { \ + portENTER_CRITICAL_ISR( mux ); \ + } \ + else { \ + portENTER_CRITICAL( mux ); \ + } \ + } while( 0 ) + + #define portEXIT_CRITICAL_SAFE( mux ) \ + do { \ + if( xPortInIsrContext() ) { \ + portEXIT_CRITICAL_ISR( mux ); \ + } \ + else { \ + portEXIT_CRITICAL( mux ); \ + } \ + } while( 0 ) + + +/* Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? */ +/* These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level. */ +/* */ +/* Only applies to one CPU. See notes above & below for reasons not to use these. */ + #define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL( XCHAL_EXCM_LEVEL ); portbenchmarkINTERRUPT_DISABLE(); } while( 0 ) + #define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE( 0 ); XTOS_SET_INTLEVEL( 0 ); } while( 0 ) + +/* Cleaner solution allows nested interrupts disabling and restoring via local registers or stack. */ +/* They can be called from interrupts too. */ +/* WARNING: Only applies to current CPU. See notes above. */ + static inline unsigned portENTER_CRITICAL_NESTED() + { + unsigned state = XTOS_SET_INTLEVEL( XCHAL_EXCM_LEVEL ); + + portbenchmarkINTERRUPT_DISABLE(); + return state; + } + #define portEXIT_CRITICAL_NESTED( state ) do { portbenchmarkINTERRUPT_RESTORE( state ); XTOS_RESTORE_JUST_INTLEVEL( state ); } while( 0 ) + +/* These FreeRTOS versions are similar to the nested versions above */ + #define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED() + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( state ) portEXIT_CRITICAL_NESTED( state ) + +/*Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force */ +/*the stack memory to always be internal. */ + #define pvPortMallocTcbMem( size ) heap_caps_malloc( size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT ) + #define pvPortMallocStackMem( size ) heap_caps_malloc( size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT ) + +/*xTaskCreateStatic uses these functions to check incoming memory. */ + #define portVALID_TCB_MEM( ptr ) ( esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ) ) + #ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY + #define portVALID_STACK_MEM( ptr ) esp_ptr_byte_accessible( ptr ) + #else + #define portVALID_STACK_MEM( ptr ) ( esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr ) ) + #endif + +/* + * Wrapper for the Xtensa compare-and-set instruction. This subroutine will atomically compare + * *addr to 'compare'. If *addr == compare, *addr is set to *set. *set is updated with the previous + * value of *addr (either 'compare' or some other value.) + * + * Warning: From the ISA docs: in some (unspecified) cases, the s32c1i instruction may return the + * *bitwise inverse* of the old mem if the mem wasn't written. This doesn't seem to happen on the + * ESP32 (portMUX assertions would fail). + */ + static inline void uxPortCompareSet( volatile uint32_t * addr, + uint32_t compare, + uint32_t * set ) + { + __asm__ __volatile__ ( + "WSR %2,SCOMPARE1 \n" + "S32C1I %0, %1, 0 \n" + : "=r" ( *set ) + : "r" ( addr ), "r" ( compare ), "0" ( *set ) + ); + } + + void uxPortCompareSetExtram( volatile uint32_t * addr, + uint32_t compare, + uint32_t * set ); + +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ + #define portSTACK_GROWTH ( -1 ) + #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + #define portBYTE_ALIGNMENT 4 + #define portNOP() XT_NOP() +/*-----------------------------------------------------------*/ + +/* Fine resolution time */ + #define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount() +/*ccount or esp_timer are initialized elsewhere */ + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() + + #ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER +/* Coarse resolution time (us) */ + #define portALT_GET_RUN_TIME_COUNTER_VALUE( x ) x = ( uint32_t ) esp_timer_get_time() + #endif + + + +/* Kernel utilities. */ + void vPortYield( void ); + void _frxt_setup_switch( void ); + #define portYIELD() vPortYield() + #define portYIELD_FROM_ISR() { traceISR_EXIT_TO_SCHEDULER(); _frxt_setup_switch(); } + + static inline uint32_t xPortGetCoreID(); + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ + #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) + #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) + +/* When coprocessors are defined, we to maintain a pointer to coprocessors area. */ +/* We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold: */ +/* MPU wrappers, coprocessor area pointer, trace code structure, and more if needed. */ +/* The field is normally used for memory protection. FreeRTOS should create another general purpose field. */ + typedef struct + { + #if XCHAL_CP_NUM > 0 + volatile StackType_t * coproc_area; /* Pointer to coprocessor save area; MUST BE FIRST */ + #endif + + #if portUSING_MPU_WRAPPERS + /* Define here mpu_settings, which is port dependent */ + int mpu_setting; /* Just a dummy example here; MPU not ported to Xtensa yet */ + #endif + + #if configUSE_TRACE_FACILITY_2 + struct + { + /* Cf. porttraceStamp() */ + int taskstamp; /* Stamp from inside task to see where we are */ + int taskstampcount; /* A counter usually incremented when we restart the task's loop */ + } porttrace; + #endif + } xMPU_SETTINGS; + +/* Main hack to use MPU_wrappers even when no MPU is defined (warning: mpu_setting should not be accessed; otherwise move this above xMPU_SETTINGS) */ + #if ( XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2 ) && !portUSING_MPU_WRAPPERS /* If MPU wrappers not used, we still need to allocate coproc area */ + #undef portUSING_MPU_WRAPPERS + #define portUSING_MPU_WRAPPERS 1 /* Enable it to allocate coproc area */ + #define MPU_WRAPPERS_H /* Override mpu_wrapper.h to disable unwanted code */ + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA + #endif + + bool vApplicationSleep( TickType_t xExpectedIdleTime ); + + #define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime ) + + + + void _xt_coproc_release( volatile void * coproc_sa_base ); + + +/* + * Map to the memory management routines required for the port. + * + * Note that libc standard malloc/free are also available for + * non-FreeRTOS-specific code, and behave the same as + * pvPortMalloc()/vPortFree(). + */ + #define pvPortMalloc heap_caps_malloc_default + #define vPortFree heap_caps_free + #define xPortGetFreeHeapSize esp_get_free_heap_size + #define xPortGetMinimumEverFreeHeapSize esp_get_minimum_free_heap_size + +/* + * Send an interrupt to another core in order to make the task running + * on it yield for a higher-priority task. + */ + + void vPortYieldOtherCore( BaseType_t coreid ) PRIVILEGED_FUNCTION; + + +/* + * Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack + * watchpoint around. + */ + void vPortSetStackWatchpoint( void * pxStackStart ); + +/* + * Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs + * aren't detected here, but they normally cannot call C code, so that should not be an issue anyway. + */ + BaseType_t xPortInIsrContext(); + +/* + * This function will be called in High prio ISRs. Returns true if the current core was in ISR context + * before calling into high prio ISR context. + */ + BaseType_t xPortInterruptedFromISRContext(); + +/* + * The structures and methods of manipulating the MPU are contained within the + * port layer. + * + * Fills the xMPUSettings structure with the memory region information + * contained in xRegions. + */ + #if ( portUSING_MPU_WRAPPERS == 1 ) + struct xMEMORY_REGION; + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t usStackDepth ) PRIVILEGED_FUNCTION; + void vPortReleaseTaskMPUSettings( xMPU_SETTINGS * xMPUSettings ); + #endif + +/* Multi-core: get current core ID */ + static inline uint32_t IRAM_ATTR xPortGetCoreID() + { + int id; + + asm ( + "rsr.prid %0\n" + " extui %0,%0,13,1" + : "=r" ( id ) ); + return id; + } + +/* Get tick rate per second */ + uint32_t xPortGetTickRateHz( void ); + +/* porttrace */ + #if configUSE_TRACE_FACILITY_2 + #include "porttrace.h" + #endif + +/* configASSERT_2 if requested */ + #if configASSERT_2 + #include + void exit( int ); + #define configASSERT( x ) if( !( x ) ) { porttracePrint( -1 ); printf( "\nAssertion failed in %s:%d\n", __FILE__, __LINE__ ); exit( -1 ); } + #endif + +#endif // __ASSEMBLER__ + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* PORTMACRO_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_api.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_api.h new file mode 100644 index 0000000..f91dab1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_api.h @@ -0,0 +1,132 @@ +/******************************************************************************* + * Copyright (c) 2006-2015 Cadence Design Systems Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + ******************************************************************************/ + +/****************************************************************************** +* Xtensa-specific API for RTOS ports. +******************************************************************************/ + +#ifndef __XTENSA_API_H__ +#define __XTENSA_API_H__ + +#include + +#include "xtensa_context.h" + + +/* Typedef for C-callable interrupt handler function */ +typedef void (* xt_handler)( void * ); + +/* Typedef for C-callable exception handler function */ +typedef void (* xt_exc_handler)( XtExcFrame * ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to set a handler for the specified exception. The handler + * will be installed on the core that calls this function. + * + * n - Exception number (type) + * f - Handler function address, NULL to uninstall handler. + * + * The handler will be passed a pointer to the exception frame, which is created + * on the stack of the thread that caused the exception. + * + * If the handler returns, the thread context will be restored and the faulting + * instruction will be retried. Any values in the exception frame that are + * modified by the handler will be restored as part of the context. For details + * of the exception frame structure see xtensa_context.h. + * ------------------------------------------------------------------------------- + */ +extern xt_exc_handler xt_set_exception_handler( int n, + xt_exc_handler f ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to set a handler for the specified interrupt. The handler + * will be installed on the core that calls this function. + * + * n - Interrupt number. + * f - Handler function address, NULL to uninstall handler. + * arg - Argument to be passed to handler. + * ------------------------------------------------------------------------------- + */ +extern xt_handler xt_set_interrupt_handler( int n, + xt_handler f, + void * arg ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to enable the specified interrupts on the core that runs + * this code. + * + * mask - Bit mask of interrupts to be enabled. + * ------------------------------------------------------------------------------- + */ +extern void xt_ints_on( unsigned int mask ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to disable the specified interrupts on the core that runs + * this code. + * + * mask - Bit mask of interrupts to be disabled. + * ------------------------------------------------------------------------------- + */ +extern void xt_ints_off( unsigned int mask ); + + +/* + * ------------------------------------------------------------------------------- + * Call this function to set the specified (s/w) interrupt. + * ------------------------------------------------------------------------------- + */ +static inline void xt_set_intset( unsigned int arg ) +{ + xthal_set_intset( arg ); +} + + +/* + * ------------------------------------------------------------------------------- + * Call this function to clear the specified (s/w or edge-triggered) + * interrupt. + * ------------------------------------------------------------------------------- + */ +static inline void xt_set_intclear( unsigned int arg ) +{ + xthal_set_intclear( arg ); +} + +/* + * ------------------------------------------------------------------------------- + * Call this function to get handler's argument for the specified interrupt. + * + * n - Interrupt number. + * ------------------------------------------------------------------------------- + */ +extern void * xt_get_interrupt_handler_arg( int n ); + +#endif /* __XTENSA_API_H__ */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_config.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_config.h new file mode 100644 index 0000000..4ac32d7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_config.h @@ -0,0 +1,145 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* Configuration-specific information for Xtensa build. This file must be +* included in FreeRTOSConfig.h to properly set up the config-dependent +* parameters correctly. +* +* NOTE: To enable thread-safe C library support, XT_USE_THREAD_SAFE_CLIB must +* be defined to be > 0 somewhere above or on the command line. +* +*******************************************************************************/ + +#ifndef XTENSA_CONFIG_H + #define XTENSA_CONFIG_H + + #ifdef __cplusplus + extern "C" { + #endif + + #include + #include + #include /* required for XSHAL_CLIB */ + + #include "xtensa_context.h" + + +/*----------------------------------------------------------------------------- + * STACK REQUIREMENTS + * + * This section defines the minimum stack size, and the extra space required to + * be allocated for saving coprocessor state and/or C library state information + * (if thread safety is enabled for the C library). The sizes are in bytes. + * + * Stack sizes for individual tasks should be derived from these minima based on + * the maximum call depth of the task and the maximum level of interrupt nesting. + * A minimum stack size is defined by XT_STACK_MIN_SIZE. This minimum is based + * on the requirement for a task that calls nothing else but can be interrupted. + * This assumes that interrupt handlers do not call more than a few levels deep. + * If this is not true, i.e. one or more interrupt handlers make deep calls then + * the minimum must be increased. + * + * If the Xtensa processor configuration includes coprocessors, then space is + * allocated to save the coprocessor state on the stack. + * + * If thread safety is enabled for the C runtime library, (XT_USE_THREAD_SAFE_CLIB + * is defined) then space is allocated to save the C library context in the TCB. + * + * Allocating insufficient stack space is a common source of hard-to-find errors. + * During development, it is best to enable the FreeRTOS stack checking features. + * + * Usage: + * + * XT_USE_THREAD_SAFE_CLIB -- Define this to a nonzero value to enable thread-safe + * use of the C library. This will require extra stack + * space to be allocated for tasks that use the C library + * reentrant functions. See below for more information. + * + * NOTE: The Xtensa toolchain supports multiple C libraries and not all of them + * support thread safety. Check your core configuration to see which C library + * was chosen for your system. + * + * XT_STACK_MIN_SIZE -- The minimum stack size for any task. It is recommended + * that you do not use a stack smaller than this for any + * task. In case you want to use stacks smaller than this + * size, you must verify that the smaller size(s) will work + * under all operating conditions. + * + * XT_STACK_EXTRA -- The amount of extra stack space to allocate for a task + * that does not make C library reentrant calls. Add this + * to the amount of stack space required by the task itself. + * + * XT_STACK_EXTRA_CLIB -- The amount of space to allocate for C library state. + * + * -----------------------------------------------------------------------------*/ + +/* Extra space required for interrupt/exception hooks. */ + #ifdef XT_INTEXC_HOOKS + #ifdef __XTENSA_CALL0_ABI__ + #define STK_INTEXC_EXTRA 0x200 + #else + #define STK_INTEXC_EXTRA 0x180 + #endif + #else + #define STK_INTEXC_EXTRA 0 + #endif + + #define XT_CLIB_CONTEXT_AREA_SIZE 0 + +/*------------------------------------------------------------------------------ + * Extra size -- interrupt frame plus coprocessor save area plus hook space. + * NOTE: Make sure XT_INTEXC_HOOKS is undefined unless you really need the hooks. + * ------------------------------------------------------------------------------*/ + #ifdef __XTENSA_CALL0_ABI__ + #define XT_XTRA_SIZE ( XT_STK_FRMSZ + STK_INTEXC_EXTRA + 0x10 + XT_CP_SIZE ) + #else + #define XT_XTRA_SIZE ( XT_STK_FRMSZ + STK_INTEXC_EXTRA + 0x20 + XT_CP_SIZE ) + #endif + +/*------------------------------------------------------------------------------ + * Space allocated for user code -- function calls and local variables. + * NOTE: This number can be adjusted to suit your needs. You must verify that the + * amount of space you reserve is adequate for the worst-case conditions in your + * application. + * NOTE: The windowed ABI requires more stack, since space has to be reserved + * for spilling register windows. + * ------------------------------------------------------------------------------*/ + #ifdef __XTENSA_CALL0_ABI__ + #define XT_USER_SIZE 0x200 + #else + #define XT_USER_SIZE 0x400 + #endif + +/* Minimum recommended stack size. */ + #define XT_STACK_MIN_SIZE ( ( XT_XTRA_SIZE + XT_USER_SIZE ) / sizeof( unsigned char ) ) + +/* OS overhead with and without C library thread context. */ + #define XT_STACK_EXTRA ( XT_XTRA_SIZE ) + #define XT_STACK_EXTRA_CLIB ( XT_XTRA_SIZE + XT_CLIB_CONTEXT_AREA_SIZE ) + + + #ifdef __cplusplus + } + #endif + +#endif /* XTENSA_CONFIG_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_context.h new file mode 100644 index 0000000..5a76201 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_context.h @@ -0,0 +1,378 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +-------------------------------------------------------------------------------- + + XTENSA CONTEXT FRAMES AND MACROS FOR RTOS ASSEMBLER SOURCES + +This header contains definitions and macros for use primarily by Xtensa +RTOS assembly coded source files. It includes and uses the Xtensa hardware +abstraction layer (HAL) to deal with config specifics. It may also be +included in C source files. + +!! Supports only Xtensa Exception Architecture 2 (XEA2). XEA1 not supported. !! + +NOTE: The Xtensa architecture requires stack pointer alignment to 16 bytes. + +*******************************************************************************/ + +#ifndef XTENSA_CONTEXT_H +#define XTENSA_CONTEXT_H + +#ifdef __ASSEMBLER__ +#include +#endif + +#include +#include +#include +#include + + +/* Align a value up to nearest n-byte boundary, where n is a power of 2. */ +#define ALIGNUP(n, val) (((val) + (n)-1) & -(n)) + + +/* +------------------------------------------------------------------------------- + Macros that help define structures for both C and assembler. +------------------------------------------------------------------------------- +*/ + +#ifdef STRUCT_BEGIN +#undef STRUCT_BEGIN +#undef STRUCT_FIELD +#undef STRUCT_AFIELD +#undef STRUCT_END +#endif + +#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) + +#define STRUCT_BEGIN .pushsection .text; .struct 0 +#define STRUCT_FIELD(ctype,size,asname,name) asname: .space size +#define STRUCT_AFIELD(ctype,size,asname,name,n) asname: .space (size)*(n) +#define STRUCT_END(sname) sname##Size:; .popsection + +#else + +#define STRUCT_BEGIN typedef struct { +#define STRUCT_FIELD(ctype,size,asname,name) ctype name; +#define STRUCT_AFIELD(ctype,size,asname,name,n) ctype name[n]; +#define STRUCT_END(sname) } sname; + +#endif //_ASMLANGUAGE || __ASSEMBLER__ + + +/* +------------------------------------------------------------------------------- + INTERRUPT/EXCEPTION STACK FRAME FOR A THREAD OR NESTED INTERRUPT + + A stack frame of this structure is allocated for any interrupt or exception. + It goes on the current stack. If the RTOS has a system stack for handling + interrupts, every thread stack must allow space for just one interrupt stack + frame, then nested interrupt stack frames go on the system stack. + + The frame includes basic registers (explicit) and "extra" registers introduced + by user TIE or the use of the MAC16 option in the user's Xtensa config. + The frame size is minimized by omitting regs not applicable to user's config. + + For Windowed ABI, this stack frame includes the interruptee's base save area, + another base save area to manage gcc nested functions, and a little temporary + space to help manage the spilling of the register windows. +------------------------------------------------------------------------------- +*/ + +STRUCT_BEGIN +STRUCT_FIELD (long, 4, XT_STK_EXIT, exit) /* exit point for dispatch */ +STRUCT_FIELD (long, 4, XT_STK_PC, pc) /* return PC */ +STRUCT_FIELD (long, 4, XT_STK_PS, ps) /* return PS */ +STRUCT_FIELD (long, 4, XT_STK_A0, a0) +STRUCT_FIELD (long, 4, XT_STK_A1, a1) /* stack pointer before interrupt */ +STRUCT_FIELD (long, 4, XT_STK_A2, a2) +STRUCT_FIELD (long, 4, XT_STK_A3, a3) +STRUCT_FIELD (long, 4, XT_STK_A4, a4) +STRUCT_FIELD (long, 4, XT_STK_A5, a5) +STRUCT_FIELD (long, 4, XT_STK_A6, a6) +STRUCT_FIELD (long, 4, XT_STK_A7, a7) +STRUCT_FIELD (long, 4, XT_STK_A8, a8) +STRUCT_FIELD (long, 4, XT_STK_A9, a9) +STRUCT_FIELD (long, 4, XT_STK_A10, a10) +STRUCT_FIELD (long, 4, XT_STK_A11, a11) +STRUCT_FIELD (long, 4, XT_STK_A12, a12) +STRUCT_FIELD (long, 4, XT_STK_A13, a13) +STRUCT_FIELD (long, 4, XT_STK_A14, a14) +STRUCT_FIELD (long, 4, XT_STK_A15, a15) +STRUCT_FIELD (long, 4, XT_STK_SAR, sar) +STRUCT_FIELD (long, 4, XT_STK_EXCCAUSE, exccause) +STRUCT_FIELD (long, 4, XT_STK_EXCVADDR, excvaddr) +#if XCHAL_HAVE_LOOPS +STRUCT_FIELD (long, 4, XT_STK_LBEG, lbeg) +STRUCT_FIELD (long, 4, XT_STK_LEND, lend) +STRUCT_FIELD (long, 4, XT_STK_LCOUNT, lcount) +#endif +#ifndef __XTENSA_CALL0_ABI__ +/* Temporary space for saving stuff during window spill */ +STRUCT_FIELD (long, 4, XT_STK_TMP0, tmp0) +STRUCT_FIELD (long, 4, XT_STK_TMP1, tmp1) +STRUCT_FIELD (long, 4, XT_STK_TMP2, tmp2) +#endif +#ifdef XT_USE_SWPRI +/* Storage for virtual priority mask */ +STRUCT_FIELD (long, 4, XT_STK_VPRI, vpri) +#endif +#ifdef XT_USE_OVLY +/* Storage for overlay state */ +STRUCT_FIELD (long, 4, XT_STK_OVLY, ovly) +#endif +STRUCT_END(XtExcFrame) + +#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) +#define XT_STK_NEXT1 XtExcFrameSize +#else +#define XT_STK_NEXT1 sizeof(XtExcFrame) +#endif + +/* Allocate extra storage if needed */ +#if XCHAL_EXTRA_SA_SIZE != 0 + +#if XCHAL_EXTRA_SA_ALIGN <= 16 +#define XT_STK_EXTRA ALIGNUP(XCHAL_EXTRA_SA_ALIGN, XT_STK_NEXT1) +#else +/* If need more alignment than stack, add space for dynamic alignment */ +#define XT_STK_EXTRA (ALIGNUP(XCHAL_EXTRA_SA_ALIGN, XT_STK_NEXT1) + XCHAL_EXTRA_SA_ALIGN) +#endif +#define XT_STK_NEXT2 (XT_STK_EXTRA + XCHAL_EXTRA_SA_SIZE) + +#else + +#define XT_STK_NEXT2 XT_STK_NEXT1 + +#endif + +/* +------------------------------------------------------------------------------- + This is the frame size. Add space for 4 registers (interruptee's base save + area) and some space for gcc nested functions if any. +------------------------------------------------------------------------------- +*/ +#define XT_STK_FRMSZ (ALIGNUP(0x10, XT_STK_NEXT2) + 0x20) + + +/* +------------------------------------------------------------------------------- + SOLICITED STACK FRAME FOR A THREAD + + A stack frame of this structure is allocated whenever a thread enters the + RTOS kernel intentionally (and synchronously) to submit to thread scheduling. + It goes on the current thread's stack. + + The solicited frame only includes registers that are required to be preserved + by the callee according to the compiler's ABI conventions, some space to save + the return address for returning to the caller, and the caller's PS register. + + For Windowed ABI, this stack frame includes the caller's base save area. + + Note on XT_SOL_EXIT field: + It is necessary to distinguish a solicited from an interrupt stack frame. + This field corresponds to XT_STK_EXIT in the interrupt stack frame and is + always at the same offset (0). It can be written with a code (usually 0) + to distinguish a solicted frame from an interrupt frame. An RTOS port may + opt to ignore this field if it has another way of distinguishing frames. +------------------------------------------------------------------------------- +*/ + +STRUCT_BEGIN +#ifdef __XTENSA_CALL0_ABI__ +STRUCT_FIELD (long, 4, XT_SOL_EXIT, exit) +STRUCT_FIELD (long, 4, XT_SOL_PC, pc) +STRUCT_FIELD (long, 4, XT_SOL_PS, ps) +STRUCT_FIELD (long, 4, XT_SOL_NEXT, next) +STRUCT_FIELD (long, 4, XT_SOL_A12, a12) /* should be on 16-byte alignment */ +STRUCT_FIELD (long, 4, XT_SOL_A13, a13) +STRUCT_FIELD (long, 4, XT_SOL_A14, a14) +STRUCT_FIELD (long, 4, XT_SOL_A15, a15) +#else +STRUCT_FIELD (long, 4, XT_SOL_EXIT, exit) +STRUCT_FIELD (long, 4, XT_SOL_PC, pc) +STRUCT_FIELD (long, 4, XT_SOL_PS, ps) +STRUCT_FIELD (long, 4, XT_SOL_NEXT, next) +STRUCT_FIELD (long, 4, XT_SOL_A0, a0) /* should be on 16-byte alignment */ +STRUCT_FIELD (long, 4, XT_SOL_A1, a1) +STRUCT_FIELD (long, 4, XT_SOL_A2, a2) +STRUCT_FIELD (long, 4, XT_SOL_A3, a3) +#endif +STRUCT_END(XtSolFrame) + +/* Size of solicited stack frame */ +#define XT_SOL_FRMSZ ALIGNUP(0x10, XtSolFrameSize) + + +/* +------------------------------------------------------------------------------- + CO-PROCESSOR STATE SAVE AREA FOR A THREAD + + The RTOS must provide an area per thread to save the state of co-processors + when that thread does not have control. Co-processors are context-switched + lazily (on demand) only when a new thread uses a co-processor instruction, + otherwise a thread retains ownership of the co-processor even when it loses + control of the processor. An Xtensa co-processor exception is triggered when + any co-processor instruction is executed by a thread that is not the owner, + and the context switch of that co-processor is then peformed by the handler. + Ownership represents which thread's state is currently in the co-processor. + + Co-processors may not be used by interrupt or exception handlers. If an + co-processor instruction is executed by an interrupt or exception handler, + the co-processor exception handler will trigger a kernel panic and freeze. + This restriction is introduced to reduce the overhead of saving and restoring + co-processor state (which can be quite large) and in particular remove that + overhead from interrupt handlers. + + The co-processor state save area may be in any convenient per-thread location + such as in the thread control block or above the thread stack area. It need + not be in the interrupt stack frame since interrupts don't use co-processors. + + Along with the save area for each co-processor, two bitmasks with flags per + co-processor (laid out as in the CPENABLE reg) help manage context-switching + co-processors as efficiently as possible: + + XT_CPENABLE + The contents of a non-running thread's CPENABLE register. + It represents the co-processors owned (and whose state is still needed) + by the thread. When a thread is preempted, its CPENABLE is saved here. + When a thread solicits a context-swtich, its CPENABLE is cleared - the + compiler has saved the (caller-saved) co-proc state if it needs to. + When a non-running thread loses ownership of a CP, its bit is cleared. + When a thread runs, it's XT_CPENABLE is loaded into the CPENABLE reg. + Avoids co-processor exceptions when no change of ownership is needed. + + XT_CPSTORED + A bitmask with the same layout as CPENABLE, a bit per co-processor. + Indicates whether the state of each co-processor is saved in the state + save area. When a thread enters the kernel, only the state of co-procs + still enabled in CPENABLE is saved. When the co-processor exception + handler assigns ownership of a co-processor to a thread, it restores + the saved state only if this bit is set, and clears this bit. + + XT_CP_CS_ST + A bitmask with the same layout as CPENABLE, a bit per co-processor. + Indicates whether callee-saved state is saved in the state save area. + Callee-saved state is saved by itself on a solicited context switch, + and restored when needed by the coprocessor exception handler. + Unsolicited switches will cause the entire coprocessor to be saved + when necessary. + + XT_CP_ASA + Pointer to the aligned save area. Allows it to be aligned more than + the overall save area (which might only be stack-aligned or TCB-aligned). + Especially relevant for Xtensa cores configured with a very large data + path that requires alignment greater than 16 bytes (ABI stack alignment). +------------------------------------------------------------------------------- +*/ + +#if XCHAL_CP_NUM > 0 + +/* Offsets of each coprocessor save area within the 'aligned save area': */ +#define XT_CP0_SA 0 +#define XT_CP1_SA ALIGNUP(XCHAL_CP1_SA_ALIGN, XT_CP0_SA + XCHAL_CP0_SA_SIZE) +#define XT_CP2_SA ALIGNUP(XCHAL_CP2_SA_ALIGN, XT_CP1_SA + XCHAL_CP1_SA_SIZE) +#define XT_CP3_SA ALIGNUP(XCHAL_CP3_SA_ALIGN, XT_CP2_SA + XCHAL_CP2_SA_SIZE) +#define XT_CP4_SA ALIGNUP(XCHAL_CP4_SA_ALIGN, XT_CP3_SA + XCHAL_CP3_SA_SIZE) +#define XT_CP5_SA ALIGNUP(XCHAL_CP5_SA_ALIGN, XT_CP4_SA + XCHAL_CP4_SA_SIZE) +#define XT_CP6_SA ALIGNUP(XCHAL_CP6_SA_ALIGN, XT_CP5_SA + XCHAL_CP5_SA_SIZE) +#define XT_CP7_SA ALIGNUP(XCHAL_CP7_SA_ALIGN, XT_CP6_SA + XCHAL_CP6_SA_SIZE) +#define XT_CP_SA_SIZE ALIGNUP(16, XT_CP7_SA + XCHAL_CP7_SA_SIZE) + +/* Offsets within the overall save area: */ +#define XT_CPENABLE 0 /* (2 bytes) coprocessors active for this thread */ +#define XT_CPSTORED 2 /* (2 bytes) coprocessors saved for this thread */ +#define XT_CP_CS_ST 4 /* (2 bytes) coprocessor callee-saved regs stored for this thread */ +#define XT_CP_ASA 8 /* (4 bytes) ptr to aligned save area */ +/* Overall size allows for dynamic alignment: */ +#define XT_CP_SIZE (12 + XT_CP_SA_SIZE + XCHAL_TOTAL_SA_ALIGN) +#else +#define XT_CP_SIZE 0 +#endif + + +/* + Macro to get the current core ID. Only uses the reg given as an argument. + Reading PRID on the ESP32 gives us 0xCDCD on the PRO processor (0) + and 0xABAB on the APP CPU (1). We can distinguish between the two by checking + bit 13: it's 1 on the APP and 0 on the PRO processor. +*/ +#ifdef __ASSEMBLER__ + .macro getcoreid reg + rsr.prid \reg + extui \reg,\reg,13,1 + .endm +#endif + +#define CORE_ID_PRO 0xCDCD +#define CORE_ID_APP 0xABAB + +/* +------------------------------------------------------------------------------- + MACROS TO HANDLE ABI SPECIFICS OF FUNCTION ENTRY AND RETURN + + Convenient where the frame size requirements are the same for both ABIs. + ENTRY(sz), RET(sz) are for framed functions (have locals or make calls). + ENTRY0, RET0 are for frameless functions (no locals, no calls). + + where size = size of stack frame in bytes (must be >0 and aligned to 16). + For framed functions the frame is created and the return address saved at + base of frame (Call0 ABI) or as determined by hardware (Windowed ABI). + For frameless functions, there is no frame and return address remains in a0. + Note: Because CPP macros expand to a single line, macros requiring multi-line + expansions are implemented as assembler macros. +------------------------------------------------------------------------------- +*/ + +#ifdef __ASSEMBLER__ +#ifdef __XTENSA_CALL0_ABI__ + /* Call0 */ + #define ENTRY(sz) entry1 sz + .macro entry1 size=0x10 + addi sp, sp, -\size + s32i a0, sp, 0 + .endm + #define ENTRY0 + #define RET(sz) ret1 sz + .macro ret1 size=0x10 + l32i a0, sp, 0 + addi sp, sp, \size + ret + .endm + #define RET0 ret +#else + /* Windowed */ + #define ENTRY(sz) entry sp, sz + #define ENTRY0 entry sp, 0x10 + #define RET(sz) retw + #define RET0 retw +#endif +#endif + + + + + +#endif /* XTENSA_CONTEXT_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_rtos.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_rtos.h new file mode 100644 index 0000000..dbd82b6 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_rtos.h @@ -0,0 +1,231 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* RTOS-SPECIFIC INFORMATION FOR XTENSA RTOS ASSEMBLER SOURCES +* (FreeRTOS Port) +* +* This header is the primary glue between generic Xtensa RTOS support +* sources and a specific RTOS port for Xtensa. It contains definitions +* and macros for use primarily by Xtensa assembly coded source files. +* +* Macros in this header map callouts from generic Xtensa files to specific +* RTOS functions. It may also be included in C source files. +* +* Xtensa RTOS ports support all RTOS-compatible configurations of the Xtensa +* architecture, using the Xtensa hardware abstraction layer (HAL) to deal +* with configuration specifics. +* +* Should be included by all Xtensa generic and RTOS port-specific sources. +* +*******************************************************************************/ + +#ifndef XTENSA_RTOS_H +#define XTENSA_RTOS_H + +#ifdef __ASSEMBLER__ + #include +#else + #include +#endif + +#include +#include + +/* + * Include any RTOS specific definitions that are needed by this header. + */ +#include "FreeRTOSConfig.h" + +/* + * Convert FreeRTOSConfig definitions to XTENSA definitions. + * However these can still be overridden from the command line. + */ + +#ifndef XT_SIMULATOR + #if configXT_SIMULATOR + #define XT_SIMULATOR 1 /* Simulator mode */ + #endif +#endif + +#ifndef XT_BOARD + #if configXT_BOARD + #define XT_BOARD 1 /* Board mode */ + #endif +#endif + +#ifndef XT_TIMER_INDEX + #if defined configXT_TIMER_INDEX + #define XT_TIMER_INDEX configXT_TIMER_INDEX /* Index of hardware timer to be used */ + #endif +#endif + +#ifndef XT_INTEXC_HOOKS + #if configXT_INTEXC_HOOKS + #define XT_INTEXC_HOOKS 1 /* Enables exception hooks */ + #endif +#endif + +#if !defined( XT_SIMULATOR ) && !defined( XT_BOARD ) + #error Either XT_SIMULATOR or XT_BOARD must be defined. +#endif + + +/* + * Name of RTOS (for messages). + */ +#define XT_RTOS_NAME FreeRTOS + +/* + * Check some Xtensa configuration requirements and report error if not met. + * Error messages can be customize to the RTOS port. + */ + +#if !XCHAL_HAVE_XEA2 + #error "FreeRTOS/Xtensa requires XEA2 (exception architecture 2)." +#endif + + +/******************************************************************************* +* +* RTOS CALLOUT MACROS MAPPED TO RTOS PORT-SPECIFIC FUNCTIONS. +* +* Define callout macros used in generic Xtensa code to interact with the RTOS. +* The macros are simply the function names for use in calls from assembler code. +* Some of these functions may call back to generic functions in xtensa_context.h . +* +*******************************************************************************/ + +/* + * Inform RTOS of entry into an interrupt handler that will affect it. + * Allows RTOS to manage switch to any system stack and count nesting level. + * Called after minimal context has been saved, with interrupts disabled. + * RTOS port can call0 _xt_context_save to save the rest of the context. + * May only be called from assembly code by the 'call0' instruction. + */ +/* void XT_RTOS_INT_ENTER(void) */ +#define XT_RTOS_INT_ENTER _frxt_int_enter + +/* + * Inform RTOS of completion of an interrupt handler, and give control to + * RTOS to perform thread/task scheduling, switch back from any system stack + * and restore the context, and return to the exit dispatcher saved in the + * stack frame at XT_STK_EXIT. RTOS port can call0 _xt_context_restore + * to save the context saved in XT_RTOS_INT_ENTER via _xt_context_save, + * leaving only a minimal part of the context to be restored by the exit + * dispatcher. This function does not return to the place it was called from. + * May only be called from assembly code by the 'call0' instruction. + */ +/* void XT_RTOS_INT_EXIT(void) */ +#define XT_RTOS_INT_EXIT _frxt_int_exit + +/* + * Inform RTOS of the occurrence of a tick timer interrupt. + * If RTOS has no tick timer, leave XT_RTOS_TIMER_INT undefined. + * May be coded in or called from C or assembly, per ABI conventions. + * RTOS may optionally define XT_TICK_PER_SEC in its own way (eg. macro). + */ +/* void XT_RTOS_TIMER_INT(void) */ +#define XT_RTOS_TIMER_INT _frxt_timer_int +#define XT_TICK_PER_SEC configTICK_RATE_HZ + +/* + * Return in a15 the base address of the co-processor state save area for the + * thread that triggered a co-processor exception, or 0 if no thread was running. + * The state save area is structured as defined in xtensa_context.h and has size + * XT_CP_SIZE. Co-processor instructions should only be used in thread code, never + * in interrupt handlers or the RTOS kernel. May only be called from assembly code + * and by the 'call0' instruction. A result of 0 indicates an unrecoverable error. + * The implementation may use only a2-4, a15 (all other regs must be preserved). + */ +/* void* XT_RTOS_CP_STATE(void) */ +#define XT_RTOS_CP_STATE _frxt_task_coproc_state + + +/******************************************************************************* +* +* HOOKS TO DYNAMICALLY INSTALL INTERRUPT AND EXCEPTION HANDLERS PER LEVEL. +* +* This Xtensa RTOS port provides hooks for dynamically installing exception +* and interrupt handlers to facilitate automated testing where each test +* case can install its own handler for user exceptions and each interrupt +* priority (level). This consists of an array of function pointers indexed +* by interrupt priority, with index 0 being the user exception handler hook. +* Each entry in the array is initially 0, and may be replaced by a function +* pointer of type XT_INTEXC_HOOK. A handler may be uninstalled by installing 0. +* +* The handler for low and medium priority obeys ABI conventions so may be coded +* in C. For the exception handler, the cause is the contents of the EXCCAUSE +* reg, and the result is -1 if handled, else the cause (still needs handling). +* For interrupt handlers, the cause is a mask of pending enabled interrupts at +* that level, and the result is the same mask with the bits for the handled +* interrupts cleared (those not cleared still need handling). This allows a test +* case to either pre-handle or override the default handling for the exception +* or interrupt level (see xtensa_vectors.S). +* +* High priority handlers (including NMI) must be coded in assembly, are always +* called by 'call0' regardless of ABI, must preserve all registers except a0, +* and must not use or modify the interrupted stack. The hook argument 'cause' +* is not passed and the result is ignored, so as not to burden the caller with +* saving and restoring a2 (it assumes only one interrupt per level - see the +* discussion in high priority interrupts in xtensa_vectors.S). The handler +* therefore should be coded to prototype 'void h(void)' even though it plugs +* into an array of handlers of prototype 'unsigned h(unsigned)'. +* +* To enable interrupt/exception hooks, compile the RTOS with '-DXT_INTEXC_HOOKS'. +* +*******************************************************************************/ + +#define XT_INTEXC_HOOK_NUM ( 1 + XCHAL_NUM_INTLEVELS + XCHAL_HAVE_NMI ) + +#ifndef __ASSEMBLER__ + typedef unsigned (* XT_INTEXC_HOOK)( unsigned cause ); + extern volatile XT_INTEXC_HOOK _xt_intexc_hooks[ XT_INTEXC_HOOK_NUM ]; +#endif + + +/******************************************************************************* +* +* CONVENIENCE INCLUSIONS. +* +* Ensures RTOS specific files need only include this one Xtensa-generic header. +* These headers are included last so they can use the RTOS definitions above. +* +*******************************************************************************/ + +#include "xtensa_context.h" + +#ifdef XT_RTOS_TIMER_INT + #include "xtensa_timer.h" +#endif + + +/******************************************************************************* +* +* Xtensa Port Version. +* +*******************************************************************************/ + +#define XTENSA_PORT_VERSION 1.4 .2 +#define XTENSA_PORT_VERSION_STRING "1.4.2" + +#endif /* XTENSA_RTOS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_timer.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_timer.h new file mode 100644 index 0000000..431205d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/include/xtensa_timer.h @@ -0,0 +1,158 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* XTENSA INFORMATION FOR RTOS TICK TIMER AND CLOCK FREQUENCY +* +* This header contains definitions and macros for use primarily by Xtensa +* RTOS assembly coded source files. It includes and uses the Xtensa hardware +* abstraction layer (HAL) to deal with config specifics. It may also be +* included in C source files. +* +* User may edit to modify timer selection and to specify clock frequency and +* tick duration to match timer interrupt to the real-time tick duration. +* +* If the RTOS has no timer interrupt, then there is no tick timer and the +* clock frequency is irrelevant, so all of these macros are left undefined +* and the Xtensa core configuration need not have a timer. +* +*******************************************************************************/ + +#ifndef XTENSA_TIMER_H +#define XTENSA_TIMER_H + +#ifdef __ASSEMBLER__ + #include +#endif + +#include +#include + +#include "xtensa_rtos.h" /* in case this wasn't included directly */ + +#include "FreeRTOSConfig.h" + +/* + * Select timer to use for periodic tick, and determine its interrupt number + * and priority. User may specify a timer by defining XT_TIMER_INDEX with -D, + * in which case its validity is checked (it must exist in this core and must + * not be on a high priority interrupt - an error will be reported in invalid). + * Otherwise select the first low or medium priority interrupt timer available. + */ +#if XCHAL_NUM_TIMERS == 0 + + #error "This Xtensa configuration is unsupported, it has no timers." + +#else + + #ifndef XT_TIMER_INDEX + #if XCHAL_TIMER3_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER3_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 3 + #endif + #endif + #if XCHAL_TIMER2_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER2_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 2 + #endif + #endif + #if XCHAL_TIMER1_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER1_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 1 + #endif + #endif + #if XCHAL_TIMER0_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL( XCHAL_TIMER0_INTERRUPT ) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 0 + #endif + #endif + #endif /* ifndef XT_TIMER_INDEX */ + #ifndef XT_TIMER_INDEX + #error "There is no suitable timer in this Xtensa configuration." + #endif + + #define XT_CCOMPARE ( CCOMPARE + XT_TIMER_INDEX ) + #define XT_TIMER_INTNUM XCHAL_TIMER_INTERRUPT( XT_TIMER_INDEX ) + #define XT_TIMER_INTPRI XCHAL_INT_LEVEL( XT_TIMER_INTNUM ) + #define XT_TIMER_INTEN ( 1 << XT_TIMER_INTNUM ) + + #if XT_TIMER_INTNUM == XTHAL_TIMER_UNCONFIGURED + #error "The timer selected by XT_TIMER_INDEX does not exist in this core." + #elif XT_TIMER_INTPRI > XCHAL_EXCM_LEVEL + #error "The timer interrupt cannot be high priority (use medium or low)." + #endif + +#endif /* XCHAL_NUM_TIMERS */ + +/* + * Set processor clock frequency, used to determine clock divisor for timer tick. + * User should BE SURE TO ADJUST THIS for the Xtensa platform being used. + * If using a supported board via the board-independent API defined in xtbsp.h, + * this may be left undefined and frequency and tick divisor will be computed + * and cached during run-time initialization. + * + * NOTE ON SIMULATOR: + * Under the Xtensa instruction set simulator, the frequency can only be estimated + * because it depends on the speed of the host and the version of the simulator. + * Also because it runs much slower than hardware, it is not possible to achieve + * real-time performance for most applications under the simulator. A frequency + * too low does not allow enough time between timer interrupts, starving threads. + * To obtain a more convenient but non-real-time tick duration on the simulator, + * compile with xt-xcc option "-DXT_SIMULATOR". + * Adjust this frequency to taste (it's not real-time anyway!). + */ +#if defined( XT_SIMULATOR ) && !defined( XT_CLOCK_FREQ ) + #define XT_CLOCK_FREQ configCPU_CLOCK_HZ +#endif + +#if !defined( XT_CLOCK_FREQ ) && !defined( XT_BOARD ) + #error "XT_CLOCK_FREQ must be defined for the target platform." +#endif + +/* + * Default number of timer "ticks" per second (default 100 for 10ms tick). + * RTOS may define this in its own way (if applicable) in xtensa_rtos.h. + * User may redefine this to an optimal value for the application, either by + * editing this here or in xtensa_rtos.h, or compiling with xt-xcc option + * "-DXT_TICK_PER_SEC=" where is a suitable number. + */ +#ifndef XT_TICK_PER_SEC + #define XT_TICK_PER_SEC configTICK_RATE_HZ /* 10 ms tick = 100 ticks per second */ +#endif + +/* + * Derivation of clock divisor for timer tick and interrupt (one per tick). + */ +#ifdef XT_CLOCK_FREQ + #define XT_TICK_DIVISOR ( XT_CLOCK_FREQ / XT_TICK_PER_SEC ) +#endif + +#ifndef __ASSEMBLER__ + extern unsigned _xt_tick_divisor; + extern void _xt_tick_divisor_init( void ); +#endif + +#endif /* XTENSA_TIMER_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/port.c new file mode 100644 index 0000000..992789a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/port.c @@ -0,0 +1,484 @@ +/* + * FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd. + * All rights reserved + * + * VISIT https://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + * + * This file is part of the FreeRTOS distribution. + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + *************************************************************************** + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available on the following + * link: https://www.FreeRTOS.org/a00114.html + * + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * https://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + * + * https://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + * the FAQ page "My application does not run, what could be wrong?". Have you + * defined configASSERT()? + * + * https://www.FreeRTOS.org/support - In return for receiving this top quality + * embedded software for free we request you assist our global community by + * participating in the support forum. + * + * https://www.FreeRTOS.org/training - Investing in training allows your team + * to be as productive as possible as early as possible. Now you can receive + * FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + * Ltd, and the world's leading authority on the world's leading RTOS. + * + * https://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + * including FreeRTOS+Trace - an indispensable productivity tool, a DOS + * compatible FAT file system, and our tiny thread aware UDP/IP stack. + * + * https://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + * Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + * + * https://www.highintegritysystems.com/openrtos/ - Real Time Engineers ltd. + * license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS + * brand. Low cost OpenRTOS licenses offer ticketed support, indemnification + * and commercial middleware. + * + * https://www.highintegritysystems.com/safertos/ - High Integrity Systems + * also provide a safety engineered and independently SIL3 certified version + * for use in safety and mission critical applications that require provable + * dependability. + * + */ + +/******************************************************************************* + * // Copyright (c) 2003-2015 Cadence Design Systems, Inc. + * // + * // Permission is hereby granted, free of charge, to any person obtaining + * // a copy of this software and associated documentation files (the + * // "Software"), to deal in the Software without restriction, including + * // without limitation the rights to use, copy, modify, merge, publish, + * // distribute, sublicense, and/or sell copies of the Software, and to + * // permit persons to whom the Software is furnished to do so, subject to + * // the following conditions: + * // + * // The above copyright notice and this permission notice shall be included + * // in all copies or substantial portions of the Software. + * // + * // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * ----------------------------------------------------------------------------- + */ + +#include +#include + +#include "xtensa_rtos.h" + +#include "rom/ets_sys.h" +#include "soc/cpu.h" + +#include "FreeRTOS.h" +#include "task.h" + +#include "esp_panic.h" +#include "esp_heap_caps.h" +#include "esp_crosscore_int.h" + +#include "esp_intr_alloc.h" + +/* Defined in portasm.h */ +extern void _frxt_tick_timer_init( void ); + +/* Defined in xtensa_context.S */ +extern void _xt_coproc_init( void ); + + +#if CONFIG_FREERTOS_CORETIMER_0 + #define SYSTICK_INTR_ID ( ETS_INTERNAL_TIMER0_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF ) +#endif +#if CONFIG_FREERTOS_CORETIMER_1 + #define SYSTICK_INTR_ID ( ETS_INTERNAL_TIMER1_INTR_SOURCE + ETS_INTERNAL_INTR_SOURCE_OFF ) +#endif + +/*-----------------------------------------------------------*/ + +unsigned port_xSchedulerRunning[ portNUM_PROCESSORS ] = { 0 }; /* Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting */ +unsigned port_interruptNesting[ portNUM_PROCESSORS ] = { 0 }; /* Interrupt nesting level. Increased/decreased in portasm.c, _frxt_int_enter/_frxt_int_exit */ + +/*-----------------------------------------------------------*/ + +/* User exception dispatcher when exiting */ +void _xt_user_exit( void ); + +/* + * Stack initialization + */ +/* *INDENT-OFF* */ +#if portUSING_MPU_WRAPPERS + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) +#else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) +#endif +/* *INDENT-ON* */ +{ + StackType_t * sp, * tp; + XtExcFrame * frame; + + #if XCHAL_CP_NUM > 0 + uint32_t * p; + #endif + + /* Create interrupt stack frame aligned to 16 byte boundary */ + sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf ); + + /* Clear the entire frame (do not use memset() because we don't depend on C library) */ + for( tp = sp; tp <= pxTopOfStack; ++tp ) + { + *tp = 0; + } + + frame = ( XtExcFrame * ) sp; + + /* Explicitly initialize certain saved registers */ + frame->pc = ( UBaseType_t ) pxCode; /* task entrypoint */ + frame->a0 = 0; /* to terminate GDB backtrace */ + frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ; /* physical top of stack frame */ + frame->exit = ( UBaseType_t ) _xt_user_exit; /* user exception exit dispatcher */ + + /* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */ + /* Also set entry point argument parameter. */ + #ifdef __XTENSA_CALL0_ABI__ + frame->a2 = ( UBaseType_t ) pvParameters; + frame->ps = PS_UM | PS_EXCM; + #else + /* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */ + frame->a6 = ( UBaseType_t ) pvParameters; + frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 ); + #endif + + #ifdef XT_USE_SWPRI + /* Set the initial virtual priority mask value to all 1's. */ + frame->vpri = 0xFFFFFFFF; + #endif + + #if XCHAL_CP_NUM > 0 + /* Init the coprocessor save area (see xtensa_context.h) */ + + /* No access to TCB here, so derive indirectly. Stack growth is top to bottom. + * //p = (uint32_t *) xMPUSettings->coproc_area; + */ + p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf ); + configASSERT( ( uint32_t ) p >= frame->a1 ); + p[ 0 ] = 0; + p[ 1 ] = 0; + p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN; + #endif + + return sp; +} + +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the Xtensa port will get stopped. If required simply + * disable the tick interrupt here. */ +} + +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + /* Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored */ + + #if XCHAL_CP_NUM > 0 + /* Initialize co-processor management for tasks. Leave CPENABLE alone. */ + _xt_coproc_init(); + #endif + + /* Init the tick divisor value */ + _xt_tick_divisor_init(); + + /* Setup the hardware to generate the tick. */ + _frxt_tick_timer_init(); + + port_xSchedulerRunning[ xPortGetCoreID() ] = 1; + + /* Cannot be directly called from C; never returns */ + __asm__ volatile ( "call0 _frxt_dispatch\n" ); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortSysTickHandler( void ) +{ + BaseType_t ret; + unsigned interruptMask; + + portbenchmarkIntLatency(); + traceISR_ENTER( SYSTICK_INTR_ID ); + + /* Interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY must be + * disabled before calling xTaskIncrementTick as it access the + * kernel lists. */ + interruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + ret = xTaskIncrementTick(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( interruptMask ); + + if( ret != pdFALSE ) + { + portYIELD_FROM_ISR(); + } + else + { + traceISR_EXIT(); + } + + return ret; +} + + +void vPortYieldOtherCore( BaseType_t coreid ) +{ + esp_crosscore_int_send_yield( coreid ); +} + +/*-----------------------------------------------------------*/ + +/* + * Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area. + */ +#if portUSING_MPU_WRAPPERS + void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t usStackDepth ) + { + #if XCHAL_CP_NUM > 0 + xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 )); + xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); + xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf ); + + + /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to + * clear the stack area after we return. This is done in pxPortInitialiseStack(). + */ + #endif + } + + void vPortReleaseTaskMPUSettings( xMPU_SETTINGS * xMPUSettings ) + { + /* If task has live floating point registers somewhere, release them */ + _xt_coproc_release( xMPUSettings->coproc_area ); + } + +#endif /* if portUSING_MPU_WRAPPERS */ + +/* + * Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs + * aren't detected here, but they normally cannot call C code, so that should not be an issue anyway. + */ +BaseType_t xPortInIsrContext() +{ + unsigned int irqStatus; + BaseType_t ret; + + irqStatus = portENTER_CRITICAL_NESTED(); + ret = ( port_interruptNesting[ xPortGetCoreID() ] != 0 ); + portEXIT_CRITICAL_NESTED( irqStatus ); + return ret; +} + +/* + * This function will be called in High prio ISRs. Returns true if the current core was in ISR context + * before calling into high prio ISR context. + */ +BaseType_t IRAM_ATTR xPortInterruptedFromISRContext() +{ + return( port_interruptNesting[ xPortGetCoreID() ] != 0 ); +} + +void vPortAssertIfInISR() +{ + if( xPortInIsrContext() ) + { + ets_printf( "core=%d port_interruptNesting=%d\n\n", xPortGetCoreID(), port_interruptNesting[ xPortGetCoreID() ] ); + } + + configASSERT( !xPortInIsrContext() ); +} + +/* + * For kernel use: Initialize a per-CPU mux. Mux will be initialized unlocked. + */ +void vPortCPUInitializeMutex( portMUX_TYPE * mux ) +{ + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + ets_printf( "Initializing mux %p\n", mux ); + mux->lastLockedFn = "(never locked)"; + mux->lastLockedLine = -1; + #endif + mux->owner = portMUX_FREE_VAL; + mux->count = 0; +} + +#include "portmux_impl.h" + +/* + * For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long. + */ +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + void vPortCPUAcquireMutex( portMUX_TYPE * mux, + const char * fnName, + int line ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT, fnName, line ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } + + bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, + int timeout_cycles, + const char * fnName, + int line ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + bool result = vPortCPUAcquireMutexIntsDisabled( mux, timeout_cycles, fnName, line ); + + portEXIT_CRITICAL_NESTED( irqStatus ); + return result; + } + +#else /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + void vPortCPUAcquireMutex( portMUX_TYPE * mux ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUAcquireMutexIntsDisabled( mux, portMUX_NO_TIMEOUT ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } + + bool vPortCPUAcquireMutexTimeout( portMUX_TYPE * mux, + int timeout_cycles ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + bool result = vPortCPUAcquireMutexIntsDisabled( mux, timeout_cycles ); + + portEXIT_CRITICAL_NESTED( irqStatus ); + return result; + } +#endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + + +/* + * For kernel use: Release a per-CPU mux + * + * Mux must be already locked by this core + */ +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + void vPortCPUReleaseMutex( portMUX_TYPE * mux, + const char * fnName, + int line ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUReleaseMutexIntsDisabled( mux, fnName, line ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } +#else + void vPortCPUReleaseMutex( portMUX_TYPE * mux ) + { + unsigned int irqStatus = portENTER_CRITICAL_NESTED(); + + vPortCPUReleaseMutexIntsDisabled( mux ); + portEXIT_CRITICAL_NESTED( irqStatus ); + } +#endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + +void vPortSetStackWatchpoint( void * pxStackStart ) +{ + /*Set watchpoint 1 to watch the last 32 bytes of the stack. */ + /*Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because */ + /*the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32 */ + /*bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most */ + /*28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes. */ + /*This way, we make sure we trigger before/when the stack canary is corrupted, not after. */ + int addr = ( int ) pxStackStart; + + addr = ( addr + 31 ) & ( ~31 ); + esp_set_watchpoint( 1, ( char * ) addr, 32, ESP_WATCHPOINT_STORE ); +} + +#if defined( CONFIG_SPIRAM_SUPPORT ) + +/* + * Compare & set (S32C1) does not work in external RAM. Instead, this routine uses a mux (in internal memory) to fake it. + */ + static portMUX_TYPE extram_mux = portMUX_INITIALIZER_UNLOCKED; + + void uxPortCompareSetExtram( volatile uint32_t * addr, + uint32_t compare, + uint32_t * set ) + { + uint32_t prev; + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + vPortCPUAcquireMutexIntsDisabled( &extram_mux, portMUX_NO_TIMEOUT, __FUNCTION__, __LINE__ ); + #else + vPortCPUAcquireMutexIntsDisabled( &extram_mux, portMUX_NO_TIMEOUT ); + #endif + prev = *addr; + + if( prev == compare ) + { + *addr = *set; + } + + *set = prev; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + vPortCPUReleaseMutexIntsDisabled( &extram_mux, __FUNCTION__, __LINE__ ); + #else + vPortCPUReleaseMutexIntsDisabled( &extram_mux ); + #endif + } +#endif //defined(CONFIG_SPIRAM_SUPPORT) + + + +uint32_t xPortGetTickRateHz( void ) +{ + return ( uint32_t ) configTICK_RATE_HZ; +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portasm.S new file mode 100644 index 0000000..b43e9be --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portasm.S @@ -0,0 +1,653 @@ +/* +//----------------------------------------------------------------------------- +// Copyright (c) 2003-2015 Cadence Design Systems, Inc. +// +// Permission is hereby granted, free of charge, to any person obtaining +// a copy of this software and associated documentation files (the +// "Software"), to deal in the Software without restriction, including +// without limitation the rights to use, copy, modify, merge, publish, +// distribute, sublicense, and/or sell copies of the Software, and to +// permit persons to whom the Software is furnished to do so, subject to +// the following conditions: +// +// The above copyright notice and this permission notice shall be included +// in all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +// CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +// TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +//----------------------------------------------------------------------------- +*/ + +#include "xtensa_rtos.h" +#include "sdkconfig.h" + +#define TOPOFSTACK_OFFS 0x00 /* StackType_t *pxTopOfStack */ +#define CP_TOPOFSTACK_OFFS 0x04 /* xMPU_SETTINGS.coproc_area */ + +.extern pxCurrentTCB + +/* +******************************************************************************* +* Interrupt stack. The size of the interrupt stack is determined by the config +* parameter "configISR_STACK_SIZE" in FreeRTOSConfig.h +******************************************************************************* +*/ + + .data + .align 16 + .global port_IntStack + .global port_IntStackTop + .global port_switch_flag +port_IntStack: + .space configISR_STACK_SIZE*portNUM_PROCESSORS /* This allocates stacks for each individual CPU. */ +port_IntStackTop: + .word 0 +port_switch_flag: + .space portNUM_PROCESSORS*4 /* One flag for each individual CPU. */ + + .text + +/* +******************************************************************************* +* _frxt_setup_switch +* void _frxt_setup_switch(void); +* +* Sets an internal flag indicating that a task switch is required on return +* from interrupt handling. +* +******************************************************************************* +*/ + .global _frxt_setup_switch + .type _frxt_setup_switch,@function + .align 4 +_frxt_setup_switch: + + ENTRY(16) + + getcoreid a3 + movi a2, port_switch_flag + addx4 a2, a3, a2 + + movi a3, 1 + s32i a3, a2, 0 + + RET(16) + + + + + + +/* +******************************************************************************* +* _frxt_int_enter +* void _frxt_int_enter(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_INT_ENTER function for +* freeRTOS. Saves the rest of the interrupt context (not already saved). +* May only be called from assembly code by the 'call0' instruction, with +* interrupts disabled. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +******************************************************************************* +*/ + .globl _frxt_int_enter + .type _frxt_int_enter,@function + .align 4 +_frxt_int_enter: + + /* Save a12-13 in the stack frame as required by _xt_context_save. */ + s32i a12, a1, XT_STK_A12 + s32i a13, a1, XT_STK_A13 + + /* Save return address in a safe place (free a0). */ + mov a12, a0 + + /* Save the rest of the interrupted context (preserves A12-13). */ + call0 _xt_context_save + + /* + Save interrupted task's SP in TCB only if not nesting. + Manage nesting directly rather than call the generic IntEnter() + (in windowed ABI we can't call a C function here anyway because PS.EXCM is still set). + */ + getcoreid a4 + movi a2, port_xSchedulerRunning + addx4 a2, a4, a2 + movi a3, port_interruptNesting + addx4 a3, a4, a3 + l32i a2, a2, 0 /* a2 = port_xSchedulerRunning */ + beqz a2, 1f /* scheduler not running, no tasks */ + l32i a2, a3, 0 /* a2 = port_interruptNesting */ + addi a2, a2, 1 /* increment nesting count */ + s32i a2, a3, 0 /* save nesting count */ + bnei a2, 1, .Lnested /* !=0 before incr, so nested */ + + movi a2, pxCurrentTCB + addx4 a2, a4, a2 + l32i a2, a2, 0 /* a2 = current TCB */ + beqz a2, 1f + s32i a1, a2, TOPOFSTACK_OFFS /* pxCurrentTCB->pxTopOfStack = SP */ + movi a1, port_IntStack+configISR_STACK_SIZE /* a1 = top of intr stack for CPU 0 */ + movi a2, configISR_STACK_SIZE /* add configISR_STACK_SIZE * cpu_num to arrive at top of stack for cpu_num */ + mull a2, a4, a2 + add a1, a1, a2 /* for current proc */ + +.Lnested: +1: + mov a0, a12 /* restore return addr and return */ + ret + +/* +******************************************************************************* +* _frxt_int_exit +* void _frxt_int_exit(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_INT_EXIT function for +* FreeRTOS. If required, calls vPortYieldFromInt() to perform task context +* switching, restore the (possibly) new task's context, and return to the +* exit dispatcher saved in the task's stack frame at XT_STK_EXIT. +* May only be called from assembly code by the 'call0' instruction. Does not +* return to caller. +* See the description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +******************************************************************************* +*/ + .globl _frxt_int_exit + .type _frxt_int_exit,@function + .align 4 +_frxt_int_exit: + + getcoreid a4 + movi a2, port_xSchedulerRunning + addx4 a2, a4, a2 + movi a3, port_interruptNesting + addx4 a3, a4, a3 + rsil a0, XCHAL_EXCM_LEVEL /* lock out interrupts */ + l32i a2, a2, 0 /* a2 = port_xSchedulerRunning */ + beqz a2, .Lnoswitch /* scheduler not running, no tasks */ + l32i a2, a3, 0 /* a2 = port_interruptNesting */ + addi a2, a2, -1 /* decrement nesting count */ + s32i a2, a3, 0 /* save nesting count */ + bnez a2, .Lnesting /* !=0 after decr so still nested */ + + movi a2, pxCurrentTCB + addx4 a2, a4, a2 + l32i a2, a2, 0 /* a2 = current TCB */ + beqz a2, 1f /* no task ? go to dispatcher */ + l32i a1, a2, TOPOFSTACK_OFFS /* SP = pxCurrentTCB->pxTopOfStack */ + + movi a2, port_switch_flag /* address of switch flag */ + addx4 a2, a4, a2 /* point to flag for this cpu */ + l32i a3, a2, 0 /* a3 = port_switch_flag */ + beqz a3, .Lnoswitch /* flag = 0 means no switch reqd */ + movi a3, 0 + s32i a3, a2, 0 /* zero out the flag for next time */ + +1: + /* + Call0 ABI callee-saved regs a12-15 need to be saved before possible preemption. + However a12-13 were already saved by _frxt_int_enter(). + */ + #ifdef __XTENSA_CALL0_ABI__ + s32i a14, a1, XT_STK_A14 + s32i a15, a1, XT_STK_A15 + #endif + + #ifdef __XTENSA_CALL0_ABI__ + call0 vPortYieldFromInt /* call dispatch inside the function; never returns */ + #else + call4 vPortYieldFromInt /* this one returns */ + call0 _frxt_dispatch /* tail-call dispatcher */ + /* Never returns here. */ + #endif + +.Lnoswitch: + /* + If we came here then about to resume the interrupted task. + */ + +.Lnesting: + /* + We come here only if there was no context switch, that is if this + is a nested interrupt, or the interrupted task was not preempted. + In either case there's no need to load the SP. + */ + + /* Restore full context from interrupt stack frame */ + call0 _xt_context_restore + + /* + Must return via the exit dispatcher corresponding to the entrypoint from which + this was called. Interruptee's A0, A1, PS, PC are restored and the interrupt + stack frame is deallocated in the exit dispatcher. + */ + l32i a0, a1, XT_STK_EXIT + ret + + +/* +********************************************************************************************************** +* _frxt_timer_int +* void _frxt_timer_int(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_TIMER_INT function for FreeRTOS. +* Called every timer interrupt. +* Manages the tick timer and calls xPortSysTickHandler() every tick. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +* Callable from C (obeys ABI conventions). Implemented in assmebly code for performance. +* +********************************************************************************************************** +*/ + .globl _frxt_timer_int + .type _frxt_timer_int,@function + .align 4 +_frxt_timer_int: + + /* + Xtensa timers work by comparing a cycle counter with a preset value. Once the match occurs + an interrupt is generated, and the handler has to set a new cycle count into the comparator. + To avoid clock drift due to interrupt latency, the new cycle count is computed from the old, + not the time the interrupt was serviced. However if a timer interrupt is ever serviced more + than one tick late, it is necessary to process multiple ticks until the new cycle count is + in the future, otherwise the next timer interrupt would not occur until after the cycle + counter had wrapped (2^32 cycles later). + + do { + ticks++; + old_ccompare = read_ccompare_i(); + write_ccompare_i( old_ccompare + divisor ); + service one tick; + diff = read_ccount() - old_ccompare; + } while ( diff > divisor ); + */ + + ENTRY(16) + + #ifdef CONFIG_PM_TRACE + movi a6, 1 /* = ESP_PM_TRACE_TICK */ + getcoreid a7 + call4 esp_pm_trace_enter + #endif // CONFIG_PM_TRACE + +.L_xt_timer_int_catchup: + + /* Update the timer comparator for the next tick. */ + #ifdef XT_CLOCK_FREQ + movi a2, XT_TICK_DIVISOR /* a2 = comparator increment */ + #else + movi a3, _xt_tick_divisor + l32i a2, a3, 0 /* a2 = comparator increment */ + #endif + rsr a3, XT_CCOMPARE /* a3 = old comparator value */ + add a4, a3, a2 /* a4 = new comparator value */ + wsr a4, XT_CCOMPARE /* update comp. and clear interrupt */ + esync + + #ifdef __XTENSA_CALL0_ABI__ + /* Preserve a2 and a3 across C calls. */ + s32i a2, sp, 4 + s32i a3, sp, 8 + #endif + + /* Call the FreeRTOS tick handler (see port.c). */ + #ifdef __XTENSA_CALL0_ABI__ + call0 xPortSysTickHandler + #else + call4 xPortSysTickHandler + #endif + + #ifdef __XTENSA_CALL0_ABI__ + /* Restore a2 and a3. */ + l32i a2, sp, 4 + l32i a3, sp, 8 + #endif + + /* Check if we need to process more ticks to catch up. */ + esync /* ensure comparator update complete */ + rsr a4, CCOUNT /* a4 = cycle count */ + sub a4, a4, a3 /* diff = ccount - old comparator */ + blt a2, a4, .L_xt_timer_int_catchup /* repeat while diff > divisor */ + +#ifdef CONFIG_PM_TRACE + movi a6, 1 /* = ESP_PM_TRACE_TICK */ + getcoreid a7 + call4 esp_pm_trace_exit +#endif // CONFIG_PM_TRACE + + RET(16) + + /* +********************************************************************************************************** +* _frxt_tick_timer_init +* void _frxt_tick_timer_init(void) +* +* Initialize timer and timer interrrupt handler (_xt_tick_divisor_init() has already been been called). +* Callable from C (obeys ABI conventions on entry). +* +********************************************************************************************************** +*/ + .globl _frxt_tick_timer_init + .type _frxt_tick_timer_init,@function + .align 4 +_frxt_tick_timer_init: + + ENTRY(16) + + + /* Set up the periodic tick timer (assume enough time to complete init). */ + #ifdef XT_CLOCK_FREQ + movi a3, XT_TICK_DIVISOR + #else + movi a2, _xt_tick_divisor + l32i a3, a2, 0 + #endif + rsr a2, CCOUNT /* current cycle count */ + add a2, a2, a3 /* time of first timer interrupt */ + wsr a2, XT_CCOMPARE /* set the comparator */ + + /* + Enable the timer interrupt at the device level. Don't write directly + to the INTENABLE register because it may be virtualized. + */ + #ifdef __XTENSA_CALL0_ABI__ + movi a2, XT_TIMER_INTEN + call0 xt_ints_on + #else + movi a6, XT_TIMER_INTEN + call4 xt_ints_on + #endif + + RET(16) + +/* +********************************************************************************************************** +* DISPATCH THE HIGH READY TASK +* void _frxt_dispatch(void) +* +* Switch context to the highest priority ready task, restore its state and dispatch control to it. +* +* This is a common dispatcher that acts as a shared exit path for all the context switch functions +* including vPortYield() and vPortYieldFromInt(), all of which tail-call this dispatcher +* (for windowed ABI vPortYieldFromInt() calls it indirectly via _frxt_int_exit() ). +* +* The Xtensa port uses different stack frames for solicited and unsolicited task suspension (see +* comments on stack frames in xtensa_context.h). This function restores the state accordingly. +* If restoring a task that solicited entry, restores the minimal state and leaves CPENABLE clear. +* If restoring a task that was preempted, restores all state including the task's CPENABLE. +* +* Entry: +* pxCurrentTCB points to the TCB of the task to suspend, +* Because it is tail-called without a true function entrypoint, it needs no 'entry' instruction. +* +* Exit: +* If incoming task called vPortYield() (solicited), this function returns as if from vPortYield(). +* If incoming task was preempted by an interrupt, this function jumps to exit dispatcher. +* +********************************************************************************************************** +*/ + .globl _frxt_dispatch + .type _frxt_dispatch,@function + .align 4 +_frxt_dispatch: + + #ifdef __XTENSA_CALL0_ABI__ + call0 vTaskSwitchContext // Get next TCB to resume + movi a2, pxCurrentTCB + getcoreid a3 + addx4 a2, a3, a2 + #else + call4 vTaskSwitchContext // Get next TCB to resume + movi a2, pxCurrentTCB + getcoreid a3 + addx4 a2, a3, a2 + #endif + l32i a3, a2, 0 + l32i sp, a3, TOPOFSTACK_OFFS /* SP = next_TCB->pxTopOfStack; */ + s32i a3, a2, 0 + + /* Determine the type of stack frame. */ + l32i a2, sp, XT_STK_EXIT /* exit dispatcher or solicited flag */ + bnez a2, .L_frxt_dispatch_stk + +.L_frxt_dispatch_sol: + + /* Solicited stack frame. Restore minimal context and return from vPortYield(). */ + l32i a3, sp, XT_SOL_PS + #ifdef __XTENSA_CALL0_ABI__ + l32i a12, sp, XT_SOL_A12 + l32i a13, sp, XT_SOL_A13 + l32i a14, sp, XT_SOL_A14 + l32i a15, sp, XT_SOL_A15 + #endif + l32i a0, sp, XT_SOL_PC + #if XCHAL_CP_NUM > 0 + /* Ensure wsr.CPENABLE is complete (should be, it was cleared on entry). */ + rsync + #endif + /* As soons as PS is restored, interrupts can happen. No need to sync PS. */ + wsr a3, PS + #ifdef __XTENSA_CALL0_ABI__ + addi sp, sp, XT_SOL_FRMSZ + ret + #else + retw + #endif + +.L_frxt_dispatch_stk: + + #if XCHAL_CP_NUM > 0 + /* Restore CPENABLE from task's co-processor save area. */ + movi a3, pxCurrentTCB /* cp_state = */ + getcoreid a2 + addx4 a3, a2, a3 + l32i a3, a3, 0 + l32i a2, a3, CP_TOPOFSTACK_OFFS /* StackType_t *pxStack; */ + l16ui a3, a2, XT_CPENABLE /* CPENABLE = cp_state->cpenable; */ + wsr a3, CPENABLE + #endif + + /* Interrupt stack frame. Restore full context and return to exit dispatcher. */ + call0 _xt_context_restore + + /* In Call0 ABI, restore callee-saved regs (A12, A13 already restored). */ + #ifdef __XTENSA_CALL0_ABI__ + l32i a14, sp, XT_STK_A14 + l32i a15, sp, XT_STK_A15 + #endif + + #if XCHAL_CP_NUM > 0 + /* Ensure wsr.CPENABLE has completed. */ + rsync + #endif + + /* + Must return via the exit dispatcher corresponding to the entrypoint from which + this was called. Interruptee's A0, A1, PS, PC are restored and the interrupt + stack frame is deallocated in the exit dispatcher. + */ + l32i a0, sp, XT_STK_EXIT + ret + + +/* +********************************************************************************************************** +* PERFORM A SOLICTED CONTEXT SWITCH (from a task) +* void vPortYield(void) +* +* This function saves the minimal state needed for a solicited task suspension, clears CPENABLE, +* then tail-calls the dispatcher _frxt_dispatch() to perform the actual context switch +* +* At Entry: +* pxCurrentTCB points to the TCB of the task to suspend +* Callable from C (obeys ABI conventions on entry). +* +* Does not return to caller. +* +********************************************************************************************************** +*/ + .globl vPortYield + .type vPortYield,@function + .align 4 +vPortYield: + + #ifdef __XTENSA_CALL0_ABI__ + addi sp, sp, -XT_SOL_FRMSZ + #else + entry sp, XT_SOL_FRMSZ + #endif + + rsr a2, PS + s32i a0, sp, XT_SOL_PC + s32i a2, sp, XT_SOL_PS + #ifdef __XTENSA_CALL0_ABI__ + s32i a12, sp, XT_SOL_A12 /* save callee-saved registers */ + s32i a13, sp, XT_SOL_A13 + s32i a14, sp, XT_SOL_A14 + s32i a15, sp, XT_SOL_A15 + #else + /* Spill register windows. Calling xthal_window_spill() causes extra */ + /* spills and reloads, so we will set things up to call the _nw version */ + /* instead to save cycles. */ + movi a6, ~(PS_WOE_MASK|PS_INTLEVEL_MASK) /* spills a4-a7 if needed */ + and a2, a2, a6 /* clear WOE, INTLEVEL */ + addi a2, a2, XCHAL_EXCM_LEVEL /* set INTLEVEL */ + wsr a2, PS + rsync + call0 xthal_window_spill_nw + l32i a2, sp, XT_SOL_PS /* restore PS */ + wsr a2, PS + #endif + + rsil a2, XCHAL_EXCM_LEVEL /* disable low/med interrupts */ + + #if XCHAL_CP_NUM > 0 + /* Save coprocessor callee-saved state (if any). At this point CPENABLE */ + /* should still reflect which CPs were in use (enabled). */ + call0 _xt_coproc_savecs + #endif + + movi a2, pxCurrentTCB + getcoreid a3 + addx4 a2, a3, a2 + l32i a2, a2, 0 /* a2 = pxCurrentTCB */ + movi a3, 0 + s32i a3, sp, XT_SOL_EXIT /* 0 to flag as solicited frame */ + s32i sp, a2, TOPOFSTACK_OFFS /* pxCurrentTCB->pxTopOfStack = SP */ + + #if XCHAL_CP_NUM > 0 + /* Clear CPENABLE, also in task's co-processor state save area. */ + l32i a2, a2, CP_TOPOFSTACK_OFFS /* a2 = pxCurrentTCB->cp_state */ + movi a3, 0 + wsr a3, CPENABLE + beqz a2, 1f + s16i a3, a2, XT_CPENABLE /* clear saved cpenable */ +1: + #endif + + /* Tail-call dispatcher. */ + call0 _frxt_dispatch + /* Never reaches here. */ + + +/* +********************************************************************************************************** +* PERFORM AN UNSOLICITED CONTEXT SWITCH (from an interrupt) +* void vPortYieldFromInt(void) +* +* This calls the context switch hook (removed), saves and clears CPENABLE, then tail-calls the dispatcher +* _frxt_dispatch() to perform the actual context switch. +* +* At Entry: +* Interrupted task context has been saved in an interrupt stack frame at pxCurrentTCB->pxTopOfStack. +* pxCurrentTCB points to the TCB of the task to suspend, +* Callable from C (obeys ABI conventions on entry). +* +* At Exit: +* Windowed ABI defers the actual context switch until the stack is unwound to interrupt entry. +* Call0 ABI tail-calls the dispatcher directly (no need to unwind) so does not return to caller. +* +********************************************************************************************************** +*/ + .globl vPortYieldFromInt + .type vPortYieldFromInt,@function + .align 4 +vPortYieldFromInt: + + ENTRY(16) + + #if XCHAL_CP_NUM > 0 + /* Save CPENABLE in task's co-processor save area, and clear CPENABLE. */ + movi a3, pxCurrentTCB /* cp_state = */ + getcoreid a2 + addx4 a3, a2, a3 + l32i a3, a3, 0 + + l32i a2, a3, CP_TOPOFSTACK_OFFS + + rsr a3, CPENABLE + s16i a3, a2, XT_CPENABLE /* cp_state->cpenable = CPENABLE; */ + movi a3, 0 + wsr a3, CPENABLE /* disable all co-processors */ + #endif + + #ifdef __XTENSA_CALL0_ABI__ + /* Tail-call dispatcher. */ + call0 _frxt_dispatch + /* Never reaches here. */ + #else + RET(16) + #endif + +/* +********************************************************************************************************** +* _frxt_task_coproc_state +* void _frxt_task_coproc_state(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_CP_STATE function for FreeRTOS. +* +* May only be called when a task is running, not within an interrupt handler (returns 0 in that case). +* May only be called from assembly code by the 'call0' instruction. Does NOT obey ABI conventions. +* Returns in A15 a pointer to the base of the co-processor state save area for the current task. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +********************************************************************************************************** +*/ +#if XCHAL_CP_NUM > 0 + + .globl _frxt_task_coproc_state + .type _frxt_task_coproc_state,@function + .align 4 +_frxt_task_coproc_state: + + + /* We can use a3 as a scratchpad, the instances of code calling XT_RTOS_CP_STATE don't seem to need it saved. */ + getcoreid a3 + movi a15, port_xSchedulerRunning /* if (port_xSchedulerRunning */ + addx4 a15, a3,a15 + l32i a15, a15, 0 + beqz a15, 1f + movi a15, port_interruptNesting /* && port_interruptNesting == 0 */ + addx4 a15, a3, a15 + l32i a15, a15, 0 + bnez a15, 1f + + movi a15, pxCurrentTCB + addx4 a15, a3, a15 + l32i a15, a15, 0 /* && pxCurrentTCB != 0) { */ + + + beqz a15, 2f + l32i a15, a15, CP_TOPOFSTACK_OFFS + ret + +1: movi a15, 0 +2: ret + +#endif /* XCHAL_CP_NUM > 0 */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portmux_impl.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portmux_impl.h new file mode 100644 index 0000000..4c2f9dc --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portmux_impl.h @@ -0,0 +1,113 @@ +/* + * Copyright (C) 2016-2017 Espressif Shanghai PTE LTD + * Copyright (C) 2015 Real Time Engineers Ltd. + * + * All rights reserved + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + *************************************************************************** + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available on the following + * link: https://www.FreeRTOS.org/a00114.html + */ + +/* This header exists for performance reasons, in order to inline the + * implementation of vPortCPUAcquireMutexIntsDisabled and + * vPortCPUReleaseMutexIntsDisabled into the + * vTaskEnterCritical/vTaskExitCritical functions in task.c as well as the + * vPortCPUAcquireMutex/vPortCPUReleaseMutex implementations. + * + * Normally this kind of performance hack is over the top, but + * vTaskEnterCritical/vTaskExitCritical is called a great + * deal by FreeRTOS internals. + * + * It should be #included by freertos port.c or tasks.c, in esp-idf. + * + * The way it works is that it essentially uses portmux_impl.inc.h as a + * generator template of sorts. When no external memory is used, this + * template is only used to generate the vPortCPUAcquireMutexIntsDisabledInternal + * and vPortCPUReleaseMutexIntsDisabledInternal functions, which use S32C1 to + * do an atomic compare & swap. When external memory is used the functions + * vPortCPUAcquireMutexIntsDisabledExtram and vPortCPUReleaseMutexIntsDisabledExtram + * are also generated, which use uxPortCompareSetExtram to fake the S32C1 instruction. + * The wrapper functions vPortCPUAcquireMutexIntsDisabled and + * vPortCPUReleaseMutexIntsDisabled will then use the appropriate function to do the + * actual lock/unlock. + */ +#include "soc/cpu.h" +#include "portable.h" + +/* XOR one core ID with this value to get the other core ID */ +#define CORE_ID_XOR_SWAP ( CORE_ID_PRO ^ CORE_ID_APP ) + + + +/*Define the mux routines for use with muxes in internal RAM */ +#define PORTMUX_AQUIRE_MUX_FN_NAME vPortCPUAcquireMutexIntsDisabledInternal +#define PORTMUX_RELEASE_MUX_FN_NAME vPortCPUReleaseMutexIntsDisabledInternal +#define PORTMUX_COMPARE_SET_FN_NAME uxPortCompareSet +#include "portmux_impl.inc.h" +#undef PORTMUX_AQUIRE_MUX_FN_NAME +#undef PORTMUX_RELEASE_MUX_FN_NAME +#undef PORTMUX_COMPARE_SET_FN_NAME + + +#if defined( CONFIG_SPIRAM_SUPPORT ) + + #define PORTMUX_AQUIRE_MUX_FN_NAME vPortCPUAcquireMutexIntsDisabledExtram + #define PORTMUX_RELEASE_MUX_FN_NAME vPortCPUReleaseMutexIntsDisabledExtram + #define PORTMUX_COMPARE_SET_FN_NAME uxPortCompareSetExtram + #include "portmux_impl.inc.h" + #undef PORTMUX_AQUIRE_MUX_FN_NAME + #undef PORTMUX_RELEASE_MUX_FN_NAME + #undef PORTMUX_COMPARE_SET_FN_NAME + +#endif + + +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + #define PORTMUX_AQUIRE_MUX_FN_ARGS portMUX_TYPE * mux, int timeout_cycles, const char * fnName, int line + #define PORTMUX_RELEASE_MUX_FN_ARGS portMUX_TYPE * mux, const char * fnName, int line + #define PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( x ) x, timeout_cycles, fnName, line + #define PORTMUX_RELEASE_MUX_FN_CALL_ARGS( x ) x, fnName, line +#else + #define PORTMUX_AQUIRE_MUX_FN_ARGS portMUX_TYPE * mux, int timeout_cycles + #define PORTMUX_RELEASE_MUX_FN_ARGS portMUX_TYPE * mux + #define PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( x ) x, timeout_cycles + #define PORTMUX_RELEASE_MUX_FN_CALL_ARGS( x ) x +#endif + + +static inline bool __attribute__( ( always_inline ) ) vPortCPUAcquireMutexIntsDisabled( PORTMUX_AQUIRE_MUX_FN_ARGS ) +{ + #if defined( CONFIG_SPIRAM_SUPPORT ) + if( esp_ptr_external_ram( mux ) ) + { + return vPortCPUAcquireMutexIntsDisabledExtram( PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( mux ) ); + } + #endif + return vPortCPUAcquireMutexIntsDisabledInternal( PORTMUX_AQUIRE_MUX_FN_CALL_ARGS( mux ) ); +} + + +static inline void vPortCPUReleaseMutexIntsDisabled( PORTMUX_RELEASE_MUX_FN_ARGS ) +{ + #if defined( CONFIG_SPIRAM_SUPPORT ) + if( esp_ptr_external_ram( mux ) ) + { + vPortCPUReleaseMutexIntsDisabledExtram( PORTMUX_RELEASE_MUX_FN_CALL_ARGS( mux ) ); + return; + } + #endif + vPortCPUReleaseMutexIntsDisabledInternal( PORTMUX_RELEASE_MUX_FN_CALL_ARGS( mux ) ); +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portmux_impl.inc.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portmux_impl.inc.h new file mode 100644 index 0000000..e98d488 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/portmux_impl.inc.h @@ -0,0 +1,200 @@ +/* + * Copyright (C) 2016-2017 Espressif Shanghai PTE LTD + * Copyright (C) 2015 Real Time Engineers Ltd. + * + * All rights reserved + * + * FreeRTOS is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License (version 2) as published by the + * Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + * + *************************************************************************** + * >>! NOTE: The modification to the GPL is included to allow you to !<< + * >>! distribute a combined work that includes FreeRTOS without being !<< + * >>! obliged to provide the source code for proprietary components !<< + * >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + * + * FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + * FOR A PARTICULAR PURPOSE. Full license text is available on the following + * link: https://www.FreeRTOS.org/a00114.html + */ + + +/* + * Warning: funky preprocessor hackery ahead. Including these headers will generate two + * functions, which names are defined by the preprocessor macros + * PORTMUX_AQUIRE_MUX_FN_NAME and PORTMUX_RELEASE_MUX_FN_NAME. In order to do the compare + * and exchange function, they will use whatever PORTMUX_COMPARE_SET_FN_NAME resolves to. + * + * In some scenarios, this header is included *twice* in portmux_impl.h: one time + * for the 'normal' mux code which uses a compare&exchange routine, another time + * to generate code for a second set of these routines that use a second mux + * (in internal ram) to fake a compare&exchange on a variable in external memory. + */ + + + +static inline bool __attribute__( ( always_inline ) ) +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + PORTMUX_AQUIRE_MUX_FN_NAME( portMUX_TYPE * mux, + int timeout_cycles, + const char * fnName, + int line ) + { +#else + PORTMUX_AQUIRE_MUX_FN_NAME( portMUX_TYPE * mux, int timeout_cycles ) + { + #endif + + + #if !CONFIG_FREERTOS_UNICORE + uint32_t res; + portBASE_TYPE coreID, otherCoreID; + uint32_t ccount_start; + bool set_timeout = timeout_cycles > portMUX_NO_TIMEOUT; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + if( !set_timeout ) + { + timeout_cycles = 10000; /* Always set a timeout in debug mode */ + set_timeout = true; + } + #endif + + if( set_timeout ) /* Timeout */ + { + RSR( CCOUNT, ccount_start ); + } + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + uint32_t owner = mux->owner; + + if( ( owner != portMUX_FREE_VAL ) && ( owner != CORE_ID_PRO ) && ( owner != CORE_ID_APP ) ) + { + ets_printf( "ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, owner, fnName, line ); + mux->owner = portMUX_FREE_VAL; + } + #endif + + /* Spin until we own the core */ + + RSR( PRID, coreID ); + + /* Note: coreID is the full 32 bit core ID (CORE_ID_PRO/CORE_ID_APP), + * not the 0/1 value returned by xPortGetCoreID() + */ + otherCoreID = CORE_ID_XOR_SWAP ^ coreID; + + do + { + /* mux->owner should be one of portMUX_FREE_VAL, CORE_ID_PRO, + * CORE_ID_APP: + * + * - If portMUX_FREE_VAL, we want to atomically set to 'coreID'. + * - If "our" coreID, we can drop through immediately. + * - If "otherCoreID", we spin here. + */ + res = coreID; + PORTMUX_COMPARE_SET_FN_NAME( &mux->owner, portMUX_FREE_VAL, &res ); + + if( res != otherCoreID ) + { + break; /* mux->owner is "our" coreID */ + } + + if( set_timeout ) + { + uint32_t ccount_now; + RSR( CCOUNT, ccount_now ); + + if( ccount_now - ccount_start > ( unsigned ) timeout_cycles ) + { + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + ets_printf( "Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line ); + ets_printf( "Owner 0x%x count %d\n", mux->owner, mux->count ); + #endif + return false; + } + } + } while( 1 ); + + assert( res == coreID || res == portMUX_FREE_VAL ); /* any other value implies memory corruption or uninitialized mux */ + assert( ( res == portMUX_FREE_VAL ) == ( mux->count == 0 ) ); /* we're first to lock iff count is zero */ + assert( mux->count < 0xFF ); /* Bad count value implies memory corruption */ + + /* now we own it, we can increment the refcount */ + mux->count++; + + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + if( res == portMUX_FREE_VAL ) /*initial lock */ + { + mux->lastLockedFn = fnName; + mux->lastLockedLine = line; + } + else + { + ets_printf( "Recursive lock: count=%d last non-recursive lock %s line %d, curr %s line %d\n", mux->count - 1, + mux->lastLockedFn, mux->lastLockedLine, fnName, line ); + } + #endif /* CONFIG_FREERTOS_PORTMUX_DEBUG */ + #endif /* CONFIG_FREERTOS_UNICORE */ + return true; + } + +#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + static inline void PORTMUX_RELEASE_MUX_FN_NAME( portMUX_TYPE * mux, + const char * fnName, + int line ) + { +#else + static inline void PORTMUX_RELEASE_MUX_FN_NAME( portMUX_TYPE * mux ) + { + #endif + + + #if !CONFIG_FREERTOS_UNICORE + portBASE_TYPE coreID; + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + const char * lastLockedFn = mux->lastLockedFn; + int lastLockedLine = mux->lastLockedLine; + mux->lastLockedFn = fnName; + mux->lastLockedLine = line; + uint32_t owner = mux->owner; + + if( ( owner != portMUX_FREE_VAL ) && ( owner != CORE_ID_PRO ) && ( owner != CORE_ID_APP ) ) + { + ets_printf( "ERROR: vPortCPUReleaseMutex: mux %p is invalid (0x%x)!\n", mux, mux->owner ); + } + #endif /* ifdef CONFIG_FREERTOS_PORTMUX_DEBUG */ + + #if CONFIG_FREERTOS_PORTMUX_DEBUG || !defined( NDEBUG ) + RSR( PRID, coreID ); + #endif + + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG + if( coreID != mux->owner ) + { + ets_printf( "ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux ); + ets_printf( "Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line ); + } + #endif + + assert( coreID == mux->owner ); /* This is a mutex we didn't lock, or it's corrupt */ + + mux->count--; + + if( mux->count == 0 ) + { + mux->owner = portMUX_FREE_VAL; + } + else + { + assert( mux->count < 0x100 ); /* Indicates memory corruption */ + #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE + ets_printf( "Recursive unlock: count=%d last locked %s line %d, curr %s line %d\n", mux->count, lastLockedFn, lastLockedLine, fnName, line ); + #endif + } + #endif //!CONFIG_FREERTOS_UNICORE + } diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_context.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_context.S new file mode 100644 index 0000000..fedf428 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_context.S @@ -0,0 +1,648 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +-------------------------------------------------------------------------------- + + XTENSA CONTEXT SAVE AND RESTORE ROUTINES + +Low-level Call0 functions for handling generic context save and restore of +registers not specifically addressed by the interrupt vectors and handlers. +Those registers (not handled by these functions) are PC, PS, A0, A1 (SP). +Except for the calls to RTOS functions, this code is generic to Xtensa. + +Note that in Call0 ABI, interrupt handlers are expected to preserve the callee- +save regs (A12-A15), which is always the case if the handlers are coded in C. +However A12, A13 are made available as scratch registers for interrupt dispatch +code, so are presumed saved anyway, and are always restored even in Call0 ABI. +Only A14, A15 are truly handled as callee-save regs. + +Because Xtensa is a configurable architecture, this port supports all user +generated configurations (except restrictions stated in the release notes). +This is accomplished by conditional compilation using macros and functions +defined in the Xtensa HAL (hardware adaptation layer) for your configuration. +Only the processor state included in your configuration is saved and restored, +including any processor state added by user configuration options or TIE. + +*******************************************************************************/ + +/* Warn nicely if this file gets named with a lowercase .s instead of .S: */ +#define NOERROR # +NOERROR: .error "C preprocessor needed for this file: make sure its filename\ + ends in uppercase .S, or use xt-xcc's -x assembler-with-cpp option." + + +#include "xtensa_rtos.h" +#include "xtensa_context.h" + +#ifdef XT_USE_OVLY +#include +#endif + + .text + + + +/******************************************************************************* + +_xt_context_save + + !! MUST BE CALLED ONLY BY 'CALL0' INSTRUCTION !! + +Saves all Xtensa processor state except PC, PS, A0, A1 (SP), A12, A13, in the +interrupt stack frame defined in xtensa_rtos.h. +Its counterpart is _xt_context_restore (which also restores A12, A13). + +Caller is expected to have saved PC, PS, A0, A1 (SP), A12, A13 in the frame. +This function preserves A12 & A13 in order to provide the caller with 2 scratch +regs that need not be saved over the call to this function. The choice of which +2 regs to provide is governed by xthal_window_spill_nw and xthal_save_extra_nw, +to avoid moving data more than necessary. Caller can assign regs accordingly. + +Entry Conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + Original A12, A13 have already been saved in the interrupt stack frame. + Other processor state except PC, PS, A0, A1 (SP), A12, A13, is as at the + point of interruption. + If windowed ABI, PS.EXCM = 1 (exceptions disabled). + +Exit conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + A12, A13 as at entry (preserved). + If windowed ABI, PS.EXCM = 1 (exceptions disabled). + +*******************************************************************************/ + + .global _xt_context_save + .type _xt_context_save,@function + .align 4 + .literal_position + .align 4 +_xt_context_save: + + s32i a2, sp, XT_STK_A2 + s32i a3, sp, XT_STK_A3 + s32i a4, sp, XT_STK_A4 + s32i a5, sp, XT_STK_A5 + s32i a6, sp, XT_STK_A6 + s32i a7, sp, XT_STK_A7 + s32i a8, sp, XT_STK_A8 + s32i a9, sp, XT_STK_A9 + s32i a10, sp, XT_STK_A10 + s32i a11, sp, XT_STK_A11 + + /* + Call0 ABI callee-saved regs a12-15 do not need to be saved here. + a12-13 are the caller's responsibility so it can use them as scratch. + So only need to save a14-a15 here for Windowed ABI (not Call0). + */ + #ifndef __XTENSA_CALL0_ABI__ + s32i a14, sp, XT_STK_A14 + s32i a15, sp, XT_STK_A15 + #endif + + rsr a3, SAR + s32i a3, sp, XT_STK_SAR + + #if XCHAL_HAVE_LOOPS + rsr a3, LBEG + s32i a3, sp, XT_STK_LBEG + rsr a3, LEND + s32i a3, sp, XT_STK_LEND + rsr a3, LCOUNT + s32i a3, sp, XT_STK_LCOUNT + #endif + + #ifdef XT_USE_SWPRI + /* Save virtual priority mask */ + movi a3, _xt_vpri_mask + l32i a3, a3, 0 + s32i a3, sp, XT_STK_VPRI + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 || !defined(__XTENSA_CALL0_ABI__) + mov a9, a0 /* preserve ret addr */ + #endif + + #ifndef __XTENSA_CALL0_ABI__ + /* + To spill the reg windows, temp. need pre-interrupt stack ptr and a4-15. + Need to save a9,12,13 temporarily (in frame temps) and recover originals. + Interrupts need to be disabled below XCHAL_EXCM_LEVEL and window overflow + and underflow exceptions disabled (assured by PS.EXCM == 1). + */ + s32i a12, sp, XT_STK_TMP0 /* temp. save stuff in stack frame */ + s32i a13, sp, XT_STK_TMP1 + s32i a9, sp, XT_STK_TMP2 + + /* + Save the overlay state if we are supporting overlays. Since we just saved + three registers, we can conveniently use them here. Note that as of now, + overlays only work for windowed calling ABI. + */ + #ifdef XT_USE_OVLY + l32i a9, sp, XT_STK_PC /* recover saved PC */ + _xt_overlay_get_state a9, a12, a13 + s32i a9, sp, XT_STK_OVLY /* save overlay state */ + #endif + + l32i a12, sp, XT_STK_A12 /* recover original a9,12,13 */ + l32i a13, sp, XT_STK_A13 + l32i a9, sp, XT_STK_A9 + addi sp, sp, XT_STK_FRMSZ /* restore the interruptee's SP */ + call0 xthal_window_spill_nw /* preserves only a4,5,8,9,12,13 */ + addi sp, sp, -XT_STK_FRMSZ + l32i a12, sp, XT_STK_TMP0 /* recover stuff from stack frame */ + l32i a13, sp, XT_STK_TMP1 + l32i a9, sp, XT_STK_TMP2 + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 + /* + NOTE: Normally the xthal_save_extra_nw macro only affects address + registers a2-a5. It is theoretically possible for Xtensa processor + designers to write TIE that causes more address registers to be + affected, but it is generally unlikely. If that ever happens, + more registers need to be saved/restored around this macro invocation. + Here we assume a9,12,13 are preserved. + Future Xtensa tools releases might limit the regs that can be affected. + */ + addi a2, sp, XT_STK_EXTRA /* where to save it */ + # if XCHAL_EXTRA_SA_ALIGN > 16 + movi a3, -XCHAL_EXTRA_SA_ALIGN + and a2, a2, a3 /* align dynamically >16 bytes */ + # endif + call0 xthal_save_extra_nw /* destroys a0,2,3,4,5 */ + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 || !defined(__XTENSA_CALL0_ABI__) + mov a0, a9 /* retrieve ret addr */ + #endif + + ret + +/******************************************************************************* + +_xt_context_restore + + !! MUST BE CALLED ONLY BY 'CALL0' INSTRUCTION !! + +Restores all Xtensa processor state except PC, PS, A0, A1 (SP) (and in Call0 +ABI, A14, A15 which are preserved by all interrupt handlers) from an interrupt +stack frame defined in xtensa_rtos.h . +Its counterpart is _xt_context_save (whose caller saved A12, A13). + +Caller is responsible to restore PC, PS, A0, A1 (SP). + +Entry Conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + +Exit conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + Other processor state except PC, PS, A0, A1 (SP), is as at the point + of interruption. + +*******************************************************************************/ + + .global _xt_context_restore + .type _xt_context_restore,@function + .align 4 + .literal_position + .align 4 +_xt_context_restore: + + #if XCHAL_EXTRA_SA_SIZE > 0 + /* + NOTE: Normally the xthal_restore_extra_nw macro only affects address + registers a2-a5. It is theoretically possible for Xtensa processor + designers to write TIE that causes more address registers to be + affected, but it is generally unlikely. If that ever happens, + more registers need to be saved/restored around this macro invocation. + Here we only assume a13 is preserved. + Future Xtensa tools releases might limit the regs that can be affected. + */ + mov a13, a0 /* preserve ret addr */ + addi a2, sp, XT_STK_EXTRA /* where to find it */ + # if XCHAL_EXTRA_SA_ALIGN > 16 + movi a3, -XCHAL_EXTRA_SA_ALIGN + and a2, a2, a3 /* align dynamically >16 bytes */ + # endif + call0 xthal_restore_extra_nw /* destroys a0,2,3,4,5 */ + mov a0, a13 /* retrieve ret addr */ + #endif + + #if XCHAL_HAVE_LOOPS + l32i a2, sp, XT_STK_LBEG + l32i a3, sp, XT_STK_LEND + wsr a2, LBEG + l32i a2, sp, XT_STK_LCOUNT + wsr a3, LEND + wsr a2, LCOUNT + #endif + + #ifdef XT_USE_OVLY + /* + If we are using overlays, this is a good spot to check if we need + to restore an overlay for the incoming task. Here we have a bunch + of registers to spare. Note that this step is going to use a few + bytes of storage below SP (SP-20 to SP-32) if an overlay is going + to be restored. + */ + l32i a2, sp, XT_STK_PC /* retrieve PC */ + l32i a3, sp, XT_STK_PS /* retrieve PS */ + l32i a4, sp, XT_STK_OVLY /* retrieve overlay state */ + l32i a5, sp, XT_STK_A1 /* retrieve stack ptr */ + _xt_overlay_check_map a2, a3, a4, a5, a6 + s32i a2, sp, XT_STK_PC /* save updated PC */ + s32i a3, sp, XT_STK_PS /* save updated PS */ + #endif + + #ifdef XT_USE_SWPRI + /* Restore virtual interrupt priority and interrupt enable */ + movi a3, _xt_intdata + l32i a4, a3, 0 /* a4 = _xt_intenable */ + l32i a5, sp, XT_STK_VPRI /* a5 = saved _xt_vpri_mask */ + and a4, a4, a5 + wsr a4, INTENABLE /* update INTENABLE */ + s32i a5, a3, 4 /* restore _xt_vpri_mask */ + #endif + + l32i a3, sp, XT_STK_SAR + l32i a2, sp, XT_STK_A2 + wsr a3, SAR + l32i a3, sp, XT_STK_A3 + l32i a4, sp, XT_STK_A4 + l32i a5, sp, XT_STK_A5 + l32i a6, sp, XT_STK_A6 + l32i a7, sp, XT_STK_A7 + l32i a8, sp, XT_STK_A8 + l32i a9, sp, XT_STK_A9 + l32i a10, sp, XT_STK_A10 + l32i a11, sp, XT_STK_A11 + + /* + Call0 ABI callee-saved regs a12-15 do not need to be restored here. + However a12-13 were saved for scratch before XT_RTOS_INT_ENTER(), + so need to be restored anyway, despite being callee-saved in Call0. + */ + l32i a12, sp, XT_STK_A12 + l32i a13, sp, XT_STK_A13 + #ifndef __XTENSA_CALL0_ABI__ + l32i a14, sp, XT_STK_A14 + l32i a15, sp, XT_STK_A15 + #endif + + ret + + +/******************************************************************************* + +_xt_coproc_init + +Initializes global co-processor management data, setting all co-processors +to "unowned". Leaves CPENABLE as it found it (does NOT clear it). + +Called during initialization of the RTOS, before any threads run. + +This may be called from normal Xtensa single-threaded application code which +might use co-processors. The Xtensa run-time initialization enables all +co-processors. They must remain enabled here, else a co-processor exception +might occur outside of a thread, which the exception handler doesn't expect. + +Entry Conditions: + Xtensa single-threaded run-time environment is in effect. + No thread is yet running. + +Exit conditions: + None. + +Obeys ABI conventions per prototype: + void _xt_coproc_init(void) + +*******************************************************************************/ + +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_init + .type _xt_coproc_init,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_init: + ENTRY0 + + /* Initialize thread co-processor ownerships to 0 (unowned). */ + movi a2, _xt_coproc_owner_sa /* a2 = base of owner array */ + addi a3, a2, (XCHAL_CP_MAX*portNUM_PROCESSORS) << 2 /* a3 = top+1 of owner array */ + movi a4, 0 /* a4 = 0 (unowned) */ +1: s32i a4, a2, 0 + addi a2, a2, 4 + bltu a2, a3, 1b + + RET0 + +#endif + + +/******************************************************************************* + +_xt_coproc_release + +Releases any and all co-processors owned by a given thread. The thread is +identified by it's co-processor state save area defined in xtensa_context.h . + +Must be called before a thread's co-proc save area is deleted to avoid +memory corruption when the exception handler tries to save the state. +May be called when a thread terminates or completes but does not delete +the co-proc save area, to avoid the exception handler having to save the +thread's co-proc state before another thread can use it (optimization). + +Needs to be called on the processor the thread was running on. Unpinned threads +won't have an entry here because they get pinned as soon they use a coprocessor. + +Entry Conditions: + A2 = Pointer to base of co-processor state save area. + +Exit conditions: + None. + +Obeys ABI conventions per prototype: + void _xt_coproc_release(void * coproc_sa_base) + +*******************************************************************************/ + +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_release + .type _xt_coproc_release,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_release: + ENTRY0 /* a2 = base of save area */ + + getcoreid a5 + movi a3, XCHAL_CP_MAX << 2 + mull a5, a5, a3 + movi a3, _xt_coproc_owner_sa /* a3 = base of owner array */ + add a3, a3, a5 + + addi a4, a3, XCHAL_CP_MAX << 2 /* a4 = top+1 of owner array */ + movi a5, 0 /* a5 = 0 (unowned) */ + + rsil a6, XCHAL_EXCM_LEVEL /* lock interrupts */ + +1: l32i a7, a3, 0 /* a7 = owner at a3 */ + bne a2, a7, 2f /* if (coproc_sa_base == owner) */ + s32i a5, a3, 0 /* owner = unowned */ +2: addi a3, a3, 1<<2 /* a3 = next entry in owner array */ + bltu a3, a4, 1b /* repeat until end of array */ + +3: wsr a6, PS /* restore interrupts */ + + RET0 + +#endif + + +/******************************************************************************* +_xt_coproc_savecs + +If there is a current thread and it has a coprocessor state save area, then +save all callee-saved state into this area. This function is called from the +solicited context switch handler. It calls a system-specific function to get +the coprocessor save area base address. + +Entry conditions: + - The thread being switched out is still the current thread. + - CPENABLE state reflects which coprocessors are active. + - Registers have been saved/spilled already. + +Exit conditions: + - All necessary CP callee-saved state has been saved. + - Registers a2-a7, a13-a15 have been trashed. + +Must be called from assembly code only, using CALL0. +*******************************************************************************/ +#if XCHAL_CP_NUM > 0 + + .extern _xt_coproc_sa_offset /* external reference */ + + .global _xt_coproc_savecs + .type _xt_coproc_savecs,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_savecs: + + /* At entry, CPENABLE should be showing which CPs are enabled. */ + + rsr a2, CPENABLE /* a2 = which CPs are enabled */ + beqz a2, .Ldone /* quick exit if none */ + mov a14, a0 /* save return address */ + call0 XT_RTOS_CP_STATE /* get address of CP save area */ + mov a0, a14 /* restore return address */ + beqz a15, .Ldone /* if none then nothing to do */ + s16i a2, a15, XT_CP_CS_ST /* save mask of CPs being stored */ + movi a13, _xt_coproc_sa_offset /* array of CP save offsets */ + l32i a15, a15, XT_CP_ASA /* a15 = base of aligned save area */ + +#if XCHAL_CP0_SA_SIZE + bbci.l a2, 0, 2f /* CP 0 not enabled */ + l32i a14, a13, 0 /* a14 = _xt_coproc_sa_offset[0] */ + add a3, a14, a15 /* a3 = save area for CP 0 */ + xchal_cp0_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP1_SA_SIZE + bbci.l a2, 1, 2f /* CP 1 not enabled */ + l32i a14, a13, 4 /* a14 = _xt_coproc_sa_offset[1] */ + add a3, a14, a15 /* a3 = save area for CP 1 */ + xchal_cp1_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP2_SA_SIZE + bbci.l a2, 2, 2f + l32i a14, a13, 8 + add a3, a14, a15 + xchal_cp2_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP3_SA_SIZE + bbci.l a2, 3, 2f + l32i a14, a13, 12 + add a3, a14, a15 + xchal_cp3_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP4_SA_SIZE + bbci.l a2, 4, 2f + l32i a14, a13, 16 + add a3, a14, a15 + xchal_cp4_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP5_SA_SIZE + bbci.l a2, 5, 2f + l32i a14, a13, 20 + add a3, a14, a15 + xchal_cp5_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP6_SA_SIZE + bbci.l a2, 6, 2f + l32i a14, a13, 24 + add a3, a14, a15 + xchal_cp6_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP7_SA_SIZE + bbci.l a2, 7, 2f + l32i a14, a13, 28 + add a3, a14, a15 + xchal_cp7_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +.Ldone: + ret +#endif + + +/******************************************************************************* +_xt_coproc_restorecs + +Restore any callee-saved coprocessor state for the incoming thread. +This function is called from coprocessor exception handling, when giving +ownership to a thread that solicited a context switch earlier. It calls a +system-specific function to get the coprocessor save area base address. + +Entry conditions: + - The incoming thread is set as the current thread. + - CPENABLE is set up correctly for all required coprocessors. + - a2 = mask of coprocessors to be restored. + +Exit conditions: + - All necessary CP callee-saved state has been restored. + - CPENABLE - unchanged. + - Registers a2-a7, a13-a15 have been trashed. + +Must be called from assembly code only, using CALL0. +*******************************************************************************/ +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_restorecs + .type _xt_coproc_restorecs,@function + .align 4 + .literal_position + .align 4 +_xt_coproc_restorecs: + + mov a14, a0 /* save return address */ + call0 XT_RTOS_CP_STATE /* get address of CP save area */ + mov a0, a14 /* restore return address */ + beqz a15, .Ldone2 /* if none then nothing to do */ + l16ui a3, a15, XT_CP_CS_ST /* a3 = which CPs have been saved */ + xor a3, a3, a2 /* clear the ones being restored */ + s32i a3, a15, XT_CP_CS_ST /* update saved CP mask */ + movi a13, _xt_coproc_sa_offset /* array of CP save offsets */ + l32i a15, a15, XT_CP_ASA /* a15 = base of aligned save area */ + +#if XCHAL_CP0_SA_SIZE + bbci.l a2, 0, 2f /* CP 0 not enabled */ + l32i a14, a13, 0 /* a14 = _xt_coproc_sa_offset[0] */ + add a3, a14, a15 /* a3 = save area for CP 0 */ + xchal_cp0_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP1_SA_SIZE + bbci.l a2, 1, 2f /* CP 1 not enabled */ + l32i a14, a13, 4 /* a14 = _xt_coproc_sa_offset[1] */ + add a3, a14, a15 /* a3 = save area for CP 1 */ + xchal_cp1_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP2_SA_SIZE + bbci.l a2, 2, 2f + l32i a14, a13, 8 + add a3, a14, a15 + xchal_cp2_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP3_SA_SIZE + bbci.l a2, 3, 2f + l32i a14, a13, 12 + add a3, a14, a15 + xchal_cp3_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP4_SA_SIZE + bbci.l a2, 4, 2f + l32i a14, a13, 16 + add a3, a14, a15 + xchal_cp4_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP5_SA_SIZE + bbci.l a2, 5, 2f + l32i a14, a13, 20 + add a3, a14, a15 + xchal_cp5_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP6_SA_SIZE + bbci.l a2, 6, 2f + l32i a14, a13, 24 + add a3, a14, a15 + xchal_cp6_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP7_SA_SIZE + bbci.l a2, 7, 2f + l32i a14, a13, 28 + add a3, a14, a15 + xchal_cp7_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +.Ldone2: + ret + +#endif + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_init.c new file mode 100644 index 0000000..6aaea0b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_init.c @@ -0,0 +1,54 @@ +/******************************************************************************* +* // Copyright (c) 2003-2015 Cadence Design Systems, Inc. +* // +* // Permission is hereby granted, free of charge, to any person obtaining +* // a copy of this software and associated documentation files (the +* // "Software"), to deal in the Software without restriction, including +* // without limitation the rights to use, copy, modify, merge, publish, +* // distribute, sublicense, and/or sell copies of the Software, and to +* // permit persons to whom the Software is furnished to do so, subject to +* // the following conditions: +* // +* // The above copyright notice and this permission notice shall be included +* // in all copies or substantial portions of the Software. +* // +* // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +* // CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +* // TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +* // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +* -------------------------------------------------------------------------------- +* +* XTENSA INITIALIZATION ROUTINES CODED IN C +* +* This file contains miscellaneous Xtensa RTOS-generic initialization functions +* that are implemented in C. +* +*******************************************************************************/ + + +#ifdef XT_BOARD + #include +#endif + +#include "xtensa_rtos.h" +#include "esp_clk.h" + +#ifdef XT_RTOS_TIMER_INT + + unsigned _xt_tick_divisor = 0; /* cached number of cycles per tick */ + + void _xt_tick_divisor_init( void ) + { + _xt_tick_divisor = esp_clk_cpu_freq() / XT_TICK_PER_SEC; + } + +/* Deprecated, to be removed */ + int xt_clock_freq( void ) + { + return esp_clk_cpu_freq(); + } + +#endif /* XT_RTOS_TIMER_INT */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_intr.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_intr.c new file mode 100644 index 0000000..6d05ae5 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_intr.c @@ -0,0 +1,174 @@ +/******************************************************************************* + * Copyright (c) 2006-2015 Cadence Design Systems Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + ******************************************************************************/ + +/****************************************************************************** +* Xtensa-specific interrupt and exception functions for RTOS ports. +* Also see xtensa_intr_asm.S. +******************************************************************************/ + +#include + +#include + +#include "freertos/FreeRTOS.h" +#include "freertos/xtensa_api.h" +#include "freertos/portable.h" + +#include "rom/ets_sys.h" + +#if XCHAL_HAVE_EXCEPTIONS + +/* Handler table is in xtensa_intr_asm.S */ + + extern xt_exc_handler _xt_exception_table[ XCHAL_EXCCAUSE_NUM * portNUM_PROCESSORS ]; + + +/* + * Default handler for unhandled exceptions. + * CHANGED: We do this in panic.c now + */ + +/*void xt_unhandled_exception(XtExcFrame *frame) */ +/*{ */ + /*exit(-1); */ +/*} */ + extern void xt_unhandled_exception( XtExcFrame * frame ); + + +/* + * This function registers a handler for the specified exception. + * The function returns the address of the previous handler. + * On error, it returns 0. + */ + xt_exc_handler xt_set_exception_handler( int n, + xt_exc_handler f ) + { + xt_exc_handler old; + + if( ( n < 0 ) || ( n >= XCHAL_EXCCAUSE_NUM ) ) + { + return 0; /* invalid exception number */ + } + + /* Convert exception number to _xt_exception_table name */ + n = n * portNUM_PROCESSORS + xPortGetCoreID(); + old = _xt_exception_table[ n ]; + + if( f ) + { + _xt_exception_table[ n ] = f; + } + else + { + _xt_exception_table[ n ] = &xt_unhandled_exception; + } + + return( ( old == &xt_unhandled_exception ) ? 0 : old ); + } + +#endif /* if XCHAL_HAVE_EXCEPTIONS */ + +#if XCHAL_HAVE_INTERRUPTS + +/* Handler table is in xtensa_intr_asm.S */ + + typedef struct xt_handler_table_entry + { + void * handler; + void * arg; + } xt_handler_table_entry; + + extern xt_handler_table_entry _xt_interrupt_table[ XCHAL_NUM_INTERRUPTS * portNUM_PROCESSORS ]; + + +/* + * Default handler for unhandled interrupts. + */ + void xt_unhandled_interrupt( void * arg ) + { + ets_printf( "Unhandled interrupt %d on cpu %d!\n", ( int ) arg, xPortGetCoreID() ); + } + + +/* + * This function registers a handler for the specified interrupt. The "arg" + * parameter specifies the argument to be passed to the handler when it is + * invoked. The function returns the address of the previous handler. + * On error, it returns 0. + */ + xt_handler xt_set_interrupt_handler( int n, + xt_handler f, + void * arg ) + { + xt_handler_table_entry * entry; + xt_handler old; + + if( ( n < 0 ) || ( n >= XCHAL_NUM_INTERRUPTS ) ) + { + return 0; /* invalid interrupt number */ + } + + if( Xthal_intlevel[ n ] > XCHAL_EXCM_LEVEL ) + { + return 0; /* priority level too high to safely handle in C */ + } + + /* Convert exception number to _xt_exception_table name */ + n = n * portNUM_PROCESSORS + xPortGetCoreID(); + + entry = _xt_interrupt_table + n; + old = entry->handler; + + if( f ) + { + entry->handler = f; + entry->arg = arg; + } + else + { + entry->handler = &xt_unhandled_interrupt; + entry->arg = ( void * ) n; + } + + return( ( old == &xt_unhandled_interrupt ) ? 0 : old ); + } + + #if CONFIG_SYSVIEW_ENABLE + void * xt_get_interrupt_handler_arg( int n ) + { + xt_handler_table_entry * entry; + + if( ( n < 0 ) || ( n >= XCHAL_NUM_INTERRUPTS ) ) + { + return 0; /* invalid interrupt number */ + } + + /* Convert exception number to _xt_exception_table name */ + n = n * portNUM_PROCESSORS + xPortGetCoreID(); + + entry = _xt_interrupt_table + n; + return entry->arg; + } + #endif /* if CONFIG_SYSVIEW_ENABLE */ + +#endif /* XCHAL_HAVE_INTERRUPTS */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_intr_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_intr_asm.S new file mode 100644 index 0000000..ddfe4ba --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_intr_asm.S @@ -0,0 +1,225 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +******************************************************************************/ + +/****************************************************************************** + Xtensa interrupt handling data and assembly routines. + Also see xtensa_intr.c and xtensa_vectors.S. +******************************************************************************/ + +#include +#include + +#include "xtensa_context.h" +#include "FreeRTOSConfig.h" + +#if XCHAL_HAVE_INTERRUPTS + +/* +------------------------------------------------------------------------------- + INTENABLE virtualization information. +------------------------------------------------------------------------------- +*/ + + +#if XT_USE_SWPRI +/* Warning - this is not multicore-compatible. */ + .data + .global _xt_intdata + .align 8 +_xt_intdata: + .global _xt_intenable + .type _xt_intenable,@object + .size _xt_intenable,4 + .global _xt_vpri_mask + .type _xt_vpri_mask,@object + .size _xt_vpri_mask,4 + +_xt_intenable: .word 0 /* Virtual INTENABLE */ +_xt_vpri_mask: .word 0xFFFFFFFF /* Virtual priority mask */ +#endif + +/* +------------------------------------------------------------------------------- + Table of C-callable interrupt handlers for each interrupt. Note that not all + slots can be filled, because interrupts at level > EXCM_LEVEL will not be + dispatched to a C handler by default. + + Stored as: + int 0 cpu 0 + int 0 cpu 1 + ... + int 0 cpu n + int 1 cpu 0 + int 1 cpu 1 + etc +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_interrupt_table + .align 8 + +_xt_interrupt_table: + + .set i, 0 + .rept XCHAL_NUM_INTERRUPTS*portNUM_PROCESSORS + .word xt_unhandled_interrupt /* handler address */ + .word i /* handler arg (default: intnum) */ + .set i, i+1 + .endr + +#endif /* XCHAL_HAVE_INTERRUPTS */ + + +#if XCHAL_HAVE_EXCEPTIONS + +/* +------------------------------------------------------------------------------- + Table of C-callable exception handlers for each exception. Note that not all + slots will be active, because some exceptions (e.g. coprocessor exceptions) + are always handled by the OS and cannot be hooked by user handlers. + + Stored as: + exc 0 cpu 0 + exc 0 cpu 1 + ... + exc 0 cpu n + exc 1 cpu 0 + exc 1 cpu 1 + etc +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_exception_table + .align 4 + +_xt_exception_table: + .rept XCHAL_EXCCAUSE_NUM * portNUM_PROCESSORS + .word xt_unhandled_exception /* handler address */ + .endr + +#endif + + +/* +------------------------------------------------------------------------------- + unsigned int xt_ints_on ( unsigned int mask ) + + Enables a set of interrupts. Does not simply set INTENABLE directly, but + computes it as a function of the current virtual priority if XT_USE_SWPRI is + enabled. + Can be called from interrupt handlers. +------------------------------------------------------------------------------- +*/ + + .text + .align 4 + .global xt_ints_on + .type xt_ints_on,@function + +xt_ints_on: + + ENTRY0 + +#if XCHAL_HAVE_INTERRUPTS +#if XT_USE_SWPRI + movi a3, 0 + movi a4, _xt_intdata + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + l32i a3, a4, 0 /* a3 = _xt_intenable */ + l32i a6, a4, 4 /* a6 = _xt_vpri_mask */ + or a5, a3, a2 /* a5 = _xt_intenable | mask */ + s32i a5, a4, 0 /* _xt_intenable |= mask */ + and a5, a5, a6 /* a5 = _xt_intenable & _xt_vpri_mask */ + wsr a5, INTENABLE /* Reenable interrupts */ + mov a2, a3 /* Previous mask */ +#else + movi a3, 0 + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + or a2, a3, a2 /* set bits in mask */ + wsr a2, INTENABLE /* Re-enable ints */ + rsync + mov a2, a3 /* return prev mask */ +#endif +#else + movi a2, 0 /* Return zero */ +#endif + RET0 + + .size xt_ints_on, . - xt_ints_on + + +/* +------------------------------------------------------------------------------- + unsigned int xt_ints_off ( unsigned int mask ) + + Disables a set of interrupts. Does not simply set INTENABLE directly, + but computes it as a function of the current virtual priority if XT_USE_SWPRI is + enabled. + Can be called from interrupt handlers. +------------------------------------------------------------------------------- +*/ + + .text + .align 4 + .global xt_ints_off + .type xt_ints_off,@function + +xt_ints_off: + + ENTRY0 +#if XCHAL_HAVE_INTERRUPTS +#if XT_USE_SWPRI + movi a3, 0 + movi a4, _xt_intdata + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + l32i a3, a4, 0 /* a3 = _xt_intenable */ + l32i a6, a4, 4 /* a6 = _xt_vpri_mask */ + or a5, a3, a2 /* a5 = _xt_intenable | mask */ + xor a5, a5, a2 /* a5 = _xt_intenable & ~mask */ + s32i a5, a4, 0 /* _xt_intenable &= ~mask */ + and a5, a5, a6 /* a5 = _xt_intenable & _xt_vpri_mask */ + wsr a5, INTENABLE /* Reenable interrupts */ + mov a2, a3 /* Previous mask */ +#else + movi a4, 0 + xsr a4, INTENABLE /* Disables all interrupts */ + rsync + or a3, a4, a2 /* set bits in mask */ + xor a3, a3, a2 /* invert bits in mask set in mask, essentially clearing them */ + wsr a3, INTENABLE /* Re-enable ints */ + rsync + mov a2, a4 /* return prev mask */ +#endif +#else + movi a2, 0 /* return zero */ +#endif + RET0 + + .size xt_ints_off, . - xt_ints_off + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_loadstore_handler.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_loadstore_handler.S new file mode 100644 index 0000000..32d7a8a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_loadstore_handler.S @@ -0,0 +1,559 @@ +/* + Copyright 2019 Espressif Systems (Shanghai) PTE LTD + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/* + * LoadStoreErrorCause: Occurs when trying to access 32 bit addressable memory region as 8 bit or 16 bit + * LoadStoreAlignmentCause: Occurs when trying to access in an unaligned manner + * + * xxxx xxxx = imm8 field + * yyyy = imm4 field + * ssss = s field + * tttt = t field + * + * 16 0 + * ------------------- + * L32I.N yyyy ssss tttt 1000 + * S32I.N yyyy ssss tttt 1001 + * + * 23 0 + * ----------------------------- + * L8UI xxxx xxxx 0000 ssss tttt 0010 <- LoadStoreError + * L16UI xxxx xxxx 0001 ssss tttt 0010 <- LoadStoreError, LoadStoreAlignment + * L16SI xxxx xxxx 1001 ssss tttt 0010 <- LoadStoreError, LoadStoreAlignment + * L32I xxxx xxxx 0010 ssss tttt 0010 <- LoadStoreAlignment + * + * S8I xxxx xxxx 0100 ssss tttt 0010 <- LoadStoreError + * S16I xxxx xxxx 0101 ssss tttt 0010 <- LoadStoreError, LoadStoreAlignment + * S32I xxxx xxxx 0110 ssss tttt 0010 <- LoadStoreAlignment + * + * ******* UNSUPPORTED ******* + * + * L32E 0000 1001 rrrr ssss tttt 0000 + * S32E 0100 1001 rrrr ssss tttt 0000 + * ----------------------------- + */ + +#include "xtensa_rtos.h" +#include "sdkconfig.h" +#include "soc/soc.h" + +#define LOADSTORE_HANDLER_STACK_SZ 8 + .section .bss, "aw" + .balign 16 +LoadStoreHandlerStack: + .rept LOADSTORE_HANDLER_STACK_SZ + .word 0 + .endr + + +/* LoadStoreErrorCause handler: + * + * Completes 8-bit or 16-bit load/store instructions from 32-bit aligned memory region + * Called from UserExceptionVector if EXCCAUSE is LoadStoreErrorCause + */ + + .global LoadStoreErrorHandler + .section .iram1, "ax" + + .literal_position + + .balign 4 +LoadStoreErrorHandler: + .type LoadStoreErrorHandler, @function + + wsr a0, depc // Save return address in depc + mov a0, sp + movi sp, LoadStoreHandlerStack + s32i a0, sp, 0x04 // Since a0 contains value of a1 + s32i a2, sp, 0x08 + s32i a3, sp, 0x0c + s32i a4, sp, 0x10 + + rsr a0, sar // Save SAR in a0 to restore later + + /* Check whether the address lies in the valid range */ + rsr a3, excvaddr + movi a4, _iram_text_end // End of code section of IRAM + bge a3, a4, 1f + movi a4, SOC_CACHE_APP_LOW // Check if in APP cache region + blt a3, a4, .LS_wrong_opcode + movi a4, SOC_CACHE_APP_HIGH + bge a3, a4, .LS_wrong_opcode + j 2f + +1: + movi a4, SOC_IRAM_HIGH // End of IRAM address range + bge a3, a4, .LS_wrong_opcode + +2: + /* Examine the opcode which generated the exception */ + /* Note: Instructions are in this order to avoid pipeline stalls. */ + rsr a2, epc1 + movi a4, ~3 + ssa8l a2 // sar is now correct shift for aligned read + and a2, a2, a4 // a2 now 4-byte aligned address of instruction + l32i a4, a2, 0 + l32i a2, a2, 4 + + src a2, a2, a4 // a2 now instruction that failed + bbci a2, 1, .LS_wrong_opcode + bbsi a2, 14, .LSE_store_op // Store instruction + + /* l8/l16ui/l16si */ + movi a4, ~3 + and a4, a3, a4 // a4 now word aligned read address + + ssa8l a3 // sar is now shift to extract a3's byte + l32i a4, a4, 0 // perform the actual read + srl a4, a4 // shift right correct distance + extui a3, a2, 12, 4 + bnez a3, 1f // l16ui/l16si + extui a4, a4, 0, 8 // mask off bits needed for an l8 + j 2f + +1: + extui a4, a4, 0, 16 + bbci a2, 15, 2f // l16ui + + /* Sign adjustment */ + slli a4, a4, 16 + srai a4, a4, 16 // a4 contains the value + +2: + /* a4 contains the value */ + rsr a3, epc1 + addi a3, a3, 3 + wsr a3, epc1 + wsr a0, sar + rsr a0, excsave1 + + extui a2, a2, 3, 5 + blti a2, 10, .LSE_stack_reg + + movi a3, .LS_jumptable_base + addx8 a2, a2, a3 // a2 is now the address to jump to + l32i a3, sp, 0x0c + jx a2 + +.LSE_stack_reg: + addx2 a2, a2, sp + s32i a4, a2, 0 + + /* Restore all values */ + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +.LSE_store_op: + s32i a5, a1, 0x14 + s32i a6, a1, 0x18 + + /* a2 -> instruction that caused the error */ + /* a3 -> unaligned address */ + extui a4, a2, 4, 4 + blti a4, 7, 1f + movi a5, .LSE_store_reg + addx8 a5, a4, a5 + jx a5 + +1: + addx4 a4, a4, sp + l32i a4, a4, 0 + +.LSE_store_data: + /* a4 contains the value */ + rsr a6, epc1 + addi a6, a6, 3 + wsr a6, epc1 + + ssa8b a3 + movi a5, -1 + bbsi a2, 12, 1f // s16 + extui a4, a4, 0, 8 + movi a6, 0xff + j 2f +1: + extui a4, a4, 0, 16 + movi a6, 0xffff +2: + sll a4, a4 // shift the value to proper offset + sll a6, a6 + xor a5, a5, a6 // a5 contains the mask + + movi a6, ~3 + and a3, a3, a6 // a3 has the aligned address + l32i a6, a3, 0 // a6 contains the data at the aligned address + and a6, a6, a5 + or a4, a6, a4 + s32i a4, a3, 0 + + /* Restore registers */ + wsr a0, sar + + l32i a6, sp, 0x18 + l32i a5, sp, 0x14 + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rsr a0, excsave1 + + rfe + +.LSE_store_reg: + .org .LSE_store_reg + (7 * 8) + mov a4, a7 + j .LSE_store_data + + .org .LSE_store_reg + (8 * 8) + mov a4, a8 + j .LSE_store_data + + .org .LSE_store_reg + (9 * 8) + mov a4, a9 + j .LSE_store_data + + .org .LSE_store_reg + (10 * 8) + mov a4, a10 + j .LSE_store_data + + .org .LSE_store_reg + (11 * 8) + mov a4, a11 + j .LSE_store_data + + .org .LSE_store_reg + (12 * 8) + mov a4, a12 + j .LSE_store_data + + .org .LSE_store_reg + (13 * 8) + mov a4, a13 + j .LSE_store_data + + .org .LSE_store_reg + (14 * 8) + mov a4, a14 + j .LSE_store_data + + .org .LSE_store_reg + (15 * 8) + mov a4, a15 + j .LSE_store_data + + +/* LoadStoreAlignmentCause handler: + * + * Completes unaligned 16-bit and 32-bit load/store instructions from 32-bit aligned memory region + * Called from UserExceptionVector if EXCCAUSE is LoadStoreAlignmentCause + */ + + .global AlignmentErrorHandler + .section .iram1, "ax" + + .literal_position + + .balign 4 +AlignmentErrorHandler: + .type AlignmentErrorHandler, @function + + wsr a0, depc // Save return address in depc + mov a0, sp + movi sp, LoadStoreHandlerStack + s32i a0, sp, 0x04 // Since a0 contains value of a1 + s32i a2, sp, 0x08 + s32i a3, sp, 0x0c + s32i a4, sp, 0x10 + + rsr a0, sar // Save SAR in a0 to restore later + + /* Check whether the address lies in the valid range */ + rsr a3, excvaddr + movi a4, _iram_text_end // End of code section of IRAM + bge a3, a4, 1f + movi a4, SOC_CACHE_APP_LOW // Check if in APP cache region + blt a3, a4, .LS_wrong_opcode + movi a4, SOC_CACHE_APP_HIGH + bge a3, a4, .LS_wrong_opcode + j 2f + +1: + movi a4, SOC_IRAM_HIGH // End of IRAM address range + bge a3, a4, .LS_wrong_opcode + +2: + /* Examine the opcode which generated the exception */ + /* Note: Instructions are in this order to avoid pipeline stalls. */ + rsr a2, epc1 + movi a4, ~3 + ssa8l a2 // sar is now correct shift for aligned read + and a2, a2, a4 // a2 now 4-byte aligned address of instruction + l32i a4, a2, 0 + l32i a2, a2, 4 + + /* a2 has the instruction that caused the error */ + src a2, a2, a4 + extui a4, a2, 0, 4 + addi a4, a4, -9 + beqz a4, .LSA_store_op + bbsi a2, 14, .LSA_store_op + + ssa8l a3 // a3 contains the unaligned address + movi a4, ~3 + and a4, a3, a4 // a4 has the aligned address + l32i a3, a4, 0 + l32i a4, a4, 4 + src a4, a4, a3 + + rsr a3, epc1 + addi a3, a3, 2 + bbsi a2, 3, 1f // l32i.n + bbci a2, 1, .LS_wrong_opcode + addi a3, a3, 1 + + bbsi a2, 13, 1f // l32 + extui a4, a4, 0, 16 + bbci a2, 15, 1f // l16ui + + /* Sign adjustment */ + slli a4, a4, 16 + srai a4, a4, 16 // a4 contains the value + +1: + wsr a3, epc1 + wsr a0, sar + rsr a0, excsave1 + + extui a2, a2, 4, 4 + blti a2, 5, .LSA_stack_reg // a3 contains the target register + + movi a3, .LS_jumptable_base + slli a2, a2, 4 + add a2, a2, a3 // a2 is now the address to jump to + l32i a3, sp, 0x0c + jx a2 + +.LSA_stack_reg: + addx4 a2, a2, sp + s32i a4, a2, 0 + + /* Restore all values */ + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +/* Store instruction */ +.LSA_store_op: + s32i a5, sp, 0x14 + s32i a6, sp, 0x18 + s32i a7, sp, 0x1c + + /* a2 -> instruction that caused the error */ + /* a3 -> unaligned address */ + extui a4, a2, 4, 4 + blti a4, 8, 1f + movi a5, .LSA_store_reg + addx8 a5, a4, a5 + jx a5 + +1: + addx4 a4, a4, sp + l32i a4, a4, 0 // a4 contains the value + +.LSA_store_data: + movi a6, 0 + + rsr a7, epc1 + addi a7, a7 ,2 + bbsi a2, 3, 1f // s32i.n + bbci a2, 1, .LS_wrong_opcode + + addi a7, a7, 1 + bbsi a2, 13, 1f // s32i + + movi a5, -1 + extui a4, a4, 0, 16 + slli a6, a5, 16 // 0xffff0000 + +1: + wsr a7, epc1 + movi a5, ~3 + and a5, a3, a5 // a5 has the aligned address + + ssa8b a3 + movi a3, -1 + src a7, a6, a3 + src a3, a3, a6 + + /* Store data on lower address */ + l32i a6, a5, 0 + and a6, a6, a7 + sll a7, a4 + or a6, a6, a7 + s32i a6, a5, 0 + + /* Store data on higher address */ + l32i a7, a5, 4 + srl a6, a4 + and a3, a7, a3 + or a3, a3, a6 + s32i a3, a5, 4 + + /* Restore registers */ + wsr a0, sar + rsr a0, excsave1 + + l32i a7, sp, 0x1c + l32i a6, sp, 0x18 + l32i a5, sp, 0x14 + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +.LSA_store_reg: + .org .LSA_store_reg + (8 * 8) + mov a4, a8 + j .LSA_store_data + + .org .LSA_store_reg + (9 * 8) + mov a4, a9 + j .LSA_store_data + + .org .LSA_store_reg + (10 * 8) + mov a4, a10 + j .LSA_store_data + + .org .LSA_store_reg + (11 * 8) + mov a4, a11 + j .LSA_store_data + + .org .LSA_store_reg + (12 * 8) + mov a4, a12 + j .LSA_store_data + + .org .LSA_store_reg + (13 * 8) + mov a4, a13 + j .LSA_store_data + + .org .LSA_store_reg + (14 * 8) + mov a4, a14 + j .LSA_store_data + + .org .LSA_store_reg + (15 * 8) + mov a4, a15 + j .LSA_store_data + +/* + * Common routines for both the exception handlers + */ + .balign 4 +.LS_jumptable: + /* The first 5 entries (80 bytes) of this table are unused (registers + a0..a4 are handled separately above). Rather than have a whole bunch + of wasted space, just pretend that the table starts 80 bytes + earlier in memory. */ + .set .LS_jumptable_base, .LS_jumptable - (16 * 5) + + .org .LS_jumptable_base + (16 * 5) + mov a5, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 6) + mov a6, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 7) + mov a7, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 8) + mov a8, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 9) + mov a9, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 10) + mov a10, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 11) + mov a11, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 12) + mov a12, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 13) + mov a13, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 14) + mov a14, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + + .org .LS_jumptable_base + (16 * 15) + mov a15, a4 + l32i a4, sp, 0x10 + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rfe + +.LS_wrong_opcode: + /* Reaches here if the address is in invalid range or the opcode isn't supported. + * Restore registers and jump back to _xt_user_exc + */ + wsr a0, sar + l32i a4, sp, 0x10 + l32i a3, sp, 0x0c + l32i a2, sp, 0x08 + l32i a1, sp, 0x04 + rsr a0, depc + ret // Equivalent to jx a0 diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_overlay_os_hook.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_overlay_os_hook.c new file mode 100644 index 0000000..ef893a7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_overlay_os_hook.c @@ -0,0 +1,67 @@ +/* xtensa_overlay_os_hook.c -- Overlay manager OS hooks for FreeRTOS. */ + +/* Copyright (c) 2015-2015 Cadence Design Systems Inc. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be included */ +/* in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ + + +#include "FreeRTOS.h" +#include "semphr.h" + +#if configUSE_MUTEX + +/* Mutex object that controls access to the overlay. Currently only one + * overlay region is supported so one mutex suffices. + */ + static SemaphoreHandle_t xt_overlay_mutex; + + +/* This function should be overridden to provide OS specific init such + * as the creation of a mutex lock that can be used for overlay locking. + * Typically this mutex would be set up with priority inheritance. See + * overlay manager documentation for more details. + */ + void xt_overlay_init_os( void ) + { + /* Create the mutex for overlay access. Priority inheritance is + * required. + */ + xt_overlay_mutex = xSemaphoreCreateMutex(); + } + + +/* This function locks access to shared overlay resources, typically + * by acquiring a mutex. + */ + void xt_overlay_lock( void ) + { + xSemaphoreTake( xt_overlay_mutex, 0 ); + } + + +/* This function releases access to shared overlay resources, typically + * by unlocking a mutex. + */ + void xt_overlay_unlock( void ) + { + xSemaphoreGive( xt_overlay_mutex ); + } + +#endif /* if configUSE_MUTEX */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_vector_defaults.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_vector_defaults.S new file mode 100644 index 0000000..f6c34a3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_vector_defaults.S @@ -0,0 +1,164 @@ +// Copyright 2015-2017 Espressif Systems (Shanghai) PTE LTD +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at + +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "xtensa_rtos.h" +#include "esp_panic.h" +#include "sdkconfig.h" +#include "soc/soc.h" + +/* +This file contains the default handlers for the high interrupt levels as well as some specialized exceptions. +The default behaviour is to just exit the interrupt or call the panic handler on the exceptions +*/ + + +#if XCHAL_HAVE_DEBUG + .global xt_debugexception + .weak xt_debugexception + .set xt_debugexception, _xt_debugexception + .section .iram1,"ax" + .type _xt_debugexception,@function + .align 4 + +_xt_debugexception: + movi a0,PANIC_RSN_DEBUGEXCEPTION + wsr a0,EXCCAUSE + /* _xt_panic assumes a level 1 exception. As we're + crashing anyhow, copy EPC & EXCSAVE from DEBUGLEVEL + to level 1. */ + rsr a0,(EPC + XCHAL_DEBUGLEVEL) + wsr a0,EPC_1 + rsr a0,(EXCSAVE + XCHAL_DEBUGLEVEL) + wsr a0,EXCSAVE_1 + call0 _xt_panic /* does not return */ + rfi XCHAL_DEBUGLEVEL + +#endif /* Debug exception */ + + +#if XCHAL_NUM_INTLEVELS >=2 && XCHAL_EXCM_LEVEL <2 && XCHAL_DEBUGLEVEL !=2 + .global xt_highint2 + .weak xt_highint2 + .set xt_highint2, _xt_highint2 + .section .iram1,"ax" + .type _xt_highint2,@function + .align 4 +_xt_highint2: + + /* Default handler does nothing; just returns */ + .align 4 +.L_xt_highint2_exit: + rsr a0, EXCSAVE_2 /* restore a0 */ + rfi 2 + +#endif /* Level 2 */ + +#if XCHAL_NUM_INTLEVELS >=3 && XCHAL_EXCM_LEVEL <3 && XCHAL_DEBUGLEVEL !=3 + + .global xt_highint3 + .weak xt_highint3 + .set xt_highint3, _xt_highint3 + .section .iram1,"ax" + .type _xt_highint3,@function + .align 4 +_xt_highint3: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint3_exit: + rsr a0, EXCSAVE_3 /* restore a0 */ + rfi 3 + +#endif /* Level 3 */ + +#if XCHAL_NUM_INTLEVELS >=4 && XCHAL_EXCM_LEVEL <4 && XCHAL_DEBUGLEVEL !=4 + + .global xt_highint4 + .weak xt_highint4 + .set xt_highint4, _xt_highint4 + .section .iram1,"ax" + .type _xt_highint4,@function + .align 4 +_xt_highint4: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint4_exit: + rsr a0, EXCSAVE_4 /* restore a0 */ + rfi 4 + +#endif /* Level 4 */ + +#if XCHAL_NUM_INTLEVELS >=5 && XCHAL_EXCM_LEVEL <5 && XCHAL_DEBUGLEVEL !=5 + + .global xt_highint5 + .weak xt_highint5 + .set xt_highint5, _xt_highint5 + .section .iram1,"ax" + .type _xt_highint5,@function + .align 4 +_xt_highint5: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint5_exit: + rsr a0, EXCSAVE_5 /* restore a0 */ + rfi 5 + + +#endif /* Level 5 */ + +#if XCHAL_NUM_INTLEVELS >=6 && XCHAL_EXCM_LEVEL <6 && XCHAL_DEBUGLEVEL !=6 + + .global _xt_highint6 + .global xt_highint6 + .weak xt_highint6 + .set xt_highint6, _xt_highint6 + .section .iram1,"ax" + .type _xt_highint6,@function + .align 4 +_xt_highint6: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_highint6_exit: + rsr a0, EXCSAVE_6 /* restore a0 */ + rfi 6 + +#endif /* Level 6 */ + +#if XCHAL_HAVE_NMI + + .global _xt_nmi + .global xt_nmi + .weak xt_nmi + .set xt_nmi, _xt_nmi + .section .iram1,"ax" + .type _xt_nmi,@function + .align 4 +_xt_nmi: + + /* Default handler does nothing; just returns */ + + .align 4 +.L_xt_nmi_exit: + rsr a0, EXCSAVE + XCHAL_NMILEVEL /* restore a0 */ + rfi XCHAL_NMILEVEL + +#endif /* NMI */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_vectors.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_vectors.S new file mode 100644 index 0000000..5c8601d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/xtensa_vectors.S @@ -0,0 +1,1919 @@ +/******************************************************************************* +Copyright (c) 2006-2015 Cadence Design Systems Inc. + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be included +in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +-------------------------------------------------------------------------------- + + XTENSA VECTORS AND LOW LEVEL HANDLERS FOR AN RTOS + + Xtensa low level exception and interrupt vectors and handlers for an RTOS. + + Interrupt handlers and user exception handlers support interaction with + the RTOS by calling XT_RTOS_INT_ENTER and XT_RTOS_INT_EXIT before and + after user's specific interrupt handlers. These macros are defined in + xtensa_.h to call suitable functions in a specific RTOS. + + Users can install application-specific interrupt handlers for low and + medium level interrupts, by calling xt_set_interrupt_handler(). These + handlers can be written in C, and must obey C calling convention. The + handler table is indexed by the interrupt number. Each handler may be + provided with an argument. + + Note that the system timer interrupt is handled specially, and is + dispatched to the RTOS-specific handler. This timer cannot be hooked + by application code. + + Optional hooks are also provided to install a handler per level at + run-time, made available by compiling this source file with + '-DXT_INTEXC_HOOKS' (useful for automated testing). + +!! This file is a template that usually needs to be modified to handle !! +!! application specific interrupts. Search USER_EDIT for helpful comments !! +!! on where to insert handlers and how to write them. !! + + Users can also install application-specific exception handlers in the + same way, by calling xt_set_exception_handler(). One handler slot is + provided for each exception type. Note that some exceptions are handled + by the porting layer itself, and cannot be taken over by application + code in this manner. These are the alloca, syscall, and coprocessor + exceptions. + + The exception handlers can be written in C, and must follow C calling + convention. Each handler is passed a pointer to an exception frame as + its single argument. The exception frame is created on the stack, and + holds the saved context of the thread that took the exception. If the + handler returns, the context will be restored and the instruction that + caused the exception will be retried. If the handler makes any changes + to the saved state in the exception frame, the changes will be applied + when restoring the context. + + Because Xtensa is a configurable architecture, this port supports all user + generated configurations (except restrictions stated in the release notes). + This is accomplished by conditional compilation using macros and functions + defined in the Xtensa HAL (hardware adaptation layer) for your configuration. + Only the relevant parts of this file will be included in your RTOS build. + For example, this file provides interrupt vector templates for all types and + all priority levels, but only the ones in your configuration are built. + + NOTES on the use of 'call0' for long jumps instead of 'j': + 1. This file should be assembled with the -mlongcalls option to xt-xcc. + 2. The -mlongcalls compiler option causes 'call0 dest' to be expanded to + a sequence 'l32r a0, dest' 'callx0 a0' which works regardless of the + distance from the call to the destination. The linker then relaxes + it back to 'call0 dest' if it determines that dest is within range. + This allows more flexibility in locating code without the performance + overhead of the 'l32r' literal data load in cases where the destination + is in range of 'call0'. There is an additional benefit in that 'call0' + has a longer range than 'j' due to the target being word-aligned, so + the 'l32r' sequence is less likely needed. + 3. The use of 'call0' with -mlongcalls requires that register a0 not be + live at the time of the call, which is always the case for a function + call but needs to be ensured if 'call0' is used as a jump in lieu of 'j'. + 4. This use of 'call0' is independent of the C function call ABI. + +*******************************************************************************/ + +#include "xtensa_rtos.h" +#include "esp_panic.h" +#include "sdkconfig.h" +#include "soc/soc.h" +#include "soc/dport_reg.h" + +/* + Define for workaround: pin no-cpu-affinity tasks to a cpu when fpu is used. + Please change this when the tcb structure is changed +*/ +#define TASKTCB_XCOREID_OFFSET (0x38+configMAX_TASK_NAME_LEN+3)&~3 +.extern pxCurrentTCB + +/* Enable stack backtrace across exception/interrupt - see below */ +#ifdef CONFIG_FREERTOS_INTERRUPT_BACKTRACE +#define XT_DEBUG_BACKTRACE 1 +#endif + + +/* +-------------------------------------------------------------------------------- + Defines used to access _xtos_interrupt_table. +-------------------------------------------------------------------------------- +*/ +#define XIE_HANDLER 0 +#define XIE_ARG 4 +#define XIE_SIZE 8 + + +/* + Macro get_percpu_entry_for - convert a per-core ID into a multicore entry. + Basically does reg=reg*portNUM_PROCESSORS+current_core_id + Multiple versions here to optimize for specific portNUM_PROCESSORS values. +*/ + .macro get_percpu_entry_for reg scratch +#if (portNUM_PROCESSORS == 1) + /* No need to do anything */ +#elif (portNUM_PROCESSORS == 2) + /* Optimized 2-core code. */ + getcoreid \scratch + addx2 \reg,\reg,\scratch +#else + /* Generalized n-core code. Untested! */ + movi \scratch,portNUM_PROCESSORS + mull \scratch,\reg,\scratch + getcoreid \reg + add \reg,\scratch,\reg +#endif + .endm +/* +-------------------------------------------------------------------------------- + Macro extract_msb - return the input with only the highest bit set. + + Input : "ain" - Input value, clobbered. + Output : "aout" - Output value, has only one bit set, MSB of "ain". + The two arguments must be different AR registers. +-------------------------------------------------------------------------------- +*/ + + .macro extract_msb aout ain +1: + addi \aout, \ain, -1 /* aout = ain - 1 */ + and \ain, \ain, \aout /* ain = ain & aout */ + bnez \ain, 1b /* repeat until ain == 0 */ + addi \aout, \aout, 1 /* return aout + 1 */ + .endm + +/* +-------------------------------------------------------------------------------- + Macro dispatch_c_isr - dispatch interrupts to user ISRs. + This will dispatch to user handlers (if any) that are registered in the + XTOS dispatch table (_xtos_interrupt_table). These handlers would have + been registered by calling _xtos_set_interrupt_handler(). There is one + exception - the timer interrupt used by the OS will not be dispatched + to a user handler - this must be handled by the caller of this macro. + + Level triggered and software interrupts are automatically deasserted by + this code. + + ASSUMPTIONS: + -- PS.INTLEVEL is set to "level" at entry + -- PS.EXCM = 0, C calling enabled + + NOTE: For CALL0 ABI, a12-a15 have not yet been saved. + + NOTE: This macro will use registers a0 and a2-a7. The arguments are: + level -- interrupt level + mask -- interrupt bitmask for this level +-------------------------------------------------------------------------------- +*/ + + .macro dispatch_c_isr level mask + + #ifdef CONFIG_PM_TRACE + movi a6, 0 /* = ESP_PM_TRACE_IDLE */ + getcoreid a7 + call4 esp_pm_trace_exit + #endif // CONFIG_PM_TRACE + + /* Get mask of pending, enabled interrupts at this level into a2. */ + +.L_xt_user_int_&level&: + rsr a2, INTENABLE + rsr a3, INTERRUPT + movi a4, \mask + and a2, a2, a3 + and a2, a2, a4 + beqz a2, 9f /* nothing to do */ + + /* This bit of code provides a nice debug backtrace in the debugger. + It does take a few more instructions, so undef XT_DEBUG_BACKTRACE + if you want to save the cycles. + */ + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + rsr a0, EPC_1 + \level - 1 /* return address */ + movi a4, 0xC0000000 /* constant with top 2 bits set (call size) */ + or a0, a0, a4 /* set top 2 bits */ + addx2 a0, a4, a0 /* clear top bit -- simulating call4 size */ + #endif + #endif + + #ifdef CONFIG_PM_ENABLE + call4 esp_pm_impl_isr_hook + #endif + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a4, _xt_intexc_hooks + l32i a4, a4, \level << 2 + beqz a4, 2f + #ifdef __XTENSA_CALL0_ABI__ + callx0 a4 + beqz a2, 9f + #else + mov a6, a2 + callx4 a4 + beqz a6, 9f + mov a2, a6 + #endif +2: + #endif + + /* Now look up in the dispatch table and call user ISR if any. */ + /* If multiple bits are set then MSB has highest priority. */ + + extract_msb a4, a2 /* a4 = MSB of a2, a2 trashed */ + + #ifdef XT_USE_SWPRI + /* Enable all interrupts at this level that are numerically higher + than the one we just selected, since they are treated as higher + priority. + */ + movi a3, \mask /* a3 = all interrupts at this level */ + add a2, a4, a4 /* a2 = a4 << 1 */ + addi a2, a2, -1 /* a2 = mask of 1's <= a4 bit */ + and a2, a2, a3 /* a2 = mask of all bits <= a4 at this level */ + movi a3, _xt_intdata + l32i a6, a3, 4 /* a6 = _xt_vpri_mask */ + neg a2, a2 + addi a2, a2, -1 /* a2 = mask to apply */ + and a5, a6, a2 /* mask off all bits <= a4 bit */ + s32i a5, a3, 4 /* update _xt_vpri_mask */ + rsr a3, INTENABLE + and a3, a3, a2 /* mask off all bits <= a4 bit */ + wsr a3, INTENABLE + rsil a3, \level - 1 /* lower interrupt level by 1 */ + #endif + + movi a3, XT_TIMER_INTEN /* a3 = timer interrupt bit */ + wsr a4, INTCLEAR /* clear sw or edge-triggered interrupt */ + beq a3, a4, 7f /* if timer interrupt then skip table */ + + find_ms_setbit a3, a4, a3, 0 /* a3 = interrupt number */ + + get_percpu_entry_for a3, a12 + movi a4, _xt_interrupt_table + addx8 a3, a3, a4 /* a3 = address of interrupt table entry */ + l32i a4, a3, XIE_HANDLER /* a4 = handler address */ + #ifdef __XTENSA_CALL0_ABI__ + mov a12, a6 /* save in callee-saved reg */ + l32i a2, a3, XIE_ARG /* a2 = handler arg */ + callx0 a4 /* call handler */ + mov a2, a12 + #else + mov a2, a6 /* save in windowed reg */ + l32i a6, a3, XIE_ARG /* a6 = handler arg */ + callx4 a4 /* call handler */ + #endif + + #ifdef XT_USE_SWPRI + j 8f + #else + j .L_xt_user_int_&level& /* check for more interrupts */ + #endif + +7: + + .ifeq XT_TIMER_INTPRI - \level +.L_xt_user_int_timer_&level&: + /* + Interrupt handler for the RTOS tick timer if at this level. + We'll be reading the interrupt state again after this call + so no need to preserve any registers except a6 (vpri_mask). + */ + + #ifdef __XTENSA_CALL0_ABI__ + mov a12, a6 + call0 XT_RTOS_TIMER_INT + mov a2, a12 + #else + mov a2, a6 + call4 XT_RTOS_TIMER_INT + #endif + .endif + + #ifdef XT_USE_SWPRI + j 8f + #else + j .L_xt_user_int_&level& /* check for more interrupts */ + #endif + + #ifdef XT_USE_SWPRI +8: + /* Restore old value of _xt_vpri_mask from a2. Also update INTENABLE from + virtual _xt_intenable which _could_ have changed during interrupt + processing. */ + + movi a3, _xt_intdata + l32i a4, a3, 0 /* a4 = _xt_intenable */ + s32i a2, a3, 4 /* update _xt_vpri_mask */ + and a4, a4, a2 /* a4 = masked intenable */ + wsr a4, INTENABLE /* update INTENABLE */ + #endif + +9: + /* done */ + + .endm + + +/* +-------------------------------------------------------------------------------- + Panic handler. + Should be reached by call0 (preferable) or jump only. If call0, a0 says where + from. If on simulator, display panic message and abort, else loop indefinitely. +-------------------------------------------------------------------------------- +*/ + + .section .iram1,"ax" + .global panicHandler + + .global _xt_panic + .type _xt_panic,@function + .align 4 + .literal_position + .align 4 + +_xt_panic: + /* Allocate exception frame and save minimal context. */ + mov a0, sp + addi sp, sp, -XT_STK_FRMSZ + s32i a0, sp, XT_STK_A1 + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -12 /* for debug backtrace */ + #endif + rsr a0, PS /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_1 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -16 /* for debug backtrace */ + #endif + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + + /* Save exc cause and vaddr into exception frame */ + rsr a0, EXCCAUSE + s32i a0, sp, XT_STK_EXCCAUSE + rsr a0, EXCVADDR + s32i a0, sp, XT_STK_EXCVADDR + + /* _xt_context_save seems to save the current a0, but we need the interuptees a0. Fix this. */ + rsr a0, EXCSAVE_1 /* save interruptee's a0 */ + + s32i a0, sp, XT_STK_A0 + + /* Set up PS for C, disable all interrupts except NMI and debug, and clear EXCM. */ + movi a0, PS_INTLEVEL(5) | PS_UM | PS_WOE + wsr a0, PS + + //Call panic handler + mov a6,sp + call4 panicHandler + + + .align 4 +//Call using call0. Prints the hex char in a2. Kills a3, a4, a5 +panic_print_hex: + movi a3,0x60000000 + movi a4,8 +panic_print_hex_loop: + l32i a5, a3, 0x1c + extui a5, a5, 16, 8 + bgei a5,64,panic_print_hex_loop + + srli a5,a2,28 + bgei a5,10,panic_print_hex_a + addi a5,a5,'0' + j panic_print_hex_ok +panic_print_hex_a: + addi a5,a5,'A'-10 +panic_print_hex_ok: + s32i a5,a3,0 + slli a2,a2,4 + + addi a4,a4,-1 + bnei a4,0,panic_print_hex_loop + movi a5,' ' + s32i a5,a3,0 + + ret + + + + .section .rodata, "a" + .align 4 + + + +/* +-------------------------------------------------------------------------------- + Hooks to dynamically install handlers for exceptions and interrupts. + Allows automated regression frameworks to install handlers per test. + Consists of an array of function pointers indexed by interrupt level, + with index 0 containing the entry for user exceptions. + Initialized with all 0s, meaning no handler is installed at each level. + See comment in xtensa_rtos.h for more details. + + *WARNING* This array is for all CPUs, that is, installing a hook for + one CPU will install it for all others as well! +-------------------------------------------------------------------------------- +*/ + + #ifdef XT_INTEXC_HOOKS + .data + .global _xt_intexc_hooks + .type _xt_intexc_hooks,@object + .align 4 + +_xt_intexc_hooks: + .fill XT_INTEXC_HOOK_NUM, 4, 0 + #endif + + +/* +-------------------------------------------------------------------------------- + EXCEPTION AND LEVEL 1 INTERRUPT VECTORS AND LOW LEVEL HANDLERS + (except window exception vectors). + + Each vector goes at a predetermined location according to the Xtensa + hardware configuration, which is ensured by its placement in a special + section known to the Xtensa linker support package (LSP). It performs + the minimum necessary before jumping to the handler in the .text section. + + The corresponding handler goes in the normal .text section. It sets up + the appropriate stack frame, saves a few vector-specific registers and + calls XT_RTOS_INT_ENTER to save the rest of the interrupted context + and enter the RTOS, then sets up a C environment. It then calls the + user's interrupt handler code (which may be coded in C) and finally + calls XT_RTOS_INT_EXIT to transfer control to the RTOS for scheduling. + + While XT_RTOS_INT_EXIT does not return directly to the interruptee, + eventually the RTOS scheduler will want to dispatch the interrupted + task or handler. The scheduler will return to the exit point that was + saved in the interrupt stack frame at XT_STK_EXIT. +-------------------------------------------------------------------------------- +*/ + + +/* +-------------------------------------------------------------------------------- +Debug Exception. +-------------------------------------------------------------------------------- +*/ + +#if XCHAL_HAVE_DEBUG + + .begin literal_prefix .DebugExceptionVector + .section .DebugExceptionVector.text, "ax" + .global _DebugExceptionVector + .align 4 + .global xt_debugexception +_DebugExceptionVector: + wsr a0, EXCSAVE+XCHAL_DEBUGLEVEL /* preserve a0 */ + call0 xt_debugexception /* load exception handler */ + + .end literal_prefix + +#endif + +/* +-------------------------------------------------------------------------------- +Double Exception. +Double exceptions are not a normal occurrence. They indicate a bug of some kind. +-------------------------------------------------------------------------------- +*/ + +#ifdef XCHAL_DOUBLEEXC_VECTOR_VADDR + + .begin literal_prefix .DoubleExceptionVector + .section .DoubleExceptionVector.text, "ax" + .global _DoubleExceptionVector + .align 4 + +_DoubleExceptionVector: + + #if XCHAL_HAVE_DEBUG + break 1, 4 /* unhandled double exception */ + #endif + movi a0,PANIC_RSN_DOUBLEEXCEPTION + wsr a0,EXCCAUSE + call0 _xt_panic /* does not return */ + rfde /* make a0 point here not later */ + + .end literal_prefix + +#endif /* XCHAL_DOUBLEEXC_VECTOR_VADDR */ + +/* +-------------------------------------------------------------------------------- +Kernel Exception (including Level 1 Interrupt from kernel mode). +-------------------------------------------------------------------------------- +*/ + + .begin literal_prefix .KernelExceptionVector + .section .KernelExceptionVector.text, "ax" + .global _KernelExceptionVector + .align 4 + +_KernelExceptionVector: + + wsr a0, EXCSAVE_1 /* preserve a0 */ + call0 _xt_kernel_exc /* kernel exception handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .section .iram1,"ax" + .align 4 + +_xt_kernel_exc: + #if XCHAL_HAVE_DEBUG + break 1, 0 /* unhandled kernel exception */ + #endif + movi a0,PANIC_RSN_KERNELEXCEPTION + wsr a0,EXCCAUSE + call0 _xt_panic /* does not return */ + rfe /* make a0 point here not there */ + + +/* +-------------------------------------------------------------------------------- +User Exception (including Level 1 Interrupt from user mode). +-------------------------------------------------------------------------------- +*/ + + .begin literal_prefix .UserExceptionVector + .section .UserExceptionVector.text, "ax" + .global _UserExceptionVector + .type _UserExceptionVector,@function + .align 4 + +_UserExceptionVector: + + wsr a0, EXCSAVE_1 /* preserve a0 */ + call0 _xt_user_exc /* user exception handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +/* +-------------------------------------------------------------------------------- + Insert some waypoints for jumping beyond the signed 8-bit range of + conditional branch instructions, so the conditional branchces to specific + exception handlers are not taken in the mainline. Saves some cycles in the + mainline. +-------------------------------------------------------------------------------- +*/ + +#ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY + .global LoadStoreErrorHandler + .global AlignmentErrorHandler +#endif + + .section .iram1,"ax" + + #if XCHAL_HAVE_WINDOWED + .align 4 +_xt_to_alloca_exc: + call0 _xt_alloca_exc /* in window vectors section */ + /* never returns here - call0 is used as a jump (see note at top) */ + #endif + + .align 4 +_xt_to_syscall_exc: + call0 _xt_syscall_exc + /* never returns here - call0 is used as a jump (see note at top) */ + + #if XCHAL_CP_NUM > 0 + .align 4 +_xt_to_coproc_exc: + call0 _xt_coproc_exc + /* never returns here - call0 is used as a jump (see note at top) */ + #endif + +#ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY + .align 4 +_call_loadstore_handler: + call0 LoadStoreErrorHandler + /* This will return only if wrong opcode or address out of range*/ + j .LS_exit + + .align 4 +_call_alignment_handler: + call0 AlignmentErrorHandler + /* This will return only if wrong opcode or address out of range*/ + addi a0, a0, 1 + j .LS_exit +#endif + +/* +-------------------------------------------------------------------------------- + User exception handler. +-------------------------------------------------------------------------------- +*/ + + .type _xt_user_exc,@function + .align 4 + +_xt_user_exc: + + /* If level 1 interrupt then jump to the dispatcher */ + rsr a0, EXCCAUSE + beqi a0, EXCCAUSE_LEVEL1INTERRUPT, _xt_lowint1 + + /* Handle any coprocessor exceptions. Rely on the fact that exception + numbers above EXCCAUSE_CP0_DISABLED all relate to the coprocessors. + */ + #if XCHAL_CP_NUM > 0 + bgeui a0, EXCCAUSE_CP0_DISABLED, _xt_to_coproc_exc + #endif + + /* Handle alloca and syscall exceptions */ + #if XCHAL_HAVE_WINDOWED + beqi a0, EXCCAUSE_ALLOCA, _xt_to_alloca_exc + #endif + beqi a0, EXCCAUSE_SYSCALL, _xt_to_syscall_exc + +#ifdef CONFIG_ESP32_IRAM_AS_8BIT_ACCESSIBLE_MEMORY + beqi a0, EXCCAUSE_LOAD_STORE_ERROR, _call_loadstore_handler + + addi a0, a0, -1 + beqi a0, 8, _call_alignment_handler + addi a0, a0, 1 +.LS_exit: +#endif + + /* Handle all other exceptions. All can have user-defined handlers. */ + /* NOTE: we'll stay on the user stack for exception handling. */ + + /* Allocate exception frame and save minimal context. */ + mov a0, sp + addi sp, sp, -XT_STK_FRMSZ + s32i a0, sp, XT_STK_A1 + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -12 /* for debug backtrace */ + #endif + rsr a0, PS /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_1 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -16 /* for debug backtrace */ + #endif + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + + /* Save exc cause and vaddr into exception frame */ + rsr a0, EXCCAUSE + s32i a0, sp, XT_STK_EXCCAUSE + rsr a0, EXCVADDR + s32i a0, sp, XT_STK_EXCVADDR + + /* _xt_context_save seems to save the current a0, but we need the interuptees a0. Fix this. */ + rsr a0, EXCSAVE_1 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + + /* Set up PS for C, reenable hi-pri interrupts, and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(XCHAL_EXCM_LEVEL) | PS_UM + #else + movi a0, PS_INTLEVEL(XCHAL_EXCM_LEVEL) | PS_UM | PS_WOE + #endif + wsr a0, PS + + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + rsr a0, EPC_1 /* return address for debug backtrace */ + movi a5, 0xC0000000 /* constant with top 2 bits set (call size) */ + rsync /* wait for WSR.PS to complete */ + or a0, a0, a5 /* set top 2 bits */ + addx2 a0, a5, a0 /* clear top bit -- thus simulating call4 size */ + #else + rsync /* wait for WSR.PS to complete */ + #endif + #endif + + rsr a2, EXCCAUSE /* recover exc cause */ + + #ifdef XT_INTEXC_HOOKS + /* + Call exception hook to pre-handle exceptions (if installed). + Pass EXCCAUSE in a2, and check result in a2 (if -1, skip default handling). + */ + movi a4, _xt_intexc_hooks + l32i a4, a4, 0 /* user exception hook index 0 */ + beqz a4, 1f +.Ln_xt_user_exc_call_hook: + #ifdef __XTENSA_CALL0_ABI__ + callx0 a4 + beqi a2, -1, .L_xt_user_done + #else + mov a6, a2 + callx4 a4 + beqi a6, -1, .L_xt_user_done + mov a2, a6 + #endif +1: + #endif + + rsr a2, EXCCAUSE /* recover exc cause */ + movi a3, _xt_exception_table + get_percpu_entry_for a2, a4 + addx4 a4, a2, a3 /* a4 = address of exception table entry */ + l32i a4, a4, 0 /* a4 = handler address */ + #ifdef __XTENSA_CALL0_ABI__ + mov a2, sp /* a2 = pointer to exc frame */ + callx0 a4 /* call handler */ + #else + mov a6, sp /* a6 = pointer to exc frame */ + callx4 a4 /* call handler */ + #endif + +.L_xt_user_done: + + /* Restore context and return */ + call0 _xt_context_restore + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, PS + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_1 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove exception frame */ + rsync /* ensure PS and EPC written */ + rfe /* PS.EXCM is cleared */ + + +/* +-------------------------------------------------------------------------------- + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. +-------------------------------------------------------------------------------- +*/ + + .global _xt_user_exit + .type _xt_user_exit,@function + .align 4 +_xt_user_exit: + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, PS + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_1 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure PS and EPC written */ + rfe /* PS.EXCM is cleared */ + + +/* + +-------------------------------------------------------------------------------- +Syscall Exception Handler (jumped to from User Exception Handler). +Syscall 0 is required to spill the register windows (no-op in Call 0 ABI). +Only syscall 0 is handled here. Other syscalls return -1 to caller in a2. +-------------------------------------------------------------------------------- +*/ + + .section .iram1,"ax" + .type _xt_syscall_exc,@function + .align 4 +_xt_syscall_exc: + + #ifdef __XTENSA_CALL0_ABI__ + /* + Save minimal regs for scratch. Syscall 0 does nothing in Call0 ABI. + Use a minimal stack frame (16B) to save A2 & A3 for scratch. + PS.EXCM could be cleared here, but unlikely to improve worst-case latency. + rsr a0, PS + addi a0, a0, -PS_EXCM_MASK + wsr a0, PS + */ + addi sp, sp, -16 + s32i a2, sp, 8 + s32i a3, sp, 12 + #else /* Windowed ABI */ + /* + Save necessary context and spill the register windows. + PS.EXCM is still set and must remain set until after the spill. + Reuse context save function though it saves more than necessary. + For this reason, a full interrupt stack frame is allocated. + */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + #endif + + /* + Grab the interruptee's PC and skip over the 'syscall' instruction. + If it's at the end of a zero-overhead loop and it's not on the last + iteration, decrement loop counter and skip to beginning of loop. + */ + rsr a2, EPC_1 /* a2 = PC of 'syscall' */ + addi a3, a2, 3 /* ++PC */ + #if XCHAL_HAVE_LOOPS + rsr a0, LEND /* if (PC == LEND */ + bne a3, a0, 1f + rsr a0, LCOUNT /* && LCOUNT != 0) */ + beqz a0, 1f /* { */ + addi a0, a0, -1 /* --LCOUNT */ + rsr a3, LBEG /* PC = LBEG */ + wsr a0, LCOUNT /* } */ + #endif +1: wsr a3, EPC_1 /* update PC */ + + /* Restore interruptee's context and return from exception. */ + #ifdef __XTENSA_CALL0_ABI__ + l32i a2, sp, 8 + l32i a3, sp, 12 + addi sp, sp, 16 + #else + call0 _xt_context_restore + addi sp, sp, XT_STK_FRMSZ + #endif + movi a0, -1 + movnez a2, a0, a2 /* return -1 if not syscall 0 */ + rsr a0, EXCSAVE_1 + rfe + +/* +-------------------------------------------------------------------------------- +Co-Processor Exception Handler (jumped to from User Exception Handler). +These exceptions are generated by co-processor instructions, which are only +allowed in thread code (not in interrupts or kernel code). This restriction is +deliberately imposed to reduce the burden of state-save/restore in interrupts. +-------------------------------------------------------------------------------- +*/ +#if XCHAL_CP_NUM > 0 + + .section .rodata, "a" + +/* Offset to CP n save area in thread's CP save area. */ + .global _xt_coproc_sa_offset + .type _xt_coproc_sa_offset,@object + .align 16 /* minimize crossing cache boundaries */ +_xt_coproc_sa_offset: + .word XT_CP0_SA, XT_CP1_SA, XT_CP2_SA, XT_CP3_SA + .word XT_CP4_SA, XT_CP5_SA, XT_CP6_SA, XT_CP7_SA + +/* Bitmask for CP n's CPENABLE bit. */ + .type _xt_coproc_mask,@object + .align 16,,8 /* try to keep it all in one cache line */ + .set i, 0 +_xt_coproc_mask: + .rept XCHAL_CP_MAX + .long (i<<16) | (1<= 2 + + .begin literal_prefix .Level2InterruptVector + .section .Level2InterruptVector.text, "ax" + .global _Level2Vector + .type _Level2Vector,@function + .align 4 +_Level2Vector: + wsr a0, EXCSAVE_2 /* preserve a0 */ + call0 _xt_medint2 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint2,@function + .align 4 +_xt_medint2: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_2 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_2 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_2 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint2_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(2) | PS_UM + #else + movi a0, PS_INTLEVEL(2) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 2 XCHAL_INTLEVEL2_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint2_exit + .type _xt_medint2_exit,@function + .align 4 +_xt_medint2_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_2 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_2 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 2 + +#endif /* Level 2 */ + +#if XCHAL_EXCM_LEVEL >= 3 + + .begin literal_prefix .Level3InterruptVector + .section .Level3InterruptVector.text, "ax" + .global _Level3Vector + .type _Level3Vector,@function + .align 4 +_Level3Vector: + wsr a0, EXCSAVE_3 /* preserve a0 */ + call0 _xt_medint3 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint3,@function + .align 4 +_xt_medint3: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_3 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_3 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_3 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint3_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(3) | PS_UM + #else + movi a0, PS_INTLEVEL(3) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 3 XCHAL_INTLEVEL3_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint3_exit + .type _xt_medint3_exit,@function + .align 4 +_xt_medint3_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_3 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_3 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 3 + +#endif /* Level 3 */ + +#if XCHAL_EXCM_LEVEL >= 4 + + .begin literal_prefix .Level4InterruptVector + .section .Level4InterruptVector.text, "ax" + .global _Level4Vector + .type _Level4Vector,@function + .align 4 +_Level4Vector: + wsr a0, EXCSAVE_4 /* preserve a0 */ + call0 _xt_medint4 /* load interrupt handler */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint4,@function + .align 4 +_xt_medint4: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_4 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_4 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_4 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint4_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(4) | PS_UM + #else + movi a0, PS_INTLEVEL(4) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 4 XCHAL_INTLEVEL4_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint4_exit + .type _xt_medint4_exit,@function + .align 4 +_xt_medint4_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_4 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_4 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 4 + +#endif /* Level 4 */ + +#if XCHAL_EXCM_LEVEL >= 5 + + .begin literal_prefix .Level5InterruptVector + .section .Level5InterruptVector.text, "ax" + .global _Level5Vector + .type _Level5Vector,@function + .align 4 +_Level5Vector: + wsr a0, EXCSAVE_5 /* preserve a0 */ + call0 _xt_medint5 /* load interrupt handler */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint5,@function + .align 4 +_xt_medint5: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_5 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_5 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_5 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint5_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(5) | PS_UM + #else + movi a0, PS_INTLEVEL(5) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 5 XCHAL_INTLEVEL5_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint5_exit + .type _xt_medint5_exit,@function + .align 4 +_xt_medint5_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_5 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_5 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 5 + +#endif /* Level 5 */ + +#if XCHAL_EXCM_LEVEL >= 6 + + .begin literal_prefix .Level6InterruptVector + .section .Level6InterruptVector.text, "ax" + .global _Level6Vector + .type _Level6Vector,@function + .align 4 +_Level6Vector: + wsr a0, EXCSAVE_6 /* preserve a0 */ + call0 _xt_medint6 /* load interrupt handler */ + + .end literal_prefix + + .section .iram1,"ax" + .type _xt_medint6,@function + .align 4 +_xt_medint6: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_6 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_6 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_6 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint6_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(6) | PS_UM + #else + movi a0, PS_INTLEVEL(6) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 6 XCHAL_INTLEVEL6_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint6_exit + .type _xt_medint6_exit,@function + .align 4 +_xt_medint6_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_6 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_6 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 6 + +#endif /* Level 6 */ + + +/******************************************************************************* + +HIGH PRIORITY (LEVEL > XCHAL_EXCM_LEVEL) INTERRUPT VECTORS AND HANDLERS + +High priority interrupts are by definition those with priorities greater +than XCHAL_EXCM_LEVEL. This includes non-maskable (NMI). High priority +interrupts cannot interact with the RTOS, that is they must save all regs +they use and not call any RTOS function. + +A further restriction imposed by the Xtensa windowed architecture is that +high priority interrupts must not modify the stack area even logically +"above" the top of the interrupted stack (they need to provide their +own stack or static save area). + +Cadence Design Systems recommends high priority interrupt handlers be coded in assembly +and used for purposes requiring very short service times. + +Here are templates for high priority (level 2+) interrupt vectors. +They assume only one interrupt per level to avoid the burden of identifying +which interrupts at this level are pending and enabled. This allows for +minimum latency and avoids having to save/restore a2 in addition to a0. +If more than one interrupt per high priority level is configured, this burden +is on the handler which in any case must provide a way to save and restore +registers it uses without touching the interrupted stack. + +Each vector goes at a predetermined location according to the Xtensa +hardware configuration, which is ensured by its placement in a special +section known to the Xtensa linker support package (LSP). It performs +the minimum necessary before jumping to the handler in the .text section. + +*******************************************************************************/ + +/* +These stubs just call xt_highintX/xt_nmi to handle the real interrupt. Please define +these in an external assembly source file. If these symbols are not defined anywhere +else, the defaults in xtensa_vector_defaults.S are used. +*/ + +#if XCHAL_NUM_INTLEVELS >=2 && XCHAL_EXCM_LEVEL <2 && XCHAL_DEBUGLEVEL !=2 + + .begin literal_prefix .Level2InterruptVector + .section .Level2InterruptVector.text, "ax" + .global _Level2Vector + .type _Level2Vector,@function + .global xt_highint2 + .align 4 +_Level2Vector: + wsr a0, EXCSAVE_2 /* preserve a0 */ + call0 xt_highint2 /* load interrupt handler */ + + .end literal_prefix + +#endif /* Level 2 */ + +#if XCHAL_NUM_INTLEVELS >=3 && XCHAL_EXCM_LEVEL <3 && XCHAL_DEBUGLEVEL !=3 + + .begin literal_prefix .Level3InterruptVector + .section .Level3InterruptVector.text, "ax" + .global _Level3Vector + .type _Level3Vector,@function + .global xt_highint3 + .align 4 +_Level3Vector: + wsr a0, EXCSAVE_3 /* preserve a0 */ + call0 xt_highint3 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 3 */ + +#if XCHAL_NUM_INTLEVELS >=4 && XCHAL_EXCM_LEVEL <4 && XCHAL_DEBUGLEVEL !=4 + + .begin literal_prefix .Level4InterruptVector + .section .Level4InterruptVector.text, "ax" + .global _Level4Vector + .type _Level4Vector,@function + .global xt_highint4 + .align 4 +_Level4Vector: + wsr a0, EXCSAVE_4 /* preserve a0 */ + call0 xt_highint4 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 4 */ + +#if XCHAL_NUM_INTLEVELS >=5 && XCHAL_EXCM_LEVEL <5 && XCHAL_DEBUGLEVEL !=5 + + .begin literal_prefix .Level5InterruptVector + .section .Level5InterruptVector.text, "ax" + .global _Level5Vector + .type _Level5Vector,@function + .global xt_highint5 + .align 4 +_Level5Vector: + wsr a0, EXCSAVE_5 /* preserve a0 */ + call0 xt_highint5 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 5 */ + +#if XCHAL_NUM_INTLEVELS >=6 && XCHAL_EXCM_LEVEL <6 && XCHAL_DEBUGLEVEL !=6 + + .begin literal_prefix .Level6InterruptVector + .section .Level6InterruptVector.text, "ax" + .global _Level6Vector + .type _Level6Vector,@function + .global xt_highint6 + .align 4 +_Level6Vector: + wsr a0, EXCSAVE_6 /* preserve a0 */ + call0 xt_highint6 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* Level 6 */ + +#if XCHAL_HAVE_NMI + + .begin literal_prefix .NMIExceptionVector + .section .NMIExceptionVector.text, "ax" + .global _NMIExceptionVector + .type _NMIExceptionVector,@function + .global xt_nmi + .align 4 +_NMIExceptionVector: + wsr a0, EXCSAVE + XCHAL_NMILEVEL _ /* preserve a0 */ + call0 xt_nmi /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +#endif /* NMI */ + + +/******************************************************************************* + +WINDOW OVERFLOW AND UNDERFLOW EXCEPTION VECTORS AND ALLOCA EXCEPTION HANDLER + +Here is the code for each window overflow/underflow exception vector and +(interspersed) efficient code for handling the alloca exception cause. +Window exceptions are handled entirely in the vector area and are very +tight for performance. The alloca exception is also handled entirely in +the window vector area so comes at essentially no cost in code size. +Users should never need to modify them and Cadence Design Systems recommends +they do not. + +Window handlers go at predetermined vector locations according to the +Xtensa hardware configuration, which is ensured by their placement in a +special section known to the Xtensa linker support package (LSP). Since +their offsets in that section are always the same, the LSPs do not define +a section per vector. + +These things are coded for XEA2 only (XEA1 is not supported). + +Note on Underflow Handlers: +The underflow handler for returning from call[i+1] to call[i] +must preserve all the registers from call[i+1]'s window. +In particular, a0 and a1 must be preserved because the RETW instruction +will be reexecuted (and may even underflow if an intervening exception +has flushed call[i]'s registers). +Registers a2 and up may contain return values. + +*******************************************************************************/ + +#if XCHAL_HAVE_WINDOWED + + .section .WindowVectors.text, "ax" + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call4. + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call4 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a3 are registers to be saved; + a4-a15 must be preserved; + a5 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x0 + .global _WindowOverflow4 +_WindowOverflow4: + + s32e a0, a5, -16 /* save a0 to call[j+1]'s stack frame */ + s32e a1, a5, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a5, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a5, -4 /* save a3 to call[j+1]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call4 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call4 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a3 are undefined, must be reloaded with call[i].reg[0..3]; + a4-a15 must be preserved (they are call[i+1].reg[0..11]); + a5 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x40 + .global _WindowUnderflow4 +_WindowUnderflow4: + + l32e a0, a5, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a5, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a5, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a3, a5, -4 /* restore a3 from call[i+1]'s stack frame */ + rfwu + +/* +-------------------------------------------------------------------------------- +Handle alloca exception generated by interruptee executing 'movsp'. +This uses space between the window vectors, so is essentially "free". +All interruptee's regs are intact except a0 which is saved in EXCSAVE_1, +and PS.EXCM has been set by the exception hardware (can't be interrupted). +The fact the alloca exception was taken means the registers associated with +the base-save area have been spilled and will be restored by the underflow +handler, so those 4 registers are available for scratch. +The code is optimized to avoid unaligned branches and minimize cache misses. +-------------------------------------------------------------------------------- +*/ + + .align 4 + .global _xt_alloca_exc +_xt_alloca_exc: + + rsr a0, WINDOWBASE /* grab WINDOWBASE before rotw changes it */ + rotw -1 /* WINDOWBASE goes to a4, new a0-a3 are scratch */ + rsr a2, PS + extui a3, a2, XCHAL_PS_OWB_SHIFT, XCHAL_PS_OWB_BITS + xor a3, a3, a4 /* bits changed from old to current windowbase */ + rsr a4, EXCSAVE_1 /* restore original a0 (now in a4) */ + slli a3, a3, XCHAL_PS_OWB_SHIFT + xor a2, a2, a3 /* flip changed bits in old window base */ + wsr a2, PS /* update PS.OWB to new window base */ + rsync + + _bbci.l a4, 31, _WindowUnderflow4 + rotw -1 /* original a0 goes to a8 */ + _bbci.l a8, 30, _WindowUnderflow8 + rotw -1 + j _WindowUnderflow12 + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call8 + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call8 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a7 are registers to be saved; + a8-a15 must be preserved; + a9 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x80 + .global _WindowOverflow8 +_WindowOverflow8: + + s32e a0, a9, -16 /* save a0 to call[j+1]'s stack frame */ + l32e a0, a1, -12 /* a0 <- call[j-1]'s sp + (used to find end of call[j]'s frame) */ + s32e a1, a9, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a9, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a9, -4 /* save a3 to call[j+1]'s stack frame */ + s32e a4, a0, -32 /* save a4 to call[j]'s stack frame */ + s32e a5, a0, -28 /* save a5 to call[j]'s stack frame */ + s32e a6, a0, -24 /* save a6 to call[j]'s stack frame */ + s32e a7, a0, -20 /* save a7 to call[j]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call8 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call8 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a7 are undefined, must be reloaded with call[i].reg[0..7]; + a8-a15 must be preserved (they are call[i+1].reg[0..7]); + a9 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0xC0 + .global _WindowUnderflow8 +_WindowUnderflow8: + + l32e a0, a9, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a9, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a9, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a7, a1, -12 /* a7 <- call[i-1]'s sp + (used to find end of call[i]'s frame) */ + l32e a3, a9, -4 /* restore a3 from call[i+1]'s stack frame */ + l32e a4, a7, -32 /* restore a4 from call[i]'s stack frame */ + l32e a5, a7, -28 /* restore a5 from call[i]'s stack frame */ + l32e a6, a7, -24 /* restore a6 from call[i]'s stack frame */ + l32e a7, a7, -20 /* restore a7 from call[i]'s stack frame */ + rfwu + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call12 + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call12 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a11 are registers to be saved; + a12-a15 must be preserved; + a13 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x100 + .global _WindowOverflow12 +_WindowOverflow12: + + s32e a0, a13, -16 /* save a0 to call[j+1]'s stack frame */ + l32e a0, a1, -12 /* a0 <- call[j-1]'s sp + (used to find end of call[j]'s frame) */ + s32e a1, a13, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a13, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a13, -4 /* save a3 to call[j+1]'s stack frame */ + s32e a4, a0, -48 /* save a4 to end of call[j]'s stack frame */ + s32e a5, a0, -44 /* save a5 to end of call[j]'s stack frame */ + s32e a6, a0, -40 /* save a6 to end of call[j]'s stack frame */ + s32e a7, a0, -36 /* save a7 to end of call[j]'s stack frame */ + s32e a8, a0, -32 /* save a8 to end of call[j]'s stack frame */ + s32e a9, a0, -28 /* save a9 to end of call[j]'s stack frame */ + s32e a10, a0, -24 /* save a10 to end of call[j]'s stack frame */ + s32e a11, a0, -20 /* save a11 to end of call[j]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call12 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call12 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a11 are undefined, must be reloaded with call[i].reg[0..11]; + a12-a15 must be preserved (they are call[i+1].reg[0..3]); + a13 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x140 + .global _WindowUnderflow12 +_WindowUnderflow12: + + l32e a0, a13, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a13, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a13, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a11, a1, -12 /* a11 <- call[i-1]'s sp + (used to find end of call[i]'s frame) */ + l32e a3, a13, -4 /* restore a3 from call[i+1]'s stack frame */ + l32e a4, a11, -48 /* restore a4 from end of call[i]'s stack frame */ + l32e a5, a11, -44 /* restore a5 from end of call[i]'s stack frame */ + l32e a6, a11, -40 /* restore a6 from end of call[i]'s stack frame */ + l32e a7, a11, -36 /* restore a7 from end of call[i]'s stack frame */ + l32e a8, a11, -32 /* restore a8 from end of call[i]'s stack frame */ + l32e a9, a11, -28 /* restore a9 from end of call[i]'s stack frame */ + l32e a10, a11, -24 /* restore a10 from end of call[i]'s stack frame */ + l32e a11, a11, -20 /* restore a11 from end of call[i]'s stack frame */ + rfwu + +#endif /* XCHAL_HAVE_WINDOWED */ + + .section .UserEnter.text, "ax" + .global call_user_start + .type call_user_start,@function + .align 4 + .literal_position + + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/Makefile b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/Makefile new file mode 100644 index 0000000..6a0d3b0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/Makefile @@ -0,0 +1,98 @@ +### Makefile to build the FreeRTOS library ### + +# Build target (options: sim, board) + +TARGET = sim +SMALL = + +# Tools + +CC = xt-xcc +AS = xt-xcc +AR = xt-ar +XT_CORE = $(patsubst %-params,%,$(notdir $(shell xt-xcc --show-config=core))) +CONFIGDIR = $(shell xt-xcc --show-config=config) + +# For platform-specific commands + +include $(CONFIGDIR)/misc/hostenv.mk + +# Source code and build locations + +SRCROOT = $(subst /,$(S),$(CURDIR)) +TSTROOT = $(abspath $(SRCROOT)$(S)..$(S)..$(S)..$(S)..$(S)..$(S)demos$(S)cadence$(S)sim$(SMALL)) +BLDROOT = $(TSTROOT)$(S)build +BLDDIR = $(BLDROOT)$(S)$(XT_CORE) + +FR_SRCDIR = $(abspath $(SRCROOT)$(S)..$(S)..$(S)..) +FR_SRCDIR2 = $(FR_SRCDIR)$(S)portable$(S)MemMang +XT_SRCDIR = $(SRCROOT) + +vpath %.c $(FR_SRCDIR) $(FR_SRCDIR2) $(XT_SRCDIR) +vpath %.S $(XT_SRCDIR) + +# File lists + +FR_C_FILES = $(notdir $(wildcard $(FR_SRCDIR)/*.c)) $(notdir $(wildcard $(FR_SRCDIR2)/*.c)) +XT_C_FILES = $(notdir $(wildcard $(XT_SRCDIR)/*.c)) +XT_S_FILES = $(notdir $(wildcard $(XT_SRCDIR)/*.S)) + +# List of all .o files that will go into the library + +LIB_C_O = $(patsubst %.c,%.o,$(XT_C_FILES) $(FR_C_FILES)) +LIB_S_O = $(patsubst %.S,%.o,$(XT_S_FILES)) +LIB_O_LIST = $(addprefix $(BLDDIR)/,$(LIB_C_O) $(LIB_S_O)) + +# Output files + +OSLIB = $(BLDDIR)$(S)libfreertos.a + +# Build options + +ifeq ($(TARGET),sim) +DFLAGS = -DXT_SIMULATOR +endif +ifeq ($(TARGET),board) +DFLAGS = -DXT_BOARD +endif + +IFLAGS = \ + -I$(FR_SRCDIR)$(S)..$(S)include -I$(FR_SRCDIR)$(S)..$(S)include$(S)private \ + -I$(XT_SRCDIR) -I$(TSTROOT)$(S)common$(S)config_files -I$(BLDDIR) + +CFLAGS = -O2 -g +CCFLAGS = $(CFLAGS) -Wall -mno-coproc -mlongcalls -ffunction-sections -mno-l32r-flix $(DFLAGS) +ASFLAGS = $(CCFLAGS) + +# Include dependency rules (generated using -MD) + +-include $(wildcard $(BLDDIR)/*.d) + +# Targets + +all : mkdir $(OSLIB) + +mkdir : $(BLDDIR)/.mkdir + +$(BLDDIR)/.mkdir : + @$(MKPATH) $(BLDDIR) + @echo "" > $@ + -$(CP) $(CONFIGDIR)/xtensa-elf/include/sys/reent.h $(BLDDIR)/reent.h + +$(OSLIB) : $(LIB_O_LIST) + $(AR) -rs $@ $^ + +$(BLDDIR)/%.o : %.c + $(CC) $(CCFLAGS) $(IFLAGS) -MD -MF $(subst .o,.d,$@) -c -o $@ $< + +$(BLDDIR)/%.o : %.S + $(CC) $(ASFLAGS) $(IFLAGS) -MD -MF $(subst .o,.d,$@) -c -o $@ $< + +clean : + $(RM_R) $(BLDDIR) + +clean_all : + $(RM_R) $(BLDROOT) + +.PHONY : all mkdir clean clean_all + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/port.c new file mode 100644 index 0000000..e1d9651 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/port.c @@ -0,0 +1,230 @@ + +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include +#include + +#include "xtensa_rtos.h" + +#include "FreeRTOS.h" +#include "task.h" + + +/* Defined in portasm.h */ +extern void _frxt_tick_timer_init(void); + +/* Defined in xtensa_context.S */ +extern void _xt_coproc_init(void); + + +/*-----------------------------------------------------------*/ + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +unsigned port_xSchedulerRunning = 0; // Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting +unsigned port_interruptNesting = 0; // Interrupt nesting level + +/*-----------------------------------------------------------*/ + +// User exception dispatcher when exiting +void _xt_user_exit(void); + +/* + * Stack initialization + */ +#if portUSING_MPU_WRAPPERS +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) +#else +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +#endif +{ + StackType_t * sp, * tp; + XtExcFrame * frame; + + #if XCHAL_CP_NUM > 0 + uint32_t * p; + #endif + + /* Create interrupt stack frame aligned to 16 byte boundary */ + sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf ); + + /* Clear the entire frame (do not use memset() because we don't depend on C library) */ + for( tp = sp; tp <= pxTopOfStack; ++tp ) + { + *tp = 0; + } + + frame = ( XtExcFrame * ) sp; + + /* Explicitly initialize certain saved registers */ + frame->pc = ( UBaseType_t ) pxCode; /* task entrypoint */ + frame->a0 = 0; /* to terminate GDB backtrace */ + frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ; /* physical top of stack frame */ + frame->exit = ( UBaseType_t ) _xt_user_exit; /* user exception exit dispatcher */ + + /* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */ + /* Also set entry point argument parameter. */ + #ifdef __XTENSA_CALL0_ABI__ + frame->a2 = ( UBaseType_t ) pvParameters; + frame->ps = PS_UM | PS_EXCM; + #else + /* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */ + frame->a6 = ( UBaseType_t ) pvParameters; + frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 ); + #endif + + #ifdef XT_USE_SWPRI + /* Set the initial virtual priority mask value to all 1's. */ + frame->vpri = 0xFFFFFFFF; + #endif + + #if XCHAL_CP_NUM > 0 + /* Init the coprocessor save area (see xtensa_context.h) */ + + /* No access to TCB here, so derive indirectly. Stack growth is top to bottom. + * //p = (uint32_t *) xMPUSettings->coproc_area; + */ + p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf ); + configASSERT( ( uint32_t ) p >= frame->a1 ); + p[ 0 ] = 0; + p[ 1 ] = 0; + p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN; + #endif + + return sp; +} + +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the Xtensa port will get stopped. If required simply + disable the tick interrupt here. */ +} + +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + // Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored + + #if XCHAL_CP_NUM > 0 + /* Initialize co-processor management for tasks. Leave CPENABLE alone. */ + _xt_coproc_init(); + #endif + + /* Init the tick divisor value */ + _xt_tick_divisor_init(); + + /* Setup the hardware to generate the tick. */ + _frxt_tick_timer_init(); + + #if XT_USE_THREAD_SAFE_CLIB + // Init C library + vPortClibInit(); + #endif + + port_xSchedulerRunning = 1; + + // Cannot be directly called from C; never returns + __asm__ volatile ("call0 _frxt_dispatch\n"); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortSysTickHandler( void ) +{ + BaseType_t ret; + uint32_t interruptMask; + + portbenchmarkIntLatency(); + + /* Interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY must be + * disabled before calling xTaskIncrementTick as it access the + * kernel lists. */ + interruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); + { + ret = xTaskIncrementTick(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( interruptMask ); + + portYIELD_FROM_ISR( ret ); + + return ret; +} +/*-----------------------------------------------------------*/ + +/* + * Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area. + */ +#if portUSING_MPU_WRAPPERS +void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, + const struct xMEMORY_REGION * const xRegions, + StackType_t * pxBottomOfStack, + uint32_t ulStackDepth ) +{ + #if XCHAL_CP_NUM > 0 + xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + ulStackDepth - 1 )); + xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); + xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf ); + + /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to + * clear the stack area after we return. This is done in pxPortInitialiseStack(). + */ + #endif +} +#endif /* if portUSING_MPU_WRAPPERS */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portasm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portasm.S new file mode 100644 index 0000000..11017f3 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portasm.S @@ -0,0 +1,596 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "xtensa_rtos.h" + +#define TOPOFSTACK_OFFS 0x00 /* StackType_t *pxTopOfStack */ +#define CP_TOPOFSTACK_OFFS 0x04 /* xMPU_SETTINGS.coproc_area */ + +.extern pxCurrentTCB + + +/* +******************************************************************************* +* Interrupt stack. The size of the interrupt stack is determined by the config +* parameter "configISR_STACK_SIZE" in FreeRTOSConfig.h +******************************************************************************* +*/ + .data + .align 16 + .global port_IntStack +port_IntStack: + .space configISR_STACK_SIZE +port_IntStackTop: + .word 0 +port_switch_flag: + .word 0 + + .text +/* +******************************************************************************* +* _frxt_setup_switch +* void _frxt_setup_switch(void); +* +* Sets an internal flag indicating that a task switch is required on return +* from interrupt handling. +* +******************************************************************************* +*/ + .global _frxt_setup_switch + .type _frxt_setup_switch,@function + .align 4 +_frxt_setup_switch: + + ENTRY(16) + + movi a2, port_switch_flag + movi a3, 1 + s32i a3, a2, 0 + + RET(16) + +/* +******************************************************************************* +* _frxt_int_enter +* void _frxt_int_enter(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_INT_ENTER function for +* freeRTOS. Saves the rest of the interrupt context (not already saved). +* May only be called from assembly code by the 'call0' instruction, with +* interrupts disabled. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +******************************************************************************* +*/ + .globl _frxt_int_enter + .type _frxt_int_enter,@function + .align 4 +_frxt_int_enter: + + /* Save a12-13 in the stack frame as required by _xt_context_save. */ + s32i a12, a1, XT_STK_A12 + s32i a13, a1, XT_STK_A13 + + /* Save return address in a safe place (free a0). */ + mov a12, a0 + + /* Save the rest of the interrupted context (preserves A12-13). */ + call0 _xt_context_save + + /* + Save interrupted task's SP in TCB only if not nesting. + Manage nesting directly rather than call the generic IntEnter() + (in windowed ABI we can't call a C function here anyway because PS.EXCM is still set). + */ + movi a2, port_xSchedulerRunning + movi a3, port_interruptNesting + l32i a2, a2, 0 /* a2 = port_xSchedulerRunning */ + beqz a2, 1f /* scheduler not running, no tasks */ + l32i a2, a3, 0 /* a2 = port_interruptNesting */ + addi a2, a2, 1 /* increment nesting count */ + s32i a2, a3, 0 /* save nesting count */ + bnei a2, 1, .Lnested /* !=0 before incr, so nested */ + + movi a2, pxCurrentTCB + l32i a2, a2, 0 /* a2 = current TCB */ + beqz a2, 1f + s32i a1, a2, TOPOFSTACK_OFFS /* pxCurrentTCB->pxTopOfStack = SP */ + movi a1, port_IntStackTop /* a1 = top of intr stack */ + +.Lnested: +1: + mov a0, a12 /* restore return addr and return */ + ret + +/* +******************************************************************************* +* _frxt_int_exit +* void _frxt_int_exit(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_INT_EXIT function for +* FreeRTOS. If required, calls vPortYieldFromInt() to perform task context +* switching, restore the (possibly) new task's context, and return to the +* exit dispatcher saved in the task's stack frame at XT_STK_EXIT. +* May only be called from assembly code by the 'call0' instruction. Does not +* return to caller. +* See the description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +******************************************************************************* +*/ + .globl _frxt_int_exit + .type _frxt_int_exit,@function + .align 4 +_frxt_int_exit: + + movi a2, port_xSchedulerRunning + movi a3, port_interruptNesting + rsil a0, XCHAL_EXCM_LEVEL /* lock out interrupts */ + l32i a2, a2, 0 /* a2 = port_xSchedulerRunning */ + beqz a2, .Lnoswitch /* scheduler not running, no tasks */ + l32i a2, a3, 0 /* a2 = port_interruptNesting */ + addi a2, a2, -1 /* decrement nesting count */ + s32i a2, a3, 0 /* save nesting count */ + bnez a2, .Lnesting /* !=0 after decr so still nested */ + + movi a2, pxCurrentTCB + l32i a2, a2, 0 /* a2 = current TCB */ + beqz a2, 1f /* no task ? go to dispatcher */ + l32i a1, a2, TOPOFSTACK_OFFS /* SP = pxCurrentTCB->pxTopOfStack */ + + movi a2, port_switch_flag /* address of switch flag */ + l32i a3, a2, 0 /* a3 = port_switch_flag */ + beqz a3, .Lnoswitch /* flag = 0 means no switch reqd */ + movi a3, 0 + s32i a3, a2, 0 /* zero out the flag for next time */ + +1: + /* + Call0 ABI callee-saved regs a12-15 need to be saved before possible preemption. + However a12-13 were already saved by _frxt_int_enter(). + */ + #ifdef __XTENSA_CALL0_ABI__ + s32i a14, a1, XT_STK_A14 + s32i a15, a1, XT_STK_A15 + #endif + + #ifdef __XTENSA_CALL0_ABI__ + call0 vPortYieldFromInt /* call dispatch inside the function; never returns */ + #else + call4 vPortYieldFromInt /* this one returns */ + call0 _frxt_dispatch /* tail-call dispatcher */ + /* Never returns here. */ + #endif + +.Lnoswitch: + /* + If we came here then about to resume the interrupted task. + */ + +.Lnesting: + /* + We come here only if there was no context switch, that is if this + is a nested interrupt, or the interrupted task was not preempted. + In either case there's no need to load the SP. + */ + + /* Restore full context from interrupt stack frame */ + call0 _xt_context_restore + + /* + Must return via the exit dispatcher corresponding to the entrypoint from which + this was called. Interruptee's A0, A1, PS, PC are restored and the interrupt + stack frame is deallocated in the exit dispatcher. + */ + l32i a0, a1, XT_STK_EXIT + ret + + +/* +********************************************************************************************************** +* _frxt_timer_int +* void _frxt_timer_int(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_TIMER_INT function for FreeRTOS. +* Called every timer interrupt. +* Manages the tick timer and calls xPortSysTickHandler() every tick. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +* Callable from C (obeys ABI conventions). Implemented in assmebly code for performance. +* +********************************************************************************************************** +*/ + .globl _frxt_timer_int + .type _frxt_timer_int,@function + .align 4 +_frxt_timer_int: + + /* + Xtensa timers work by comparing a cycle counter with a preset value. Once the match occurs + an interrupt is generated, and the handler has to set a new cycle count into the comparator. + To avoid clock drift due to interrupt latency, the new cycle count is computed from the old, + not the time the interrupt was serviced. However if a timer interrupt is ever serviced more + than one tick late, it is necessary to process multiple ticks until the new cycle count is + in the future, otherwise the next timer interrupt would not occur until after the cycle + counter had wrapped (2^32 cycles later). + + do { + ticks++; + old_ccompare = read_ccompare_i(); + write_ccompare_i( old_ccompare + divisor ); + service one tick; + diff = read_ccount() - old_ccompare; + } while ( diff > divisor ); + */ + + ENTRY(16) + +.L_xt_timer_int_catchup: + + /* Update the timer comparator for the next tick. */ + #ifdef XT_CLOCK_FREQ + movi a2, XT_TICK_DIVISOR /* a2 = comparator increment */ + #else + movi a3, _xt_tick_divisor + l32i a2, a3, 0 /* a2 = comparator increment */ + #endif + rsr a3, XT_CCOMPARE /* a3 = old comparator value */ + add a4, a3, a2 /* a4 = new comparator value */ + wsr a4, XT_CCOMPARE /* update comp. and clear interrupt */ + esync + + #ifdef __XTENSA_CALL0_ABI__ + /* Preserve a2 and a3 across C calls. */ + s32i a2, sp, 4 + s32i a3, sp, 8 + #endif + + /* Call the FreeRTOS tick handler (see port.c). */ + #ifdef __XTENSA_CALL0_ABI__ + call0 xPortSysTickHandler + #else + call4 xPortSysTickHandler + #endif + + #ifdef __XTENSA_CALL0_ABI__ + /* Restore a2 and a3. */ + l32i a2, sp, 4 + l32i a3, sp, 8 + #endif + + /* Check if we need to process more ticks to catch up. */ + esync /* ensure comparator update complete */ + rsr a4, CCOUNT /* a4 = cycle count */ + sub a4, a4, a3 /* diff = ccount - old comparator */ + blt a2, a4, .L_xt_timer_int_catchup /* repeat while diff > divisor */ + + RET(16) + + /* +********************************************************************************************************** +* _frxt_tick_timer_init +* void _frxt_tick_timer_init(void) +* +* Initialize timer and timer interrrupt handler (_xt_tick_divisor_init() has already been been called). +* Callable from C (obeys ABI conventions on entry). +* +********************************************************************************************************** +*/ + .globl _frxt_tick_timer_init + .type _frxt_tick_timer_init,@function + .align 4 +_frxt_tick_timer_init: + + ENTRY(16) + + /* Set up the periodic tick timer (assume enough time to complete init). */ + #ifdef XT_CLOCK_FREQ + movi a3, XT_TICK_DIVISOR + #else + movi a2, _xt_tick_divisor + l32i a3, a2, 0 + #endif + rsr a2, CCOUNT /* current cycle count */ + add a2, a2, a3 /* time of first timer interrupt */ + wsr a2, XT_CCOMPARE /* set the comparator */ + + /* + Enable the timer interrupt at the device level. Don't write directly + to the INTENABLE register because it may be virtualized. + */ + #ifdef __XTENSA_CALL0_ABI__ + movi a2, XT_TIMER_INTEN + call0 xt_ints_on + #else + movi a6, XT_TIMER_INTEN + call4 xt_ints_on + #endif + + RET(16) + +/* +********************************************************************************************************** +* DISPATCH THE HIGH READY TASK +* void _frxt_dispatch(void) +* +* Switch context to the highest priority ready task, restore its state and dispatch control to it. +* +* This is a common dispatcher that acts as a shared exit path for all the context switch functions +* including vPortYield() and vPortYieldFromInt(), all of which tail-call this dispatcher +* (for windowed ABI vPortYieldFromInt() calls it indirectly via _frxt_int_exit() ). +* +* The Xtensa port uses different stack frames for solicited and unsolicited task suspension (see +* comments on stack frames in xtensa_context.h). This function restores the state accordingly. +* If restoring a task that solicited entry, restores the minimal state and leaves CPENABLE clear. +* If restoring a task that was preempted, restores all state including the task's CPENABLE. +* +* Entry: +* pxCurrentTCB points to the TCB of the task to suspend, +* Because it is tail-called without a true function entrypoint, it needs no 'entry' instruction. +* +* Exit: +* If incoming task called vPortYield() (solicited), this function returns as if from vPortYield(). +* If incoming task was preempted by an interrupt, this function jumps to exit dispatcher. +* +********************************************************************************************************** +*/ + .globl _frxt_dispatch + .type _frxt_dispatch,@function + .align 4 +_frxt_dispatch: + + #ifdef __XTENSA_CALL0_ABI__ + call0 vTaskSwitchContext // Get next TCB to resume + movi a2, pxCurrentTCB + #else + movi a2, pxCurrentTCB + call4 vTaskSwitchContext // Get next TCB to resume + #endif + l32i a3, a2, 0 + l32i sp, a3, TOPOFSTACK_OFFS /* SP = next_TCB->pxTopOfStack; */ + s32i a3, a2, 0 + + /* Determine the type of stack frame. */ + l32i a2, sp, XT_STK_EXIT /* exit dispatcher or solicited flag */ + bnez a2, .L_frxt_dispatch_stk + +.L_frxt_dispatch_sol: + + /* Solicited stack frame. Restore minimal context and return from vPortYield(). */ + l32i a3, sp, XT_SOL_PS + #ifdef __XTENSA_CALL0_ABI__ + l32i a12, sp, XT_SOL_A12 + l32i a13, sp, XT_SOL_A13 + l32i a14, sp, XT_SOL_A14 + l32i a15, sp, XT_SOL_A15 + #endif + l32i a0, sp, XT_SOL_PC + #if XCHAL_CP_NUM > 0 + /* Ensure wsr.CPENABLE is complete (should be, it was cleared on entry). */ + rsync + #endif + /* As soons as PS is restored, interrupts can happen. No need to sync PS. */ + wsr a3, PS + #ifdef __XTENSA_CALL0_ABI__ + addi sp, sp, XT_SOL_FRMSZ + ret + #else + retw + #endif + +.L_frxt_dispatch_stk: + + #if XCHAL_CP_NUM > 0 + /* Restore CPENABLE from task's co-processor save area. */ + movi a3, pxCurrentTCB /* cp_state = */ + l32i a3, a3, 0 + l32i a2, a3, CP_TOPOFSTACK_OFFS /* StackType_t *pxStack; */ + l16ui a3, a2, XT_CPENABLE /* CPENABLE = cp_state->cpenable; */ + wsr a3, CPENABLE + #endif + + /* Interrupt stack frame. Restore full context and return to exit dispatcher. */ + call0 _xt_context_restore + + /* In Call0 ABI, restore callee-saved regs (A12, A13 already restored). */ + #ifdef __XTENSA_CALL0_ABI__ + l32i a14, sp, XT_STK_A14 + l32i a15, sp, XT_STK_A15 + #endif + + #if XCHAL_CP_NUM > 0 + /* Ensure wsr.CPENABLE has completed. */ + rsync + #endif + + /* + Must return via the exit dispatcher corresponding to the entrypoint from which + this was called. Interruptee's A0, A1, PS, PC are restored and the interrupt + stack frame is deallocated in the exit dispatcher. + */ + l32i a0, sp, XT_STK_EXIT + ret + + +/* +********************************************************************************************************** +* PERFORM A SOLICTED CONTEXT SWITCH (from a task) +* void vPortYield(void) +* +* This function saves the minimal state needed for a solicited task suspension, clears CPENABLE, +* then tail-calls the dispatcher _frxt_dispatch() to perform the actual context switch +* +* At Entry: +* pxCurrentTCB points to the TCB of the task to suspend +* Callable from C (obeys ABI conventions on entry). +* +* Does not return to caller. +* +********************************************************************************************************** +*/ + .globl vPortYield + .type vPortYield,@function + .align 4 +vPortYield: + + #ifdef __XTENSA_CALL0_ABI__ + addi sp, sp, -XT_SOL_FRMSZ + #else + entry sp, XT_SOL_FRMSZ + #endif + + rsr a2, PS + s32i a0, sp, XT_SOL_PC + s32i a2, sp, XT_SOL_PS + #ifdef __XTENSA_CALL0_ABI__ + s32i a12, sp, XT_SOL_A12 /* save callee-saved registers */ + s32i a13, sp, XT_SOL_A13 + s32i a14, sp, XT_SOL_A14 + s32i a15, sp, XT_SOL_A15 + #else + /* Spill register windows. Calling xthal_window_spill() causes extra */ + /* spills and reloads, so we will set things up to call the _nw version */ + /* instead to save cycles. */ + movi a6, ~(PS_WOE_MASK|PS_INTLEVEL_MASK) /* spills a4-a7 if needed */ + and a2, a2, a6 /* clear WOE, INTLEVEL */ + addi a2, a2, XCHAL_EXCM_LEVEL /* set INTLEVEL */ + wsr a2, PS + rsync + call0 xthal_window_spill_nw + l32i a2, sp, XT_SOL_PS /* restore PS */ + wsr a2, PS + #endif + + rsil a2, XCHAL_EXCM_LEVEL /* disable low/med interrupts */ + + #if XCHAL_CP_NUM > 0 + /* Save coprocessor callee-saved state (if any). At this point CPENABLE */ + /* should still reflect which CPs were in use (enabled). */ + call0 _xt_coproc_savecs + #endif + + movi a2, pxCurrentTCB + movi a3, 0 + l32i a2, a2, 0 /* a2 = pxCurrentTCB */ + s32i a3, sp, XT_SOL_EXIT /* 0 to flag as solicited frame */ + s32i sp, a2, TOPOFSTACK_OFFS /* pxCurrentTCB->pxTopOfStack = SP */ + + #if XCHAL_CP_NUM > 0 + /* Clear CPENABLE, also in task's co-processor state save area. */ + l32i a2, a2, CP_TOPOFSTACK_OFFS /* a2 = pxCurrentTCB->cp_state */ + movi a3, 0 + wsr a3, CPENABLE + beqz a2, 1f + s16i a3, a2, XT_CPENABLE /* clear saved cpenable */ +1: + #endif + + /* Tail-call dispatcher. */ + call0 _frxt_dispatch + /* Never reaches here. */ + + +/* +********************************************************************************************************** +* PERFORM AN UNSOLICITED CONTEXT SWITCH (from an interrupt) +* void vPortYieldFromInt(void) +* +* This calls the context switch hook (removed), saves and clears CPENABLE, then tail-calls the dispatcher +* _frxt_dispatch() to perform the actual context switch. +* +* At Entry: +* Interrupted task context has been saved in an interrupt stack frame at pxCurrentTCB->pxTopOfStack. +* pxCurrentTCB points to the TCB of the task to suspend, +* Callable from C (obeys ABI conventions on entry). +* +* At Exit: +* Windowed ABI defers the actual context switch until the stack is unwound to interrupt entry. +* Call0 ABI tail-calls the dispatcher directly (no need to unwind) so does not return to caller. +* +********************************************************************************************************** +*/ + .globl vPortYieldFromInt + .type vPortYieldFromInt,@function + .align 4 +vPortYieldFromInt: + + ENTRY(16) + + #if XCHAL_CP_NUM > 0 + /* Save CPENABLE in task's co-processor save area, and clear CPENABLE. */ + movi a3, pxCurrentTCB /* cp_state = */ + l32i a3, a3, 0 + l32i a2, a3, CP_TOPOFSTACK_OFFS + + rsr a3, CPENABLE + s16i a3, a2, XT_CPENABLE /* cp_state->cpenable = CPENABLE; */ + movi a3, 0 + wsr a3, CPENABLE /* disable all co-processors */ + #endif + + #ifdef __XTENSA_CALL0_ABI__ + /* Tail-call dispatcher. */ + call0 _frxt_dispatch + /* Never reaches here. */ + #else + RET(16) + #endif + +/* +********************************************************************************************************** +* _frxt_task_coproc_state +* void _frxt_task_coproc_state(void) +* +* Implements the Xtensa RTOS porting layer's XT_RTOS_CP_STATE function for FreeRTOS. +* +* May only be called when a task is running, not within an interrupt handler (returns 0 in that case). +* May only be called from assembly code by the 'call0' instruction. Does NOT obey ABI conventions. +* Returns in A15 a pointer to the base of the co-processor state save area for the current task. +* See the detailed description of the XT_RTOS_ENTER macro in xtensa_rtos.h. +* +********************************************************************************************************** +*/ +#if XCHAL_CP_NUM > 0 + + .globl _frxt_task_coproc_state + .type _frxt_task_coproc_state,@function + .align 4 +_frxt_task_coproc_state: + + movi a15, port_xSchedulerRunning /* if (port_xSchedulerRunning */ + l32i a15, a15, 0 + beqz a15, 1f + movi a15, port_interruptNesting /* && port_interruptNesting == 0 */ + l32i a15, a15, 0 + bnez a15, 1f + movi a15, pxCurrentTCB + l32i a15, a15, 0 /* && pxCurrentTCB != 0) { */ + beqz a15, 2f + l32i a15, a15, CP_TOPOFSTACK_OFFS + ret + +1: movi a15, 0 +2: ret + +#endif /* XCHAL_CP_NUM > 0 */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portbenchmark.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portbenchmark.h new file mode 100644 index 0000000..3df6103 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portbenchmark.h @@ -0,0 +1,46 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * This utility helps benchmarking interrupt latency and context switches. + * In order to enable it, set configBENCHMARK to 1 in FreeRTOSConfig.h. + * You will also need to download the FreeRTOS_trace patch that contains + * portbenchmark.c and the complete version of portbenchmark.h + */ + +#ifndef PORTBENCHMARK_H +#define PORTBENCHMARK_H + +#if configBENCHMARK + #error "You need to download the FreeRTOS_trace patch that overwrites this file" +#endif + +#define portbenchmarkINTERRUPT_DISABLE() +#define portbenchmarkINTERRUPT_RESTORE(newstate) +#define portbenchmarkIntLatency() +#define portbenchmarkIntWait() +#define portbenchmarkReset() +#define portbenchmarkPrint() + +#endif /* PORTBENCHMARK */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portclib.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portclib.c new file mode 100644 index 0000000..7268923 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portclib.c @@ -0,0 +1,225 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "FreeRTOS.h" + +#if XT_USE_THREAD_SAFE_CLIB + +#if XSHAL_CLIB == XTHAL_CLIB_XCLIB + +#include +#include + +#include "semphr.h" + +typedef SemaphoreHandle_t _Rmtx; + +//----------------------------------------------------------------------------- +// Override this and set to nonzero to enable locking. +//----------------------------------------------------------------------------- +int32_t _xclib_use_mt = 1; + + +//----------------------------------------------------------------------------- +// Init lock. +//----------------------------------------------------------------------------- +void +_Mtxinit(_Rmtx * mtx) +{ + *mtx = xSemaphoreCreateRecursiveMutex(); +} + +//----------------------------------------------------------------------------- +// Destroy lock. +//----------------------------------------------------------------------------- +void +_Mtxdst(_Rmtx * mtx) +{ + if ((mtx != NULL) && (*mtx != NULL)) { + vSemaphoreDelete(*mtx); + } +} + +//----------------------------------------------------------------------------- +// Lock. +//----------------------------------------------------------------------------- +void +_Mtxlock(_Rmtx * mtx) +{ + if ((mtx != NULL) && (*mtx != NULL)) { + xSemaphoreTakeRecursive(*mtx, portMAX_DELAY); + } +} + +//----------------------------------------------------------------------------- +// Unlock. +//----------------------------------------------------------------------------- +void +_Mtxunlock(_Rmtx * mtx) +{ + if ((mtx != NULL) && (*mtx != NULL)) { + xSemaphoreGiveRecursive(*mtx); + } +} + +//----------------------------------------------------------------------------- +// Called by malloc() to allocate blocks of memory from the heap. +//----------------------------------------------------------------------------- +void * +_sbrk_r (struct _reent * reent, int32_t incr) +{ + extern char _end; + extern char _heap_sentry; + static char * _heap_sentry_ptr = &_heap_sentry; + static char * heap_ptr; + char * base; + + if (!heap_ptr) + heap_ptr = (char *) &_end; + + base = heap_ptr; + if (heap_ptr + incr >= _heap_sentry_ptr) { + reent->_errno = ENOMEM; + return (char *) -1; + } + + heap_ptr += incr; + return base; +} + +//----------------------------------------------------------------------------- +// Global initialization for C library. +//----------------------------------------------------------------------------- +void +vPortClibInit(void) +{ +} + +//----------------------------------------------------------------------------- +// Per-thread cleanup stub provided for linking, does nothing. +//----------------------------------------------------------------------------- +void +_reclaim_reent(void * ptr) +{ +} + +#endif /* XSHAL_CLIB == XTHAL_CLIB_XCLIB */ + +#if XSHAL_CLIB == XTHAL_CLIB_NEWLIB + +#include +#include +#include +#include +#include + +#include "semphr.h" + +static SemaphoreHandle_t xClibMutex; +static uint32_t ulClibInitDone = 0; + +//----------------------------------------------------------------------------- +// Get C library lock. +//----------------------------------------------------------------------------- +void +__malloc_lock(struct _reent * ptr) +{ + if (!ulClibInitDone) + return; + + xSemaphoreTakeRecursive(xClibMutex, portMAX_DELAY); +} + +//----------------------------------------------------------------------------- +// Release C library lock. +//----------------------------------------------------------------------------- +void +__malloc_unlock(struct _reent * ptr) +{ + if (!ulClibInitDone) + return; + + xSemaphoreGiveRecursive(xClibMutex); +} + +//----------------------------------------------------------------------------- +// Lock for environment. Since we have only one global lock we can just call +// the malloc() lock function. +//----------------------------------------------------------------------------- +void +__env_lock(struct _reent * ptr) +{ + __malloc_lock(ptr); +} + + +//----------------------------------------------------------------------------- +// Unlock environment. +//----------------------------------------------------------------------------- +void +__env_unlock(struct _reent * ptr) +{ + __malloc_unlock(ptr); +} + +//----------------------------------------------------------------------------- +// Called by malloc() to allocate blocks of memory from the heap. +//----------------------------------------------------------------------------- +void * +_sbrk_r (struct _reent * reent, int32_t incr) +{ + extern char _end; + extern char _heap_sentry; + static char * _heap_sentry_ptr = &_heap_sentry; + static char * heap_ptr; + char * base; + + if (!heap_ptr) + heap_ptr = (char *) &_end; + + base = heap_ptr; + if (heap_ptr + incr >= _heap_sentry_ptr) { + reent->_errno = ENOMEM; + return (char *) -1; + } + + heap_ptr += incr; + return base; +} + +//----------------------------------------------------------------------------- +// Global initialization for C library. +//----------------------------------------------------------------------------- +void +vPortClibInit(void) +{ + configASSERT(!ulClibInitDone); + + xClibMutex = xSemaphoreCreateRecursiveMutex(); + ulClibInitDone = 1; +} + +#endif /* XSHAL_CLIB == XTHAL_CLIB_NEWLIB */ + +#endif /* XT_USE_THREAD_SAFE_CLIB */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portmacro.h new file mode 100644 index 0000000..6e1ea16 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/portmacro.h @@ -0,0 +1,236 @@ + +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef __ASSEMBLER__ + +#include + +#include +#include +#include +#include /* required for XSHAL_CLIB */ +#include + +//#include "xtensa_context.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ + +#define portCHAR int8_t +#define portFLOAT float +#define portDOUBLE double +#define portLONG int32_t +#define portSHORT int16_t +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE int + +typedef portSTACK_TYPE StackType_t; +typedef portBASE_TYPE BaseType_t; +typedef unsigned portBASE_TYPE UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +// portbenchmark +#include "portbenchmark.h" + +/* Critical section management. NW-TODO: replace XTOS_SET_INTLEVEL with more efficient version, if any? */ +// These cannot be nested. They should be used with a lot of care and cannot be called from interrupt level. +#define portDISABLE_INTERRUPTS() do { XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); } while (0) +#define portENABLE_INTERRUPTS() do { portbenchmarkINTERRUPT_RESTORE(0); XTOS_SET_INTLEVEL(0); } while (0) + +// These can be nested +#define portCRITICAL_NESTING_IN_TCB 1 // For now, let FreeRTOS' (tasks.c) manage critical nesting +void vTaskEnterCritical(void); +void vTaskExitCritical(void); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +// Cleaner and preferred solution allows nested interrupts disabling and restoring via local registers or stack. +// They can be called from interrupts too. +static inline unsigned portENTER_CRITICAL_NESTED() { unsigned state = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL); portbenchmarkINTERRUPT_DISABLE(); return state; } +#define portEXIT_CRITICAL_NESTED(state) do { portbenchmarkINTERRUPT_RESTORE(state); XTOS_RESTORE_JUST_INTLEVEL(state); } while (0) + +// These FreeRTOS versions are similar to the nested versions above +#define portSET_INTERRUPT_MASK_FROM_ISR() portENTER_CRITICAL_NESTED() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(state) portEXIT_CRITICAL_NESTED(state) + +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portNOP() XT_NOP() +/*-----------------------------------------------------------*/ + +/* Fine resolution time */ +#define portGET_RUN_TIME_COUNTER_VALUE() xthal_get_ccount() + +/* Kernel utilities. */ +void vPortYield( void ); +void _frxt_setup_switch( void ); +#define portYIELD() vPortYield() +#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) \ + if ( ( xHigherPriorityTaskWoken ) != 0 ) { \ + _frxt_setup_switch(); \ + } + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +// When coprocessors are defined, we to maintain a pointer to coprocessors area. +// We currently use a hack: redefine field xMPU_SETTINGS in TCB block as a structure that can hold: +// MPU wrappers, coprocessor area pointer, trace code structure, and more if needed. +// The field is normally used for memory protection. FreeRTOS should create another general purpose field. +typedef struct { + #if XCHAL_CP_NUM > 0 + volatile StackType_t* coproc_area; // Pointer to coprocessor save area; MUST BE FIRST + #endif + + #if portUSING_MPU_WRAPPERS + // Define here mpu_settings, which is port dependent + int mpu_setting; // Just a dummy example here; MPU not ported to Xtensa yet + #endif + + #if configUSE_TRACE_FACILITY_2 + struct { + // Cf. porttraceStamp() + int taskstamp; /* Stamp from inside task to see where we are */ + int taskstampcount; /* A counter usually incremented when we restart the task's loop */ + } porttrace; + #endif +} xMPU_SETTINGS; + +// Main hack to use MPU_wrappers even when no MPU is defined (warning: mpu_setting should not be accessed; otherwise move this above xMPU_SETTINGS) +#if (XCHAL_CP_NUM > 0 || configUSE_TRACE_FACILITY_2) && !portUSING_MPU_WRAPPERS // If MPU wrappers not used, we still need to allocate coproc area + #undef portUSING_MPU_WRAPPERS + #define portUSING_MPU_WRAPPERS 1 // Enable it to allocate coproc area + #define MPU_WRAPPERS_H // Override mpu_wrapper.h to disable unwanted code + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA +#endif + +// porttrace +#if configUSE_TRACE_FACILITY_2 +#include "porttrace.h" +#endif + +// configASSERT_2 if requested +#if configASSERT_2 +#include +void exit(int); +#define configASSERT( x ) if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); } +#endif + + +/* C library support -- only XCLIB and NEWLIB are supported. */ + +/* To enable thread-safe C library support, XT_USE_THREAD_SAFE_CLIB must be + defined to be > 0 somewhere above or on the command line. */ + +#if (XT_USE_THREAD_SAFE_CLIB > 0u) && (XSHAL_CLIB == XTHAL_CLIB_XCLIB) +extern void vPortClibInit(void); + +// No cleanup necessary at this time. +#define portCLEAN_UP_TCB(pxTCB) +#endif // XCLIB support + +#if (XT_USE_THREAD_SAFE_CLIB > 0u) && (XSHAL_CLIB == XTHAL_CLIB_NEWLIB) +extern void vPortClibInit(void); + +// This C library cleanup is not currently done by FreeRTOS when deleting a task +#include +#define portCLEAN_UP_TCB(pxTCB) vPortCleanUpTcbClib(&((pxTCB)->xNewLib_reent)) +static inline void vPortCleanUpTcbClib(struct _reent *ptr) +{ + FILE * fp = &(ptr->__sf[0]); + int i; + for (i = 0; i < 3; ++i, ++fp) { + fp->_close = NULL; + } +} +#endif // NEWLIB support + +#endif // __ASSEMBLER__ + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/porttrace.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/porttrace.h new file mode 100644 index 0000000..498444b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/porttrace.h @@ -0,0 +1,44 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * This utility helps tracing the entering and exiting from tasks. + * It maintains a circular buffer of tasks in the order they execute, + * and their execution time. To enable it, set configUSE_TRACE_FACILITY_2 + * to 1 in FreeRTOSConfig.h. You will also need to download the + * FreeRTOS_trace patch that contains porttrace.c and the complete version + * of porttrace.h. + */ + +#ifndef PORTTRACE_H +#define PORTTRACE_H + +#if configUSE_TRACE_FACILITY_2 + #error "You need to download the FreeRTOS_trace patch that overwrites this file" +#endif + +#define porttracePrint(nelements) +#define porttraceStamp(stamp, count_incr) + +#endif /* PORTTRACE_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/readme_xtensa.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/readme_xtensa.txt new file mode 100644 index 0000000..247d731 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/readme_xtensa.txt @@ -0,0 +1,764 @@ + FreeRTOS Port for Xtensa Configurable and Diamond Processors + ============================================================ + + FreeRTOS Kernel Version 10.0.0 + + +Introduction +------------ + +This document describes the Xtensa port for FreeRTOS multitasking RTOS. +For an introduction to FreeRTOS itself, please refer to FreeRTOS +documentation. + +This port currently works with FreeRTOS kernel version 10.0.0. + + +Xtensa Configuration Requirements and Restrictions +-------------------------------------------------- + +The Xtensa configurable architecture supports a vast space of processor +features. This port supports all of them, including custom processor +extensions defined in the TIE language, with certain minimum +requirements. You must use Xtensa Tools to compile and link FreeRTOS and +your application for your Xtensa configuration. The port uses the Xtensa +Hardware Abstraction Layer (HAL) to adapt to your Xtensa configuration. +NOTE: It may be possible to build and run this with the open-source +xtensa-linux tools provided you have the correct overlay for your Xtensa +configuration. However, this has not been tested and is currently not +supported by Cadence. + +This port includes optional reentrancy support for the 'newlib' and +'xclib' C runtime libraries distributed with Xtensa Tools, providing +thread-safety on a per task basis (for use in tasks only, not interrupt +handlers). + +NOTE: At this time only 'newlib' and 'xclib' C libraries are supported +for thread safety. The 'uclibc' library is not reentrant and does not +provide thread safety at this time. However, if you are not concerned +with reentrancy then you can use any of these libraries. + +This port also includes a simple example application that may run on +a supported board or the Xtensa instruction set simulator (ISS). There +are also a couple of test programs used in maintaining the port, which +serve as additional examples. + +FreeRTOS for Xtensa configurable processors requires the following minimum +processor configuration options: +- Timer interrupt option with at least one interruptible timer. +- Interrupt option (implied by the timer interrupt option). +- Exception Architecture 2 (XEA2). Please note that XEA1 is NOT supported. + All 'Diamond', 'Xtensa 6', 'Xtensa LX' and 'Xtensa LX2' processors and + most 'Xtensa T1050' processors are configured with XEA2. +All Diamond processor cores meet these requirements and are supported. + +Minimal support for certain evaluation boards is provided via a board +independent XTBSP API implemented by a board specific library distributed +with the Xtensa Tools. This provides the board clock frequency and basic +polled drivers for the display and console device. Note that XTBSP +is not a tradtional RTOS "board support package" with RTOS specific +interrupt-driven drivers - it is not specific to any RTOS. Note that +FreeRTOS can run on any Xtensa or Diamond board without this board support +(a "raw" platform), but you will have to provide the clock frequency +and drivers for any on-board devices you want to use. + + +Installation +------------ + +The Xtensa port of FreeRTOS is available at this location: + + https://github.com/foss-xtensa/amazon-freertos + +This download includes the core FreeRTOS source and include files needed +to build the port. You can also download the official release of FreeRTOS +version 1.0.0 or later from this location: + + https://github.com/aws/amazon-freertos + +The Xtensa port files are currently not included in the official package. + +All source is provided along with a Makefile that works for any host +platform supported by Xtensa Tools (Windows, Linux). These instructions +are written for Windows users, but can easily be understood and adapted +to other host platforms. + +First install the FreeRTOS common package in a directory of your choosing. +The structure of that package will look like this: + + +|-- demos +| `-- cadence +| `-- sim +| |-- common +| | |-- application_code +| | | `-- cadence_code +| | `-- config_files +| `-- xplorer +`-- lib + |-- FreeRTOS + | `-- portable + | |-- Common + | |-- MemMang + | `-- XCC + | `-- Xtensa + `-- include + `-- private + +The Xtensa Tools are available from Cadence as part of a processor +license. Be sure you have installed the Xtensa Tools and your processor +configuration. + + +Building FreeRTOS for Xtensa +---------------------------- + +To build the FreeRTOS library and the example programs, go into the +directory 'demos/cadence/sim' and use the makefile in that directory. +"make all" will build all the examples. There is another makefile in +the 'lib/FreeRTOS/portable/XCC/Xtensa' directory that builds just the +FreeRTOS library. + +By default, you will build for the Xtensa instruction set simulator. If +you have a supported emulation board, you can build to run on that. You +can also build to run on a raw Xtensa core with no board support, a +good starting point for supporting your own target platform. Cadence +recommends doing functional development on the simulator because it +is easier to debug with, then move to a board if/when you need to test +hardware drivers or real-time performance. + +The provided makefile simplifies building FreeRTOS and the example +for your Xtensa configuration and platform (ISS, board, etc.). There +are detailed instructions in the comments at the top of the makefile. + +The makefiles work on Windows and Linux and support incremental builds. +The build for each Xtensa configuration and target platform is placed in +a subdirectory so several core and platform builds can co-exist even with +incremental rebuilds. You may specify the root of the build area (if tou +want it to be elsewhere than under the source tree) by defining BLDROOT +either in the make command or your shell environment. + + +Building the FreeRTOS Library +----------------------------- + +First, be sure you have installed Xtensa Tools and your processor +configuration, and be sure that Xtensa Tools are in your search path. +You can use xt-make, which comes with the Xtensa Tools, to run the +makefiles. + +Change directories to the Xtensa port directory: + +> cd lib/FreeRTOS/portable/XCC/Xtensa + +Now build the FreeRTOS RTOS as a library (libfreertos.a) as follows: + +> xt-make + +which by default builds for the simulator (TARGET=sim), or: + +> xt-make TARGET=board + +which builds for a supported board. Note that the board type does not +need to be specified when building the FreeRTOS library. + +If you are building for an Xtensa processor configuration that is not the +default you selected when you installed Xtensa Tools, you need to define the +environment variable XTENSA_CORE. If your configuration is not in the +default registry you selected when you installed Xtensa Tools, you also +need to define the environment variable XTENSA_SYSTEM. See tools manuals. +You can avoid defining these in your environment if you pass the variables +you need to redefine into xt-make as follows: + +> xt-make XTENSA_CORE= XTENSA_SYSTEM= ... + +There are more details about build options in the comment in the Makefile. + +After the library has been built, you must link your application with this +library in order to use FreeRTOS. + + +Building the FreeRTOS Examples +------------------------------ + +The provided examples are designed to run on the Xtensa instruction set +simulator (ISS) or a supported evaluation board programmed with your +Xtensa processor configuration. + +To build the examples for the default platform (simulator): + +> cd demos/cadence/sim + +> xt-make all + +which is the same as + +> xt-make all TARGET=sim + +The boards currently supported are the Xilinx ML605 and KC705 FPGA +development boards. To target these boards, type + +> xt-make all TARGET=ml605 + +or + +> xt-make all TARGET=kc705 + +To build in a location other than the default, specify the new location +using the BLDROOT variable. Note that this makefile will invoke the +FreeRTOS library build makefile automatically, passing on the relevant +parameters based on what you specified. + +You can override the default compilation options by specifying the new +options via CFLAGS. For example: + +> xt-make all TARGET=sim CFLAGS="-O2 -Os -g" + +This compiles the examples and links them with the FreeRTOS library +libfreertos.a and the appropriate linker-support package (LSP) for your +target platform (you can override the LSP by adding LSP= to the +xt-make command line). The resulting ELF files can be downloaded and +executed on the target. The example binaries appear in the platform +specific subdirectory described earlier. + +To build your application with thread-safe C library support, you +need to make certain modifications to the application to plug in and +invoke the reentrancy support. This allows each task to use the library +without interference with other tasks (it is not safe for interrupt +handlers to call the C library). + +First, you must define + + XT_USE_THREAD_SAFE_CLIB + +to a nonzero value either in xtensa_config.h or on the compiler's command +line. Note that the default xtensa_config.h provided with this port does +define this to 1 if either newlib or xclib is detected. + +Then, you must also make sure to allocate extra space on the stack for +each task that will use the C library reentrant functions. This extra +space is to be allocated over and above the actual stack space required +by the task itself. The define + + XT_STACK_EXTRA_CLIB + +specifies the amount of extra space to be added on to the stack to allow +saving the context for the C library as well as the coprocessors if any. +E.g. if your task requires 2000 bytes of stack space, you must allocate +(2000 + XT_STACK_EXTRA_CLIB) bytes for the stack. + + +IMPORTANT NOTE +-------------- + +The header file FreeRTOS.h, which is a part of the core FreeRTOS sources, +includes if thread safety for the C libraries is enabled. For +xclib, this file exists in and so is reported as missing. +To work around this, the makefiles supplied with this port will copy the +reent.h header into the build directory during the build process. If you +use a different build process, then you must make sure to copy this file +to a location that is included in the list of include paths. This can be +the build directory or the directory that contains the Xtensa port source +files. + + +Running or Debugging an Application +----------------------------------- + +To execute the example application on the simulator: + +> xt-run [--turbo] example.exe + +The option --turbo provides much faster, but non-cycle-accurate simulation +(the --turbo option is only available with Xtensa Tools version 7 or later). + + +To execute on the simulator using the Xplorer GUI based debugger: + +> xplorer --debug example.exe + + +To execute on a supported evaluation board, download example.exe per +instructions in the tools manuals. Be sure the board has been programmed +with the correct configuration and is set up to boot from RAM and debug +a downloaded program! Optionally you may connect a terminal or terminal +emulator to the serial port on the board with settings as described in +the board user manual, and see the output of printf on the terminal. + +To obtain I/O on a "raw" platform such as an unsupported board, you need +to provide low level I/O drivers (eg. inbyte() and outbyte() for character +I/O if you want to use printf etc.). You can run "raw" executables on +any Xtensa platform, including simulator and any board, but you will not +see any behavior specific to the platform (eg. display, printed output, +stopping simulation at end of program). You can, while debugging, use a +debugger mechanism called GDBIO to obtain basic I/O. To use GDBIO, link +with the gdbio LSP. Refer to Xtensa tools documentation for details. + + +Task Stack Sizes +---------------- + +The application must ensure that every task has enough space for its +stack. Each task needs enough space for its own use, its own interrupt +stack frame (defined in xtensa_context.h) and space to save coprocessor +state, if any. Several factors influence the size of the stack required, +including the compiler optimization level and the use of the C library. +Calls to standard output functions such as printf() can use up a lot of +stack space. The tool xt-stack-usage is helpful in determining safe stack +sizes for your application. + +Some macros are provided in xtensa_config.h to help determine the stack +size for tasks that do and do not use the C library. Use these as the +basis for each task's stack size. They are minimum requirements taking +into account your configuration and use of the C library. In particular, +the define + + XT_STACK_MIN_SIZE + +defines the minimum stack size for any task. Be very careful if you try +to use a stack size smaller than this minimum. Stack overruns can cause +all kinds of hard-to-debug errors. It is recommended that you enable the +FreeRTOS stack checking features during development. + +WARNING: The newlib printf() function uses a lot of stack space. Be very +careful in using it. Optionally you can use the 'libxtutil' library for +output - it implements a subset of printf() that has smaller code size +and uses far less stack space. More information about this library is in +the Xtensa Tools documentation. + + +Interrupt Stack +--------------- + +Beginning with port version 1.2, the port uses a separate interrupt stack +for handling interrupts. Thus, it is no longer necessary for each task to +reserve space on its stack to handle interrupts. The size of the interrupt +stack is controlled by the parameter "configISR_STACK_SIZE" defined in +FreeRTOSConfig.h. Define this carefully to match your system requirements. + + +Assembler / Compiler Switches +----------------------------- + +The following are compiler switches are used by the provided +Makefile in building the FreeRTOS library and example application. +These can be modified by editing the Makefile or by overriding the +CFLAGS variable in the make command line, for example: + +> xt-make CFLAGS="-O2 -DXT_USE_THREAD_SAFE_CLIB" + + -g Specifies debug information. + -c Specifies object code generation. + -On Sets compiler optimization level n (default -O0). + -mlongcalls Allows assembler and linker to convert call + instructions to longer indirect call sequences + when target is out of range. + -x assembler-with-cpp Passes .s and .S files through C preprocessor. + -Dmacro Define a preprocessor macro with no value. + -Dmacro=value Define a preprocessor macro with a value. + +See the compiler / linker documentation for a full list of switches and +their use. + +Many definitions can be provided at compile-time via the -D option +without editing the source code. Here are some of the more useful ones: + + XT_USE_THREAD_SAFE_CLIB Enable support for the reentrancy to provide + thread-safety for the newlib and xclib libraries + supplied with Xtensa Tools. Default ON. + + Note, the follwing defines are unique to the Xtensa port so have names + beginning with "XT_". + + XT_SIMULATOR Set this if building to run on the simulator. + Takes advantage of certain simulator control + and reporting facilities, and adjusts timing + of periodic tick to provide a more acceptable + performance in simulation (see XT_CLOCK_FREQ). + Set by default unless PLATFORM is overridden. + + XT_BOARD Set this if building for a supported board. + Be sure to specify the correct LSP for the + board. See the example makefile for usage. + + XT_CLOCK_FREQ=freq Specifies the target processor's clock + frequency in Hz. Used primarily to set the + timer that generates the periodic interrupt. + Defaults are provided and may be edited in + xtensa_timer.h (see comments there also). + Default for simulator provides more acceptable + performance, but cannot provide real-time + performance due to variation in simulation + speed per host platform and insufficient + cycles between interrupts to process them. + Supported board platforms by default leave + this undefined and compute the clock frequency + at initialization unless this is explicitly + defined. + + XT_TICK_PER_SEC=n Specifies the frequency of the periodic tick. + + XT_TIMER_INDEX=n Specifies which timer to use for periodic tick. + Set this if your Xtensa processor configuration + provides more than one suitable timer and you + want to override the default. See xtensa_timer.h . + + XT_INTEXC_HOOKS Enables hooks in interrupt vector handlers + to support dynamic installation of exception + and interrupt handlers. Disabled by default. + + XT_USE_OVLY Enable code overlay support. It uses a mutex, + hence configUSE_MUTEX must be enabled. This + option is currently unsupported. + + XT_USE_SWPRI Enable software prioritization of interrupts. + Enabling this will prioritize interrupts with + higher bit numbers over those with lower bit + numbers at the same level. This works only for + low and medium priority interrupts that can be + dispatched to C handlers. + + +Register Usage and Stack Frames +------------------------------- + +The Xtensa architecture specifies two ABIs that determine how the general +purpose registers a0-a15 are used: the standard windowed ABI use with +the Xtensa windowed register file architecture, and the optional and +more conventional Call0 ABI (required for Xtensa configurations without +a windowed register file). + +Xtensa processors may have other special registers (including co-processor +registers and other TIE "states") that are independent of this choice +of ABI. See Xtensa documentation for more details. + +In the windowed ABI the registers of the current window are used as follows: + a0 = return address + a1 = stack pointer (alias sp) + a2 = first argument and result of call (in simple cases) + a3-7 = second through sixth arguments of call (in simple cases). + Note that complex or large arguments are passed on the + stack. Details are in the Xtensa Tools manuals. + a8-a15 = available for use as temporaries. +There are no callee-save registers. The windowed hardware automatically +saves registers a0-a3 on a call4, a0-a8 on a call8, a0-a12 on a call12, +by rotating the register window. Hardware triggers window overflow and +underflow exceptions as necessary when registers outside the current +window need to be spilled to preallocated space in the stack frame, or +restored. Complete details are in the Xtensa manuals. The entire windowed +register file is saved and restored on interrupt or task context switch. + +The Call0 ABI does not make use of register windows, relying instead +on a fixed set of 16 registers without window rotation. +The Call0 ABI is more conventional and uses registers as follows: + a0 = return address + a1 = stack pointer (alias sp) + a2 = first argument and result of call (in simple cases) + a3-7 = second through sixth arguments of call (in simple cases). + Note that complex or large arguments are passed on the + stack. Details are in the Xtensa Tools manuals. + a8-a11 = scratch. + a12-a15 = callee-save (a function must preserve these for its caller). +On a FreeRTOS API call, callee-save registers are saved only when a task +context switch occurs, and other registers are not saved at all (the caller +does not expect them to be preserved). On an interrupt, callee-saved +registers might only be saved and restored when a task context-switch +occurs, but all other registers are always saved and restored. + +An Xtensa processor has other special registers independent of the ABI, +depending on the configuration (including co-processor registers and other +TIE state) that are part of the task context. FreeRTOS preserves all such +registers over an unsolicited context-switch triggered by an interrupt. +However it does NOT preserve these over a solicited context-switch during +a FreeRTOS API call. This bears some explanation. These special registers +are either ignored by the compiler or treated as caller-saved, meaning +that if kept "live" over a function call (ie. need to be preserved) +they must be saved and restored by the caller. Since solicited entry to +FreeRTOS is always made by a function call, FreeRTOS assumes the caller +has saved any of these registers that are "live". FreeRTOS avoids a lot +of overhead by not having to save and restore every special register +(there can be many) on every solicited context switch. + +As a consequence, the application developer should NOT assume that special +registers are preserved over a FreeRTOS API call such as vTaskDelay(). +If multiple tasks use a register, the caller must save and restore it. + +The saved context stack frames for context switches that occur as +a result of interrupt handling (interrupt frame) or from task-level +API calls (solicited frame) are described in human readable form in +xtensa_context.h . All suspended tasks have one of these two types +of stack frames. The top of the suspended task's stack is pointed to +by pxCurrentTCB->pxTopOfStack. A special location common to both stack +frames differentiates solicited and interrupt stack frames. + + +Improving Performance, Footprint, or Ease of Debugging +------------------------------------------------------ + +By default FreeRTOS for Xtensa is built with debug (-g) and without +compiler optimizations (-O0). This makes debugging easier. Of course, +-O0 costs performance and usually also increases stack usage. To make +FreeRTOS run faster you can change the Makefile to enable the desired +optimizations or set a predefined optimization level (-O) . + +Maximum performance is achieved with -O3 -ipa, but that might increase +the footprint substantially. A good compromise is -O2. See the compiler +manual for details. + +Minimal footprint is achieved by optimizing for space with -Os, at the +cost of some performance. See the compiler manual for details. + +The Xtensa architecture port-specific assembly files are coded with no +file-scope labels inside functions (all labels inside functions begin with +".L"). This allows a profiler to accurately associate an address with a +function, and also allows the debugger's stack trace to show the correct +function wherever the program counter is within that function. However +there are some tradeoffs in debugging. Local (".L") labels are not +visible to the debugger, so the following limitations may be observed +during debugging: +- You cannot set a breakpoint on a local label inside a function. +- Disassembly will show the entire function, but will get out of sync and + show incorrect opcodes if it crosses any padding before an aligned local + branch target (".L" label, not ".Ln"). Restart disassembly specifying an + address range explicitly between points where there is padding. +Since FreeRTOS is provided in source form, it is not difficult to remove +the ".L" and ".Ln" prefixes from local labels if you want them visible. +They can also be made visible by passing the '-L' option to the assembler +and linker (see the assembler and linker manuals for details). + + +Interrupt and Exception Handling +-------------------------------- + +FreeRTOS provides a complete set of efficient exception and first-level +interrupt handlers installed at the appropriate exception and interrupt +vector locations. The Xtensa architecture supports several different +classes of exceptions and interrupts. Being a configurable architecture, +many of these are optional, and the vector locations are determined by +your processor configuration. (Note that Diamond cores are pre-configured +with specific vector locations.) The handlers provided use conditional +compilation to adapt to your processor configuration and include only +the code that is needed. + +Xtensa vector locations may reside almost anywhere, including in ROM. +The amount of code space available at each of these locations is +often very small (e.g. due to following vectors). A small stub of +code installed at the vector jumps to the corresponding handler, +usually in RAM. The exception and interrupt handlers are defined in +xtensa_vectors.S. They are not specific to FreeRTOS, but call into +FreeRTOS where appropriate via macros defined in xtensa_rtos.h . + +The handlers provided for low and medium priority interrupts are just +dispatchers that save relevant state and call user-definable handlers. +See the files xtensa_vectors.S and xtensa_api.h for more details of how +to create and install application-specific user interrupt handlers. +Similarly, user-defined handlers can be installed for exceptions (other +than a few which are always handled by the OS). + +The high priority interrupt handlers provided may be considered templates +into which the application adds code to service specific interrupts. +The places where application handlers should be inserted are tagged with +the comment "USER_EDIT" in xtensa_vectors.S. + +This FreeRTOS port supports strict priority-based nesting of interrupts. +An interrupt may only nest on top of one of strictly lower priority. +Equal priority interrupts concurrently pending are handled in an +application-defined sequence before any lower priority interrupts +are handled. During interrupt and exception handling, the processor's +interrupt level (PS.INTLEVEL) is used to control the interrupt priority +level that can be accepted; interrupt sources are not controlled +individually by FreeRTOS (the application is free to access the INTENABLE +register directly to enable/disable individual interrupts, eg. using +Xtensa HAL services). This approach provides the most deterministic +bounds on interrupt latency (for a given priority) and stack depth. + +Software prioritization of interrupts at the same priority is controlled +by the definition of XT_USE_SWPRI. See above for a description of this +parameter. + +The following subsections describe the handling of each class of exception +and interrupt in more detail. Many have nothing to do with FreeRTOS but +are mentioned because there is code to handle them in xtensa_vectors.S. + +User Exception and Interrupt Handler (Low/Medium Priority): + + All Xtensa 'general exceptions' come to the user, kernel, or double + exception vector. The exception type is identified by the EXCCAUSE + special register (level 1 interrupts are one particular cause of a + general exception). This port sets up PS to direct all such exceptions + to the user vector. Exceptions taken at the other two vectors usually + indicate a kernel or application bug. + + Level 1 interrupts are identified at the beginning of the handler + and are dispatched to a dedicated handler. Then, syscall and alloca + exceptions are identified and dispatched to special handlers described + below. After this, coprocessor exceptions are identified and dispatched + to the coprocessor handler. + + Any remaining exceptions are processed as follows: + + Having allocated the exception stack frame, the user exception handler + saves the current task state and sets up a C environment and enables + the high-priority class of interrupts (which do not interact with + FreeRTOS), then reads EXCCAUSE and uses the cause (number) to index + into a table of user-specified handlers. The correct handler is then + called. If the handler returns, the context is restored and control is + returned to the code that caused the exception. The user-defined handler + may alter the saved context, or any other system state, that allows the + faulting instruction to be retried. + + If the cause is a level 1 (low-priority) or medium-priority interrupt, + the handler enables all interrupts above that priority level after + saving the task context. It then sets up the environment for C code + and then calls the handler (found in the handler table) for the + interrupt number. If the user has not specified a handler, then the + default handler will be called, which will terminate the program. + + If the interrupt is for the system timer, it calls a special interrupt + handler for the system timer tick, which calls _frxt_timer_int then + clears its bit from the mask. This interrupt cannot be hooked by the + user-defined handler. + + Finally, the handler calls _frxt_int_exit to allow FreeRTOS to perform + any scheduling necessary and return either to the interrupted task + or another. + + If software prioritization is enabled, the handler will re-enable all + interrupts at the same level that are numerically higher than the current + one, before calling the user handler. This allows a higher priority + interrupt to pre-empt the lower priority handler. + +Medium Priority Interrupt Handlers: + + Medium priority interrupts are those at levels 2 up to XCHAL_EXCM_LEVEL, + a configuration-specific maximum interrupt level affected by the global + 'exception mode' bit in the processor status word (PS.EXCM). + Interrupt levels above XCHAL_EXCM_LEVEL are of the high-priority class. + The Xtensa hardware documentation considers medium priority interrupts + to be a special case of high-priority interrupts, but from a software + perspective they are very different. + + Dispatch of medium-priority interrupts is discussed in the section + above. + +High Priority Interrupt Handlers: + + High priority interrupts are those strictly above XCHAL_EXCM_LEVEL, + a configuration-specific maximum interrupt level affected by the + global 'exception mode' bit in the processor status word (PS.EXCM). + High priority handlers may not directly interact with FreeRTOS at all, + and are described here only for the sake of completeness. They must + be coded in assembler (may not be coded in C) and are intended to be + used for handling extremely high frequency hardware events that need + to be handled in only a few cycles. A high priority interrupt handler + may trigger a software interrupt at a medium or low priority level to + occasionally signal FreeRTOS. Please see Xtensa documentation. + + There is a separate vector and a few special registers for each high + priority interrupt, providing for fast dispatch and efficient nesting + on top of lower priority interrupts. Handlers are templates included + only for the vectors that exist in your Xtensa processor configuration. + These templates are written for only one interrupt per high priority + level to minimize latency servicing very fast time-critical interrupts. + The vector code jumps to the corresponding first-level interrupt handler, + which then executes application-provided assembler code before returning + quickly to the interrupted task or lower priority handler. + +Kernel Exception Handler: + + Kernel mode is not used in this port of FreeRTOS, and therefore kernel + exceptions should not happen. A stub is provided for the vector that + triggers the debugger (if connected) or calls _xt_panic to freeze the + processor should a kernel exception occur. + +Alloca Exception Handler: + + Alloca exceptions are generated by the 'movsp' instruction, which + is used only in the windowed ABI. Its purpose is to allocate some + space on top of the stack. Because the window hardware may have + spilled some registers to the 16 byte "base save" area below the + stack pointer, it is necessary to protect those values. The alloca + handler accomplishes this quickly without setting up an interrupt + frame or entering FreeRTOS, by emulating a register underflow and + re-executing 'movsp'. + +Syscall Exception Handler: + + Syscall exceptions are generated by a 'syscall' instruction. + The windowed ABI specifies that executing this instruction with + a value of zero in register a2 must spill any unsaved registers + in the windowed register file to their pre-determined locations + on the caller's stack. The handler does exactly that, and skips + over the 'syscall' instruction before returning to the caller. + If a2 is non-zero, the handler returns a2 == -1 to the caller. + +Co-Processor Exception Handler: + + A co-processor exception is generated when a task accesses a + co-processor that it does not "own". Ownership represents which + task's state is currently in the co-processor. Co-processors are + context-switched "lazily" (on demand) only when a non-owning task + uses a co-processor instruction, otherwise a task retains ownership + even when it is preempted from the main processor. The co-processor + exception handler performs the context-switch and manages ownership. + + Co-processors may not be used by any code outside the context of a + task. A co-processor exception triggered by code that is not part + of a running task is a fatal error and FreeRTOS for Xtensa will panic. + This restriction is intended to reduce the overhead of saving and + restoring co-processor state (which can be quite large) and in + particular remove that overhead from interrupt handlers. + +Debug Exception Handler: + + A debug exception is caused as a result of running code, such as by + a 'break' instruction or hardware breakpoints and watchpoints, or + as a result of an external debug interrupt, such as from an OCD based + debugger or multiprocessor debug events ("breakin/breakout"). If the + processor is running in OCD mode under control of an OCD-based debugger, + the trigger event immediately halts the processor and gives control to + the OCD debugger. Otherwise control is transferred to the debug vector. + The debug vector handler calls the simulator if running on the ISS, + which then takes control and interacts with any attached debugger. + If running on hardware and not in OCD mode, debug exceptions are not + expected, so the debug handler calls _xt_panic to freeze the processor. + +Double Exception Handler: + + A double exception is a general exception that happens while the + processor is in exception mode (PS.EXCM set), and thus indicates a + bug in kernel code. The double exception vector handler triggers + the debugger (if connected) or calls _xt_panic to freeze the + processor. + +Window Overflow and Underflow Exception Handlers: + + Window overflow and underflow handlers are required for use of the + windowed ABI. Each has its own dedicated vector and highly optimized + code that is independent of OS. See Xtensa documentation for details. + +Hooks for Dynamic Installation of Handlers: + + Optional hooks are provided in the user exception and low level + interrupt handler and all medium and high priority interrupt handlers, + to dynamically install a handler function (which may be coded in C, + unless in a high-priority interrupt handler). These hooks are enabled + and used by automatic regression tests, they are not part of a normal + FreeRTOS build. However an application is free to take advantage of + them. The interrupt/exception hooks are described in xtensa_rtos.h . + + It is recommended that the application not make use of these hooks, but + rather use xt_set_interrupt_handler() and xt_set_exception_handler() + to install application-specific handlers. This method is more convenient + and allows arguments to be passed to the handlers. Software prioritization + of interrupts works only with this method. See xtensa_api.h for details. + +Overlay Support + + Code overlays are currently not supported for FreeRTOS. This will be + supported in a future release. Make sure that the option XT_USE_OVLY is + never defined when building. + + +-End- + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_api.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_api.h new file mode 100644 index 0000000..1be2905 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_api.h @@ -0,0 +1,123 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * Xtensa-specific API for RTOS ports. + */ + +#ifndef __XTENSA_API_H__ +#define __XTENSA_API_H__ + +#include + +#include "xtensa_context.h" + + +/* Typedef for C-callable interrupt handler function */ +typedef void (*xt_handler)(void *); + +/* Typedef for C-callable exception handler function */ +typedef void (*xt_exc_handler)(XtExcFrame *); + + +/* +------------------------------------------------------------------------------- + Call this function to set a handler for the specified exception. + + n - Exception number (type) + f - Handler function address, NULL to uninstall handler. + + The handler will be passed a pointer to the exception frame, which is created + on the stack of the thread that caused the exception. + + If the handler returns, the thread context will be restored and the faulting + instruction will be retried. Any values in the exception frame that are + modified by the handler will be restored as part of the context. For details + of the exception frame structure see xtensa_context.h. +------------------------------------------------------------------------------- +*/ +extern xt_exc_handler xt_set_exception_handler(int n, xt_exc_handler f); + + +/* +------------------------------------------------------------------------------- + Call this function to set a handler for the specified interrupt. + + n - Interrupt number. + f - Handler function address, NULL to uninstall handler. + arg - Argument to be passed to handler. +------------------------------------------------------------------------------- +*/ +extern xt_handler xt_set_interrupt_handler(int n, xt_handler f, void * arg); + + +/* +------------------------------------------------------------------------------- + Call this function to enable the specified interrupts. + + mask - Bit mask of interrupts to be enabled. + + Returns the previous state of the interrupt enables. +------------------------------------------------------------------------------- +*/ +extern unsigned int xt_ints_on(unsigned int mask); + + +/* +------------------------------------------------------------------------------- + Call this function to disable the specified interrupts. + + mask - Bit mask of interrupts to be disabled. + + Returns the previous state of the interrupt enables. +------------------------------------------------------------------------------- +*/ +extern unsigned int xt_ints_off(unsigned int mask); + + +/* +------------------------------------------------------------------------------- + Call this function to set the specified (s/w) interrupt. +------------------------------------------------------------------------------- +*/ +static inline void xt_set_intset(unsigned int arg) +{ + xthal_set_intset(arg); +} + + +/* +------------------------------------------------------------------------------- + Call this function to clear the specified (s/w or edge-triggered) + interrupt. +------------------------------------------------------------------------------- +*/ +static inline void xt_set_intclear(unsigned int arg) +{ + xthal_set_intclear(arg); +} + + +#endif /* __XTENSA_API_H__ */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_config.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_config.h new file mode 100644 index 0000000..308361f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_config.h @@ -0,0 +1,183 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * Configuration-specific information for Xtensa build. This file must be + * included in FreeRTOSConfig.h to properly set up the config-dependent + * parameters correctly. + * + * NOTE: To enable thread-safe C library support, XT_USE_THREAD_SAFE_CLIB must + * be defined to be > 0 somewhere above or on the command line. + */ + +#ifndef XTENSA_CONFIG_H +#define XTENSA_CONFIG_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include /* required for XSHAL_CLIB */ + +#include "xtensa_context.h" + + +/*----------------------------------------------------------------------------- +* STACK REQUIREMENTS +* +* This section defines the minimum stack size, and the extra space required to +* be allocated for saving coprocessor state and/or C library state information +* (if thread safety is enabled for the C library). The sizes are in bytes. +* +* Stack sizes for individual tasks should be derived from these minima based on +* the maximum call depth of the task and the maximum level of interrupt nesting. +* A minimum stack size is defined by XT_STACK_MIN_SIZE. This minimum is based +* on the requirement for a task that calls nothing else but can be interrupted. +* This assumes that interrupt handlers do not call more than a few levels deep. +* If this is not true, i.e. one or more interrupt handlers make deep calls then +* the minimum must be increased. +* +* If the Xtensa processor configuration includes coprocessors, then space is +* allocated to save the coprocessor state on the stack. +* +* If thread safety is enabled for the C runtime library, (XT_USE_THREAD_SAFE_CLIB +* is defined) then space is allocated to save the C library context in the TCB. +* +* Allocating insufficient stack space is a common source of hard-to-find errors. +* During development, it is best to enable the FreeRTOS stack checking features. +* +* Usage: +* +* XT_USE_THREAD_SAFE_CLIB -- Define this to a nonzero value to enable thread-safe +* use of the C library. This will require extra stack +* space to be allocated for tasks that use the C library +* reentrant functions. See below for more information. +* +* NOTE: The Xtensa toolchain supports multiple C libraries and not all of them +* support thread safety. Check your core configuration to see which C library +* was chosen for your system. +* +* XT_STACK_MIN_SIZE -- The minimum stack size for any task. It is recommended +* that you do not use a stack smaller than this for any +* task. In case you want to use stacks smaller than this +* size, you must verify that the smaller size(s) will work +* under all operating conditions. +* +* XT_STACK_EXTRA -- The amount of extra stack space to allocate for a task +* that does not make C library reentrant calls. Add this +* to the amount of stack space required by the task itself. +* +* XT_STACK_EXTRA_CLIB -- The amount of space to allocate for C library state. +* +-----------------------------------------------------------------------------*/ + +/* Extra space required for interrupt/exception hooks. */ +#ifdef XT_INTEXC_HOOKS + #ifdef __XTENSA_CALL0_ABI__ + #define STK_INTEXC_EXTRA 0x200 + #else + #define STK_INTEXC_EXTRA 0x180 + #endif +#else + #define STK_INTEXC_EXTRA 0 +#endif + +/* Check C library thread safety support and compute size of C library save area. + For the supported libraries, we enable thread safety by default, and this can + be overridden from the compiler/make command line. */ +#if (XSHAL_CLIB == XTHAL_CLIB_NEWLIB) || (XSHAL_CLIB == XTHAL_CLIB_XCLIB) + #ifndef XT_USE_THREAD_SAFE_CLIB + #define XT_USE_THREAD_SAFE_CLIB 1 + #endif +#else + #define XT_USE_THREAD_SAFE_CLIB 0 +#endif + +#if XT_USE_THREAD_SAFE_CLIB > 0u + #if XSHAL_CLIB == XTHAL_CLIB_XCLIB + #define XT_HAVE_THREAD_SAFE_CLIB 1 + #if !defined __ASSEMBLER__ + #include + #define XT_CLIB_CONTEXT_AREA_SIZE ((sizeof(struct _reent) + 15) + (-16)) + #define XT_CLIB_GLOBAL_PTR _reent_ptr + #define _REENT_INIT_PTR _init_reent + #define _impure_ptr _reent_ptr + + void _reclaim_reent(void * ptr); + #endif + #elif XSHAL_CLIB == XTHAL_CLIB_NEWLIB + #define XT_HAVE_THREAD_SAFE_CLIB 1 + #if !defined __ASSEMBLER__ + #include + #define XT_CLIB_CONTEXT_AREA_SIZE ((sizeof(struct _reent) + 15) + (-16)) + #define XT_CLIB_GLOBAL_PTR _impure_ptr + #endif + #else + #define XT_HAVE_THREAD_SAFE_CLIB 0 + #error The selected C runtime library is not thread safe. + #endif +#else + #define XT_CLIB_CONTEXT_AREA_SIZE 0 +#endif + +/*------------------------------------------------------------------------------ + Extra size -- interrupt frame plus coprocessor save area plus hook space. + NOTE: Make sure XT_INTEXC_HOOKS is undefined unless you really need the hooks. +------------------------------------------------------------------------------*/ +#ifdef __XTENSA_CALL0_ABI__ + #define XT_XTRA_SIZE (XT_STK_FRMSZ + STK_INTEXC_EXTRA + 0x10 + XT_CP_SIZE) +#else + #define XT_XTRA_SIZE (XT_STK_FRMSZ + STK_INTEXC_EXTRA + 0x20 + XT_CP_SIZE) +#endif + +/*------------------------------------------------------------------------------ + Space allocated for user code -- function calls and local variables. + NOTE: This number can be adjusted to suit your needs. You must verify that the + amount of space you reserve is adequate for the worst-case conditions in your + application. + NOTE: The windowed ABI requires more stack, since space has to be reserved + for spilling register windows. +------------------------------------------------------------------------------*/ +#ifdef __XTENSA_CALL0_ABI__ + #define XT_USER_SIZE 0x200 +#else + #define XT_USER_SIZE 0x400 +#endif + +/* Minimum recommended stack size. */ +#define XT_STACK_MIN_SIZE ((XT_XTRA_SIZE + XT_USER_SIZE) / sizeof(unsigned char)) + +/* OS overhead with and without C library thread context. */ +#define XT_STACK_EXTRA (XT_XTRA_SIZE) +#define XT_STACK_EXTRA_CLIB (XT_XTRA_SIZE + XT_CLIB_CONTEXT_AREA_SIZE) + + +#ifdef __cplusplus +} +#endif + +#endif /* XTENSA_CONFIG_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_context.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_context.S new file mode 100644 index 0000000..7e10b13 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_context.S @@ -0,0 +1,625 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * XTENSA CONTEXT SAVE AND RESTORE ROUTINES + * + * Low-level Call0 functions for handling generic context save and restore of + * registers not specifically addressed by the interrupt vectors and handlers. + * Those registers (not handled by these functions) are PC, PS, A0, A1 (SP). + * Except for the calls to RTOS functions, this code is generic to Xtensa. + * + * Note that in Call0 ABI, interrupt handlers are expected to preserve the callee- + * save regs (A12-A15), which is always the case if the handlers are coded in C. + * However A12, A13 are made available as scratch registers for interrupt dispatch + * code, so are presumed saved anyway, and are always restored even in Call0 ABI. + * Only A14, A15 are truly handled as callee-save regs. + * + * Because Xtensa is a configurable architecture, this port supports all user + * generated configurations (except restrictions stated in the release notes). + * This is accomplished by conditional compilation using macros and functions + * defined in the Xtensa HAL (hardware adaptation layer) for your configuration. + * Only the processor state included in your configuration is saved and restored, + * including any processor state added by user configuration options or TIE. + */ + +/* Warn nicely if this file gets named with a lowercase .s instead of .S: */ +#define NOERROR # +NOERROR: .error "C preprocessor needed for this file: make sure its filename\ + ends in uppercase .S, or use xt-xcc's -x assembler-with-cpp option." + + +#include "xtensa_rtos.h" + +#ifdef XT_USE_OVLY +#include +#endif + + .text + +/******************************************************************************* + +_xt_context_save + + !! MUST BE CALLED ONLY BY 'CALL0' INSTRUCTION !! + +Saves all Xtensa processor state except PC, PS, A0, A1 (SP), A12, A13, in the +interrupt stack frame defined in xtensa_rtos.h. +Its counterpart is _xt_context_restore (which also restores A12, A13). + +Caller is expected to have saved PC, PS, A0, A1 (SP), A12, A13 in the frame. +This function preserves A12 & A13 in order to provide the caller with 2 scratch +regs that need not be saved over the call to this function. The choice of which +2 regs to provide is governed by xthal_window_spill_nw and xthal_save_extra_nw, +to avoid moving data more than necessary. Caller can assign regs accordingly. + +Entry Conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + Original A12, A13 have already been saved in the interrupt stack frame. + Other processor state except PC, PS, A0, A1 (SP), A12, A13, is as at the + point of interruption. + If windowed ABI, PS.EXCM = 1 (exceptions disabled). + +Exit conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + A12, A13 as at entry (preserved). + If windowed ABI, PS.EXCM = 1 (exceptions disabled). + +*******************************************************************************/ + + .global _xt_context_save + .type _xt_context_save,@function + .align 4 +_xt_context_save: + + s32i a2, sp, XT_STK_A2 + s32i a3, sp, XT_STK_A3 + s32i a4, sp, XT_STK_A4 + s32i a5, sp, XT_STK_A5 + s32i a6, sp, XT_STK_A6 + s32i a7, sp, XT_STK_A7 + s32i a8, sp, XT_STK_A8 + s32i a9, sp, XT_STK_A9 + s32i a10, sp, XT_STK_A10 + s32i a11, sp, XT_STK_A11 + + /* + Call0 ABI callee-saved regs a12-15 do not need to be saved here. + a12-13 are the caller's responsibility so it can use them as scratch. + So only need to save a14-a15 here for Windowed ABI (not Call0). + */ + #ifndef __XTENSA_CALL0_ABI__ + s32i a14, sp, XT_STK_A14 + s32i a15, sp, XT_STK_A15 + #endif + + rsr a3, SAR + s32i a3, sp, XT_STK_SAR + + #if XCHAL_HAVE_LOOPS + rsr a3, LBEG + s32i a3, sp, XT_STK_LBEG + rsr a3, LEND + s32i a3, sp, XT_STK_LEND + rsr a3, LCOUNT + s32i a3, sp, XT_STK_LCOUNT + #endif + + #if XT_USE_SWPRI + /* Save virtual priority mask */ + movi a3, _xt_vpri_mask + l32i a3, a3, 0 + s32i a3, sp, XT_STK_VPRI + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 || !defined(__XTENSA_CALL0_ABI__) + mov a9, a0 /* preserve ret addr */ + #endif + + #ifndef __XTENSA_CALL0_ABI__ + /* + To spill the reg windows, temp. need pre-interrupt stack ptr and a4-15. + Need to save a9,12,13 temporarily (in frame temps) and recover originals. + Interrupts need to be disabled below XCHAL_EXCM_LEVEL and window overflow + and underflow exceptions disabled (assured by PS.EXCM == 1). + */ + s32i a12, sp, XT_STK_TMP0 /* temp. save stuff in stack frame */ + s32i a13, sp, XT_STK_TMP1 + s32i a9, sp, XT_STK_TMP2 + + /* + Save the overlay state if we are supporting overlays. Since we just saved + three registers, we can conveniently use them here. Note that as of now, + overlays only work for windowed calling ABI. + */ + #ifdef XT_USE_OVLY + l32i a9, sp, XT_STK_PC /* recover saved PC */ + _xt_overlay_get_state a9, a12, a13 + s32i a9, sp, XT_STK_OVLY /* save overlay state */ + #endif + + l32i a12, sp, XT_STK_A12 /* recover original a9,12,13 */ + l32i a13, sp, XT_STK_A13 + l32i a9, sp, XT_STK_A9 + addi sp, sp, XT_STK_FRMSZ /* restore the interruptee's SP */ + call0 xthal_window_spill_nw /* preserves only a4,5,8,9,12,13 */ + addi sp, sp, -XT_STK_FRMSZ + l32i a12, sp, XT_STK_TMP0 /* recover stuff from stack frame */ + l32i a13, sp, XT_STK_TMP1 + l32i a9, sp, XT_STK_TMP2 + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 + /* + NOTE: Normally the xthal_save_extra_nw macro only affects address + registers a2-a5. It is theoretically possible for Xtensa processor + designers to write TIE that causes more address registers to be + affected, but it is generally unlikely. If that ever happens, + more registers need to be saved/restored around this macro invocation. + Here we assume a9,12,13 are preserved. + Future Xtensa tools releases might limit the regs that can be affected. + */ + addi a2, sp, XT_STK_EXTRA /* where to save it */ + # if XCHAL_EXTRA_SA_ALIGN > 16 + movi a3, -XCHAL_EXTRA_SA_ALIGN + and a2, a2, a3 /* align dynamically >16 bytes */ + # endif + call0 xthal_save_extra_nw /* destroys a0,2,3,4,5 */ + #endif + + #if XCHAL_EXTRA_SA_SIZE > 0 || !defined(__XTENSA_CALL0_ABI__) + mov a0, a9 /* retrieve ret addr */ + #endif + + ret + +/******************************************************************************* + +_xt_context_restore + + !! MUST BE CALLED ONLY BY 'CALL0' INSTRUCTION !! + +Restores all Xtensa processor state except PC, PS, A0, A1 (SP) (and in Call0 +ABI, A14, A15 which are preserved by all interrupt handlers) from an interrupt +stack frame defined in xtensa_rtos.h . +Its counterpart is _xt_context_save (whose caller saved A12, A13). + +Caller is responsible to restore PC, PS, A0, A1 (SP). + +Entry Conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + +Exit conditions: + A0 = Return address in caller. + A1 = Stack pointer of interrupted thread or handler ("interruptee"). + Other processor state except PC, PS, A0, A1 (SP), is as at the point + of interruption. + +*******************************************************************************/ + + .global _xt_context_restore + .type _xt_context_restore,@function + .align 4 +_xt_context_restore: + + #if XCHAL_EXTRA_SA_SIZE > 0 + /* + NOTE: Normally the xthal_restore_extra_nw macro only affects address + registers a2-a5. It is theoretically possible for Xtensa processor + designers to write TIE that causes more address registers to be + affected, but it is generally unlikely. If that ever happens, + more registers need to be saved/restored around this macro invocation. + Here we only assume a13 is preserved. + Future Xtensa tools releases might limit the regs that can be affected. + */ + mov a13, a0 /* preserve ret addr */ + addi a2, sp, XT_STK_EXTRA /* where to find it */ + # if XCHAL_EXTRA_SA_ALIGN > 16 + movi a3, -XCHAL_EXTRA_SA_ALIGN + and a2, a2, a3 /* align dynamically >16 bytes */ + # endif + call0 xthal_restore_extra_nw /* destroys a0,2,3,4,5 */ + mov a0, a13 /* retrieve ret addr */ + #endif + + #if XCHAL_HAVE_LOOPS + l32i a2, sp, XT_STK_LBEG + l32i a3, sp, XT_STK_LEND + wsr a2, LBEG + l32i a2, sp, XT_STK_LCOUNT + wsr a3, LEND + wsr a2, LCOUNT + #endif + + #ifdef XT_USE_OVLY + /* + If we are using overlays, this is a good spot to check if we need + to restore an overlay for the incoming task. Here we have a bunch + of registers to spare. Note that this step is going to use a few + bytes of storage below SP (SP-20 to SP-32) if an overlay is going + to be restored. + */ + l32i a2, sp, XT_STK_PC /* retrieve PC */ + l32i a3, sp, XT_STK_PS /* retrieve PS */ + l32i a4, sp, XT_STK_OVLY /* retrieve overlay state */ + l32i a5, sp, XT_STK_A1 /* retrieve stack ptr */ + _xt_overlay_check_map a2, a3, a4, a5, a6 + s32i a2, sp, XT_STK_PC /* save updated PC */ + s32i a3, sp, XT_STK_PS /* save updated PS */ + #endif + + #ifdef XT_USE_SWPRI + /* Restore virtual interrupt priority and interrupt enable */ + movi a3, _xt_intdata + l32i a4, a3, 0 /* a4 = _xt_intenable */ + l32i a5, sp, XT_STK_VPRI /* a5 = saved _xt_vpri_mask */ + and a4, a4, a5 + wsr a4, INTENABLE /* update INTENABLE */ + s32i a5, a3, 4 /* restore _xt_vpri_mask */ + #endif + + l32i a3, sp, XT_STK_SAR + l32i a2, sp, XT_STK_A2 + wsr a3, SAR + l32i a3, sp, XT_STK_A3 + l32i a4, sp, XT_STK_A4 + l32i a5, sp, XT_STK_A5 + l32i a6, sp, XT_STK_A6 + l32i a7, sp, XT_STK_A7 + l32i a8, sp, XT_STK_A8 + l32i a9, sp, XT_STK_A9 + l32i a10, sp, XT_STK_A10 + l32i a11, sp, XT_STK_A11 + + /* + Call0 ABI callee-saved regs a12-15 do not need to be restored here. + However a12-13 were saved for scratch before XT_RTOS_INT_ENTER(), + so need to be restored anyway, despite being callee-saved in Call0. + */ + l32i a12, sp, XT_STK_A12 + l32i a13, sp, XT_STK_A13 + #ifndef __XTENSA_CALL0_ABI__ + l32i a14, sp, XT_STK_A14 + l32i a15, sp, XT_STK_A15 + #endif + + ret + + +/******************************************************************************* + +_xt_coproc_init + +Initializes global co-processor management data, setting all co-processors +to "unowned". Leaves CPENABLE as it found it (does NOT clear it). + +Called during initialization of the RTOS, before any threads run. + +This may be called from normal Xtensa single-threaded application code which +might use co-processors. The Xtensa run-time initialization enables all +co-processors. They must remain enabled here, else a co-processor exception +might occur outside of a thread, which the exception handler doesn't expect. + +Entry Conditions: + Xtensa single-threaded run-time environment is in effect. + No thread is yet running. + +Exit conditions: + None. + +Obeys ABI conventions per prototype: + void _xt_coproc_init(void) + +*******************************************************************************/ + +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_init + .type _xt_coproc_init,@function + .align 4 +_xt_coproc_init: + ENTRY0 + + /* Initialize thread co-processor ownerships to 0 (unowned). */ + movi a2, _xt_coproc_owner_sa /* a2 = base of owner array */ + addi a3, a2, XCHAL_CP_MAX << 2 /* a3 = top+1 of owner array */ + movi a4, 0 /* a4 = 0 (unowned) */ +1: s32i a4, a2, 0 + addi a2, a2, 4 + bltu a2, a3, 1b + + RET0 + +#endif + + +/******************************************************************************* + +_xt_coproc_release + +Releases any and all co-processors owned by a given thread. The thread is +identified by it's co-processor state save area defined in xtensa_context.h . + +Must be called before a thread's co-proc save area is deleted to avoid +memory corruption when the exception handler tries to save the state. +May be called when a thread terminates or completes but does not delete +the co-proc save area, to avoid the exception handler having to save the +thread's co-proc state before another thread can use it (optimization). + +Entry Conditions: + A2 = Pointer to base of co-processor state save area. + +Exit conditions: + None. + +Obeys ABI conventions per prototype: + void _xt_coproc_release(void * coproc_sa_base) + +*******************************************************************************/ + +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_release + .type _xt_coproc_release,@function + .align 4 +_xt_coproc_release: + ENTRY0 /* a2 = base of save area */ + + movi a3, _xt_coproc_owner_sa /* a3 = base of owner array */ + addi a4, a3, XCHAL_CP_MAX << 2 /* a4 = top+1 of owner array */ + movi a5, 0 /* a5 = 0 (unowned) */ + + rsil a6, XCHAL_EXCM_LEVEL /* lock interrupts */ + +1: l32i a7, a3, 0 /* a7 = owner at a3 */ + bne a2, a7, 2f /* if (coproc_sa_base == owner) */ + s32i a5, a3, 0 /* owner = unowned */ +2: addi a3, a3, 1<<2 /* a3 = next entry in owner array */ + bltu a3, a4, 1b /* repeat until end of array */ + +3: wsr a6, PS /* restore interrupts */ + + RET0 + +#endif + + +/******************************************************************************* +_xt_coproc_savecs + +If there is a current thread and it has a coprocessor state save area, then +save all callee-saved state into this area. This function is called from the +solicited context switch handler. It calls a system-specific function to get +the coprocessor save area base address. + +Entry conditions: + - The thread being switched out is still the current thread. + - CPENABLE state reflects which coprocessors are active. + - Registers have been saved/spilled already. + +Exit conditions: + - All necessary CP callee-saved state has been saved. + - Registers a2-a7, a13-a15 have been trashed. + +Must be called from assembly code only, using CALL0. +*******************************************************************************/ +#if XCHAL_CP_NUM > 0 + + .extern _xt_coproc_sa_offset /* external reference */ + + .global _xt_coproc_savecs + .type _xt_coproc_savecs,@function + .align 4 +_xt_coproc_savecs: + + /* At entry, CPENABLE should be showing which CPs are enabled. */ + + rsr a2, CPENABLE /* a2 = which CPs are enabled */ + beqz a2, .Ldone /* quick exit if none */ + mov a14, a0 /* save return address */ + call0 XT_RTOS_CP_STATE /* get address of CP save area */ + mov a0, a14 /* restore return address */ + beqz a15, .Ldone /* if none then nothing to do */ + s16i a2, a15, XT_CP_CS_ST /* save mask of CPs being stored */ + movi a13, _xt_coproc_sa_offset /* array of CP save offsets */ + l32i a15, a15, XT_CP_ASA /* a15 = base of aligned save area */ + +#if XCHAL_CP0_SA_SIZE + bbci.l a2, 0, 2f /* CP 0 not enabled */ + l32i a14, a13, 0 /* a14 = _xt_coproc_sa_offset[0] */ + add a3, a14, a15 /* a3 = save area for CP 0 */ + xchal_cp0_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP1_SA_SIZE + bbci.l a2, 1, 2f /* CP 1 not enabled */ + l32i a14, a13, 4 /* a14 = _xt_coproc_sa_offset[1] */ + add a3, a14, a15 /* a3 = save area for CP 1 */ + xchal_cp1_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP2_SA_SIZE + bbci.l a2, 2, 2f + l32i a14, a13, 8 + add a3, a14, a15 + xchal_cp2_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP3_SA_SIZE + bbci.l a2, 3, 2f + l32i a14, a13, 12 + add a3, a14, a15 + xchal_cp3_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP4_SA_SIZE + bbci.l a2, 4, 2f + l32i a14, a13, 16 + add a3, a14, a15 + xchal_cp4_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP5_SA_SIZE + bbci.l a2, 5, 2f + l32i a14, a13, 20 + add a3, a14, a15 + xchal_cp5_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP6_SA_SIZE + bbci.l a2, 6, 2f + l32i a14, a13, 24 + add a3, a14, a15 + xchal_cp6_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP7_SA_SIZE + bbci.l a2, 7, 2f + l32i a14, a13, 28 + add a3, a14, a15 + xchal_cp7_store a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +.Ldone: + ret +#endif + + +/******************************************************************************* +_xt_coproc_restorecs + +Restore any callee-saved coprocessor state for the incoming thread. +This function is called from coprocessor exception handling, when giving +ownership to a thread that solicited a context switch earlier. It calls a +system-specific function to get the coprocessor save area base address. + +Entry conditions: + - The incoming thread is set as the current thread. + - CPENABLE is set up correctly for all required coprocessors. + - a2 = mask of coprocessors to be restored. + +Exit conditions: + - All necessary CP callee-saved state has been restored. + - CPENABLE - unchanged. + - Registers a2-a7, a13-a15 have been trashed. + +Must be called from assembly code only, using CALL0. +*******************************************************************************/ +#if XCHAL_CP_NUM > 0 + + .global _xt_coproc_restorecs + .type _xt_coproc_restorecs,@function + .align 4 +_xt_coproc_restorecs: + + mov a14, a0 /* save return address */ + call0 XT_RTOS_CP_STATE /* get address of CP save area */ + mov a0, a14 /* restore return address */ + beqz a15, .Ldone2 /* if none then nothing to do */ + l16ui a3, a15, XT_CP_CS_ST /* a3 = which CPs have been saved */ + xor a3, a3, a2 /* clear the ones being restored */ + s32i a3, a15, XT_CP_CS_ST /* update saved CP mask */ + movi a13, _xt_coproc_sa_offset /* array of CP save offsets */ + l32i a15, a15, XT_CP_ASA /* a15 = base of aligned save area */ + +#if XCHAL_CP0_SA_SIZE + bbci.l a2, 0, 2f /* CP 0 not enabled */ + l32i a14, a13, 0 /* a14 = _xt_coproc_sa_offset[0] */ + add a3, a14, a15 /* a3 = save area for CP 0 */ + xchal_cp0_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP1_SA_SIZE + bbci.l a2, 1, 2f /* CP 1 not enabled */ + l32i a14, a13, 4 /* a14 = _xt_coproc_sa_offset[1] */ + add a3, a14, a15 /* a3 = save area for CP 1 */ + xchal_cp1_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP2_SA_SIZE + bbci.l a2, 2, 2f + l32i a14, a13, 8 + add a3, a14, a15 + xchal_cp2_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP3_SA_SIZE + bbci.l a2, 3, 2f + l32i a14, a13, 12 + add a3, a14, a15 + xchal_cp3_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP4_SA_SIZE + bbci.l a2, 4, 2f + l32i a14, a13, 16 + add a3, a14, a15 + xchal_cp4_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP5_SA_SIZE + bbci.l a2, 5, 2f + l32i a14, a13, 20 + add a3, a14, a15 + xchal_cp5_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP6_SA_SIZE + bbci.l a2, 6, 2f + l32i a14, a13, 24 + add a3, a14, a15 + xchal_cp6_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +#if XCHAL_CP7_SA_SIZE + bbci.l a2, 7, 2f + l32i a14, a13, 28 + add a3, a14, a15 + xchal_cp7_load a3, a4, a5, a6, a7 continue=0 ofs=-1 select=XTHAL_SAS_TIE|XTHAL_SAS_NOCC|XTHAL_SAS_CALE alloc=XTHAL_SAS_ALL +2: +#endif + +.Ldone2: + ret + +#endif + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_context.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_context.h new file mode 100644 index 0000000..122d236 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_context.h @@ -0,0 +1,351 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * XTENSA CONTEXT FRAMES AND MACROS FOR RTOS ASSEMBLER SOURCES + * + * This header contains definitions and macros for use primarily by Xtensa + * RTOS assembly coded source files. It includes and uses the Xtensa hardware + * abstraction layer (HAL) to deal with config specifics. It may also be + * included in C source files. + * + * !! Supports only Xtensa Exception Architecture 2 (XEA2). XEA1 not supported. !! + * + * NOTE: The Xtensa architecture requires stack pointer alignment to 16 bytes. + */ + +#ifndef XTENSA_CONTEXT_H +#define XTENSA_CONTEXT_H + +#ifdef __ASSEMBLER__ +#include +#endif + +#include +#include +#include + + +/* Align a value up to nearest n-byte boundary, where n is a power of 2. */ +#define ALIGNUP(n, val) (((val) + (n)-1) & -(n)) + + +/* +------------------------------------------------------------------------------- + Macros that help define structures for both C and assembler. +------------------------------------------------------------------------------- +*/ +#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) + +#define STRUCT_BEGIN .pushsection .text; .struct 0 +#define STRUCT_FIELD(ctype,size,asname,name) asname: .space size +#define STRUCT_AFIELD(ctype,size,asname,name,n) asname: .space (size)*(n) +#define STRUCT_END(sname) sname##Size:; .popsection + +#else + +#define STRUCT_BEGIN typedef struct { +#define STRUCT_FIELD(ctype,size,asname,name) ctype name; +#define STRUCT_AFIELD(ctype,size,asname,name,n) ctype name[n]; +#define STRUCT_END(sname) } sname; + +#endif //_ASMLANGUAGE || __ASSEMBLER__ + + +/* +------------------------------------------------------------------------------- + INTERRUPT/EXCEPTION STACK FRAME FOR A THREAD OR NESTED INTERRUPT + + A stack frame of this structure is allocated for any interrupt or exception. + It goes on the current stack. If the RTOS has a system stack for handling + interrupts, every thread stack must allow space for just one interrupt stack + frame, then nested interrupt stack frames go on the system stack. + + The frame includes basic registers (explicit) and "extra" registers introduced + by user TIE or the use of the MAC16 option in the user's Xtensa config. + The frame size is minimized by omitting regs not applicable to user's config. + + For Windowed ABI, this stack frame includes the interruptee's base save area, + another base save area to manage gcc nested functions, and a little temporary + space to help manage the spilling of the register windows. +------------------------------------------------------------------------------- +*/ + +STRUCT_BEGIN +STRUCT_FIELD (long, 4, XT_STK_EXIT, exit) /* exit point for dispatch */ +STRUCT_FIELD (long, 4, XT_STK_PC, pc) /* return PC */ +STRUCT_FIELD (long, 4, XT_STK_PS, ps) /* return PS */ +STRUCT_FIELD (long, 4, XT_STK_A0, a0) +STRUCT_FIELD (long, 4, XT_STK_A1, a1) /* stack pointer before interrupt */ +STRUCT_FIELD (long, 4, XT_STK_A2, a2) +STRUCT_FIELD (long, 4, XT_STK_A3, a3) +STRUCT_FIELD (long, 4, XT_STK_A4, a4) +STRUCT_FIELD (long, 4, XT_STK_A5, a5) +STRUCT_FIELD (long, 4, XT_STK_A6, a6) +STRUCT_FIELD (long, 4, XT_STK_A7, a7) +STRUCT_FIELD (long, 4, XT_STK_A8, a8) +STRUCT_FIELD (long, 4, XT_STK_A9, a9) +STRUCT_FIELD (long, 4, XT_STK_A10, a10) +STRUCT_FIELD (long, 4, XT_STK_A11, a11) +STRUCT_FIELD (long, 4, XT_STK_A12, a12) +STRUCT_FIELD (long, 4, XT_STK_A13, a13) +STRUCT_FIELD (long, 4, XT_STK_A14, a14) +STRUCT_FIELD (long, 4, XT_STK_A15, a15) +STRUCT_FIELD (long, 4, XT_STK_SAR, sar) +STRUCT_FIELD (long, 4, XT_STK_EXCCAUSE, exccause) +STRUCT_FIELD (long, 4, XT_STK_EXCVADDR, excvaddr) +#if XCHAL_HAVE_LOOPS +STRUCT_FIELD (long, 4, XT_STK_LBEG, lbeg) +STRUCT_FIELD (long, 4, XT_STK_LEND, lend) +STRUCT_FIELD (long, 4, XT_STK_LCOUNT, lcount) +#endif +#ifndef __XTENSA_CALL0_ABI__ +/* Temporary space for saving stuff during window spill */ +STRUCT_FIELD (long, 4, XT_STK_TMP0, tmp0) +STRUCT_FIELD (long, 4, XT_STK_TMP1, tmp1) +STRUCT_FIELD (long, 4, XT_STK_TMP2, tmp2) +#endif +#ifdef XT_USE_SWPRI +/* Storage for virtual priority mask */ +STRUCT_FIELD (long, 4, XT_STK_VPRI, vpri) +#endif +#ifdef XT_USE_OVLY +/* Storage for overlay state */ +STRUCT_FIELD (long, 4, XT_STK_OVLY, ovly) +#endif +STRUCT_END(XtExcFrame) + +#if defined(_ASMLANGUAGE) || defined(__ASSEMBLER__) +#define XT_STK_NEXT1 XtExcFrameSize +#else +#define XT_STK_NEXT1 sizeof(XtExcFrame) +#endif + +/* Allocate extra storage if needed */ +#if XCHAL_EXTRA_SA_SIZE != 0 + +#if XCHAL_EXTRA_SA_ALIGN <= 16 +#define XT_STK_EXTRA ALIGNUP(XCHAL_EXTRA_SA_ALIGN, XT_STK_NEXT1) +#else +/* If need more alignment than stack, add space for dynamic alignment */ +#define XT_STK_EXTRA (ALIGNUP(XCHAL_EXTRA_SA_ALIGN, XT_STK_NEXT1) + XCHAL_EXTRA_SA_ALIGN) +#endif +#define XT_STK_NEXT2 (XT_STK_EXTRA + XCHAL_EXTRA_SA_SIZE) + +#else + +#define XT_STK_NEXT2 XT_STK_NEXT1 + +#endif + +/* +------------------------------------------------------------------------------- + This is the frame size. Add space for 4 registers (interruptee's base save + area) and some space for gcc nested functions if any. +------------------------------------------------------------------------------- +*/ +#define XT_STK_FRMSZ (ALIGNUP(0x10, XT_STK_NEXT2) + 0x20) + + +/* +------------------------------------------------------------------------------- + SOLICITED STACK FRAME FOR A THREAD + + A stack frame of this structure is allocated whenever a thread enters the + RTOS kernel intentionally (and synchronously) to submit to thread scheduling. + It goes on the current thread's stack. + + The solicited frame only includes registers that are required to be preserved + by the callee according to the compiler's ABI conventions, some space to save + the return address for returning to the caller, and the caller's PS register. + + For Windowed ABI, this stack frame includes the caller's base save area. + + Note on XT_SOL_EXIT field: + It is necessary to distinguish a solicited from an interrupt stack frame. + This field corresponds to XT_STK_EXIT in the interrupt stack frame and is + always at the same offset (0). It can be written with a code (usually 0) + to distinguish a solicted frame from an interrupt frame. An RTOS port may + opt to ignore this field if it has another way of distinguishing frames. +------------------------------------------------------------------------------- +*/ + +STRUCT_BEGIN +#ifdef __XTENSA_CALL0_ABI__ +STRUCT_FIELD (long, 4, XT_SOL_EXIT, exit) +STRUCT_FIELD (long, 4, XT_SOL_PC, pc) +STRUCT_FIELD (long, 4, XT_SOL_PS, ps) +STRUCT_FIELD (long, 4, XT_SOL_NEXT, next) +STRUCT_FIELD (long, 4, XT_SOL_A12, a12) /* should be on 16-byte alignment */ +STRUCT_FIELD (long, 4, XT_SOL_A13, a13) +STRUCT_FIELD (long, 4, XT_SOL_A14, a14) +STRUCT_FIELD (long, 4, XT_SOL_A15, a15) +#else +STRUCT_FIELD (long, 4, XT_SOL_EXIT, exit) +STRUCT_FIELD (long, 4, XT_SOL_PC, pc) +STRUCT_FIELD (long, 4, XT_SOL_PS, ps) +STRUCT_FIELD (long, 4, XT_SOL_NEXT, next) +STRUCT_FIELD (long, 4, XT_SOL_A0, a0) /* should be on 16-byte alignment */ +STRUCT_FIELD (long, 4, XT_SOL_A1, a1) +STRUCT_FIELD (long, 4, XT_SOL_A2, a2) +STRUCT_FIELD (long, 4, XT_SOL_A3, a3) +#endif +STRUCT_END(XtSolFrame) + +/* Size of solicited stack frame */ +#define XT_SOL_FRMSZ ALIGNUP(0x10, XtSolFrameSize) + + +/* +------------------------------------------------------------------------------- + CO-PROCESSOR STATE SAVE AREA FOR A THREAD + + The RTOS must provide an area per thread to save the state of co-processors + when that thread does not have control. Co-processors are context-switched + lazily (on demand) only when a new thread uses a co-processor instruction, + otherwise a thread retains ownership of the co-processor even when it loses + control of the processor. An Xtensa co-processor exception is triggered when + any co-processor instruction is executed by a thread that is not the owner, + and the context switch of that co-processor is then peformed by the handler. + Ownership represents which thread's state is currently in the co-processor. + + Co-processors may not be used by interrupt or exception handlers. If an + co-processor instruction is executed by an interrupt or exception handler, + the co-processor exception handler will trigger a kernel panic and freeze. + This restriction is introduced to reduce the overhead of saving and restoring + co-processor state (which can be quite large) and in particular remove that + overhead from interrupt handlers. + + The co-processor state save area may be in any convenient per-thread location + such as in the thread control block or above the thread stack area. It need + not be in the interrupt stack frame since interrupts don't use co-processors. + + Along with the save area for each co-processor, two bitmasks with flags per + co-processor (laid out as in the CPENABLE reg) help manage context-switching + co-processors as efficiently as possible: + + XT_CPENABLE + The contents of a non-running thread's CPENABLE register. + It represents the co-processors owned (and whose state is still needed) + by the thread. When a thread is preempted, its CPENABLE is saved here. + When a thread solicits a context-swtich, its CPENABLE is cleared - the + compiler has saved the (caller-saved) co-proc state if it needs to. + When a non-running thread loses ownership of a CP, its bit is cleared. + When a thread runs, it's XT_CPENABLE is loaded into the CPENABLE reg. + Avoids co-processor exceptions when no change of ownership is needed. + + XT_CPSTORED + A bitmask with the same layout as CPENABLE, a bit per co-processor. + Indicates whether the state of each co-processor is saved in the state + save area. When a thread enters the kernel, only the state of co-procs + still enabled in CPENABLE is saved. When the co-processor exception + handler assigns ownership of a co-processor to a thread, it restores + the saved state only if this bit is set, and clears this bit. + + XT_CP_CS_ST + A bitmask with the same layout as CPENABLE, a bit per co-processor. + Indicates whether callee-saved state is saved in the state save area. + Callee-saved state is saved by itself on a solicited context switch, + and restored when needed by the coprocessor exception handler. + Unsolicited switches will cause the entire coprocessor to be saved + when necessary. + + XT_CP_ASA + Pointer to the aligned save area. Allows it to be aligned more than + the overall save area (which might only be stack-aligned or TCB-aligned). + Especially relevant for Xtensa cores configured with a very large data + path that requires alignment greater than 16 bytes (ABI stack alignment). +------------------------------------------------------------------------------- +*/ + +#if XCHAL_CP_NUM > 0 + +/* Offsets of each coprocessor save area within the 'aligned save area': */ +#define XT_CP0_SA 0 +#define XT_CP1_SA ALIGNUP(XCHAL_CP1_SA_ALIGN, XT_CP0_SA + XCHAL_CP0_SA_SIZE) +#define XT_CP2_SA ALIGNUP(XCHAL_CP2_SA_ALIGN, XT_CP1_SA + XCHAL_CP1_SA_SIZE) +#define XT_CP3_SA ALIGNUP(XCHAL_CP3_SA_ALIGN, XT_CP2_SA + XCHAL_CP2_SA_SIZE) +#define XT_CP4_SA ALIGNUP(XCHAL_CP4_SA_ALIGN, XT_CP3_SA + XCHAL_CP3_SA_SIZE) +#define XT_CP5_SA ALIGNUP(XCHAL_CP5_SA_ALIGN, XT_CP4_SA + XCHAL_CP4_SA_SIZE) +#define XT_CP6_SA ALIGNUP(XCHAL_CP6_SA_ALIGN, XT_CP5_SA + XCHAL_CP5_SA_SIZE) +#define XT_CP7_SA ALIGNUP(XCHAL_CP7_SA_ALIGN, XT_CP6_SA + XCHAL_CP6_SA_SIZE) +#define XT_CP_SA_SIZE ALIGNUP(16, XT_CP7_SA + XCHAL_CP7_SA_SIZE) + +/* Offsets within the overall save area: */ +#define XT_CPENABLE 0 /* (2 bytes) coprocessors active for this thread */ +#define XT_CPSTORED 2 /* (2 bytes) coprocessors saved for this thread */ +#define XT_CP_CS_ST 4 /* (2 bytes) coprocessor callee-saved regs stored for this thread */ +#define XT_CP_ASA 8 /* (4 bytes) ptr to aligned save area */ +/* Overall size allows for dynamic alignment: */ +#define XT_CP_SIZE (12 + XT_CP_SA_SIZE + XCHAL_TOTAL_SA_ALIGN) +#else +#define XT_CP_SIZE 0 +#endif + + +/* +------------------------------------------------------------------------------- + MACROS TO HANDLE ABI SPECIFICS OF FUNCTION ENTRY AND RETURN + + Convenient where the frame size requirements are the same for both ABIs. + ENTRY(sz), RET(sz) are for framed functions (have locals or make calls). + ENTRY0, RET0 are for frameless functions (no locals, no calls). + + where size = size of stack frame in bytes (must be >0 and aligned to 16). + For framed functions the frame is created and the return address saved at + base of frame (Call0 ABI) or as determined by hardware (Windowed ABI). + For frameless functions, there is no frame and return address remains in a0. + Note: Because CPP macros expand to a single line, macros requiring multi-line + expansions are implemented as assembler macros. +------------------------------------------------------------------------------- +*/ + +#ifdef __ASSEMBLER__ +#ifdef __XTENSA_CALL0_ABI__ + /* Call0 */ + #define ENTRY(sz) entry1 sz + .macro entry1 size=0x10 + addi sp, sp, -\size + s32i a0, sp, 0 + .endm + #define ENTRY0 + #define RET(sz) ret1 sz + .macro ret1 size=0x10 + l32i a0, sp, 0 + addi sp, sp, \size + ret + .endm + #define RET0 ret +#else + /* Windowed */ + #define ENTRY(sz) entry sp, sz + #define ENTRY0 entry sp, 0x10 + #define RET(sz) retw + #define RET0 retw +#endif +#endif + + +#endif /* XTENSA_CONTEXT_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_init.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_init.c new file mode 100644 index 0000000..da8bf2d --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_init.c @@ -0,0 +1,66 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * XTENSA INITIALIZATION ROUTINES CODED IN C + * + * This file contains miscellaneous Xtensa RTOS-generic initialization functions + * that are implemented in C. + */ + + +#ifdef XT_BOARD +#include +#endif + +#include "xtensa_rtos.h" + +#ifdef XT_RTOS_TIMER_INT + +unsigned _xt_tick_divisor = 0; /* cached number of cycles per tick */ + +/* +Compute and initialize at run-time the tick divisor (the number of +processor clock cycles in an RTOS tick, used to set the tick timer). +Called when the processor clock frequency is not known at compile-time. +*/ +void _xt_tick_divisor_init(void) +{ +#ifdef XT_CLOCK_FREQ + + _xt_tick_divisor = (XT_CLOCK_FREQ / XT_TICK_PER_SEC); + +#else + + #ifdef XT_BOARD + _xt_tick_divisor = xtbsp_clock_freq_hz() / XT_TICK_PER_SEC; + #else + #error "No way to obtain processor clock frequency" + #endif /* XT_BOARD */ + +#endif /* XT_CLOCK_FREQ */ +} + +#endif /* XT_RTOS_TIMER_INT */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_intr.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_intr.c new file mode 100644 index 0000000..846aafb --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_intr.c @@ -0,0 +1,133 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * Xtensa-specific interrupt and exception functions for RTOS ports. + * Also see xtensa_intr_asm.S. + */ + +#include + +#include + +#include "xtensa_api.h" + + +#if XCHAL_HAVE_EXCEPTIONS + +/* Handler table is in xtensa_intr_asm.S */ + +extern xt_exc_handler _xt_exception_table[XCHAL_EXCCAUSE_NUM]; + + +/* + Default handler for unhandled exceptions. +*/ +void xt_unhandled_exception(XtExcFrame *frame) +{ + exit(-1); +} + + +/* + This function registers a handler for the specified exception. + The function returns the address of the previous handler. + On error, it returns 0. +*/ +xt_exc_handler xt_set_exception_handler(int n, xt_exc_handler f) +{ + xt_exc_handler old; + + if( n < 0 || n >= XCHAL_EXCCAUSE_NUM ) + return 0; /* invalid exception number */ + + old = _xt_exception_table[n]; + + if (f) { + _xt_exception_table[n] = f; + } + else { + _xt_exception_table[n] = &xt_unhandled_exception; + } + + return ((old == &xt_unhandled_exception) ? 0 : old); +} + +#endif + +#if XCHAL_HAVE_INTERRUPTS + +/* Handler table is in xtensa_intr_asm.S */ + +typedef struct xt_handler_table_entry { + void * handler; + void * arg; +} xt_handler_table_entry; + +extern xt_handler_table_entry _xt_interrupt_table[XCHAL_NUM_INTERRUPTS]; + + +/* + Default handler for unhandled interrupts. +*/ +void xt_unhandled_interrupt(void * arg) +{ + exit(-1); +} + + +/* + This function registers a handler for the specified interrupt. The "arg" + parameter specifies the argument to be passed to the handler when it is + invoked. The function returns the address of the previous handler. + On error, it returns 0. +*/ +xt_handler xt_set_interrupt_handler(int n, xt_handler f, void * arg) +{ + xt_handler_table_entry * entry; + xt_handler old; + + if( n < 0 || n >= XCHAL_NUM_INTERRUPTS ) + return 0; /* invalid interrupt number */ + if( Xthal_intlevel[n] > XCHAL_EXCM_LEVEL ) + return 0; /* priority level too high to safely handle in C */ + + entry = _xt_interrupt_table + n; + old = entry->handler; + + if (f) { + entry->handler = f; + entry->arg = arg; + } + else { + entry->handler = &xt_unhandled_interrupt; + entry->arg = (void*)n; + } + + return ((old == &xt_unhandled_interrupt) ? 0 : old); +} + + +#endif /* XCHAL_HAVE_INTERRUPTS */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_intr_asm.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_intr_asm.S new file mode 100644 index 0000000..45060f1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_intr_asm.S @@ -0,0 +1,180 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * Xtensa interrupt handling data and assembly routines. + * Also see xtensa_intr.c and xtensa_vectors.S. + */ + +#include +#include + +#include "xtensa_context.h" + +#if XCHAL_HAVE_INTERRUPTS + +/* +------------------------------------------------------------------------------- + INTENABLE virtualization information. +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_intdata + .align 8 +_xt_intdata: + .global _xt_intenable + .type _xt_intenable,@object + .size _xt_intenable,4 + .global _xt_vpri_mask + .type _xt_vpri_mask,@object + .size _xt_vpri_mask,4 + +_xt_intenable: .word 0 /* Virtual INTENABLE */ +_xt_vpri_mask: .word 0xFFFFFFFF /* Virtual priority mask */ + + +/* +------------------------------------------------------------------------------- + Table of C-callable interrupt handlers for each interrupt. Note that not all + slots can be filled, because interrupts at level > EXCM_LEVEL will not be + dispatched to a C handler by default. +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_interrupt_table + .align 8 + +_xt_interrupt_table: + + .set i, 0 + .rept XCHAL_NUM_INTERRUPTS + .word xt_unhandled_interrupt /* handler address */ + .word i /* handler arg (default: intnum) */ + .set i, i+1 + .endr + +#endif /* XCHAL_HAVE_INTERRUPTS */ + + +#if XCHAL_HAVE_EXCEPTIONS + +/* +------------------------------------------------------------------------------- + Table of C-callable exception handlers for each exception. Note that not all + slots will be active, because some exceptions (e.g. coprocessor exceptions) + are always handled by the OS and cannot be hooked by user handlers. +------------------------------------------------------------------------------- +*/ + + .data + .global _xt_exception_table + .align 4 + +_xt_exception_table: + .rept XCHAL_EXCCAUSE_NUM + .word xt_unhandled_exception /* handler address */ + .endr + +#endif + + +/* +------------------------------------------------------------------------------- + unsigned int xt_ints_on ( unsigned int mask ) + + Enables a set of interrupts. Does not simply set INTENABLE directly, but + computes it as a function of the current virtual priority. + Can be called from interrupt handlers. +------------------------------------------------------------------------------- +*/ + + .text + .align 4 + .global xt_ints_on + .type xt_ints_on,@function + +xt_ints_on: + + ENTRY0 +#if XCHAL_HAVE_INTERRUPTS + movi a3, 0 + movi a4, _xt_intdata + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + l32i a3, a4, 0 /* a3 = _xt_intenable */ + l32i a6, a4, 4 /* a6 = _xt_vpri_mask */ + or a5, a3, a2 /* a5 = _xt_intenable | mask */ + s32i a5, a4, 0 /* _xt_intenable |= mask */ + and a5, a5, a6 /* a5 = _xt_intenable & _xt_vpri_mask */ + wsr a5, INTENABLE /* Reenable interrupts */ + mov a2, a3 /* Previous mask */ +#else + movi a2, 0 /* Return zero */ +#endif + RET0 + + .size xt_ints_on, . - xt_ints_on + + +/* +------------------------------------------------------------------------------- + unsigned int xt_ints_off ( unsigned int mask ) + + Disables a set of interrupts. Does not simply set INTENABLE directly, + but computes it as a function of the current virtual priority. + Can be called from interrupt handlers. +------------------------------------------------------------------------------- +*/ + + .text + .align 4 + .global xt_ints_off + .type xt_ints_off,@function + +xt_ints_off: + + ENTRY0 +#if XCHAL_HAVE_INTERRUPTS + movi a3, 0 + movi a4, _xt_intdata + xsr a3, INTENABLE /* Disables all interrupts */ + rsync + l32i a3, a4, 0 /* a3 = _xt_intenable */ + l32i a6, a4, 4 /* a6 = _xt_vpri_mask */ + or a5, a3, a2 /* a5 = _xt_intenable | mask */ + xor a5, a5, a2 /* a5 = _xt_intenable & ~mask */ + s32i a5, a4, 0 /* _xt_intenable &= ~mask */ + and a5, a5, a6 /* a5 = _xt_intenable & _xt_vpri_mask */ + wsr a5, INTENABLE /* Reenable interrupts */ + mov a2, a3 /* Previous mask */ +#else + movi a2, 0 /* return zero */ +#endif + RET0 + + .size xt_ints_off, . - xt_ints_off + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_overlay_os_hook.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_overlay_os_hook.c new file mode 100644 index 0000000..050b495 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_overlay_os_hook.c @@ -0,0 +1,71 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * xtensa_overlay_os_hook.c -- Overlay manager OS hooks for FreeRTOS. + */ + +#include "FreeRTOS.h" +#include "semphr.h" + +#if configUSE_MUTEX + +/* Mutex object that controls access to the overlay. Currently only one + * overlay region is supported so one mutex suffices. + */ +static SemaphoreHandle_t xt_overlay_mutex; + + +/* This function should be overridden to provide OS specific init such + * as the creation of a mutex lock that can be used for overlay locking. + * Typically this mutex would be set up with priority inheritance. See + * overlay manager documentation for more details. + */ +void xt_overlay_init_os(void) +{ + /* Create the mutex for overlay access. Priority inheritance is + * required. + */ + xt_overlay_mutex = xSemaphoreCreateMutex(); +} + + +/* This function locks access to shared overlay resources, typically + * by acquiring a mutex. + */ +void xt_overlay_lock(void) +{ + xSemaphoreTake(xt_overlay_mutex, 0); +} + + +/* This function releases access to shared overlay resources, typically + * by unlocking a mutex. + */ +void xt_overlay_unlock(void) +{ + xSemaphoreGive(xt_overlay_mutex); +} + +#endif diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_rtos.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_rtos.h new file mode 100644 index 0000000..207a76c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_rtos.h @@ -0,0 +1,234 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * RTOS-SPECIFIC INFORMATION FOR XTENSA RTOS ASSEMBLER SOURCES + * (FreeRTOS Port) + * + * This header is the primary glue between generic Xtensa RTOS support + * sources and a specific RTOS port for Xtensa. It contains definitions + * and macros for use primarily by Xtensa assembly coded source files. + * + * Macros in this header map callouts from generic Xtensa files to specific + * RTOS functions. It may also be included in C source files. + * + * Xtensa RTOS ports support all RTOS-compatible configurations of the Xtensa + * architecture, using the Xtensa hardware abstraction layer (HAL) to deal + * with configuration specifics. + * + * Should be included by all Xtensa generic and RTOS port-specific sources. + */ + +#ifndef XTENSA_RTOS_H +#define XTENSA_RTOS_H + +#ifdef __ASSEMBLER__ +#include +#else +#include +#endif + +#include +#include +#include + +/* +Include any RTOS specific definitions that are needed by this header. +*/ +#include + +/* +Convert FreeRTOSConfig definitions to XTENSA definitions. +However these can still be overridden from the command line. +*/ + +#ifndef XT_SIMULATOR + #if configXT_SIMULATOR + #define XT_SIMULATOR 1 /* Simulator mode */ + #endif +#endif + +#ifndef XT_BOARD + #if configXT_BOARD + #define XT_BOARD 1 /* Board mode */ + #endif +#endif + +#ifndef XT_TIMER_INDEX + #if defined configXT_TIMER_INDEX + #define XT_TIMER_INDEX configXT_TIMER_INDEX /* Index of hardware timer to be used */ + #endif +#endif + +#ifndef XT_INTEXC_HOOKS + #if configXT_INTEXC_HOOKS + #define XT_INTEXC_HOOKS 1 /* Enables exception hooks */ + #endif +#endif + +#if (!XT_SIMULATOR) && (!XT_BOARD) + #error Either XT_SIMULATOR or XT_BOARD must be defined. +#endif + + +/* +Name of RTOS (for messages). +*/ +#define XT_RTOS_NAME FreeRTOS + +/* +Check some Xtensa configuration requirements and report error if not met. +Error messages can be customize to the RTOS port. +*/ + +#if !XCHAL_HAVE_XEA2 +#error "FreeRTOS/Xtensa requires XEA2 (exception architecture 2)." +#endif + + +/******************************************************************************* + +RTOS CALLOUT MACROS MAPPED TO RTOS PORT-SPECIFIC FUNCTIONS. + +Define callout macros used in generic Xtensa code to interact with the RTOS. +The macros are simply the function names for use in calls from assembler code. +Some of these functions may call back to generic functions in xtensa_context.h . + +*******************************************************************************/ + +/* +Inform RTOS of entry into an interrupt handler that will affect it. +Allows RTOS to manage switch to any system stack and count nesting level. +Called after minimal context has been saved, with interrupts disabled. +RTOS port can call0 _xt_context_save to save the rest of the context. +May only be called from assembly code by the 'call0' instruction. +*/ +// void XT_RTOS_INT_ENTER(void) +#define XT_RTOS_INT_ENTER _frxt_int_enter + +/* +Inform RTOS of completion of an interrupt handler, and give control to +RTOS to perform thread/task scheduling, switch back from any system stack +and restore the context, and return to the exit dispatcher saved in the +stack frame at XT_STK_EXIT. RTOS port can call0 _xt_context_restore +to save the context saved in XT_RTOS_INT_ENTER via _xt_context_save, +leaving only a minimal part of the context to be restored by the exit +dispatcher. This function does not return to the place it was called from. +May only be called from assembly code by the 'call0' instruction. +*/ +// void XT_RTOS_INT_EXIT(void) +#define XT_RTOS_INT_EXIT _frxt_int_exit + +/* +Inform RTOS of the occurrence of a tick timer interrupt. +If RTOS has no tick timer, leave XT_RTOS_TIMER_INT undefined. +May be coded in or called from C or assembly, per ABI conventions. +RTOS may optionally define XT_TICK_PER_SEC in its own way (eg. macro). +*/ +// void XT_RTOS_TIMER_INT(void) +#define XT_RTOS_TIMER_INT _frxt_timer_int +#define XT_TICK_PER_SEC configTICK_RATE_HZ + +/* +Return in a15 the base address of the co-processor state save area for the +thread that triggered a co-processor exception, or 0 if no thread was running. +The state save area is structured as defined in xtensa_context.h and has size +XT_CP_SIZE. Co-processor instructions should only be used in thread code, never +in interrupt handlers or the RTOS kernel. May only be called from assembly code +and by the 'call0' instruction. A result of 0 indicates an unrecoverable error. +The implementation may use only a2-4, a15 (all other regs must be preserved). +*/ +// void* XT_RTOS_CP_STATE(void) +#define XT_RTOS_CP_STATE _frxt_task_coproc_state + + +/******************************************************************************* + +HOOKS TO DYNAMICALLY INSTALL INTERRUPT AND EXCEPTION HANDLERS PER LEVEL. + +This Xtensa RTOS port provides hooks for dynamically installing exception +and interrupt handlers to facilitate automated testing where each test +case can install its own handler for user exceptions and each interrupt +priority (level). This consists of an array of function pointers indexed +by interrupt priority, with index 0 being the user exception handler hook. +Each entry in the array is initially 0, and may be replaced by a function +pointer of type XT_INTEXC_HOOK. A handler may be uninstalled by installing 0. + +The handler for low and medium priority obeys ABI conventions so may be coded +in C. For the exception handler, the cause is the contents of the EXCCAUSE +reg, and the result is -1 if handled, else the cause (still needs handling). +For interrupt handlers, the cause is a mask of pending enabled interrupts at +that level, and the result is the same mask with the bits for the handled +interrupts cleared (those not cleared still need handling). This allows a test +case to either pre-handle or override the default handling for the exception +or interrupt level (see xtensa_vectors.S). + +High priority handlers (including NMI) must be coded in assembly, are always +called by 'call0' regardless of ABI, must preserve all registers except a0, +and must not use or modify the interrupted stack. The hook argument 'cause' +is not passed and the result is ignored, so as not to burden the caller with +saving and restoring a2 (it assumes only one interrupt per level - see the +discussion in high priority interrupts in xtensa_vectors.S). The handler +therefore should be coded to prototype 'void h(void)' even though it plugs +into an array of handlers of prototype 'unsigned h(unsigned)'. + +To enable interrupt/exception hooks, compile the RTOS with '-DXT_INTEXC_HOOKS'. + +*******************************************************************************/ + +#define XT_INTEXC_HOOK_NUM (1 + XCHAL_NUM_INTLEVELS + XCHAL_HAVE_NMI) + +#ifndef __ASSEMBLER__ +typedef unsigned (*XT_INTEXC_HOOK)(unsigned cause); +extern volatile XT_INTEXC_HOOK _xt_intexc_hooks[XT_INTEXC_HOOK_NUM]; +#endif + + +/******************************************************************************* + +CONVENIENCE INCLUSIONS. + +Ensures RTOS specific files need only include this one Xtensa-generic header. +These headers are included last so they can use the RTOS definitions above. + +*******************************************************************************/ + +#include "xtensa_context.h" + +#ifdef XT_RTOS_TIMER_INT +#include "xtensa_timer.h" +#endif + + +/******************************************************************************* + +Xtensa Port Version. + +*******************************************************************************/ + +#define XTENSA_PORT_VERSION 1.7 +#define XTENSA_PORT_VERSION_STRING "1.7" + +#endif /* XTENSA_RTOS_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_timer.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_timer.h new file mode 100644 index 0000000..7d7acaa --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_timer.h @@ -0,0 +1,160 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + * XTENSA INFORMATION FOR RTOS TICK TIMER AND CLOCK FREQUENCY + * + * This header contains definitions and macros for use primarily by Xtensa + * RTOS assembly coded source files. It includes and uses the Xtensa hardware + * abstraction layer (HAL) to deal with config specifics. It may also be + * included in C source files. + * + * Edit this file to modify timer selection and to specify clock frequency and + * tick duration to match timer interrupt to the real-time tick duration. + * + * If the RTOS has no timer interrupt, then there is no tick timer and the + * clock frequency is irrelevant, so all of these macros are left undefined + * and the Xtensa core configuration need not have a timer. + */ + +#ifndef XTENSA_TIMER_H +#define XTENSA_TIMER_H + +#ifdef __ASSEMBLER__ +#include +#endif + +#include +#include + +#include "xtensa_rtos.h" /* in case this wasn't included directly */ + +#include + +/* +Select timer to use for periodic tick, and determine its interrupt number +and priority. User may specify a timer by defining XT_TIMER_INDEX with -D, +in which case its validity is checked (it must exist in this core and must +not be on a high priority interrupt - an error will be reported in invalid). +Otherwise select the first low or medium priority interrupt timer available. +*/ +#if XCHAL_NUM_TIMERS == 0 + + #error "This Xtensa configuration is unsupported, it has no timers." + +#else + +#ifndef XT_TIMER_INDEX + #if XCHAL_TIMER3_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL(XCHAL_TIMER3_INTERRUPT) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 3 + #endif + #endif + #if XCHAL_TIMER2_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL(XCHAL_TIMER2_INTERRUPT) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 2 + #endif + #endif + #if XCHAL_TIMER1_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL(XCHAL_TIMER1_INTERRUPT) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 1 + #endif + #endif + #if XCHAL_TIMER0_INTERRUPT != XTHAL_TIMER_UNCONFIGURED + #if XCHAL_INT_LEVEL(XCHAL_TIMER0_INTERRUPT) <= XCHAL_EXCM_LEVEL + #undef XT_TIMER_INDEX + #define XT_TIMER_INDEX 0 + #endif + #endif +#endif +#ifndef XT_TIMER_INDEX + #error "There is no suitable timer in this Xtensa configuration." +#endif + +#define XT_CCOMPARE (CCOMPARE + XT_TIMER_INDEX) +#define XT_TIMER_INTNUM XCHAL_TIMER_INTERRUPT(XT_TIMER_INDEX) +#define XT_TIMER_INTPRI XCHAL_INT_LEVEL(XT_TIMER_INTNUM) +#define XT_TIMER_INTEN (1 << XT_TIMER_INTNUM) + +#if XT_TIMER_INTNUM == XTHAL_TIMER_UNCONFIGURED + #error "The timer selected by XT_TIMER_INDEX does not exist in this core." +#elif XT_TIMER_INTPRI > XCHAL_EXCM_LEVEL + #error "The timer interrupt cannot be high priority (use medium or low)." +#endif + +#endif /* XCHAL_NUM_TIMERS */ + +/* +Set processor clock frequency, used to determine clock divisor for timer tick. +User should BE SURE TO ADJUST THIS for the Xtensa platform being used. +If using a supported board via the board-independent API defined in xtbsp.h, +this may be left undefined and frequency and tick divisor will be computed +and cached during run-time initialization. + +NOTE ON SIMULATOR: +Under the Xtensa instruction set simulator, the frequency can only be estimated +because it depends on the speed of the host and the version of the simulator. +Also because it runs much slower than hardware, it is not possible to achieve +real-time performance for most applications under the simulator. A frequency +too low does not allow enough time between timer interrupts, starving threads. +To obtain a more convenient but non-real-time tick duration on the simulator, +compile with xt-xcc option "-DXT_SIMULATOR". +Adjust this frequency to taste (it's not real-time anyway!). +*/ +#if defined(XT_SIMULATOR) && !defined(XT_CLOCK_FREQ) +#define XT_CLOCK_FREQ configCPU_CLOCK_HZ +#endif + +#if !defined(XT_CLOCK_FREQ) && !defined(XT_BOARD) + #error "XT_CLOCK_FREQ must be defined for the target platform." +#endif + +/* +Default number of timer "ticks" per second (default 100 for 10ms tick). +RTOS may define this in its own way (if applicable) in xtensa_rtos.h. +User may redefine this to an optimal value for the application, either by +editing this here or in xtensa_rtos.h, or compiling with xt-xcc option +"-DXT_TICK_PER_SEC=" where is a suitable number. +*/ +#ifndef XT_TICK_PER_SEC +#define XT_TICK_PER_SEC configTICK_RATE_HZ /* 10 ms tick = 100 ticks per second */ +#endif + +/* +Derivation of clock divisor for timer tick and interrupt (one per tick). +*/ +#ifdef XT_CLOCK_FREQ +#define XT_TICK_DIVISOR (XT_CLOCK_FREQ / XT_TICK_PER_SEC) +#endif + +#ifndef __ASSEMBLER__ +extern unsigned _xt_tick_divisor; +extern void _xt_tick_divisor_init(void); +#endif + +#endif /* XTENSA_TIMER_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_vectors.S b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_vectors.S new file mode 100644 index 0000000..224ac87 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/ThirdParty/XCC/Xtensa/xtensa_vectors.S @@ -0,0 +1,1905 @@ + +/* + * Copyright (c) 2015-2019 Cadence Design Systems, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* + XTENSA VECTORS AND LOW LEVEL HANDLERS FOR AN RTOS + + Xtensa low level exception and interrupt vectors and handlers for an RTOS. + + Interrupt handlers and user exception handlers support interaction with + the RTOS by calling XT_RTOS_INT_ENTER and XT_RTOS_INT_EXIT before and + after user's specific interrupt handlers. These macros are defined in + xtensa_.h to call suitable functions in a specific RTOS. + + Users can install application-specific interrupt handlers for low and + medium level interrupts, by calling xt_set_interrupt_handler(). These + handlers can be written in C, and must obey C calling convention. The + handler table is indexed by the interrupt number. Each handler may be + provided with an argument. + + Note that the system timer interrupt is handled specially, and is + dispatched to the RTOS-specific handler. This timer cannot be hooked + by application code. + + Optional hooks are also provided to install a handler per level at + run-time, made available by compiling this source file with + '-DXT_INTEXC_HOOKS' (useful for automated testing). + +!! This file is a template that usually needs to be modified to handle !! +!! application specific interrupts. Search USER_EDIT for helpful comments !! +!! on where to insert handlers and how to write them. !! + + Users can also install application-specific exception handlers in the + same way, by calling xt_set_exception_handler(). One handler slot is + provided for each exception type. Note that some exceptions are handled + by the porting layer itself, and cannot be taken over by application + code in this manner. These are the alloca, syscall, and coprocessor + exceptions. + + The exception handlers can be written in C, and must follow C calling + convention. Each handler is passed a pointer to an exception frame as + its single argument. The exception frame is created on the stack, and + holds the saved context of the thread that took the exception. If the + handler returns, the context will be restored and the instruction that + caused the exception will be retried. If the handler makes any changes + to the saved state in the exception frame, the changes will be applied + when restoring the context. + + Because Xtensa is a configurable architecture, this port supports all user + generated configurations (except restrictions stated in the release notes). + This is accomplished by conditional compilation using macros and functions + defined in the Xtensa HAL (hardware adaptation layer) for your configuration. + Only the relevant parts of this file will be included in your RTOS build. + For example, this file provides interrupt vector templates for all types and + all priority levels, but only the ones in your configuration are built. + + NOTES on the use of 'call0' for long jumps instead of 'j': + 1. This file should be assembled with the -mlongcalls option to xt-xcc. + 2. The -mlongcalls compiler option causes 'call0 dest' to be expanded to + a sequence 'l32r a0, dest' 'callx0 a0' which works regardless of the + distance from the call to the destination. The linker then relaxes + it back to 'call0 dest' if it determines that dest is within range. + This allows more flexibility in locating code without the performance + overhead of the 'l32r' literal data load in cases where the destination + is in range of 'call0'. There is an additional benefit in that 'call0' + has a longer range than 'j' due to the target being word-aligned, so + the 'l32r' sequence is less likely needed. + 3. The use of 'call0' with -mlongcalls requires that register a0 not be + live at the time of the call, which is always the case for a function + call but needs to be ensured if 'call0' is used as a jump in lieu of 'j'. + 4. This use of 'call0' is independent of the C function call ABI. + + */ + +#include "xtensa_rtos.h" + + +/* Enable stack backtrace across exception/interrupt - see below */ +#define XT_DEBUG_BACKTRACE 1 + + +/* +-------------------------------------------------------------------------------- + Defines used to access _xtos_interrupt_table. +-------------------------------------------------------------------------------- +*/ +#define XIE_HANDLER 0 +#define XIE_ARG 4 +#define XIE_SIZE 8 + +/* +-------------------------------------------------------------------------------- + Macro extract_msb - return the input with only the highest bit set. + + Input : "ain" - Input value, clobbered. + Output : "aout" - Output value, has only one bit set, MSB of "ain". + The two arguments must be different AR registers. +-------------------------------------------------------------------------------- +*/ + + .macro extract_msb aout ain +1: + addi \aout, \ain, -1 /* aout = ain - 1 */ + and \ain, \ain, \aout /* ain = ain & aout */ + bnez \ain, 1b /* repeat until ain == 0 */ + addi \aout, \aout, 1 /* return aout + 1 */ + .endm + +/* +-------------------------------------------------------------------------------- + Macro dispatch_c_isr - dispatch interrupts to user ISRs. + This will dispatch to user handlers (if any) that are registered in the + XTOS dispatch table (_xtos_interrupt_table). These handlers would have + been registered by calling _xtos_set_interrupt_handler(). There is one + exception - the timer interrupt used by the OS will not be dispatched + to a user handler - this must be handled by the caller of this macro. + + Level triggered and software interrupts are automatically deasserted by + this code. + + ASSUMPTIONS: + -- PS.INTLEVEL is set to "level" at entry + -- PS.EXCM = 0, C calling enabled + + NOTE: For CALL0 ABI, a12-a15 have not yet been saved. + + NOTE: This macro will use registers a0 and a2-a6. The arguments are: + level -- interrupt level + mask -- interrupt bitmask for this level +-------------------------------------------------------------------------------- +*/ + + .macro dispatch_c_isr level mask + + /* Get mask of pending, enabled interrupts at this level into a2. */ + +.L_xt_user_int_&level&: + rsr a2, INTENABLE + rsr a3, INTERRUPT + movi a4, \mask + and a2, a2, a3 + and a2, a2, a4 + beqz a2, 9f /* nothing to do */ + + /* This bit of code provides a nice debug backtrace in the debugger. + It does take a few more instructions, so undef XT_DEBUG_BACKTRACE + if you want to save the cycles. + */ + #if XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + rsr a0, EPC_1 + \level - 1 /* return address */ + movi a4, 0xC0000000 /* constant with top 2 bits set (call size) */ + or a0, a0, a4 /* set top 2 bits */ + addx2 a0, a4, a0 /* clear top bit -- simulating call4 size */ + #endif + #endif + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a4, _xt_intexc_hooks + l32i a4, a4, \level << 2 + beqz a4, 2f + #ifdef __XTENSA_CALL0_ABI__ + callx0 a4 + beqz a2, 9f + #else + mov a6, a2 + callx4 a4 + beqz a6, 9f + mov a2, a6 + #endif +2: + #endif + + /* Now look up in the dispatch table and call user ISR if any. */ + /* If multiple bits are set then MSB has highest priority. */ + + extract_msb a4, a2 /* a4 = MSB of a2, a2 trashed */ + + #ifdef XT_USE_SWPRI + /* Enable all interrupts at this level that are numerically higher + than the one we just selected, since they are treated as higher + priority. + */ + movi a3, \mask /* a3 = all interrupts at this level */ + add a2, a4, a4 /* a2 = a4 << 1 */ + addi a2, a2, -1 /* a2 = mask of 1's <= a4 bit */ + and a2, a2, a3 /* a2 = mask of all bits <= a4 at this level */ + movi a3, _xt_intdata + l32i a6, a3, 4 /* a6 = _xt_vpri_mask */ + neg a2, a2 + addi a2, a2, -1 /* a2 = mask to apply */ + and a5, a6, a2 /* mask off all bits <= a4 bit */ + s32i a5, a3, 4 /* update _xt_vpri_mask */ + rsr a3, INTENABLE + and a3, a3, a2 /* mask off all bits <= a4 bit */ + wsr a3, INTENABLE + rsil a3, \level - 1 /* lower interrupt level by 1 */ + #endif + + movi a3, XT_TIMER_INTEN /* a3 = timer interrupt bit */ + wsr a4, INTCLEAR /* clear sw or edge-triggered interrupt */ + beq a3, a4, 7f /* if timer interrupt then skip table */ + + find_ms_setbit a3, a4, a3, 0 /* a3 = interrupt number */ + + movi a4, _xt_interrupt_table + addx8 a3, a3, a4 /* a3 = address of interrupt table entry */ + l32i a4, a3, XIE_HANDLER /* a4 = handler address */ + #ifdef __XTENSA_CALL0_ABI__ + mov a12, a6 /* save in callee-saved reg */ + l32i a2, a3, XIE_ARG /* a2 = handler arg */ + callx0 a4 /* call handler */ + mov a2, a12 + #else + mov a2, a6 /* save in windowed reg */ + l32i a6, a3, XIE_ARG /* a6 = handler arg */ + callx4 a4 /* call handler */ + #endif + + #ifdef XT_USE_SWPRI + j 8f + #else + j .L_xt_user_int_&level& /* check for more interrupts */ + #endif + +7: + + .ifeq XT_TIMER_INTPRI - \level +.L_xt_user_int_timer_&level&: + /* + Interrupt handler for the RTOS tick timer if at this level. + We'll be reading the interrupt state again after this call + so no need to preserve any registers except a6 (vpri_mask). + */ + + #ifdef __XTENSA_CALL0_ABI__ + mov a12, a6 + call0 XT_RTOS_TIMER_INT + mov a2, a12 + #else + mov a2, a6 + call4 XT_RTOS_TIMER_INT + #endif + .endif + + #ifdef XT_USE_SWPRI + j 8f + #else + j .L_xt_user_int_&level& /* check for more interrupts */ + #endif + + #ifdef XT_USE_SWPRI +8: + /* Restore old value of _xt_vpri_mask from a2. Also update INTENABLE from + virtual _xt_intenable which _could_ have changed during interrupt + processing. */ + + movi a3, _xt_intdata + l32i a4, a3, 0 /* a4 = _xt_intenable */ + s32i a2, a3, 4 /* update _xt_vpri_mask */ + and a4, a4, a2 /* a4 = masked intenable */ + wsr a4, INTENABLE /* update INTENABLE */ + #endif + +9: + /* done */ + + .endm + + +/* +-------------------------------------------------------------------------------- + Panic handler. + Should be reached by call0 (preferable) or jump only. If call0, a0 says where + from. If on simulator, display panic message and abort, else loop indefinitely. +-------------------------------------------------------------------------------- +*/ + + .text + .global _xt_panic + .type _xt_panic,@function + .align 4 + +_xt_panic: + #ifdef XT_SIMULATOR + addi a4, a0, -3 /* point to call0 */ + movi a3, _xt_panic_message + movi a2, SYS_log_msg + simcall + movi a2, SYS_gdb_abort + simcall + #else + rsil a2, XCHAL_EXCM_LEVEL /* disable all low & med ints */ +1: j 1b /* loop infinitely */ + #endif + + .section .rodata, "a" + .align 4 + +_xt_panic_message: + .string "\n*** _xt_panic() was called from 0x%08x or jumped to. ***\n" + + +/* +-------------------------------------------------------------------------------- + Hooks to dynamically install handlers for exceptions and interrupts. + Allows automated regression frameworks to install handlers per test. + Consists of an array of function pointers indexed by interrupt level, + with index 0 containing the entry for user exceptions. + Initialized with all 0s, meaning no handler is installed at each level. + See comment in xtensa_rtos.h for more details. +-------------------------------------------------------------------------------- +*/ + + #ifdef XT_INTEXC_HOOKS + .data + .global _xt_intexc_hooks + .type _xt_intexc_hooks,@object + .align 4 + +_xt_intexc_hooks: + .fill XT_INTEXC_HOOK_NUM, 4, 0 + #endif + + +/* +-------------------------------------------------------------------------------- + EXCEPTION AND LEVEL 1 INTERRUPT VECTORS AND LOW LEVEL HANDLERS + (except window exception vectors). + + Each vector goes at a predetermined location according to the Xtensa + hardware configuration, which is ensured by its placement in a special + section known to the Xtensa linker support package (LSP). It performs + the minimum necessary before jumping to the handler in the .text section. + + The corresponding handler goes in the normal .text section. It sets up + the appropriate stack frame, saves a few vector-specific registers and + calls XT_RTOS_INT_ENTER to save the rest of the interrupted context + and enter the RTOS, then sets up a C environment. It then calls the + user's interrupt handler code (which may be coded in C) and finally + calls XT_RTOS_INT_EXIT to transfer control to the RTOS for scheduling. + + While XT_RTOS_INT_EXIT does not return directly to the interruptee, + eventually the RTOS scheduler will want to dispatch the interrupted + task or handler. The scheduler will return to the exit point that was + saved in the interrupt stack frame at XT_STK_EXIT. +-------------------------------------------------------------------------------- +*/ + + +/* +-------------------------------------------------------------------------------- +Debug Exception. +-------------------------------------------------------------------------------- +*/ + +#if XCHAL_HAVE_DEBUG + + .begin literal_prefix .DebugExceptionVector + .section .DebugExceptionVector.text, "ax" + .global _DebugExceptionVector + .align 4 + +_DebugExceptionVector: + + #ifdef XT_SIMULATOR + /* + In the simulator, let the debugger (if any) handle the debug exception, + or simply stop the simulation: + */ + wsr a2, EXCSAVE+XCHAL_DEBUGLEVEL /* save a2 where sim expects it */ + movi a2, SYS_gdb_enter_sktloop + simcall /* have ISS handle debug exc. */ + #elif 0 /* change condition to 1 to use the HAL minimal debug handler */ + wsr a3, EXCSAVE+XCHAL_DEBUGLEVEL + movi a3, xthal_debugexc_defhndlr_nw /* use default debug handler */ + jx a3 + #else + wsr a0, EXCSAVE+XCHAL_DEBUGLEVEL /* save original a0 somewhere */ + call0 _xt_panic /* does not return */ + rfi XCHAL_DEBUGLEVEL /* make a0 point here not later */ + #endif + + .end literal_prefix + +#endif + +/* +-------------------------------------------------------------------------------- +Double Exception. +Double exceptions are not a normal occurrence. They indicate a bug of some kind. +-------------------------------------------------------------------------------- +*/ + +#ifdef XCHAL_DOUBLEEXC_VECTOR_VADDR + + .begin literal_prefix .DoubleExceptionVector + .section .DoubleExceptionVector.text, "ax" + .global _DoubleExceptionVector + .align 4 + +_DoubleExceptionVector: + + #if XCHAL_HAVE_DEBUG + break 1, 4 /* unhandled double exception */ + #endif + call0 _xt_panic /* does not return */ + rfde /* make a0 point here not later */ + + .end literal_prefix + +#endif /* XCHAL_DOUBLEEXC_VECTOR_VADDR */ + +/* +-------------------------------------------------------------------------------- +Kernel Exception (including Level 1 Interrupt from kernel mode). +-------------------------------------------------------------------------------- +*/ + + .begin literal_prefix .KernelExceptionVector + .section .KernelExceptionVector.text, "ax" + .global _KernelExceptionVector + .align 4 + +_KernelExceptionVector: + + wsr a0, EXCSAVE_1 /* preserve a0 */ + call0 _xt_kernel_exc /* kernel exception handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .align 4 + +_xt_kernel_exc: + #if XCHAL_HAVE_DEBUG + break 1, 0 /* unhandled kernel exception */ + #endif + call0 _xt_panic /* does not return */ + rfe /* make a0 point here not there */ + + +/* +-------------------------------------------------------------------------------- +User Exception (including Level 1 Interrupt from user mode). +-------------------------------------------------------------------------------- +*/ + + .begin literal_prefix .UserExceptionVector + .section .UserExceptionVector.text, "ax" + .global _UserExceptionVector + .type _UserExceptionVector,@function + .align 4 + +_UserExceptionVector: + + wsr a0, EXCSAVE_1 /* preserve a0 */ + call0 _xt_user_exc /* user exception handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + +/* +-------------------------------------------------------------------------------- + Insert some waypoints for jumping beyond the signed 8-bit range of + conditional branch instructions, so the conditional branchces to specific + exception handlers are not taken in the mainline. Saves some cycles in the + mainline. +-------------------------------------------------------------------------------- +*/ + + .text + + #if XCHAL_HAVE_WINDOWED + .align 4 +_xt_to_alloca_exc: + call0 _xt_alloca_exc /* in window vectors section */ + /* never returns here - call0 is used as a jump (see note at top) */ + #endif + + .align 4 +_xt_to_syscall_exc: + call0 _xt_syscall_exc + /* never returns here - call0 is used as a jump (see note at top) */ + + #if XCHAL_CP_NUM > 0 + .align 4 +_xt_to_coproc_exc: + call0 _xt_coproc_exc + /* never returns here - call0 is used as a jump (see note at top) */ + #endif + + +/* +-------------------------------------------------------------------------------- + User exception handler. +-------------------------------------------------------------------------------- +*/ + + .type _xt_user_exc,@function + .align 4 + +_xt_user_exc: + + /* If level 1 interrupt then jump to the dispatcher */ + rsr a0, EXCCAUSE + beqi a0, EXCCAUSE_LEVEL1INTERRUPT, _xt_lowint1 + + /* Handle any coprocessor exceptions. Rely on the fact that exception + numbers above EXCCAUSE_CP0_DISABLED all relate to the coprocessors. + */ + #if XCHAL_CP_NUM > 0 + bgeui a0, EXCCAUSE_CP0_DISABLED, _xt_to_coproc_exc + #endif + + /* Handle alloca and syscall exceptions */ + #if XCHAL_HAVE_WINDOWED + beqi a0, EXCCAUSE_ALLOCA, _xt_to_alloca_exc + #endif + beqi a0, EXCCAUSE_SYSCALL, _xt_to_syscall_exc + + /* Handle all other exceptions. All can have user-defined handlers. */ + /* NOTE: we'll stay on the user stack for exception handling. */ + + /* Allocate exception frame and save minimal context. */ + mov a0, sp + addi sp, sp, -XT_STK_FRMSZ + s32i a0, sp, XT_STK_A1 + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -12 /* for debug backtrace */ + #endif + rsr a0, PS /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_1 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_1 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + #if XCHAL_HAVE_WINDOWED + s32e a0, sp, -16 /* for debug backtrace */ + #endif + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + + /* Save exc cause and vaddr into exception frame */ + rsr a0, EXCCAUSE + s32i a0, sp, XT_STK_EXCCAUSE + rsr a0, EXCVADDR + s32i a0, sp, XT_STK_EXCVADDR + + /* Set up PS for C, reenable hi-pri interrupts, and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(XCHAL_EXCM_LEVEL) | PS_UM + #else + movi a0, PS_INTLEVEL(XCHAL_EXCM_LEVEL) | PS_UM | PS_WOE + #endif + wsr a0, PS + + #ifdef XT_DEBUG_BACKTRACE + #ifndef __XTENSA_CALL0_ABI__ + rsr a0, EPC_1 /* return address for debug backtrace */ + movi a5, 0xC0000000 /* constant with top 2 bits set (call size) */ + rsync /* wait for WSR.PS to complete */ + or a0, a0, a5 /* set top 2 bits */ + addx2 a0, a5, a0 /* clear top bit -- thus simulating call4 size */ + #else + rsync /* wait for WSR.PS to complete */ + #endif + #endif + + rsr a2, EXCCAUSE /* recover exc cause */ + + #ifdef XT_INTEXC_HOOKS + /* + Call exception hook to pre-handle exceptions (if installed). + Pass EXCCAUSE in a2, and check result in a2 (if -1, skip default handling). + */ + movi a4, _xt_intexc_hooks + l32i a4, a4, 0 /* user exception hook index 0 */ + beqz a4, 1f +.Ln_xt_user_exc_call_hook: + #ifdef __XTENSA_CALL0_ABI__ + callx0 a4 + beqi a2, -1, .L_xt_user_done + #else + mov a6, a2 + callx4 a4 + beqi a6, -1, .L_xt_user_done + mov a2, a6 + #endif +1: + #endif + + rsr a2, EXCCAUSE /* recover exc cause */ + movi a3, _xt_exception_table + addx4 a4, a2, a3 /* a4 = address of exception table entry */ + l32i a4, a4, 0 /* a4 = handler address */ + #ifdef __XTENSA_CALL0_ABI__ + mov a2, sp /* a2 = pointer to exc frame */ + callx0 a4 /* call handler */ + #else + mov a6, sp /* a6 = pointer to exc frame */ + callx4 a4 /* call handler */ + #endif + +.L_xt_user_done: + + /* Restore context and return */ + call0 _xt_context_restore + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, PS + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_1 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove exception frame */ + rsync /* ensure PS and EPC written */ + rfe /* PS.EXCM is cleared */ + + +/* +-------------------------------------------------------------------------------- + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. +-------------------------------------------------------------------------------- +*/ + + .global _xt_user_exit + .type _xt_user_exit,@function + .align 4 +_xt_user_exit: + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, PS + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_1 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure PS and EPC written */ + rfe /* PS.EXCM is cleared */ + + +/* +-------------------------------------------------------------------------------- +Syscall Exception Handler (jumped to from User Exception Handler). +Syscall 0 is required to spill the register windows (no-op in Call 0 ABI). +Only syscall 0 is handled here. Other syscalls return -1 to caller in a2. +-------------------------------------------------------------------------------- +*/ + + .text + .type _xt_syscall_exc,@function + .align 4 +_xt_syscall_exc: + + #ifdef __XTENSA_CALL0_ABI__ + /* + Save minimal regs for scratch. Syscall 0 does nothing in Call0 ABI. + Use a minimal stack frame (16B) to save A2 & A3 for scratch. + PS.EXCM could be cleared here, but unlikely to improve worst-case latency. + rsr a0, PS + addi a0, a0, -PS_EXCM_MASK + wsr a0, PS + */ + addi sp, sp, -16 + s32i a2, sp, 8 + s32i a3, sp, 12 + #else /* Windowed ABI */ + /* + Save necessary context and spill the register windows. + PS.EXCM is still set and must remain set until after the spill. + Reuse context save function though it saves more than necessary. + For this reason, a full interrupt stack frame is allocated. + */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a12, sp, XT_STK_A12 /* _xt_context_save requires A12- */ + s32i a13, sp, XT_STK_A13 /* A13 to have already been saved */ + call0 _xt_context_save + #endif + + /* + Grab the interruptee's PC and skip over the 'syscall' instruction. + If it's at the end of a zero-overhead loop and it's not on the last + iteration, decrement loop counter and skip to beginning of loop. + */ + rsr a2, EPC_1 /* a2 = PC of 'syscall' */ + addi a3, a2, 3 /* ++PC */ + #if XCHAL_HAVE_LOOPS + rsr a0, LEND /* if (PC == LEND */ + bne a3, a0, 1f + rsr a0, LCOUNT /* && LCOUNT != 0) */ + beqz a0, 1f /* { */ + addi a0, a0, -1 /* --LCOUNT */ + rsr a3, LBEG /* PC = LBEG */ + wsr a0, LCOUNT /* } */ + #endif +1: wsr a3, EPC_1 /* update PC */ + + /* Restore interruptee's context and return from exception. */ + #ifdef __XTENSA_CALL0_ABI__ + l32i a2, sp, 8 + l32i a3, sp, 12 + addi sp, sp, 16 + #else + call0 _xt_context_restore + addi sp, sp, XT_STK_FRMSZ + #endif + movi a0, -1 + movnez a2, a0, a2 /* return -1 if not syscall 0 */ + rsr a0, EXCSAVE_1 + rfe + +/* +-------------------------------------------------------------------------------- +Co-Processor Exception Handler (jumped to from User Exception Handler). +These exceptions are generated by co-processor instructions, which are only +allowed in thread code (not in interrupts or kernel code). This restriction is +deliberately imposed to reduce the burden of state-save/restore in interrupts. +-------------------------------------------------------------------------------- +*/ +#if XCHAL_CP_NUM > 0 + + .section .rodata, "a" + +/* Offset to CP n save area in thread's CP save area. */ + .global _xt_coproc_sa_offset + .type _xt_coproc_sa_offset,@object + .align 16 /* minimize crossing cache boundaries */ +_xt_coproc_sa_offset: + .word XT_CP0_SA, XT_CP1_SA, XT_CP2_SA, XT_CP3_SA + .word XT_CP4_SA, XT_CP5_SA, XT_CP6_SA, XT_CP7_SA + +/* Bitmask for CP n's CPENABLE bit. */ + .type _xt_coproc_mask,@object + .align 16,,8 /* try to keep it all in one cache line */ + .set i, 0 +_xt_coproc_mask: + .rept XCHAL_CP_MAX + .long (i<<16) | (1<= 2 + + .begin literal_prefix .Level2InterruptVector + .section .Level2InterruptVector.text, "ax" + .global _Level2Vector + .type _Level2Vector,@function + .align 4 +_Level2Vector: + wsr a0, EXCSAVE_2 /* preserve a0 */ + call0 _xt_medint2 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_medint2,@function + .align 4 +_xt_medint2: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_2 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_2 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_2 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint2_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(2) | PS_UM + #else + movi a0, PS_INTLEVEL(2) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 2 XCHAL_INTLEVEL2_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint2_exit + .type _xt_medint2_exit,@function + .align 4 +_xt_medint2_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_2 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_2 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 2 + +#endif /* Level 2 */ + +#if XCHAL_EXCM_LEVEL >= 3 + + .begin literal_prefix .Level3InterruptVector + .section .Level3InterruptVector.text, "ax" + .global _Level3Vector + .type _Level3Vector,@function + .align 4 +_Level3Vector: + wsr a0, EXCSAVE_3 /* preserve a0 */ + call0 _xt_medint3 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_medint3,@function + .align 4 +_xt_medint3: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_3 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_3 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_3 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint3_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(3) | PS_UM + #else + movi a0, PS_INTLEVEL(3) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 3 XCHAL_INTLEVEL3_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint3_exit + .type _xt_medint3_exit,@function + .align 4 +_xt_medint3_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_3 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_3 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 3 + +#endif /* Level 3 */ + +#if XCHAL_EXCM_LEVEL >= 4 + + .begin literal_prefix .Level4InterruptVector + .section .Level4InterruptVector.text, "ax" + .global _Level4Vector + .type _Level4Vector,@function + .align 4 +_Level4Vector: + wsr a0, EXCSAVE_4 /* preserve a0 */ + call0 _xt_medint4 /* load interrupt handler */ + + .end literal_prefix + + .text + .type _xt_medint4,@function + .align 4 +_xt_medint4: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_4 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_4 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_4 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint4_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(4) | PS_UM + #else + movi a0, PS_INTLEVEL(4) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 4 XCHAL_INTLEVEL4_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint4_exit + .type _xt_medint4_exit,@function + .align 4 +_xt_medint4_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_4 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_4 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 4 + +#endif /* Level 4 */ + +#if XCHAL_EXCM_LEVEL >= 5 + + .begin literal_prefix .Level5InterruptVector + .section .Level5InterruptVector.text, "ax" + .global _Level5Vector + .type _Level5Vector,@function + .align 4 +_Level5Vector: + wsr a0, EXCSAVE_5 /* preserve a0 */ + call0 _xt_medint5 /* load interrupt handler */ + + .end literal_prefix + + .text + .type _xt_medint5,@function + .align 4 +_xt_medint5: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_5 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_5 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_5 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint5_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(5) | PS_UM + #else + movi a0, PS_INTLEVEL(5) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 5 XCHAL_INTLEVEL5_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint5_exit + .type _xt_medint5_exit,@function + .align 4 +_xt_medint5_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_5 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_5 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 5 + +#endif /* Level 5 */ + +#if XCHAL_EXCM_LEVEL >= 6 + + .begin literal_prefix .Level6InterruptVector + .section .Level6InterruptVector.text, "ax" + .global _Level6Vector + .type _Level6Vector,@function + .align 4 +_Level6Vector: + wsr a0, EXCSAVE_6 /* preserve a0 */ + call0 _xt_medint6 /* load interrupt handler */ + + .end literal_prefix + + .text + .type _xt_medint6,@function + .align 4 +_xt_medint6: + mov a0, sp /* sp == a1 */ + addi sp, sp, -XT_STK_FRMSZ /* allocate interrupt stack frame */ + s32i a0, sp, XT_STK_A1 /* save pre-interrupt SP */ + rsr a0, EPS_6 /* save interruptee's PS */ + s32i a0, sp, XT_STK_PS + rsr a0, EPC_6 /* save interruptee's PC */ + s32i a0, sp, XT_STK_PC + rsr a0, EXCSAVE_6 /* save interruptee's a0 */ + s32i a0, sp, XT_STK_A0 + movi a0, _xt_medint6_exit /* save exit point for dispatch */ + s32i a0, sp, XT_STK_EXIT + + /* Save rest of interrupt context and enter RTOS. */ + call0 XT_RTOS_INT_ENTER /* common RTOS interrupt entry */ + + /* !! We are now on the RTOS system stack !! */ + + /* Set up PS for C, enable interrupts above this level and clear EXCM. */ + #ifdef __XTENSA_CALL0_ABI__ + movi a0, PS_INTLEVEL(6) | PS_UM + #else + movi a0, PS_INTLEVEL(6) | PS_UM | PS_WOE + #endif + wsr a0, PS + rsync + + /* OK to call C code at this point, dispatch user ISRs */ + + dispatch_c_isr 6 XCHAL_INTLEVEL6_MASK + + /* Done handling interrupts, transfer control to OS */ + call0 XT_RTOS_INT_EXIT /* does not return directly here */ + + /* + Exit point for dispatch. Saved in interrupt stack frame at XT_STK_EXIT + on entry and used to return to a thread or interrupted interrupt handler. + */ + .global _xt_medint6_exit + .type _xt_medint6_exit,@function + .align 4 +_xt_medint6_exit: + /* Restore only level-specific regs (the rest were already restored) */ + l32i a0, sp, XT_STK_PS /* retrieve interruptee's PS */ + wsr a0, EPS_6 + l32i a0, sp, XT_STK_PC /* retrieve interruptee's PC */ + wsr a0, EPC_6 + l32i a0, sp, XT_STK_A0 /* retrieve interruptee's A0 */ + l32i sp, sp, XT_STK_A1 /* remove interrupt stack frame */ + rsync /* ensure EPS and EPC written */ + rfi 6 + +#endif /* Level 6 */ + + +/******************************************************************************* + +HIGH PRIORITY (LEVEL > XCHAL_EXCM_LEVEL) INTERRUPT VECTORS AND HANDLERS + +High priority interrupts are by definition those with priorities greater +than XCHAL_EXCM_LEVEL. This includes non-maskable (NMI). High priority +interrupts cannot interact with the RTOS, that is they must save all regs +they use and not call any RTOS function. + +A further restriction imposed by the Xtensa windowed architecture is that +high priority interrupts must not modify the stack area even logically +"above" the top of the interrupted stack (they need to provide their +own stack or static save area). + +Cadence Design Systems recommends high priority interrupt handlers be coded in assembly +and used for purposes requiring very short service times. + +Here are templates for high priority (level 2+) interrupt vectors. +They assume only one interrupt per level to avoid the burden of identifying +which interrupts at this level are pending and enabled. This allows for +minimum latency and avoids having to save/restore a2 in addition to a0. +If more than one interrupt per high priority level is configured, this burden +is on the handler which in any case must provide a way to save and restore +registers it uses without touching the interrupted stack. + +Each vector goes at a predetermined location according to the Xtensa +hardware configuration, which is ensured by its placement in a special +section known to the Xtensa linker support package (LSP). It performs +the minimum necessary before jumping to the handler in the .text section. + +*******************************************************************************/ + +/* +Currently only shells for high priority interrupt handlers are provided +here. However a template and example can be found in the Cadence Design Systems tools +documentation: "Microprocessor Programmer's Guide". +*/ + +#if XCHAL_NUM_INTLEVELS >=2 && XCHAL_EXCM_LEVEL <2 && XCHAL_DEBUGLEVEL !=2 + + .begin literal_prefix .Level2InterruptVector + .section .Level2InterruptVector.text, "ax" + .global _Level2Vector + .type _Level2Vector,@function + .align 4 +_Level2Vector: + wsr a0, EXCSAVE_2 /* preserve a0 */ + call0 _xt_highint2 /* load interrupt handler */ + + .end literal_prefix + + .text + .type _xt_highint2,@function + .align 4 +_xt_highint2: + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a0, _xt_intexc_hooks + l32i a0, a0, 2<<2 + beqz a0, 1f +.Ln_xt_highint2_call_hook: + callx0 a0 /* must NOT disturb stack! */ +1: + #endif + + /* USER_EDIT: + ADD HIGH PRIORITY LEVEL 2 INTERRUPT HANDLER CODE HERE. + */ + + .align 4 +.L_xt_highint2_exit: + rsr a0, EXCSAVE_2 /* restore a0 */ + rfi 2 + +#endif /* Level 2 */ + +#if XCHAL_NUM_INTLEVELS >=3 && XCHAL_EXCM_LEVEL <3 && XCHAL_DEBUGLEVEL !=3 + + .begin literal_prefix .Level3InterruptVector + .section .Level3InterruptVector.text, "ax" + .global _Level3Vector + .type _Level3Vector,@function + .align 4 +_Level3Vector: + wsr a0, EXCSAVE_3 /* preserve a0 */ + call0 _xt_highint3 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_highint3,@function + .align 4 +_xt_highint3: + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a0, _xt_intexc_hooks + l32i a0, a0, 3<<2 + beqz a0, 1f +.Ln_xt_highint3_call_hook: + callx0 a0 /* must NOT disturb stack! */ +1: + #endif + + /* USER_EDIT: + ADD HIGH PRIORITY LEVEL 3 INTERRUPT HANDLER CODE HERE. + */ + + .align 4 +.L_xt_highint3_exit: + rsr a0, EXCSAVE_3 /* restore a0 */ + rfi 3 + +#endif /* Level 3 */ + +#if XCHAL_NUM_INTLEVELS >=4 && XCHAL_EXCM_LEVEL <4 && XCHAL_DEBUGLEVEL !=4 + + .begin literal_prefix .Level4InterruptVector + .section .Level4InterruptVector.text, "ax" + .global _Level4Vector + .type _Level4Vector,@function + .align 4 +_Level4Vector: + wsr a0, EXCSAVE_4 /* preserve a0 */ + call0 _xt_highint4 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_highint4,@function + .align 4 +_xt_highint4: + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a0, _xt_intexc_hooks + l32i a0, a0, 4<<2 + beqz a0, 1f +.Ln_xt_highint4_call_hook: + callx0 a0 /* must NOT disturb stack! */ +1: + #endif + + /* USER_EDIT: + ADD HIGH PRIORITY LEVEL 4 INTERRUPT HANDLER CODE HERE. + */ + + .align 4 +.L_xt_highint4_exit: + rsr a0, EXCSAVE_4 /* restore a0 */ + rfi 4 + +#endif /* Level 4 */ + +#if XCHAL_NUM_INTLEVELS >=5 && XCHAL_EXCM_LEVEL <5 && XCHAL_DEBUGLEVEL !=5 + + .begin literal_prefix .Level5InterruptVector + .section .Level5InterruptVector.text, "ax" + .global _Level5Vector + .type _Level5Vector,@function + .align 4 +_Level5Vector: + wsr a0, EXCSAVE_5 /* preserve a0 */ + call0 _xt_highint5 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_highint5,@function + .align 4 +_xt_highint5: + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a0, _xt_intexc_hooks + l32i a0, a0, 5<<2 + beqz a0, 1f +.Ln_xt_highint5_call_hook: + callx0 a0 /* must NOT disturb stack! */ +1: + #endif + + /* USER_EDIT: + ADD HIGH PRIORITY LEVEL 5 INTERRUPT HANDLER CODE HERE. + */ + + .align 4 +.L_xt_highint5_exit: + rsr a0, EXCSAVE_5 /* restore a0 */ + rfi 5 + +#endif /* Level 5 */ + +#if XCHAL_NUM_INTLEVELS >=6 && XCHAL_EXCM_LEVEL <6 && XCHAL_DEBUGLEVEL !=6 + + .begin literal_prefix .Level6InterruptVector + .section .Level6InterruptVector.text, "ax" + .global _Level6Vector + .type _Level6Vector,@function + .align 4 +_Level6Vector: + wsr a0, EXCSAVE_6 /* preserve a0 */ + call0 _xt_highint6 /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_highint6,@function + .align 4 +_xt_highint6: + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a0, _xt_intexc_hooks + l32i a0, a0, 6<<2 + beqz a0, 1f +.Ln_xt_highint6_call_hook: + callx0 a0 /* must NOT disturb stack! */ +1: + #endif + + /* USER_EDIT: + ADD HIGH PRIORITY LEVEL 6 INTERRUPT HANDLER CODE HERE. + */ + + .align 4 +.L_xt_highint6_exit: + rsr a0, EXCSAVE_6 /* restore a0 */ + rfi 6 + +#endif /* Level 6 */ + +#if XCHAL_HAVE_NMI + + .begin literal_prefix .NMIExceptionVector + .section .NMIExceptionVector.text, "ax" + .global _NMIExceptionVector + .type _NMIExceptionVector,@function + .align 4 +_NMIExceptionVector: + wsr a0, EXCSAVE + XCHAL_NMILEVEL _ /* preserve a0 */ + call0 _xt_nmi /* load interrupt handler */ + /* never returns here - call0 is used as a jump (see note at top) */ + + .end literal_prefix + + .text + .type _xt_nmi,@function + .align 4 +_xt_nmi: + + #ifdef XT_INTEXC_HOOKS + /* Call interrupt hook if present to (pre)handle interrupts. */ + movi a0, _xt_intexc_hooks + l32i a0, a0, XCHAL_NMILEVEL<<2 + beqz a0, 1f +.Ln_xt_nmi_call_hook: + callx0 a0 /* must NOT disturb stack! */ +1: + #endif + + /* USER_EDIT: + ADD HIGH PRIORITY NON-MASKABLE INTERRUPT (NMI) HANDLER CODE HERE. + */ + + .align 4 +.L_xt_nmi_exit: + rsr a0, EXCSAVE + XCHAL_NMILEVEL /* restore a0 */ + rfi XCHAL_NMILEVEL + +#endif /* NMI */ + + +/******************************************************************************* + +WINDOW OVERFLOW AND UNDERFLOW EXCEPTION VECTORS AND ALLOCA EXCEPTION HANDLER + +Here is the code for each window overflow/underflow exception vector and +(interspersed) efficient code for handling the alloca exception cause. +Window exceptions are handled entirely in the vector area and are very +tight for performance. The alloca exception is also handled entirely in +the window vector area so comes at essentially no cost in code size. +Users should never need to modify them and Cadence Design Systems recommends +they do not. + +Window handlers go at predetermined vector locations according to the +Xtensa hardware configuration, which is ensured by their placement in a +special section known to the Xtensa linker support package (LSP). Since +their offsets in that section are always the same, the LSPs do not define +a section per vector. + +These things are coded for XEA2 only (XEA1 is not supported). + +Note on Underflow Handlers: +The underflow handler for returning from call[i+1] to call[i] +must preserve all the registers from call[i+1]'s window. +In particular, a0 and a1 must be preserved because the RETW instruction +will be reexecuted (and may even underflow if an intervening exception +has flushed call[i]'s registers). +Registers a2 and up may contain return values. + +*******************************************************************************/ + +#if XCHAL_HAVE_WINDOWED + + .section .WindowVectors.text, "ax" + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call4. + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call4 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a3 are registers to be saved; + a4-a15 must be preserved; + a5 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x0 + .global _WindowOverflow4 +_WindowOverflow4: + + s32e a0, a5, -16 /* save a0 to call[j+1]'s stack frame */ + s32e a1, a5, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a5, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a5, -4 /* save a3 to call[j+1]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call4 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call4 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a3 are undefined, must be reloaded with call[i].reg[0..3]; + a4-a15 must be preserved (they are call[i+1].reg[0..11]); + a5 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x40 + .global _WindowUnderflow4 +_WindowUnderflow4: + + l32e a0, a5, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a5, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a5, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a3, a5, -4 /* restore a3 from call[i+1]'s stack frame */ + rfwu + +/* +-------------------------------------------------------------------------------- +Handle alloca exception generated by interruptee executing 'movsp'. +This uses space between the window vectors, so is essentially "free". +All interruptee's regs are intact except a0 which is saved in EXCSAVE_1, +and PS.EXCM has been set by the exception hardware (can't be interrupted). +The fact the alloca exception was taken means the registers associated with +the base-save area have been spilled and will be restored by the underflow +handler, so those 4 registers are available for scratch. +The code is optimized to avoid unaligned branches and minimize cache misses. +-------------------------------------------------------------------------------- +*/ + + .align 4 + .global _xt_alloca_exc +_xt_alloca_exc: + + rsr a0, WINDOWBASE /* grab WINDOWBASE before rotw changes it */ + rotw -1 /* WINDOWBASE goes to a4, new a0-a3 are scratch */ + rsr a2, PS + extui a3, a2, XCHAL_PS_OWB_SHIFT, XCHAL_PS_OWB_BITS + xor a3, a3, a4 /* bits changed from old to current windowbase */ + rsr a4, EXCSAVE_1 /* restore original a0 (now in a4) */ + slli a3, a3, XCHAL_PS_OWB_SHIFT + xor a2, a2, a3 /* flip changed bits in old window base */ + wsr a2, PS /* update PS.OWB to new window base */ + rsync + + _bbci.l a4, 31, _WindowUnderflow4 + rotw -1 /* original a0 goes to a8 */ + _bbci.l a8, 30, _WindowUnderflow8 + rotw -1 + j _WindowUnderflow12 + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call8 + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call8 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a7 are registers to be saved; + a8-a15 must be preserved; + a9 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x80 + .global _WindowOverflow8 +_WindowOverflow8: + + s32e a0, a9, -16 /* save a0 to call[j+1]'s stack frame */ + l32e a0, a1, -12 /* a0 <- call[j-1]'s sp + (used to find end of call[j]'s frame) */ + s32e a1, a9, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a9, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a9, -4 /* save a3 to call[j+1]'s stack frame */ + s32e a4, a0, -32 /* save a4 to call[j]'s stack frame */ + s32e a5, a0, -28 /* save a5 to call[j]'s stack frame */ + s32e a6, a0, -24 /* save a6 to call[j]'s stack frame */ + s32e a7, a0, -20 /* save a7 to call[j]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call8 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call8 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a7 are undefined, must be reloaded with call[i].reg[0..7]; + a8-a15 must be preserved (they are call[i+1].reg[0..7]); + a9 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0xC0 + .global _WindowUnderflow8 +_WindowUnderflow8: + + l32e a0, a9, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a9, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a9, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a7, a1, -12 /* a7 <- call[i-1]'s sp + (used to find end of call[i]'s frame) */ + l32e a3, a9, -4 /* restore a3 from call[i+1]'s stack frame */ + l32e a4, a7, -32 /* restore a4 from call[i]'s stack frame */ + l32e a5, a7, -28 /* restore a5 from call[i]'s stack frame */ + l32e a6, a7, -24 /* restore a6 from call[i]'s stack frame */ + l32e a7, a7, -20 /* restore a7 from call[i]'s stack frame */ + rfwu + +/* +-------------------------------------------------------------------------------- +Window Overflow Exception for Call12 + +Invoked if a call[i] referenced a register (a4-a15) +that contains data from ancestor call[j]; +call[j] had done a call12 to call[j+1]. +On entry here: + window rotated to call[j] start point; + a0-a11 are registers to be saved; + a12-a15 must be preserved; + a13 is call[j+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x100 + .global _WindowOverflow12 +_WindowOverflow12: + + s32e a0, a13, -16 /* save a0 to call[j+1]'s stack frame */ + l32e a0, a1, -12 /* a0 <- call[j-1]'s sp + (used to find end of call[j]'s frame) */ + s32e a1, a13, -12 /* save a1 to call[j+1]'s stack frame */ + s32e a2, a13, -8 /* save a2 to call[j+1]'s stack frame */ + s32e a3, a13, -4 /* save a3 to call[j+1]'s stack frame */ + s32e a4, a0, -48 /* save a4 to end of call[j]'s stack frame */ + s32e a5, a0, -44 /* save a5 to end of call[j]'s stack frame */ + s32e a6, a0, -40 /* save a6 to end of call[j]'s stack frame */ + s32e a7, a0, -36 /* save a7 to end of call[j]'s stack frame */ + s32e a8, a0, -32 /* save a8 to end of call[j]'s stack frame */ + s32e a9, a0, -28 /* save a9 to end of call[j]'s stack frame */ + s32e a10, a0, -24 /* save a10 to end of call[j]'s stack frame */ + s32e a11, a0, -20 /* save a11 to end of call[j]'s stack frame */ + rfwo /* rotates back to call[i] position */ + +/* +-------------------------------------------------------------------------------- +Window Underflow Exception for Call12 + +Invoked by RETW returning from call[i+1] to call[i] +where call[i]'s registers must be reloaded (not live in ARs); +where call[i] had done a call12 to call[i+1]. +On entry here: + window rotated to call[i] start point; + a0-a11 are undefined, must be reloaded with call[i].reg[0..11]; + a12-a15 must be preserved (they are call[i+1].reg[0..3]); + a13 is call[i+1]'s stack pointer. +-------------------------------------------------------------------------------- +*/ + + .org 0x140 + .global _WindowUnderflow12 +_WindowUnderflow12: + + l32e a0, a13, -16 /* restore a0 from call[i+1]'s stack frame */ + l32e a1, a13, -12 /* restore a1 from call[i+1]'s stack frame */ + l32e a2, a13, -8 /* restore a2 from call[i+1]'s stack frame */ + l32e a11, a1, -12 /* a11 <- call[i-1]'s sp + (used to find end of call[i]'s frame) */ + l32e a3, a13, -4 /* restore a3 from call[i+1]'s stack frame */ + l32e a4, a11, -48 /* restore a4 from end of call[i]'s stack frame */ + l32e a5, a11, -44 /* restore a5 from end of call[i]'s stack frame */ + l32e a6, a11, -40 /* restore a6 from end of call[i]'s stack frame */ + l32e a7, a11, -36 /* restore a7 from end of call[i]'s stack frame */ + l32e a8, a11, -32 /* restore a8 from end of call[i]'s stack frame */ + l32e a9, a11, -28 /* restore a9 from end of call[i]'s stack frame */ + l32e a10, a11, -24 /* restore a10 from end of call[i]'s stack frame */ + l32e a11, a11, -20 /* restore a11 from end of call[i]'s stack frame */ + rfwu + +#endif /* XCHAL_HAVE_WINDOWED */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Drivers/Tick/Tick.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Drivers/Tick/Tick.c new file mode 100644 index 0000000..680f38e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Drivers/Tick/Tick.c @@ -0,0 +1,138 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V3.0.0 + + ISRcode is pulled inline and portTICKisr() is therefore + deleted from this file. + + + Prescaler logic for Timer1 added to allow for a wider + range of TickRates. + +Changes from V3.0.1 +*/ + +#include +#include + +/* IO port constants. */ +#define portBIT_SET (1) +#define portBIT_CLEAR (0) + +/* + * Hardware setup for the tick. + * We use a compare match on timer1. Depending on MPU-frequency + * and requested tickrate, a prescaled value with a matching + * prescaler are determined. + */ +#define portTIMER_COMPARE_BASE ((APROCFREQ/4)/configTICK_RATE_HZ) + +#if portTIMER_COMPARE_BASE < 0x10000 + #define portTIMER_COMPARE_VALUE (portTIMER_COMPARE_BASE) + #define portTIMER_COMPARE_PS1 (portBIT_CLEAR) + #define portTIMER_COMPARE_PS0 (portBIT_CLEAR) +#elif portTIMER_COMPARE_BASE < 0x20000 + #define portTIMER_COMPARE_VALUE (portTIMER_COMPARE_BASE / 2) + #define portTIMER_COMPARE_PS1 (portBIT_CLEAR) + #define portTIMER_COMPARE_PS0 (portBIT_SET) +#elif portTIMER_COMPARE_BASE < 0x40000 + #define portTIMER_COMPARE_VALUE (portTIMER_COMPARE_BASE / 4) + #define portTIMER_COMPARE_PS1 (portBIT_SET) + #define portTIMER_COMPARE_PS0 (portBIT_CLEAR) +#elif portTIMER_COMPARE_BASE < 0x80000 + #define portTIMER_COMPARE_VALUE (portTIMER_COMPARE_BASE / 8) + #define portTIMER_COMPARE_PS1 (portBIT_SET) + #define portTIMER_COMPARE_PS0 (portBIT_SET) +#else + #error "TickRate out of range" +#endif + +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. + */ +void portSetupTick( void ) +{ + /* + * Interrupts are disabled when this function is called. + */ + + /* + * Setup CCP1 + * Provide the tick interrupt using a compare match on timer1. + */ + + /* + * Set the compare match value. + */ + CCPR1H = ( uint8_t ) ( ( portTIMER_COMPARE_VALUE >> 8 ) & 0xff ); + CCPR1L = ( uint8_t ) ( portTIMER_COMPARE_VALUE & 0xff ); + + /* + * Set Compare Special Event Trigger Mode + */ + bCCP1M3 = portBIT_SET; + bCCP1M2 = portBIT_CLEAR; + bCCP1M1 = portBIT_SET; + bCCP1M0 = portBIT_SET; + + /* + * Enable CCP1 interrupt + */ + bCCP1IE = portBIT_SET; + + /* + * We are only going to use the global interrupt bit, so disable + * interruptpriorities and enable peripheral interrupts. + */ + bIPEN = portBIT_CLEAR; + bPEIE = portBIT_SET; + + /* + * Set up timer1 + * It will produce the system tick. + */ + + /* + * Clear the time count + */ + TMR1H = ( uint8_t ) 0x00; + TMR1L = ( uint8_t ) 0x00; + + /* + * Setup the timer + */ + bRD16 = portBIT_SET; // 16-bit + bT1CKPS1 = portTIMER_COMPARE_PS1; // prescaler + bT1CKPS0 = portTIMER_COMPARE_PS0; // prescaler + bT1OSCEN = portBIT_SET; // Oscillator enable + bT1SYNC = portBIT_SET; // No external clock sync + bTMR1CS = portBIT_CLEAR; // Internal clock + + bTMR1ON = portBIT_SET; // Start timer1 +} diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Drivers/Tick/isrTick.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Drivers/Tick/isrTick.c new file mode 100644 index 0000000..67b5b58 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Drivers/Tick/isrTick.c @@ -0,0 +1,78 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V3.0.0 + + ISRcode pulled inline to reduce stack-usage. + + + Added functionality to only call vTaskSwitchContext() once + when handling multiple interruptsources in a single interruptcall. + + + Filename changed to a .c extension to allow stepping through code + using F7. + +Changes from V3.0.1 +*/ + +/* + * ISR for the tick. + * This increments the tick count and, if using the preemptive scheduler, + * performs a context switch. This must be identical to the manual + * context switch in how it stores the context of a task. + */ + +#ifndef _FREERTOS_DRIVERS_TICK_ISRTICK_C +#define _FREERTOS_DRIVERS_TICK_ISRTICK_C + +{ + /* + * Was the interrupt the SystemClock? + */ + if( bCCP1IF && bCCP1IE ) + { + /* + * Reset the interrupt flag + */ + bCCP1IF = 0; + + /* + * Maintain the tick count. + */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* + * Ask for a switch to the highest priority task + * that is ready to run. + */ + uxSwitchRequested = pdTRUE; + } + } +} + +#pragma wizcpp uselib "$__PATHNAME__/Tick.c" + +#endif /* _FREERTOS_DRIVERS_TICK_ISRTICK_C */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Install.bat b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Install.bat new file mode 100644 index 0000000..780ec21 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/Install.bat @@ -0,0 +1,172 @@ + +@echo off +cls + +SET PACKAGENAME=the FreeRTOS port for fedC and wizC + +echo. +echo Hello, I'm the installationscript for %PACKAGENAME%. +echo. + +:CHECKFEDC + set FED=C:\Program Files\FED\PIC_C + echo. + echo I'm checking your system for fedC + if not exist "%FED%" goto NOFEDC + echo YES, I found a fedC-installation! + goto FOUNDFED +:NOFEDC + echo I could not find a fedC-installation. + + +:CHECKWIZC + set FED=C:\Program Files\FED\PIXIE + echo. + echo I'm checking your system for wizC + if not exist "%FED%" goto NOWIZC + echo YES, I found a wizC-installation! + goto FOUNDFED +:noWIZC + echo I could not find a wizC-installation. + + +:ERROR + echo. + echo. + echo I could not find a FED C-compiler installation on your system. + echo. + echo Perhaps I got confused because you installed fedC or wizC in a non-default directory. + echo If this is the case, please change the path at the top of this install-script. + echo After that rerun the script and I will be happy to try again. + echo. + goto ENDIT + + +:FOUNDFED + echo. + echo. + + set FEDLIBS=%FED%\Libs + set FEDLIBSUSER=%FEDLIBS%\LibsUser + + if exist "%FEDLIBS%" goto INSTALL + echo The FED installationdirectory "%FED%" + echo contains no Libs subdirectory. This is weird! + echo. + echo Installation is aborted, sorry... + goto ENDIT + + +:INSTALL + echo I am about to install %PACKAGENAME% + echo into directory %FEDLIBSUSER% + echo. + echo Press 'enter' to let me do my thing + echo Press 'ctrl-c' to stop me + pause >nul + echo. + echo Installing... + + +:RESET_READONLY + echo. + echo Removing ReadOnly attributes + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Modules\Croutine.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Modules\Port.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Modules\List.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Modules\Queue.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Modules\Tasks.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick\Tick.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick\isrTick.c" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Portmacro.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Croutine.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\List.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Portable.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Projdefs.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Queue.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Semphr.h" >nul + attrib -R "%FEDLIBSUSER%\libFreeRTOS\Include\Task.h" >nul + attrib -R "%FEDLIBSUSER%\FreeRTOS.h" >nul + echo Done + +:CREATE_DIRECTORIES + echo. + echo Creating directories (if necessary)... + if not exist "%FEDLIBSUSER%" mkdir "%FEDLIBSUSER%" + if not exist "%FEDLIBSUSER%\libFreeRTOS" mkdir "%FEDLIBSUSER%\libFreeRTOS" + if not exist "%FEDLIBSUSER%\libFreeRTOS\Drivers" mkdir "%FEDLIBSUSER%\libFreeRTOS\Drivers" + if not exist "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick" mkdir "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick" + if not exist "%FEDLIBSUSER%\libFreeRTOS\Include" mkdir "%FEDLIBSUSER%\libFreeRTOS\Include" + if not exist "%FEDLIBSUSER%\libFreeRTOS\Modules" mkdir "%FEDLIBSUSER%\libFreeRTOS\Modules" + echo Done + + + echo. + echo Copying Files... +:COPY_MODULES + echo Modules... + copy /V /Y "Port.c" "%FEDLIBSUSER%\libFreeRTOS\Modules\Port.c" >nul + copy /V /Y "..\..\..\Croutine.c" "%FEDLIBSUSER%\libFreeRTOS\Modules\Croutine.c" >nul + copy /V /Y "..\..\..\List.c" "%FEDLIBSUSER%\libFreeRTOS\Modules\List.c" >nul + copy /V /Y "..\..\..\Queue.c" "%FEDLIBSUSER%\libFreeRTOS\Modules\Queue.c" >nul + copy /V /Y "..\..\..\Tasks.c" "%FEDLIBSUSER%\libFreeRTOS\Modules\Tasks.c" >nul + +:COPY_DRIVERS + echo Drivers... + copy /V /Y "Drivers\Tick\Tick.c" "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick\Tick.c" >nul + copy /V /Y "Drivers\Tick\isrTick.c" "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick\isrTick.c" >nul + +:COPY_HEADERS + echo Headers... + copy /V /Y "portmacro.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Portmacro.h" >nul + copy /V /Y "..\..\..\include\Croutine.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Croutine.h" >nul + copy /V /Y "..\..\..\include\List.h" "%FEDLIBSUSER%\libFreeRTOS\Include\List.h" >nul + copy /V /Y "..\..\..\include\Portable.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Portable.h" >nul + copy /V /Y "..\..\..\include\Projdefs.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Projdefs.h" >nul + copy /V /Y "..\..\..\include\Queue.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Queue.h" >nul + copy /V /Y "..\..\..\include\Semphr.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Semphr.h" >nul + copy /V /Y "..\..\..\include\Task.h" "%FEDLIBSUSER%\libFreeRTOS\Include\Task.h" >nul + copy /V /Y "addFreeRTOS.h" + "..\..\..\include\FreeRTOS.h" "%FEDLIBSUSER%\FreeRTOS.h" >nul + + + echo Done + + +:SET_READONLY + echo. + echo Setting files to ReadOnly + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Modules\Port.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Modules\Croutine.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Modules\List.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Modules\Queue.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Modules\Tasks.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick\Tick.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Drivers\Tick\isrTick.c" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Portmacro.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Croutine.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\List.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Portable.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Projdefs.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Queue.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Semphr.h" >nul + attrib +R "%FEDLIBSUSER%\libFreeRTOS\Include\Task.h" >nul + attrib +R "%FEDLIBSUSER%\FreeRTOS.h" >nul + echo Done + + +:FINISHED + echo. + echo The installation of %PACKAGENAME% is completed. + echo. + echo Please review the installation instructions as additional libraries + echo and fedC/wizC configuration settings may be needed for FreeRTOS + echo to function correctly. + + goto ENDIT + + +:ENDIT + echo. + echo. + echo Press 'enter' to close this window + pause >nul diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/addFreeRTOS.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/addFreeRTOS.h new file mode 100644 index 0000000..e1a441e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/addFreeRTOS.h @@ -0,0 +1,53 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V3.0.0 + +Changes from V3.0.1 + +Changes from V4.0.1 + Uselib pragma added for Croutine.c +*/ + +/* + * The installation script will automatically prepend this file to the default FreeRTOS.h. + */ + +#ifndef WIZC_FREERTOS_H +#define WIZC_FREERTOS_H + +#pragma noheap +#pragma wizcpp expandnl on +#pragma wizcpp searchpath "$__PATHNAME__/libFreeRTOS/Include/" +#pragma wizcpp uselib "$__PATHNAME__/libFreeRTOS/Modules/Croutine.c" +#pragma wizcpp uselib "$__PATHNAME__/libFreeRTOS/Modules/Tasks.c" +#pragma wizcpp uselib "$__PATHNAME__/libFreeRTOS/Modules/Queue.c" +#pragma wizcpp uselib "$__PATHNAME__/libFreeRTOS/Modules/List.c" +#pragma wizcpp uselib "$__PATHNAME__/libFreeRTOS/Modules/Port.c" + +#endif /* WIZC_FREERTOS_H */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/port.c new file mode 100644 index 0000000..a44ee89 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/port.c @@ -0,0 +1,317 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V3.2.1 + + CallReturn Depth increased from 8 to 10 levels to accomodate wizC/fedC V12. + +Changes from V3.2.0 + + TBLPTRU is now initialised to zero during the initial stack creation of a new task. This solves + an error on devices with more than 64kB ROM. + +Changes from V3.0.0 + + ucCriticalNesting is now initialised to 0x7F to prevent interrupts from being + handled before the scheduler is started. + +Changes from V3.0.1 +*/ + +/* Scheduler include files. */ +#include +#include + +#include + +/*--------------------------------------------------------------------------- + * Implementation of functions defined in portable.h for the WizC PIC18 port. + *---------------------------------------------------------------------------*/ + +/* + * We require the address of the pxCurrentTCB variable, but don't want to + * know any details of its type. + */ +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; + +/* + * Define minimal-stack constants + * ----- + * FSR's: + * STATUS, WREG, BSR, PRODH, PRODL, FSR0H, FSR0L, + * FSR1H, FSR1L,TABLAT, (TBLPTRU), TBLPTRH, TBLPTRL, + * (PCLATU), PCLATH + * sfr's within parenthesis only on devices > 64kB + * ----- + * Call/Return stack: + * 2 bytes per entry on devices <= 64kB + * 3 bytes per entry on devices > 64kB + * ----- + * Other bytes: + * 2 bytes: FunctionParameter for initial taskcode + * 1 byte : Number of entries on call/return stack + * 1 byte : ucCriticalNesting + * 16 bytes: Free space on stack + */ +#if _ROMSIZE > 0x8000 + #define portSTACK_FSR_BYTES ( 15 ) + #define portSTACK_CALLRETURN_ENTRY_SIZE ( 3 ) +#else + #define portSTACK_FSR_BYTES ( 13 ) + #define portSTACK_CALLRETURN_ENTRY_SIZE ( 2 ) +#endif + +#define portSTACK_MINIMAL_CALLRETURN_DEPTH ( 10 ) +#define portSTACK_OTHER_BYTES ( 20 ) + +uint16_t usCalcMinStackSize = 0; + +/*-----------------------------------------------------------*/ + +/* + * We initialise ucCriticalNesting to the middle value an + * uint8_t can contain. This way portENTER_CRITICAL() + * and portEXIT_CRITICAL() can be called without interrupts + * being enabled before the scheduler starts. + */ +register uint8_t ucCriticalNesting = 0x7F; + +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a new task. + * See portSAVE_CONTEXT macro for description. + */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +uint8_t ucScratch; + /* + * Get the size of the RAMarea in page 0 used by the compiler + * We do this here already to avoid W-register conflicts. + */ + _Pragma("asm") + movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE + movwf PRODL,ACCESS ; PRODL is used as temp register + _Pragma("asmend") + ucScratch = PRODL; + + /* + * Place a few bytes of known values on the bottom of the stack. + * This is just useful for debugging. + */ +// *pxTopOfStack-- = 0x11; +// *pxTopOfStack-- = 0x22; +// *pxTopOfStack-- = 0x33; + + /* + * Simulate how the stack would look after a call to vPortYield() + * generated by the compiler. + */ + + /* + * First store the function parameters. This is where the task expects + * to find them when it starts running. + */ + *pxTopOfStack-- = ( StackType_t ) ( (( uint16_t ) pvParameters >> 8) & 0x00ff ); + *pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pvParameters & 0x00ff ); + + /* + * Next are all the registers that form part of the task context. + */ + *pxTopOfStack-- = ( StackType_t ) 0x11; /* STATUS. */ + *pxTopOfStack-- = ( StackType_t ) 0x22; /* WREG. */ + *pxTopOfStack-- = ( StackType_t ) 0x33; /* BSR. */ + *pxTopOfStack-- = ( StackType_t ) 0x44; /* PRODH. */ + *pxTopOfStack-- = ( StackType_t ) 0x55; /* PRODL. */ + *pxTopOfStack-- = ( StackType_t ) 0x66; /* FSR0H. */ + *pxTopOfStack-- = ( StackType_t ) 0x77; /* FSR0L. */ + *pxTopOfStack-- = ( StackType_t ) 0x88; /* FSR1H. */ + *pxTopOfStack-- = ( StackType_t ) 0x99; /* FSR1L. */ + *pxTopOfStack-- = ( StackType_t ) 0xAA; /* TABLAT. */ +#if _ROMSIZE > 0x8000 + *pxTopOfStack-- = ( StackType_t ) 0x00; /* TBLPTRU. */ +#endif + *pxTopOfStack-- = ( StackType_t ) 0xCC; /* TBLPTRH. */ + *pxTopOfStack-- = ( StackType_t ) 0xDD; /* TBLPTRL. */ +#if _ROMSIZE > 0x8000 + *pxTopOfStack-- = ( StackType_t ) 0xEE; /* PCLATU. */ +#endif + *pxTopOfStack-- = ( StackType_t ) 0xFF; /* PCLATH. */ + + /* + * Next the compiler's scratchspace. + */ + while(ucScratch-- > 0) + { + *pxTopOfStack-- = ( StackType_t ) 0; + } + + /* + * The only function return address so far is the address of the task entry. + * The order is TOSU/TOSH/TOSL. For devices > 64kB, TOSU is put on the + * stack, too. TOSU is always written as zero here because wizC does not allow + * functionpointers to point above 64kB in ROM. + */ +#if _ROMSIZE > 0x8000 + *pxTopOfStack-- = ( StackType_t ) 0; +#endif + *pxTopOfStack-- = ( StackType_t ) ( ( ( uint16_t ) pxCode >> 8 ) & 0x00ff ); + *pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pxCode & 0x00ff ); + + /* + * Store the number of return addresses on the hardware stack. + * So far only the address of the task entry point. + */ + *pxTopOfStack-- = ( StackType_t ) 1; + + /* + * The code generated by wizC does not maintain separate + * stack and frame pointers. Therefore the portENTER_CRITICAL macro cannot + * use the stack as per other ports. Instead a variable is used to keep + * track of the critical section nesting. This variable has to be stored + * as part of the task context and is initially set to zero. + */ + *pxTopOfStack-- = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void ) +{ + /* + * Fetch the size of compiler's scratchspace. + */ + _Pragma("asm") + movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE + movlb usCalcMinStackSize>>8 + movwf usCalcMinStackSize,BANKED + _Pragma("asmend") + + /* + * Add minimum needed stackspace + */ + usCalcMinStackSize += ( portSTACK_FSR_BYTES ) + + ( portSTACK_MINIMAL_CALLRETURN_DEPTH * portSTACK_CALLRETURN_ENTRY_SIZE ) + + ( portSTACK_OTHER_BYTES ); + + return(usCalcMinStackSize); +} + +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler( void ) +{ + extern void portSetupTick( void ); + + /* + * Setup a timer for the tick ISR for the preemptive scheduler. + */ + portSetupTick(); + + /* + * Restore the context of the first task to run. + */ + portRESTORE_CONTEXT(); + + /* + * This point should never be reached during execution. + */ + return pdTRUE; +} + +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* + * It is unlikely that the scheduler for the PIC port will get stopped + * once running. When called a reset is done which is probably the + * most valid action. + */ + _Pragma(asmline reset); +} + +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. This is similar to the tick context switch, + * but does not increment the tick count. It must be identical to the + * tick context switch in how it stores the stack of a task. + */ +void vPortYield( void ) +{ + /* + * Save the context of the current task. + */ + portSAVE_CONTEXT( portINTERRUPTS_UNCHANGED ); + + /* + * Switch to the highest priority task that is ready to run. + */ + vTaskSwitchContext(); + + /* + * Start executing the task we have just switched to. + */ + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + void *pvPortMalloc( uint16_t usWantedSize ) + { + void *pvReturn; + + vTaskSuspendAll(); + { + pvReturn = malloc( ( malloc_t ) usWantedSize ); + } + xTaskResumeAll(); + + return pvReturn; + } + +#endif /* configSUPPORT_STATIC_ALLOCATION */ + +/*-----------------------------------------------------------*/ + +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + void vPortFree( void *pv ) + { + if( pv ) + { + vTaskSuspendAll(); + { + free( pv ); + } + xTaskResumeAll(); + } + } + +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ \ No newline at end of file diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/portmacro.h new file mode 100644 index 0000000..65f88a1 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/WizC/PIC18/portmacro.h @@ -0,0 +1,423 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V3.0.0 + +Changes from V3.0.1 +*/ +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#if !defined(_SERIES) || _SERIES != 18 + #error "WizC supports FreeRTOS on the Microchip PIC18-series only" +#endif + +#if !defined(QUICKCALL) || QUICKCALL != 1 + #error "QuickCall must be enabled (see ProjectOptions/Optimisations)" +#endif + +#include +#include + +#define portCHAR char +#define portFLOAT float +#define portDOUBLE portFLOAT +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) ( 0xFFFF ) +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) ( 0xFFFFFFFF ) +#endif + +#define portBYTE_ALIGNMENT 1 + +/*-----------------------------------------------------------*/ + +/* + * Constant used for context switch macro when we require the interrupt + * enable state to be forced when the interrupted task is switched back in. + */ +#define portINTERRUPTS_FORCED (0x01) + +/* + * Constant used for context switch macro when we require the interrupt + * enable state to be unchanged when the interrupted task is switched back in. + */ +#define portINTERRUPTS_UNCHANGED (0x00) + +/* Initial interrupt enable state for newly created tasks. This value is + * used when a task switches in for the first time. + */ +#define portINTERRUPTS_INITIAL_STATE (portINTERRUPTS_FORCED) + +/* + * Macros to modify the global interrupt enable bit in INTCON. + */ +#define portDISABLE_INTERRUPTS() \ + do \ + { \ + bGIE=0; \ + } while(bGIE) // MicroChip recommends this check! + +#define portENABLE_INTERRUPTS() \ + do \ + { \ + bGIE=1; \ + } while(0) + +/*-----------------------------------------------------------*/ + +/* + * Critical section macros. + */ +extern uint8_t ucCriticalNesting; + +#define portNO_CRITICAL_SECTION_NESTING ( ( uint8_t ) 0 ) + +#define portENTER_CRITICAL() \ + do \ + { \ + portDISABLE_INTERRUPTS(); \ + \ + /* \ + * Now interrupts are disabled ucCriticalNesting \ + * can be accessed directly. Increment \ + * ucCriticalNesting to keep a count of how \ + * many times portENTER_CRITICAL() has been called. \ + */ \ + ucCriticalNesting++; \ + } while(0) + +#define portEXIT_CRITICAL() \ + do \ + { \ + if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING) \ + { \ + /* \ + * Decrement the nesting count as we are leaving a \ + * critical section. \ + */ \ + ucCriticalNesting--; \ + } \ + \ + /* \ + * If the nesting level has reached zero then \ + * interrupts should be re-enabled. \ + */ \ + if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } while(0) + +/*-----------------------------------------------------------*/ + +/* + * The minimal stacksize is calculated on the first reference of + * portMINIMAL_STACK_SIZE. Some input to this calculation is + * compiletime determined, other input is port-defined (see port.c) + */ +extern uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void ); +extern uint16_t usCalcMinStackSize; + +#define portMINIMAL_STACK_SIZE \ + ((usCalcMinStackSize == 0) \ + ? usPortCALCULATE_MINIMAL_STACK_SIZE() \ + : usCalcMinStackSize ) + +/* + * WizC uses a downgrowing stack + */ +#define portSTACK_GROWTH ( -1 ) + +/*-----------------------------------------------------------*/ + +/* + * Macro's that pushes all the registers that make up the context of a task onto + * the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU + * are only saved/restored on devices with more than 64kB (32k Words) ROM. + * + * The stackpointer is helt by WizC in FSR2 and points to the first free byte. + * WizC uses a "downgrowing" stack. There is no framepointer. + * + * We keep track of the interruptstatus using ucCriticalNesting. When this + * value equals zero, interrupts have to be enabled upon exit from the + * portRESTORE_CONTEXT macro. + * + * If this is called from an ISR then the interrupt enable bits must have been + * set for the ISR to ever get called. Therefore we want to save + * ucCriticalNesting with value zero. This means the interrupts will again be + * re-enabled when the interrupted task is switched back in. + * + * If this is called from a manual context switch (i.e. from a call to yield), + * then we want to keep the current value of ucCritialNesting so it is restored + * with its current value. This allows a yield from within a critical section. + * + * The compiler uses some locations at the bottom of RAM for temporary + * storage. The compiler may also have been instructed to optimize + * function-parameters and local variables to global storage. The compiler + * uses an area called LocOpt for this wizC feature. + * The total overheadstorage has to be saved in it's entirety as part of + * a task context. These macro's store/restore from data address 0x0000 to + * (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1). + * OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated + * assembler definitions. + */ + +#define portSAVE_CONTEXT( ucInterruptForced ) \ + do \ + { \ + portDISABLE_INTERRUPTS(); \ + \ + _Pragma("asm") \ + ; \ + ; Push the relevant SFR's onto the task's stack \ + ; \ + movff STATUS,POSTDEC2 \ + movff WREG,POSTDEC2 \ + movff BSR,POSTDEC2 \ + movff PRODH,POSTDEC2 \ + movff PRODL,POSTDEC2 \ + movff FSR0H,POSTDEC2 \ + movff FSR0L,POSTDEC2 \ + movff FSR1H,POSTDEC2 \ + movff FSR1L,POSTDEC2 \ + movff TABLAT,POSTDEC2 \ + if __ROMSIZE > 0x8000 \ + movff TBLPTRU,POSTDEC2 \ + endif \ + movff TBLPTRH,POSTDEC2 \ + movff TBLPTRL,POSTDEC2 \ + if __ROMSIZE > 0x8000 \ + movff PCLATU,POSTDEC2 \ + endif \ + movff PCLATH,POSTDEC2 \ + ; \ + ; Store the compiler-scratch-area as described above. \ + ; \ + movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \ + clrf FSR0L,ACCESS \ + clrf FSR0H,ACCESS \ + _rtos_S1: \ + movff POSTINC0,POSTDEC2 \ + decfsz WREG,W,ACCESS \ + SMARTJUMP _rtos_S1 \ + ; \ + ; Save the pic call/return-stack belonging to the \ + ; current task by copying it to the task's software- \ + ; stack. We save the hardware stack pointer (which \ + ; is the number of addresses on the stack) in the \ + ; W-register first because we need it later and it \ + ; is modified in the save-loop by executing pop's. \ + ; After the loop the W-register is stored on the \ + ; stack, too. \ + ; \ + movf STKPTR,W,ACCESS \ + bz _rtos_s3 \ + _rtos_S2: \ + if __ROMSIZE > 0x8000 \ + movff TOSU,POSTDEC2 \ + endif \ + movff TOSH,POSTDEC2 \ + movff TOSL,POSTDEC2 \ + pop \ + tstfsz STKPTR,ACCESS \ + SMARTJUMP _rtos_S2 \ + _rtos_s3: \ + movwf POSTDEC2,ACCESS \ + ; \ + ; Next the value for ucCriticalNesting used by the \ + ; task is stored on the stack. When \ + ; (ucInterruptForced == portINTERRUPTS_FORCED), we save \ + ; it as 0 (portNO_CRITICAL_SECTION_NESTING). \ + ; \ + if ucInterruptForced == portINTERRUPTS_FORCED \ + clrf POSTDEC2,ACCESS \ + else \ + movff ucCriticalNesting,POSTDEC2 \ + endif \ + ; \ + ; Save the new top of the software stack in the TCB. \ + ; \ + movff pxCurrentTCB,FSR0L \ + movff pxCurrentTCB+1,FSR0H \ + movff FSR2L,POSTINC0 \ + movff FSR2H,POSTINC0 \ + _Pragma("asmend") \ + } while(0) + +/************************************************************/ + +/* + * This is the reverse of portSAVE_CONTEXT. + */ +#define portRESTORE_CONTEXT() \ + do \ + { \ + _Pragma("asm") \ + ; \ + ; Set FSR0 to point to pxCurrentTCB->pxTopOfStack. \ + ; \ + movff pxCurrentTCB,FSR0L \ + movff pxCurrentTCB+1,FSR0H \ + ; \ + ; De-reference FSR0 to set the address it holds into \ + ; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2 \ + ; is used by wizC as stackpointer. \ + ; \ + movff POSTINC0,FSR2L \ + movff POSTINC0,FSR2H \ + ; \ + ; Next, the value for ucCriticalNesting used by the \ + ; task is retrieved from the stack. \ + ; \ + movff PREINC2,ucCriticalNesting \ + ; \ + ; Rebuild the pic call/return-stack. The number of \ + ; return addresses is the next item on the task stack. \ + ; Save this number in PRODL. Then fetch the addresses \ + ; and store them on the hardwarestack. \ + ; The datasheets say we can't use movff here... \ + ; \ + movff PREINC2,PRODL // Use PRODL as tempregister \ + clrf STKPTR,ACCESS \ + _rtos_R1: \ + push \ + movf PREINC2,W,ACCESS \ + movwf TOSL,ACCESS \ + movf PREINC2,W,ACCESS \ + movwf TOSH,ACCESS \ + if __ROMSIZE > 0x8000 \ + movf PREINC2,W,ACCESS \ + movwf TOSU,ACCESS \ + else \ + clrf TOSU,ACCESS \ + endif \ + decfsz PRODL,F,ACCESS \ + SMARTJUMP _rtos_R1 \ + ; \ + ; Restore the compiler's working storage area to page 0 \ + ; \ + movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \ + movwf FSR0L,ACCESS \ + clrf FSR0H,ACCESS \ + _rtos_R2: \ + decf FSR0L,F,ACCESS \ + movff PREINC2,INDF0 \ + tstfsz FSR0L,ACCESS \ + SMARTJUMP _rtos_R2 \ + ; \ + ; Restore the sfr's forming the tasks context. \ + ; We cannot yet restore bsr, w and status because \ + ; we need these registers for a final test. \ + ; \ + movff PREINC2,PCLATH \ + if __ROMSIZE > 0x8000 \ + movff PREINC2,PCLATU \ + else \ + clrf PCLATU,ACCESS \ + endif \ + movff PREINC2,TBLPTRL \ + movff PREINC2,TBLPTRH \ + if __ROMSIZE > 0x8000 \ + movff PREINC2,TBLPTRU \ + else \ + clrf TBLPTRU,ACCESS \ + endif \ + movff PREINC2,TABLAT \ + movff PREINC2,FSR1L \ + movff PREINC2,FSR1H \ + movff PREINC2,FSR0L \ + movff PREINC2,FSR0H \ + movff PREINC2,PRODL \ + movff PREINC2,PRODH \ + ; \ + ; The return from portRESTORE_CONTEXT() depends on \ + ; the value of ucCriticalNesting. When it is zero, \ + ; interrupts need to be enabled. This is done via a \ + ; retfie instruction because we need the \ + ; interrupt-enabling and the return to the restored \ + ; task to be uninterruptable. \ + ; Because bsr, status and W are affected by the test \ + ; they are restored after the test. \ + ; \ + movlb ucCriticalNesting>>8 \ + tstfsz ucCriticalNesting,BANKED \ + SMARTJUMP _rtos_R4 \ + _rtos_R3: \ + movff PREINC2,BSR \ + movff PREINC2,WREG \ + movff PREINC2,STATUS \ + retfie 0 ; Return enabling interrupts \ + _rtos_R4: \ + movff PREINC2,BSR \ + movff PREINC2,WREG \ + movff PREINC2,STATUS \ + return 0 ; Return without affecting interrupts \ + _Pragma("asmend") \ + } while(0) + +/*-----------------------------------------------------------*/ + +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) + +/*-----------------------------------------------------------*/ + +extern void vPortYield( void ); +#define portYIELD() vPortYield() + +#define portNOP() _Pragma("asm") \ + nop \ + _Pragma("asmend") + +/*-----------------------------------------------------------*/ + +#define portTASK_FUNCTION( xFunction, pvParameters ) \ + void pointed xFunction( void *pvParameters ) \ + _Pragma(asmfunc xFunction) + +#define portTASK_FUNCTION_PROTO portTASK_FUNCTION +/*-----------------------------------------------------------*/ + + +#define volatile +#define register + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/port.c new file mode 100644 index 0000000..460995e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/port.c @@ -0,0 +1,246 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.00: + + + Call to taskYIELD() from within tick ISR has been replaced by the more + efficient portSWITCH_CONTEXT(). + + ISR function definitions renamed to include the prv prefix. + +Changes from V1.2.0: + + + portRESET_PIC() is now called last thing before the end of the preemptive + tick routine. + +Changes from V2.6.1 + + + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION + macro to be consistent with the later ports. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Flashlite 186 + * port. + *----------------------------------------------------------*/ + +#include +#include +#include +#include + +#include "FreeRTOS.h" +#include "task.h" +#include "portasm.h" + +/*lint -e950 Non ANSI reserved words okay in this file only. */ + +#define portTIMER_EOI_TYPE ( 8 ) +#define portRESET_PIC() portOUTPUT_WORD( ( uint16_t ) 0xff22, portTIMER_EOI_TYPE ) +#define portTIMER_INT_NUMBER 0x12 + +#define portTIMER_1_CONTROL_REGISTER ( ( uint16_t ) 0xff5e ) +#define portTIMER_0_CONTROL_REGISTER ( ( uint16_t ) 0xff56 ) +#define portTIMER_INTERRUPT_ENABLE ( ( uint16_t ) 0x2000 ) + +/* Setup the hardware to generate the required tick frequency. */ +static void prvSetTickFrequency( uint32_t ulTickRateHz ); + +/* Set the hardware back to the state as per before the scheduler started. */ +static void prvExitFunction( void ); + +#if configUSE_PREEMPTION == 1 + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ); +#else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + static void __interrupt __far prvNonPreemptiveTick( void ); +#endif + +/* Trap routine used by taskYIELD() to manually cause a context switch. */ +static void __interrupt __far prvYieldProcessor( void ); + +/*lint -e956 File scopes necessary here. */ + +/* Set true when the vectors are set so the scheduler will service the tick. */ +static int16_t sSchedulerRunning = pdFALSE; + +/* Points to the original routine installed on the vector we use for manual context switches. This is then used to restore the original routine during prvExitFunction(). */ +static void ( __interrupt __far *pxOldSwitchISR )(); + +/* Used to restore the original DOS context when the scheduler is ended. */ +static jmp_buf xJumpBuf; + +/*lint +e956 */ + +/*-----------------------------------------------------------*/ +BaseType_t xPortStartScheduler( void ) +{ + /* This is called with interrupts already disabled. */ + + /* Remember what was on the interrupts we are going to use + so we can put them back later if required. */ + pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER ); + + /* Put our manual switch (yield) function on a known + vector. */ + _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); + + #if configUSE_PREEMPTION == 1 + { + /* Put our tick switch function on the timer interrupt. */ + _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick ); + } + #else + { + /* We want the timer interrupt to just increment the tick count. */ + _dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick ); + } + #endif + + prvSetTickFrequency( configTICK_RATE_HZ ); + + /* Clean up function if we want to return to DOS. */ + if( setjmp( xJumpBuf ) != 0 ) + { + prvExitFunction(); + sSchedulerRunning = pdFALSE; + } + else + { + sSchedulerRunning = pdTRUE; + + /* Kick off the scheduler by setting up the context of the first task. */ + portFIRST_CONTEXT(); + } + + return sSchedulerRunning; +} +/*-----------------------------------------------------------*/ + +/* The tick ISR used depend on whether or not the preemptive or cooperative +kernel is being used. */ +#if configUSE_PREEMPTION == 1 + static void __interrupt __far prvPreemptiveTick( void ) + { + /* Get the scheduler to update the task states following the tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); + } + + /* Reset the PIC ready for the next time. */ + portRESET_PIC(); + } +#else + static void __interrupt __far prvNonPreemptiveTick( void ) + { + /* Same as preemptive tick, but the cooperative scheduler is being used + so we don't have to switch in the context of the next task. */ + xTaskIncrementTick(); + portRESET_PIC(); + } +#endif +/*-----------------------------------------------------------*/ + +static void __interrupt __far prvYieldProcessor( void ) +{ + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Jump back to the processor state prior to starting the + scheduler. This means we are not going to be using a + task stack frame so the task can be deleted. */ + longjmp( xJumpBuf, 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvExitFunction( void ) +{ +const uint16_t usTimerDisable = 0x0000; +uint16_t usTimer0Control; + + /* Interrupts should be disabled here anyway - but no + harm in making sure. */ + portDISABLE_INTERRUPTS(); + if( sSchedulerRunning == pdTRUE ) + { + /* Put back the switch interrupt routines that was in place + before the scheduler started. */ + _dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR ); + } + + /* Disable the timer used for the tick to ensure the scheduler is + not called before restoring interrupts. There was previously nothing + on this timer so there is no old ISR to restore. */ + portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerDisable ); + + /* Restart the DOS tick. */ + usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER ); + usTimer0Control |= portTIMER_INTERRUPT_ENABLE; + portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control ); + + + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +static void prvSetTickFrequency( uint32_t ulTickRateHz ) +{ +const uint16_t usMaxCountRegister = 0xff5a; +const uint16_t usTimerPriorityRegister = 0xff32; +const uint16_t usTimerEnable = 0xC000; +const uint16_t usRetrigger = 0x0001; +const uint16_t usTimerHighPriority = 0x0000; +uint16_t usTimer0Control; + +/* ( CPU frequency / 4 ) / clock 2 max count [inpw( 0xff62 ) = 7] */ + +const uint32_t ulClockFrequency = 0x7f31a0; + +uint32_t ulTimerCount = ulClockFrequency / ulTickRateHz; + + portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerEnable | portTIMER_INTERRUPT_ENABLE | usRetrigger ); + portOUTPUT_WORD( usMaxCountRegister, ( uint16_t ) ulTimerCount ); + portOUTPUT_WORD( usTimerPriorityRegister, usTimerHighPriority ); + + /* Stop the DOS tick - don't do this if you want to maintain a TOD clock. */ + usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER ); + usTimer0Control &= ~portTIMER_INTERRUPT_ENABLE; + portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control ); +} + + +/*lint +e950 */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/portmacro.h new file mode 100644 index 0000000..6b8f259 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/Flsh186/portmacro.h @@ -0,0 +1,110 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE long +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +void portENTER_CRITICAL( void ); +#pragma aux portENTER_CRITICAL = "pushf" \ + "cli"; + +void portEXIT_CRITICAL( void ); +#pragma aux portEXIT_CRITICAL = "popf"; + +void portDISABLE_INTERRUPTS( void ); +#pragma aux portDISABLE_INTERRUPTS = "cli"; + +void portENABLE_INTERRUPTS( void ); +#pragma aux portENABLE_INTERRUPTS = "sti"; +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portSWITCH_INT_NUMBER 0x80 +#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 2 +#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ +#define portNOP() __asm{ nop } +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define portINPUT_BYTE( xAddr ) inp( xAddr ) +#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) +#define portINPUT_WORD( xAddr ) inpw( xAddr ) +#define portOUTPUT_WORD( xAddr, usValue ) outpw( xAddr, usValue ) +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/port.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/port.c new file mode 100644 index 0000000..97aabd7 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/port.c @@ -0,0 +1,302 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.00: + + + Call to taskYIELD() from within tick ISR has been replaced by the more + efficient portSWITCH_CONTEXT(). + + ISR function definitions renamed to include the prv prefix. + +Changes from V1.2.0: + + + prvPortResetPIC() is now called last thing before the end of the + preemptive tick routine. + +Changes from V2.6.1 + + + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION + macro to be consistent with the later ports. + +Changes from V4.0.1 + + + Add function prvSetTickFrequencyDefault() to set the DOS tick back to + its proper value when the scheduler exits. +*/ + +#include +#include +#include +#include +#include + +#include "FreeRTOS.h" +#include "task.h" +#include "portasm.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the industrial + * PC port. + *----------------------------------------------------------*/ + +/*lint -e950 Non ANSI reserved words okay in this file only. */ + +#define portTIMER_INT_NUMBER 0x08 + +/* Setup hardware for required tick interrupt rate. */ +static void prvSetTickFrequency( uint32_t ulTickRateHz ); + +/* Restore hardware to as it was prior to starting the scheduler. */ +static void prvExitFunction( void ); + +/* Either chain to the DOS tick (which itself clears the PIC) or clear the PIC +directly. We chain to the DOS tick as close as possible to the standard DOS +tick rate. */ +static void prvPortResetPIC( void ); + +/* The tick ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if configUSE_PREEMPTION == 1 + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ); +#else + /* Tick service routine used by the scheduler when cooperative scheduling is + being used. */ + static void __interrupt __far prvNonPreemptiveTick( void ); +#endif +/* Trap routine used by taskYIELD() to manually cause a context switch. */ +static void __interrupt __far prvYieldProcessor( void ); + +/* Set the tick frequency back so the floppy drive works correctly when the +scheduler exits. */ +static void prvSetTickFrequencyDefault( void ); + +/*lint -e956 File scopes necessary here. */ + +/* Used to signal when to chain to the DOS tick, and when to just clear the PIC ourselves. */ +static int16_t sDOSTickCounter; + +/* Set true when the vectors are set so the scheduler will service the tick. */ +static int16_t sSchedulerRunning = pdFALSE; + +/* Points to the original routine installed on the vector we use for manual context switches. This is then used to restore the original routine during prvExitFunction(). */ +static void ( __interrupt __far *pxOldSwitchISR )(); + +/* Points to the original routine installed on the vector we use to chain to the DOS tick. This is then used to restore the original routine during prvExitFunction(). */ +static void ( __interrupt __far *pxOldSwitchISRPlus1 )(); + +/* Used to restore the original DOS context when the scheduler is ended. */ +static jmp_buf xJumpBuf; + +/*lint +e956 */ + +/*-----------------------------------------------------------*/ +BaseType_t xPortStartScheduler( void ) +{ +pxISR pxOriginalTickISR; + + /* This is called with interrupts already disabled. */ + + /* Remember what was on the interrupts we are going to use + so we can put them back later if required. */ + pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER ); + pxOriginalTickISR = _dos_getvect( portTIMER_INT_NUMBER ); + pxOldSwitchISRPlus1 = _dos_getvect( portSWITCH_INT_NUMBER + 1 ); + + prvSetTickFrequency( configTICK_RATE_HZ ); + + /* Put our manual switch (yield) function on a known + vector. */ + _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); + + /* Put the old tick on a different interrupt number so we can + call it when we want. */ + _dos_setvect( portSWITCH_INT_NUMBER + 1, pxOriginalTickISR ); + + #if configUSE_PREEMPTION == 1 + { + /* Put our tick switch function on the timer interrupt. */ + _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick ); + } + #else + { + /* We want the timer interrupt to just increment the tick count. */ + _dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick ); + } + #endif + + /* Setup a counter that is used to call the DOS interrupt as close + to it's original frequency as can be achieved given our chosen tick + frequency. */ + sDOSTickCounter = portTICKS_PER_DOS_TICK; + + /* Clean up function if we want to return to DOS. */ + if( setjmp( xJumpBuf ) != 0 ) + { + prvExitFunction(); + sSchedulerRunning = pdFALSE; + } + else + { + sSchedulerRunning = pdTRUE; + + /* Kick off the scheduler by setting up the context of the first task. */ + portFIRST_CONTEXT(); + } + + return sSchedulerRunning; +} +/*-----------------------------------------------------------*/ + +/* The tick ISR used depends on whether the preemptive or cooperative scheduler +is being used. */ +#if configUSE_PREEMPTION == 1 + /* Tick service routine used by the scheduler when preemptive scheduling is + being used. */ + static void __interrupt __far prvPreemptiveTick( void ) + { + /* Get the scheduler to update the task states following the tick. */ + if( xTaskIncrementTick() != pdFALSE ) + { + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); + } + + /* Reset the PIC ready for the next time. */ + prvPortResetPIC(); + } +#else + static void __interrupt __far prvNonPreemptiveTick( void ) + { + /* Same as preemptive tick, but the cooperative scheduler is being used + so we don't have to switch in the context of the next task. */ + xTaskIncrementTick(); + prvPortResetPIC(); + } +#endif +/*-----------------------------------------------------------*/ + + +static void __interrupt __far prvYieldProcessor( void ) +{ + /* Switch in the context of the next task to be run. */ + portSWITCH_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +static void prvPortResetPIC( void ) +{ + /* We are going to call the DOS tick interrupt at as close a + frequency to the normal DOS tick as possible. */ + + /* WE SHOULD NOT DO THIS IF YIELD WAS CALLED. */ + --sDOSTickCounter; + if( sDOSTickCounter <= 0 ) + { + sDOSTickCounter = ( int16_t ) portTICKS_PER_DOS_TICK; + __asm{ int portSWITCH_INT_NUMBER + 1 }; + } + else + { + /* Reset the PIC as the DOS tick is not being called to + do it. */ + __asm + { + mov al, 20H + out 20H, al + }; + } +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* Jump back to the processor state prior to starting the + scheduler. This means we are not going to be using a + task stack frame so the task can be deleted. */ + longjmp( xJumpBuf, 1 ); +} +/*-----------------------------------------------------------*/ + +static void prvExitFunction( void ) +{ +void ( __interrupt __far *pxOriginalTickISR )(); + + /* Interrupts should be disabled here anyway - but no + harm in making sure. */ + portDISABLE_INTERRUPTS(); + if( sSchedulerRunning == pdTRUE ) + { + /* Set the DOS tick back onto the timer ticker. */ + pxOriginalTickISR = _dos_getvect( portSWITCH_INT_NUMBER + 1 ); + _dos_setvect( portTIMER_INT_NUMBER, pxOriginalTickISR ); + prvSetTickFrequencyDefault(); + + /* Put back the switch interrupt routines that was in place + before the scheduler started. */ + _dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR ); + _dos_setvect( portSWITCH_INT_NUMBER + 1, pxOldSwitchISRPlus1 ); + } + /* The tick timer is back how DOS wants it. We can re-enable + interrupts without the scheduler being called. */ + portENABLE_INTERRUPTS(); +} +/*-----------------------------------------------------------*/ + +static void prvSetTickFrequency( uint32_t ulTickRateHz ) +{ +const uint16_t usPIT_MODE = ( uint16_t ) 0x43; +const uint16_t usPIT0 = ( uint16_t ) 0x40; +const uint32_t ulPIT_CONST = ( uint32_t ) 1193180; +const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36; +uint32_t ulOutput; + + /* Setup the 8245 to tick at the wanted frequency. */ + portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 ); + ulOutput = ulPIT_CONST / ulTickRateHz; + + portOUTPUT_BYTE( usPIT0, ( uint16_t )( ulOutput & ( uint32_t ) 0xff ) ); + ulOutput >>= 8; + portOUTPUT_BYTE( usPIT0, ( uint16_t ) ( ulOutput & ( uint32_t ) 0xff ) ); +} +/*-----------------------------------------------------------*/ + +static void prvSetTickFrequencyDefault( void ) +{ +const uint16_t usPIT_MODE = ( uint16_t ) 0x43; +const uint16_t usPIT0 = ( uint16_t ) 0x40; +const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36; + + portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 ); + portOUTPUT_BYTE( usPIT0,0 ); + portOUTPUT_BYTE( usPIT0,0 ); +} + + +/*lint +e950 */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/portmacro.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/portmacro.h new file mode 100644 index 0000000..fd53224 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/PC/portmacro.h @@ -0,0 +1,112 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE uint16_t +#define portBASE_TYPE short + +typedef portSTACK_TYPE StackType_t; +typedef short BaseType_t; +typedef unsigned short UBaseType_t; + + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Critical section definitions. portENTER_CRITICAL() must be defined as a +macro for portable.h to work properly. */ +void portLOCAL_ENTER_CRITICAL( void ); +#pragma aux portLOCAL_ENTER_CRITICAL = "pushf" \ + "cli"; +#define portENTER_CRITICAL() portLOCAL_ENTER_CRITICAL() + +void portEXIT_CRITICAL( void ); +#pragma aux portEXIT_CRITICAL = "popf"; + +void portDISABLE_INTERRUPTS( void ); +#pragma aux portDISABLE_INTERRUPTS = "cli"; + +void portENABLE_INTERRUPTS( void ); +#pragma aux portENABLE_INTERRUPTS = "sti"; +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portSWITCH_INT_NUMBER 0x80 +#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } +#define portDOS_TICK_RATE ( 18.20648 ) +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portTICKS_PER_DOS_TICK ( ( uint16_t ) ( ( ( portDOUBLE ) configTICK_RATE_HZ / portDOS_TICK_RATE ) + 0.5 ) ) +#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ +#define portBYTE_ALIGNMENT ( 2 ) +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define portINPUT_BYTE( xAddr ) inp( xAddr ) +#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) +#define portNOP() __asm{ nop } +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vTaskFunction, pvParameters ) void vTaskFunction( void *pvParameters ) +#define portTASK_FUNCTION( vTaskFunction, pvParameters ) void vTaskFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + + +#endif /* PORTMACRO_H */ + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portasm.h b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portasm.h new file mode 100644 index 0000000..50a724c --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portasm.h @@ -0,0 +1,110 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +typedef void TCB_t; +extern volatile TCB_t * volatile pxCurrentTCB; +extern void vTaskSwitchContext( void ); + +/* + * Saves the stack pointer for one task into its TCB, calls + * vTaskSwitchContext() to update the TCB being used, then restores the stack + * from the new TCB read to run the task. + */ +void portSWITCH_CONTEXT( void ); + +/* + * Load the stack pointer from the TCB of the task which is going to be first + * to execute. Then force an IRET so the registers and IP are popped off the + * stack. + */ +void portFIRST_CONTEXT( void ); + +/* There are slightly different versions depending on whether you are building +to include debugger information. If debugger information is used then there +are a couple of extra bytes left of the ISR stack (presumably for use by the +debugger). The true stack pointer is then stored in the bp register. We add +2 to the stack pointer to remove the extra bytes before we restore our context. */ + +#ifdef DEBUG_BUILD + + #pragma aux portSWITCH_CONTEXT = "mov ax, seg pxCurrentTCB" \ + "mov ds, ax" \ + "les bx, pxCurrentTCB" /* Save the stack pointer into the TCB. */ \ + "mov es:0x2[ bx ], ss" \ + "mov es:[ bx ], sp" \ + "call vTaskSwitchContext" /* Perform the switch. */ \ + "mov ax, seg pxCurrentTCB" /* Restore the stack pointer from the TCB. */ \ + "mov ds, ax" \ + "les bx, dword ptr pxCurrentTCB" \ + "mov ss, es:[ bx + 2 ]" \ + "mov sp, es:[ bx ]" \ + "mov bp, sp" /* Prepair the bp register for the restoration of the SP in the compiler generated portion of the ISR */ \ + "add bp, 0x0002" + + + + #pragma aux portFIRST_CONTEXT = "mov ax, seg pxCurrentTCB" \ + "mov ds, ax" \ + "les bx, dword ptr pxCurrentTCB" \ + "mov ss, es:[ bx + 2 ]" \ + "mov sp, es:[ bx ]" \ + "add sp, 0x0002" /* Remove the extra bytes that exist in debug builds before restoring the context. */ \ + "pop ax" \ + "pop ax" \ + "pop es" \ + "pop ds" \ + "popa" \ + "iret" +#else + + #pragma aux portSWITCH_CONTEXT = "mov ax, seg pxCurrentTCB" \ + "mov ds, ax" \ + "les bx, pxCurrentTCB" /* Save the stack pointer into the TCB. */ \ + "mov es:0x2[ bx ], ss" \ + "mov es:[ bx ], sp" \ + "call vTaskSwitchContext" /* Perform the switch. */ \ + "mov ax, seg pxCurrentTCB" /* Restore the stack pointer from the TCB. */ \ + "mov ds, ax" \ + "les bx, dword ptr pxCurrentTCB" \ + "mov ss, es:[ bx + 2 ]" \ + "mov sp, es:[ bx ]" + + + #pragma aux portFIRST_CONTEXT = "mov ax, seg pxCurrentTCB" \ + "mov ds, ax" \ + "les bx, dword ptr pxCurrentTCB" \ + "mov ss, es:[ bx + 2 ]" \ + "mov sp, es:[ bx ]" \ + "pop ax" \ + "pop ax" \ + "pop es" \ + "pop ds" \ + "popa" \ + "iret" +#endif + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portcomn.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portcomn.c new file mode 100644 index 0000000..2b00fe0 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/oWatcom/16BitDOS/common/portcomn.c @@ -0,0 +1,141 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + * 1 tab == 4 spaces! + */ + +/* +Changes from V1.00: + + + pxPortInitialiseStack() now initialises the stack of new tasks to the + same format used by the compiler. This allows the compiler generated + interrupt mechanism to be used for context switches. + +Changes from V2.4.2: + + + pvPortMalloc and vPortFree have been removed. The projects now use + the definitions from the source/portable/MemMang directory. + +Changes from V2.6.1: + + + usPortCheckFreeStackSpace() has been moved to tasks.c. +*/ + + + +#include +#include "FreeRTOS.h" + +/*-----------------------------------------------------------*/ + +/* See header file for description. */ +StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) +{ +StackType_t DS_Reg = 0, *pxOriginalSP; + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + + *pxTopOfStack = 0x1111; + pxTopOfStack--; + *pxTopOfStack = 0x2222; + pxTopOfStack--; + *pxTopOfStack = 0x3333; + pxTopOfStack--; + *pxTopOfStack = 0x4444; + pxTopOfStack--; + *pxTopOfStack = 0x5555; + pxTopOfStack--; + + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* We are going to start the scheduler using a return from interrupt + instruction to load the program counter, so first there would be the + status register and interrupt return address. We make this the start + of the task. */ + *pxTopOfStack = portINITIAL_SW; + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pxCode ); + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxCode ); + pxTopOfStack--; + + /* We are going to setup the stack for the new task to look like + the stack frame was setup by a compiler generated ISR. We need to know + the address of the existing stack top to place in the SP register within + the stack frame. pxOriginalSP holds SP before (simulated) pusha was + called. */ + pxOriginalSP = pxTopOfStack; + + /* The remaining registers would be pushed on the stack by our context + switch function. These are loaded with values simply to make debugging + easier. */ + *pxTopOfStack = FP_OFF( pvParameters ); /* AX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xCCCC; /* CX */ + pxTopOfStack--; + *pxTopOfStack = FP_SEG( pvParameters ); /* DX */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BX */ + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pxOriginalSP ); /* SP */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xBBBB; /* BP */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x0123; /* SI */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xDDDD; /* DI */ + + /* We need the true data segment. */ + __asm{ MOV DS_Reg, DS }; + + pxTopOfStack--; + *pxTopOfStack = DS_Reg; /* DS */ + + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0xEEEE; /* ES */ + + /* The AX register is pushed again twice - don't know why. */ + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pvParameters ); /* AX */ + pxTopOfStack--; + *pxTopOfStack = FP_OFF( pvParameters ); /* AX */ + + + #ifdef DEBUG_BUILD + /* The compiler adds space to each ISR stack if building to + include debug information. Presumably this is used by the + debugger - we don't need to initialise it to anything just + make sure it is there. */ + pxTopOfStack--; + #endif + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/readme.txt b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/readme.txt new file mode 100644 index 0000000..af93a4b --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/portable/readme.txt @@ -0,0 +1,20 @@ +Each real time kernel port consists of three files that contain the core kernel +components and are common to every port, and one or more files that are +specific to a particular microcontroller and/or compiler. + + ++ The FreeRTOS/Source/Portable/MemMang directory contains the five sample +memory allocators as described on the https://www.FreeRTOS.org WEB site. + ++ The other directories each contain files specific to a particular +microcontroller or compiler, where the directory name denotes the compiler +specific files the directory contains. + + + +For example, if you are interested in the [compiler] port for the [architecture] +microcontroller, then the port specific files are contained in +FreeRTOS/Source/Portable/[compiler]/[architecture] directory. If this is the +only port you are interested in then all the other directories can be +ignored. + diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/queue.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/queue.c new file mode 100644 index 0000000..7ed8e98 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/queue.c @@ -0,0 +1,3016 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +#include +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" + +#if ( configUSE_CO_ROUTINES == 1 ) + #include "croutine.h" +#endif + +/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined + * for the header files above, but not in this file, in order to generate the + * correct privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */ + + +/* Constants used with the cRxLock and cTxLock structure members. */ +#define queueUNLOCKED ( ( int8_t ) -1 ) +#define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 ) +#define queueINT8_MAX ( ( int8_t ) 127 ) + +/* When the Queue_t structure is used to represent a base queue its pcHead and + * pcTail members are used as pointers into the queue storage area. When the + * Queue_t structure is used to represent a mutex pcHead and pcTail pointers are + * not necessary, and the pcHead pointer is set to NULL to indicate that the + * structure instead holds a pointer to the mutex holder (if any). Map alternative + * names to the pcHead and structure member to ensure the readability of the code + * is maintained. The QueuePointers_t and SemaphoreData_t types are used to form + * a union as their usage is mutually exclusive dependent on what the queue is + * being used for. */ +#define uxQueueType pcHead +#define queueQUEUE_IS_MUTEX NULL + +typedef struct QueuePointers +{ + int8_t * pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ + int8_t * pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */ +} QueuePointers_t; + +typedef struct SemaphoreData +{ + TaskHandle_t xMutexHolder; /*< The handle of the task that holds the mutex. */ + UBaseType_t uxRecursiveCallCount; /*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */ +} SemaphoreData_t; + +/* Semaphores do not actually store or copy data, so have an item size of + * zero. */ +#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 ) +#define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U ) + +#if ( configUSE_PREEMPTION == 0 ) + +/* If the cooperative scheduler is being used then a yield should not be + * performed just because a higher priority task has been woken. */ + #define queueYIELD_IF_USING_PREEMPTION() +#else + #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() +#endif + +/* + * Definition of the queue used by the scheduler. + * Items are queued by copy, not reference. See the following link for the + * rationale: https://www.FreeRTOS.org/Embedded-RTOS-Queues.html + */ +typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */ +{ + int8_t * pcHead; /*< Points to the beginning of the queue storage area. */ + int8_t * pcWriteTo; /*< Points to the free next place in the storage area. */ + + union + { + QueuePointers_t xQueue; /*< Data required exclusively when this structure is used as a queue. */ + SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */ + } u; + + List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ + List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ + + volatile UBaseType_t uxMessagesWaiting; /*< The number of items currently in the queue. */ + UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ + UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */ + + volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */ + #endif + + #if ( configUSE_QUEUE_SETS == 1 ) + struct QueueDefinition * pxQueueSetContainer; + #endif + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxQueueNumber; + uint8_t ucQueueType; + #endif +} xQUEUE; + +/* The old xQUEUE name is maintained above then typedefed to the new Queue_t + * name below to enable the use of older kernel aware debuggers. */ +typedef xQUEUE Queue_t; + +/*-----------------------------------------------------------*/ + +/* + * The queue registry is just a means for kernel aware debuggers to locate + * queue structures. It has no other purpose so is an optional component. + */ +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + +/* The type stored within the queue registry array. This allows a name + * to be assigned to each queue making kernel aware debugging a little + * more user friendly. */ + typedef struct QUEUE_REGISTRY_ITEM + { + const char * pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + QueueHandle_t xHandle; + } xQueueRegistryItem; + +/* The old xQueueRegistryItem name is maintained above then typedefed to the + * new xQueueRegistryItem name below to enable the use of older kernel aware + * debuggers. */ + typedef xQueueRegistryItem QueueRegistryItem_t; + +/* The queue registry is simply an array of QueueRegistryItem_t structures. + * The pcQueueName member of a structure being NULL is indicative of the + * array position being vacant. */ + PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; + +#endif /* configQUEUE_REGISTRY_SIZE */ + +/* + * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not + * prevent an ISR from adding or removing items to the queue, but does prevent + * an ISR from removing tasks from the queue event lists. If an ISR finds a + * queue is locked it will instead increment the appropriate queue lock count + * to indicate that a task may require unblocking. When the queue in unlocked + * these lock counts are inspected, and the appropriate action taken. + */ +static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Uses a critical section to determine if there is any data in a queue. + * + * @return pdTRUE if the queue contains no items, otherwise pdFALSE. + */ +static BaseType_t prvIsQueueEmpty( const Queue_t * pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Uses a critical section to determine if there is any space in a queue. + * + * @return pdTRUE if there is no space, otherwise pdFALSE; + */ +static BaseType_t prvIsQueueFull( const Queue_t * pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Copies an item into the queue, either at the front of the queue or the + * back of the queue. + */ +static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, + const void * pvItemToQueue, + const BaseType_t xPosition ) PRIVILEGED_FUNCTION; + +/* + * Copies an item out of a queue. + */ +static void prvCopyDataFromQueue( Queue_t * const pxQueue, + void * const pvBuffer ) PRIVILEGED_FUNCTION; + +#if ( configUSE_QUEUE_SETS == 1 ) + +/* + * Checks to see if a queue is a member of a queue set, and if so, notifies + * the queue set that the queue contains data. + */ + static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION; +#endif + +/* + * Called after a Queue_t structure has been allocated either statically or + * dynamically to fill in the structure's members. + */ +static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + uint8_t * pucQueueStorage, + const uint8_t ucQueueType, + Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION; + +/* + * Mutexes are a special type of queue. When a mutex is created, first the + * queue is created, then prvInitialiseMutex() is called to configure the queue + * as a mutex. + */ +#if ( configUSE_MUTEXES == 1 ) + static void prvInitialiseMutex( Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION; +#endif + +#if ( configUSE_MUTEXES == 1 ) + +/* + * If a task waiting for a mutex causes the mutex holder to inherit a + * priority, but the waiting task times out, then the holder should + * disinherit the priority - but only down to the highest priority of any + * other tasks that are waiting for the same mutex. This function returns + * that priority. + */ + static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION; +#endif +/*-----------------------------------------------------------*/ + +/* + * Macro to mark a queue as locked. Locking a queue prevents an ISR from + * accessing the queue event lists. + */ +#define prvLockQueue( pxQueue ) \ + taskENTER_CRITICAL(); \ + { \ + if( ( pxQueue )->cRxLock == queueUNLOCKED ) \ + { \ + ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \ + } \ + if( ( pxQueue )->cTxLock == queueUNLOCKED ) \ + { \ + ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \ + } \ + } \ + taskEXIT_CRITICAL() +/*-----------------------------------------------------------*/ + +BaseType_t xQueueGenericReset( QueueHandle_t xQueue, + BaseType_t xNewQueue ) +{ + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + + taskENTER_CRITICAL(); + { + pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */ + pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U; + pxQueue->pcWriteTo = pxQueue->pcHead; + pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */ + pxQueue->cRxLock = queueUNLOCKED; + pxQueue->cTxLock = queueUNLOCKED; + + if( xNewQueue == pdFALSE ) + { + /* If there are tasks blocked waiting to read from the queue, then + * the tasks will remain blocked as after this function exits the queue + * will still be empty. If there are tasks blocked waiting to write to + * the queue, then one should be unblocked as after this function exits + * it will be possible to write to it. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* Ensure the event queues start in the correct state. */ + vListInitialise( &( pxQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxQueue->xTasksWaitingToReceive ) ); + } + } + taskEXIT_CRITICAL(); + + /* A value is returned for calling semantic consistency with previous + * versions. */ + return pdPASS; +} +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + + QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + uint8_t * pucQueueStorage, + StaticQueue_t * pxStaticQueue, + const uint8_t ucQueueType ) + { + Queue_t * pxNewQueue; + + configASSERT( uxQueueLength > ( UBaseType_t ) 0 ); + + /* The StaticQueue_t structure and the queue storage area must be + * supplied. */ + configASSERT( pxStaticQueue != NULL ); + + /* A queue storage area should be provided if the item size is not 0, and + * should not be provided if the item size is 0. */ + configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) ); + configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) ); + + #if ( configASSERT_DEFINED == 1 ) + { + /* Sanity check that the size of the structure used to declare a + * variable of type StaticQueue_t or StaticSemaphore_t equals the size of + * the real queue and semaphore structures. */ + volatile size_t xSize = sizeof( StaticQueue_t ); + configASSERT( xSize == sizeof( Queue_t ) ); + ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */ + } + #endif /* configASSERT_DEFINED */ + + /* The address of a statically allocated queue was passed in, use it. + * The address of a statically allocated storage area was also passed in + * but is already set. */ + pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ + + if( pxNewQueue != NULL ) + { + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* Queues can be allocated wither statically or dynamically, so + * note this queue was allocated statically in case the queue is + * later deleted. */ + pxNewQueue->ucStaticallyAllocated = pdTRUE; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + + prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue ); + } + else + { + traceQUEUE_CREATE_FAILED( ucQueueType ); + mtCOVERAGE_TEST_MARKER(); + } + + return pxNewQueue; + } + +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + const uint8_t ucQueueType ) + { + Queue_t * pxNewQueue; + size_t xQueueSizeInBytes; + uint8_t * pucQueueStorage; + + configASSERT( uxQueueLength > ( UBaseType_t ) 0 ); + + /* Allocate enough space to hold the maximum number of items that + * can be in the queue at any time. It is valid for uxItemSize to be + * zero in the case the queue is used as a semaphore. */ + xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + /* Check for multiplication overflow. */ + configASSERT( ( uxItemSize == 0 ) || ( uxQueueLength == ( xQueueSizeInBytes / uxItemSize ) ) ); + + /* Check for addition overflow. */ + configASSERT( ( sizeof( Queue_t ) + xQueueSizeInBytes ) > xQueueSizeInBytes ); + + /* Allocate the queue and storage area. Justification for MISRA + * deviation as follows: pvPortMalloc() always ensures returned memory + * blocks are aligned per the requirements of the MCU stack. In this case + * pvPortMalloc() must return a pointer that is guaranteed to meet the + * alignment requirements of the Queue_t structure - which in this case + * is an int8_t *. Therefore, whenever the stack alignment requirements + * are greater than or equal to the pointer to char requirements the cast + * is safe. In other cases alignment requirements are not strict (one or + * two bytes). */ + pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */ + + if( pxNewQueue != NULL ) + { + /* Jump past the queue structure to find the location of the queue + * storage area. */ + pucQueueStorage = ( uint8_t * ) pxNewQueue; + pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */ + + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + /* Queues can be created either statically or dynamically, so + * note this task was created dynamically in case it is later + * deleted. */ + pxNewQueue->ucStaticallyAllocated = pdFALSE; + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + + prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue ); + } + else + { + traceQUEUE_CREATE_FAILED( ucQueueType ); + mtCOVERAGE_TEST_MARKER(); + } + + return pxNewQueue; + } + +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, + const UBaseType_t uxItemSize, + uint8_t * pucQueueStorage, + const uint8_t ucQueueType, + Queue_t * pxNewQueue ) +{ + /* Remove compiler warnings about unused parameters should + * configUSE_TRACE_FACILITY not be set to 1. */ + ( void ) ucQueueType; + + if( uxItemSize == ( UBaseType_t ) 0 ) + { + /* No RAM was allocated for the queue storage area, but PC head cannot + * be set to NULL because NULL is used as a key to say the queue is used as + * a mutex. Therefore just set pcHead to point to the queue as a benign + * value that is known to be within the memory map. */ + pxNewQueue->pcHead = ( int8_t * ) pxNewQueue; + } + else + { + /* Set the head to the start of the queue storage area. */ + pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage; + } + + /* Initialise the queue members as described where the queue type is + * defined. */ + pxNewQueue->uxLength = uxQueueLength; + pxNewQueue->uxItemSize = uxItemSize; + ( void ) xQueueGenericReset( pxNewQueue, pdTRUE ); + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + pxNewQueue->ucQueueType = ucQueueType; + } + #endif /* configUSE_TRACE_FACILITY */ + + #if ( configUSE_QUEUE_SETS == 1 ) + { + pxNewQueue->pxQueueSetContainer = NULL; + } + #endif /* configUSE_QUEUE_SETS */ + + traceQUEUE_CREATE( pxNewQueue ); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + static void prvInitialiseMutex( Queue_t * pxNewQueue ) + { + if( pxNewQueue != NULL ) + { + /* The queue create function will set all the queue structure members + * correctly for a generic queue, but this function is creating a + * mutex. Overwrite those members that need to be set differently - + * in particular the information required for priority inheritance. */ + pxNewQueue->u.xSemaphore.xMutexHolder = NULL; + pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; + + /* In case this is a recursive mutex. */ + pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0; + + traceCREATE_MUTEX( pxNewQueue ); + + /* Start with the semaphore in the expected state. */ + ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK ); + } + else + { + traceCREATE_MUTEX_FAILED(); + } + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + + QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) + { + QueueHandle_t xNewQueue; + const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0; + + xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType ); + prvInitialiseMutex( ( Queue_t * ) xNewQueue ); + + return xNewQueue; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + + QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, + StaticQueue_t * pxStaticQueue ) + { + QueueHandle_t xNewQueue; + const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0; + + /* Prevent compiler warnings about unused parameters if + * configUSE_TRACE_FACILITY does not equal 1. */ + ( void ) ucQueueType; + + xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType ); + prvInitialiseMutex( ( Queue_t * ) xNewQueue ); + + return xNewQueue; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) + + TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) + { + TaskHandle_t pxReturn; + Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore; + + /* This function is called by xSemaphoreGetMutexHolder(), and should not + * be called directly. Note: This is a good way of determining if the + * calling task is the mutex holder, but not a good way of determining the + * identity of the mutex holder, as the holder may change between the + * following critical section exiting and the function returning. */ + taskENTER_CRITICAL(); + { + if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX ) + { + pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder; + } + else + { + pxReturn = NULL; + } + } + taskEXIT_CRITICAL(); + + return pxReturn; + } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */ + +#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) + + TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) + { + TaskHandle_t pxReturn; + + configASSERT( xSemaphore ); + + /* Mutexes cannot be used in interrupt service routines, so the mutex + * holder should not change in an ISR, and therefore a critical section is + * not required here. */ + if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX ) + { + pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder; + } + else + { + pxReturn = NULL; + } + + return pxReturn; + } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */ + +#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + + BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) + { + BaseType_t xReturn; + Queue_t * const pxMutex = ( Queue_t * ) xMutex; + + configASSERT( pxMutex ); + + /* If this is the task that holds the mutex then xMutexHolder will not + * change outside of this task. If this task does not hold the mutex then + * pxMutexHolder can never coincidentally equal the tasks handle, and as + * this is the only condition we are interested in it does not matter if + * pxMutexHolder is accessed simultaneously by another task. Therefore no + * mutual exclusion is required to test the pxMutexHolder variable. */ + if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() ) + { + traceGIVE_MUTEX_RECURSIVE( pxMutex ); + + /* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to + * the task handle, therefore no underflow check is required. Also, + * uxRecursiveCallCount is only modified by the mutex holder, and as + * there can only be one, no mutual exclusion is required to modify the + * uxRecursiveCallCount member. */ + ( pxMutex->u.xSemaphore.uxRecursiveCallCount )--; + + /* Has the recursive call count unwound to 0? */ + if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 ) + { + /* Return the mutex. This will automatically unblock any other + * task that might be waiting to access the mutex. */ + ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xReturn = pdPASS; + } + else + { + /* The mutex cannot be given because the calling task is not the + * holder. */ + xReturn = pdFAIL; + + traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + + BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, + TickType_t xTicksToWait ) + { + BaseType_t xReturn; + Queue_t * const pxMutex = ( Queue_t * ) xMutex; + + configASSERT( pxMutex ); + + /* Comments regarding mutual exclusion as per those within + * xQueueGiveMutexRecursive(). */ + + traceTAKE_MUTEX_RECURSIVE( pxMutex ); + + if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() ) + { + ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++; + xReturn = pdPASS; + } + else + { + xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait ); + + /* pdPASS will only be returned if the mutex was successfully + * obtained. The calling task may have entered the Blocked state + * before reaching here. */ + if( xReturn != pdFAIL ) + { + ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++; + } + else + { + traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ); + } + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + + QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount, + StaticQueue_t * pxStaticQueue ) + { + QueueHandle_t xHandle; + + configASSERT( uxMaxCount != 0 ); + configASSERT( uxInitialCount <= uxMaxCount ); + + xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE ); + + if( xHandle != NULL ) + { + ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount; + + traceCREATE_COUNTING_SEMAPHORE(); + } + else + { + traceCREATE_COUNTING_SEMAPHORE_FAILED(); + } + + return xHandle; + } + +#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + + QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, + const UBaseType_t uxInitialCount ) + { + QueueHandle_t xHandle; + + configASSERT( uxMaxCount != 0 ); + configASSERT( uxInitialCount <= uxMaxCount ); + + xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE ); + + if( xHandle != NULL ) + { + ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount; + + traceCREATE_COUNTING_SEMAPHORE(); + } + else + { + traceCREATE_COUNTING_SEMAPHORE_FAILED(); + } + + return xHandle; + } + +#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */ +/*-----------------------------------------------------------*/ + +BaseType_t xQueueGenericSend( QueueHandle_t xQueue, + const void * const pvItemToQueue, + TickType_t xTicksToWait, + const BaseType_t xCopyPosition ) +{ + BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired; + TimeOut_t xTimeOut; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); + configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif + + /*lint -save -e904 This function relaxes the coding standard somewhat to + * allow return statements within the function itself. This is done in the + * interest of execution time efficiency. */ + for( ; ; ) + { + taskENTER_CRITICAL(); + { + /* Is there room on the queue now? The running task must be the + * highest priority task wanting to access the queue. If the head item + * in the queue is to be overwritten then it does not matter if the + * queue is full. */ + if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) + { + traceQUEUE_SEND( pxQueue ); + + #if ( configUSE_QUEUE_SETS == 1 ) + { + const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting; + + xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + if( pxQueue->pxQueueSetContainer != NULL ) + { + if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) ) + { + /* Do not notify the queue set as an existing item + * was overwritten in the queue so the number of items + * in the queue has not changed. */ + mtCOVERAGE_TEST_MARKER(); + } + else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE ) + { + /* The queue is a member of a queue set, and posting + * to the queue set caused a higher priority task to + * unblock. A context switch is required. */ + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* If there was a task waiting for data to arrive on the + * queue then unblock it now. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The unblocked task has a priority higher than + * our own so yield immediately. Yes it is ok to + * do this from within the critical section - the + * kernel takes care of that. */ + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else if( xYieldRequired != pdFALSE ) + { + /* This path is a special case that will only get + * executed if the task was holding multiple mutexes + * and the mutexes were given back in an order that is + * different to that in which they were taken. */ + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + #else /* configUSE_QUEUE_SETS */ + { + xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If there was a task waiting for data to arrive on the + * queue then unblock it now. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The unblocked task has a priority higher than + * our own so yield immediately. Yes it is ok to do + * this from within the critical section - the kernel + * takes care of that. */ + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else if( xYieldRequired != pdFALSE ) + { + /* This path is a special case that will only get + * executed if the task was holding multiple mutexes and + * the mutexes were given back in an order that is + * different to that in which they were taken. */ + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_QUEUE_SETS */ + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( TickType_t ) 0 ) + { + /* The queue was full and no block time is specified (or + * the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + + /* Return to the original privilege level before exiting + * the function. */ + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was full and a block time was specified so + * configure the timeout structure. */ + vTaskInternalSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + else + { + /* Entry time was already set. */ + mtCOVERAGE_TEST_MARKER(); + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + * now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueFull( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_SEND( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + + /* Unlocking the queue means queue events can effect the + * event list. It is possible that interrupts occurring now + * remove this task from the event list again - but as the + * scheduler is suspended the task will go onto the pending + * ready last instead of the actual ready list. */ + prvUnlockQueue( pxQueue ); + + /* Resuming the scheduler will move tasks from the pending + * ready list into the ready list - so it is feasible that this + * task is already in a ready list before it yields - in which + * case the yield will not cause a context switch unless there + * is also a higher priority task in the pending ready list. */ + if( xTaskResumeAll() == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + } + else + { + /* Try again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + /* The timeout has expired. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + } /*lint -restore */ +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, + const void * const pvItemToQueue, + BaseType_t * const pxHigherPriorityTaskWoken, + const BaseType_t xCopyPosition ) +{ + BaseType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); + configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); + + /* RTOS ports that support interrupt nesting have the concept of a maximum + * system call (or maximum API call) interrupt priority. Interrupts that are + * above the maximum system call priority are kept permanently enabled, even + * when the RTOS kernel is in a critical section, but cannot make any calls to + * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has been + * assigned a priority above the configured maximum system call priority. + * Only FreeRTOS functions that end in FromISR can be called from interrupts + * that have been assigned a priority at or (logically) below the maximum + * system call interrupt priority. FreeRTOS maintains a separate interrupt + * safe API to ensure interrupt entry is as fast and as simple as possible. + * More information (albeit Cortex-M specific) is provided on the following + * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + /* Similar to xQueueGenericSend, except without blocking if there is no room + * in the queue. Also don't directly wake a task that was blocked on a queue + * read, instead return a flag to say whether a context switch is required or + * not (i.e. has a task with a higher priority than us been woken by this + * post). */ + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) + { + const int8_t cTxLock = pxQueue->cTxLock; + const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting; + + traceQUEUE_SEND_FROM_ISR( pxQueue ); + + /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a + * semaphore or mutex. That means prvCopyDataToQueue() cannot result + * in a task disinheriting a priority and prvCopyDataToQueue() can be + * called here even though the disinherit function does not check if + * the scheduler is suspended before accessing the ready lists. */ + ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* The event list is not altered if the queue is locked. This will + * be done when the queue is unlocked later. */ + if( cTxLock == queueUNLOCKED ) + { + #if ( configUSE_QUEUE_SETS == 1 ) + { + if( pxQueue->pxQueueSetContainer != NULL ) + { + if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) ) + { + /* Do not notify the queue set as an existing item + * was overwritten in the queue so the number of items + * in the queue has not changed. */ + mtCOVERAGE_TEST_MARKER(); + } + else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE ) + { + /* The queue is a member of a queue set, and posting + * to the queue set caused a higher priority task to + * unblock. A context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so + * record that a context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + #else /* configUSE_QUEUE_SETS */ + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + * context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Not used in this path. */ + ( void ) uxPreviousMessagesWaiting; + } + #endif /* configUSE_QUEUE_SETS */ + } + else + { + /* Increment the lock count so the task that unlocks the queue + * knows that data was posted while it was locked. */ + configASSERT( cTxLock != queueINT8_MAX ); + + pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 ); + } + + xReturn = pdPASS; + } + else + { + traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); + xReturn = errQUEUE_FULL; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, + BaseType_t * const pxHigherPriorityTaskWoken ) +{ + BaseType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + Queue_t * const pxQueue = xQueue; + + /* Similar to xQueueGenericSendFromISR() but used with semaphores where the + * item size is 0. Don't directly wake a task that was blocked on a queue + * read, instead return a flag to say whether a context switch is required or + * not (i.e. has a task with a higher priority than us been woken by this + * post). */ + + configASSERT( pxQueue ); + + /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR() + * if the item size is not 0. */ + configASSERT( pxQueue->uxItemSize == 0 ); + + /* Normally a mutex would not be given from an interrupt, especially if + * there is a mutex holder, as priority inheritance makes no sense for an + * interrupts, only tasks. */ + configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) ); + + /* RTOS ports that support interrupt nesting have the concept of a maximum + * system call (or maximum API call) interrupt priority. Interrupts that are + * above the maximum system call priority are kept permanently enabled, even + * when the RTOS kernel is in a critical section, but cannot make any calls to + * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has been + * assigned a priority above the configured maximum system call priority. + * Only FreeRTOS functions that end in FromISR can be called from interrupts + * that have been assigned a priority at or (logically) below the maximum + * system call interrupt priority. FreeRTOS maintains a separate interrupt + * safe API to ensure interrupt entry is as fast and as simple as possible. + * More information (albeit Cortex-M specific) is provided on the following + * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting; + + /* When the queue is used to implement a semaphore no data is ever + * moved through the queue but it is still valid to see if the queue 'has + * space'. */ + if( uxMessagesWaiting < pxQueue->uxLength ) + { + const int8_t cTxLock = pxQueue->cTxLock; + + traceQUEUE_SEND_FROM_ISR( pxQueue ); + + /* A task can only have an inherited priority if it is a mutex + * holder - and if there is a mutex holder then the mutex cannot be + * given from an ISR. As this is the ISR version of the function it + * can be assumed there is no mutex holder and no need to determine if + * priority disinheritance is needed. Simply increase the count of + * messages (semaphores) available. */ + pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1; + + /* The event list is not altered if the queue is locked. This will + * be done when the queue is unlocked later. */ + if( cTxLock == queueUNLOCKED ) + { + #if ( configUSE_QUEUE_SETS == 1 ) + { + if( pxQueue->pxQueueSetContainer != NULL ) + { + if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE ) + { + /* The semaphore is a member of a queue set, and + * posting to the queue set caused a higher priority + * task to unblock. A context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so + * record that a context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + #else /* configUSE_QUEUE_SETS */ + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + * context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_QUEUE_SETS */ + } + else + { + /* Increment the lock count so the task that unlocks the queue + * knows that data was posted while it was locked. */ + configASSERT( cTxLock != queueINT8_MAX ); + + pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 ); + } + + xReturn = pdPASS; + } + else + { + traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); + xReturn = errQUEUE_FULL; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueReceive( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) +{ + BaseType_t xEntryTimeSet = pdFALSE; + TimeOut_t xTimeOut; + Queue_t * const pxQueue = xQueue; + + /* Check the pointer is not NULL. */ + configASSERT( ( pxQueue ) ); + + /* The buffer into which data is received can only be NULL if the data size + * is zero (so no data is copied into the buffer). */ + configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) ); + + /* Cannot block if the scheduler is suspended. */ + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif + + /*lint -save -e904 This function relaxes the coding standard somewhat to + * allow return statements within the function itself. This is done in the + * interest of execution time efficiency. */ + for( ; ; ) + { + taskENTER_CRITICAL(); + { + const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting; + + /* Is there data in the queue now? To be running the calling task + * must be the highest priority task wanting to access the queue. */ + if( uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + /* Data available, remove one item. */ + prvCopyDataFromQueue( pxQueue, pvBuffer ); + traceQUEUE_RECEIVE( pxQueue ); + pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1; + + /* There is now space in the queue, were any tasks waiting to + * post to the queue? If so, unblock the highest priority waiting + * task. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( TickType_t ) 0 ) + { + /* The queue was empty and no block time is specified (or + * the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was empty and a block time was specified so + * configure the timeout structure. */ + vTaskInternalSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + else + { + /* Entry time was already set. */ + mtCOVERAGE_TEST_MARKER(); + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + * now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + /* The timeout has not expired. If the queue is still empty place + * the task on the list of tasks waiting to receive from the queue. */ + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + prvUnlockQueue( pxQueue ); + + if( xTaskResumeAll() == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* The queue contains data again. Loop back to try and read the + * data. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + /* Timed out. If there is no data in the queue exit, otherwise loop + * back and attempt to read the data. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } /*lint -restore */ +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, + TickType_t xTicksToWait ) +{ + BaseType_t xEntryTimeSet = pdFALSE; + TimeOut_t xTimeOut; + Queue_t * const pxQueue = xQueue; + + #if ( configUSE_MUTEXES == 1 ) + BaseType_t xInheritanceOccurred = pdFALSE; + #endif + + /* Check the queue pointer is not NULL. */ + configASSERT( ( pxQueue ) ); + + /* Check this really is a semaphore, in which case the item size will be + * 0. */ + configASSERT( pxQueue->uxItemSize == 0 ); + + /* Cannot block if the scheduler is suspended. */ + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif + + /*lint -save -e904 This function relaxes the coding standard somewhat to allow return + * statements within the function itself. This is done in the interest + * of execution time efficiency. */ + for( ; ; ) + { + taskENTER_CRITICAL(); + { + /* Semaphores are queues with an item size of 0, and where the + * number of messages in the queue is the semaphore's count value. */ + const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting; + + /* Is there data in the queue now? To be running the calling task + * must be the highest priority task wanting to access the queue. */ + if( uxSemaphoreCount > ( UBaseType_t ) 0 ) + { + traceQUEUE_RECEIVE( pxQueue ); + + /* Semaphores are queues with a data size of zero and where the + * messages waiting is the semaphore's count. Reduce the count. */ + pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1; + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + * priority inheritance should it become necessary. */ + pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_MUTEXES */ + + /* Check to see if other tasks are blocked waiting to give the + * semaphore, and if so, unblock the highest priority such task. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( TickType_t ) 0 ) + { + /* For inheritance to have occurred there must have been an + * initial timeout, and an adjusted timeout cannot become 0, as + * if it were 0 the function would have exited. */ + #if ( configUSE_MUTEXES == 1 ) + { + configASSERT( xInheritanceOccurred == pdFALSE ); + } + #endif /* configUSE_MUTEXES */ + + /* The semaphore count was 0 and no block time is specified + * (or the block time has expired) so exit now. */ + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The semaphore count was 0 and a block time was specified + * so configure the timeout structure ready to block. */ + vTaskInternalSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + else + { + /* Entry time was already set. */ + mtCOVERAGE_TEST_MARKER(); + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can give to and take from the semaphore + * now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + /* A block time is specified and not expired. If the semaphore + * count is 0 then enter the Blocked state to wait for a semaphore to + * become available. As semaphores are implemented with queues the + * queue being empty is equivalent to the semaphore count being 0. */ + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + taskENTER_CRITICAL(); + { + xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder ); + } + taskEXIT_CRITICAL(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* if ( configUSE_MUTEXES == 1 ) */ + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + prvUnlockQueue( pxQueue ); + + if( xTaskResumeAll() == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* There was no timeout and the semaphore count was not 0, so + * attempt to take the semaphore again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + /* Timed out. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + + /* If the semaphore count is 0 exit now as the timeout has + * expired. Otherwise return to attempt to take the semaphore that is + * known to be available. As semaphores are implemented by queues the + * queue being empty is equivalent to the semaphore count being 0. */ + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + #if ( configUSE_MUTEXES == 1 ) + { + /* xInheritanceOccurred could only have be set if + * pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to + * test the mutex type again to check it is actually a mutex. */ + if( xInheritanceOccurred != pdFALSE ) + { + taskENTER_CRITICAL(); + { + UBaseType_t uxHighestWaitingPriority; + + /* This task blocking on the mutex caused another + * task to inherit this task's priority. Now this task + * has timed out the priority should be disinherited + * again, but only as low as the next highest priority + * task that is waiting for the same mutex. */ + uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue ); + vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority ); + } + taskEXIT_CRITICAL(); + } + } + #endif /* configUSE_MUTEXES */ + + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } /*lint -restore */ +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueuePeek( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) +{ + BaseType_t xEntryTimeSet = pdFALSE; + TimeOut_t xTimeOut; + int8_t * pcOriginalReadPosition; + Queue_t * const pxQueue = xQueue; + + /* Check the pointer is not NULL. */ + configASSERT( ( pxQueue ) ); + + /* The buffer into which data is received can only be NULL if the data size + * is zero (so no data is copied into the buffer. */ + configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) ); + + /* Cannot block if the scheduler is suspended. */ + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif + + /*lint -save -e904 This function relaxes the coding standard somewhat to + * allow return statements within the function itself. This is done in the + * interest of execution time efficiency. */ + for( ; ; ) + { + taskENTER_CRITICAL(); + { + const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting; + + /* Is there data in the queue now? To be running the calling task + * must be the highest priority task wanting to access the queue. */ + if( uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + /* Remember the read position so it can be reset after the data + * is read from the queue as this function is only peeking the + * data, not removing it. */ + pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + traceQUEUE_PEEK( pxQueue ); + + /* The data is not being removed, so reset the read pointer. */ + pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition; + + /* The data is being left in the queue, so see if there are + * any other tasks waiting for the data. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than this task. */ + queueYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( TickType_t ) 0 ) + { + /* The queue was empty and no block time is specified (or + * the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + traceQUEUE_PEEK_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was empty and a block time was specified so + * configure the timeout structure ready to enter the blocked + * state. */ + vTaskInternalSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + else + { + /* Entry time was already set. */ + mtCOVERAGE_TEST_MARKER(); + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + * now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + /* Timeout has not expired yet, check to see if there is data in the + * queue now, and if not enter the Blocked state to wait for data. */ + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_PEEK( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + prvUnlockQueue( pxQueue ); + + if( xTaskResumeAll() == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* There is data in the queue now, so don't enter the blocked + * state, instead return to try and obtain the data. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + /* The timeout has expired. If there is still no data in the queue + * exit, otherwise go back and try to read the data again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceQUEUE_PEEK_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } /*lint -restore */ +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, + void * const pvBuffer, + BaseType_t * const pxHigherPriorityTaskWoken ) +{ + BaseType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); + + /* RTOS ports that support interrupt nesting have the concept of a maximum + * system call (or maximum API call) interrupt priority. Interrupts that are + * above the maximum system call priority are kept permanently enabled, even + * when the RTOS kernel is in a critical section, but cannot make any calls to + * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has been + * assigned a priority above the configured maximum system call priority. + * Only FreeRTOS functions that end in FromISR can be called from interrupts + * that have been assigned a priority at or (logically) below the maximum + * system call interrupt priority. FreeRTOS maintains a separate interrupt + * safe API to ensure interrupt entry is as fast and as simple as possible. + * More information (albeit Cortex-M specific) is provided on the following + * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting; + + /* Cannot block in an ISR, so check there is data available. */ + if( uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + const int8_t cRxLock = pxQueue->cRxLock; + + traceQUEUE_RECEIVE_FROM_ISR( pxQueue ); + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1; + + /* If the queue is locked the event list will not be modified. + * Instead update the lock count so the task that unlocks the queue + * will know that an ISR has removed data while the queue was + * locked. */ + if( cRxLock == queueUNLOCKED ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than us so + * force a context switch. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + * knows that data was removed while it was locked. */ + configASSERT( cRxLock != queueINT8_MAX ); + + pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 ); + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, + void * const pvBuffer ) +{ + BaseType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + int8_t * pcOriginalReadPosition; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); + configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */ + + /* RTOS ports that support interrupt nesting have the concept of a maximum + * system call (or maximum API call) interrupt priority. Interrupts that are + * above the maximum system call priority are kept permanently enabled, even + * when the RTOS kernel is in a critical section, but cannot make any calls to + * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has been + * assigned a priority above the configured maximum system call priority. + * Only FreeRTOS functions that end in FromISR can be called from interrupts + * that have been assigned a priority at or (logically) below the maximum + * system call interrupt priority. FreeRTOS maintains a separate interrupt + * safe API to ensure interrupt entry is as fast and as simple as possible. + * More information (albeit Cortex-M specific) is provided on the following + * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* Cannot block in an ISR, so check there is data available. */ + if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + traceQUEUE_PEEK_FROM_ISR( pxQueue ); + + /* Remember the read position so it can be reset as nothing is + * actually being removed from the queue. */ + pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom; + prvCopyDataFromQueue( pxQueue, pvBuffer ); + pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition; + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) +{ + UBaseType_t uxReturn; + + configASSERT( xQueue ); + + taskENTER_CRITICAL(); + { + uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting; + } + taskEXIT_CRITICAL(); + + return uxReturn; +} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ +/*-----------------------------------------------------------*/ + +UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) +{ + UBaseType_t uxReturn; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + + taskENTER_CRITICAL(); + { + uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting; + } + taskEXIT_CRITICAL(); + + return uxReturn; +} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ +/*-----------------------------------------------------------*/ + +UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) +{ + UBaseType_t uxReturn; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + uxReturn = pxQueue->uxMessagesWaiting; + + return uxReturn; +} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ +/*-----------------------------------------------------------*/ + +void vQueueDelete( QueueHandle_t xQueue ) +{ + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + traceQUEUE_DELETE( pxQueue ); + + #if ( configQUEUE_REGISTRY_SIZE > 0 ) + { + vQueueUnregisterQueue( pxQueue ); + } + #endif + + #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) + { + /* The queue can only have been allocated dynamically - free it + * again. */ + vPortFree( pxQueue ); + } + #elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + { + /* The queue could have been allocated statically or dynamically, so + * check before attempting to free the memory. */ + if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE ) + { + vPortFree( pxQueue ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #else /* if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) */ + { + /* The queue must have been statically allocated, so is not going to be + * deleted. Avoid compiler warnings about the unused parameter. */ + ( void ) pxQueue; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) + { + return ( ( Queue_t * ) xQueue )->uxQueueNumber; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vQueueSetQueueNumber( QueueHandle_t xQueue, + UBaseType_t uxQueueNumber ) + { + ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) + { + return ( ( Queue_t * ) xQueue )->ucQueueType; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) + { + UBaseType_t uxHighestPriorityOfWaitingTasks; + + /* If a task waiting for a mutex causes the mutex holder to inherit a + * priority, but the waiting task times out, then the holder should + * disinherit the priority - but only down to the highest priority of any + * other tasks that are waiting for the same mutex. For this purpose, + * return the priority of the highest priority task that is waiting for the + * mutex. */ + if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U ) + { + uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) ); + } + else + { + uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY; + } + + return uxHighestPriorityOfWaitingTasks; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, + const void * pvItemToQueue, + const BaseType_t xPosition ) +{ + BaseType_t xReturn = pdFALSE; + UBaseType_t uxMessagesWaiting; + + /* This function is called from a critical section. */ + + uxMessagesWaiting = pxQueue->uxMessagesWaiting; + + if( pxQueue->uxItemSize == ( UBaseType_t ) 0 ) + { + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* The mutex is no longer being held. */ + xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder ); + pxQueue->u.xSemaphore.xMutexHolder = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_MUTEXES */ + } + else if( xPosition == queueSEND_TO_BACK ) + { + ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */ + pxQueue->pcWriteTo += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */ + + if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */ + { + pxQueue->pcWriteTo = pxQueue->pcHead; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + ( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e9087 !e418 MISRA exception as the casts are only redundant for some ports. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. Assert checks null pointer only used when length is 0. */ + pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize; + + if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */ + { + pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( xPosition == queueOVERWRITE ) + { + if( uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + /* An item is not being added but overwritten, so subtract + * one from the recorded number of items in the queue so when + * one is added again below the number of recorded items remains + * correct. */ + --uxMessagesWaiting; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1; + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static void prvCopyDataFromQueue( Queue_t * const pxQueue, + void * const pvBuffer ) +{ + if( pxQueue->uxItemSize != ( UBaseType_t ) 0 ) + { + pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */ + + if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */ + { + pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */ + } +} +/*-----------------------------------------------------------*/ + +static void prvUnlockQueue( Queue_t * const pxQueue ) +{ + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* The lock counts contains the number of extra data items placed or + * removed from the queue while the queue was locked. When a queue is + * locked items can be added or removed, but the event lists cannot be + * updated. */ + taskENTER_CRITICAL(); + { + int8_t cTxLock = pxQueue->cTxLock; + + /* See if data was added to the queue while it was locked. */ + while( cTxLock > queueLOCKED_UNMODIFIED ) + { + /* Data was posted while the queue was locked. Are any tasks + * blocked waiting for data to become available? */ + #if ( configUSE_QUEUE_SETS == 1 ) + { + if( pxQueue->pxQueueSetContainer != NULL ) + { + if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE ) + { + /* The queue is a member of a queue set, and posting to + * the queue set caused a higher priority task to unblock. + * A context switch is required. */ + vTaskMissedYield(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* Tasks that are removed from the event list will get + * added to the pending ready list as the scheduler is still + * suspended. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + * context switch is required. */ + vTaskMissedYield(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + break; + } + } + } + #else /* configUSE_QUEUE_SETS */ + { + /* Tasks that are removed from the event list will get added to + * the pending ready list as the scheduler is still suspended. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that + * a context switch is required. */ + vTaskMissedYield(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + break; + } + } + #endif /* configUSE_QUEUE_SETS */ + + --cTxLock; + } + + pxQueue->cTxLock = queueUNLOCKED; + } + taskEXIT_CRITICAL(); + + /* Do the same for the Rx lock. */ + taskENTER_CRITICAL(); + { + int8_t cRxLock = pxQueue->cRxLock; + + while( cRxLock > queueLOCKED_UNMODIFIED ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + vTaskMissedYield(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + --cRxLock; + } + else + { + break; + } + } + + pxQueue->cRxLock = queueUNLOCKED; + } + taskEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +static BaseType_t prvIsQueueEmpty( const Queue_t * pxQueue ) +{ + BaseType_t xReturn; + + taskENTER_CRITICAL(); + { + if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + } + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) +{ + BaseType_t xReturn; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + + if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ +/*-----------------------------------------------------------*/ + +static BaseType_t prvIsQueueFull( const Queue_t * pxQueue ) +{ + BaseType_t xReturn; + + taskENTER_CRITICAL(); + { + if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + } + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) +{ + BaseType_t xReturn; + Queue_t * const pxQueue = xQueue; + + configASSERT( pxQueue ); + + if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_CO_ROUTINES == 1 ) + + BaseType_t xQueueCRSend( QueueHandle_t xQueue, + const void * pvItemToQueue, + TickType_t xTicksToWait ) + { + BaseType_t xReturn; + Queue_t * const pxQueue = xQueue; + + /* If the queue is already full we may have to block. A critical section + * is required to prevent an interrupt removing something from the queue + * between the check to see if the queue is full and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( prvIsQueueFull( pxQueue ) != pdFALSE ) + { + /* The queue is full - do we want to block or just leave without + * posting? */ + if( xTicksToWait > ( TickType_t ) 0 ) + { + /* As this is called from a coroutine we cannot block directly, but + * return indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + /* There is room in the queue, copy the data into the queue. */ + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + xReturn = pdPASS; + + /* Were any co-routines waiting for data to become available? */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + /* In this instance the co-routine could be placed directly + * into the ready list as we are within a critical section. + * Instead the same pending ready list mechanism is used as if + * the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The co-routine waiting has a higher priority so record + * that a yield might be appropriate. */ + xReturn = errQUEUE_YIELD; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + xReturn = errQUEUE_FULL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; + } + +#endif /* configUSE_CO_ROUTINES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_CO_ROUTINES == 1 ) + + BaseType_t xQueueCRReceive( QueueHandle_t xQueue, + void * pvBuffer, + TickType_t xTicksToWait ) + { + BaseType_t xReturn; + Queue_t * const pxQueue = xQueue; + + /* If the queue is already empty we may have to block. A critical section + * is required to prevent an interrupt adding something to the queue + * between the check to see if the queue is empty and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 ) + { + /* There are no messages in the queue, do we want to block or just + * leave with nothing? */ + if( xTicksToWait > ( TickType_t ) 0 ) + { + /* As this is a co-routine we cannot block directly, but return + * indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + portENABLE_INTERRUPTS(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + /* Data is available from the queue. */ + pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; + + if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) + { + pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + --( pxQueue->uxMessagesWaiting ); + ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + xReturn = pdPASS; + + /* Were any co-routines waiting for space to become available? */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + /* In this instance the co-routine could be placed directly + * into the ready list as we are within a critical section. + * Instead the same pending ready list mechanism is used as if + * the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + xReturn = errQUEUE_YIELD; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + xReturn = pdFAIL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; + } + +#endif /* configUSE_CO_ROUTINES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_CO_ROUTINES == 1 ) + + BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, + const void * pvItemToQueue, + BaseType_t xCoRoutinePreviouslyWoken ) + { + Queue_t * const pxQueue = xQueue; + + /* Cannot block within an ISR so if there is no space on the queue then + * exit without doing anything. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + + /* We only want to wake one co-routine per ISR, so check that a + * co-routine has not already been woken. */ + if( xCoRoutinePreviouslyWoken == pdFALSE ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + return pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xCoRoutinePreviouslyWoken; + } + +#endif /* configUSE_CO_ROUTINES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_CO_ROUTINES == 1 ) + + BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, + void * pvBuffer, + BaseType_t * pxCoRoutineWoken ) + { + BaseType_t xReturn; + Queue_t * const pxQueue = xQueue; + + /* We cannot block from an ISR, so check there is data available. If + * not then just leave without doing anything. */ + if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) + { + /* Copy the data from the queue. */ + pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; + + if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) + { + pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + --( pxQueue->uxMessagesWaiting ); + ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + if( ( *pxCoRoutineWoken ) == pdFALSE ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + *pxCoRoutineWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif /* configUSE_CO_ROUTINES */ +/*-----------------------------------------------------------*/ + +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + + void vQueueAddToRegistry( QueueHandle_t xQueue, + const char * pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + UBaseType_t ux; + + /* See if there is an empty space in the registry. A NULL name denotes + * a free slot. */ + for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].pcQueueName == NULL ) + { + /* Store the information on this queue. */ + xQueueRegistry[ ux ].pcQueueName = pcQueueName; + xQueueRegistry[ ux ].xHandle = xQueue; + + traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ); + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + +#endif /* configQUEUE_REGISTRY_SIZE */ +/*-----------------------------------------------------------*/ + +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + + const char * pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + UBaseType_t ux; + const char * pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + + /* Note there is nothing here to protect against another task adding or + * removing entries from the registry while it is being searched. */ + + for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].xHandle == xQueue ) + { + pcReturn = xQueueRegistry[ ux ].pcQueueName; + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + return pcReturn; + } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */ + +#endif /* configQUEUE_REGISTRY_SIZE */ +/*-----------------------------------------------------------*/ + +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + + void vQueueUnregisterQueue( QueueHandle_t xQueue ) + { + UBaseType_t ux; + + /* See if the handle of the queue being unregistered in actually in the + * registry. */ + for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].xHandle == xQueue ) + { + /* Set the name to NULL to show that this slot if free again. */ + xQueueRegistry[ ux ].pcQueueName = NULL; + + /* Set the handle to NULL to ensure the same queue handle cannot + * appear in the registry twice if it is added, removed, then + * added again. */ + xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0; + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ + +#endif /* configQUEUE_REGISTRY_SIZE */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + + void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, + TickType_t xTicksToWait, + const BaseType_t xWaitIndefinitely ) + { + Queue_t * const pxQueue = xQueue; + + /* This function should not be called by application code hence the + * 'Restricted' in its name. It is not part of the public API. It is + * designed for use by kernel code, and has special calling requirements. + * It can result in vListInsert() being called on a list that can only + * possibly ever have one item in it, so the list will be fast, but even + * so it should be called with the scheduler locked and not from a critical + * section. */ + + /* Only do anything if there are no messages in the queue. This function + * will not actually cause the task to block, just place it on a blocked + * list. It will not block until the scheduler is unlocked - at which + * time a yield will be performed. If an item is added to the queue while + * the queue is locked, and the calling task blocks on the queue, then the + * calling task will be immediately unblocked when the queue is unlocked. */ + prvLockQueue( pxQueue ); + + if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U ) + { + /* There is nothing in the queue, block for the specified period. */ + vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + prvUnlockQueue( pxQueue ); + } + +#endif /* configUSE_TIMERS */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + + QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) + { + QueueSetHandle_t pxQueue; + + pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET ); + + return pxQueue; + } + +#endif /* configUSE_QUEUE_SETS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + + BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) + { + BaseType_t xReturn; + + taskENTER_CRITICAL(); + { + if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL ) + { + /* Cannot add a queue/semaphore to more than one queue set. */ + xReturn = pdFAIL; + } + else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 ) + { + /* Cannot add a queue/semaphore to a queue set if there are already + * items in the queue/semaphore. */ + xReturn = pdFAIL; + } + else + { + ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet; + xReturn = pdPASS; + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_QUEUE_SETS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + + BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, + QueueSetHandle_t xQueueSet ) + { + BaseType_t xReturn; + Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore; + + if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet ) + { + /* The queue was not a member of the set. */ + xReturn = pdFAIL; + } + else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 ) + { + /* It is dangerous to remove a queue from a set when the queue is + * not empty because the queue set will still hold pending events for + * the queue. */ + xReturn = pdFAIL; + } + else + { + taskENTER_CRITICAL(); + { + /* The queue is no longer contained in the set. */ + pxQueueOrSemaphore->pxQueueSetContainer = NULL; + } + taskEXIT_CRITICAL(); + xReturn = pdPASS; + } + + return xReturn; + } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */ + +#endif /* configUSE_QUEUE_SETS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + + QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, + TickType_t const xTicksToWait ) + { + QueueSetMemberHandle_t xReturn = NULL; + + ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */ + return xReturn; + } + +#endif /* configUSE_QUEUE_SETS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + + QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) + { + QueueSetMemberHandle_t xReturn = NULL; + + ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */ + return xReturn; + } + +#endif /* configUSE_QUEUE_SETS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_QUEUE_SETS == 1 ) + + static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) + { + Queue_t * pxQueueSetContainer = pxQueue->pxQueueSetContainer; + BaseType_t xReturn = pdFALSE; + + /* This function must be called form a critical section. */ + + configASSERT( pxQueueSetContainer ); + configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ); + + if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ) + { + const int8_t cTxLock = pxQueueSetContainer->cTxLock; + + traceQUEUE_SET_SEND( pxQueueSetContainer ); + + /* The data copied is the handle of the queue that contains data. */ + xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK ); + + if( cTxLock == queueUNLOCKED ) + { + if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority. */ + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + configASSERT( cTxLock != queueINT8_MAX ); + + pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 ); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } + +#endif /* configUSE_QUEUE_SETS */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/stream_buffer.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/stream_buffer.c new file mode 100644 index 0000000..5c6a47e --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/stream_buffer.c @@ -0,0 +1,1314 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Standard includes. */ +#include +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "stream_buffer.h" + +#if ( configUSE_TASK_NOTIFICATIONS != 1 ) + #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c +#endif + +/* Lint e961, e9021 and e750 are suppressed as a MISRA exception justified + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined + * for the header files above, but not in this file, in order to generate the + * correct privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */ + +/* If the user has not provided application specific Rx notification macros, + * or #defined the notification macros away, them provide default implementations + * that uses task notifications. */ +/*lint -save -e9026 Function like macros allowed and needed here so they can be overridden. */ +#ifndef sbRECEIVE_COMPLETED + #define sbRECEIVE_COMPLETED( pxStreamBuffer ) \ + vTaskSuspendAll(); \ + { \ + if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \ + { \ + ( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend, \ + ( uint32_t ) 0, \ + eNoAction ); \ + ( pxStreamBuffer )->xTaskWaitingToSend = NULL; \ + } \ + } \ + ( void ) xTaskResumeAll(); +#endif /* sbRECEIVE_COMPLETED */ + +#ifndef sbRECEIVE_COMPLETED_FROM_ISR + #define sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, \ + pxHigherPriorityTaskWoken ) \ + { \ + UBaseType_t uxSavedInterruptStatus; \ + \ + uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR(); \ + { \ + if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \ + { \ + ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend, \ + ( uint32_t ) 0, \ + eNoAction, \ + pxHigherPriorityTaskWoken ); \ + ( pxStreamBuffer )->xTaskWaitingToSend = NULL; \ + } \ + } \ + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \ + } +#endif /* sbRECEIVE_COMPLETED_FROM_ISR */ + +/* If the user has not provided an application specific Tx notification macro, + * or #defined the notification macro away, them provide a default implementation + * that uses task notifications. */ +#ifndef sbSEND_COMPLETED + #define sbSEND_COMPLETED( pxStreamBuffer ) \ + vTaskSuspendAll(); \ + { \ + if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \ + { \ + ( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive, \ + ( uint32_t ) 0, \ + eNoAction ); \ + ( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \ + } \ + } \ + ( void ) xTaskResumeAll(); +#endif /* sbSEND_COMPLETED */ + +#ifndef sbSEND_COMPLETE_FROM_ISR + #define sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken ) \ + { \ + UBaseType_t uxSavedInterruptStatus; \ + \ + uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR(); \ + { \ + if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \ + { \ + ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive, \ + ( uint32_t ) 0, \ + eNoAction, \ + pxHigherPriorityTaskWoken ); \ + ( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \ + } \ + } \ + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \ + } +#endif /* sbSEND_COMPLETE_FROM_ISR */ +/*lint -restore (9026) */ + +/* The number of bytes used to hold the length of a message in the buffer. */ +#define sbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) ) + +/* Bits stored in the ucFlags field of the stream buffer. */ +#define sbFLAGS_IS_MESSAGE_BUFFER ( ( uint8_t ) 1 ) /* Set if the stream buffer was created as a message buffer, in which case it holds discrete messages rather than a stream. */ +#define sbFLAGS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 2 ) /* Set if the stream buffer was created using statically allocated memory. */ + +/*-----------------------------------------------------------*/ + +/* Structure that hold state information on the buffer. */ +typedef struct StreamBufferDef_t /*lint !e9058 Style convention uses tag. */ +{ + volatile size_t xTail; /* Index to the next item to read within the buffer. */ + volatile size_t xHead; /* Index to the next item to write within the buffer. */ + size_t xLength; /* The length of the buffer pointed to by pucBuffer. */ + size_t xTriggerLevelBytes; /* The number of bytes that must be in the stream buffer before a task that is waiting for data is unblocked. */ + volatile TaskHandle_t xTaskWaitingToReceive; /* Holds the handle of a task waiting for data, or NULL if no tasks are waiting. */ + volatile TaskHandle_t xTaskWaitingToSend; /* Holds the handle of a task waiting to send data to a message buffer that is full. */ + uint8_t * pucBuffer; /* Points to the buffer itself - that is - the RAM that stores the data passed through the buffer. */ + uint8_t ucFlags; + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxStreamBufferNumber; /* Used for tracing purposes. */ + #endif +} StreamBuffer_t; + +/* + * The number of bytes available to be read from the buffer. + */ +static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer ) PRIVILEGED_FUNCTION; + +/* + * Add xCount bytes from pucData into the pxStreamBuffer message buffer. + * Returns the number of bytes written, which will either equal xCount in the + * success case, or 0 if there was not enough space in the buffer (in which case + * no data is written into the buffer). + */ +static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, + const uint8_t * pucData, + size_t xCount ) PRIVILEGED_FUNCTION; + +/* + * If the stream buffer is being used as a message buffer, then reads an entire + * message out of the buffer. If the stream buffer is being used as a stream + * buffer then read as many bytes as possible from the buffer. + * prvReadBytesFromBuffer() is called to actually extract the bytes from the + * buffer's data storage area. + */ +static size_t prvReadMessageFromBuffer( StreamBuffer_t * pxStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + size_t xBytesAvailable, + size_t xBytesToStoreMessageLength ) PRIVILEGED_FUNCTION; + +/* + * If the stream buffer is being used as a message buffer, then writes an entire + * message to the buffer. If the stream buffer is being used as a stream + * buffer then write as many bytes as possible to the buffer. + * prvWriteBytestoBuffer() is called to actually send the bytes to the buffer's + * data storage area. + */ +static size_t prvWriteMessageToBuffer( StreamBuffer_t * const pxStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + size_t xSpace, + size_t xRequiredSpace ) PRIVILEGED_FUNCTION; + +/* + * Read xMaxCount bytes from the pxStreamBuffer message buffer and write them + * to pucData. + */ +static size_t prvReadBytesFromBuffer( StreamBuffer_t * pxStreamBuffer, + uint8_t * pucData, + size_t xMaxCount, + size_t xBytesAvailable ) PRIVILEGED_FUNCTION; + +/* + * Called by both pxStreamBufferCreate() and pxStreamBufferCreateStatic() to + * initialise the members of the newly created stream buffer structure. + */ +static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer, + uint8_t * const pucBuffer, + size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + uint8_t ucFlags ) PRIVILEGED_FUNCTION; + +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer ) + { + uint8_t * pucAllocatedMemory; + uint8_t ucFlags; + + /* In case the stream buffer is going to be used as a message buffer + * (that is, it will hold discrete messages with a little meta data that + * says how big the next message is) check the buffer will be large enough + * to hold at least one message. */ + if( xIsMessageBuffer == pdTRUE ) + { + /* Is a message buffer but not statically allocated. */ + ucFlags = sbFLAGS_IS_MESSAGE_BUFFER; + configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH ); + } + else + { + /* Not a message buffer and not statically allocated. */ + ucFlags = 0; + configASSERT( xBufferSizeBytes > 0 ); + } + + configASSERT( xTriggerLevelBytes <= xBufferSizeBytes ); + + /* A trigger level of 0 would cause a waiting task to unblock even when + * the buffer was empty. */ + if( xTriggerLevelBytes == ( size_t ) 0 ) + { + xTriggerLevelBytes = ( size_t ) 1; + } + + /* A stream buffer requires a StreamBuffer_t structure and a buffer. + * Both are allocated in a single call to pvPortMalloc(). The + * StreamBuffer_t structure is placed at the start of the allocated memory + * and the buffer follows immediately after. The requested size is + * incremented so the free space is returned as the user would expect - + * this is a quirk of the implementation that means otherwise the free + * space would be reported as one byte smaller than would be logically + * expected. */ + if( xBufferSizeBytes < ( xBufferSizeBytes + 1 + sizeof( StreamBuffer_t ) ) ) + { + xBufferSizeBytes++; + pucAllocatedMemory = ( uint8_t * ) pvPortMalloc( xBufferSizeBytes + sizeof( StreamBuffer_t ) ); /*lint !e9079 malloc() only returns void*. */ + } + else + { + pucAllocatedMemory = NULL; + } + + + if( pucAllocatedMemory != NULL ) + { + prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pucAllocatedMemory, /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */ + pucAllocatedMemory + sizeof( StreamBuffer_t ), /* Storage area follows. */ /*lint !e9016 Indexing past structure valid for uint8_t pointer, also storage area has no alignment requirement. */ + xBufferSizeBytes, + xTriggerLevelBytes, + ucFlags ); + + traceSTREAM_BUFFER_CREATE( ( ( StreamBuffer_t * ) pucAllocatedMemory ), xIsMessageBuffer ); + } + else + { + traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ); + } + + return ( StreamBufferHandle_t ) pucAllocatedMemory; /*lint !e9087 !e826 Safe cast as allocated memory is aligned. */ + } + +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + + StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer, + uint8_t * const pucStreamBufferStorageArea, + StaticStreamBuffer_t * const pxStaticStreamBuffer ) + { + StreamBuffer_t * const pxStreamBuffer = ( StreamBuffer_t * ) pxStaticStreamBuffer; /*lint !e740 !e9087 Safe cast as StaticStreamBuffer_t is opaque Streambuffer_t. */ + StreamBufferHandle_t xReturn; + uint8_t ucFlags; + + configASSERT( pucStreamBufferStorageArea ); + configASSERT( pxStaticStreamBuffer ); + configASSERT( xTriggerLevelBytes <= xBufferSizeBytes ); + + /* A trigger level of 0 would cause a waiting task to unblock even when + * the buffer was empty. */ + if( xTriggerLevelBytes == ( size_t ) 0 ) + { + xTriggerLevelBytes = ( size_t ) 1; + } + + if( xIsMessageBuffer != pdFALSE ) + { + /* Statically allocated message buffer. */ + ucFlags = sbFLAGS_IS_MESSAGE_BUFFER | sbFLAGS_IS_STATICALLY_ALLOCATED; + } + else + { + /* Statically allocated stream buffer. */ + ucFlags = sbFLAGS_IS_STATICALLY_ALLOCATED; + } + + /* In case the stream buffer is going to be used as a message buffer + * (that is, it will hold discrete messages with a little meta data that + * says how big the next message is) check the buffer will be large enough + * to hold at least one message. */ + configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH ); + + #if ( configASSERT_DEFINED == 1 ) + { + /* Sanity check that the size of the structure used to declare a + * variable of type StaticStreamBuffer_t equals the size of the real + * message buffer structure. */ + volatile size_t xSize = sizeof( StaticStreamBuffer_t ); + configASSERT( xSize == sizeof( StreamBuffer_t ) ); + } /*lint !e529 xSize is referenced is configASSERT() is defined. */ + #endif /* configASSERT_DEFINED */ + + if( ( pucStreamBufferStorageArea != NULL ) && ( pxStaticStreamBuffer != NULL ) ) + { + prvInitialiseNewStreamBuffer( pxStreamBuffer, + pucStreamBufferStorageArea, + xBufferSizeBytes, + xTriggerLevelBytes, + ucFlags ); + + /* Remember this was statically allocated in case it is ever deleted + * again. */ + pxStreamBuffer->ucFlags |= sbFLAGS_IS_STATICALLY_ALLOCATED; + + traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ); + + xReturn = ( StreamBufferHandle_t ) pxStaticStreamBuffer; /*lint !e9087 Data hiding requires cast to opaque type. */ + } + else + { + xReturn = NULL; + traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ); + } + + return xReturn; + } + +#endif /* ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ +/*-----------------------------------------------------------*/ + +void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) +{ + StreamBuffer_t * pxStreamBuffer = xStreamBuffer; + + configASSERT( pxStreamBuffer ); + + traceSTREAM_BUFFER_DELETE( xStreamBuffer ); + + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) pdFALSE ) + { + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* Both the structure and the buffer were allocated using a single call + * to pvPortMalloc(), hence only one call to vPortFree() is required. */ + vPortFree( ( void * ) pxStreamBuffer ); /*lint !e9087 Standard free() semantics require void *, plus pxStreamBuffer was allocated by pvPortMalloc(). */ + } + #else + { + /* Should not be possible to get here, ucFlags must be corrupt. + * Force an assert. */ + configASSERT( xStreamBuffer == ( StreamBufferHandle_t ) ~0 ); + } + #endif + } + else + { + /* The structure and buffer were not allocated dynamically and cannot be + * freed - just scrub the structure so future use will assert. */ + ( void ) memset( pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) ); + } +} +/*-----------------------------------------------------------*/ + +BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + BaseType_t xReturn = pdFAIL; + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxStreamBufferNumber; + #endif + + configASSERT( pxStreamBuffer ); + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Store the stream buffer number so it can be restored after the + * reset. */ + uxStreamBufferNumber = pxStreamBuffer->uxStreamBufferNumber; + } + #endif + + /* Can only reset a message buffer if there are no tasks blocked on it. */ + taskENTER_CRITICAL(); + { + if( pxStreamBuffer->xTaskWaitingToReceive == NULL ) + { + if( pxStreamBuffer->xTaskWaitingToSend == NULL ) + { + prvInitialiseNewStreamBuffer( pxStreamBuffer, + pxStreamBuffer->pucBuffer, + pxStreamBuffer->xLength, + pxStreamBuffer->xTriggerLevelBytes, + pxStreamBuffer->ucFlags ); + xReturn = pdPASS; + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + pxStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber; + } + #endif + + traceSTREAM_BUFFER_RESET( xStreamBuffer ); + } + } + } + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, + size_t xTriggerLevel ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + BaseType_t xReturn; + + configASSERT( pxStreamBuffer ); + + /* It is not valid for the trigger level to be 0. */ + if( xTriggerLevel == ( size_t ) 0 ) + { + xTriggerLevel = ( size_t ) 1; + } + + /* The trigger level is the number of bytes that must be in the stream + * buffer before a task that is waiting for data is unblocked. */ + if( xTriggerLevel <= pxStreamBuffer->xLength ) + { + pxStreamBuffer->xTriggerLevelBytes = xTriggerLevel; + xReturn = pdPASS; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) +{ + const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xSpace; + + configASSERT( pxStreamBuffer ); + + xSpace = pxStreamBuffer->xLength + pxStreamBuffer->xTail; + xSpace -= pxStreamBuffer->xHead; + xSpace -= ( size_t ) 1; + + if( xSpace >= pxStreamBuffer->xLength ) + { + xSpace -= pxStreamBuffer->xLength; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xSpace; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) +{ + const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xReturn; + + configASSERT( pxStreamBuffer ); + + xReturn = prvBytesInBuffer( pxStreamBuffer ); + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + TickType_t xTicksToWait ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xReturn, xSpace = 0; + size_t xRequiredSpace = xDataLengthBytes; + TimeOut_t xTimeOut; + + /* The maximum amount of space a stream buffer will ever report is its length + * minus 1. */ + const size_t xMaxReportedSpace = pxStreamBuffer->xLength - ( size_t ) 1; + + configASSERT( pvTxData ); + configASSERT( pxStreamBuffer ); + + /* This send function is used to write to both message buffers and stream + * buffers. If this is a message buffer then the space needed must be + * increased by the amount of bytes needed to store the length of the + * message. */ + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 ) + { + xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH; + + /* Overflow? */ + configASSERT( xRequiredSpace > xDataLengthBytes ); + + /* If this is a message buffer then it must be possible to write the + * whole message. */ + if( xRequiredSpace > xMaxReportedSpace ) + { + /* The message would not fit even if the entire buffer was empty, + * so don't wait for space. */ + xTicksToWait = ( TickType_t ) 0; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* If this is a stream buffer then it is acceptable to write only part + * of the message to the buffer. Cap the length to the total length of + * the buffer. */ + if( xRequiredSpace > xMaxReportedSpace ) + { + xRequiredSpace = xMaxReportedSpace; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + if( xTicksToWait != ( TickType_t ) 0 ) + { + vTaskSetTimeOutState( &xTimeOut ); + + do + { + /* Wait until the required number of bytes are free in the message + * buffer. */ + taskENTER_CRITICAL(); + { + xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer ); + + if( xSpace < xRequiredSpace ) + { + /* Clear notification state as going to wait for space. */ + ( void ) xTaskNotifyStateClear( NULL ); + + /* Should only be one writer. */ + configASSERT( pxStreamBuffer->xTaskWaitingToSend == NULL ); + pxStreamBuffer->xTaskWaitingToSend = xTaskGetCurrentTaskHandle(); + } + else + { + taskEXIT_CRITICAL(); + break; + } + } + taskEXIT_CRITICAL(); + + traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ); + ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait ); + pxStreamBuffer->xTaskWaitingToSend = NULL; + } while( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( xSpace == ( size_t ) 0 ) + { + xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace ); + + if( xReturn > ( size_t ) 0 ) + { + traceSTREAM_BUFFER_SEND( xStreamBuffer, xReturn ); + + /* Was a task waiting for the data? */ + if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes ) + { + sbSEND_COMPLETED( pxStreamBuffer ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ); + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + BaseType_t * const pxHigherPriorityTaskWoken ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xReturn, xSpace; + size_t xRequiredSpace = xDataLengthBytes; + + configASSERT( pvTxData ); + configASSERT( pxStreamBuffer ); + + /* This send function is used to write to both message buffers and stream + * buffers. If this is a message buffer then the space needed must be + * increased by the amount of bytes needed to store the length of the + * message. */ + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 ) + { + xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer ); + xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace ); + + if( xReturn > ( size_t ) 0 ) + { + /* Was a task waiting for the data? */ + if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes ) + { + sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xReturn ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static size_t prvWriteMessageToBuffer( StreamBuffer_t * const pxStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + size_t xSpace, + size_t xRequiredSpace ) +{ + BaseType_t xShouldWrite; + size_t xReturn; + + if( xSpace == ( size_t ) 0 ) + { + /* Doesn't matter if this is a stream buffer or a message buffer, there + * is no space to write. */ + xShouldWrite = pdFALSE; + } + else if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) == ( uint8_t ) 0 ) + { + /* This is a stream buffer, as opposed to a message buffer, so writing a + * stream of bytes rather than discrete messages. Write as many bytes as + * possible. */ + xShouldWrite = pdTRUE; + xDataLengthBytes = configMIN( xDataLengthBytes, xSpace ); + } + else if( xSpace >= xRequiredSpace ) + { + /* This is a message buffer, as opposed to a stream buffer, and there + * is enough space to write both the message length and the message itself + * into the buffer. Start by writing the length of the data, the data + * itself will be written later in this function. */ + xShouldWrite = pdTRUE; + ( void ) prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) &( xDataLengthBytes ), sbBYTES_TO_STORE_MESSAGE_LENGTH ); + } + else + { + /* There is space available, but not enough space. */ + xShouldWrite = pdFALSE; + } + + if( xShouldWrite != pdFALSE ) + { + /* Writes the data itself. */ + xReturn = prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) pvTxData, xDataLengthBytes ); /*lint !e9079 Storage buffer is implemented as uint8_t for ease of sizing, alignment and access. */ + } + else + { + xReturn = 0; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + TickType_t xTicksToWait ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength; + + configASSERT( pvRxData ); + configASSERT( pxStreamBuffer ); + + /* This receive function is used by both message buffers, which store + * discrete messages, and stream buffers, which store a continuous stream of + * bytes. Discrete messages include an additional + * sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the + * message. */ + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 ) + { + xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH; + } + else + { + xBytesToStoreMessageLength = 0; + } + + if( xTicksToWait != ( TickType_t ) 0 ) + { + /* Checking if there is data and clearing the notification state must be + * performed atomically. */ + taskENTER_CRITICAL(); + { + xBytesAvailable = prvBytesInBuffer( pxStreamBuffer ); + + /* If this function was invoked by a message buffer read then + * xBytesToStoreMessageLength holds the number of bytes used to hold + * the length of the next discrete message. If this function was + * invoked by a stream buffer read then xBytesToStoreMessageLength will + * be 0. */ + if( xBytesAvailable <= xBytesToStoreMessageLength ) + { + /* Clear notification state as going to wait for data. */ + ( void ) xTaskNotifyStateClear( NULL ); + + /* Should only be one reader. */ + configASSERT( pxStreamBuffer->xTaskWaitingToReceive == NULL ); + pxStreamBuffer->xTaskWaitingToReceive = xTaskGetCurrentTaskHandle(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + if( xBytesAvailable <= xBytesToStoreMessageLength ) + { + /* Wait for data to be available. */ + traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ); + ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait ); + pxStreamBuffer->xTaskWaitingToReceive = NULL; + + /* Recheck the data available after blocking. */ + xBytesAvailable = prvBytesInBuffer( pxStreamBuffer ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + xBytesAvailable = prvBytesInBuffer( pxStreamBuffer ); + } + + /* Whether receiving a discrete message (where xBytesToStoreMessageLength + * holds the number of bytes used to store the message length) or a stream of + * bytes (where xBytesToStoreMessageLength is zero), the number of bytes + * available must be greater than xBytesToStoreMessageLength to be able to + * read bytes from the buffer. */ + if( xBytesAvailable > xBytesToStoreMessageLength ) + { + xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable, xBytesToStoreMessageLength ); + + /* Was a task waiting for space in the buffer? */ + if( xReceivedLength != ( size_t ) 0 ) + { + traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ); + sbRECEIVE_COMPLETED( pxStreamBuffer ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ); + mtCOVERAGE_TEST_MARKER(); + } + + return xReceivedLength; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xReturn, xBytesAvailable, xOriginalTail; + configMESSAGE_BUFFER_LENGTH_TYPE xTempReturn; + + configASSERT( pxStreamBuffer ); + + /* Ensure the stream buffer is being used as a message buffer. */ + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 ) + { + xBytesAvailable = prvBytesInBuffer( pxStreamBuffer ); + + if( xBytesAvailable > sbBYTES_TO_STORE_MESSAGE_LENGTH ) + { + /* The number of bytes available is greater than the number of bytes + * required to hold the length of the next message, so another message + * is available. Return its length without removing the length bytes + * from the buffer. A copy of the tail is stored so the buffer can be + * returned to its prior state as the message is not actually being + * removed from the buffer. */ + xOriginalTail = pxStreamBuffer->xTail; + ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempReturn, sbBYTES_TO_STORE_MESSAGE_LENGTH, xBytesAvailable ); + xReturn = ( size_t ) xTempReturn; + pxStreamBuffer->xTail = xOriginalTail; + } + else + { + /* The minimum amount of bytes in a message buffer is + * ( sbBYTES_TO_STORE_MESSAGE_LENGTH + 1 ), so if xBytesAvailable is + * less than sbBYTES_TO_STORE_MESSAGE_LENGTH the only other valid + * value is 0. */ + configASSERT( xBytesAvailable == 0 ); + xReturn = 0; + } + } + else + { + xReturn = 0; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + BaseType_t * const pxHigherPriorityTaskWoken ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength; + + configASSERT( pvRxData ); + configASSERT( pxStreamBuffer ); + + /* This receive function is used by both message buffers, which store + * discrete messages, and stream buffers, which store a continuous stream of + * bytes. Discrete messages include an additional + * sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the + * message. */ + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 ) + { + xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH; + } + else + { + xBytesToStoreMessageLength = 0; + } + + xBytesAvailable = prvBytesInBuffer( pxStreamBuffer ); + + /* Whether receiving a discrete message (where xBytesToStoreMessageLength + * holds the number of bytes used to store the message length) or a stream of + * bytes (where xBytesToStoreMessageLength is zero), the number of bytes + * available must be greater than xBytesToStoreMessageLength to be able to + * read bytes from the buffer. */ + if( xBytesAvailable > xBytesToStoreMessageLength ) + { + xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable, xBytesToStoreMessageLength ); + + /* Was a task waiting for space in the buffer? */ + if( xReceivedLength != ( size_t ) 0 ) + { + sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ); + + return xReceivedLength; +} +/*-----------------------------------------------------------*/ + +static size_t prvReadMessageFromBuffer( StreamBuffer_t * pxStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + size_t xBytesAvailable, + size_t xBytesToStoreMessageLength ) +{ + size_t xOriginalTail, xReceivedLength, xNextMessageLength; + configMESSAGE_BUFFER_LENGTH_TYPE xTempNextMessageLength; + + if( xBytesToStoreMessageLength != ( size_t ) 0 ) + { + /* A discrete message is being received. First receive the length + * of the message. A copy of the tail is stored so the buffer can be + * returned to its prior state if the length of the message is too + * large for the provided buffer. */ + xOriginalTail = pxStreamBuffer->xTail; + ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempNextMessageLength, xBytesToStoreMessageLength, xBytesAvailable ); + xNextMessageLength = ( size_t ) xTempNextMessageLength; + + /* Reduce the number of bytes available by the number of bytes just + * read out. */ + xBytesAvailable -= xBytesToStoreMessageLength; + + /* Check there is enough space in the buffer provided by the + * user. */ + if( xNextMessageLength > xBufferLengthBytes ) + { + /* The user has provided insufficient space to read the message + * so return the buffer to its previous state (so the length of + * the message is in the buffer again). */ + pxStreamBuffer->xTail = xOriginalTail; + xNextMessageLength = 0; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* A stream of bytes is being received (as opposed to a discrete + * message), so read as many bytes as possible. */ + xNextMessageLength = xBufferLengthBytes; + } + + /* Read the actual data. */ + xReceivedLength = prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) pvRxData, xNextMessageLength, xBytesAvailable ); /*lint !e9079 Data storage area is implemented as uint8_t array for ease of sizing, indexing and alignment. */ + + return xReceivedLength; +} +/*-----------------------------------------------------------*/ + +BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) +{ + const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + BaseType_t xReturn; + size_t xTail; + + configASSERT( pxStreamBuffer ); + + /* True if no bytes are available. */ + xTail = pxStreamBuffer->xTail; + + if( pxStreamBuffer->xHead == xTail ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) +{ + BaseType_t xReturn; + size_t xBytesToStoreMessageLength; + const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + + configASSERT( pxStreamBuffer ); + + /* This generic version of the receive function is used by both message + * buffers, which store discrete messages, and stream buffers, which store a + * continuous stream of bytes. Discrete messages include an additional + * sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the message. */ + if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 ) + { + xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH; + } + else + { + xBytesToStoreMessageLength = 0; + } + + /* True if the available space equals zero. */ + if( xStreamBufferSpacesAvailable( xStreamBuffer ) <= xBytesToStoreMessageLength ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, + BaseType_t * pxHigherPriorityTaskWoken ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + BaseType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( pxStreamBuffer ); + + uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) + { + ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive, + ( uint32_t ) 0, + eNoAction, + pxHigherPriorityTaskWoken ); + ( pxStreamBuffer )->xTaskWaitingToReceive = NULL; + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, + BaseType_t * pxHigherPriorityTaskWoken ) +{ + StreamBuffer_t * const pxStreamBuffer = xStreamBuffer; + BaseType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( pxStreamBuffer ); + + uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) + { + ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend, + ( uint32_t ) 0, + eNoAction, + pxHigherPriorityTaskWoken ); + ( pxStreamBuffer )->xTaskWaitingToSend = NULL; + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, + const uint8_t * pucData, + size_t xCount ) +{ + size_t xNextHead, xFirstLength; + + configASSERT( xCount > ( size_t ) 0 ); + + xNextHead = pxStreamBuffer->xHead; + + /* Calculate the number of bytes that can be added in the first write - + * which may be less than the total number of bytes that need to be added if + * the buffer will wrap back to the beginning. */ + xFirstLength = configMIN( pxStreamBuffer->xLength - xNextHead, xCount ); + + /* Write as many bytes as can be written in the first write. */ + configASSERT( ( xNextHead + xFirstLength ) <= pxStreamBuffer->xLength ); + ( void ) memcpy( ( void * ) ( &( pxStreamBuffer->pucBuffer[ xNextHead ] ) ), ( const void * ) pucData, xFirstLength ); /*lint !e9087 memcpy() requires void *. */ + + /* If the number of bytes written was less than the number that could be + * written in the first write... */ + if( xCount > xFirstLength ) + { + /* ...then write the remaining bytes to the start of the buffer. */ + configASSERT( ( xCount - xFirstLength ) <= pxStreamBuffer->xLength ); + ( void ) memcpy( ( void * ) pxStreamBuffer->pucBuffer, ( const void * ) &( pucData[ xFirstLength ] ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xNextHead += xCount; + + if( xNextHead >= pxStreamBuffer->xLength ) + { + xNextHead -= pxStreamBuffer->xLength; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxStreamBuffer->xHead = xNextHead; + + return xCount; +} +/*-----------------------------------------------------------*/ + +static size_t prvReadBytesFromBuffer( StreamBuffer_t * pxStreamBuffer, + uint8_t * pucData, + size_t xMaxCount, + size_t xBytesAvailable ) +{ + size_t xCount, xFirstLength, xNextTail; + + /* Use the minimum of the wanted bytes and the available bytes. */ + xCount = configMIN( xBytesAvailable, xMaxCount ); + + if( xCount > ( size_t ) 0 ) + { + xNextTail = pxStreamBuffer->xTail; + + /* Calculate the number of bytes that can be read - which may be + * less than the number wanted if the data wraps around to the start of + * the buffer. */ + xFirstLength = configMIN( pxStreamBuffer->xLength - xNextTail, xCount ); + + /* Obtain the number of bytes it is possible to obtain in the first + * read. Asserts check bounds of read and write. */ + configASSERT( xFirstLength <= xMaxCount ); + configASSERT( ( xNextTail + xFirstLength ) <= pxStreamBuffer->xLength ); + ( void ) memcpy( ( void * ) pucData, ( const void * ) &( pxStreamBuffer->pucBuffer[ xNextTail ] ), xFirstLength ); /*lint !e9087 memcpy() requires void *. */ + + /* If the total number of wanted bytes is greater than the number + * that could be read in the first read... */ + if( xCount > xFirstLength ) + { + /*...then read the remaining bytes from the start of the buffer. */ + configASSERT( xCount <= xMaxCount ); + ( void ) memcpy( ( void * ) &( pucData[ xFirstLength ] ), ( void * ) ( pxStreamBuffer->pucBuffer ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Move the tail pointer to effectively remove the data read from + * the buffer. */ + xNextTail += xCount; + + if( xNextTail >= pxStreamBuffer->xLength ) + { + xNextTail -= pxStreamBuffer->xLength; + } + + pxStreamBuffer->xTail = xNextTail; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xCount; +} +/*-----------------------------------------------------------*/ + +static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer ) +{ +/* Returns the distance between xTail and xHead. */ + size_t xCount; + + xCount = pxStreamBuffer->xLength + pxStreamBuffer->xHead; + xCount -= pxStreamBuffer->xTail; + + if( xCount >= pxStreamBuffer->xLength ) + { + xCount -= pxStreamBuffer->xLength; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xCount; +} +/*-----------------------------------------------------------*/ + +static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer, + uint8_t * const pucBuffer, + size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + uint8_t ucFlags ) +{ + /* Assert here is deliberately writing to the entire buffer to ensure it can + * be written to without generating exceptions, and is setting the buffer to a + * known value to assist in development/debugging. */ + #if ( configASSERT_DEFINED == 1 ) + { + /* The value written just has to be identifiable when looking at the + * memory. Don't use 0xA5 as that is the stack fill value and could + * result in confusion as to what is actually being observed. */ + const BaseType_t xWriteValue = 0x55; + configASSERT( memset( pucBuffer, ( int ) xWriteValue, xBufferSizeBytes ) == pucBuffer ); + } /*lint !e529 !e438 xWriteValue is only used if configASSERT() is defined. */ + #endif + + ( void ) memset( ( void * ) pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) ); /*lint !e9087 memset() requires void *. */ + pxStreamBuffer->pucBuffer = pucBuffer; + pxStreamBuffer->xLength = xBufferSizeBytes; + pxStreamBuffer->xTriggerLevelBytes = xTriggerLevelBytes; + pxStreamBuffer->ucFlags = ucFlags; +} + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) + { + return xStreamBuffer->uxStreamBufferNumber; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, + UBaseType_t uxStreamBufferNumber ) + { + xStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) + { + return( xStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ); + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/tasks.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/tasks.c new file mode 100644 index 0000000..884005a --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/tasks.c @@ -0,0 +1,5395 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Standard includes. */ +#include +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "timers.h" +#include "stack_macros.h" + +/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined + * for the header files above, but not in this file, in order to generate the + * correct privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */ + +/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting + * functions but without including stdio.h here. */ +#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) + +/* At the bottom of this file are two optional functions that can be used + * to generate human readable text from the raw data generated by the + * uxTaskGetSystemState() function. Note the formatting functions are provided + * for convenience only, and are NOT considered part of the kernel. */ + #include +#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ + +#if ( configUSE_PREEMPTION == 0 ) + +/* If the cooperative scheduler is being used then a yield should not be + * performed just because a higher priority task has been woken. */ + #define taskYIELD_IF_USING_PREEMPTION() +#else + #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() +#endif + +/* Values that can be assigned to the ucNotifyState member of the TCB. */ +#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */ +#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 ) +#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 ) + +/* + * The value used to fill the stack of a task when the task is created. This + * is used purely for checking the high water mark for tasks. + */ +#define tskSTACK_FILL_BYTE ( 0xa5U ) + +/* Bits used to recored how a task's stack and TCB were allocated. */ +#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 ) +#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 ) +#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 ) + +/* If any of the following are set then task stacks are filled with a known + * value so the high water mark can be determined. If none of the following are + * set then don't fill the stack so there is no unnecessary dependency on memset. */ +#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) + #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1 +#else + #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0 +#endif + +/* + * Macros used by vListTask to indicate which state a task is in. + */ +#define tskRUNNING_CHAR ( 'X' ) +#define tskBLOCKED_CHAR ( 'B' ) +#define tskREADY_CHAR ( 'R' ) +#define tskDELETED_CHAR ( 'D' ) +#define tskSUSPENDED_CHAR ( 'S' ) + +/* + * Some kernel aware debuggers require the data the debugger needs access to be + * global, rather than file scope. + */ +#ifdef portREMOVE_STATIC_QUALIFIER + #define static +#endif + +/* The name allocated to the Idle task. This can be overridden by defining + * configIDLE_TASK_NAME in FreeRTOSConfig.h. */ +#ifndef configIDLE_TASK_NAME + #define configIDLE_TASK_NAME "IDLE" +#endif + +#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) + +/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is + * performed in a generic way that is not optimised to any particular + * microcontroller architecture. */ + +/* uxTopReadyPriority holds the priority of the highest priority ready + * state task. */ + #define taskRECORD_READY_PRIORITY( uxPriority ) \ + { \ + if( ( uxPriority ) > uxTopReadyPriority ) \ + { \ + uxTopReadyPriority = ( uxPriority ); \ + } \ + } /* taskRECORD_READY_PRIORITY */ + +/*-----------------------------------------------------------*/ + + #define taskSELECT_HIGHEST_PRIORITY_TASK() \ + { \ + UBaseType_t uxTopPriority = uxTopReadyPriority; \ + \ + /* Find the highest priority queue that contains ready tasks. */ \ + while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \ + { \ + configASSERT( uxTopPriority ); \ + --uxTopPriority; \ + } \ + \ + /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \ + * the same priority get an equal share of the processor time. */ \ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ + uxTopReadyPriority = uxTopPriority; \ + } /* taskSELECT_HIGHEST_PRIORITY_TASK */ + +/*-----------------------------------------------------------*/ + +/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as + * they are only required when a port optimised method of task selection is + * being used. */ + #define taskRESET_READY_PRIORITY( uxPriority ) + #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) + +#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is + * performed in a way that is tailored to the particular microcontroller + * architecture being used. */ + +/* A port optimised version is provided. Call the port defined macros. */ + #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) + +/*-----------------------------------------------------------*/ + + #define taskSELECT_HIGHEST_PRIORITY_TASK() \ + { \ + UBaseType_t uxTopPriority; \ + \ + /* Find the highest priority list that contains ready tasks. */ \ + portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ + configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ + } /* taskSELECT_HIGHEST_PRIORITY_TASK() */ + +/*-----------------------------------------------------------*/ + +/* A port optimised version is provided, call it only if the TCB being reset + * is being referenced from a ready list. If it is referenced from a delayed + * or suspended list then it won't be in a ready list. */ + #define taskRESET_READY_PRIORITY( uxPriority ) \ + { \ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ + { \ + portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ + } \ + } + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + +/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick + * count overflows. */ +#define taskSWITCH_DELAYED_LISTS() \ + { \ + List_t * pxTemp; \ + \ + /* The delayed tasks list should be empty when the lists are switched. */ \ + configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ + \ + pxTemp = pxDelayedTaskList; \ + pxDelayedTaskList = pxOverflowDelayedTaskList; \ + pxOverflowDelayedTaskList = pxTemp; \ + xNumOfOverflows++; \ + prvResetNextTaskUnblockTime(); \ + } + +/*-----------------------------------------------------------*/ + +/* + * Place the task represented by pxTCB into the appropriate ready list for + * the task. It is inserted at the end of the list. + */ +#define prvAddTaskToReadyList( pxTCB ) \ + traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ + taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ + vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ + tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) +/*-----------------------------------------------------------*/ + +/* + * Several functions take an TaskHandle_t parameter that can optionally be NULL, + * where NULL is used to indicate that the handle of the currently executing + * task should be used in place of the parameter. This macro simply checks to + * see if the parameter is NULL and returns a pointer to the appropriate TCB. + */ +#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) ) + +/* The item value of the event list item is normally used to hold the priority + * of the task to which it belongs (coded to allow it to be held in reverse + * priority order). However, it is occasionally borrowed for other purposes. It + * is important its value is not updated due to a task priority change while it is + * being used for another purpose. The following bit definition is used to inform + * the scheduler that the value should not be changed - in which case it is the + * responsibility of whichever module is using the value to ensure it gets set back + * to its original value when it is released. */ +#if ( configUSE_16_BIT_TICKS == 1 ) + #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U +#else + #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL +#endif + +/* + * Task control block. A task control block (TCB) is allocated for each task, + * and stores task state information, including a pointer to the task's context + * (the task's run time environment, including register values) + */ +typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */ +{ + volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */ + + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ + #endif + + ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ + ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ + UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ + StackType_t * pxStack; /*< Points to the start of the stack. */ + char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */ + #endif + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ + #endif + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ + UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ + #endif + + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ + UBaseType_t uxMutexesHeld; + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + TaskHookFunction_t pxTaskTag; + #endif + + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + + /* Allocate a Newlib reent structure that is specific to this task. + * Note Newlib support has been included by popular demand, but is not + * used by the FreeRTOS maintainers themselves. FreeRTOS is not + * responsible for resulting newlib operation. User must be familiar with + * newlib and must provide system-wide implementations of the necessary + * stubs. Be warned that (at the time of writing) the current newlib design + * implements a system-wide malloc() that must be provided with locks. + * + * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html + * for additional information. */ + struct _reent xNewLib_reent; + #endif + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; + volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; + #endif + + /* See the comments in FreeRTOS.h with the definition of + * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */ + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ + #endif + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDelayAborted; + #endif + + #if ( configUSE_POSIX_ERRNO == 1 ) + int iTaskErrno; + #endif +} tskTCB; + +/* The old tskTCB name is maintained above then typedefed to the new TCB_t name + * below to enable the use of older kernel aware debuggers. */ +typedef tskTCB TCB_t; + +/*lint -save -e956 A manual analysis and inspection has been used to determine + * which static variables must be declared volatile. */ +PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; + +/* Lists for ready and blocked tasks. -------------------- + * xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but + * doing so breaks some kernel aware debuggers and debuggers that rely on removing + * the static qualifier. */ +PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ +PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */ +PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ +PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ +PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ +PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */ + +#if ( INCLUDE_vTaskDelete == 1 ) + + PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ + PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U; + +#endif + +#if ( INCLUDE_vTaskSuspend == 1 ) + + PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */ + +#endif + +/* Global POSIX errno. Its value is changed upon context switching to match + * the errno of the currently running task. */ +#if ( configUSE_POSIX_ERRNO == 1 ) + int FreeRTOS_errno = 0; +#endif + +/* Other file private variables. --------------------------------*/ +PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U; +PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT; +PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE; +PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U; +PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; +PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; +PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; +PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */ +PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */ + +/* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists. + * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority + * to determine the number of priority lists to read back from the remote target. */ +const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U; + +/* Context switches are held pending while the scheduler is suspended. Also, + * interrupts must not manipulate the xStateListItem of a TCB, or any of the + * lists the xStateListItem can be referenced from, if the scheduler is suspended. + * If an interrupt needs to unblock a task while the scheduler is suspended then it + * moves the task's event list item into the xPendingReadyList, ready for the + * kernel to move the task from the pending ready list into the real ready list + * when the scheduler is unsuspended. The pending ready list itself can only be + * accessed from a critical section. */ +PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE; + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + +/* Do not move these variables to function scope as doing so prevents the + * code working with debuggers that need to remove the static qualifier. */ + PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ + PRIVILEGED_DATA static volatile uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */ + +#endif + +/*lint -restore */ + +/*-----------------------------------------------------------*/ + +/* File private functions. --------------------------------*/ + +/** + * Utility task that simply returns pdTRUE if the task referenced by xTask is + * currently in the Suspended state, or pdFALSE if the task referenced by xTask + * is in any other state. + */ +#if ( INCLUDE_vTaskSuspend == 1 ) + + static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +#endif /* INCLUDE_vTaskSuspend */ + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first task. + */ +static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; + +/* + * The idle task, which as all tasks is implemented as a never ending loop. + * The idle task is automatically created and added to the ready lists upon + * creation of the first user task. + * + * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION; + +/* + * Utility to free all memory allocated by the scheduler to hold a TCB, + * including the stack pointed to by the TCB. + * + * This does not free memory allocated by the task itself (i.e. memory + * allocated by calls to pvPortMalloc from within the tasks application code). + */ +#if ( INCLUDE_vTaskDelete == 1 ) + + static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Used only by the idle task. This checks to see if anything has been placed + * in the list of tasks waiting to be deleted. If so the task is cleaned up + * and its TCB deleted. + */ +static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; + +/* + * The currently executing task is entering the Blocked state. Add the task to + * either the current or the overflow delayed task list. + */ +static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, + const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION; + +/* + * Fills an TaskStatus_t structure with information on each task that is + * referenced from the pxList list (which may be a ready list, a delayed list, + * a suspended list, etc.). + * + * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM + * NORMAL APPLICATION CODE. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray, + List_t * pxList, + eTaskState eState ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Searches pxList for a task with name pcNameToQuery - returning a handle to + * the task if it is found, or NULL if the task is not found. + */ +#if ( INCLUDE_xTaskGetHandle == 1 ) + + static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList, + const char pcNameToQuery[] ) PRIVILEGED_FUNCTION; + +#endif + +/* + * When a task is created, the stack of the task is filled with a known value. + * This function determines the 'high water mark' of the task stack by + * determining how much of the stack remains at the original preset value. + */ +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) + + static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Return the amount of time, in ticks, that will pass before the kernel will + * next move a task from the Blocked state to the Running state. + * + * This conditional compilation should use inequality to 0, not equality to 1. + * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user + * defined low power mode implementations require configUSE_TICKLESS_IDLE to be + * set to a value other than 1. + */ +#if ( configUSE_TICKLESS_IDLE != 0 ) + + static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Set xNextTaskUnblockTime to the time at which the next Blocked state task + * will exit the Blocked state. + */ +static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION; + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + +/* + * Helper function used to pad task names with spaces when printing out + * human readable tables of task information. + */ + static char * prvWriteNameToBuffer( char * pcBuffer, + const char * pcTaskName ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Called after a Task_t structure has been allocated either statically or + * dynamically to fill in the structure's members. + */ +static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, + const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask, + TCB_t * pxNewTCB, + const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; + +/* + * Called after a new task has been created and initialised to place the task + * under the control of the scheduler. + */ +static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION; + +/* + * freertos_tasks_c_additions_init() should only be called if the user definable + * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro + * called by the function. + */ +#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT + + static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION; + +#endif + +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + + TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) + { + TCB_t * pxNewTCB; + TaskHandle_t xReturn; + + configASSERT( puxStackBuffer != NULL ); + configASSERT( pxTaskBuffer != NULL ); + + #if ( configASSERT_DEFINED == 1 ) + { + /* Sanity check that the size of the structure used to declare a + * variable of type StaticTask_t equals the size of the real task + * structure. */ + volatile size_t xSize = sizeof( StaticTask_t ); + configASSERT( xSize == sizeof( TCB_t ) ); + ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */ + } + #endif /* configASSERT_DEFINED */ + + if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) ) + { + /* The memory used for the task's TCB and stack are passed into this + * function - use them. */ + pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ + pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer; + + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */ + { + /* Tasks can be created statically or dynamically, so note this + * task was created statically in case the task is later deleted. */ + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; + } + #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */ + + prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL ); + prvAddNewTaskToReadyList( pxNewTCB ); + } + else + { + xReturn = NULL; + } + + return xReturn; + } + +#endif /* SUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + + BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, + TaskHandle_t * pxCreatedTask ) + { + TCB_t * pxNewTCB; + BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + + configASSERT( pxTaskDefinition->puxStackBuffer != NULL ); + configASSERT( pxTaskDefinition->pxTaskBuffer != NULL ); + + if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) ) + { + /* Allocate space for the TCB. Where the memory comes from depends + * on the implementation of the port malloc function and whether or + * not static allocation is being used. */ + pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer; + + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer; + + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + { + /* Tasks can be created statically or dynamically, so note this + * task was created statically in case the task is later deleted. */ + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; + } + #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */ + + prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, + pxTaskDefinition->pcName, + ( uint32_t ) pxTaskDefinition->usStackDepth, + pxTaskDefinition->pvParameters, + pxTaskDefinition->uxPriority, + pxCreatedTask, pxNewTCB, + pxTaskDefinition->xRegions ); + + prvAddNewTaskToReadyList( pxNewTCB ); + xReturn = pdPASS; + } + + return xReturn; + } + +#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ +/*-----------------------------------------------------------*/ + +#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + + BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, + TaskHandle_t * pxCreatedTask ) + { + TCB_t * pxNewTCB; + BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + + configASSERT( pxTaskDefinition->puxStackBuffer ); + + if( pxTaskDefinition->puxStackBuffer != NULL ) + { + /* Allocate space for the TCB. Where the memory comes from depends + * on the implementation of the port malloc function and whether or + * not static allocation is being used. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); + + if( pxNewTCB != NULL ) + { + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer; + + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + { + /* Tasks can be created statically or dynamically, so note + * this task had a statically allocated stack in case it is + * later deleted. The TCB was allocated dynamically. */ + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY; + } + #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */ + + prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, + pxTaskDefinition->pcName, + ( uint32_t ) pxTaskDefinition->usStackDepth, + pxTaskDefinition->pvParameters, + pxTaskDefinition->uxPriority, + pxCreatedTask, pxNewTCB, + pxTaskDefinition->xRegions ); + + prvAddNewTaskToReadyList( pxNewTCB ); + xReturn = pdPASS; + } + } + + return xReturn; + } + +#endif /* portUSING_MPU_WRAPPERS */ +/*-----------------------------------------------------------*/ + +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, + const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const configSTACK_DEPTH_TYPE usStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask ) + { + TCB_t * pxNewTCB; + BaseType_t xReturn; + + /* If the stack grows down then allocate the stack then the TCB so the stack + * does not grow into the TCB. Likewise if the stack grows up then allocate + * the TCB then the stack. */ + #if ( portSTACK_GROWTH > 0 ) + { + /* Allocate space for the TCB. Where the memory comes from depends on + * the implementation of the port malloc function and whether or not static + * allocation is being used. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); + + if( pxNewTCB != NULL ) + { + /* Allocate space for the stack used by the task being created. + * The base of the stack memory stored in the TCB so the task can + * be deleted later if required. */ + pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } + } + } + #else /* portSTACK_GROWTH */ + { + StackType_t * pxStack; + + /* Allocate space for the stack used by the task being created. */ + pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */ + + if( pxStack != NULL ) + { + /* Allocate space for the TCB. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */ + + if( pxNewTCB != NULL ) + { + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxStack; + } + else + { + /* The stack cannot be used as the TCB was not created. Free + * it again. */ + vPortFree( pxStack ); + } + } + else + { + pxNewTCB = NULL; + } + } + #endif /* portSTACK_GROWTH */ + + if( pxNewTCB != NULL ) + { + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */ + { + /* Tasks can be created statically or dynamically, so note this + * task was created dynamically in case it is later deleted. */ + pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB; + } + #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */ + + prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL ); + prvAddNewTaskToReadyList( pxNewTCB ); + xReturn = pdPASS; + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + return xReturn; + } + +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, + const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask, + TCB_t * pxNewTCB, + const MemoryRegion_t * const xRegions ) +{ + StackType_t * pxTopOfStack; + UBaseType_t x; + + #if ( portUSING_MPU_WRAPPERS == 1 ) + /* Should the task be created in privileged mode? */ + BaseType_t xRunPrivileged; + + if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) + { + xRunPrivileged = pdTRUE; + } + else + { + xRunPrivileged = pdFALSE; + } + uxPriority &= ~portPRIVILEGE_BIT; + #endif /* portUSING_MPU_WRAPPERS == 1 */ + + /* Avoid dependency on memset() if it is not required. */ + #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 ) + { + /* Fill the stack with a known value to assist debugging. */ + ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) ); + } + #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */ + + /* Calculate the top of stack address. This depends on whether the stack + * grows from high memory to low (as per the 80x86) or vice versa. + * portSTACK_GROWTH is used to make the result positive or negative as required + * by the port. */ + #if ( portSTACK_GROWTH < 0 ) + { + pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] ); + pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */ + + /* Check the alignment of the calculated top of stack is correct. */ + configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + + #if ( configRECORD_STACK_HIGH_ADDRESS == 1 ) + { + /* Also record the stack's high address, which may assist + * debugging. */ + pxNewTCB->pxEndOfStack = pxTopOfStack; + } + #endif /* configRECORD_STACK_HIGH_ADDRESS */ + } + #else /* portSTACK_GROWTH */ + { + pxTopOfStack = pxNewTCB->pxStack; + + /* Check the alignment of the stack buffer is correct. */ + configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + + /* The other extreme of the stack space is required if stack checking is + * performed. */ + pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); + } + #endif /* portSTACK_GROWTH */ + + /* Store the task name in the TCB. */ + if( pcName != NULL ) + { + for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) + { + pxNewTCB->pcTaskName[ x ] = pcName[ x ]; + + /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than + * configMAX_TASK_NAME_LEN characters just in case the memory after the + * string is not accessible (extremely unlikely). */ + if( pcName[ x ] == ( char ) 0x00 ) + { + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Ensure the name string is terminated in the case that the string length + * was greater or equal to configMAX_TASK_NAME_LEN. */ + pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0'; + } + else + { + /* The task has not been given a name, so just ensure there is a NULL + * terminator when it is read out. */ + pxNewTCB->pcTaskName[ 0 ] = 0x00; + } + + /* This is used as an array index so must ensure it's not too large. First + * remove the privilege bit if one is present. */ + if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) + { + uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxNewTCB->uxPriority = uxPriority; + #if ( configUSE_MUTEXES == 1 ) + { + pxNewTCB->uxBasePriority = uxPriority; + pxNewTCB->uxMutexesHeld = 0; + } + #endif /* configUSE_MUTEXES */ + + vListInitialiseItem( &( pxNewTCB->xStateListItem ) ); + vListInitialiseItem( &( pxNewTCB->xEventListItem ) ); + + /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get + * back to the containing TCB from a generic item in a list. */ + listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB ); + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + { + pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U; + } + #endif /* portCRITICAL_NESTING_IN_TCB */ + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + { + pxNewTCB->pxTaskTag = NULL; + } + #endif /* configUSE_APPLICATION_TASK_TAG */ + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxNewTCB->ulRunTimeCounter = 0UL; + } + #endif /* configGENERATE_RUN_TIME_STATS */ + + #if ( portUSING_MPU_WRAPPERS == 1 ) + { + vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth ); + } + #else + { + /* Avoid compiler warning about unreferenced parameter. */ + ( void ) xRegions; + } + #endif + + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + { + memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) ); + } + #endif + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + { + memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) ); + memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) ); + } + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + /* Initialise this task's Newlib reent structure. + * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html + * for additional information. */ + _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) ); + } + #endif + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + { + pxNewTCB->ucDelayAborted = pdFALSE; + } + #endif + + /* Initialize the TCB stack to look as if the task was already running, + * but had been interrupted by the scheduler. The return address is set + * to the start of the task function. Once the stack has been initialised + * the top of stack variable is updated. */ + #if ( portUSING_MPU_WRAPPERS == 1 ) + { + /* If the port has capability to detect stack overflow, + * pass the stack end address to the stack initialization + * function as well. */ + #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) + { + #if ( portSTACK_GROWTH < 0 ) + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #else /* portSTACK_GROWTH */ + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #endif /* portSTACK_GROWTH */ + } + #else /* portHAS_STACK_OVERFLOW_CHECKING */ + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #endif /* portHAS_STACK_OVERFLOW_CHECKING */ + } + #else /* portUSING_MPU_WRAPPERS */ + { + /* If the port has capability to detect stack overflow, + * pass the stack end address to the stack initialization + * function as well. */ + #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) + { + #if ( portSTACK_GROWTH < 0 ) + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters ); + } + #else /* portSTACK_GROWTH */ + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters ); + } + #endif /* portSTACK_GROWTH */ + } + #else /* portHAS_STACK_OVERFLOW_CHECKING */ + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); + } + #endif /* portHAS_STACK_OVERFLOW_CHECKING */ + } + #endif /* portUSING_MPU_WRAPPERS */ + + if( pxCreatedTask != NULL ) + { + /* Pass the handle out in an anonymous way. The handle can be used to + * change the created task's priority, delete the created task, etc.*/ + *pxCreatedTask = ( TaskHandle_t ) pxNewTCB; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) +{ + /* Ensure interrupts don't access the task lists while the lists are being + * updated. */ + taskENTER_CRITICAL(); + { + uxCurrentNumberOfTasks++; + + if( pxCurrentTCB == NULL ) + { + /* There are no other tasks, or all the other tasks are in + * the suspended state - make this the current task. */ + pxCurrentTCB = pxNewTCB; + + if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) + { + /* This is the first task to be created so do the preliminary + * initialisation required. We will not recover if this call + * fails, but we will report the failure. */ + prvInitialiseTaskLists(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* If the scheduler is not already running, make this task the + * current task if it is the highest priority task to be created + * so far. */ + if( xSchedulerRunning == pdFALSE ) + { + if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority ) + { + pxCurrentTCB = pxNewTCB; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + uxTaskNumber++; + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Add a counter into the TCB for tracing only. */ + pxNewTCB->uxTCBNumber = uxTaskNumber; + } + #endif /* configUSE_TRACE_FACILITY */ + traceTASK_CREATE( pxNewTCB ); + + prvAddTaskToReadyList( pxNewTCB ); + + portSETUP_TCB( pxNewTCB ); + } + taskEXIT_CRITICAL(); + + if( xSchedulerRunning != pdFALSE ) + { + /* If the created task is of a higher priority than the current task + * then it should run now. */ + if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority ) + { + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + void vTaskDelete( TaskHandle_t xTaskToDelete ) + { + TCB_t * pxTCB; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the calling task that is + * being deleted. */ + pxTCB = prvGetTCBFromHandle( xTaskToDelete ); + + /* Remove task from the ready/delayed list. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Is the task waiting on an event also? */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Increment the uxTaskNumber also so kernel aware debuggers can + * detect that the task lists need re-generating. This is done before + * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will + * not return. */ + uxTaskNumber++; + + if( pxTCB == pxCurrentTCB ) + { + /* A task is deleting itself. This cannot complete within the + * task itself, as a context switch to another task is required. + * Place the task in the termination list. The idle task will + * check the termination list and free up any memory allocated by + * the scheduler for the TCB and stack of the deleted task. */ + vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) ); + + /* Increment the ucTasksDeleted variable so the idle task knows + * there is a task that has been deleted and that it should therefore + * check the xTasksWaitingTermination list. */ + ++uxDeletedTasksWaitingCleanUp; + + /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as + * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */ + traceTASK_DELETE( pxTCB ); + + /* The pre-delete hook is primarily for the Windows simulator, + * in which Windows specific clean up operations are performed, + * after which it is not possible to yield away from this task - + * hence xYieldPending is used to latch that a context switch is + * required. */ + portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); + } + else + { + --uxCurrentNumberOfTasks; + traceTASK_DELETE( pxTCB ); + prvDeleteTCB( pxTCB ); + + /* Reset the next expected unblock time in case it referred to + * the task that has just been deleted. */ + prvResetNextTaskUnblockTime(); + } + } + taskEXIT_CRITICAL(); + + /* Force a reschedule if it is the currently running task that has just + * been deleted. */ + if( xSchedulerRunning != pdFALSE ) + { + if( pxTCB == pxCurrentTCB ) + { + configASSERT( uxSchedulerSuspended == 0 ); + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + +#endif /* INCLUDE_vTaskDelete */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskDelayUntil == 1 ) + + BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime, + const TickType_t xTimeIncrement ) + { + TickType_t xTimeToWake; + BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE; + + configASSERT( pxPreviousWakeTime ); + configASSERT( ( xTimeIncrement > 0U ) ); + configASSERT( uxSchedulerSuspended == 0 ); + + vTaskSuspendAll(); + { + /* Minor optimisation. The tick count cannot change in this + * block. */ + const TickType_t xConstTickCount = xTickCount; + + /* Generate the tick time at which the task wants to wake. */ + xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; + + if( xConstTickCount < *pxPreviousWakeTime ) + { + /* The tick count has overflowed since this function was + * lasted called. In this case the only time we should ever + * actually delay is if the wake time has also overflowed, + * and the wake time is greater than the tick time. When this + * is the case it is as if neither time had overflowed. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) ) + { + xShouldDelay = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* The tick time has not overflowed. In this case we will + * delay if either the wake time has overflowed, and/or the + * tick time is less than the wake time. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) ) + { + xShouldDelay = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Update the wake time ready for the next call. */ + *pxPreviousWakeTime = xTimeToWake; + + if( xShouldDelay != pdFALSE ) + { + traceTASK_DELAY_UNTIL( xTimeToWake ); + + /* prvAddCurrentTaskToDelayedList() needs the block time, not + * the time to wake, so subtract the current tick count. */ + prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + xAlreadyYielded = xTaskResumeAll(); + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + * have put ourselves to sleep. */ + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xShouldDelay; + } + +#endif /* INCLUDE_xTaskDelayUntil */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + + void vTaskDelay( const TickType_t xTicksToDelay ) + { + BaseType_t xAlreadyYielded = pdFALSE; + + /* A delay time of zero just forces a reschedule. */ + if( xTicksToDelay > ( TickType_t ) 0U ) + { + configASSERT( uxSchedulerSuspended == 0 ); + vTaskSuspendAll(); + { + traceTASK_DELAY(); + + /* A task that is removed from the event list while the + * scheduler is suspended will not get placed in the ready + * list or removed from the blocked list until the scheduler + * is resumed. + * + * This task cannot be in an event list as it is the currently + * executing task. */ + prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE ); + } + xAlreadyYielded = xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + * have put ourselves to sleep. */ + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskDelay */ +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) ) + + eTaskState eTaskGetState( TaskHandle_t xTask ) + { + eTaskState eReturn; + List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList; + const TCB_t * const pxTCB = xTask; + + configASSERT( pxTCB ); + + if( pxTCB == pxCurrentTCB ) + { + /* The task calling this function is querying its own state. */ + eReturn = eRunning; + } + else + { + taskENTER_CRITICAL(); + { + pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) ); + pxDelayedList = pxDelayedTaskList; + pxOverflowedDelayedList = pxOverflowDelayedTaskList; + } + taskEXIT_CRITICAL(); + + if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) ) + { + /* The task being queried is referenced from one of the Blocked + * lists. */ + eReturn = eBlocked; + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + else if( pxStateList == &xSuspendedTaskList ) + { + /* The task being queried is referenced from the suspended + * list. Is it genuinely suspended or is it blocked + * indefinitely? */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) + { + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + { + BaseType_t x; + + /* The task does not appear on the event list item of + * and of the RTOS objects, but could still be in the + * blocked state if it is waiting on its notification + * rather than waiting on an object. If not, is + * suspended. */ + eReturn = eSuspended; + + for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ ) + { + if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION ) + { + eReturn = eBlocked; + break; + } + } + } + #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ + { + eReturn = eSuspended; + } + #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ + } + else + { + eReturn = eBlocked; + } + } + #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */ + + #if ( INCLUDE_vTaskDelete == 1 ) + else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) ) + { + /* The task being queried is referenced from the deleted + * tasks list, or it is not referenced from any lists at + * all. */ + eReturn = eDeleted; + } + #endif + + else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ + { + /* If the task is not in any other state, it must be in the + * Ready (including pending ready) state. */ + eReturn = eReady; + } + } + + return eReturn; + } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ + +#endif /* INCLUDE_eTaskGetState */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) + { + TCB_t const * pxTCB; + UBaseType_t uxReturn; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the priority of the task + * that called uxTaskPriorityGet() that is being queried. */ + pxTCB = prvGetTCBFromHandle( xTask ); + uxReturn = pxTCB->uxPriority; + } + taskEXIT_CRITICAL(); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskPriorityGet */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) + { + TCB_t const * pxTCB; + UBaseType_t uxReturn, uxSavedInterruptState; + + /* RTOS ports that support interrupt nesting have the concept of a + * maximum system call (or maximum API call) interrupt priority. + * Interrupts that are above the maximum system call priority are keep + * permanently enabled, even when the RTOS kernel is in a critical section, + * but cannot make any calls to FreeRTOS API functions. If configASSERT() + * is defined in FreeRTOSConfig.h then + * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has + * been assigned a priority above the configured maximum system call + * priority. Only FreeRTOS functions that end in FromISR can be called + * from interrupts that have been assigned a priority at or (logically) + * below the maximum system call interrupt priority. FreeRTOS maintains a + * separate interrupt safe API to ensure interrupt entry is as fast and as + * simple as possible. More information (albeit Cortex-M specific) is + * provided on the following link: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* If null is passed in here then it is the priority of the calling + * task that is being queried. */ + pxTCB = prvGetTCBFromHandle( xTask ); + uxReturn = pxTCB->uxPriority; + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskPriorityGet */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + + void vTaskPrioritySet( TaskHandle_t xTask, + UBaseType_t uxNewPriority ) + { + TCB_t * pxTCB; + UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; + BaseType_t xYieldRequired = pdFALSE; + + configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); + + /* Ensure the new priority is valid. */ + if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) + { + uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the priority of the calling + * task that is being changed. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); + + #if ( configUSE_MUTEXES == 1 ) + { + uxCurrentBasePriority = pxTCB->uxBasePriority; + } + #else + { + uxCurrentBasePriority = pxTCB->uxPriority; + } + #endif + + if( uxCurrentBasePriority != uxNewPriority ) + { + /* The priority change may have readied a task of higher + * priority than the calling task. */ + if( uxNewPriority > uxCurrentBasePriority ) + { + if( pxTCB != pxCurrentTCB ) + { + /* The priority of a task other than the currently + * running task is being raised. Is the priority being + * raised above that of the running task? */ + if( uxNewPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* The priority of the running task is being raised, + * but the running task must already be the highest + * priority task able to run so no yield is required. */ + } + } + else if( pxTCB == pxCurrentTCB ) + { + /* Setting the priority of the running task down means + * there may now be another task of higher priority that + * is ready to execute. */ + xYieldRequired = pdTRUE; + } + else + { + /* Setting the priority of any other task down does not + * require a yield as the running task must be above the + * new priority of the task being modified. */ + } + + /* Remember the ready list the task might be referenced from + * before its uxPriority member is changed so the + * taskRESET_READY_PRIORITY() macro can function correctly. */ + uxPriorityUsedOnEntry = pxTCB->uxPriority; + + #if ( configUSE_MUTEXES == 1 ) + { + /* Only change the priority being used if the task is not + * currently using an inherited priority. */ + if( pxTCB->uxBasePriority == pxTCB->uxPriority ) + { + pxTCB->uxPriority = uxNewPriority; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The base priority gets set whatever. */ + pxTCB->uxBasePriority = uxNewPriority; + } + #else /* if ( configUSE_MUTEXES == 1 ) */ + { + pxTCB->uxPriority = uxNewPriority; + } + #endif /* if ( configUSE_MUTEXES == 1 ) */ + + /* Only reset the event list item value if the value is not + * being used for anything else. */ + if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) + { + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* If the task is in the blocked or suspended list we need do + * nothing more than change its priority variable. However, if + * the task is in a ready list it needs to be removed and placed + * in the list appropriate to its new priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) + { + /* The task is currently in its ready list - remove before + * adding it to it's new ready list. As we are in a critical + * section we can do this even if the scheduler is suspended. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + /* It is known that the task is in its ready list so + * there is no need to check again and the port level + * reset macro can be called directly. */ + portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + prvAddTaskToReadyList( pxTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( xYieldRequired != pdFALSE ) + { + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Remove compiler warning about unused variables when the port + * optimised task selection is not being used. */ + ( void ) uxPriorityUsedOnEntry; + } + } + taskEXIT_CRITICAL(); + } + +#endif /* INCLUDE_vTaskPrioritySet */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskSuspend( TaskHandle_t xTaskToSuspend ) + { + TCB_t * pxTCB; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the running task that is + * being suspended. */ + pxTCB = prvGetTCBFromHandle( xTaskToSuspend ); + + traceTASK_SUSPEND( pxTCB ); + + /* Remove task from the ready/delayed list and place in the + * suspended list. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Is the task waiting on an event also? */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ); + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + { + BaseType_t x; + + for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ ) + { + if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION ) + { + /* The task was blocked to wait for a notification, but is + * now suspended, so no notification was received. */ + pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION; + } + } + } + #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */ + } + taskEXIT_CRITICAL(); + + if( xSchedulerRunning != pdFALSE ) + { + /* Reset the next expected unblock time in case it referred to the + * task that is now in the Suspended state. */ + taskENTER_CRITICAL(); + { + prvResetNextTaskUnblockTime(); + } + taskEXIT_CRITICAL(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( pxTCB == pxCurrentTCB ) + { + if( xSchedulerRunning != pdFALSE ) + { + /* The current task has just been suspended. */ + configASSERT( uxSchedulerSuspended == 0 ); + portYIELD_WITHIN_API(); + } + else + { + /* The scheduler is not running, but the task that was pointed + * to by pxCurrentTCB has just been suspended and pxCurrentTCB + * must be adjusted to point to a different task. */ + if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */ + { + /* No other tasks are ready, so set pxCurrentTCB back to + * NULL so when the next task is created pxCurrentTCB will + * be set to point to it no matter what its relative priority + * is. */ + pxCurrentTCB = NULL; + } + else + { + vTaskSwitchContext(); + } + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskSuspend */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) + { + BaseType_t xReturn = pdFALSE; + const TCB_t * const pxTCB = xTask; + + /* Accesses xPendingReadyList so must be called from a critical + * section. */ + + /* It does not make sense to check if the calling task is suspended. */ + configASSERT( xTask ); + + /* Is the task being resumed actually in the suspended list? */ + if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE ) + { + /* Has the task already been resumed from within an ISR? */ + if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE ) + { + /* Is it in the suspended list because it is in the Suspended + * state, or because is is blocked with no timeout? */ + if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */ + { + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ + +#endif /* INCLUDE_vTaskSuspend */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskResume( TaskHandle_t xTaskToResume ) + { + TCB_t * const pxTCB = xTaskToResume; + + /* It does not make sense to resume the calling task. */ + configASSERT( xTaskToResume ); + + /* The parameter cannot be NULL as it is impossible to resume the + * currently executing task. */ + if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) ) + { + taskENTER_CRITICAL(); + { + if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) + { + traceTASK_RESUME( pxTCB ); + + /* The ready list can be accessed even if the scheduler is + * suspended because this is inside a critical section. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* A higher priority task may have just been resumed. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* This yield may not cause the task just resumed to run, + * but will leave the lists in the correct state for the + * next yield. */ + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskSuspend */ + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) + { + BaseType_t xYieldRequired = pdFALSE; + TCB_t * const pxTCB = xTaskToResume; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToResume ); + + /* RTOS ports that support interrupt nesting have the concept of a + * maximum system call (or maximum API call) interrupt priority. + * Interrupts that are above the maximum system call priority are keep + * permanently enabled, even when the RTOS kernel is in a critical section, + * but cannot make any calls to FreeRTOS API functions. If configASSERT() + * is defined in FreeRTOSConfig.h then + * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has + * been assigned a priority above the configured maximum system call + * priority. Only FreeRTOS functions that end in FromISR can be called + * from interrupts that have been assigned a priority at or (logically) + * below the maximum system call interrupt priority. FreeRTOS maintains a + * separate interrupt safe API to ensure interrupt entry is as fast and as + * simple as possible. More information (albeit Cortex-M specific) is + * provided on the following link: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) + { + traceTASK_RESUME_FROM_ISR( pxTCB ); + + /* Check the ready lists can be accessed. */ + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + /* Ready lists can be accessed so move the task from the + * suspended list to the ready list directly. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + + /* Mark that a yield is pending in case the user is not + * using the return value to initiate a context switch + * from the ISR using portYIELD_FROM_ISR. */ + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed or ready lists cannot be accessed so the task + * is held in the pending ready list until the scheduler is + * unsuspended. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xYieldRequired; + } + +#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */ +/*-----------------------------------------------------------*/ + +void vTaskStartScheduler( void ) +{ + BaseType_t xReturn; + + /* Add the idle task at the lowest priority. */ + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + StaticTask_t * pxIdleTaskTCBBuffer = NULL; + StackType_t * pxIdleTaskStackBuffer = NULL; + uint32_t ulIdleTaskStackSize; + + /* The Idle task is created using user provided RAM - obtain the + * address of the RAM then create the idle task. */ + vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); + xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, + configIDLE_TASK_NAME, + ulIdleTaskStackSize, + ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */ + portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ + pxIdleTaskStackBuffer, + pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + + if( xIdleTaskHandle != NULL ) + { + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + } + #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ + { + /* The Idle task is being created using dynamically allocated RAM. */ + xReturn = xTaskCreate( prvIdleTask, + configIDLE_TASK_NAME, + configMINIMAL_STACK_SIZE, + ( void * ) NULL, + portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ + &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + + #if ( configUSE_TIMERS == 1 ) + { + if( xReturn == pdPASS ) + { + xReturn = xTimerCreateTimerTask(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_TIMERS */ + + if( xReturn == pdPASS ) + { + /* freertos_tasks_c_additions_init() should only be called if the user + * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is + * the only macro called by the function. */ + #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT + { + freertos_tasks_c_additions_init(); + } + #endif + + /* Interrupts are turned off here, to ensure a tick does not occur + * before or during the call to xPortStartScheduler(). The stacks of + * the created tasks contain a status word with interrupts switched on + * so interrupts will automatically get re-enabled when the first task + * starts to run. */ + portDISABLE_INTERRUPTS(); + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + /* Switch Newlib's _impure_ptr variable to point to the _reent + * structure specific to the task that will run first. + * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html + * for additional information. */ + _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + + xNextTaskUnblockTime = portMAX_DELAY; + xSchedulerRunning = pdTRUE; + xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT; + + /* If configGENERATE_RUN_TIME_STATS is defined then the following + * macro must be defined to configure the timer/counter used to generate + * the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS + * is set to 0 and the following line fails to build then ensure you do not + * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your + * FreeRTOSConfig.h file. */ + portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); + + traceTASK_SWITCHED_IN(); + + /* Setting up the timer tick is hardware specific and thus in the + * portable interface. */ + if( xPortStartScheduler() != pdFALSE ) + { + /* Should not reach here as if the scheduler is running the + * function will not return. */ + } + else + { + /* Should only reach here if a task calls xTaskEndScheduler(). */ + } + } + else + { + /* This line will only be reached if the kernel could not be started, + * because there was not enough FreeRTOS heap to create the idle task + * or the timer task. */ + configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ); + } + + /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0, + * meaning xIdleTaskHandle is not used anywhere else. */ + ( void ) xIdleTaskHandle; + + /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority + * from getting optimized out as it is no longer used by the kernel. */ + ( void ) uxTopUsedPriority; +} +/*-----------------------------------------------------------*/ + +void vTaskEndScheduler( void ) +{ + /* Stop the scheduler interrupts and call the portable scheduler end + * routine so the original ISRs can be restored if necessary. The port + * layer must ensure interrupts enable bit is left in the correct state. */ + portDISABLE_INTERRUPTS(); + xSchedulerRunning = pdFALSE; + vPortEndScheduler(); +} +/*----------------------------------------------------------*/ + +void vTaskSuspendAll( void ) +{ + /* A critical section is not required as the variable is of type + * BaseType_t. Please read Richard Barry's reply in the following link to a + * post in the FreeRTOS support forum before reporting this as a bug! - + * https://goo.gl/wu4acr */ + + /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that + * do not otherwise exhibit real time behaviour. */ + portSOFTWARE_BARRIER(); + + /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment + * is used to allow calls to vTaskSuspendAll() to nest. */ + ++uxSchedulerSuspended; + + /* Enforces ordering for ports and optimised compilers that may otherwise place + * the above increment elsewhere. */ + portMEMORY_BARRIER(); +} +/*----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE != 0 ) + + static TickType_t prvGetExpectedIdleTime( void ) + { + TickType_t xReturn; + UBaseType_t uxHigherPriorityReadyTasks = pdFALSE; + + /* uxHigherPriorityReadyTasks takes care of the case where + * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority + * task that are in the Ready state, even though the idle task is + * running. */ + #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) + { + if( uxTopReadyPriority > tskIDLE_PRIORITY ) + { + uxHigherPriorityReadyTasks = pdTRUE; + } + } + #else + { + const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01; + + /* When port optimised task selection is used the uxTopReadyPriority + * variable is used as a bit map. If bits other than the least + * significant bit are set then there are tasks that have a priority + * above the idle priority that are in the Ready state. This takes + * care of the case where the co-operative scheduler is in use. */ + if( uxTopReadyPriority > uxLeastSignificantBit ) + { + uxHigherPriorityReadyTasks = pdTRUE; + } + } + #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */ + + if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) + { + xReturn = 0; + } + else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) + { + /* There are other idle priority tasks in the ready state. If + * time slicing is used then the very next tick interrupt must be + * processed. */ + xReturn = 0; + } + else if( uxHigherPriorityReadyTasks != pdFALSE ) + { + /* There are tasks in the Ready state that have a priority above the + * idle priority. This path can only be reached if + * configUSE_PREEMPTION is 0. */ + xReturn = 0; + } + else + { + xReturn = xNextTaskUnblockTime - xTickCount; + } + + return xReturn; + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*----------------------------------------------------------*/ + +BaseType_t xTaskResumeAll( void ) +{ + TCB_t * pxTCB = NULL; + BaseType_t xAlreadyYielded = pdFALSE; + + /* If uxSchedulerSuspended is zero then this function does not match a + * previous call to vTaskSuspendAll(). */ + configASSERT( uxSchedulerSuspended ); + + /* It is possible that an ISR caused a task to be removed from an event + * list while the scheduler was suspended. If this was the case then the + * removed task will have been added to the xPendingReadyList. Once the + * scheduler has been resumed it is safe to move all the pending ready + * tasks from this list into their appropriate ready list. */ + taskENTER_CRITICAL(); + { + --uxSchedulerSuspended; + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) + { + /* Move any readied tasks from the pending list into the + * appropriate ready list. */ + while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) + { + pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* If the moved task has a priority higher than the current + * task then a yield must be performed. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + if( pxTCB != NULL ) + { + /* A task was unblocked while the scheduler was suspended, + * which may have prevented the next unblock time from being + * re-calculated, in which case re-calculate it now. Mainly + * important for low power tickless implementations, where + * this can prevent an unnecessary exit from low power + * state. */ + prvResetNextTaskUnblockTime(); + } + + /* If any ticks occurred while the scheduler was suspended then + * they should be processed now. This ensures the tick count does + * not slip, and that any delayed tasks are resumed at the correct + * time. */ + { + TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */ + + if( xPendedCounts > ( TickType_t ) 0U ) + { + do + { + if( xTaskIncrementTick() != pdFALSE ) + { + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + --xPendedCounts; + } while( xPendedCounts > ( TickType_t ) 0U ); + + xPendedTicks = 0; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + if( xYieldPending != pdFALSE ) + { + #if ( configUSE_PREEMPTION != 0 ) + { + xAlreadyYielded = pdTRUE; + } + #endif + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + return xAlreadyYielded; +} +/*-----------------------------------------------------------*/ + +TickType_t xTaskGetTickCount( void ) +{ + TickType_t xTicks; + + /* Critical section required if running on a 16 bit processor. */ + portTICK_TYPE_ENTER_CRITICAL(); + { + xTicks = xTickCount; + } + portTICK_TYPE_EXIT_CRITICAL(); + + return xTicks; +} +/*-----------------------------------------------------------*/ + +TickType_t xTaskGetTickCountFromISR( void ) +{ + TickType_t xReturn; + UBaseType_t uxSavedInterruptStatus; + + /* RTOS ports that support interrupt nesting have the concept of a maximum + * system call (or maximum API call) interrupt priority. Interrupts that are + * above the maximum system call priority are kept permanently enabled, even + * when the RTOS kernel is in a critical section, but cannot make any calls to + * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has been + * assigned a priority above the configured maximum system call priority. + * Only FreeRTOS functions that end in FromISR can be called from interrupts + * that have been assigned a priority at or (logically) below the maximum + * system call interrupt priority. FreeRTOS maintains a separate interrupt + * safe API to ensure interrupt entry is as fast and as simple as possible. + * More information (albeit Cortex-M specific) is provided on the following + * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); + { + xReturn = xTickCount; + } + portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxTaskGetNumberOfTasks( void ) +{ + /* A critical section is not required because the variables are of type + * BaseType_t. */ + return uxCurrentNumberOfTasks; +} +/*-----------------------------------------------------------*/ + +char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +{ + TCB_t * pxTCB; + + /* If null is passed in here then the name of the calling task is being + * queried. */ + pxTCB = prvGetTCBFromHandle( xTaskToQuery ); + configASSERT( pxTCB ); + return &( pxTCB->pcTaskName[ 0 ] ); +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetHandle == 1 ) + + static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList, + const char pcNameToQuery[] ) + { + TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL; + UBaseType_t x; + char cNextChar; + BaseType_t xBreakLoop; + + /* This function is called with the scheduler suspended. */ + + if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + + /* Check each character in the name looking for a match or + * mismatch. */ + xBreakLoop = pdFALSE; + + for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) + { + cNextChar = pxNextTCB->pcTaskName[ x ]; + + if( cNextChar != pcNameToQuery[ x ] ) + { + /* Characters didn't match. */ + xBreakLoop = pdTRUE; + } + else if( cNextChar == ( char ) 0x00 ) + { + /* Both strings terminated, a match must have been + * found. */ + pxReturn = pxNextTCB; + xBreakLoop = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( xBreakLoop != pdFALSE ) + { + break; + } + } + + if( pxReturn != NULL ) + { + /* The handle has been found. */ + break; + } + } while( pxNextTCB != pxFirstTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return pxReturn; + } + +#endif /* INCLUDE_xTaskGetHandle */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetHandle == 1 ) + + TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + UBaseType_t uxQueue = configMAX_PRIORITIES; + TCB_t * pxTCB; + + /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */ + configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN ); + + vTaskSuspendAll(); + { + /* Search the ready lists. */ + do + { + uxQueue--; + pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery ); + + if( pxTCB != NULL ) + { + /* Found the handle. */ + break; + } + } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + /* Search the delayed lists. */ + if( pxTCB == NULL ) + { + pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery ); + } + + if( pxTCB == NULL ) + { + pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery ); + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( pxTCB == NULL ) + { + /* Search the suspended list. */ + pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery ); + } + } + #endif + + #if ( INCLUDE_vTaskDelete == 1 ) + { + if( pxTCB == NULL ) + { + /* Search the deleted list. */ + pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery ); + } + } + #endif + } + ( void ) xTaskResumeAll(); + + return pxTCB; + } + +#endif /* INCLUDE_xTaskGetHandle */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, + const UBaseType_t uxArraySize, + uint32_t * const pulTotalRunTime ) + { + UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES; + + vTaskSuspendAll(); + { + /* Is there a space in the array for each task in the system? */ + if( uxArraySize >= uxCurrentNumberOfTasks ) + { + /* Fill in an TaskStatus_t structure with information on each + * task in the Ready state. */ + do + { + uxQueue--; + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); + } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + /* Fill in an TaskStatus_t structure with information on each + * task in the Blocked state. */ + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + /* Fill in an TaskStatus_t structure with information on + * each task that has been deleted but not yet cleaned up. */ + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + /* Fill in an TaskStatus_t structure with information on + * each task in the Suspended state. */ + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + if( pulTotalRunTime != NULL ) + { + #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE + portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); + #else + *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + #endif + } + } + #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */ + { + if( pulTotalRunTime != NULL ) + { + *pulTotalRunTime = 0; + } + } + #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + ( void ) xTaskResumeAll(); + + return uxTask; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + + TaskHandle_t xTaskGetIdleTaskHandle( void ) + { + /* If xTaskGetIdleTaskHandle() is called before the scheduler has been + * started, then xIdleTaskHandle will be NULL. */ + configASSERT( ( xIdleTaskHandle != NULL ) ); + return xIdleTaskHandle; + } + +#endif /* INCLUDE_xTaskGetIdleTaskHandle */ +/*----------------------------------------------------------*/ + +/* This conditional compilation should use inequality to 0, not equality to 1. + * This is to ensure vTaskStepTick() is available when user defined low power mode + * implementations require configUSE_TICKLESS_IDLE to be set to a value other than + * 1. */ +#if ( configUSE_TICKLESS_IDLE != 0 ) + + void vTaskStepTick( const TickType_t xTicksToJump ) + { + /* Correct the tick count value after a period during which the tick + * was suppressed. Note this does *not* call the tick hook function for + * each stepped tick. */ + configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); + xTickCount += xTicksToJump; + traceINCREASE_TICK_COUNT( xTicksToJump ); + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*----------------------------------------------------------*/ + +BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) +{ + BaseType_t xYieldOccurred; + + /* Must not be called with the scheduler suspended as the implementation + * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */ + configASSERT( uxSchedulerSuspended == 0 ); + + /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when + * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */ + vTaskSuspendAll(); + xPendedTicks += xTicksToCatchUp; + xYieldOccurred = xTaskResumeAll(); + + return xYieldOccurred; +} +/*----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskAbortDelay == 1 ) + + BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) + { + TCB_t * pxTCB = xTask; + BaseType_t xReturn; + + configASSERT( pxTCB ); + + vTaskSuspendAll(); + { + /* A task can only be prematurely removed from the Blocked state if + * it is actually in the Blocked state. */ + if( eTaskGetState( xTask ) == eBlocked ) + { + xReturn = pdPASS; + + /* Remove the reference to the task from the blocked list. An + * interrupt won't touch the xStateListItem because the + * scheduler is suspended. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + + /* Is the task waiting on an event also? If so remove it from + * the event list too. Interrupts can touch the event list item, + * even though the scheduler is suspended, so a critical section + * is used. */ + taskENTER_CRITICAL(); + { + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + + /* This lets the task know it was forcibly removed from the + * blocked state so it should not re-evaluate its block time and + * then block again. */ + pxTCB->ucDelayAborted = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + /* Place the unblocked task into the appropriate ready list. */ + prvAddTaskToReadyList( pxTCB ); + + /* A task being unblocked cannot cause an immediate context + * switch if preemption is turned off. */ + #if ( configUSE_PREEMPTION == 1 ) + { + /* Preemption is on, but a context switch should only be + * performed if the unblocked task has a priority that is + * equal to or higher than the currently executing task. */ + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* Pend the yield to be performed when the scheduler + * is unsuspended. */ + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_PREEMPTION */ + } + else + { + xReturn = pdFAIL; + } + } + ( void ) xTaskResumeAll(); + + return xReturn; + } + +#endif /* INCLUDE_xTaskAbortDelay */ +/*----------------------------------------------------------*/ + +BaseType_t xTaskIncrementTick( void ) +{ + TCB_t * pxTCB; + TickType_t xItemValue; + BaseType_t xSwitchRequired = pdFALSE; + + /* Called by the portable layer each time a tick interrupt occurs. + * Increments the tick then checks to see if the new tick value will cause any + * tasks to be unblocked. */ + traceTASK_INCREMENT_TICK( xTickCount ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + /* Minor optimisation. The tick count cannot change in this + * block. */ + const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1; + + /* Increment the RTOS tick, switching the delayed and overflowed + * delayed lists if it wraps to 0. */ + xTickCount = xConstTickCount; + + if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */ + { + taskSWITCH_DELAYED_LISTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* See if this tick has made a timeout expire. Tasks are stored in + * the queue in the order of their wake time - meaning once one task + * has been found whose block time has not expired there is no need to + * look any further down the list. */ + if( xConstTickCount >= xNextTaskUnblockTime ) + { + for( ; ; ) + { + if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) + { + /* The delayed list is empty. Set xNextTaskUnblockTime + * to the maximum possible value so it is extremely + * unlikely that the + * if( xTickCount >= xNextTaskUnblockTime ) test will pass + * next time through. */ + xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + break; + } + else + { + /* The delayed list is not empty, get the value of the + * item at the head of the delayed list. This is the time + * at which the task at the head of the delayed list must + * be removed from the Blocked state. */ + pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) ); + + if( xConstTickCount < xItemValue ) + { + /* It is not time to unblock this item yet, but the + * item value is the time at which the task at the head + * of the blocked list must be removed from the Blocked + * state - so record the item value in + * xNextTaskUnblockTime. */ + xNextTaskUnblockTime = xItemValue; + break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* It is time to remove the item from the Blocked state. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + + /* Is the task waiting on an event also? If so remove + * it from the event list. */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Place the unblocked task into the appropriate ready + * list. */ + prvAddTaskToReadyList( pxTCB ); + + /* A task being unblocked cannot cause an immediate + * context switch if preemption is turned off. */ + #if ( configUSE_PREEMPTION == 1 ) + { + /* Preemption is on, but a context switch should + * only be performed if the unblocked task has a + * priority that is equal to or higher than the + * currently executing task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xSwitchRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_PREEMPTION */ + } + } + } + + /* Tasks of equal priority to the currently running task will share + * processing time (time slice) if preemption is on, and the application + * writer has not explicitly turned time slicing off. */ + #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) + { + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) + { + xSwitchRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */ + + #if ( configUSE_TICK_HOOK == 1 ) + { + /* Guard against the tick hook being called when the pended tick + * count is being unwound (when the scheduler is being unlocked). */ + if( xPendedTicks == ( TickType_t ) 0 ) + { + vApplicationTickHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_TICK_HOOK */ + + #if ( configUSE_PREEMPTION == 1 ) + { + if( xYieldPending != pdFALSE ) + { + xSwitchRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_PREEMPTION */ + } + else + { + ++xPendedTicks; + + /* The tick hook gets called at regular intervals, even if the + * scheduler is locked. */ + #if ( configUSE_TICK_HOOK == 1 ) + { + vApplicationTickHook(); + } + #endif + } + + return xSwitchRequired; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + void vTaskSetApplicationTaskTag( TaskHandle_t xTask, + TaskHookFunction_t pxHookFunction ) + { + TCB_t * xTCB; + + /* If xTask is NULL then it is the task hook of the calling task that is + * getting set. */ + if( xTask == NULL ) + { + xTCB = ( TCB_t * ) pxCurrentTCB; + } + else + { + xTCB = xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + * the value can be accessed from an interrupt. */ + taskENTER_CRITICAL(); + { + xTCB->pxTaskTag = pxHookFunction; + } + taskEXIT_CRITICAL(); + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) + { + TCB_t * pxTCB; + TaskHookFunction_t xReturn; + + /* If xTask is NULL then set the calling task's hook. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + /* Save the hook function in the TCB. A critical section is required as + * the value can be accessed from an interrupt. */ + taskENTER_CRITICAL(); + { + xReturn = pxTCB->pxTaskTag; + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) + { + TCB_t * pxTCB; + TaskHookFunction_t xReturn; + UBaseType_t uxSavedInterruptStatus; + + /* If xTask is NULL then set the calling task's hook. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + /* Save the hook function in the TCB. A critical section is required as + * the value can be accessed from an interrupt. */ + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + xReturn = pxTCB->pxTaskTag; + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, + void * pvParameter ) + { + TCB_t * xTCB; + BaseType_t xReturn; + + /* If xTask is NULL then we are calling our own task hook. */ + if( xTask == NULL ) + { + xTCB = pxCurrentTCB; + } + else + { + xTCB = xTask; + } + + if( xTCB->pxTaskTag != NULL ) + { + xReturn = xTCB->pxTaskTag( pvParameter ); + } + else + { + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +void vTaskSwitchContext( void ) +{ + if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) + { + /* The scheduler is currently suspended - do not allow a context + * switch. */ + xYieldPending = pdTRUE; + } + else + { + xYieldPending = pdFALSE; + traceTASK_SWITCHED_OUT(); + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE + portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); + #else + ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + #endif + + /* Add the amount of time the task has been running to the + * accumulated time so far. The time the task started running was + * stored in ulTaskSwitchedInTime. Note that there is no overflow + * protection here so count values are only valid until the timer + * overflows. The guard against negative values is to protect + * against suspect run time stat counter implementations - which + * are provided by the application, not the kernel. */ + if( ulTotalRunTime > ulTaskSwitchedInTime ) + { + pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + ulTaskSwitchedInTime = ulTotalRunTime; + } + #endif /* configGENERATE_RUN_TIME_STATS */ + + /* Check for stack overflow, if configured. */ + taskCHECK_FOR_STACK_OVERFLOW(); + + /* Before the currently running task is switched out, save its errno. */ + #if ( configUSE_POSIX_ERRNO == 1 ) + { + pxCurrentTCB->iTaskErrno = FreeRTOS_errno; + } + #endif + + /* Select a new task to run using either the generic C or port + * optimised asm code. */ + taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + traceTASK_SWITCHED_IN(); + + /* After the new task is switched in, update the global errno. */ + #if ( configUSE_POSIX_ERRNO == 1 ) + { + FreeRTOS_errno = pxCurrentTCB->iTaskErrno; + } + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + /* Switch Newlib's _impure_ptr variable to point to the _reent + * structure specific to this task. + * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html + * for additional information. */ + _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + } +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnEventList( List_t * const pxEventList, + const TickType_t xTicksToWait ) +{ + configASSERT( pxEventList ); + + /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE + * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */ + + /* Place the event list item of the TCB in the appropriate event list. + * This is placed in the list in priority order so the highest priority task + * is the first to be woken by the event. The queue that contains the event + * list is locked, preventing simultaneous access from interrupts. */ + vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) ); + + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, + const TickType_t xItemValue, + const TickType_t xTicksToWait ) +{ + configASSERT( pxEventList ); + + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by + * the event groups implementation. */ + configASSERT( uxSchedulerSuspended != 0 ); + + /* Store the item value in the event list item. It is safe to access the + * event list item here as interrupts won't access the event list item of a + * task that is not in the Blocked state. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); + + /* Place the event list item of the TCB at the end of the appropriate event + * list. It is safe to access the event list here because it is part of an + * event group implementation - and interrupts don't access event groups + * directly (instead they access them indirectly by pending function calls to + * the task level). */ + vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); + + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMERS == 1 ) + + void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, + TickType_t xTicksToWait, + const BaseType_t xWaitIndefinitely ) + { + configASSERT( pxEventList ); + + /* This function should not be called by application code hence the + * 'Restricted' in its name. It is not part of the public API. It is + * designed for use by kernel code, and has special calling requirements - + * it should be called with the scheduler suspended. */ + + + /* Place the event list item of the TCB in the appropriate event list. + * In this case it is assume that this is the only task that is going to + * be waiting on this event list, so the faster vListInsertEnd() function + * can be used in place of vListInsert. */ + vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); + + /* If the task should block indefinitely then set the block time to a + * value that will be recognised as an indefinite delay inside the + * prvAddCurrentTaskToDelayedList() function. */ + if( xWaitIndefinitely != pdFALSE ) + { + xTicksToWait = portMAX_DELAY; + } + + traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) ); + prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely ); + } + +#endif /* configUSE_TIMERS */ +/*-----------------------------------------------------------*/ + +BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) +{ + TCB_t * pxUnblockedTCB; + BaseType_t xReturn; + + /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be + * called from a critical section within an ISR. */ + + /* The event list is sorted in priority order, so the first in the list can + * be removed as it is known to be the highest priority. Remove the TCB from + * the delayed list, and add it to the ready list. + * + * If an event is for a queue that is locked then this function will never + * get called - the lock count on the queue will get modified instead. This + * means exclusive access to the event list is guaranteed here. + * + * This function assumes that a check has already been made to ensure that + * pxEventList is not empty. */ + pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + configASSERT( pxUnblockedTCB ); + ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxUnblockedTCB ); + + #if ( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked on a kernel object then xNextTaskUnblockTime + * might be set to the blocked task's time out time. If the task is + * unblocked for a reason other than a timeout xNextTaskUnblockTime is + * normally left unchanged, because it is automatically reset to a new + * value when the tick count equals xNextTaskUnblockTime. However if + * tickless idling is used it might be more important to enter sleep mode + * at the earliest possible time - so reset xNextTaskUnblockTime here to + * ensure it is updated at the earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + } + else + { + /* The delayed and ready lists cannot be accessed, so hold this task + * pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); + } + + if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has a higher + * priority than the calling task. This allows the calling task to know if + * it should force a context switch now. */ + xReturn = pdTRUE; + + /* Mark that a yield is pending in case the user is not using the + * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, + const TickType_t xItemValue ) +{ + TCB_t * pxUnblockedTCB; + + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by + * the event flags implementation. */ + configASSERT( uxSchedulerSuspended != pdFALSE ); + + /* Store the new item value in the event list. */ + listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); + + /* Remove the event list form the event flag. Interrupts do not access + * event flags. */ + pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + configASSERT( pxUnblockedTCB ); + ( void ) uxListRemove( pxEventListItem ); + + #if ( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked on a kernel object then xNextTaskUnblockTime + * might be set to the blocked task's time out time. If the task is + * unblocked for a reason other than a timeout xNextTaskUnblockTime is + * normally left unchanged, because it is automatically reset to a new + * value when the tick count equals xNextTaskUnblockTime. However if + * tickless idling is used it might be more important to enter sleep mode + * at the earliest possible time - so reset xNextTaskUnblockTime here to + * ensure it is updated at the earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + + /* Remove the task from the delayed list and add it to the ready list. The + * scheduler is suspended so interrupts will not be accessing the ready + * lists. */ + ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxUnblockedTCB ); + + if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The unblocked task has a priority above that of the calling task, so + * a context switch is required. This function is called with the + * scheduler suspended so xYieldPending is set so the context switch + * occurs immediately that the scheduler is resumed (unsuspended). */ + xYieldPending = pdTRUE; + } +} +/*-----------------------------------------------------------*/ + +void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) +{ + configASSERT( pxTimeOut ); + taskENTER_CRITICAL(); + { + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; + } + taskEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) +{ + /* For internal use only as it does not use a critical section. */ + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; +} +/*-----------------------------------------------------------*/ + +BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, + TickType_t * const pxTicksToWait ) +{ + BaseType_t xReturn; + + configASSERT( pxTimeOut ); + configASSERT( pxTicksToWait ); + + taskENTER_CRITICAL(); + { + /* Minor optimisation. The tick count cannot change in this block. */ + const TickType_t xConstTickCount = xTickCount; + const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering; + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE ) + { + /* The delay was aborted, which is not the same as a time out, + * but has the same result. */ + pxCurrentTCB->ucDelayAborted = pdFALSE; + xReturn = pdTRUE; + } + else + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + if( *pxTicksToWait == portMAX_DELAY ) + { + /* If INCLUDE_vTaskSuspend is set to 1 and the block time + * specified is the maximum block time then the task should block + * indefinitely, and therefore never time out. */ + xReturn = pdFALSE; + } + else + #endif + + if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ + { + /* The tick count is greater than the time at which + * vTaskSetTimeout() was called, but has also overflowed since + * vTaskSetTimeOut() was called. It must have wrapped all the way + * around and gone past again. This passed since vTaskSetTimeout() + * was called. */ + xReturn = pdTRUE; + *pxTicksToWait = ( TickType_t ) 0; + } + else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */ + { + /* Not a genuine timeout. Adjust parameters for time remaining. */ + *pxTicksToWait -= xElapsedTime; + vTaskInternalSetTimeOutState( pxTimeOut ); + xReturn = pdFALSE; + } + else + { + *pxTicksToWait = ( TickType_t ) 0; + xReturn = pdTRUE; + } + } + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskMissedYield( void ) +{ + xYieldPending = pdTRUE; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) + { + UBaseType_t uxReturn; + TCB_t const * pxTCB; + + if( xTask != NULL ) + { + pxTCB = xTask; + uxReturn = pxTCB->uxTaskNumber; + } + else + { + uxReturn = 0U; + } + + return uxReturn; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskSetTaskNumber( TaskHandle_t xTask, + const UBaseType_t uxHandle ) + { + TCB_t * pxTCB; + + if( xTask != NULL ) + { + pxTCB = xTask; + pxTCB->uxTaskNumber = uxHandle; + } + } + +#endif /* configUSE_TRACE_FACILITY */ + +/* + * ----------------------------------------------------------- + * The Idle task. + * ---------------------------------------------------------- + * + * The portTASK_FUNCTION() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION( prvIdleTask, pvParameters ) +{ + /* Stop warnings. */ + ( void ) pvParameters; + + /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE + * SCHEDULER IS STARTED. **/ + + /* In case a task that has a secure context deletes itself, in which case + * the idle task is responsible for deleting the task's secure context, if + * any. */ + portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE ); + + for( ; ; ) + { + /* See if any tasks have deleted themselves - if so then the idle task + * is responsible for freeing the deleted task's TCB and stack. */ + prvCheckTasksWaitingTermination(); + + #if ( configUSE_PREEMPTION == 0 ) + { + /* If we are not using preemption we keep forcing a task switch to + * see if any other task has become available. If we are using + * preemption we don't need to do this as any task becoming available + * will automatically get the processor anyway. */ + taskYIELD(); + } + #endif /* configUSE_PREEMPTION */ + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) + { + /* When using preemption tasks of equal priority will be + * timesliced. If a task that is sharing the idle priority is ready + * to run then the idle task should yield before the end of the + * timeslice. + * + * A critical region is not required here as we are just reading from + * the list, and an occasional incorrect value will not matter. If + * the ready list at the idle priority contains more than one task + * then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 ) + { + taskYIELD(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ + + #if ( configUSE_IDLE_HOOK == 1 ) + { + extern void vApplicationIdleHook( void ); + + /* Call the user defined function from within the idle task. This + * allows the application designer to add background functionality + * without the overhead of a separate task. + * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, + * CALL A FUNCTION THAT MIGHT BLOCK. */ + vApplicationIdleHook(); + } + #endif /* configUSE_IDLE_HOOK */ + + /* This conditional compilation should use inequality to 0, not equality + * to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when + * user defined low power mode implementations require + * configUSE_TICKLESS_IDLE to be set to a value other than 1. */ + #if ( configUSE_TICKLESS_IDLE != 0 ) + { + TickType_t xExpectedIdleTime; + + /* It is not desirable to suspend then resume the scheduler on + * each iteration of the idle task. Therefore, a preliminary + * test of the expected idle time is performed without the + * scheduler suspended. The result here is not necessarily + * valid. */ + xExpectedIdleTime = prvGetExpectedIdleTime(); + + if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) + { + vTaskSuspendAll(); + { + /* Now the scheduler is suspended, the expected idle + * time can be sampled again, and this time its value can + * be used. */ + configASSERT( xNextTaskUnblockTime >= xTickCount ); + xExpectedIdleTime = prvGetExpectedIdleTime(); + + /* Define the following macro to set xExpectedIdleTime to 0 + * if the application does not want + * portSUPPRESS_TICKS_AND_SLEEP() to be called. */ + configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime ); + + if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) + { + traceLOW_POWER_IDLE_BEGIN(); + portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); + traceLOW_POWER_IDLE_END(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + ( void ) xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_TICKLESS_IDLE */ + } +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE != 0 ) + + eSleepModeStatus eTaskConfirmSleepModeStatus( void ) + { + /* The idle task exists in addition to the application tasks. */ + const UBaseType_t uxNonApplicationTasks = 1; + eSleepModeStatus eReturn = eStandardSleep; + + /* This function must be called from a critical section. */ + + if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) + { + /* A task was made ready while the scheduler was suspended. */ + eReturn = eAbortSleep; + } + else if( xYieldPending != pdFALSE ) + { + /* A yield was pended while the scheduler was suspended. */ + eReturn = eAbortSleep; + } + else if( xPendedTicks != 0 ) + { + /* A tick interrupt has already occurred but was held pending + * because the scheduler is suspended. */ + eReturn = eAbortSleep; + } + else + { + /* If all the tasks are in the suspended list (which might mean they + * have an infinite block time rather than actually being suspended) + * then it is safe to turn all clocks off and just wait for external + * interrupts. */ + if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) + { + eReturn = eNoTasksWaitingTimeout; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + return eReturn; + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + + void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, + BaseType_t xIndex, + void * pvValue ) + { + TCB_t * pxTCB; + + if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) + { + pxTCB = prvGetTCBFromHandle( xTaskToSet ); + configASSERT( pxTCB != NULL ); + pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; + } + } + +#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + + void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, + BaseType_t xIndex ) + { + void * pvReturn = NULL; + TCB_t * pxTCB; + + if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) + { + pxTCB = prvGetTCBFromHandle( xTaskToQuery ); + pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; + } + else + { + pvReturn = NULL; + } + + return pvReturn; + } + +#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ +/*-----------------------------------------------------------*/ + +#if ( portUSING_MPU_WRAPPERS == 1 ) + + void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, + const MemoryRegion_t * const xRegions ) + { + TCB_t * pxTCB; + + /* If null is passed in here then we are modifying the MPU settings of + * the calling task. */ + pxTCB = prvGetTCBFromHandle( xTaskToModify ); + + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); + } + +#endif /* portUSING_MPU_WRAPPERS */ +/*-----------------------------------------------------------*/ + +static void prvInitialiseTaskLists( void ) +{ + UBaseType_t uxPriority; + + for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) + { + vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); + } + + vListInitialise( &xDelayedTaskList1 ); + vListInitialise( &xDelayedTaskList2 ); + vListInitialise( &xPendingReadyList ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + vListInitialise( &xTasksWaitingTermination ); + } + #endif /* INCLUDE_vTaskDelete */ + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + vListInitialise( &xSuspendedTaskList ); + } + #endif /* INCLUDE_vTaskSuspend */ + + /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList + * using list2. */ + pxDelayedTaskList = &xDelayedTaskList1; + pxOverflowDelayedTaskList = &xDelayedTaskList2; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTasksWaitingTermination( void ) +{ + /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/ + + #if ( INCLUDE_vTaskDelete == 1 ) + { + TCB_t * pxTCB; + + /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL() + * being called too often in the idle task. */ + while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U ) + { + taskENTER_CRITICAL(); + { + pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + --uxCurrentNumberOfTasks; + --uxDeletedTasksWaitingCleanUp; + } + taskEXIT_CRITICAL(); + + prvDeleteTCB( pxTCB ); + } + } + #endif /* INCLUDE_vTaskDelete */ +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskGetInfo( TaskHandle_t xTask, + TaskStatus_t * pxTaskStatus, + BaseType_t xGetFreeStackSpace, + eTaskState eState ) + { + TCB_t * pxTCB; + + /* xTask is NULL then get the state of the calling task. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB; + pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] ); + pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority; + pxTaskStatus->pxStackBase = pxTCB->pxStack; + pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber; + + #if ( configUSE_MUTEXES == 1 ) + { + pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority; + } + #else + { + pxTaskStatus->uxBasePriority = 0; + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter; + } + #else + { + pxTaskStatus->ulRunTimeCounter = 0; + } + #endif + + /* Obtaining the task state is a little fiddly, so is only done if the + * value of eState passed into this function is eInvalid - otherwise the + * state is just set to whatever is passed in. */ + if( eState != eInvalid ) + { + if( pxTCB == pxCurrentTCB ) + { + pxTaskStatus->eCurrentState = eRunning; + } + else + { + pxTaskStatus->eCurrentState = eState; + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + /* If the task is in the suspended list then there is a + * chance it is actually just blocked indefinitely - so really + * it should be reported as being in the Blocked state. */ + if( eState == eSuspended ) + { + vTaskSuspendAll(); + { + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + pxTaskStatus->eCurrentState = eBlocked; + } + } + ( void ) xTaskResumeAll(); + } + } + #endif /* INCLUDE_vTaskSuspend */ + } + } + else + { + pxTaskStatus->eCurrentState = eTaskGetState( pxTCB ); + } + + /* Obtaining the stack space takes some time, so the xGetFreeStackSpace + * parameter is provided to allow it to be skipped. */ + if( xGetFreeStackSpace != pdFALSE ) + { + #if ( portSTACK_GROWTH > 0 ) + { + pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack ); + } + #else + { + pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack ); + } + #endif + } + else + { + pxTaskStatus->usStackHighWaterMark = 0; + } + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray, + List_t * pxList, + eTaskState eState ) + { + configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB; + UBaseType_t uxTask = 0; + + if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + + /* Populate an TaskStatus_t structure within the + * pxTaskStatusArray array for each task that is referenced from + * pxList. See the definition of TaskStatus_t in task.h for the + * meaning of each TaskStatus_t structure member. */ + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState ); + uxTask++; + } while( pxNextTCB != pxFirstTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return uxTask; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) + + static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) + { + uint32_t ulCount = 0U; + + while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) + { + pucStackByte -= portSTACK_GROWTH; + ulCount++; + } + + ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ + + return ( configSTACK_DEPTH_TYPE ) ulCount; + } + +#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) + +/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the + * same except for their return type. Using configSTACK_DEPTH_TYPE allows the + * user to determine the return type. It gets around the problem of the value + * overflowing on 8-bit types without breaking backward compatibility for + * applications that expect an 8-bit return type. */ + configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) + { + TCB_t * pxTCB; + uint8_t * pucEndOfStack; + configSTACK_DEPTH_TYPE uxReturn; + + /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are + * the same except for their return type. Using configSTACK_DEPTH_TYPE + * allows the user to determine the return type. It gets around the + * problem of the value overflowing on 8-bit types without breaking + * backward compatibility for applications that expect an 8-bit return + * type. */ + + pxTCB = prvGetTCBFromHandle( xTask ); + + #if portSTACK_GROWTH < 0 + { + pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; + } + #else + { + pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; + } + #endif + + uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack ); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) + + UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) + { + TCB_t * pxTCB; + uint8_t * pucEndOfStack; + UBaseType_t uxReturn; + + pxTCB = prvGetTCBFromHandle( xTask ); + + #if portSTACK_GROWTH < 0 + { + pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; + } + #else + { + pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; + } + #endif + + uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack ); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskGetStackHighWaterMark */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + static void prvDeleteTCB( TCB_t * pxTCB ) + { + /* This call is required specifically for the TriCore port. It must be + * above the vPortFree() calls. The call is also used by ports/demos that + * want to allocate and clean RAM statically. */ + portCLEAN_UP_TCB( pxTCB ); + + /* Free up the memory allocated by the scheduler for the task. It is up + * to the task to free any memory allocated at the application level. + * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html + * for additional information. */ + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + _reclaim_reent( &( pxTCB->xNewLib_reent ) ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + + #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) + { + /* The task can only have been allocated dynamically - free both + * the stack and TCB. */ + vPortFree( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */ + { + /* The task could have been allocated statically or dynamically, so + * check what was statically allocated before trying to free the + * memory. */ + if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ) + { + /* Both the stack and TCB were allocated dynamically, so both + * must be freed. */ + vPortFree( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) + { + /* Only the stack was statically allocated, so the TCB is the + * only memory that must be freed. */ + vPortFree( pxTCB ); + } + else + { + /* Neither the stack nor the TCB were allocated dynamically, so + * nothing needs to be freed. */ + configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB ); + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + } + +#endif /* INCLUDE_vTaskDelete */ +/*-----------------------------------------------------------*/ + +static void prvResetNextTaskUnblockTime( void ) +{ + if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) + { + /* The new current delayed list is empty. Set xNextTaskUnblockTime to + * the maximum possible value so it is extremely unlikely that the + * if( xTickCount >= xNextTaskUnblockTime ) test will pass until + * there is an item in the delayed list. */ + xNextTaskUnblockTime = portMAX_DELAY; + } + else + { + /* The new current delayed list is not empty, get the value of + * the item at the head of the delayed list. This is the time at + * which the task at the head of the delayed list should be removed + * from the Blocked state. */ + xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList ); + } +} +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) + + TaskHandle_t xTaskGetCurrentTaskHandle( void ) + { + TaskHandle_t xReturn; + + /* A critical section is not required as this is not called from + * an interrupt and the current TCB will always be the same for any + * individual execution thread. */ + xReturn = pxCurrentTCB; + + return xReturn; + } + +#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + + BaseType_t xTaskGetSchedulerState( void ) + { + BaseType_t xReturn; + + if( xSchedulerRunning == pdFALSE ) + { + xReturn = taskSCHEDULER_NOT_STARTED; + } + else + { + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + xReturn = taskSCHEDULER_RUNNING; + } + else + { + xReturn = taskSCHEDULER_SUSPENDED; + } + } + + return xReturn; + } + +#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) + { + TCB_t * const pxMutexHolderTCB = pxMutexHolder; + BaseType_t xReturn = pdFALSE; + + /* If the mutex was given back by an interrupt while the queue was + * locked then the mutex holder might now be NULL. _RB_ Is this still + * needed as interrupts can no longer use mutexes? */ + if( pxMutexHolder != NULL ) + { + /* If the holder of the mutex has a priority below the priority of + * the task attempting to obtain the mutex then it will temporarily + * inherit the priority of the task attempting to obtain the mutex. */ + if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority ) + { + /* Adjust the mutex holder state to account for its new + * priority. Only reset the event list item value if the value is + * not being used for anything else. */ + if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) + { + listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* If the task being modified is in the ready state it will need + * to be moved into a new list. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE ) + { + if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + /* It is known that the task is in its ready list so + * there is no need to check again and the port level + * reset macro can be called directly. */ + portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Inherit the priority before being moved into the new list. */ + pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority; + prvAddTaskToReadyList( pxMutexHolderTCB ); + } + else + { + /* Just inherit the priority. */ + pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority; + } + + traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority ); + + /* Inheritance occurred. */ + xReturn = pdTRUE; + } + else + { + if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority ) + { + /* The base priority of the mutex holder is lower than the + * priority of the task attempting to take the mutex, but the + * current priority of the mutex holder is not lower than the + * priority of the task attempting to take the mutex. + * Therefore the mutex holder must have already inherited a + * priority, but inheritance would have occurred if that had + * not been the case. */ + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) + { + TCB_t * const pxTCB = pxMutexHolder; + BaseType_t xReturn = pdFALSE; + + if( pxMutexHolder != NULL ) + { + /* A task can only have an inherited priority if it holds the mutex. + * If the mutex is held by a task then it cannot be given from an + * interrupt, and if a mutex is given by the holding task then it must + * be the running state task. */ + configASSERT( pxTCB == pxCurrentTCB ); + configASSERT( pxTCB->uxMutexesHeld ); + ( pxTCB->uxMutexesHeld )--; + + /* Has the holder of the mutex inherited the priority of another + * task? */ + if( pxTCB->uxPriority != pxTCB->uxBasePriority ) + { + /* Only disinherit if no other mutexes are held. */ + if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) + { + /* A task can only have an inherited priority if it holds + * the mutex. If the mutex is held by a task then it cannot be + * given from an interrupt, and if a mutex is given by the + * holding task then it must be the running state task. Remove + * the holding task from the ready list. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Disinherit the priority before adding the task into the + * new ready list. */ + traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); + pxTCB->uxPriority = pxTCB->uxBasePriority; + + /* Reset the event list item value. It cannot be in use for + * any other purpose if this task is running, and it must be + * running to give back the mutex. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + prvAddTaskToReadyList( pxTCB ); + + /* Return true to indicate that a context switch is required. + * This is only actually required in the corner case whereby + * multiple mutexes were held and the mutexes were given back + * in an order different to that in which they were taken. + * If a context switch did not occur when the first mutex was + * returned, even if a task was waiting on it, then a context + * switch should occur when the last mutex is returned whether + * a task is waiting on it or not. */ + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, + UBaseType_t uxHighestPriorityWaitingTask ) + { + TCB_t * const pxTCB = pxMutexHolder; + UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse; + const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1; + + if( pxMutexHolder != NULL ) + { + /* If pxMutexHolder is not NULL then the holder must hold at least + * one mutex. */ + configASSERT( pxTCB->uxMutexesHeld ); + + /* Determine the priority to which the priority of the task that + * holds the mutex should be set. This will be the greater of the + * holding task's base priority and the priority of the highest + * priority task that is waiting to obtain the mutex. */ + if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask ) + { + uxPriorityToUse = uxHighestPriorityWaitingTask; + } + else + { + uxPriorityToUse = pxTCB->uxBasePriority; + } + + /* Does the priority need to change? */ + if( pxTCB->uxPriority != uxPriorityToUse ) + { + /* Only disinherit if no other mutexes are held. This is a + * simplification in the priority inheritance implementation. If + * the task that holds the mutex is also holding other mutexes then + * the other mutexes may have caused the priority inheritance. */ + if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld ) + { + /* If a task has timed out because it already holds the + * mutex it was trying to obtain then it cannot of inherited + * its own priority. */ + configASSERT( pxTCB != pxCurrentTCB ); + + /* Disinherit the priority, remembering the previous + * priority to facilitate determining the subject task's + * state. */ + traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse ); + uxPriorityUsedOnEntry = pxTCB->uxPriority; + pxTCB->uxPriority = uxPriorityToUse; + + /* Only reset the event list item value if the value is not + * being used for anything else. */ + if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) + { + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* If the running task is not the task that holds the mutex + * then the task that holds the mutex could be in either the + * Ready, Blocked or Suspended states. Only remove the task + * from its current state list if it is in the Ready state as + * the task's priority is going to change and there is one + * Ready list per priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) + { + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + /* It is known that the task is in its ready list so + * there is no need to check again and the port level + * reset macro can be called directly. */ + portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + prvAddTaskToReadyList( pxTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskEnterCritical( void ) + { + portDISABLE_INTERRUPTS(); + + if( xSchedulerRunning != pdFALSE ) + { + ( pxCurrentTCB->uxCriticalNesting )++; + + /* This is not the interrupt safe version of the enter critical + * function so assert() if it is being called from an interrupt + * context. Only API functions that end in "FromISR" can be used in an + * interrupt. Only assert if the critical nesting count is 1 to + * protect against recursive calls if the assert function also uses a + * critical section. */ + if( pxCurrentTCB->uxCriticalNesting == 1 ) + { + portASSERT_IF_IN_ISR(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* portCRITICAL_NESTING_IN_TCB */ +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskExitCritical( void ) + { + if( xSchedulerRunning != pdFALSE ) + { + if( pxCurrentTCB->uxCriticalNesting > 0U ) + { + ( pxCurrentTCB->uxCriticalNesting )--; + + if( pxCurrentTCB->uxCriticalNesting == 0U ) + { + portENABLE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* portCRITICAL_NESTING_IN_TCB */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + static char * prvWriteNameToBuffer( char * pcBuffer, + const char * pcTaskName ) + { + size_t x; + + /* Start by copying the entire string. */ + strcpy( pcBuffer, pcTaskName ); + + /* Pad the end of the string with spaces to ensure columns line up when + * printed out. */ + for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ ) + { + pcBuffer[ x ] = ' '; + } + + /* Terminate. */ + pcBuffer[ x ] = ( char ) 0x00; + + /* Return the new end of string. */ + return &( pcBuffer[ x ] ); + } + +#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + + void vTaskList( char * pcWriteBuffer ) + { + TaskStatus_t * pxTaskStatusArray; + UBaseType_t uxArraySize, x; + char cStatus; + + /* + * PLEASE NOTE: + * + * This function is provided for convenience only, and is used by many + * of the demo applications. Do not consider it to be part of the + * scheduler. + * + * vTaskList() calls uxTaskGetSystemState(), then formats part of the + * uxTaskGetSystemState() output into a human readable table that + * displays task names, states and stack usage. + * + * vTaskList() has a dependency on the sprintf() C library function that + * might bloat the code size, use a lot of stack, and provide different + * results on different platforms. An alternative, tiny, third party, + * and limited functionality implementation of sprintf() is provided in + * many of the FreeRTOS/Demo sub-directories in a file called + * printf-stdarg.c (note printf-stdarg.c does not provide a full + * snprintf() implementation!). + * + * It is recommended that production systems call uxTaskGetSystemState() + * directly to get access to raw stats data, rather than indirectly + * through a call to vTaskList(). + */ + + + /* Make sure the write buffer does not contain a string. */ + *pcWriteBuffer = ( char ) 0x00; + + /* Take a snapshot of the number of tasks in case it changes while this + * function is executing. */ + uxArraySize = uxCurrentNumberOfTasks; + + /* Allocate an array index for each task. NOTE! if + * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will + * equate to NULL. */ + pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */ + + if( pxTaskStatusArray != NULL ) + { + /* Generate the (binary) data. */ + uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL ); + + /* Create a human readable table from the binary data. */ + for( x = 0; x < uxArraySize; x++ ) + { + switch( pxTaskStatusArray[ x ].eCurrentState ) + { + case eRunning: + cStatus = tskRUNNING_CHAR; + break; + + case eReady: + cStatus = tskREADY_CHAR; + break; + + case eBlocked: + cStatus = tskBLOCKED_CHAR; + break; + + case eSuspended: + cStatus = tskSUSPENDED_CHAR; + break; + + case eDeleted: + cStatus = tskDELETED_CHAR; + break; + + case eInvalid: /* Fall through. */ + default: /* Should not get here, but it is included + * to prevent static checking errors. */ + cStatus = ( char ) 0x00; + break; + } + + /* Write the task name to the string, padding with spaces so it + * can be printed in tabular form more easily. */ + pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); + + /* Write the rest of the string. */ + sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */ + pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */ + } + + /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION + * is 0 then vPortFree() will be #defined to nothing. */ + vPortFree( pxTaskStatusArray ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */ +/*----------------------------------------------------------*/ + +#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + + void vTaskGetRunTimeStats( char * pcWriteBuffer ) + { + TaskStatus_t * pxTaskStatusArray; + UBaseType_t uxArraySize, x; + uint32_t ulTotalTime, ulStatsAsPercentage; + + #if ( configUSE_TRACE_FACILITY != 1 ) + { + #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats(). + } + #endif + + /* + * PLEASE NOTE: + * + * This function is provided for convenience only, and is used by many + * of the demo applications. Do not consider it to be part of the + * scheduler. + * + * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part + * of the uxTaskGetSystemState() output into a human readable table that + * displays the amount of time each task has spent in the Running state + * in both absolute and percentage terms. + * + * vTaskGetRunTimeStats() has a dependency on the sprintf() C library + * function that might bloat the code size, use a lot of stack, and + * provide different results on different platforms. An alternative, + * tiny, third party, and limited functionality implementation of + * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in + * a file called printf-stdarg.c (note printf-stdarg.c does not provide + * a full snprintf() implementation!). + * + * It is recommended that production systems call uxTaskGetSystemState() + * directly to get access to raw stats data, rather than indirectly + * through a call to vTaskGetRunTimeStats(). + */ + + /* Make sure the write buffer does not contain a string. */ + *pcWriteBuffer = ( char ) 0x00; + + /* Take a snapshot of the number of tasks in case it changes while this + * function is executing. */ + uxArraySize = uxCurrentNumberOfTasks; + + /* Allocate an array index for each task. NOTE! If + * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will + * equate to NULL. */ + pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */ + + if( pxTaskStatusArray != NULL ) + { + /* Generate the (binary) data. */ + uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime ); + + /* For percentage calculations. */ + ulTotalTime /= 100UL; + + /* Avoid divide by zero errors. */ + if( ulTotalTime > 0UL ) + { + /* Create a human readable table from the binary data. */ + for( x = 0; x < uxArraySize; x++ ) + { + /* What percentage of the total run time has the task used? + * This will always be rounded down to the nearest integer. + * ulTotalRunTimeDiv100 has already been divided by 100. */ + ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; + + /* Write the task name to the string, padding with + * spaces so it can be printed in tabular form more + * easily. */ + pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); + + if( ulStatsAsPercentage > 0UL ) + { + #ifdef portLU_PRINTF_SPECIFIER_REQUIRED + { + sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); + } + #else + { + /* sizeof( int ) == sizeof( long ) so a smaller + * printf() library can be used. */ + sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */ + } + #endif + } + else + { + /* If the percentage is zero here then the task has + * consumed less than 1% of the total run time. */ + #ifdef portLU_PRINTF_SPECIFIER_REQUIRED + { + sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); + } + #else + { + /* sizeof( int ) == sizeof( long ) so a smaller + * printf() library can be used. */ + sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */ + } + #endif + } + + pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */ + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION + * is 0 then vPortFree() will be #defined to nothing. */ + vPortFree( pxTaskStatusArray ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */ +/*-----------------------------------------------------------*/ + +TickType_t uxTaskResetEventItemValue( void ) +{ + TickType_t uxReturn; + + uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) ); + + /* Reset the event list item to its normal value - so it can be used with + * queues and semaphores. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + TaskHandle_t pvTaskIncrementMutexHeldCount( void ) + { + /* If xSemaphoreCreateMutex() is called before any tasks have been created + * then pxCurrentTCB will be NULL. */ + if( pxCurrentTCB != NULL ) + { + ( pxCurrentTCB->uxMutexesHeld )++; + } + + return pxCurrentTCB; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait, + BaseType_t xClearCountOnExit, + TickType_t xTicksToWait ) + { + uint32_t ulReturn; + + configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES ); + + taskENTER_CRITICAL(); + { + /* Only block if the notification count is not already non-zero. */ + if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL ) + { + /* Mark this task as waiting for a notification. */ + pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION; + + if( xTicksToWait > ( TickType_t ) 0 ) + { + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); + traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait ); + + /* All ports are written to allow a yield in a critical + * section (some will yield immediately, others wait until the + * critical section exits) - but it is not something that + * application code should ever do. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + traceTASK_NOTIFY_TAKE( uxIndexToWait ); + ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ]; + + if( ulReturn != 0UL ) + { + if( xClearCountOnExit != pdFALSE ) + { + pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL; + } + else + { + pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION; + } + taskEXIT_CRITICAL(); + + return ulReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait, + uint32_t ulBitsToClearOnEntry, + uint32_t ulBitsToClearOnExit, + uint32_t * pulNotificationValue, + TickType_t xTicksToWait ) + { + BaseType_t xReturn; + + configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES ); + + taskENTER_CRITICAL(); + { + /* Only block if a notification is not already pending. */ + if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED ) + { + /* Clear bits in the task's notification value as bits may get + * set by the notifying task or interrupt. This can be used to + * clear the value to zero. */ + pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry; + + /* Mark this task as waiting for a notification. */ + pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION; + + if( xTicksToWait > ( TickType_t ) 0 ) + { + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); + traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait ); + + /* All ports are written to allow a yield in a critical + * section (some will yield immediately, others wait until the + * critical section exits) - but it is not something that + * application code should ever do. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + traceTASK_NOTIFY_WAIT( uxIndexToWait ); + + if( pulNotificationValue != NULL ) + { + /* Output the current notification value, which may or may not + * have changed. */ + *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ]; + } + + /* If ucNotifyValue is set then either the task never entered the + * blocked state (because a notification was already pending) or the + * task unblocked because of a notification. Otherwise the task + * unblocked because of a timeout. */ + if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED ) + { + /* A notification was not received. */ + xReturn = pdFALSE; + } + else + { + /* A notification was already pending or a notification was + * received while the task was waiting. */ + pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit; + xReturn = pdTRUE; + } + + pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION; + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + uint32_t ulValue, + eNotifyAction eAction, + uint32_t * pulPreviousNotificationValue ) + { + TCB_t * pxTCB; + BaseType_t xReturn = pdPASS; + uint8_t ucOriginalNotifyState; + + configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES ); + configASSERT( xTaskToNotify ); + pxTCB = xTaskToNotify; + + taskENTER_CRITICAL(); + { + if( pulPreviousNotificationValue != NULL ) + { + *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ]; + } + + ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ]; + + pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED; + + switch( eAction ) + { + case eSetBits: + pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue; + break; + + case eIncrement: + ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++; + break; + + case eSetValueWithOverwrite: + pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; + break; + + case eSetValueWithoutOverwrite: + + if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) + { + pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; + } + else + { + /* The value could not be written to the task. */ + xReturn = pdFAIL; + } + + break; + + case eNoAction: + + /* The task is being notified without its notify value being + * updated. */ + break; + + default: + + /* Should not get here if all enums are handled. + * Artificially force an assert by testing a value the + * compiler can't assume is const. */ + configASSERT( xTickCount == ( TickType_t ) 0 ); + + break; + } + + traceTASK_NOTIFY( uxIndexToNotify ); + + /* If the task is in the blocked state specifically to wait for a + * notification then unblock it now. */ + if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) + { + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + #if ( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked waiting for a notification then + * xNextTaskUnblockTime might be set to the blocked task's time + * out time. If the task is unblocked for a reason other than + * a timeout xNextTaskUnblockTime is normally left unchanged, + * because it will automatically get reset to a new value when + * the tick count equals xNextTaskUnblockTime. However if + * tickless idling is used it might be more important to enter + * sleep mode at the earliest possible time - so reset + * xNextTaskUnblockTime here to ensure it is updated at the + * earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + * executing task so a yield is required. */ + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + uint32_t ulValue, + eNotifyAction eAction, + uint32_t * pulPreviousNotificationValue, + BaseType_t * pxHigherPriorityTaskWoken ) + { + TCB_t * pxTCB; + uint8_t ucOriginalNotifyState; + BaseType_t xReturn = pdPASS; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToNotify ); + configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES ); + + /* RTOS ports that support interrupt nesting have the concept of a + * maximum system call (or maximum API call) interrupt priority. + * Interrupts that are above the maximum system call priority are keep + * permanently enabled, even when the RTOS kernel is in a critical section, + * but cannot make any calls to FreeRTOS API functions. If configASSERT() + * is defined in FreeRTOSConfig.h then + * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has + * been assigned a priority above the configured maximum system call + * priority. Only FreeRTOS functions that end in FromISR can be called + * from interrupts that have been assigned a priority at or (logically) + * below the maximum system call interrupt priority. FreeRTOS maintains a + * separate interrupt safe API to ensure interrupt entry is as fast and as + * simple as possible. More information (albeit Cortex-M specific) is + * provided on the following link: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + pxTCB = xTaskToNotify; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( pulPreviousNotificationValue != NULL ) + { + *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ]; + } + + ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ]; + pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED; + + switch( eAction ) + { + case eSetBits: + pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue; + break; + + case eIncrement: + ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++; + break; + + case eSetValueWithOverwrite: + pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; + break; + + case eSetValueWithoutOverwrite: + + if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) + { + pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; + } + else + { + /* The value could not be written to the task. */ + xReturn = pdFAIL; + } + + break; + + case eNoAction: + + /* The task is being notified without its notify value being + * updated. */ + break; + + default: + + /* Should not get here if all enums are handled. + * Artificially force an assert by testing a value the + * compiler can't assume is const. */ + configASSERT( xTickCount == ( TickType_t ) 0 ); + break; + } + + traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify ); + + /* If the task is in the blocked state specifically to wait for a + * notification then unblock it now. */ + if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) + { + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold + * this task pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + * executing task so a yield is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + + /* Mark that a yield is pending in case the user is not + * using the "xHigherPriorityTaskWoken" parameter to an ISR + * safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify, + UBaseType_t uxIndexToNotify, + BaseType_t * pxHigherPriorityTaskWoken ) + { + TCB_t * pxTCB; + uint8_t ucOriginalNotifyState; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToNotify ); + configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES ); + + /* RTOS ports that support interrupt nesting have the concept of a + * maximum system call (or maximum API call) interrupt priority. + * Interrupts that are above the maximum system call priority are keep + * permanently enabled, even when the RTOS kernel is in a critical section, + * but cannot make any calls to FreeRTOS API functions. If configASSERT() + * is defined in FreeRTOSConfig.h then + * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + * failure if a FreeRTOS API function is called from an interrupt that has + * been assigned a priority above the configured maximum system call + * priority. Only FreeRTOS functions that end in FromISR can be called + * from interrupts that have been assigned a priority at or (logically) + * below the maximum system call interrupt priority. FreeRTOS maintains a + * separate interrupt safe API to ensure interrupt entry is as fast and as + * simple as possible. More information (albeit Cortex-M specific) is + * provided on the following link: + * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + pxTCB = xTaskToNotify; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ]; + pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED; + + /* 'Giving' is equivalent to incrementing a count in a counting + * semaphore. */ + ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++; + + traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify ); + + /* If the task is in the blocked state specifically to wait for a + * notification then unblock it now. */ + if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) + { + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold + * this task pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + * executing task so a yield is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + + /* Mark that a yield is pending in case the user is not + * using the "xHigherPriorityTaskWoken" parameter in an ISR + * safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear ) + { + TCB_t * pxTCB; + BaseType_t xReturn; + + configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES ); + + /* If null is passed in here then it is the calling task that is having + * its notification state cleared. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + taskENTER_CRITICAL(); + { + if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED ) + { + pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION; + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TASK_NOTIFICATIONS == 1 ) + + uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask, + UBaseType_t uxIndexToClear, + uint32_t ulBitsToClear ) + { + TCB_t * pxTCB; + uint32_t ulReturn; + + /* If null is passed in here then it is the calling task that is having + * its notification state cleared. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + taskENTER_CRITICAL(); + { + /* Return the notification as it was before the bits were cleared, + * then clear the bit mask. */ + ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ]; + pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear; + } + taskEXIT_CRITICAL(); + + return ulReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) + + uint32_t ulTaskGetIdleRunTimeCounter( void ) + { + return xIdleTaskHandle->ulRunTimeCounter; + } + +#endif +/*-----------------------------------------------------------*/ + +static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, + const BaseType_t xCanBlockIndefinitely ) +{ + TickType_t xTimeToWake; + const TickType_t xConstTickCount = xTickCount; + + #if ( INCLUDE_xTaskAbortDelay == 1 ) + { + /* About to enter a delayed list, so ensure the ucDelayAborted flag is + * reset to pdFALSE so it can be detected as having been set to pdTRUE + * when the task leaves the Blocked state. */ + pxCurrentTCB->ucDelayAborted = pdFALSE; + } + #endif + + /* Remove the task from the ready list before adding it to the blocked list + * as the same list item is used for both lists. */ + if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + /* The current task must be in a ready list, so there is no need to + * check, and the port reset macro can be called directly. */ + portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) ) + { + /* Add the task to the suspended task list instead of a delayed task + * list to ensure it is not woken by a timing event. It will block + * indefinitely. */ + vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the event + * does not occur. This may overflow but this doesn't matter, the + * kernel will manage it correctly. */ + xTimeToWake = xConstTickCount + xTicksToWait; + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); + + if( xTimeToWake < xConstTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow + * list. */ + vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + } + else + { + /* The wake time has not overflowed, so the current block list + * is used. */ + vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + + /* If the task entering the blocked state was placed at the + * head of the list of blocked tasks then xNextTaskUnblockTime + * needs to be updated too. */ + if( xTimeToWake < xNextTaskUnblockTime ) + { + xNextTaskUnblockTime = xTimeToWake; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + } + #else /* INCLUDE_vTaskSuspend */ + { + /* Calculate the time at which the task should be woken if the event + * does not occur. This may overflow but this doesn't matter, the kernel + * will manage it correctly. */ + xTimeToWake = xConstTickCount + xTicksToWait; + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); + + if( xTimeToWake < xConstTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + } + else + { + /* The wake time has not overflowed, so the current block list is used. */ + vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + + /* If the task entering the blocked state was placed at the head of the + * list of blocked tasks then xNextTaskUnblockTime needs to be updated + * too. */ + if( xTimeToWake < xNextTaskUnblockTime ) + { + xNextTaskUnblockTime = xTimeToWake; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */ + ( void ) xCanBlockIndefinitely; + } + #endif /* INCLUDE_vTaskSuspend */ +} + +/* Code below here allows additional code to be inserted into this source file, + * especially where access to file scope functions and data is needed (for example + * when performing module tests). */ + +#ifdef FREERTOS_MODULE_TEST + #include "tasks_test_access_functions.h" +#endif + + +#if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) + + #include "freertos_tasks_c_additions.h" + + #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT + static void freertos_tasks_c_additions_init( void ) + { + FREERTOS_TASKS_C_ADDITIONS_INIT(); + } + #endif + +#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/timers.c b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/timers.c new file mode 100644 index 0000000..eb42296 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/FreeRTOS/Source/timers.c @@ -0,0 +1,1144 @@ +/* + * FreeRTOS Kernel V10.4.3 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS + * + */ + +/* Standard includes. */ +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "timers.h" + +#if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 ) + #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available. +#endif + +/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined + * for the header files above, but not in this file, in order to generate the + * correct privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e9021 !e961 !e750. */ + + +/* This entire source file will be skipped if the application is not configured + * to include software timer functionality. This #if is closed at the very bottom + * of this file. If you want to include software timer functionality then ensure + * configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */ +#if ( configUSE_TIMERS == 1 ) + +/* Misc definitions. */ + #define tmrNO_DELAY ( TickType_t ) 0U + +/* The name assigned to the timer service task. This can be overridden by + * defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */ + #ifndef configTIMER_SERVICE_TASK_NAME + #define configTIMER_SERVICE_TASK_NAME "Tmr Svc" + #endif + +/* Bit definitions used in the ucStatus member of a timer structure. */ + #define tmrSTATUS_IS_ACTIVE ( ( uint8_t ) 0x01 ) + #define tmrSTATUS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 0x02 ) + #define tmrSTATUS_IS_AUTORELOAD ( ( uint8_t ) 0x04 ) + +/* The definition of the timers themselves. */ + typedef struct tmrTimerControl /* The old naming convention is used to prevent breaking kernel aware debuggers. */ + { + const char * pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */ + TickType_t xTimerPeriodInTicks; /*<< How quickly and often the timer expires. */ + void * pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */ + TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */ + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */ + #endif + uint8_t ucStatus; /*<< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */ + } xTIMER; + +/* The old xTIMER name is maintained above then typedefed to the new Timer_t + * name below to enable the use of older kernel aware debuggers. */ + typedef xTIMER Timer_t; + +/* The definition of messages that can be sent and received on the timer queue. + * Two types of message can be queued - messages that manipulate a software timer, + * and messages that request the execution of a non-timer related callback. The + * two message types are defined in two separate structures, xTimerParametersType + * and xCallbackParametersType respectively. */ + typedef struct tmrTimerParameters + { + TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */ + Timer_t * pxTimer; /*<< The timer to which the command will be applied. */ + } TimerParameter_t; + + + typedef struct tmrCallbackParameters + { + PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */ + void * pvParameter1; /* << The value that will be used as the callback functions first parameter. */ + uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */ + } CallbackParameters_t; + +/* The structure that contains the two message types, along with an identifier + * that is used to determine which message type is valid. */ + typedef struct tmrTimerQueueMessage + { + BaseType_t xMessageID; /*<< The command being sent to the timer service task. */ + union + { + TimerParameter_t xTimerParameters; + + /* Don't include xCallbackParameters if it is not going to be used as + * it makes the structure (and therefore the timer queue) larger. */ + #if ( INCLUDE_xTimerPendFunctionCall == 1 ) + CallbackParameters_t xCallbackParameters; + #endif /* INCLUDE_xTimerPendFunctionCall */ + } u; + } DaemonTaskMessage_t; + +/*lint -save -e956 A manual analysis and inspection has been used to determine + * which static variables must be declared volatile. */ + +/* The list in which active timers are stored. Timers are referenced in expire + * time order, with the nearest expiry time at the front of the list. Only the + * timer service task is allowed to access these lists. + * xActiveTimerList1 and xActiveTimerList2 could be at function scope but that + * breaks some kernel aware debuggers, and debuggers that reply on removing the + * static qualifier. */ + PRIVILEGED_DATA static List_t xActiveTimerList1; + PRIVILEGED_DATA static List_t xActiveTimerList2; + PRIVILEGED_DATA static List_t * pxCurrentTimerList; + PRIVILEGED_DATA static List_t * pxOverflowTimerList; + +/* A queue that is used to send commands to the timer service task. */ + PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL; + PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL; + +/*lint -restore */ + +/*-----------------------------------------------------------*/ + +/* + * Initialise the infrastructure used by the timer service task if it has not + * been initialised already. + */ + static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION; + +/* + * The timer service task (daemon). Timer functionality is controlled by this + * task. Other tasks communicate with the timer service task using the + * xTimerQueue queue. + */ + static portTASK_FUNCTION_PROTO( prvTimerTask, pvParameters ) PRIVILEGED_FUNCTION; + +/* + * Called by the timer service task to interpret and process a command it + * received on the timer queue. + */ + static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION; + +/* + * Insert the timer into either xActiveTimerList1, or xActiveTimerList2, + * depending on if the expire time causes a timer counter overflow. + */ + static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, + const TickType_t xNextExpiryTime, + const TickType_t xTimeNow, + const TickType_t xCommandTime ) PRIVILEGED_FUNCTION; + +/* + * An active timer has reached its expire time. Reload the timer if it is an + * auto-reload timer, then call its callback. + */ + static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, + const TickType_t xTimeNow ) PRIVILEGED_FUNCTION; + +/* + * The tick count has overflowed. Switch the timer lists after ensuring the + * current timer list does not still reference some timers. + */ + static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION; + +/* + * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE + * if a tick count overflow occurred since prvSampleTimeNow() was last called. + */ + static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION; + +/* + * If the timer list contains any active timers then return the expire time of + * the timer that will expire first and set *pxListWasEmpty to false. If the + * timer list does not contain any timers then return 0 and set *pxListWasEmpty + * to pdTRUE. + */ + static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION; + +/* + * If a timer has expired, process it. Otherwise, block the timer service task + * until either a timer does expire or a command is received. + */ + static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, + BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION; + +/* + * Called after a Timer_t structure has been allocated either statically or + * dynamically to fill in the structure's members. + */ + static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + Timer_t * pxNewTimer ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + + BaseType_t xTimerCreateTimerTask( void ) + { + BaseType_t xReturn = pdFAIL; + + /* This function is called when the scheduler is started if + * configUSE_TIMERS is set to 1. Check that the infrastructure used by the + * timer service task has been created/initialised. If timers have already + * been created then the initialisation will already have been performed. */ + prvCheckForValidListAndQueue(); + + if( xTimerQueue != NULL ) + { + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + StaticTask_t * pxTimerTaskTCBBuffer = NULL; + StackType_t * pxTimerTaskStackBuffer = NULL; + uint32_t ulTimerTaskStackSize; + + vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize ); + xTimerTaskHandle = xTaskCreateStatic( prvTimerTask, + configTIMER_SERVICE_TASK_NAME, + ulTimerTaskStackSize, + NULL, + ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, + pxTimerTaskStackBuffer, + pxTimerTaskTCBBuffer ); + + if( xTimerTaskHandle != NULL ) + { + xReturn = pdPASS; + } + } + #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ + { + xReturn = xTaskCreate( prvTimerTask, + configTIMER_SERVICE_TASK_NAME, + configTIMER_TASK_STACK_DEPTH, + NULL, + ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, + &xTimerTaskHandle ); + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + configASSERT( xReturn ); + return xReturn; + } +/*-----------------------------------------------------------*/ + + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction ) + { + Timer_t * pxNewTimer; + + pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */ + + if( pxNewTimer != NULL ) + { + /* Status is thus far zero as the timer is not created statically + * and has not been started. The auto-reload bit may get set in + * prvInitialiseNewTimer. */ + pxNewTimer->ucStatus = 0x00; + prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); + } + + return pxNewTimer; + } + + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + + TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + StaticTimer_t * pxTimerBuffer ) + { + Timer_t * pxNewTimer; + + #if ( configASSERT_DEFINED == 1 ) + { + /* Sanity check that the size of the structure used to declare a + * variable of type StaticTimer_t equals the size of the real timer + * structure. */ + volatile size_t xSize = sizeof( StaticTimer_t ); + configASSERT( xSize == sizeof( Timer_t ) ); + ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */ + } + #endif /* configASSERT_DEFINED */ + + /* A pointer to a StaticTimer_t structure MUST be provided, use it. */ + configASSERT( pxTimerBuffer ); + pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */ + + if( pxNewTimer != NULL ) + { + /* Timers can be created statically or dynamically so note this + * timer was created statically in case it is later deleted. The + * auto-reload bit may get set in prvInitialiseNewTimer(). */ + pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED; + + prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer ); + } + + return pxNewTimer; + } + + #endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + + static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + const TickType_t xTimerPeriodInTicks, + const UBaseType_t uxAutoReload, + void * const pvTimerID, + TimerCallbackFunction_t pxCallbackFunction, + Timer_t * pxNewTimer ) + { + /* 0 is not a valid value for xTimerPeriodInTicks. */ + configASSERT( ( xTimerPeriodInTicks > 0 ) ); + + if( pxNewTimer != NULL ) + { + /* Ensure the infrastructure used by the timer service task has been + * created/initialised. */ + prvCheckForValidListAndQueue(); + + /* Initialise the timer structure members using the function + * parameters. */ + pxNewTimer->pcTimerName = pcTimerName; + pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks; + pxNewTimer->pvTimerID = pvTimerID; + pxNewTimer->pxCallbackFunction = pxCallbackFunction; + vListInitialiseItem( &( pxNewTimer->xTimerListItem ) ); + + if( uxAutoReload != pdFALSE ) + { + pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD; + } + + traceTIMER_CREATE( pxNewTimer ); + } + } +/*-----------------------------------------------------------*/ + + BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, + const BaseType_t xCommandID, + const TickType_t xOptionalValue, + BaseType_t * const pxHigherPriorityTaskWoken, + const TickType_t xTicksToWait ) + { + BaseType_t xReturn = pdFAIL; + DaemonTaskMessage_t xMessage; + + configASSERT( xTimer ); + + /* Send a message to the timer service task to perform a particular action + * on a particular timer definition. */ + if( xTimerQueue != NULL ) + { + /* Send a command to the timer service task to start the xTimer timer. */ + xMessage.xMessageID = xCommandID; + xMessage.u.xTimerParameters.xMessageValue = xOptionalValue; + xMessage.u.xTimerParameters.pxTimer = xTimer; + + if( xCommandID < tmrFIRST_FROM_ISR_COMMAND ) + { + if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING ) + { + xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait ); + } + else + { + xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY ); + } + } + else + { + xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken ); + } + + traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } +/*-----------------------------------------------------------*/ + + TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) + { + /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been + * started, then xTimerTaskHandle will be NULL. */ + configASSERT( ( xTimerTaskHandle != NULL ) ); + return xTimerTaskHandle; + } +/*-----------------------------------------------------------*/ + + TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) + { + Timer_t * pxTimer = xTimer; + + configASSERT( xTimer ); + return pxTimer->xTimerPeriodInTicks; + } +/*-----------------------------------------------------------*/ + + void vTimerSetReloadMode( TimerHandle_t xTimer, + const UBaseType_t uxAutoReload ) + { + Timer_t * pxTimer = xTimer; + + configASSERT( xTimer ); + taskENTER_CRITICAL(); + { + if( uxAutoReload != pdFALSE ) + { + pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD; + } + else + { + pxTimer->ucStatus &= ~tmrSTATUS_IS_AUTORELOAD; + } + } + taskEXIT_CRITICAL(); + } +/*-----------------------------------------------------------*/ + + UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) + { + Timer_t * pxTimer = xTimer; + UBaseType_t uxReturn; + + configASSERT( xTimer ); + taskENTER_CRITICAL(); + { + if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 ) + { + /* Not an auto-reload timer. */ + uxReturn = ( UBaseType_t ) pdFALSE; + } + else + { + /* Is an auto-reload timer. */ + uxReturn = ( UBaseType_t ) pdTRUE; + } + } + taskEXIT_CRITICAL(); + + return uxReturn; + } +/*-----------------------------------------------------------*/ + + TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) + { + Timer_t * pxTimer = xTimer; + TickType_t xReturn; + + configASSERT( xTimer ); + xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) ); + return xReturn; + } +/*-----------------------------------------------------------*/ + + const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + Timer_t * pxTimer = xTimer; + + configASSERT( xTimer ); + return pxTimer->pcTimerName; + } +/*-----------------------------------------------------------*/ + + static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, + const TickType_t xTimeNow ) + { + BaseType_t xResult; + Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + + /* Remove the timer from the list of active timers. A check has already + * been performed to ensure the list is not empty. */ + + ( void ) uxListRemove( &( pxTimer->xTimerListItem ) ); + traceTIMER_EXPIRED( pxTimer ); + + /* If the timer is an auto-reload timer then calculate the next + * expiry time and re-insert the timer in the list of active timers. */ + if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 ) + { + /* The timer is inserted into a list using a time relative to anything + * other than the current time. It will therefore be inserted into the + * correct list relative to the time this task thinks it is now. */ + if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE ) + { + /* The timer expired before it was added to the active timer + * list. Reload it now. */ + xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY ); + configASSERT( xResult ); + ( void ) xResult; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE; + mtCOVERAGE_TEST_MARKER(); + } + + /* Call the timer callback. */ + pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); + } +/*-----------------------------------------------------------*/ + + static portTASK_FUNCTION( prvTimerTask, pvParameters ) + { + TickType_t xNextExpireTime; + BaseType_t xListWasEmpty; + + /* Just to avoid compiler warnings. */ + ( void ) pvParameters; + + #if ( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 ) + { + extern void vApplicationDaemonTaskStartupHook( void ); + + /* Allow the application writer to execute some code in the context of + * this task at the point the task starts executing. This is useful if the + * application includes initialisation code that would benefit from + * executing after the scheduler has been started. */ + vApplicationDaemonTaskStartupHook(); + } + #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */ + + for( ; ; ) + { + /* Query the timers list to see if it contains any timers, and if so, + * obtain the time at which the next timer will expire. */ + xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty ); + + /* If a timer has expired, process it. Otherwise, block this task + * until either a timer does expire, or a command is received. */ + prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty ); + + /* Empty the command queue. */ + prvProcessReceivedCommands(); + } + } +/*-----------------------------------------------------------*/ + + static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, + BaseType_t xListWasEmpty ) + { + TickType_t xTimeNow; + BaseType_t xTimerListsWereSwitched; + + vTaskSuspendAll(); + { + /* Obtain the time now to make an assessment as to whether the timer + * has expired or not. If obtaining the time causes the lists to switch + * then don't process this timer as any timers that remained in the list + * when the lists were switched will have been processed within the + * prvSampleTimeNow() function. */ + xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched ); + + if( xTimerListsWereSwitched == pdFALSE ) + { + /* The tick count has not overflowed, has the timer expired? */ + if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) ) + { + ( void ) xTaskResumeAll(); + prvProcessExpiredTimer( xNextExpireTime, xTimeNow ); + } + else + { + /* The tick count has not overflowed, and the next expire + * time has not been reached yet. This task should therefore + * block to wait for the next expire time or a command to be + * received - whichever comes first. The following line cannot + * be reached unless xNextExpireTime > xTimeNow, except in the + * case when the current timer list is empty. */ + if( xListWasEmpty != pdFALSE ) + { + /* The current timer list is empty - is the overflow list + * also empty? */ + xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList ); + } + + vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty ); + + if( xTaskResumeAll() == pdFALSE ) + { + /* Yield to wait for either a command to arrive, or the + * block time to expire. If a command arrived between the + * critical section being exited and this yield then the yield + * will not cause the task to block. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + else + { + ( void ) xTaskResumeAll(); + } + } + } +/*-----------------------------------------------------------*/ + + static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) + { + TickType_t xNextExpireTime; + + /* Timers are listed in expiry time order, with the head of the list + * referencing the task that will expire first. Obtain the time at which + * the timer with the nearest expiry time will expire. If there are no + * active timers then just set the next expire time to 0. That will cause + * this task to unblock when the tick count overflows, at which point the + * timer lists will be switched and the next expiry time can be + * re-assessed. */ + *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList ); + + if( *pxListWasEmpty == pdFALSE ) + { + xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList ); + } + else + { + /* Ensure the task unblocks when the tick count rolls over. */ + xNextExpireTime = ( TickType_t ) 0U; + } + + return xNextExpireTime; + } +/*-----------------------------------------------------------*/ + + static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) + { + TickType_t xTimeNow; + PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */ + + xTimeNow = xTaskGetTickCount(); + + if( xTimeNow < xLastTime ) + { + prvSwitchTimerLists(); + *pxTimerListsWereSwitched = pdTRUE; + } + else + { + *pxTimerListsWereSwitched = pdFALSE; + } + + xLastTime = xTimeNow; + + return xTimeNow; + } +/*-----------------------------------------------------------*/ + + static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, + const TickType_t xNextExpiryTime, + const TickType_t xTimeNow, + const TickType_t xCommandTime ) + { + BaseType_t xProcessTimerNow = pdFALSE; + + listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime ); + listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer ); + + if( xNextExpiryTime <= xTimeNow ) + { + /* Has the expiry time elapsed between the command to start/reset a + * timer was issued, and the time the command was processed? */ + if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + { + /* The time between a command being issued and the command being + * processed actually exceeds the timers period. */ + xProcessTimerNow = pdTRUE; + } + else + { + vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) ); + } + } + else + { + if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) ) + { + /* If, since the command was issued, the tick count has overflowed + * but the expiry time has not, then the timer must have already passed + * its expiry time and should be processed immediately. */ + xProcessTimerNow = pdTRUE; + } + else + { + vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) ); + } + } + + return xProcessTimerNow; + } +/*-----------------------------------------------------------*/ + + static void prvProcessReceivedCommands( void ) + { + DaemonTaskMessage_t xMessage; + Timer_t * pxTimer; + BaseType_t xTimerListsWereSwitched, xResult; + TickType_t xTimeNow; + + while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */ + { + #if ( INCLUDE_xTimerPendFunctionCall == 1 ) + { + /* Negative commands are pended function calls rather than timer + * commands. */ + if( xMessage.xMessageID < ( BaseType_t ) 0 ) + { + const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters ); + + /* The timer uses the xCallbackParameters member to request a + * callback be executed. Check the callback is not NULL. */ + configASSERT( pxCallback ); + + /* Call the function. */ + pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* INCLUDE_xTimerPendFunctionCall */ + + /* Commands that are positive are timer commands rather than pended + * function calls. */ + if( xMessage.xMessageID >= ( BaseType_t ) 0 ) + { + /* The messages uses the xTimerParameters member to work on a + * software timer. */ + pxTimer = xMessage.u.xTimerParameters.pxTimer; + + if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */ + { + /* The timer is in a list, remove it. */ + ( void ) uxListRemove( &( pxTimer->xTimerListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue ); + + /* In this case the xTimerListsWereSwitched parameter is not used, but + * it must be present in the function call. prvSampleTimeNow() must be + * called after the message is received from xTimerQueue so there is no + * possibility of a higher priority task adding a message to the message + * queue with a time that is ahead of the timer daemon task (because it + * pre-empted the timer daemon task after the xTimeNow value was set). */ + xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched ); + + switch( xMessage.xMessageID ) + { + case tmrCOMMAND_START: + case tmrCOMMAND_START_FROM_ISR: + case tmrCOMMAND_RESET: + case tmrCOMMAND_RESET_FROM_ISR: + case tmrCOMMAND_START_DONT_TRACE: + /* Start or restart a timer. */ + pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE; + + if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE ) + { + /* The timer expired before it was added to the active + * timer list. Process it now. */ + pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); + traceTIMER_EXPIRED( pxTimer ); + + if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 ) + { + xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY ); + configASSERT( xResult ); + ( void ) xResult; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + break; + + case tmrCOMMAND_STOP: + case tmrCOMMAND_STOP_FROM_ISR: + /* The timer has already been removed from the active list. */ + pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE; + break; + + case tmrCOMMAND_CHANGE_PERIOD: + case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR: + pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE; + pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue; + configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) ); + + /* The new period does not really have a reference, and can + * be longer or shorter than the old one. The command time is + * therefore set to the current time, and as the period cannot + * be zero the next expiry time can only be in the future, + * meaning (unlike for the xTimerStart() case above) there is + * no fail case that needs to be handled here. */ + ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow ); + break; + + case tmrCOMMAND_DELETE: + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* The timer has already been removed from the active list, + * just free up the memory if the memory was dynamically + * allocated. */ + if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 ) + { + vPortFree( pxTimer ); + } + else + { + pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE; + } + } + #else /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */ + { + /* If dynamic allocation is not enabled, the memory + * could not have been dynamically allocated. So there is + * no need to free the memory - just mark the timer as + * "not active". */ + pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + break; + + default: + /* Don't expect to get here. */ + break; + } + } + } + } +/*-----------------------------------------------------------*/ + + static void prvSwitchTimerLists( void ) + { + TickType_t xNextExpireTime, xReloadTime; + List_t * pxTemp; + Timer_t * pxTimer; + BaseType_t xResult; + + /* The tick count has overflowed. The timer lists must be switched. + * If there are any timers still referenced from the current timer list + * then they must have expired and should be processed before the lists + * are switched. */ + while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE ) + { + xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList ); + + /* Remove the timer from the list. */ + pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ + ( void ) uxListRemove( &( pxTimer->xTimerListItem ) ); + traceTIMER_EXPIRED( pxTimer ); + + /* Execute its callback, then send a command to restart the timer if + * it is an auto-reload timer. It cannot be restarted here as the lists + * have not yet been switched. */ + pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer ); + + if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 ) + { + /* Calculate the reload value, and if the reload value results in + * the timer going into the same timer list then it has already expired + * and the timer should be re-inserted into the current list so it is + * processed again within this loop. Otherwise a command should be sent + * to restart the timer to ensure it is only inserted into a list after + * the lists have been swapped. */ + xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ); + + if( xReloadTime > xNextExpireTime ) + { + listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime ); + listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer ); + vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) ); + } + else + { + xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY ); + configASSERT( xResult ); + ( void ) xResult; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + pxTemp = pxCurrentTimerList; + pxCurrentTimerList = pxOverflowTimerList; + pxOverflowTimerList = pxTemp; + } +/*-----------------------------------------------------------*/ + + static void prvCheckForValidListAndQueue( void ) + { + /* Check that the list from which active timers are referenced, and the + * queue used to communicate with the timer service, have been + * initialised. */ + taskENTER_CRITICAL(); + { + if( xTimerQueue == NULL ) + { + vListInitialise( &xActiveTimerList1 ); + vListInitialise( &xActiveTimerList2 ); + pxCurrentTimerList = &xActiveTimerList1; + pxOverflowTimerList = &xActiveTimerList2; + + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + /* The timer queue is allocated statically in case + * configSUPPORT_DYNAMIC_ALLOCATION is 0. */ + PRIVILEGED_DATA static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */ + PRIVILEGED_DATA static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */ + + xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue ); + } + #else + { + xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) ); + } + #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */ + + #if ( configQUEUE_REGISTRY_SIZE > 0 ) + { + if( xTimerQueue != NULL ) + { + vQueueAddToRegistry( xTimerQueue, "TmrQ" ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configQUEUE_REGISTRY_SIZE */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + } +/*-----------------------------------------------------------*/ + + BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) + { + BaseType_t xReturn; + Timer_t * pxTimer = xTimer; + + configASSERT( xTimer ); + + /* Is the timer in the list of active timers? */ + taskENTER_CRITICAL(); + { + if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } /*lint !e818 Can't be pointer to const due to the typedef. */ +/*-----------------------------------------------------------*/ + + void * pvTimerGetTimerID( const TimerHandle_t xTimer ) + { + Timer_t * const pxTimer = xTimer; + void * pvReturn; + + configASSERT( xTimer ); + + taskENTER_CRITICAL(); + { + pvReturn = pxTimer->pvTimerID; + } + taskEXIT_CRITICAL(); + + return pvReturn; + } +/*-----------------------------------------------------------*/ + + void vTimerSetTimerID( TimerHandle_t xTimer, + void * pvNewID ) + { + Timer_t * const pxTimer = xTimer; + + configASSERT( xTimer ); + + taskENTER_CRITICAL(); + { + pxTimer->pvTimerID = pvNewID; + } + taskEXIT_CRITICAL(); + } +/*-----------------------------------------------------------*/ + + #if ( INCLUDE_xTimerPendFunctionCall == 1 ) + + BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, + void * pvParameter1, + uint32_t ulParameter2, + BaseType_t * pxHigherPriorityTaskWoken ) + { + DaemonTaskMessage_t xMessage; + BaseType_t xReturn; + + /* Complete the message with the function parameters and post it to the + * daemon task. */ + xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR; + xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend; + xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1; + xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2; + + xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken ); + + tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn ); + + return xReturn; + } + + #endif /* INCLUDE_xTimerPendFunctionCall */ +/*-----------------------------------------------------------*/ + + #if ( INCLUDE_xTimerPendFunctionCall == 1 ) + + BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, + void * pvParameter1, + uint32_t ulParameter2, + TickType_t xTicksToWait ) + { + DaemonTaskMessage_t xMessage; + BaseType_t xReturn; + + /* This function can only be called after a timer has been created or + * after the scheduler has been started because, until then, the timer + * queue does not exist. */ + configASSERT( xTimerQueue ); + + /* Complete the message with the function parameters and post it to the + * daemon task. */ + xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK; + xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend; + xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1; + xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2; + + xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait ); + + tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn ); + + return xReturn; + } + + #endif /* INCLUDE_xTimerPendFunctionCall */ +/*-----------------------------------------------------------*/ + + #if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) + { + return ( ( Timer_t * ) xTimer )->uxTimerNumber; + } + + #endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + + #if ( configUSE_TRACE_FACILITY == 1 ) + + void vTimerSetTimerNumber( TimerHandle_t xTimer, + UBaseType_t uxTimerNumber ) + { + ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber; + } + + #endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +/* This entire source file will be skipped if the application is not configured + * to include software timer functionality. If you want to include software timer + * functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */ +#endif /* configUSE_TIMERS == 1 */ diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-core-no-safety-config.mk b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-core-no-safety-config.mk new file mode 100644 index 0000000..0eeeb18 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-core-no-safety-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-freertos-core-no-safety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FREERTOS_CORE_NO_SAFETY_CONFIG := 1 + +# +# Location of source code files +MODULE_FREERTOS_CORE_NO_SAFETY_SOURCE_DIR = $(FREERTOS_DIR) + +# +# Common includes '-I ' +MODULE_FREERTOS_CORE_NO_SAFETY_INCLUDES = +MODULE_FREERTOS_CORE_NO_SAFETY_INCLUDES = -I $(FREERTOS_DIR)/include diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-core-no-safety.mk b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-core-no-safety.mk new file mode 100644 index 0000000..8d4d045 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-core-no-safety.mk @@ -0,0 +1,69 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-freertos-core-no-safety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_FREERTOS_CORE_NO_SAFETY_NAME := FREERTOS_CORE_NO_SAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FREERTOS_CORE_NO_SAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_FREERTOS_CORE_NO_SAFETY_DEPENDS := FREERTOS_CORE_NO_SAFETY +$(foreach _,$(CONFIG_FREERTOS_CORE_NO_SAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +ifndef MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC = +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC += $(FREERTOS_DIR)/croutine.c +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC += $(FREERTOS_DIR)/event_groups.c +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC += $(FREERTOS_DIR)/list.c +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC += $(FREERTOS_DIR)/queue.c +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC += $(FREERTOS_DIR)/tasks.c +MODULE_FREERTOS_CORE_NO_SAFETY_C_SRC += $(FREERTOS_DIR)/timers.c +endif + +# +# Assembly source +MODULE_FREERTOS_CORE_NO_SAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_FREERTOS_CORE_NO_SAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_FREERTOS_CORE_NO_SAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-mmgr-no-safety-config.mk b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-mmgr-no-safety-config.mk new file mode 100644 index 0000000..e890a47 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-mmgr-no-safety-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-freertos-mmgr-no-safety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FREERTOS_MMGR_NO_SAFETY_CONFIG := 1 + +# +# Location of source code files +MODULE_FREERTOS_MMGR_NO_SAFETY_SOURCE_DIR = $(FREERTOS_MMGR_DIR) + +# +# Common includes '-I ' +MODULE_FREERTOS_MMGR_NO_SAFETY_INCLUDES = +MODULE_FREERTOS_MMGR_NO_SAFETY_INCLUDES = -I $(FREERTOS_DIR)/include diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-mmgr-no-safety.mk b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-mmgr-no-safety.mk new file mode 100644 index 0000000..c147cea --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-mmgr-no-safety.mk @@ -0,0 +1,68 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-freertos-mmgr-no-safety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_FREERTOS_MMGR_NO_SAFETY_NAME := FREERTOS_MMGR_NO_SAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FREERTOS_MMGR_NO_SAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_FREERTOS_MMGR_NO_SAFETY_DEPENDS := FREERTOS_CORE_NO_SAFETY +$(foreach _,$(CONFIG_FREERTOS_MMGR_NO_SAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +ifndef MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC +MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC = +MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC += $(FREERTOS_MMGR_DIR)/heap_1.c +MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC += $(FREERTOS_MMGR_DIR)/heap_2.c +MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC += $(FREERTOS_MMGR_DIR)/heap_3.c +MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC += $(FREERTOS_MMGR_DIR)/heap_4.c +MODULE_FREERTOS_MMGR_NO_SAFETY_C_SRC += $(FREERTOS_MMGR_DIR)/heap_5.c +endif + +# +# Assembly source +MODULE_FREERTOS_MMGR_NO_SAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_FREERTOS_MMGR_NO_SAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_FREERTOS_MMGR_NO_SAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-port-cortex-r5-no-safety-config.mk b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-port-cortex-r5-no-safety-config.mk new file mode 100644 index 0000000..4177d18 --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-port-cortex-r5-no-safety-config.mk @@ -0,0 +1,34 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-freertos-port-cortex-r5-no-safety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_CONFIG := 1 + +# +# Location of source code files +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_SOURCE_DIR = $(FREERTOS_PORT_DIR) + +# +# Common includes '-I ' +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_INCLUDES += -I $(FREERTOS_PORT_DIR) diff --git a/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-port-cortex-r5-no-safety.mk b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-port-cortex-r5-no-safety.mk new file mode 100644 index 0000000..383692f --- /dev/null +++ b/spe-freertos-bsp/FreeRTOSV10.4.3/fsp_project/module-freertos-port-cortex-r5-no-safety.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-freertos-port-cortex-r5-no-safety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_NAME := FREERTOS_PORT_CORTEX_R5_NO_SAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_DEPENDS := FREERTOS_CORE_NO_SAFETY FREERTOS_PORT_CORTEX_R5_NO_SAFETY +$(foreach _,$(CONFIG_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_C_SRC = +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_C_SRC += $(FREERTOS_PORT_DIR)/port.c + +# +# Assembly source +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_ASM_SRC = +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_ASM_SRC += $(FREERTOS_PORT_DIR)/portASM.S + +# +# Special C Flags +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_FREERTOS_PORT_CORTEX_R5_NO_SAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/README.txt b/spe-freertos-bsp/README.txt new file mode 100644 index 0000000..194ae07 --- /dev/null +++ b/spe-freertos-bsp/README.txt @@ -0,0 +1,6 @@ +This package contains the rt-aux-cpu-demo-fsp sources which provide a FreeRTOS +based software demo to run Real-Time applications on the Cortex-R5 Sensor +Processing Engine (SPE) on the Jetson platforms. + +How to get started: +Follow rt-aux-cpu-demo-fsp/doc/welcome.md and rt-aux-cpu-demo-fsp/doc/compile-flash.md for the details. diff --git a/spe-freertos-bsp/fsp/source/diags/cr52-diag/cr52-diag.c b/spe-freertos-bsp/fsp/source/diags/cr52-diag/cr52-diag.c new file mode 100644 index 0000000..906e33f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/diags/cr52-diag/cr52-diag.c @@ -0,0 +1,129 @@ +/* + * cr52-diag - Diagnostics module for debugging FSP on NVRISCV. + * + */ +#include + +#include +#include +#include +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") + +#if 0 +#pragma message "content of INT_MAX: " STR(INT_MAX) +#pragma message "content of INT32_MAX: " STR(INT32_MAX) +#pragma message "content of UINT_MAX: " STR(UINT_MAX) +#pragma message "content of UINT32_MAX: " STR(UINT32_MAX) +#pragma message "content of LONG_MAX: " STR(LONG_MAX) +#pragma message "content of size_t: " STR(__SIZE_TYPE__) +#pragma message "content of sizeof(uintptr_t): " STR(sizeof(uintptr_t)) +#pragma message "content of sizeof(uint32_t): " STR(sizeof(uint32_t)) +#pragma message "content of sizeof(unsigned long): " STR(sizeof(unsigned long)) +#pragma message "content of __LONG_MAX__: " STR(__LONG_MAX__) +#pragma message "content of UINTPTR_MAX: " STR(UINTPTR_MAX) +#endif + +#define BASE_ADDR32 0x12345678U +#define BASE_ADDR64 0x1234567890UL +#define OFFSET_32 0x75050505U + +/* Prototypes */ +void cr52_diag(void); +uint32_t r32(uintptr_t addr); +void w32(uintptr_t addr, uint32_t data); +//uint32_t ra32(uint32_t addr); +//void wa32(uint32_t data, uint32_t addr); +uint32_t r32o(uintptr_t addr, uint32_t offset); +void w32o(uintptr_t addr, uint32_t offset, uint32_t data); +//uint32_t ra32o(uint32_t addr, uint32_t offset); +//void wa32o(uint32_t data, uint32_t addr, uint32_t offset); + +/* CR52-DIAG implementation */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void cr52_diag(void) +{ + /* Verify that 32-bit MMIO functions are MISRA clean */ + uintptr_t addr32 = BASE_ADDR32; + uint32_t offs32 = OFFSET_32; + uint32_t data32; + data32 = r32(addr32); + w32(addr32, data32); +// data32 = ra32(addr32); +// wa32(data32, addr32); + data32 = r32o(addr32, offs32); + w32o(addr32, offs32, data32); +// data32 = ra32o(addr32, offs32); +// wa32o(data32, addr32, offs32); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint32_t r32(uintptr_t addr) +{ + return ioread32(addr); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void w32(uintptr_t addr, uint32_t data) +{ + iowrite32(addr, data); +} + +#if 0 +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint32_t ra32(uint32_t addr) +{ + return readl(addr); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void wa32(uint32_t data, uint32_t addr) +{ + writel(addr, data); +} +#endif + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint32_t r32o(uintptr_t addr, uint32_t offset) +{ + return ioread32_offset(addr, offset); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void w32o(uintptr_t addr, uint32_t offset, uint32_t data) +{ + iowrite32_offset(addr, offset, data); +} + +#if 0 +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint32_t ra32o(uint32_t addr, uint32_t offset) +{ + return readl_base_offset(addr, offset); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void wa32o(uint32_t data, uint32_t addr, uint32_t offset) +{ + writel_base_offset(data, addr, offset); +} +#endif + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/diags/cr52-diag/module-cr52-diag-config.mk b/spe-freertos-bsp/fsp/source/diags/cr52-diag/module-cr52-diag-config.mk new file mode 100644 index 0000000..8ae6b2e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/diags/cr52-diag/module-cr52-diag-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cr52-diag-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CR52_DIAG_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CR52_DIAG_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CR52_DIAG_DEPENDS := CPL +$(foreach _,$(MODULE_CR52_DIAG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CR52_DIAG_DRIVERS_DIR = $(FSP_COMMON_REPO)/diags/cr52-diag +MODULE_CR52_DIAG_SOURCE_DIR = $(MODULE_CR52_DIAG_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_CR52_DIAG_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/diags/cr52-diag/module-cr52-diag.mk b/spe-freertos-bsp/fsp/source/diags/cr52-diag/module-cr52-diag.mk new file mode 100644 index 0000000..b4af212 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/diags/cr52-diag/module-cr52-diag.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cr52-diag.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CR52_DIAG_NAME := CR52_DIAG + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CR52_DIAG_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CR52_DIAG_DEPENDS := CR52_DIAG CPL +$(foreach _,$(CONFIG_CR52_DIAG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CR52_DIAG_C_SRC = +MODULE_CR52_DIAG_C_SRC += $(MODULE_CR52_DIAG_DRIVERS_DIR)/cr52-diag.c + +# +# Assembly source +MODULE_CR52_DIAG_ASM_SRC = + +# +# Special C Flags +MODULE_CR52_DIAG_C_FLAGS = + +# +# Special ASM Flags +MODULE_CR52_DIAG_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/module-nvgpu-diag-config.mk b/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/module-nvgpu-diag-config.mk new file mode 100644 index 0000000..4bc9006 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/module-nvgpu-diag-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-nvgpu-diag-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_NVGPU_DIAG_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_NVGPU_DIAG_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_NVGPU_DIAG_DEPENDS := CPL +$(foreach _,$(MODULE_NVGPU_DIAG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_NVGPU_DIAG_DRIVERS_DIR = $(FSP_COMMON_REPO)/diags/nvgpu-diag +MODULE_NVGPU_DIAG_SOURCE_DIR = $(MODULE_NVGPU_DIAG_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_NVGPU_DIAG_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/module-nvgpu-diag.mk b/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/module-nvgpu-diag.mk new file mode 100644 index 0000000..ce28cbc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/module-nvgpu-diag.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-nvgpu-diag.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_NVGPU_DIAG_NAME := NVGPU_DIAG + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_NVGPU_DIAG_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_NVGPU_DIAG_DEPENDS := NVGPU_DIAG CPL +$(foreach _,$(CONFIG_NVGPU_DIAG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_NVGPU_DIAG_C_SRC = +MODULE_NVGPU_DIAG_C_SRC += $(MODULE_NVGPU_DIAG_DRIVERS_DIR)/nvgpu-diag.c + +# +# Assembly source +MODULE_NVGPU_DIAG_ASM_SRC = + +# +# Special C Flags +MODULE_NVGPU_DIAG_C_FLAGS = + +# +# Special ASM Flags +MODULE_NVGPU_DIAG_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/nvgpu-diag.c b/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/nvgpu-diag.c new file mode 100644 index 0000000..d437e0b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/diags/nvgpu-diag/nvgpu-diag.c @@ -0,0 +1,276 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2018-2021 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +/* + * nvgpu-diag - Diagnostics module for debugging FSP on NVRISCV. + */ + +/* + * @file nvgpu-diag.c + * @brief Diagnostics module for debugging FSP on NVRISCV. + */ +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +HEADER_CHECK(FSP__MISC__MACROS_H) +HEADER_CHECK(FSP__CPU__MMIO_ACCESS_H) +HEADER_CHECK(FSP__CPU__IO_H) +#if NVRISCV_HAS_CSB_MMIO +HEADER_CHECK(FSP__CPU__IO_CSB_H) +#endif +HEADER_CHECK(FSP__CPU__IO_LOCAL_H) +#if NVRISCV_HAS_PRI +HEADER_CHECK(FSP__CPU__IO_PRI_H) +#endif +#if NVRISCV_HAS_DIO_SE || NVRISCV_HAS_DIO_SNIC || NVRISCV_HAS_DIO_FBHUB +HEADER_CHECK(FSP__CPU__IO_DIO_H) +#endif +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__CPU__RISCV_MPU_H) +HEADER_CHECK(FSP__CPU__FENCE_H) +HEADER_CHECK(FSP__CPU__CACHE_H) +HEADER_CHECK(FSP__CPU__BARRIER_H) +HEADER_CHECK(FSP__CPU__SHUTDOWN_H) +HEADER_CHECK(FSP__CPU__SBI_H) +HEADER_CHECK(FSP__LIBC__LIBC_H) + +#if 0 +#pragma message "content of INT_MAX: " STR(INT_MAX) +#pragma message "content of INT32_MAX: " STR(INT32_MAX) +#pragma message "content of UINT_MAX: " STR(UINT_MAX) +#pragma message "content of UINT32_MAX: " STR(UINT32_MAX) +#pragma message "content of LONG_MAX: " STR(LONG_MAX) +#pragma message "content of size_t: " STR(__SIZE_TYPE__) +#pragma message "content of sizeof(uintptr_t): " STR(sizeof(uintptr_t)) +#pragma message "content of sizeof(uint32_t): " STR(sizeof(uint32_t)) +#pragma message "content of sizeof(unsigned long): " STR(sizeof(unsigned long)) +#pragma message "content of __LONG_MAX__: " STR(__LONG_MAX__) +#pragma message "content of UINTPTR_MAX: " STR(UINTPTR_MAX) +#endif + +#define BASE_ADDR32 0x12345678U +#define BASE_ADDR64 0x1234567890UL +#define OFFSET_32 0x05050505U + +/* Prototypes */ +void nvgpu_diag(void); +uint32_t r32(uintptr_t addr); +void w32(uintptr_t addr, uint32_t data); +uint32_t r32o(uintptr_t addr, uint32_t offset); +void w32o(uintptr_t addr, uint32_t offset, uint32_t data); +uint64_t r64(uintptr_t addr); +void w64(uintptr_t addr, uint64_t data); +uint64_t r64o(uintptr_t addr, uint32_t offset); +void w64o(uintptr_t addr, uint32_t offset, uint64_t data); + +/* NVGPU-DIAG implementation */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void nvgpu_diag(void) +{ + /* Verify cache */ + uintptr_t base = BASE_ADDR64; + size_t length = 64UL; + riscv_addr_type_t address_type = RISCV_ADDR_TYPE_PA; + + icache_invalidate_all(); + dcache_invalidate_all(); + dcache_invalidate(&base, length); + dcache_invalidate_address_type(&base, length, address_type); + cache_invalidate(&base, length); + + /* Verify that 32-bit MMIO functions are MISRA clean */ + uintptr_t addr32 = BASE_ADDR32; + uint32_t offs32 = OFFSET_32; + uint32_t data32; + data32 = r32(addr32); + w32(addr32, data32); + data32 = r32o(addr32, offs32); + w32o(addr32, offs32, data32); + + /* Verify that 64-bit MMIO functions are MISRA clean */ + uintptr_t addr64 = BASE_ADDR64; + uint64_t data64; + data64 = r64(addr64); + w64(addr64, data64); + data64 = r64o(addr64, offs32); + w64o(addr64, offs32, data64); + + /* Verify that io driver functions are MISRA clean */ + uint32_t ioAddr32 = BASE_ADDR32; + uint32_t ioData32; + + ioData32 = local_read(ioAddr32); + local_write(ioAddr32, ioData32); +#if (defined(NVRISCV_HAS_CSB_MMIO) && (NVRISCV_HAS_CSB_MMIO==1)) + ioData32 = csb_read(ioAddr32); + csb_write(ioAddr32, ioData32); +#endif +#if (defined(NVRISCV_HAS_PRI) && (NVRISCV_HAS_PRI==1)) +#if (defined(NVRISCV_HAS_CSB_OVER_PRI) && (NVRISCV_HAS_CSB_OVER_PRI==1)) + ioData32 = csb_read(ioAddr32); + csb_write(ioAddr32, ioData32); +#endif + ioData32 = pri_read(ioAddr32); + pri_write(ioAddr32, ioData32); + ioData32 = falcon_read(ioAddr32); + falcon_write(ioAddr32, ioData32); + ioData32 = riscv_read(ioAddr32); + riscv_write(ioAddr32, ioData32); +#endif + + /* Verify that io dio driver functions are MISRA clean */ +#if NVRISCV_HAS_DIO_SE + uint32_t io_dio_se_addr32 = BASE_ADDR32; + uint32_t io_dio_se_data32 = 0U; + DIO_PORT io_dio_se_port = { .dio_type=DIO_TYPE_SE, .port_idx=0U }; + if (dio_read_write(io_dio_se_port, DIO_OPERATION_RD, io_dio_se_addr32, &io_dio_se_data32) != (E_SUCCESS)) { + io_dio_se_data32 = 0U; + } +#endif + +#if NVRISCV_HAS_DIO_SNIC + uint32_t io_dio_snic_addr32 = BASE_ADDR32; + uint32_t io_dio_snic_data32 = 0U; + DIO_PORT io_dio_snic_port = { .dio_type=DIO_TYPE_SNIC, .port_idx=0U }; + if (dio_read_write(io_dio_snic_port, DIO_OPERATION_RD, io_dio_snic_addr32, &io_dio_snic_data32) != (E_SUCCESS)) { + io_dio_snic_data32 = 0U; + } +#endif + +#if NVRISCV_HAS_DIO_FBHUB + uint32_t io_dio_fbhub_addr32 = BASE_ADDR32; + uint32_t io_dio_fbhub_data32 = 0U; + DIO_PORT io_dio_fbhub_port = { .dio_type=DIO_TYPE_FBHUB, .port_idx=0U }; + if (dio_read_write(io_dio_fbhub_port, DIO_OPERATION_RD, io_dio_fbhub_addr32, &io_dio_fbhub_data32) != (E_SUCCESS)) { + io_dio_fbhub_data32 = 0U; + } +#endif + + /* Verify that FENCE wrappers are MISRA clean */ + riscv_lw_fence_io(); + riscv_lw_fence_rw(); + riscv_lw_fence_rwio(); + riscv_fence_io(); + riscv_fence_rw(); + riscv_fence_rwio(); + riscv_sfence_vma(0xFF,0xFF); + + /* Verify that barrier functions are MISRA clean */ + barrier_cache_op_complete(); + barrier_memory_order(); + barrier_memory_complete(); + barrier_instruction_synchronization(); + + /* Verify that shutdown helper functions are MISRA clean */ + riscv_panic(); + riscv_shutdown(); + + /* Verify libc functions */ + const uint8_t s1[3] = {1,1,1}; + uint8_t s2[3] = {1,1,1}; + + if (memcmp(s1, s1, sizeof(*s1)/sizeof(char)) == 0) + { + s2[0] = 0; + } + (void) memcpy(s2, s1, sizeof(*s1)/sizeof(char)); + (void) memset(s2, 0, sizeof(*s2)/sizeof(char)); + + /* Stack Smashing Protection */ + error_t ssp_generate_result; + ssp_generate_result = ssp_generate_and_set_canary_with_init(); + ssp_generate_result = ssp_generate_and_set_canary(); + if (ssp_generate_result == E_SUCCESS) + { + (void) ssp_get_canary(); + ssp_set_canary(0x1234); + } +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint32_t r32(uintptr_t addr) +{ + return ioread32(addr); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint32_t r32o(uintptr_t addr, uint32_t offset) +{ + return ioread32_offset(addr, offset); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void w32(uintptr_t addr, uint32_t data) +{ + iowrite32(addr, data); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void w32o(uintptr_t addr, uint32_t offset, uint32_t data) +{ + iowrite32_offset(addr, offset, data); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint64_t r64(uintptr_t addr) +{ + return ioread64(addr); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +uint64_t r64o(uintptr_t addr, uint32_t offset) +{ + return ioread64_offset(addr, offset); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void w64(uintptr_t addr, uint64_t data) +{ + iowrite64(addr, data); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "") +void w64o(uintptr_t addr, uint32_t offset, uint64_t data) +{ + iowrite64_offset(addr, offset, data); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/adcc/adcc.c b/spe-freertos-bsp/fsp/source/drivers/adcc/adcc.c new file mode 100644 index 0000000..4dce86c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/adcc/adcc.c @@ -0,0 +1,431 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t, uint8_t, UINT32_... +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // IWYU pragma: keep + +/* Hardware headers */ +//#include // for ADCC_CTL0_0, ADCC_TIMING_CTL0_0... + +/* Late FSP headers */ +#include // for error_t, E_SUCCESS +#include // for UNUSED +#include // NV_DRF_* macros +#include // for readl_base_offset, writel_base_of... +#include // for BIT, bit_number +#include // for tegra_clk_enable, ... +#include // for tegra_clk_adcc_os_undiv, ... + +/* Module specific headers */ +#include // for adcc_init, adcc_start_scan... +#include // for E_ADCC_NULL_PTR, E_ADCC_... +#include // for struct adcc_id +#include // Immune from CT_ASSERT protection + +#define ADCC_CTL0_0 0x00UL +#define ADCC_TIMING_CTL0_0 0x04UL +#define ADCC_SCAN_SEL_0 0x08UL +#define ADCC_SCAN_WINDOW_0 0x0CUL +#define ADCC_CH0_SAMPLE_0 0x10UL +#define ADCC_CH_OFFSET 0x04UL +#define ADCC_CTL1_0 0x2CUL + +#define ADCC_SMPL_VALID BIT(12U) +#define ADCC_SMPL_VAL_MSK 0x3FFUL +#define ADCC_SCAN_EN BIT(0U) +#define ADCC_SCAN_SEL_MSK 0x3FUL +#define ADCC_TMG_CTL_MSK 0xFFFFUL +#define ADC_CONV_CYC_SHFT 28U +#define ADCC_PD BIT(31U) +#define ADCC_CONT 0UL +#define ADCC_ONE_SHOT BIT(1U) +#define ADCC_WAIT_TIME 0x45UL +#define ADCC_CH_SZ_MASK 0x00FFFFFFUL +#define ADC_WAIT_SEL_SHFT 0x8U + +static bool adcc_inited = false; +static uint32_t wait_time = 64U; + +static inline uint32_t +adcc_readl(const struct adcc_id * const id, + uint32_t offset) +{ + return readl_base_offset(id->base_addr, offset); +} + +static inline void +adcc_writel(const struct adcc_id * const id, + uint32_t val, + uint32_t offset) +{ + writel_base_offset(val, id->base_addr, offset); +} + +static inline void +adcc_reset_chans(const struct adcc_id *id) +{ + uint32_t i; + uint32_t val = 0UL; + uint32_t ch_base; + + for (i = 0UL; i <= ADCC_NCHANS; i++) { + ch_base = ADCC_CH0_SAMPLE_0 + (i * ADCC_CH_OFFSET); + val = adcc_readl(id, ch_base); + val &= ~ADCC_SMPL_VALID; + adcc_writel(id, val, ch_base); + } +} + +static void +adcc_configure_control_regs(const struct adcc_id *id, + const uint32_t enabled_chans) +{ + uint32_t val; + + val = enabled_chans & ADCC_SCAN_SEL_MSK; + adcc_writel(id, val, ADCC_SCAN_SEL_0); +} + +SECTION_ADCC_TEXT static void +adcc_configure_scan_mode(const struct adcc_id *id, bool continuous) +{ + uint32_t mode; + + mode = continuous ? ADCC_CONT : ADCC_ONE_SHOT; + adcc_writel(id, mode, ADCC_CTL0_0); +} + +SECTION_ADCC_TEXT static uint32_t +adcc_get_wait_time(const struct adcc_id *id, + uint32_t sampling_dur) +{ + uint32_t val = 0x0U; + + switch (sampling_dur) { + case 16U: + val = 0x0U; + break; + case 32U: + val = 0x0U; + break; + case 64U: + val = 0x0U; + break; + case 128U: + wait_time = 128U; + val = 0x1U; + break; + default: + break; + } + + return val; +} + +SECTION_ADCC_TEXT static uint32_t +adcc_get_conv_cycle(const struct adcc_id *id, + uint32_t sampling_dur) +{ + uint32_t val = 0x1U; + + switch (sampling_dur) { + case 16U: + val = 0x0U; + break; + case 32U: + val = 0x1U; + break; + case 64U: + val = 0x2U; + break; + case 128U: + val = 0x3U; + break; + default: + break; + } + + return val; +} + +SECTION_ADCC_TEXT static void +adcc_configure_pad_ctl(const struct adcc_id *id, + const struct adcc_conf *conf) +{ + uint32_t val; + uint32_t conv_cycles; + + /* program the conversion cycles aka paramter C in the IAS */ + val = adcc_readl(id, ADCC_CTL1_0); + conv_cycles = adcc_get_conv_cycle(id, conf->sampling_dur); + val |= conv_cycles << ADC_CONV_CYC_SHFT; + val |= adcc_get_wait_time(id, conf->sampling_dur) << ADC_WAIT_SEL_SHFT; + adcc_writel(id, val, ADCC_CTL1_0); + + /* program init wait time */ + val = 2U + (wait_time + 3U) * 1U; + adcc_writel(id, val, ADCC_TIMING_CTL0_0); + + /* program the averaging window of samples */ + val = conf->avg_window & ADCC_CH_SZ_MASK; + adcc_writel(id, val, ADCC_SCAN_WINDOW_0); +} + +SECTION_ADCC_TEXT static void +adcc_clear_power_down(const struct adcc_id *id) +{ + uint32_t val; + + val = adcc_readl(id, ADCC_CTL0_0); + val &= ~ADCC_PD; + adcc_writel(id, val, ADCC_CTL0_0); +} + +SECTION_ADCC_TEXT static error_t +adcc_configure_clk_rst(const struct adcc_id *id, uint32_t clk_src) +{ + error_t ret; + const struct tegra_clk *clk; + + switch (clk_src) { + case ADCC_CLK_SRC_PLLP: + clk = tegra_clk_adcc_pll_p; + ret = tegra_clk_set_rate(clk, 40000000); + if (ret != E_SUCCESS) { + ret = E_ADCC_CLK_EN; + goto out; + } + break; + case ADCC_CLK_SRC_OSC_UNDIV: + default: + clk = tegra_clk_adcc_osc_undiv; + break; + } + + ret = tegra_clk_enable(clk); + if (ret != E_SUCCESS) { + ret = E_ADCC_CLK_EN; + goto out; + } + + ret = tegra_clk_reset_pulse(id->rst, 2U); + if (ret != E_SUCCESS) { + ret = E_ADCC_CLK_RST; + } + +out: + return ret; +} + +SECTION_ADCC_TEXT error_t +adcc_read_data(const struct adcc_id *id, + struct adcc_data *data) +{ + error_t ret = E_SUCCESS; + uint32_t ch_base; + uint32_t val; + uint32_t chan; + uint32_t chans; + + if (id == NULL || data == NULL) { + ret = E_ADCC_NULL_PTR; + goto out; + } + + if (!adcc_inited) { + ret = E_ADCC_NO_INIT; + goto out; + } + + chans = adcc_readl(id, ADCC_SCAN_SEL_0) & ADCC_SCAN_SEL_MSK; + data->enabled_chans = chans; + + /* + * VLD bit is set for enabled channels in order. Instead of reading + * every channel's VLD bit, read the last channel of the selected + * channels. If this indicates VLD, rest of the channels are also + * expected to as the HW sets them in order. + */ + chan = 31U - __builtin_clz(chans); + ch_base = ADCC_CH0_SAMPLE_0 + (chan * ADCC_CH_OFFSET); + do { + val = adcc_readl(id, ch_base); + } while ((val & ADCC_SMPL_VALID) == 0UL); + + /* fetch all enabled channel samples */ + while (chans != 0UL) { + chan = bit_number(chans); + ch_base = ADCC_CH0_SAMPLE_0 + (chan * ADCC_CH_OFFSET); + val = adcc_readl(id, ch_base); + data->ch_data[chan] = val & ADCC_SMPL_VAL_MSK; + val &= ~ADCC_SMPL_VALID; + adcc_writel(id, val, ch_base); + chans &= ~BIT(chan); + } + +out: + return ret; +} + +SECTION_ADCC_TEXT error_t +adcc_read_chan_data(const struct adcc_id *id, + uint32_t chan, + uint32_t *data) +{ + error_t ret = E_SUCCESS; + uint32_t ch_base; + uint32_t val; + + if (id == NULL) { + ret = E_ADCC_NULL_PTR; + goto out; + } + + if (!adcc_inited) { + ret = E_ADCC_NO_INIT; + goto out; + } + + if (chan >= ADCC_NCHANS) { + ret = E_ADCC_INVALID_CHAN; + goto out; + } + + val = adcc_readl(id, ADCC_SCAN_SEL_0) & ADCC_SCAN_SEL_MSK; + if ((val & BIT(chan)) == 0UL) { + ret = E_ADCC_CHAN_NOT_ENABLED; + goto out; + } + + ch_base = ADCC_CH0_SAMPLE_0 + (chan * ADCC_CH_OFFSET); + do { + val = adcc_readl(id, ch_base); + } while ((val & ADCC_SMPL_VALID) == 0UL); + *data = val & ADCC_SMPL_VAL_MSK; + val &= ~ADCC_SMPL_VALID; + adcc_writel(id, val, ch_base); + +out: + return ret; +} + +SECTION_ADCC_TEXT error_t +adcc_stop_scan(const struct adcc_id *id) +{ + error_t ret = E_SUCCESS; + uint32_t ctl_reg; + + if (id == NULL) { + ret = E_ADCC_NULL_PTR; + goto out; + } + + if (!adcc_inited) { + ret = E_ADCC_NO_INIT; + goto out; + } + + ctl_reg = adcc_readl(id, ADCC_CTL0_0); + ctl_reg &= ~ADCC_SCAN_EN; + adcc_writel(id, ctl_reg, ADCC_CTL0_0); + /* FIXME: Use a timeout based and return timed out error below */ + do { + ctl_reg = adcc_readl(id, ADCC_CTL0_0); + } while ((ctl_reg & ADCC_SCAN_EN) != 0UL); + +out: + return ret; +} + +SECTION_ADCC_TEXT error_t +adcc_start_scan(const struct adcc_id *id) +{ + error_t ret = E_SUCCESS; + uint32_t ctl_reg; + + if (id == NULL) { + ret = E_ADCC_NULL_PTR; + goto out; + } + + if (!adcc_inited) { + ret = E_ADCC_NO_INIT; + goto out; + } + + adcc_reset_chans(id); + ctl_reg = adcc_readl(id, ADCC_CTL0_0); + ctl_reg |= ADCC_SCAN_EN; + adcc_writel(id, ctl_reg, ADCC_CTL0_0); + +out: + return ret; +} + +SECTION_ADCC_INIT_TEXT error_t +adcc_init(const struct adcc_id *id, + const struct adcc_conf *conf) +{ + error_t ret = E_SUCCESS; + uint32_t max_chan; + uint32_t enabled_chans; + + if (id == NULL) { + ret = E_ADCC_NULL_PTR; + goto out; + } + + ret = adcc_configure_clk_rst(id, conf->clk_src); + if (ret != E_SUCCESS) { + goto out; + } + + enabled_chans = conf->enabled_chans; + max_chan = 31U - __builtin_clz(enabled_chans); + if (max_chan >= ADCC_NCHANS) { + ret = E_ADCC_INVALID_PARAM; + goto out; + } + + adcc_clear_power_down(id); + adcc_configure_pad_ctl(id, conf); + adcc_configure_scan_mode(id, !conf->mode); + adcc_reset_chans(id); + adcc_configure_control_regs(id, enabled_chans); + + adcc_inited = true; + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/adcc/module-adcc-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/adcc/module-adcc-nosafety-config.mk new file mode 100644 index 0000000..2d12e45 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/adcc/module-adcc-nosafety-config.mk @@ -0,0 +1,41 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-adcc-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_ADCC_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_ADCC_NOSAFETY_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_ADCC_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_ADCC_NOSAFETY_SOURCE_DIR = $(FSP_COMMON_REPO)/drivers/adcc + +# +# Common includes '-I ' +MODULE_ADCC_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/adcc/module-adcc-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/adcc/module-adcc-nosafety.mk new file mode 100644 index 0000000..deb4a24 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/adcc/module-adcc-nosafety.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-adcc-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_ADCC_NOSAFETY_NAME := ADCC_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_ADCC_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_ADCC_NOSAFETY_DEPENDS := ADCC_NOSAFETY SOC CPL OSA +$(foreach _,$(CONFIG_ADCC_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_ADCC_NOSAFETY_C_SRC = +MODULE_ADCC_NOSAFETY_C_SRC += $(MODULE_ADCC_NOSAFETY_SOURCE_DIR)/adcc.c +MODULE_ADCC_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/adcc-ids.c + +# +# Assembly source +MODULE_ADCC_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_ADCC_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_ADCC_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/aodmic/module-aodmic-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/aodmic/module-aodmic-nosafety-config.mk new file mode 100644 index 0000000..0b7e3d0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/aodmic/module-aodmic-nosafety-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-aodmic-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_AODMIC_NOSAFETY_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_AODMIC_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_AODMIC_NOSAFETY_DEPENDS := SOC CLUSTER CPL GPCDMA +$(foreach _,$(MODULE_AODMIC_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_AODMIC_NOSAFETY_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/aodmic +MODULE_AODMIC_NOSAFETY_SOURCE_DIR = $(MODULE_AODMIC_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_AODMIC_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/aodmic/module-aodmic-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/aodmic/module-aodmic-nosafety.mk new file mode 100644 index 0000000..16cedcd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/aodmic/module-aodmic-nosafety.mk @@ -0,0 +1,65 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-aodmic-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_AODMIC_NOSAFETY_NAME := AODMIC_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_AODMIC_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_AODMIC_NOSAFETY_DEPENDS := AODMIC_NOSAFETY SOC CPL GPCDMA +$(foreach _,$(CONFIG_AODMIC_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_AODMIC_NOSAFETY_C_SRC = +MODULE_AODMIC_NOSAFETY_C_SRC += $(MODULE_AODMIC_NOSAFETY_DRIVERS_DIR)/tegra-aodmic.c +MODULE_AODMIC_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/aodmic-tegra-ids.c +MODULE_AODMIC_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/aodmic-port.c + +# +# Assembly source +MODULE_AODMIC_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_AODMIC_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_AODMIC_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/aodmic/tegra-aodmic.c b/spe-freertos-bsp/fsp/source/drivers/aodmic/tegra-aodmic.c new file mode 100644 index 0000000..b4b8dd9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/aodmic/tegra-aodmic.c @@ -0,0 +1,553 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for true, false +#include // for NULL +#include // for uint32_t, uint8_t, int32_t + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for NV_FLD_SET_DRF_DEF, NV_DRF_DEF + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include // for MODULE_ID_AODMIC, E_SUCCESS +#include // for rtosPASS, rtosFALSE +#include // for rtosQueueReceive, rtosQueueCr... +#include // for rtosSemaphoreRelease, rtosSem... +#include // for rtosTaskYieldFromISR +#include // for fsp_c_u32_ptr_to_u64 +#include // for gpcdma_xfer, gpcdma_abort +#include // for END_RFD_BLOCK, START_RFD_BLOCK +#include // for readl, writel + +/* Module-specific FSP headers */ +#include // for E_AODMIC_NULL_POINTER, E_AODM... +#include // for SECTION_AODMIC_... +#include // for tegra_aodmic_ctlr, tegra_aodm... +#include // for tegra_aodmic_config, TEGRA_AO... +#include // for aodmic_port_clock_disable +#include // for AODMIC_GPCDMA_REQ_SEL + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_QUEUE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_SEMAPHORE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AODMIC__AODMIC_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AODMIC__TEGRA_AODMIC_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AODMIC__TEGRA_AODMIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PORT__AODMIC_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__TEGRA_AODMIC_HW_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") + +SECTION_AODMIC_TEXT static inline uint32_t +aodmic_readl(struct tegra_aodmic_ctlr *ctlr, + uint32_t offset) +{ + return readl(ctlr->id.base_addr + offset); +} + +SECTION_AODMIC_TEXT static inline void +aodmic_writel(struct tegra_aodmic_ctlr *ctlr, + uint32_t value, + uint32_t offset) +{ + writel(value, ctlr->id.base_addr + offset); +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") + +/* Callback from GPCDMA upon completion of transfer */ +SECTION_AODMIC_TEXT static void +tegra_aodmic_gpcdma_callback(void *callback_param, + dma_status status) +{ + struct tegra_aodmic_ctlr *ctlr; + rtosError free_buf_avail; + rtosBool higher_prio_task_woken = rtosFALSE; + uint64_t filled_buf; + + ctlr = (struct tegra_aodmic_ctlr *)callback_param; + + /* Address of filled buffer */ + filled_buf = ctlr->dma_xfer.dst_addr; + + /* Next write position */ + ctlr->free_pos = (ctlr->free_pos + 1u) % ctlr->num_periods; + ctlr->dma_xfer.dst_addr = fsp_c_u32_ptr_to_u64((uint32_t *)(ctlr->data + + (ctlr->free_pos * ctlr->period_bytes))); + + /* If reset is already flagged, then wait for it to clear */ + if (ctlr->reset) { + ctlr->xrun_cnt++; + goto out; + } + + /* Acquire next free buffer */ + free_buf_avail = rtosSemaphoreAcquireFromISR(ctlr->rtosSemaphore_free_buf, + &higher_prio_task_woken); + + /* No free buffer indicates overflow */ + if (free_buf_avail != rtosPASS) { + ctlr->reset = true; /* flag for buffer reset */ + ctlr->overflow_count++; /* log overflow */ + } + + /* Post available buffer for consumption */ + rtosQueueSendToBackFromISR(ctlr->rtosQueue_filled_buf, &filled_buf, + &higher_prio_task_woken); + + rtosTaskYieldFromISR(higher_prio_task_woken); + +out: + return; +} + +/** + * @brief open and initialize AODMIC instance + * + * @pre gpcdma_init() has been called + * + * @param[in] ctlr: AODMIC controller instance + * @param[in] config: Configuration structure + * + * @retval E_SUCCESS indicates success + * @retval E_AODMIC_NULL_POINTER indicates NULL pointer was passed + * @retval E_AODMIC_INVALID_SAMPLE_RATE invalid sample rate + * @retval E_AODMIC_INVALID_CHANNELS invalid channel configuration + * @retval E_AODMIC_INVALID_SAMPLE_WIDTH invalid sample width + * @retval E_AODMIC_INVALID_PERIOD invalid period + * @retval E_AODMIC_MEM_ALLOC_FAILURE gpcdma_buf_size too small + * @retval E_AODMIC_SEM_CREATE_FAILURE failed rtos object creation + */ +SECTION_AODMIC_INIT_TEXT error_t +tegra_aodmic_open(struct tegra_aodmic_ctlr *ctlr, + const struct tegra_aodmic_config *config) +{ + uint32_t osr, num_channels, period_bytes; + uint32_t ctrl_reg, fifo_ctrl_reg, dbg_ctrl_reg, enable_reg; + error_t ret_val = E_SUCCESS; + + if ((config == NULL) || (ctlr == NULL)) { + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + /* Initialize memory pointers in ctlr to NULL */ + ctlr->data = NULL; + ctlr->rtosSemaphore_free_buf = NULL; + ctlr->rtosQueue_filled_buf = NULL; + + if (config->gpcdma_buf == NULL) { + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + if (config->num_periods < 2UL) { + ret_val = E_AODMIC_CONFIGURATION_NA; + goto out; + } + + /* Setup clock as per sample rate configuration */ + /* Clock = OSR * sample_rate */ + switch (config->sample_rate) { + case TEGRA_AODMIC_RATE_8KHZ: + case TEGRA_AODMIC_RATE_16KHZ: + case TEGRA_AODMIC_RATE_44KHZ: + case TEGRA_AODMIC_RATE_48KHZ: + break; + default: + ret_val = E_AODMIC_INVALID_SAMPLE_RATE; + goto out; + } + ctlr->sample_rate = (uint32_t)config->sample_rate; + /* OSR is tied to OSR64 for AODMIC */ + osr = 1u << (AODMIC_CTRL_0_OSR_OSR64 + 6u); + ret_val = aodmic_port_clock_set_rate(ctlr->id.aodmic_hw_handle, + (osr * ctlr->sample_rate)); + if (ret_val != E_SUCCESS) { + goto out; + } + + ret_val = aodmic_port_clock_reset_config(ctlr->id.aodmic_hw_handle); + if (ret_val != E_SUCCESS) { + goto out; + } + + /* Read control register */ + ctrl_reg = aodmic_readl(ctlr, AODMIC_CTRL_0); + + /* Setup channel configuration in control register */ + switch (config->channel_config) { + case TEGRA_AODMIC_CHANNEL_MONO_LEFT: + num_channels = 1; + ctrl_reg = + NV_FLD_SET_DRF_DEF(AODMIC, CTRL, + CHANNEL_SELECT, LEFT, ctrl_reg); + break; + case TEGRA_AODMIC_CHANNEL_MONO_RIGHT: + num_channels = 1; + ctrl_reg = + NV_FLD_SET_DRF_DEF(AODMIC, CTRL, + CHANNEL_SELECT, RIGHT, ctrl_reg); + break; + case TEGRA_AODMIC_CHANNEL_STEREO: + num_channels = 2; + ctrl_reg = + NV_FLD_SET_DRF_DEF(AODMIC, CTRL, + CHANNEL_SELECT, STEREO, ctrl_reg); + break; + + default: + ret_val = E_AODMIC_INVALID_CHANNELS; + goto out; + } + ctlr->num_channels = num_channels; + aodmic_writel(ctlr, ctrl_reg, AODMIC_CTRL_0); + + /* Read sample width configuration */ + if ((config->sample_width != TEGRA_AODMIC_BITS_PER_SAMPLE_16) && + (config->sample_width != TEGRA_AODMIC_BITS_PER_SAMPLE_32)) { + ret_val = E_AODMIC_INVALID_SAMPLE_WIDTH; + goto out; + } + ctlr->samp_bytes = (uint32_t)config->sample_width; + + /* Setup interrupt threshold in FIFO control register */ + fifo_ctrl_reg = NV_DRF_NUM(AODMIC, APB_FIFO_CTRL, THRESHOLD, + TEGRA_AODMIC_FIFO_THRESHOLD); + aodmic_writel(ctlr, fifo_ctrl_reg, AODMIC_APB_FIFO_CTRL_0); + + /* SC filter is enabled by default, enable DCR filter here */ + dbg_ctrl_reg = aodmic_readl(ctlr, AODMIC_DBG_CTRL_0); + dbg_ctrl_reg = NV_FLD_SET_DRF_DEF(AODMIC, DBG_CTRL, + DCR_ENABLE, ENABLE, dbg_ctrl_reg); + aodmic_writel(ctlr, dbg_ctrl_reg, AODMIC_DBG_CTRL_0); + + /* Allocate driver buffer */ + if (((config->period_size % TEGRA_AODMIC_FIFO_THRESHOLD) != 0u) || + (config->num_periods < TEGRA_AODMIC_MIN_ALLOWED_PERIODS) || + (config->num_periods > AODMIC_MAX_NUM_PERIODS)) { + ret_val = E_AODMIC_INVALID_PERIOD; + goto out; + } + /* Driver buffer may be viewed as a queue of */ + /* num_periods buffers each of size period_size */ + period_bytes = config->period_size * + num_channels * TEGRA_AODMIC_WORD_SIZE; + if (config->gpcdma_buf_size < (period_bytes * config->num_periods)) { + ret_val = E_AODMIC_MEM_ALLOC_FAILURE; + goto out; + } + ctlr->data = config->gpcdma_buf; + ctlr->period_bytes = period_bytes; + ctlr->num_periods = config->num_periods; + + /* Create semaphore for tracking free buffers */ + rtosSemaphoreCreateCounting(&ctlr->rtosSemaphore_object, + ctlr->num_periods /* uxMaxCount */, + 0 /* uxInitialCount */, + (void **)&ctlr->rtosSemaphore_free_buf); + if (ctlr->rtosSemaphore_free_buf == NULL) { + ret_val = E_AODMIC_SEM_CREATE_FAILURE; + goto out; + } + + /* Create queue for tracking filled buffers */ + rtosQueueCreate(ctlr->rtosQueue_object_mem, + rtosQueueSize(AODMIC_MAX_NUM_PERIODS, sizeof(uint64_t)), + ctlr->num_periods /* uxQueueLength */, + sizeof(uint64_t) /* uxItemSize */, + (void **)&ctlr->rtosQueue_filled_buf); + if (ctlr->rtosQueue_filled_buf == NULL) { + ret_val = E_AODMIC_SEM_CREATE_FAILURE; + goto out; + } + + /* Set timeout at queue receive to total buffer duration */ + ctlr->max_read_timeout = + ((config->period_size * ctlr->num_periods * 1000u) / ctlr->sample_rate) / + rtosTICK_RATE_MS; + + /* GPCDMA contoller ID and channel for transfer from AODMIC FIFO */ + ctlr->dma_id = config->dma_id; + ctlr->dma_chan_num = config->dma_chan_num; + /*$$ IT IS ASSUMED THAT THE GPCDMA CONTROLLER AND THE SELECTED $$*/ + /*$$ CHANNEL ARE INITIALIZED PRIOR TO CALLING THIS FUNCTION $$*/ + + /* Setup DMA transfer parameters */ + ctlr->dma_xfer.direction = GPCDMA_XFER_DIR_IO_TO_MEM; + ctlr->dma_xfer.bus_width = GPCDMA_IO_BUS_WIDTH_32; + ctlr->dma_xfer.burst_size = TEGRA_AODMIC_FIFO_THRESHOLD; + ctlr->dma_xfer.src_addr = (uint64_t)ctlr->id.base_addr + + AODMIC_APB_FIFO_CTRL_RD_DATA_0; + ctlr->dma_xfer.src_addr_wrap = 1; + ctlr->dma_xfer.dst_addr = 0; /* To be filled later */ + ctlr->dma_xfer.dst_addr_wrap = 0; + ctlr->dma_xfer.continuous = true; + ctlr->dma_xfer.period_len = period_bytes; + ctlr->dma_xfer.xfer_count = (period_bytes * config->num_periods); + ctlr->dma_xfer.en_flow_ctrl = true; + ctlr->dma_xfer.slave_req = AODMIC_GPCDMA_REQ_SEL; + ctlr->dma_xfer.synchronous = false; + ctlr->dma_xfer.timeout = 0; + ctlr->dma_xfer.callback = tegra_aodmic_gpcdma_callback; + ctlr->dma_xfer.callback_param = ctlr; + + /* Enable AODMIC */ + enable_reg = NV_DRF_DEF(AODMIC, ENABLE, ENABLE, TRUE); + aodmic_writel(ctlr, enable_reg, AODMIC_ENABLE_0); + + /* Return success */ + ctlr->dma_running = false; + ctlr->init_done = true; + ctlr->reset = true; + ctlr->xrun_cnt = 0; + ctlr->overflow_count = 0; + +out: + if(ret_val != E_SUCCESS) { + /* Release all resources and return error */ + tegra_aodmic_close(ctlr); + } + return ret_val; +} + +/** + * @brief Close AODMIC instance + * + * @pre none + * + * @param[in] ctlr: AODMIC controller instance + * + * @retval E_SUCCESS indicates success + * @retval E_AODMIC_NULL_POINTER detected a null pointer + */ +SECTION_AODMIC_TEXT error_t +tegra_aodmic_close(struct tegra_aodmic_ctlr *ctlr) +{ + uint32_t reg_val; + error_t ret_val = E_SUCCESS; + + if (ctlr == NULL) { + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + if (ctlr->init_done) { + ctlr->init_done = false; + + /* Abort any DMA transfer in progress */ + gpcdma_abort((const struct gpcdma_id *)ctlr->dma_id, ctlr->dma_chan_num); + + /* Reset AODMIC */ + reg_val = NV_DRF_DEF(AODMIC, SOFT_RESET, SOFT_RESET, TRUE); + aodmic_writel(ctlr, reg_val, AODMIC_SOFT_RESET_0); + + /* Disable AODMIC */ + reg_val = NV_DRF_DEF(AODMIC, ENABLE, ENABLE, FALSE); + aodmic_writel(ctlr, reg_val, AODMIC_ENABLE_0); + + /* Disable AODMIC clock */ + ret_val = aodmic_port_clock_disable(ctlr->id.aodmic_hw_handle); + if (ret_val != E_SUCCESS) { + goto out; + } + } + + /* Release resources that may have been acquired */ + if (ctlr->rtosQueue_filled_buf != NULL) { + rtosQueueDelete(ctlr->rtosQueue_filled_buf); + ctlr->rtosQueue_filled_buf = NULL; + } + if (ctlr->rtosSemaphore_free_buf != NULL) { + rtosSemaphoreDelete(ctlr->rtosSemaphore_free_buf); + ctlr->rtosSemaphore_free_buf = NULL; + } + +out: + return ret_val; +} + +/** + * @brief Read captured samples + * + * @pre the function tegra_aodmic_open() has been called + * + * @param[in] ctlr: AODMIC controller instance + * @param[in] count: number of bytes to capture + * + * @retval E_SUCCESS success + * @retval E_AODMIC_NULL_POINTER detected a null pointer + * @retval E_AODMIC_CONFIGURATION_NA count of 0 not allowed + * @retval E_AODMIC_NOT_INITIALIZED tegra_aodmic_open() not called prior + * @retval E_AODMIC_BUF_INVALID null data pointer + * @retval E_AODMIC_READ_TIMEOUT timeout waiting for queue + */ +SECTION_AODMIC_INIT_TEXT error_t +tegra_aodmic_read(struct tegra_aodmic_ctlr *ctlr, + void *data, + uint32_t count) +{ + rtosError status; + uint32_t i; + uint8_t *write_buf; + int32_t pcm_samp; + error_t ret_val = E_SUCCESS; + + if (ctlr == NULL){ + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + if (count == 0u) { + ret_val = E_AODMIC_CONFIGURATION_NA; + goto out; + } + + if (!(ctlr->init_done)) { + ret_val = E_AODMIC_NOT_INITIALIZED; + goto out; + } + + if (data == NULL) { + ret_val = E_AODMIC_BUF_INVALID; + goto out; + } + write_buf = data; + + /* Reset buffer queue, which may be at */ + /* init or due to buffer overflow */ + if (ctlr->reset) { + /* Drain out any buffers that may already be filled */ + do { + status = rtosQueueReceive(ctlr->rtosQueue_filled_buf, + &ctlr->read_ptr, + 0); + } while (status == rtosPASS); + ctlr->read_ptr = NULL; + ctlr->bytes_to_read = 0; + + /* Setup all buffers as free (for DMA to write) */ + do { + status = rtosSemaphoreRelease(ctlr->rtosSemaphore_free_buf); + } while (status == rtosPASS); + + ctlr->xrun_cnt = 0; + ctlr->reset = false; + } + + if (!(ctlr->dma_running)) { + /* Trigger first DMA transfer */ + ctlr->dma_running = true; + ctlr->free_pos = 0; + rtosSemaphoreAcquire(ctlr->rtosSemaphore_free_buf, 0); + ctlr->dma_xfer.dst_addr = fsp_c_u32_ptr_to_u64( + (uint32_t *)ctlr->data); + ret_val = gpcdma_transfer( + (const struct gpcdma_id *)ctlr->dma_id, + ctlr->dma_chan_num, + &ctlr->dma_xfer); + if (ret_val != E_SUCCESS) { + ctlr->dma_running = false; + goto out; + } + } + + /* Read PCM data from filled buffers */ + for (i = 0; i < count; i += ctlr->samp_bytes) { + /* If current buffer is exhausted, proceed to next buffer */ + if (ctlr->bytes_to_read == 0u) { + /* Release consumed buffer for writing */ + if (ctlr->read_ptr != NULL) { + rtosSemaphoreRelease(ctlr->rtosSemaphore_free_buf); + } + + /* Get next buffer from filled queue */ + ctlr->read_ptr = NULL; + status = rtosQueueReceive(ctlr->rtosQueue_filled_buf, + &ctlr->read_ptr, + ctlr->max_read_timeout); + if (status != rtosPASS) { + ret_val = E_AODMIC_READ_TIMEOUT; + goto out; + } + ctlr->bytes_to_read = ctlr->period_bytes; + } + + /* AODMIC provides 24-bit PCM packed in 32 bits, */ + /* Little Endian, aligned to LSB (i.e. bits 23:0) */ + pcm_samp = (*((int32_t *)(ctlr->read_ptr))) << 8; + ctlr->read_ptr += TEGRA_AODMIC_WORD_SIZE; + ctlr->bytes_to_read -= TEGRA_AODMIC_WORD_SIZE; + + /* Format PCM sample to requested width */ + switch (ctlr->samp_bytes) { + case 2: + *((int16_t *)(write_buf + i)) = (int16_t) + (pcm_samp >> 16); + break; + case 4: + *((int32_t *)(write_buf + i)) = pcm_samp; + break; + default: + ret_val = E_AODMIC_INVALID_SAMPLE_RATE; + break; + } + } + +out: + return ret_val; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/ast/module-ast-config.mk b/spe-freertos-bsp/fsp/source/drivers/ast/module-ast-config.mk new file mode 100644 index 0000000..03b3f3d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/ast/module-ast-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ast-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_AST_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_AST_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_AST_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_AST_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/ast +MODULE_AST_SOURCE_DIR = $(MODULE_AST_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_AST_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/ast/module-ast.mk b/spe-freertos-bsp/fsp/source/drivers/ast/module-ast.mk new file mode 100644 index 0000000..6c3ea76 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/ast/module-ast.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ast.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_AST_NAME := AST + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_AST_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_AST_DEPENDS := AST SOC CPL OSA +$(foreach _,$(CONFIG_AST_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_AST_C_SRC = +MODULE_AST_C_SRC += $(MODULE_AST_DRIVERS_DIR)/tegra-ast.c +MODULE_AST_C_SRC += $(CPL_SOC_IDS)/ast-tegra-ids.c + +# +# Assembly source +MODULE_AST_ASM_SRC = + +# +# Special C Flags +MODULE_AST_C_FLAGS = + +# +# Special ASM Flags +MODULE_AST_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/ast/tegra-ast.c b/spe-freertos-bsp/fsp/source/drivers/ast/tegra-ast.c new file mode 100644 index 0000000..6077ea7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/ast/tegra-ast.c @@ -0,0 +1,1163 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for uint32_t, uint8_t, uint64_t +#include // for bool, true, false +#include // for memset, NULL + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // Must appear before any hwinc files + +/* Hardware headers */ +#include // for APS_AST_CONTROL_0, APS_AST_REGION... + +/* Late FSP headers */ +#include // for fsp_c_v_ptr_to_uptr, FSP__MISC_... +#include // for ASSERT, FSP__DEBUG__ASSERT_H +#include // for E_SUCCESS, error_t +#include // for hilo_to_64, HI32, LOW32, FSP__MIS... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for readl_base_offset, writel_base_of... + +/* Module-specific FSP headers */ +#include // for E_AST_INVALID_INPUT_PARAMETERS +#include // Immune from CT_ASSERT protection +#include // for ast_tegra_id, tegra_ast_region_map + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AST__AST_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AST__TEGRA_AST_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define LO_SHIFT APS_AST_REGION_0_SLAVE_BASE_LO_0_SlvBase_SHIFT + +#define MAX_VMINDEX MK_U32_CONST(15) +#define AST_INSTANCE_R5_INDEX AST_INSTANCE_0 +#define AST_INSTANCE_DMA_INDEX AST_INSTANCE_1 +#define AST_REGION_BASE APS_AST_REGION_0_SLAVE_BASE_LO_0 +#define AST_REG(_r_) ((_r_) - AST_REGION_BASE) + + +/* Special values returned from VMINDEX search */ +#define VMINDEX_PHYSICAL_STREAM_ID (MAX_VMINDEX + MK_U32_CONST(1)) + +SECTION_AST_TEXT static inline bool +ast_instance_valid(uint8_t instance_mask) +{ + bool valid = true; + uint8_t instance; + + instance = instance_mask & AST_INSTANCE_R5_AND_DMA; + + if ((instance == 0U) + || ((tegra_ast_get_num_regions() > 8U) + && (instance == AST_INSTANCE_R5_AND_DMA))) { + valid = false; + } + + return valid; +} + +SECTION_AST_TEXT +static inline uint32_t ast_region_base(uint32_t ast_base, + uint8_t region) +{ + const uint32_t region_stride = APS_AST_REGION_1_MASK_LO_0 - + APS_AST_REGION_0_MASK_LO_0; + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + return ast_base + AST_REGION_BASE + ((uint32_t)region * region_stride); +} + +SECTION_AST_TEXT +static inline uint32_t streamid_ctl_reg(uint32_t ast_base, + uint8_t vmindex) +{ + uint32_t ctl_stride = APS_AST_STREAMID_CTL_1 - APS_AST_STREAMID_CTL_0; + + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + return ast_base + APS_AST_STREAMID_CTL_0 + ((uint32_t)vmindex * ctl_stride); +} + +SECTION_AST_TEXT +static bool ast_is_global_locked(uint32_t ast_base) +{ + bool status = false; + + uint32_t val = readl_base_offset(ast_base, APS_AST_CONTROL_0); + + if (((val & APS_AST_CONTROL_0_Lock_FIELD) >> + APS_AST_CONTROL_0_Lock_SHIFT) == MK_U32_CONST(0x01)) { + status = true; + } + return status; +} + +SECTION_AST_TEXT +bool tegra_ast_is_global_locked(void) +{ + return ast_is_global_locked(ast_tegra_id[AST_INSTANCE_R5_INDEX]) || + ast_is_global_locked(ast_tegra_id[AST_INSTANCE_DMA_INDEX]); +} + +SECTION_AST_TEXT +static error_t ast_get_vmindex(uint32_t ast_base, + uint8_t stream_id, + bool *return_is_enabled, + uint8_t *VMIndex) +{ + uint32_t mask = APS_AST_STREAMID_CTL_0_READ_MASK; + uint32_t expected_val; + uint8_t free_vmindex = (uint8_t)MAX_VMINDEX + 2U; + error_t err = E_SUCCESS; + + expected_val = (uint32_t)(stream_id & APS_AST_STREAMID_CTL_StreamID_DEFAULT_MASK) << + APS_AST_STREAMID_CTL_StreamID_SHIFT; + expected_val |= APS_AST_STREAMID_CTL_Enable_FIELD; + + for (uint8_t tmpIndex = 0; tmpIndex <= MAX_VMINDEX; tmpIndex++) { + uint32_t val = readl(streamid_ctl_reg(ast_base, tmpIndex)) & mask; + + if (val == expected_val) { + *return_is_enabled = true; + free_vmindex = tmpIndex; + goto out; + } + + /* + * Select last free tmpIndex in order to avoid + * collision w/ kernel and bootloader + */ + if ((val & APS_AST_STREAMID_CTL_Enable_FIELD) != MK_U32_CONST(0x1)) { + free_vmindex = tmpIndex; + } + } + + *return_is_enabled = false; +out: + *VMIndex = free_vmindex; + if(free_vmindex > VMINDEX_PHYSICAL_STREAM_ID) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_VMINDEX; + } + return err; +} + +SECTION_AST_TEXT +static error_t ast_set_streamid(uint32_t ast_base, + uint8_t vmindex, + uint8_t stream_id) +{ + uint32_t sid_ctl; + uint32_t val; + error_t err = E_SUCCESS; + + /* ast_get_vmindex ensures that ast_base != 0 */ + sid_ctl = APS_AST_STREAMID_CTL_Enable_FIELD; + sid_ctl |= ((uint32_t)(stream_id & APS_AST_STREAMID_CTL_StreamID_DEFAULT_MASK) << + APS_AST_STREAMID_CTL_StreamID_SHIFT); + writel(sid_ctl, streamid_ctl_reg(ast_base, vmindex)); + + /* Check that write was not blocked */ + val = readl(streamid_ctl_reg(ast_base, vmindex)); + if ((val & APS_AST_STREAMID_CTL_READ_MASK) != sid_ctl) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_VMINDEX; + } + + return err; +} + +SECTION_AST_TEXT +static error_t ast_add_streamid(uint32_t ast_base, + uint8_t stream_id) +{ + uint8_t VMIndex; + error_t err = E_SUCCESS; + bool already_enabled; + + err = ast_get_vmindex(ast_base, stream_id, &already_enabled, &VMIndex); + if (err != E_SUCCESS) { + goto out; + } + + if (already_enabled) { + goto out; + } + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + err = ast_set_streamid(ast_base, VMIndex, stream_id); +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_add_streamid(uint8_t stream_id, + uint32_t base) +{ + error_t err = E_SUCCESS; + + if (base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + err = ast_add_streamid(base, stream_id); + if (err != E_SUCCESS) { + goto out; + } + + out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_add_streamid(uint8_t stream_id, uint8_t instance_mask) +{ + error_t err = E_SUCCESS; + + if (!ast_instance_valid(instance_mask)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = tegra_ast_addr_add_streamid(stream_id, + ast_tegra_id[AST_INSTANCE_R5_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + err = tegra_ast_addr_add_streamid(stream_id, + ast_tegra_id[AST_INSTANCE_DMA_INDEX]); + } + +out: + return err; +} + +SECTION_AST_TEXT +static void ast_enable_region(uint32_t ast_base, + uint8_t region, uint8_t vmindex, + iova master, uint64_t slave, + uint64_t size) +{ + uint32_t region_base = ast_region_base(ast_base, region); + uint32_t hi, lo; + uint32_t snoopEnable = APS_AST_REGION_0_CONTROL_0_Snoop_DEFAULT_MASK << + APS_AST_REGION_0_CONTROL_0_Snoop_SHIFT; + uint32_t physicalStreamEnable = APS_AST_REGION_0_CONTROL_0_Physical_DEFAULT_MASK << + APS_AST_REGION_0_CONTROL_0_Physical_SHIFT; + uint32_t tmpIndex = (uint32_t)(vmindex & APS_AST_REGION_0_CONTROL_0_VMIndex_DEFAULT_MASK) << + APS_AST_REGION_0_CONTROL_0_VMIndex_SHIFT; + uint32_t control = 0U; + + /* + * PhysicalStreamEnable field of the region control register is RWGL protected. + * If the client needs to enable a region with Physical streamID: + * - If PhysicalStreamEnable field is already set to 0x1, no action needed. + * - If PhysicalStreamEnable field is 0x0: + * - If global lock bit is set, region cannot be enabled with physical stream ID and + * error should be returned. This is taken care by the parent API + * tegra_ast_enable_phy_region that checks for the global lock status and region + * PhysicalStreamEnable field. + * - If global lock bit is not set, region can still be enabled with physical streamID + * by setting the PhysicalStreamEnable field + * If the client needs to enable a region with non-physical streamID, no need to control the + * PhysicalStreamEnable field. + */ + if ((vmindex == VMINDEX_PHYSICAL_STREAM_ID) && !ast_is_global_locked(ast_base)) { + control |= physicalStreamEnable; + } else { + control |= tmpIndex; + } + control |= snoopEnable; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_CONTROL_0)); + + ASSERT(size != 0UL); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + hi = HI32((uint64_t)(size - 1UL)); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + lo = (LOW32(size - 1UL) >> LO_SHIFT); + + control = (hi & APS_AST_REGION_0_MASK_HI_0_Mask_DEFAULT_MASK) << + APS_AST_REGION_0_MASK_HI_0_Mask_SHIFT; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_MASK_HI_0)); + + control = (uint32_t)(lo & APS_AST_REGION_0_MASK_LO_0_Mask_DEFAULT_MASK) << + APS_AST_REGION_0_MASK_LO_0_Mask_SHIFT; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_MASK_LO_0)); + + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + hi = HI32(master); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + lo = (LOW32(master) >> LO_SHIFT); + control = (hi & APS_AST_REGION_0_MASTER_BASE_HI_0_MastBase_DEFAULT_MASK) << + APS_AST_REGION_0_MASTER_BASE_HI_0_MastBase_SHIFT; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_MASTER_BASE_HI_0)); + + control = (uint32_t)(lo & APS_AST_REGION_0_MASTER_BASE_LO_0_MastBase_DEFAULT_MASK) << + APS_AST_REGION_0_MASTER_BASE_LO_0_MastBase_SHIFT; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_MASTER_BASE_LO_0)); + + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + hi = HI32(slave); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + lo = (LOW32(slave) >> LO_SHIFT); + control = (hi & APS_AST_REGION_0_SLAVE_BASE_HI_0_SlvBase_DEFAULT_MASK) << + APS_AST_REGION_0_SLAVE_BASE_HI_0_SlvBase_SHIFT; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_HI_0)); + + control = (uint32_t)(lo & APS_AST_REGION_0_SLAVE_BASE_LO_0_SlvBase_DEFAULT_MASK) << + APS_AST_REGION_0_SLAVE_BASE_LO_0_SlvBase_SHIFT; + control |= APS_AST_REGION_0_SLAVE_BASE_LO_0_Enable_FIELD; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_LO_0)); +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_enable_region(uint8_t region, + uint8_t stream_id, + iova master, + uint64_t slave, + uint64_t size, + uint32_t base) +{ + bool already_enabled; + uint8_t vmindex; + error_t err = E_SUCCESS; + uint64_t slave_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFF); + uint64_t iova_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFFFF); + uint64_t region_size_mask = MK_U64_ADDR_CONST(0xFFF); + + if ((region > MAX_REGION_INDEX) || + ((slave & ~slave_address_mask) != 0U) || + ((master & ~iova_address_mask) != 0U) || + (size == 0U) || ((size - 1U) > slave_address_mask) || + ((size & region_size_mask) != 0U) || ((size & (size - 1U)) != 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((((size - 1UL) & slave) != 0UL) || + (((size - 1UL) & master) != 0UL)) { + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + err = tegra_ast_addr_add_streamid(stream_id, base); + if (err != E_SUCCESS) { + goto out; + } + + err = ast_get_vmindex(base, stream_id, &already_enabled, &vmindex); + if (err != E_SUCCESS) { + goto out; + } + + if (!already_enabled) { + /* Setting streamID should also enable the VM */ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_VMINDEX; + goto out; + } + + ast_enable_region(base, region, vmindex, master, slave, size); + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_enable_region(uint8_t region, uint8_t stream_id, + iova master, uint64_t slave, + uint64_t size, uint8_t instance_mask) +{ + error_t err = E_SUCCESS; + + if (!ast_instance_valid(instance_mask)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = tegra_ast_addr_enable_region(region, stream_id, + master, slave, size, + ast_tegra_id[AST_INSTANCE_R5_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + err = tegra_ast_addr_enable_region(region, stream_id, + master, slave, size, + ast_tegra_id[AST_INSTANCE_DMA_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_disable_region(uint8_t region, + uint32_t base) +{ + uint32_t region_base; + uint32_t control; + error_t err = E_SUCCESS; + + if ((region > MAX_REGION_INDEX) || (base == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + region_base = ast_region_base(base, region); + control = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_LO_0)); + control &= ~APS_AST_REGION_0_SLAVE_BASE_LO_0_Enable_FIELD; + writel_base_offset(control, region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_LO_0)); + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_disable_region(uint8_t region, uint8_t instance_mask) +{ + error_t err = E_SUCCESS; + + if (!ast_instance_valid(instance_mask)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = tegra_ast_addr_disable_region(region, + ast_tegra_id[AST_INSTANCE_R5_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + err = tegra_ast_addr_disable_region(region, + ast_tegra_id[AST_INSTANCE_DMA_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_disable_default_region(uint32_t base) +{ + error_t err = E_SUCCESS; + + if (tegra_ast_get_num_regions() <= 8U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_NOT_SUPPORTED; + goto out; + } + + if (base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + writel(0U, base + AST_DM_REGION_SLAVE_BASE_LO); + +out: + return err; +} + +SECTION_AST_TEXT +static error_t ast_get_region_stream_id(uint32_t ast_base, + uint8_t region, + uint8_t *streamID) +{ + uint32_t region_base = ast_region_base(ast_base, region); + uint32_t val; + error_t err = E_SUCCESS; + uint8_t vmindex; + + val = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_LO_0)); + + if ((val & APS_AST_REGION_0_SLAVE_BASE_LO_0_Enable_FIELD) != 0x01U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_REGION_DISABLED; + goto out; + } + + val = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_CONTROL_0)); + + if ((val & APS_AST_REGION_0_CONTROL_0_Physical_FIELD) != 0U) { + /* + * Return error code indicating the request is invalid for regions + * mapped with physical streamID + */ + err = E_AST_INVALID_PHY_REGION_REQUEST; + goto out; + } + + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + vmindex = (uint8_t)((uint32_t)(val & APS_AST_REGION_0_CONTROL_0_VMIndex_FIELD) >> + APS_AST_REGION_0_CONTROL_0_VMIndex_SHIFT); + val = readl(streamid_ctl_reg(ast_base, vmindex)); + + if ((val & APS_AST_STREAMID_CTL_0_Enable_FIELD) != 0x01U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_REGION_STREAMID_DISABLED; + goto out; + } + + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + *streamID = (uint8_t)((uint32_t)(val & APS_AST_STREAMID_CTL_0_StreamID_FIELD) >> + APS_AST_STREAMID_CTL_0_StreamID_SHIFT); +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_get_region_stream_id(uint8_t region, + uint8_t *streamID, + uint32_t base) +{ + error_t err = E_SUCCESS; + + if ((base == 0U) + || (region > MAX_REGION_INDEX) + || (streamID == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + err = ast_get_region_stream_id(base, region, streamID); + if (err != E_SUCCESS) { + goto out; + } + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_get_region_stream_id(uint8_t region, + uint8_t *streamID, + uint8_t instance_mask) +{ + error_t err = E_SUCCESS; + uint8_t ast_instance = instance_mask & AST_INSTANCE_R5_AND_DMA; + uint32_t ast_base; + + if ((ast_instance == AST_INSTANCE_R5_AND_DMA) + || (ast_instance == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + + ast_base = ((ast_instance & AST_INSTANCE_R5) == AST_INSTANCE_R5) + ? ast_tegra_id[AST_INSTANCE_R5_INDEX] + : ast_tegra_id[AST_INSTANCE_DMA_INDEX]; + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + err = tegra_ast_addr_get_region_stream_id(region, streamID, ast_base); + +out: + return err; +} + +SECTION_AST_TEXT +static error_t ast_get_region_mapping(uint32_t ast_base, uint8_t region, + struct tegra_ast_region_map *return_region_map) +{ + uint32_t region_base = ast_region_base(ast_base, region); + uint32_t hi, lo; + uint64_t mask; + uint8_t vmindex; + error_t err; + + hi = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_HI_0)); + lo = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_SLAVE_BASE_LO_0)); + + if (return_region_map == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + return_region_map->is_enabled = + ((lo & APS_AST_REGION_0_SLAVE_BASE_LO_0_Enable_FIELD) == 0x01U); + + lo &= APS_AST_REGION_0_SLAVE_BASE_LO_0_SlvBase_FIELD; + return_region_map->slave_base = hilo_to_64(hi, lo); + + hi = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_MASK_HI_0)); + lo = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_MASK_LO_0)) + | ~APS_AST_REGION_0_MASK_LO_0_READ_MASK; + + mask = hilo_to_64(hi, lo); + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + return_region_map->size = mask + 1U; + + hi = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_MASTER_BASE_HI_0)); + lo = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_MASTER_BASE_LO_0)); + + return_region_map->master_base = hilo_to_64(hi, lo); + + vmindex = (uint8_t)(readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_CONTROL_0)) + & (APS_AST_REGION_0_CONTROL_0_VMIndex_FIELD >> + APS_AST_REGION_0_CONTROL_0_VMIndex_SHIFT)); + + return_region_map->vmindex = vmindex; + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + err = ast_get_region_stream_id(ast_base, region, &return_region_map->stream_id); +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_get_region_mapping(uint8_t region, + struct tegra_ast_region_map *return_region_map, + uint32_t base) +{ + error_t err = E_SUCCESS; + + if ((base == 0U) + || (region > MAX_REGION_INDEX) + || (return_region_map == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + (void)memset(return_region_map, 0, sizeof(*return_region_map)); + + return_region_map->is_phy_region = false; + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + err = ast_get_region_mapping(base, region, return_region_map); + + if (err == E_AST_INVALID_PHY_REGION_REQUEST) { + return_region_map->is_phy_region = true; + err = E_SUCCESS; + } + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_get_region_mapping(uint8_t region, + struct tegra_ast_region_map *return_region_map, + uint8_t instance_mask) +{ + error_t err = E_SUCCESS; + uint8_t ast_instance = instance_mask & AST_INSTANCE_R5_AND_DMA; + uint32_t ast_base; + + if ((ast_instance == AST_INSTANCE_R5_AND_DMA) + || (ast_instance == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + ast_base = ((ast_instance & AST_INSTANCE_R5) == AST_INSTANCE_R5) + ? ast_tegra_id[AST_INSTANCE_R5_INDEX] + : ast_tegra_id[AST_INSTANCE_DMA_INDEX]; + + err = tegra_ast_addr_get_region_mapping(region, return_region_map, ast_base); + + if (err == E_AST_INVALID_PHY_REGION_REQUEST) { + return_region_map->is_phy_region = true; + err = E_SUCCESS; + } + +out: + return err; +} + +SECTION_AST_TEXT +iova tegra_ast_map_pointer_to_iova(const struct tegra_ast_region_map *map, + const void *pointer) +{ + return tegra_ast_map_slave_to_iova(map, (uint64_t)(fsp_c_v_ptr_to_uptr(pointer))); +} + +SECTION_AST_TEXT +uint64_t tegra_ast_get_local_pointer_value(const struct tegra_ast_region_map *map, + const iova iova_addr) +{ + return tegra_ast_map_iova_to_slave(map, iova_addr); +} + +SECTION_AST_TEXT +iova tegra_ast_map_slave_to_iova(const struct tegra_ast_region_map *map, + const uint64_t slave) +{ + uint64_t mask; + iova addr = IOVA_NULL; + uint64_t slave_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFF); + uint64_t region_size_mask = MK_U64_ADDR_CONST(0xFFF); + + if ((map == NULL) || + (map->size == 0U) || ((map->size - 1U) > slave_address_mask) || + ((map->size & region_size_mask) != 0U) || + ((map->size & (map->size - 1U)) != 0U) || + ((map->slave_base & (map->size - 1U)) != 0U) || + ((map->master_base & (map->size - 1U)) != 0U) || + ((slave & ~slave_address_mask) != 0U)) { + goto out; + } + + mask = map->size - 1ULL; + + if ((slave & ~mask) == map->slave_base) { + addr = (slave & mask) | map->master_base; + } +out: + return addr; +} + +SECTION_AST_TEXT +uint64_t tegra_ast_map_iova_to_slave(const struct tegra_ast_region_map *map, + const iova iova_addr) +{ + uint64_t mask; + uint64_t slave_addr = 0ULL; + uint64_t slave_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFF); + uint64_t iova_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFFFF); + uint64_t region_size_mask = MK_U64_ADDR_CONST(0xFFF); + + if ((map == NULL) || + (map->size == 0U) || ((map->size - 1U) > slave_address_mask) || + ((map->size & region_size_mask) != 0U) || + ((map->size & (map->size - 1U)) != 0U) || + ((map->slave_base & (map->size - 1U)) != 0U) || + ((map->master_base & (map->size - 1U)) != 0U) || + ((iova_addr & ~iova_address_mask) != 0U)) { + goto out; + } + + mask = map->size - 1ULL; + + if ((iova_addr & ~mask) == map->master_base) { + slave_addr = (iova_addr & mask) | map->slave_base; + } +out: + return slave_addr; +} + +SECTION_AST_TEXT static error_t +ast_addr_set_default_vmindex(uint32_t base, + uint8_t stream_id) +{ + error_t err = E_SUCCESS; + uint32_t control; + bool already_enabled; + uint8_t vmindex; + + err = ast_get_vmindex(base, stream_id, &already_enabled, &vmindex); + if (err != E_SUCCESS) { + goto out; + } + if (!already_enabled) { + err = ast_set_streamid(base, vmindex, stream_id); + if (err != E_SUCCESS){ + goto out; + } + } + + control = readl_base_offset(base, APS_AST_CONTROL_0); + control |= ((uint32_t)(vmindex & APS_AST_CONTROL_0_DefVMIndex_DEFAULT_MASK) << + APS_AST_CONTROL_0_DefVMIndex_SHIFT); + writel_base_offset(control, base, APS_AST_CONTROL_0); + +out: + return err; +} + +SECTION_AST_TEXT static error_t +ast_addr_set_default_stream_id(uint8_t stream_id, + uint32_t base, + bool phy) +{ + error_t err = E_SUCCESS; + uint32_t physicalStreamEnable = APS_AST_CONTROL_0_DefPhysical_DEFAULT_MASK << + APS_AST_CONTROL_0_DefPhysical_SHIFT; + uint32_t control; + + if (base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if (phy) { + /* Set DefPhysical bit in the AST_control_register */ + control = readl_base_offset(base, APS_AST_CONTROL_0); + + /* + * If AST is global locked and physicalStreamEnable is unset, + * return error + */ + if (ast_is_global_locked(base)) { + if ((control & APS_AST_CONTROL_0_DefPhysical_DEFAULT_MASK) == 0U) { + err = E_AST_GLOBALLY_LOCKED; + goto out; + } + } else { + control |= physicalStreamEnable; + writel_base_offset(control, base, APS_AST_CONTROL_0); + } + } else { + err = tegra_ast_addr_add_streamid(stream_id, base); + if (err != E_SUCCESS) { + goto out; + } + + /* Clear DefPhysical bit in the AST_control_register */ + /* + * Setting VMIndex for default access needs the global lock bit to be + * unset. Return error if global lock is set + */ + if (ast_is_global_locked(base)) { + err = E_AST_GLOBALLY_LOCKED; + goto out; + } + control = readl_base_offset(base, APS_AST_CONTROL_0); + control &= ~physicalStreamEnable; + writel_base_offset(control, base, APS_AST_CONTROL_0); + } + + out: + return err; +} + + +SECTION_AST_TEXT error_t +tegra_ast_addr_set_default_stream_id(uint8_t stream_id, + uint32_t base, + bool phy) { + error_t err = E_SUCCESS; + + if (base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + err = ast_addr_set_default_stream_id(stream_id, base, phy); + if (err != E_SUCCESS) { + goto out; + } + + /* Set DefVMindex */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + err = ast_addr_set_default_vmindex(base, stream_id); + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_set_default_stream_id(uint8_t stream_id, uint8_t instance_mask, + bool phy) { + error_t err = E_SUCCESS; + + if (!ast_instance_valid(instance_mask)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = ast_addr_set_default_stream_id(stream_id, + ast_tegra_id[AST_INSTANCE_R5_INDEX], + phy); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + err = ast_addr_set_default_stream_id(stream_id, + ast_tegra_id[AST_INSTANCE_DMA_INDEX], + phy); + if (err != E_SUCCESS) { + goto out; + } + } + + /* Set DefVMindex */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = ast_addr_set_default_vmindex(ast_tegra_id[AST_INSTANCE_R5_INDEX], + stream_id); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + err = ast_addr_set_default_vmindex(ast_tegra_id[AST_INSTANCE_DMA_INDEX], + stream_id); + if (err != E_SUCCESS) { + goto out; + } + } + +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_enable_phy_region(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint32_t base) +{ + error_t err = E_SUCCESS; + uint64_t slave_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFF); + uint64_t iova_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFFFF); + uint64_t region_size_mask = MK_U64_ADDR_CONST(0xFFF); + uint32_t reg; + uint32_t region_base; + + if ((region > MAX_REGION_INDEX) + || ((slave & ~slave_address_mask) != 0U) + || ((master & ~iova_address_mask) != 0U) + || (size == 0U) + || ((size - 1U) > slave_address_mask) + || ((size & region_size_mask) != 0U) + || ((size & (size - 1U)) != 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((((size - 1UL) & slave) != 0UL) + || (((size - 1UL) & master) != 0UL)) { + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + region_base = ast_region_base(base, region); + reg = readl_base_offset(region_base, AST_REG(APS_AST_REGION_0_CONTROL_0)); + + /* + * Physical field is RWGL protected in region control register. + * If Physical field is unset and global lock is set, region cannot + * be enabled with Physical streamid. Return error. + */ + if (ast_is_global_locked(ast_tegra_id[AST_INSTANCE_R5_INDEX]) && + ((reg & APS_AST_REGION_0_CONTROL_0_Physical_FIELD) == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_GLOBALLY_LOCKED; + goto out; + } + + ast_enable_region(base, region, + (uint8_t)VMINDEX_PHYSICAL_STREAM_ID, + master, + slave, + size); + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_enable_phy_region(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint8_t instance_mask) +{ + error_t err = E_SUCCESS; + + if (!ast_instance_valid(instance_mask)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = tegra_ast_addr_enable_phy_region(region, master, slave, size, + ast_tegra_id[AST_INSTANCE_R5_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + err = tegra_ast_addr_enable_phy_region(region, master, slave, size, + ast_tegra_id[AST_INSTANCE_DMA_INDEX]); + if (err != E_SUCCESS) { + goto out; + } + } + +out: + return err; +} + +SECTION_AST_TEXT error_t +tegra_ast_addr_enable_region_vmindex(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint32_t base, + uint8_t vmindex) +{ + error_t err = E_SUCCESS; + uint64_t slave_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFF); + uint64_t iova_address_mask = MK_U64_ADDR_CONST(0xFFFFFFFFFF); + uint64_t region_size_mask = MK_U64_ADDR_CONST(0xFFF); + + if ((region > MAX_REGION_INDEX) + || (base == 0U) + || ((slave & ~slave_address_mask) != 0U) + || ((master & ~iova_address_mask) != 0U) + || (size == 0U) + || ((size - 1U) > slave_address_mask) + || ((size & region_size_mask) != 0U) + || ((size & (size - 1U)) != 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((((size - 1UL) & slave) != 0UL) + || (((size - 1UL) & master) != 0UL)) { + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if(vmindex > VMINDEX_PHYSICAL_STREAM_ID) { + err = E_AST_INVALID_VMINDEX; + goto out; + } + + ast_enable_region(base, region, vmindex, master, slave, size); + +out: + return err; +} + +SECTION_AST_TEXT +error_t tegra_ast_enable_region_vmindex(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint8_t instance_mask, + uint8_t vmindex) +{ + error_t err = E_SUCCESS; + + if (!ast_instance_valid(instance_mask)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_AST_INVALID_INPUT_PARAMETERS; + goto out; + } + + if ((instance_mask & AST_INSTANCE_R5) != 0U) { + err = tegra_ast_addr_enable_region_vmindex(region, + master, + slave, + size, + ast_tegra_id[AST_INSTANCE_R5_INDEX], + vmindex); + if (err != E_SUCCESS) { + goto out; + } + } + + if ((instance_mask & AST_INSTANCE_DMA) != 0U) { + err = tegra_ast_addr_enable_region_vmindex(region, + master, + slave, + size, + ast_tegra_id[AST_INSTANCE_DMA_INDEX], + vmindex); + if (err != E_SUCCESS) { + goto out; + } + } +out: + return err; +} + + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-clk.c b/spe-freertos-bsp/fsp/source/drivers/car/car-clk.c new file mode 100644 index 0000000..ee949b5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-clk.c @@ -0,0 +1,241 @@ +/* Copyright (c) 2020-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for E_SUCCESS, error_t + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for register access functions... +#include // for declarations... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_CLK_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +static bool car_clk_op_is_enabled(const struct car_clk_inf *clk) +{ + bool ret = false; + + if (clk != NULL) { + if ((car_reg_rd(clk->en_reg) & clk->en_msk) != 0U) + ret = true; + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_clk_op_enable_bit(const struct car_clk_inf *clk) +{ + error_t ret = E_CAR_NULL_PTR; + + if (clk != NULL) { + if (clk->en_msk == 0U) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + car_reg_rdwr(clk->en_reg, clk->en_msk, clk->en_msk); + ret = E_SUCCESS; + } + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_clk_op_disable_bit(const struct car_clk_inf *clk) +{ + error_t ret = E_CAR_NULL_PTR; + + if (clk != NULL) { + if (clk->en_msk == 0U) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + car_reg_rdwr(clk->en_reg, 0U, clk->en_msk); + ret = E_SUCCESS; + } + } + return ret; +} + +SECTION_CAR_RODATA +const struct car_clk_op_able car_clk_op_able_bit = { + .clk_is_enabled = car_clk_op_is_enabled, + .clk_enable = car_clk_op_enable_bit, + .clk_disable = car_clk_op_disable_bit, +}; + + +SECTION_CAR_TEXT +static error_t car_clk_op_enable_reg(const struct car_clk_inf *clk) +{ + error_t ret = E_CAR_NULL_PTR; + + if (clk != NULL) { + if (clk->en_msk == 0U) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + car_reg_wr(clk->en_reg + 0x04U, clk->en_msk); + ret = E_SUCCESS; + } + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_clk_op_disable_reg(const struct car_clk_inf *clk) +{ + error_t ret = E_CAR_NULL_PTR; + + if (clk != NULL) { + if (clk->en_msk == 0U) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + car_reg_wr(clk->en_reg + 0x08U, clk->en_msk); + ret = E_SUCCESS; + } + } + return ret; +} + +SECTION_CAR_RODATA +const struct car_clk_op_able car_clk_op_able_reg = { + .clk_is_enabled = car_clk_op_is_enabled, + .clk_enable = car_clk_op_enable_reg, + .clk_disable = car_clk_op_disable_reg, +}; + + + +SECTION_CAR_TEXT +static error_t clk_get_hz_in(const struct car_clk_inf *clk, int64_t *hz_in) +{ + error_t ret = E_CAR_NULL_PTR; + + if ((clk != NULL) && (hz_in != NULL)) { + if ((clk->pclk != NULL) && (clk->pclk->op_rate != NULL) && (clk->pclk->op_rate->clk_hz_get != NULL)) { + ret = clk->pclk->op_rate->clk_hz_get((struct car_clk_inf *)clk->pclk, hz_in); + } else { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_clk_op_hz_get(const struct car_clk_inf *clk, int64_t *hz_out) +{ + int64_t hz_in; + uint32_t divider; + error_t ret = E_CAR_NULL_PTR; + + if ((clk != NULL) && (hz_out != NULL)) { + ret = clk_get_hz_in(clk, &hz_in); + if (ret == E_SUCCESS) { + if ((clk->op_div != NULL) && (clk->op_div->clk_div_calc_out != NULL)) { + divider = clk->op_div->clk_div_calc_out(clk); + } else { + divider = car_reg_rd_val(clk->div_reg, clk->div_msk); + divider = divider + 1U; + } + *hz_out = hz_in / divider; + } + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_clk_op_hz_set(const struct car_clk_inf *clk, int64_t hz_out) +{ + int64_t hz_in; + uint32_t divider; + error_t ret = E_CAR_NULL_PTR; + + if (clk != NULL) { + if ((clk->hz_max != 0ULL) && (hz_out > clk->hz_max)) { + ret = E_CAR_CLOCK_HZ_NOT_SUPPORTED; + } else if ((clk->hz_min != 0ULL) && (hz_out < clk->hz_min)) { + ret = E_CAR_CLOCK_HZ_NOT_SUPPORTED; + } else { + ret = clk_get_hz_in(clk, &hz_in); + if (ret == E_SUCCESS) { + if (hz_out != 0LL) { + if ((clk->op_div != NULL) && (clk->op_div->clk_div_calc_in != NULL)) { + divider = clk->op_div->clk_div_calc_in(hz_in, hz_out); + } else { + divider = hz_in / hz_out; + if (divider > 0) { + divider = divider - 1U; + } + } + car_reg_rdwr_val(clk->div_reg, clk->div_msk, divider); + } else { + ret = E_CAR_CLOCK_HZ_NOT_SUPPORTED; + } + } + } + } + return ret; +} + +SECTION_CAR_RODATA +const struct car_clk_op_rate car_clk_op_rate_dflt = { + .clk_hz_get = car_clk_op_hz_get, + .clk_hz_set = car_clk_op_hz_set, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-fmon.c b/spe-freertos-bsp/fsp/source/drivers/car/car-fmon.c new file mode 100644 index 0000000..ef083a4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-fmon.c @@ -0,0 +1,380 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for E_SUCCESS, error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for register access functions... +#include // for safe math functions... +#include // for clock structures... +#include // for frequency monitor structures... +#include // for platform functions... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_MATH_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_CLK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_FMON_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PORT__CAR_PORT_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +static error_t car_fmon_clk_hz_get(const struct car_fmon_inf *fmon, uint64_t *hz) +{ + error_t ret = E_CAR_NULL_PTR; + + if ((fmon->clk != NULL) && (hz != NULL)) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + if ((fmon->clk->op_rate != NULL) && (fmon->clk->op_rate->clk_hz_get != NULL)) { + ret = fmon->clk->op_rate->clk_hz_get(fmon->clk, (int64_t *)hz); + } + } + return ret; +} + +SECTION_CAR_TEXT +bool car_fmon_is_enabled(const struct car_fmon_inf *fmon) +{ + uint32_t val; + bool ret = false; + + if (fmon != NULL) { + val = car_reg_rd_val(fmon->reg_cfg, fmon->reg_cfg_msk_en); + if (val != 0U) { + ret = true; + } + } + return ret; +} + +SECTION_CAR_TEXT +uint32_t car_fmon_enable_status(const struct car_fmon_inf *fmon) +{ + uint32_t data = 0U; + + if (fmon != NULL) { + data = car_reg_rd(fmon->reg_en_sts); + data &= fmon->reg_en_sts_msk; + } + return data; +} + +SECTION_CAR_TEXT +uint64_t car_fmon_timeout_us(const struct car_fmon_inf *fmon) +{ + uint64_t delay_us = 1ULL; + uint64_t hz; + error_t ret; + + if (fmon != NULL) { + ret = car_fmon_clk_hz_get(fmon, &hz); + if (ret == E_SUCCESS) { + hz *= 6ULL; + hz += (fmon->clk_ref << 2); + hz += (fmon->clk_err << 2); + hz = 1000000ULL / hz; /* Hz => us */ + if (delay_us < hz) { + delay_us = hz; + } + } + } + return delay_us; +} + +SECTION_CAR_TEXT +static void car_fmon_delay_us(const struct car_fmon_inf *fmon) +{ + car_port_udelay(car_fmon_timeout_us(fmon)); +} + +SECTION_CAR_TEXT +static error_t car_fmon_reg_rdwr_verify(uint32_t reg, uint32_t mask, uint32_t val, uint64_t to_us) +{ + uint64_t ticks_start; + uint64_t ticks_us; + uint32_t i; + error_t ret = E_CAR_FMON_HW_TIMEOUT; + + for (i = 0; i < CAR_FMON_RDWR_VERIFY_N; i = i + 1U) { + car_reg_rdwr_val(reg, mask, val); + ticks_start = car_port_get_time_ticks(); + do { + if (car_reg_rd_val(reg, mask) == val) { + ret = E_SUCCESS; + goto out; + } + + ticks_us = car_port_get_time_delta_us(ticks_start); + } while (ticks_us < to_us); + } + +out: + return ret; +} + +SECTION_CAR_TEXT +static error_t car_fmon_count_load_en(const struct car_fmon_inf *fmon, bool enable) +{ + uint64_t ticks_start; + uint64_t ticks_us; + error_t ret = E_CAR_NULL_PTR; + + if (fmon != NULL) { + if (enable == true) { + /* load_data = 0x1 */ + car_reg_rdwr_val(fmon->reg_data_ctrl, fmon->reg_data_ctrl_msk_en, fmon->reg_data_ctrl_msk_en); + } else { + /* load_data = 0x0 && register_count_select = 0x0 */ + car_reg_wr(fmon->reg_data_ctrl, 0); + } + /* wait for load_data_done */ + ret = E_CAR_FMON_HW_TIMEOUT; + ticks_start = car_port_get_time_ticks(); + do { + ticks_us = car_port_get_time_delta_us(ticks_start); + if (car_reg_rd_val(fmon->reg_data_sts_done, fmon->reg_data_sts_done_msk)) { + ret = E_SUCCESS; + break; + } + + if (ticks_us > 3ULL) { + break; + } + + car_port_udelay(1ULL); + } while (true); + } + + return ret; +} + +SECTION_CAR_TEXT +static error_t car_fmon_count_load(const struct car_fmon_inf *fmon, + uint32_t *cnt, uint32_t sel) +{ + error_t ret; + + /* load_data = 0x0 */ + ret = car_fmon_count_load_en(fmon, false); + if (ret == E_SUCCESS) { + /* register count select */ + car_reg_rdwr_val(fmon->reg_data_ctrl, fmon->reg_data_ctrl_msk_sel, sel); + /* load_data = 0x1 */ + ret = car_fmon_count_load_en(fmon, true); + if (ret == E_SUCCESS) { + /* check load_data_sel_status */ + if ((car_reg_rd_val(fmon->reg_data_sts_sel, fmon->reg_data_sts_sel_msk) == sel)) { + /* read load data val */ + *cnt = car_reg_rd(fmon->reg_data_val); + /* load_data = 0x0 */ + ret = car_fmon_count_load_en(fmon, false); + } else { + ret = E_CAR_FMON_HW_LOGIC; + } + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t car_fmon_counts(const struct car_fmon_inf *fmon, uint32_t *cnts) +{ + uint32_t i; + error_t ret = E_CAR_NULL_PTR; + + if (fmon != NULL) { + if (car_fmon_is_enabled(fmon) == true) { + if (cnts == NULL) { + /* caller can clear counters without reading them */ + ret = E_SUCCESS; + goto clear; + } + + /* freeze counter storage */ + car_reg_rdwr_val(fmon->reg_cntr_ctrl, fmon->reg_cntr_ctrl_msk_hld, fmon->reg_cntr_ctrl_msk_hld); + + for (i = 0; i < fmon->cnt->cnt_sel_n; i = i + 1U) { + ret = car_fmon_count_load(fmon, &cnts[fmon->cnt->cnt_sel_0_i + i], fmon->cnt->cnt_sel_0 + i); + if (ret != E_SUCCESS) { + goto clear; + } + } + + ret = car_fmon_count_load(fmon, &cnts[fmon->cnt->cnt_sel_min_i], fmon->cnt->cnt_sel_min); + ret |= car_fmon_count_load(fmon, &cnts[fmon->cnt->cnt_sel_max_i], fmon->cnt->cnt_sel_max); + cnts[fmon->cnt->cnt_ref_win_i] = car_reg_rd_val(fmon->reg_ref_win_cnt, + fmon->reg_ref_win_cnt_msk); + cnts[fmon->cnt->cnt_ref_win_dc_chk_i] = car_reg_rd_val(fmon->reg_ref_win_dc_chk_cnt, + fmon->reg_ref_win_dc_chk_cnt_msk); +clear: + /* clear counts */ + car_reg_rdwr_val(fmon->reg_cntr_ctrl, fmon->reg_cntr_ctrl_msk_clr, fmon->reg_cntr_ctrl_msk_clr); + /* unfreeze counter storage */ + car_reg_rdwr_val(fmon->reg_cntr_ctrl, fmon->reg_cntr_ctrl_msk_hld, 0); + } else { + ret = E_CAR_FMON_NO_DATA; + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t car_fmon_clk_hz_calc(const struct car_fmon_inf *fmon, uint32_t *cnts, uint64_t *hz) +{ + int64_t cnt; + int64_t ref_win; + uint32_t i; + uint32_t n; + error_t ret = car_fmon_counts(fmon, cnts); + + if ((ret == E_SUCCESS) && (cnts != NULL)) { + cnt = 0; + n = 0; + for (i = 0; i < fmon->cnt->cnt_sel_n; i = i + 1U) { + if ((cnts[fmon->cnt->cnt_sel_0_i + i] != 0) && (cnts[fmon->cnt->cnt_sel_0_i + i] != UINT32_MAX)) { + cnt += (int64_t)cnts[fmon->cnt->cnt_sel_0_i + i]; + n = n + 1U; + } + } + + if (n > 0) { + cnt *= (int64_t)fmon->clk_ref; + ref_win = (int64_t)cnts[fmon->cnt->cnt_ref_win_i]; + ref_win *= (int64_t)n; + *hz = (uint64_t)car_div_s64(cnt, ref_win); + } else { + ret = E_CAR_FMON_NO_DATA; + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t car_fmon_shutdown(const struct car_fmon_inf *fmon) +{ + uint32_t data; + error_t ret = E_CAR_NULL_PTR; + + if (fmon != NULL) { + data = (fmon->reg_cfg_msk_rprt | + fmon->reg_cfg_msk_ref_en | + fmon->reg_cfg_msk_cntr_en | + fmon->reg_cfg_msk_en); + car_reg_rdwr_val(fmon->reg_cfg, data, 0); + car_fmon_delay_us(fmon); + data = car_fmon_enable_status(fmon); + if (data == 0U) { + ret = E_SUCCESS; + } else { + ret = E_CAR_FMON_HW_LOGIC; + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t car_fmon_startup(const struct car_fmon_inf *fmon) +{ + uint64_t delay_us; + uint32_t thr_lo = 0U; + uint32_t thr_hi = UINT32_MAX; + uint32_t data; + error_t ret; + + ret = car_fmon_shutdown(fmon); + if (ret == E_SUCCESS) { + delay_us = car_fmon_timeout_us(fmon); + /* monitoring window period */ + ret = car_fmon_reg_rdwr_verify(fmon->reg_thr_lo, fmon->reg_thr_lo_msk, thr_lo, delay_us); + ret |= car_fmon_reg_rdwr_verify(fmon->reg_thr_hi, fmon->reg_thr_hi_msk, thr_hi, delay_us); + /* fault action */ + ret |= car_fmon_reg_rdwr_verify(fmon->reg_flt_actn, fmon->reg_flt_actn_msk, fmon->reg_flt_actn_msk, delay_us); + /* configuration */ + car_reg_rdwr_val(fmon->reg_cfg, fmon->reg_cfg_msk_rprt, fmon->reg_cfg_msk_rprt); + car_reg_rdwr_val(fmon->reg_cfg, fmon->reg_cfg_msk_ref_en, fmon->reg_cfg_msk_ref_en); + car_reg_rdwr_val(fmon->reg_cfg, fmon->reg_cfg_msk_cntr_en, fmon->reg_cfg_msk_cntr_en); + car_reg_rdwr_val(fmon->reg_cfg, fmon->reg_cfg_msk_en, fmon->reg_cfg_msk_en); + /* verify */ + data = (fmon->reg_cfg_msk_rprt | + fmon->reg_cfg_msk_ref_en | + fmon->reg_cfg_msk_cntr_en | + fmon->reg_cfg_msk_en); + if ((car_reg_rd(fmon->reg_cfg) & data) != data) { + ret = E_CAR_FMON_HW_LOGIC; + goto out; + } + + /* monitor enable status with timeout */ + car_port_udelay(delay_us); + data = car_fmon_enable_status(fmon); + if (data != fmon->reg_en_sts_msk) { + ret = E_CAR_FMON_HW_LOGIC; + goto out; + } + + /* test for fault */ + data = car_reg_rd(fmon->reg_flt_sts); + data &= fmon->reg_flt_sts_msk_ro; + if (data != 0U) { + ret = E_CAR_FMON_FAULT; + } + } +out: + return ret; +} + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-hpll.c b/spe-freertos-bsp/fsp/source/drivers/car/car-hpll.c new file mode 100644 index 0000000..f2f4b3b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-hpll.c @@ -0,0 +1,277 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... +#include // for memset + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // Must appear before any hwinc files + +/* Hardware headers */ +#include // for CLK_RST_CONTROLLER_?_BASE_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for E_SUCCESS, error_t + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for register access functions... +#include // for math functions, ... +#include // for pll functions, ... +#include // for hpll functions, ... +#include // for car_port_udelay... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_MATH_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_PLL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_HPLL_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +static error_t car_hpll_disable(const struct car_pll_inf *pll) +{ + error_t ret = E_CAR_NULL_PTR; + + if (pll != NULL) { + ret = car_pll_select(pll, CAR_PLL_SEL_XTAL); + if (ret == E_SUCCESS) { + car_reg_rdwr(pll->en_reg, 0U, pll->en_msk); + car_reg_rdwr(pll->iddq_reg, pll->iddq_msk, pll->iddq_msk); + car_port_udelay(2ULL); + car_reg_rdwr(pll->rst_reg, 0U, pll->rst_msk); + } + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_hpll_enable(const struct car_pll_inf *pll) +{ + error_t ret = E_CAR_NULL_PTR; + + if (pll != NULL) { + if ((*pll->sts & CAR_PLL_STS_HZ_SET) == CAR_PLL_STS_HZ_SET) { + car_reg_rdwr(pll->iddq_reg, 0U, pll->iddq_msk); + car_port_udelay(5ULL); + car_reg_rdwr(pll->rst_reg, pll->rst_msk, pll->rst_msk); + car_reg_rdwr(pll->en_reg, pll->en_msk, pll->en_msk); + if (car_reg_rd_val(pll->mdiv_reg, pll->mdiv_msk) == MK_U32_CONST(1)) { + car_port_udelay(50ULL); + } else { + car_port_udelay(100ULL); + } + ret = car_pll_wait_lock(pll); + if (ret == E_SUCCESS) { + ret = car_pll_select(pll, CAR_PLL_SEL_PLL); + } + } else { + ret = E_CAR_PLL_NO_INIT; + } + } + return ret; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_CAR_TEXT static void car_hpll_fracstep_set(const struct car_pll_inf *pll, struct car_pll_cfg *cfg_cur, struct car_pll_cfg *cfg_new) +{ + int16_t dx; + int32_t ndivf; + int32_t fstep; + int32_t s; + uint32_t val; + + if (pll->fracstep_msk != 0U) { + dx = cfg_new->sdm_din - cfg_cur->sdm_din; + if ((cfg_new->n != cfg_cur->n) && (dx != 0)) { + ndivf = cfg_new->sdm_din; + } else { + ndivf = dx; + } + if (ndivf != 0) { + s = (ndivf < 0) ? -1 : 1; + fstep = car_abs_s32(ndivf) / 4; + fstep = s * max(fstep, 1000); + } else { + fstep = 0; + } + val = (uint32_t)fstep; + car_reg_rdwr_val(pll->fracstep_reg, pll->fracstep_msk, val); + } +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_CAR_TEXT static void car_hpll_frac_set(const struct car_pll_inf *pll, struct car_pll_cfg *cfg_new) +{ + uint32_t val; + + if (pll->frac_msk != 0U) { + val = (uint32_t)cfg_new->sdm_din; + car_reg_rdwr_val(pll->frac_reg, pll->frac_msk, val); + if (pll->enfrac_msk != 0U) { + if (val == 0U) { + car_reg_rdwr_val(pll->enfrac_reg, pll->enfrac_msk, val); + } else { + car_reg_rdwr_val(pll->enfrac_reg, 0U, pll->enfrac_msk); + } + } + } +} + +SECTION_CAR_TEXT +static void car_hpll_freq_set(const struct car_pll_inf *pll, + struct car_pll_cfg *cfg_cur, struct car_pll_cfg *cfg_new) +{ + car_hpll_fracstep_set(pll, cfg_cur, cfg_new); + car_pll_nmp_set(pll, cfg_new); + car_hpll_frac_set(pll, cfg_new); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_CAR_TEXT static bool car_hpll_nmp_is_equal(struct car_pll_cfg *a, struct car_pll_cfg *b) +{ + return (a->n == b->n) && + (a->m == b->m) && + (a->p == b->p) && + (a->sdm_din == b->sdm_din); +} + +SECTION_CAR_TEXT +static error_t car_hpll_nmp_set (const struct car_pll_inf *pll, + struct car_pll_cfg *cfg_cur, struct car_pll_cfg *cfg_new) +{ + uint32_t newp; + error_t ret = E_SUCCESS; + + if (car_hpll_nmp_is_equal(cfg_cur, cfg_new)) { + /* nothing */ + } else if (!pll->op->pll_is_enabled(pll)) { + car_hpll_freq_set (pll, cfg_cur, cfg_new); + } else if (cfg_new->p >= cfg_cur->p) { + car_hpll_freq_set (pll, cfg_cur, cfg_new); + ret = car_pll_wait_lock(pll); + } else { + newp = cfg_new->p; + cfg_new->p = cfg_cur->p; + car_hpll_freq_set (pll, cfg_cur, cfg_new); + ret = car_pll_wait_lock(pll); + if (ret == E_SUCCESS) { + cfg_new->p = newp; + car_pll_nmp_set(pll, cfg_new); + } + } + return ret; +} + +static error_t car_hpll_nmp_calc(const struct car_pll_inf *pll, + struct car_pll_cfg *cfg_cur, struct car_pll_cfg *cfg_new, + int64_t hz_in, int64_t hz_out) +{ + const struct car_pll_spec *spec = *pll->spec; + const bool en = pll->op->pll_is_enabled(pll); + const struct car_pll_cfg *cfg; + int32_t p; + error_t ret; + + if (en && !(spec->flags & CAR_PLL_FLG_HAS_DYNAMIC_RAMP)) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + car_pll_nmp_get(pll, cfg_cur); + cfg = car_pll_cfg_get(pll, hz_in, hz_out); + if (cfg != NULL) { + *cfg_new = *cfg; + ret = E_SUCCESS; + } else { + p = en ? (int32_t)cfg_cur->p : -1; + ret = car_pll_cfg_calc(pll, hz_in, hz_out, INT64_MAX, cfg_new, p); + } + } + return ret; +} + +SECTION_CAR_TEXT +static int64_t car_hpll_hz_set(const struct car_pll_inf *pll, + int64_t hz_in, int64_t hz_out) +{ + struct car_pll_cfg cfg_cur; + struct car_pll_cfg cfg_new; + error_t ret; + int64_t hz_ret = E_CAR_NULL_PTR; + + if (pll != NULL) { + memset(&cfg_cur, 0, sizeof(cfg_cur)); + memset(&cfg_new, 0, sizeof(cfg_new)); + ret = car_hpll_nmp_calc(pll, &cfg_cur, &cfg_new, hz_in, hz_out); + if (ret == E_SUCCESS) { + ret = car_hpll_nmp_set (pll, &cfg_cur, &cfg_new); + } + if (ret == E_SUCCESS) { + hz_ret = car_pll_hz_calc(pll, &cfg_new, hz_in); + *pll->sts |= CAR_PLL_STS_HZ_SET; + } else { + hz_ret = (int64_t)ret; + } + } + return hz_ret; +} + +SECTION_CAR_RODATA +const struct car_pll_op car_pll_op_hpll = { + .frac_allowed = NULL, + .pll_is_enabled = car_pll_is_enabled, + .pll_enable = car_hpll_enable, + .pll_disable = car_hpll_disable, + .pll_hz_set = car_hpll_hz_set, + .pll_hz_get = car_pll_hz_get, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-math.c b/spe-freertos-bsp/fsp/source/drivers/car/car-math.c new file mode 100644 index 0000000..c764358 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-math.c @@ -0,0 +1,153 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for the math + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for declarations... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MATH_SECURE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_MATH_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +int64_t car_add_s64(int64_t a, int64_t b) +{ + int64_t c = (int64_t)sadd_u64(a, b, OVERFLOW_ACTION_0); + + return c; +} + +SECTION_CAR_TEXT +int64_t car_sub_s64(int64_t a, int64_t b) +{ + int64_t c = (int64_t)ssub_u64(a, b, OVERFLOW_ACTION_0); + + return c; +} + +SECTION_CAR_TEXT +int64_t car_mul_s64(int64_t a, int64_t b) +{ + int64_t c = (int64_t)smul_u64(a, b, OVERFLOW_ACTION_0); + + return c; +} + +SECTION_CAR_TEXT +int64_t car_div_s64(int64_t a, int64_t b) +{ + int64_t c = 0LL; + + /* Even though a division by 0 would trigger a fatal error already, + * add a check for divisor == 0 here to inform coverity we really check + * for this case. This avoids an INT32-C violation. + */ + if ((b == 0) || ((a == INT64_MIN) && (b == -1LL))) { + /* nothing */ + } else { + c = a / b; + } + return c; +} + +SECTION_CAR_TEXT +/* divide unsigned numbers by rounding to nearest integer */ +int64_t car_div64_round(int64_t n, int64_t d) +{ + int64_t ret; + + /* Simplest way to do round-to-nearest division with unsigned + * numbers in C would be: + * return (n + d/2)/d; + * + * But this does not work with very large numbers (i.e. n+d/2 + * will overflow when both numbers are close to INT64_MAX) + * + * Hence compute same with more elborate algorithm: + */ + ret = n / d; + if ((n % d) != 0) { + if ((n % d) >= car_add_s64(d / 2, d % 2)) { + ret = car_add_s64(ret, 1LL); + } + } + return ret; +} + +SECTION_CAR_TEXT +int64_t car_range_s64(int64_t x, int64_t x_min, int64_t x_max) +{ + if ((x_min != 0LL) && (x < x_min)) { + x = x_min; + } else if ((x_max != 0LL) && (x > x_max)) { + x = x_max; + } + return x; +} + +SECTION_CAR_TEXT +int32_t car_abs_s32(int32_t x) +{ + return (x >= 0) ? (uint32_t)x : (0U - (uint32_t)x); +} + +SECTION_CAR_TEXT +int64_t car_abs_s64(int64_t x) +{ + return (x >= 0) ? (uint64_t)x : (0U - (uint64_t)x); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-pll.c b/spe-freertos-bsp/fsp/source/drivers/car/car-pll.c new file mode 100644 index 0000000..6999984 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-pll.c @@ -0,0 +1,505 @@ +/* Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... +#include // for memset + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for CLK_RST_CONTROLLER_PLLFSI_BASE_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for E_SUCCESS, error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for register access functions... +#include // for math functions... +#include // for PLL declarations... +#include // for platform functions... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_MATH_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_PLL_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +error_t car_pll_wait_lock_us(const struct car_pll_inf *pll, uint64_t t_us) +{ + uint64_t ticks_start; + uint64_t ticks_us; + error_t ret = E_CAR_NULL_PTR; + + if (pll != NULL) { + ticks_start = car_port_get_time_ticks(); + do { + if (car_reg_rd(pll->lock_reg) & pll->lock_msk) { + ret = E_SUCCESS; + break; + } + + ticks_us = car_port_get_time_delta_us(ticks_start); + if (ticks_us > t_us) { + ret = E_CAR_PLL_NO_LOCK; + break; + } + + car_port_udelay(5ULL); + } while (true); + } + + return ret; +} + +SECTION_CAR_TEXT +error_t car_pll_wait_lock(const struct car_pll_inf *pll) +{ + return car_pll_wait_lock_us(pll, CAR_PLL_LOCK_DELAY); +} + +/* calc MDIV and adjust if VCO range cannot be met + * with possible range of NDIV. + */ +SECTION_CAR_TEXT +static int64_t car_pll_calc_m(const struct car_pll_spec *spec, int64_t hz_in) +{ + const int64_t max_m = (int64_t)spec->max_m; + const int64_t max_n = (int64_t)spec->max_n; + const int64_t min_m = (int64_t)spec->min_m; + const int64_t min_n = (int64_t)spec->min_n; + int64_t vmin; + int64_t vmax; + int64_t cf; + int64_t m; + + if (spec->min_m != spec->max_m) { + m = DIV_ROUND_UP(hz_in, spec->cf_max); + vmin = (hz_in * min_n) / m; + if (vmin > spec->vco_min) { + m = DIV_ROUND_UP(hz_in * min_n, spec->vco_min); + } + vmax = (hz_in * max_n) / m; + cf = hz_in / m; + if ((m < min_m) || (m > max_m) || (cf < spec->cf_min) || (cf > spec->cf_max) || (vmax < spec->vco_max)) { + m = E_CAR_INVALID_PARAM; + } + } else { + m = spec->min_m; + } + return m; +} + +SECTION_CAR_TEXT +static int64_t car_pll_calc_n(const struct car_pll_spec *spec, int64_t f_in, + int64_t target_vco, uint32_t flags, int32_t *frac) +{ + const bool round_down = ((flags & CAR_PLL_FLG_ROUND_DOWN) != 0U); + const bool nofrac = ((flags & CAR_PLL_FLG_FRAC_NDIV) == 0U); + const int64_t min_n = (int64_t)spec->min_n; + const int64_t max_n = (int64_t)spec->max_n; + const int64_t mul = (int64_t)1LL << spec->frac_width; + const int64_t dy = mul / 2LL; + int64_t n; + int64_t f; + + /* note that target_vco is actually the VCO target multiplied + * by fractional "accuracy" multiplied by m + */ + if (round_down) { + n = car_div_s64(target_vco, f_in); + } else { + n = car_div64_round(target_vco, f_in); + } + + if (nofrac) { + f = 0; + } else if (spec->type == CAR_PLL_TYPE_ANALOG) { + f = car_sub_s64(n % mul, dy); + /* intentionally round down */ + n = n / mul; + } else { + f = car_add_s64(n, dy) % mul; + f = car_sub_s64(f, dy); + n = car_div64_round(n, mul); + } + n = car_range_s64(n, min_n, max_n); + *frac = (int32_t)(f); + return n; +} + +/* if p_pref can satisfy vco range, return that */ +SECTION_CAR_TEXT +static int64_t car_pll_calc_p(const struct car_pll_spec *spec, int64_t rate, + int64_t vco_min, int64_t vco_max, int32_t p_pref, uint32_t flags) +{ + const bool round_down = ((flags & CAR_PLL_FLG_ROUND_DOWN) != 0U); + const int64_t max_p = (int64_t)spec->max_p; + const int64_t min_p = (int64_t)spec->min_p; + int64_t vco_mid; + int64_t p = 0; + int64_t xd; + int64_t nd; + + if ((p_pref > 0) && (car_range_s64(rate, vco_min / p_pref, vco_max / p_pref)) != 0LL) { + p = p_pref; + } else if (((flags & CAR_PLL_FLG_USE_MID_VCO) != 0U) && (rate != 0)) { + vco_mid = car_add_s64(vco_max, vco_min) / 2LL; + p = car_div64_round(vco_mid, rate); + } else if (rate != 0) { + p = vco_max / rate; + } + p = max(p, min_p); + /* handle a special case that can happen if vco range cannot + * cover all possible frequencies. In other words, case when + * vco_max < 2 * vco_min + */ + if (car_mul_s64(p, rate) < vco_min) { + /* when not rounding to nearest, always select higher + * P. Otherwise select P that gives closer match */ + xd = car_sub_s64(rate, (vco_max / (p + 1))); + nd = (vco_min / p) - rate; + if (round_down || (xd <= nd)) { + ++p; + } + } + p = min(p, max_p); + return p; +} + +/* scale rate, vco_min, and vco_max to precision of + * fractional step (if fractions are enabled) + */ +SECTION_CAR_TEXT +static int64_t car_pll_scale(const struct car_pll_spec *spec, uint32_t flags) +{ + const bool nofrac = ((flags & CAR_PLL_FLG_FRAC_NDIV) == 0U); + int64_t mul; + + if (nofrac) { + mul = 1LL; + } else { + mul = (int64_t)1LL << spec->frac_width; + } + return mul; +} + +SECTION_CAR_TEXT +static int64_t car_pll_round(int64_t hz, int64_t dy, bool up) +{ + const int64_t r = hz % dy; + int64_t ret_hz = hz; + + if (r > 0) { + if (up) { + ret_hz += dy - r; + } else { + ret_hz -= r; + } + } + return ret_hz; +} + +SECTION_CAR_TEXT +error_t car_pll_nmp_calc(const struct car_pll_spec *spec, struct car_pll_nmp *nmp, + int64_t hz_out, int64_t hz_in, int32_t p_pref, uint32_t flags) +{ + int64_t m, n, p; + int64_t target_vco; + const int64_t fx = car_pll_scale(spec, flags); + int64_t vco_min = spec->vco_min; + int64_t vco_max = spec->vco_max; + int64_t rate; + int64_t mul; + int32_t frac; + error_t ret = E_SUCCESS; + + if (hz_in > spec->clkin_max) { + ret = E_CAR_INVALID_PARAM; + goto out; + } + + m = car_pll_calc_m(spec, hz_in); + if (m < 0) { + ret = (int32_t)m; + goto out; + } + + /* rate cannot ever go beyond vco_max */ + rate = car_range_s64(hz_out, 1LL, vco_max); + /* preserve accuracy with following calculations */ + mul = car_mul_s64(fx, m); + vco_min = car_mul_s64(vco_min, mul); + vco_max = car_mul_s64(vco_max, mul); + rate = car_mul_s64(rate, mul); + /* clamp vco_min and vco_max to frequencies that can be + * actually achieved. In practice this makes difference only + * when fractions are disabled because only then we could end + * up violating vco ranges in any meaningful amount + */ + vco_min = car_pll_round(vco_min, hz_in, true); + vco_max = car_pll_round(vco_max, hz_in, false); + p = car_pll_calc_p(spec, rate, vco_min, vco_max, p_pref, flags); + target_vco = car_mul_s64(p, rate); + target_vco = car_range_s64(target_vco, vco_min, vco_max); + n = car_pll_calc_n(spec, hz_in, target_vco, flags, &frac); + nmp->n = (uint32_t)n; + nmp->m = (uint32_t)m; + nmp->p = (uint32_t)p; + nmp->frac = frac; + +out: + return ret; +} + +SECTION_CAR_TEXT +static int64_t libpll_calc_rate(const struct car_pll_inf *pll, + const struct car_pll_nmp *nmp, + int64_t hz_in, uint32_t flags) +{ + const struct car_pll_spec *spec = *pll->spec; + const bool enfrac = ((flags & CAR_PLL_FLG_FRAC_NDIV) != 0U); + const bool hpll = (spec->type != CAR_PLL_TYPE_ANALOG); + const int64_t fx = (int64_t)1LL << spec->frac_width; + int64_t hz_out; + int64_t n; + + n = car_mul_s64(nmp->n, fx); + if (hpll) { + n = car_add_s64(n, nmp->frac); + } else if (enfrac) { + n = car_add_s64(n, nmp->frac); + n = car_add_s64(n, fx / 2LL); + } else { + /* nothing */ + } + hz_out = hz_in / nmp->m; + hz_out = car_mul_s64(hz_out, n); + hz_out /= nmp->p; + hz_out /= fx; + return hz_out; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_CAR_TEXT int64_t car_pll_hz_calc(const struct car_pll_inf *pll, struct car_pll_cfg *cfg, int64_t hz_in) +{ + const uint32_t flags = cfg->en_sdm ? CAR_PLL_FLG_FRAC_NDIV : 0U; + const struct car_pll_nmp nmp = { + .n = max(cfg->n, 1U), + .m = max(cfg->m, 1U), + .p = max(cfg->p, 1U), + .frac = cfg->sdm_din, + }; + + return libpll_calc_rate(pll, &nmp, hz_in, flags); +} + +SECTION_CAR_TEXT +static bool car_pll_en_frac(const struct car_pll_inf *pll) +{ + bool en; + + if (pll->op->frac_allowed != NULL) { + en = pll->op->frac_allowed(pll); + } else { + en = (pll->frac_msk != 0U); + } + return en; +} + +error_t car_pll_cfg_calc(const struct car_pll_inf *pll, + int64_t hz_in, int64_t hz_out, int64_t hz_max, + struct car_pll_cfg *cfg, int32_t p_curr) +{ + const bool enfrac = car_pll_en_frac(pll); + uint32_t flags = enfrac ? CAR_PLL_FLG_FRAC_NDIV : 0U; + struct car_pll_nmp nmp; + int64_t rrate; + error_t ret; + + ret = car_pll_nmp_calc(*pll->spec, &nmp, hz_out, hz_in, p_curr, flags); + if (ret == E_SUCCESS) { + /* if hz_max is exceeded, recalculate with rounding down */ + rrate = libpll_calc_rate(pll, &nmp, hz_in, flags); + if (rrate > hz_max) { + /* + * the car_pll_nmp_calc below differs from the one above only in + * flags, which doesn't affect return status. so, if the + * previous call of car_pll_nmp_calc returns 0, this one will + * return 0 too. + */ + CAR_RET_UNUSED(car_pll_nmp_calc(*pll->spec, &nmp, hz_in, hz_out, p_curr, + flags | CAR_PLL_FLG_ROUND_DOWN)); + } + memset(cfg, 0, sizeof(*cfg)); + cfg->n = nmp.n; + cfg->m = nmp.m; + cfg->p = nmp.p; + /* for calculated PLL parameters, en_ssc is always 0 */ + cfg->sdm_din = (int16_t)(nmp.frac); + cfg->en_sdm = enfrac; + } + return ret; +} + +SECTION_CAR_TEXT +void car_pll_nmp_get(const struct car_pll_inf *pll, struct car_pll_cfg *cfg) +{ + uint32_t v; + + cfg->n = car_reg_rd_val(pll->ndiv_reg, pll->ndiv_msk); + cfg->m = car_reg_rd_val(pll->mdiv_reg, pll->mdiv_msk); + if (pll->pdiv_msk != 0U) { + cfg->p = car_reg_rd_val(pll->pdiv_reg, pll->pdiv_msk); + } else { + cfg->p = 1U; + } + if (pll->frac_msk != 0U) { + v = car_reg_rd_val(pll->frac_reg, pll->frac_msk); + cfg->sdm_din = (int16_t)v; + } else { + cfg->sdm_din = 0; + } + if (pll->enfrac_msk != 0) { + v = car_reg_rd_val(pll->enfrac_reg, pll->enfrac_msk); + cfg->en_sdm = (v != 0U); + } else { + cfg->en_sdm = false; + } +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_CAR_TEXT void car_pll_nmp_set(const struct car_pll_inf *pll, struct car_pll_cfg *cfg) +{ + if (pll->mdiv_msk != 0U) { + car_reg_rdwr_val(pll->mdiv_reg, pll->mdiv_msk, cfg->m); + } + if (pll->ndiv_msk != 0U) { + car_reg_rdwr_val(pll->ndiv_reg, pll->ndiv_msk, cfg->n); + } + if (pll->pdiv_msk != 0U) { + car_reg_rdwr_val(pll->pdiv_reg, pll->pdiv_msk, cfg->p); + } +} + +SECTION_CAR_TEXT +int64_t car_pll_hz_get(const struct car_pll_inf *pll, int64_t hz_in) +{ + struct car_pll_cfg cfg; + error_t ret = E_CAR_NULL_PTR; + + if (pll != NULL) { + car_pll_nmp_get(pll, &cfg); + ret = car_pll_hz_calc(pll, &cfg, hz_in); + } + return (int64_t)ret; +} + +SECTION_CAR_TEXT +const struct car_pll_cfg *car_pll_cfg_get(const struct car_pll_inf *pll, + int64_t hz_in, int64_t hz_out) +{ + const struct car_pll_cfg *cfgs = *pll->cfgs; + const struct car_pll_cfg *nearest = NULL; + int64_t err = INT64_MAX; + int64_t diff; + uint32_t i; + + if (cfgs != NULL) { + for (i = 0; (i < *pll->cfgs_n) && (err > 0); i = i + 1U) { + if (cfgs[i].hz_in == hz_in) { + diff = car_abs_s64(hz_out - cfgs[i].hz_out); + if (diff <= err) { + nearest = &cfgs[i]; + err = diff; + } + } + } + } + + return nearest; +} + +SECTION_CAR_TEXT +error_t car_pll_select(const struct car_pll_inf *pll, uint32_t sel) +{ + error_t ret = E_CAR_NULL_PTR; + + if (pll != NULL) { + if (pll->sel_msk != 0U) { + car_reg_rdwr_val(pll->sel_reg, pll->sel_msk, sel); + } + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_TEXT +bool car_pll_is_enabled(const struct car_pll_inf *pll) +{ + uint32_t en = false; + + if (pll != NULL) { + if (pll->en_msk == 0U) { + en = true; + } else { + en = (bool)(car_reg_rd(pll->en_reg) & pll->en_msk); + } + } + return en; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-reg.c b/spe-freertos-bsp/fsp/source/drivers/car/car-reg.c new file mode 100644 index 0000000..d227d99 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-reg.c @@ -0,0 +1,137 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_CAR_BASE + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for readl_base_offset, writel_base_of... +#include // for BIT, bit_number, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for register access declarations... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") + + +static inline uint32_t car_reg(uint32_t offset) +{ + return (NV_ADDRESS_MAP_CAR_BASE + offset); +} + +SECTION_CAR_TEXT +static uint32_t car_reg_msk2shft(uint32_t mask) { + uint32_t shift; + + if (mask != 0U) { + shift = bit_number(mask); + } else { + shift = 0; + } + return shift; +} + +SECTION_CAR_TEXT +uint32_t car_reg_rd(uint32_t offset) +{ + return readl(car_reg(offset)); +} + +SECTION_CAR_TEXT +void car_reg_wr(uint32_t offset, uint32_t data) +{ + writel(data, car_reg(offset)); + return; +} + +SECTION_CAR_TEXT +uint32_t car_reg_rdwr(uint32_t offset, uint32_t data, uint32_t mask) { + uint32_t data_rdwr; + + data_rdwr = readl(car_reg(offset)); + data_rdwr &= ~mask; + data_rdwr |= data; + writel(data_rdwr, car_reg(offset)); + return data_rdwr; +} + +SECTION_CAR_TEXT +uint32_t car_reg_rd_val(uint32_t offset, uint32_t mask) { + uint32_t val; + + val = readl(car_reg(offset)); + val &= mask; + val >>= car_reg_msk2shft(mask); + return val; +} + +SECTION_CAR_TEXT +uint32_t car_reg_rdwr_val(uint32_t offset, uint32_t mask, uint32_t val) { + uint32_t shift; + + if (mask != 0) { + shift = car_reg_msk2shft(mask); + if (val > (mask >> shift)) { + val = mask >> shift; + } + } else { + shift = 0; + } + + return car_reg_rdwr(offset, val << shift, mask); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/car-rst.c b/spe-freertos-bsp/fsp/source/drivers/car/car-rst.c new file mode 100644 index 0000000..4f0f484 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/car-rst.c @@ -0,0 +1,146 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for E_SUCCESS, error_t + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for register access functions... +#include // for reset declarations... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_RST_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +static bool car_rst_op_is_asserted(const struct car_rst_inf *rst) +{ + bool ret = false; + + if (rst != NULL) { + if ((car_reg_rd(rst->reg) & rst->msk) != 0U) + ret = true; + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_rst_op_assert_bit(const struct car_rst_inf *rst) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + + if (rst != NULL) { + car_reg_rdwr(rst->reg, rst->msk, rst->msk); + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_rst_op_deassert_bit(const struct car_rst_inf *rst) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + + if (rst != NULL) { + car_reg_rdwr(rst->reg, 0U, rst->msk); + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_RODATA +const struct car_rst_op car_rst_op_bit = { + .rst_is_asserted = car_rst_op_is_asserted, + .rst_assert = car_rst_op_assert_bit, + .rst_deassert = car_rst_op_deassert_bit, +}; + + +SECTION_CAR_TEXT +static error_t car_rst_op_assert_reg(const struct car_rst_inf *rst) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + + if (rst != NULL) { + car_reg_wr(rst->reg + 0x04U, rst->msk); + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_TEXT +static error_t car_rst_op_deassert_reg(const struct car_rst_inf *rst) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + + if (rst != NULL) { + car_reg_wr(rst->reg + 0x08U, rst->msk); + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_RODATA +const struct car_rst_op car_rst_op_reg = { + .rst_is_asserted = car_rst_op_is_asserted, + .rst_assert = car_rst_op_assert_reg, + .rst_deassert = car_rst_op_deassert_reg, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + diff --git a/spe-freertos-bsp/fsp/source/drivers/car/module-car-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/car/module-car-nosafety-config.mk new file mode 100644 index 0000000..95c77be --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/module-car-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-car-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_CAR_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CAR_NOSAFETY_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_CAR_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CAR_NOSAFETY_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/car +MODULE_CAR_NOSAFETY_SOURCE_DIR = $(MODULE_CAR_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_CAR_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/car/module-car-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/car/module-car-nosafety.mk new file mode 100644 index 0000000..38007fa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/car/module-car-nosafety.mk @@ -0,0 +1,73 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-car-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CAR_NOSAFETY_NAME := CAR_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CAR_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CAR_NOSAFETY_DEPENDS := CAR_NOSAFETY SOC CPL OSA +$(foreach _,$(CONFIG_CAR_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CAR_NOSAFETY_C_SRC = +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-reg.c +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-math.c +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-rst.c +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-clk.c +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-pll.c +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-hpll.c +MODULE_CAR_NOSAFETY_C_SRC += $(MODULE_CAR_NOSAFETY_DRIVERS_DIR)/car-fmon.c +MODULE_CAR_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/car-port.c +MODULE_CAR_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/fsi-car-rst.c +MODULE_CAR_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/fsi-car-clk.c +MODULE_CAR_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/fsi-car-pll.c +MODULE_CAR_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/fsi-car-fmon.c + +# +# Assembly source +MODULE_CAR_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_CAR_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_CAR_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/chipid/chip-id.c b/spe-freertos-bsp/fsp/source/drivers/chipid/chip-id.c new file mode 100644 index 0000000..c2cd5c8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/chipid/chip-id.c @@ -0,0 +1,278 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint8_t, uint32_t +#include // for false, bool, true + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_FUSE_BASE, NV_AD... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for readl, FSP__REG_ACCESS__REG_ACC... + +/* Module-specific FSP headers */ +#include // for FSP__CHIPID__CHIP_ID_H, tegra_g... +#include // Immune from CT_ASSERT protection + +#include // TEGRA_FUSE_ADDRESS_MAP_SIZE + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CHIPID__CHIP_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define MISCREG_HIDREV_0 4U + +#define HIDREV_0_MAJORREV_SHIFT 4U +#define HIDREV_0_CHIPID_SHIFT 8U +#define HIDREV_0_MINORREV_SHIFT 16U +#define HIDREV_0_PLATFORM_SHIFT 20U +#define HIDREV_0_PLATFORM_SHIFT 20U +#define HIDREV_0_PLATFORM_SILICON 0U +#define HIDREV_0_PLATFORM_FPGA 2U +#define HIDREV_0_PLATFORM_VDK 8U + +#define HIDREV_0_MAJORREV_MASK ((uint32_t)0xf << HIDREV_0_MAJORREV_SHIFT) +#define HIDREV_0_CHIPID_MASK ((uint32_t)0xff << HIDREV_0_CHIPID_SHIFT) +#define HIDREV_0_MINORREV_MASK ((uint32_t)0xf << HIDREV_0_MINORREV_SHIFT) +#define HIDREV_0_PLATFORM_MASK ((uint32_t)0xf << HIDREV_0_PLATFORM_SHIFT) + +#define FUSE_OPT_SUBREVISION_0 0x248U +#define FUSE_OPT_SUBREVISION_SHIFT 0U +#define FUSE_OPT_SUBREVISION_MASK ((uint32_t)0xf << FUSE_OPT_SUBREVISION_SHIFT) + +#define FUSE_SKU_INFO_0 0x110U +#define FUSE_SKU_INFO_SHIFT 0U +#define FUSE_SKU_INFO_MASK ((uint32_t)0xff << FUSE_SKU_INFO_SHIFT) + +/** + * @brief ChipID information. + * + * @chip_id Chip ID value. + * @major_rev Chip major revision. + * @minor_rev Chip minor revision. + * @sub_rev Chip sub revision. + * @sku_id Chip SKU ID. + * @platform_is_silicon Specifies whether platform is silicon or not. + * @chip_data_initialized Specifies whether chip data is initialized or not. + * + */ +struct chip_info { + uint8_t chip_id; + uint8_t major_rev; + uint8_t minor_rev; + uint8_t sub_rev; + uint8_t sku_id; + bool platform_is_silicon; + bool platform_is_fpga; + bool platform_is_vdk; + bool chip_data_initialized; +}; + +static struct chip_info chip_data SECTION_CHIPID_DATA = { + .platform_is_silicon = (bool)false, + .chip_data_initialized = (bool)false, +}; + +static SECTION_CHIPID_INIT_TEXT void tegra_chipid_init(void) +{ + uint32_t val; + + val = readl((uint32_t)NV_ADDRESS_MAP_MISC_BASE + MISCREG_HIDREV_0); + + /* Get chip ID */ + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + chip_data.chip_id = (uint8_t)((uint32_t)(val & HIDREV_0_CHIPID_MASK) >> HIDREV_0_CHIPID_SHIFT); + + /* Get Major Revision */ + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + chip_data.major_rev = (uint8_t)((uint32_t)(val & HIDREV_0_MAJORREV_MASK) >> HIDREV_0_MAJORREV_SHIFT); + + /* Get Minor Revision */ + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + chip_data.minor_rev = (uint8_t)((uint32_t)(val & HIDREV_0_MINORREV_MASK) >> HIDREV_0_MINORREV_SHIFT); + + if (HIDREV_0_PLATFORM_SILICON == ((uint32_t)(val & HIDREV_0_PLATFORM_MASK) >> HIDREV_0_PLATFORM_SHIFT)) { + chip_data.platform_is_silicon = true; + } + + if (HIDREV_0_PLATFORM_FPGA == ((uint32_t)(val & HIDREV_0_PLATFORM_MASK) >> HIDREV_0_PLATFORM_SHIFT)) { + chip_data.platform_is_fpga = true; + } + + if (HIDREV_0_PLATFORM_VDK == ((uint32_t)(val & HIDREV_0_PLATFORM_MASK) >> HIDREV_0_PLATFORM_SHIFT)) { + chip_data.platform_is_vdk = true; + } + + /* Get Sub Revision from Fuse*/ + val = readl((uint32_t)NV_ADDRESS_MAP_FUSE_BASE + FUSE_OPT_SUBREVISION_0); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + chip_data.sub_rev = (uint8_t)((val & FUSE_OPT_SUBREVISION_MASK) >> FUSE_OPT_SUBREVISION_SHIFT); + + /* Get SKU Info from Fuse*/ + val = readl((uint32_t)NV_ADDRESS_MAP_FUSE_BASE + FUSE_SKU_INFO_0); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + chip_data.sku_id = (uint8_t)((val & FUSE_SKU_INFO_MASK) >> FUSE_SKU_INFO_SHIFT); + + chip_data.chip_data_initialized = true; +} + +SECTION_CHIPID_TEXT uint16_t tegra_get_platform(void) +{ + uint8_t chip_id = tegra_get_chipid(); + uint8_t major = tegra_get_major_rev(); + + return ((((uint16_t)chip_id) << 4U) | major); +} + +SECTION_CHIPID_TEXT uint8_t tegra_get_chipid(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.chip_id; +} + +SECTION_CHIPID_TEXT uint8_t tegra_get_major_rev(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.major_rev; +} + +SECTION_CHIPID_TEXT uint8_t tegra_get_minor_rev(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.minor_rev; +} + +SECTION_CHIPID_TEXT bool tegra_platform_is_silicon(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.platform_is_silicon; +} + +SECTION_CHIPID_TEXT bool tegra_platform_is_vdk(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.platform_is_vdk; +} + +SECTION_CHIPID_TEXT bool tegra_platform_is_fpga(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.platform_is_fpga; +} + +SECTION_CHIPID_TEXT uint8_t tegra_get_sub_rev(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.sub_rev; +} + +SECTION_CHIPID_TEXT uint8_t tegra_get_sku_id(void) +{ + /* Check if chip data is initialized or not */ + if (chip_data.chip_data_initialized == false) { + tegra_chipid_init(); + } + + return chip_data.sku_id; +} + +SECTION_CHIPID_TEXT bool tegra_fuse_control_read(uint32_t offset, uint32_t *val) +{ + bool ret = false; + + if (!val) { + goto out; + } + + if (offset >= TEGRA_FUSE_ADDRESS_MAP_SIZE) { + *val = 0U; + goto out; + } + + *val = readl((uint32_t)NV_ADDRESS_MAP_FUSE_BASE + offset); + ret = true; + +out: + return ret; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/chipid/module-chipid-config.mk b/spe-freertos-bsp/fsp/source/drivers/chipid/module-chipid-config.mk new file mode 100644 index 0000000..1d49ccb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/chipid/module-chipid-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-chipid-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CHIPID_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CHIPID_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_CHIPID_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CHIPID_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/chipid +MODULE_CHIPID_SOURCE_DIR = $(MODULE_CHIPID_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_CHIPID_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/chipid/module-chipid.mk b/spe-freertos-bsp/fsp/source/drivers/chipid/module-chipid.mk new file mode 100644 index 0000000..d58e92e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/chipid/module-chipid.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-chipid.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CHIPID_NAME := CHIPID + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CHIPID_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CHIPID_DEPENDS := CHIPID SOC +$(foreach _,$(CONFIG_CHIPID_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CHIPID_C_SRC = +MODULE_CHIPID_C_SRC += $(MODULE_CHIPID_DRIVERS_DIR)/chip-id.c + +# +# Assembly source +MODULE_CHIPID_ASM_SRC = + +# +# Special C Flags +MODULE_CHIPID_C_FLAGS = + +# +# Special ASM Flags +MODULE_CHIPID_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/comb-uart/comb-uart-client.c b/spe-freertos-bsp/fsp/source/drivers/comb-uart/comb-uart-client.c new file mode 100644 index 0000000..03a299d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/comb-uart/comb-uart-client.c @@ -0,0 +1,404 @@ +/* + * Copyright (c) 2021-2023 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* Compiler headers */ +#include // for true +#include // for uint32_t +#include // for NULL + +/* HW headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t, FSP_... +#include // for FSP__MISC__ATTRIBUTES_H +#include // for BIT +#include // for readl, writel, FSP__REG_... +#include // for get_time_ticks +#include // for irq_safe_enable, irq_safe_disable.. +#include +#include + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for E_COMB_UART_... +#include // for comb_uart_init, comb_uart... +#include // for comb_uart_id... +#include // for comb_uart_port_... + +/* Shared mailbox protocol bits */ +#define COMB_UART_PKT_SIZE_SHIFT (24U) +#define COMB_UART_PKT_FLUSH_BIT BIT(26U) +#define COMB_UART_PKT_TAG_BIT BIT(31U) +#define COMB_UART_MAX_PKTS (3U) + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") + +/* RX/TX timeout */ +#define COMB_UART_TIMEOUT_USEC (10000UL) +#define COMB_UART_TIMEOUT_WAIT_USEC (10UL) + +/* init timeout */ +#define COMB_UART_INIT_TIMEOUT_USEC (500000UL) + +/* status flags for tx and rx enable */ +static bool tx_enabled SECTION_COMB_UART_DATA = false; +static bool rx_enabled SECTION_COMB_UART_DATA = false; + +/* tx buffer and number of bytes in the tx buf */ +static char tx_buf[64] SECTION_COMB_UART_DATA; +static uint32_t tx_bytes SECTION_COMB_UART_DATA = 0; + +/** + * Helper function to wait for mailbox tag bit to be cleared. + */ +SECTION_COMB_UART_TEXT bool +comb_uart_is_tx_ready(const struct comb_uart_id *id) +{ + uint32_t val; + + val = readl(id->tx_sm_reg); + + return (val & COMB_UART_PKT_TAG_BIT) == 0UL; +} + +/** + * Helper function to wait for mailbox tag bit to be cleared for specified + * timeout. + */ +static inline error_t +comb_uart_wait_tx_timeout(const struct comb_uart_id *id, + const uint64_t timeout_usec) +{ + error_t ret = E_SUCCESS; + uint64_t tcurr = 0ULL; + uint64_t start; + + if (!comb_uart_is_tx_ready(id)) { + ret = E_COMB_UART_TIMEDOUT; + start = comb_uart_port_get_elapsed_usecs(0ULL); + + do { + if (comb_uart_is_tx_ready(id)) { + ret = E_SUCCESS; + break; + } + + tcurr = comb_uart_port_get_elapsed_usecs(0ULL); + + } while ((tcurr - start) < timeout_usec); + } + + return ret; +} + +/** + * Helper function to wait for mailbox tag bit to be cleared or return + * timeout. + */ +static inline error_t +comb_uart_wait_tx(const struct comb_uart_id *id) +{ + return comb_uart_wait_tx_timeout(id, COMB_UART_TIMEOUT_USEC); +} + +/** + * Helper function to create a tx packet to be sent to SPE adhering + * to the combined uart protocol. + */ +static inline uint32_t +comb_uart_get_tx_val(const struct comb_uart_id *id, + const char *buf, + const uint32_t buf_size, + const bool flush) +{ + uint32_t to_write; + uint32_t tx; + uint32_t ch; + + to_write = buf_size; + + /* Initialize TX value */ + tx = COMB_UART_PKT_TAG_BIT | + (flush ? COMB_UART_PKT_FLUSH_BIT : 0u) | + (to_write << COMB_UART_PKT_SIZE_SHIFT); + + /* Add the characters into the TX value */ + for (uint32_t i = 0U; i < to_write; i += 1UL) { + ch = (uint8_t)buf[i]; + tx |= ch << (i * 8U); + } + + return tx; +} + +/** + * Helper function to write 1-3 characters to SPE, wait for mailbox + * tag bit to be cleared and return how many bytes were written or + * E_COMB_UART_TIMEDOUT if transfer timed out. + */ +SECTION_COMB_UART_TEXT static error_t +comb_uart_write(const struct comb_uart_id *id, + const char *buf, + const uint32_t nbytes, + const bool flush, + uint32_t *written) +{ + error_t ret; + uint32_t to_write; + uint32_t tx; + + to_write = (nbytes > COMB_UART_MAX_PKTS) ? COMB_UART_MAX_PKTS : nbytes; + + /* Initialize TX value */ + tx = comb_uart_get_tx_val(id, buf, to_write, flush); + + /* Write to SPE mailbox */ + writel(tx, id->tx_sm_reg); + + /* Wait for SPE mailbox to be cleared */ + ret = comb_uart_wait_tx(id); + if (ret != E_SUCCESS) { + goto out; + } + + /* update the chars written */ + *written = to_write; + +out: + return ret; +} + +SECTION_COMB_UART_TEXT void +comb_uart_putc_now(const struct comb_uart_id *id, + const char ch) +{ + uint32_t tx; + + tx = COMB_UART_PKT_TAG_BIT | COMB_UART_PKT_FLUSH_BIT + | (1U << COMB_UART_PKT_SIZE_SHIFT) + | (uint32_t)ch; + + /* Write to SPE mailbox */ + writel(tx, id->tx_sm_reg); + + /* Wait until character has been seen */ + while (!comb_uart_is_tx_ready(id)) { + } +} + +SECTION_COMB_UART_TEXT static error_t +comb_uart_flush(const struct comb_uart_id *id, + const bool wait) +{ + error_t ret = E_SUCCESS; + const char *src; + uint32_t nbytes; + uint32_t written = 0UL; + + if (!tx_enabled) { + ret = E_COMB_UART_NO_TX; + goto out; + } + + nbytes = tx_bytes; + if (nbytes > 0u) { + src = tx_buf; + do { + ret = comb_uart_write(id, src, nbytes, false, &written); + if (ret != E_SUCCESS) { + ret = E_COMB_UART_TIMEDOUT; + break; + } + nbytes -= written; + src = &src[written]; + } while (nbytes > 0u); + + /* + * XXX: If there's a timeout, does this just throw away the + * un-sent characters? + */ + + /* Send the flush bit if requested */ + tx_bytes = 0; + if (wait) { + UNUSED(comb_uart_write(id, src, 0u, wait, &written)); + } + } + +out: + return ret; +} + +SECTION_COMB_UART_TEXT error_t +comb_uart_tx_flush(const struct comb_uart_id *id) +{ + return comb_uart_flush(id, true); +} + +SECTION_COMB_UART_TEXT error_t +comb_uart_putc(const struct comb_uart_id *id, + const char ch) +{ + error_t ret = E_SUCCESS; + + enter_critical(); + + /* Push character to TX buffer */ + tx_buf[tx_bytes++] = ch; + + /* Flush on newline or if buffer is full */ + if ((ch == '\n') || (tx_bytes == sizeof(tx_buf))) { + ret = comb_uart_flush(id, false); + } + + exit_critical(); + + return ret; +} + +SECTION_COMB_UART_TEXT bool +comb_uart_tx_ready(const struct comb_uart_id *id) +{ + return tx_bytes < sizeof(tx_buf); +} + +SECTION_COMB_UART_TEXT void +comb_uart_puts(const struct comb_uart_id *id, + const char *s) +{ + while (*s != '\0') { + UNUSED(comb_uart_putc(id, *s++)); + } +} + +SECTION_COMB_UART_TEXT void +comb_uart_send(const struct comb_uart_id *id, + const char *d, + const uint32_t len) +{ + uint32_t i; + + for (i = 0UL; i < len; i += 1UL) { + UNUSED(comb_uart_putc(id, *d++)); + } +} + +SECTION_COMB_UART_INIT_TEXT static error_t +comb_uart_tx_init(const struct comb_uart_id *id) +{ + error_t ret = E_SUCCESS; + uint32_t tx; + const char ch = '\n'; + + /* if no tx hsp sm register, return with an error */ + if (id->tx_sm_reg == 0UL) { + ret = E_COMB_UART_NULL_PTR; + goto out; + } + + /** + * check to ensure combined uart server is alive by sending + * a '\n' char. + */ + tx = comb_uart_get_tx_val(id, &ch, 1, false); + writel(tx, id->tx_sm_reg); + + /** + * wait for server to clear the mailbox. If + * the wait times out, server did not respond and tx failed. + */ + ret = comb_uart_wait_tx_timeout(id, COMB_UART_INIT_TIMEOUT_USEC); + if (ret != E_SUCCESS) { + tx_enabled = false; + goto out; + } + + tx_enabled = true; + +out: + return ret; +} + +SECTION_COMB_UART_INIT_TEXT static error_t +comb_uart_rx_init(const struct comb_uart_id *id) +{ + error_t ret = E_SUCCESS; + + /* okay to not use rx */ + if (id->supports_rx) { + if (id->rx_sm_reg == 0UL) { + ret = E_COMB_UART_NULL_PTR; + goto out; + } else { + rx_enabled = true; + } + } + +out: + return ret; +} + +SECTION_COMB_UART_INIT_TEXT error_t +comb_uart_init(const struct comb_uart_id *id) +{ + error_t ret = E_SUCCESS; + + ret = comb_uart_tx_init(id); + if (ret != E_SUCCESS) { + goto out; + } + + ret = comb_uart_rx_init(id); + if (ret != E_SUCCESS) { + goto out; + } + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/comb-uart/comb-uart-ops.c b/spe-freertos-bsp/fsp/source/drivers/comb-uart/comb-uart-ops.c new file mode 100644 index 0000000..41cfa4f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/comb-uart/comb-uart-ops.c @@ -0,0 +1,129 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for comb_uart_... + +/* Module-specific FSP headers */ +#include // for dbg_uart_ops... +#include // Immune from CT_ASSERT protection + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__COMB_UART__COMB_UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +static inline error_t +dbg_comb_uart_init(void *data) +{ + const struct comb_uart_id *id = (const struct comb_uart_id *)data; + + return comb_uart_init(id); +} + +static inline void +dbg_comb_uart_putc(void *data, + const char ch) +{ + const struct comb_uart_id *id = (const struct comb_uart_id *)data; + + comb_uart_putc(id, ch); +} + +static inline void +dbg_comb_uart_puts(void *data, + const char *s) +{ + const struct comb_uart_id *id = (const struct comb_uart_id *)data; + + comb_uart_puts(id, s); +} + +static inline void +dbg_comb_uart_putd(void *data, + const char *d, + uint32_t len) +{ + const struct comb_uart_id *id = (const struct comb_uart_id *)data; + + comb_uart_send(id, d, len); +} + +static inline void +dbg_comb_uart_tx_flush(void *data) +{ + const struct comb_uart_id *id = (const struct comb_uart_id *)data; + + comb_uart_tx_flush(id); +} + +static inline bool +dbg_comb_uart_tx_ready(void *data) +{ + const struct comb_uart_id *id = (const struct comb_uart_id *)data; + + return comb_uart_tx_ready(id); +} + +const struct dbg_uart_ops dbg_comb_uart_ops = { + .init = &dbg_comb_uart_init, + .putc = &dbg_comb_uart_putc, + .putd = &dbg_comb_uart_putd, + .puts = &dbg_comb_uart_puts, + .flush = &dbg_comb_uart_tx_flush, + .tx_ready = &dbg_comb_uart_tx_ready, +}; + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/comb-uart/module-comb-uart-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/comb-uart/module-comb-uart-nosafety-config.mk new file mode 100644 index 0000000..2a2038f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/comb-uart/module-comb-uart-nosafety-config.mk @@ -0,0 +1,41 @@ +# +# Copyright (c) 2020-2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-comb-uart-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_COMB_UART_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_COMB_UART_NOSAFETY_DEPENDS := SOC CLUSTER CPL FSP_COMMON +$(foreach _,$(MODULE_COMB_UART_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_COMB_UART_NOSAFETY_SOURCE_DIR = $(FSP_COMMON_REPO)/drivers/comb-uart + +# +# Common includes '-I ' +MODULE_COMB_UART_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/comb-uart/module-comb-uart-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/comb-uart/module-comb-uart-nosafety.mk new file mode 100644 index 0000000..576ae89 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/comb-uart/module-comb-uart-nosafety.mk @@ -0,0 +1,65 @@ +# +# Copyright (c) 2021-2022 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-comb-uart-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_COMB_UART_NOSAFETY_NAME := COMB_UART_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_COMB_UART_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_COMB_UART_NOSAFETY_DEPENDS := COMB_UART_NOSAFETY SOC CPL +$(foreach _,$(CONFIG_COMB_UART_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_COMB_UART_NOSAFETY_C_SRC = +MODULE_COMB_UART_NOSAFETY_C_SRC += $(MODULE_COMB_UART_NOSAFETY_SOURCE_DIR)/comb-uart-client.c +MODULE_COMB_UART_NOSAFETY_C_SRC += $(MODULE_COMB_UART_NOSAFETY_SOURCE_DIR)/comb-uart-ops.c +MODULE_COMB_UART_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/comb-uart-ids.c +MODULE_COMB_UART_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/comb-uart-port.c + +# +# Assembly source +MODULE_COMB_UART_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_COMB_UART_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_COMB_UART_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-exception.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-exception.c new file mode 100644 index 0000000..46cc352 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-exception.c @@ -0,0 +1,131 @@ +/* + * Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for UNUSED, WEAK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for ABORT_EXCEPTION, FSP__DEBU... +#include // for tegra_abort, FSP__DEBUG__A... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for armv7_exception_t, FSP__AR... +#include // for rd_adfsr, rd_aifsr, rd_dfar +#include // Immune from CT_ASSERT protection +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_SYS_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_EXCEPTION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +/** + * exception_hook() - default exception hook + * + * @exception: pointer to an exception structure + * + * This function is the default exception hook. It is defined as a weak + * function so that if the application doesn't provide an exception hook + * this will be called instead. + * + * Return Values: + * none + */ +SECTION_EXCEPTION_TEXT WEAK void +exception_hook(const armv7_exception_t * const exception) +{ + UNUSED((exception->frame->sp)); + UNUSED((exception)); +} + +/** + * armv7_exception() - called when the CPU experiences an exception + * + * @type: type of the exception + * @frame: pointer to the exception frame that contains + * various state about the CPU (registers and such) + * + * This function is called when the CPU experiences an exception. It will + * take the existing state that is captured by the earlier handler and + * adds additional information that may be useful in determining the cause + * of the exception. It will also call an application specific hook to + * allow for application specific operations to report the exception. + * + * Return Values: + * This function does not return + */ +SECTION_EXCEPTION_TEXT void +armv7_exception(uint32_t type, struct armv7_exception_frame *frame) +{ + armv7_exception_t exception; + + r5mpu_disable(); + + exception.type = type; + exception.frame = frame; + exception.dfar = rd_dfar(); + exception.dfsr = rd_dfsr(); + exception.adfsr = rd_adfsr(); + exception.ifar = rd_ifar(); + exception.ifsr = rd_ifsr(); + exception.aifsr = rd_aifsr(); + + exception_hook(&exception); + + tegra_abort(ABORT_EXCEPTION, type); + + /* Not Reached */ +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-exceptions.S b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-exceptions.S new file mode 100644 index 0000000..6b4db62 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-exceptions.S @@ -0,0 +1,147 @@ +@ +@ Copyright (c) 2015-2020, NVIDIA CORPORATION. All rights reserved. +@ +@ Redistribution and use in source and binary forms, with or without +@ modification, are permitted provided that the following conditions +@ are met: +@ * Redistributions of source code must retain the above copyright +@ notice, this list of conditions and the following disclaimer. +@ * Redistributions in binary form must reproduce the above copyright +@ notice, this list of conditions and the following disclaimer in the +@ documentation and/or other materials provided with the distribution. +@ * Neither the name of NVIDIA CORPORATION nor the names of its +@ contributors may be used to endorse or promote products derived +@ from this software without specific prior written permission. +@ +@ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +@ EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +@ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +@ PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +@ CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +@ EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +@ PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +@ PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +@ OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +@ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +@ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* Module-specific FSP headers */ +#include +#include + +#define MODE_MASK 0x1f +#define MODE_FIQ 0x11 +#define MODE_IRQ 0x12 +#define MODE_SVC 0x13 +#define MODE_ABT 0x17 +#define MODE_UND 0x1b +#define MODE_SYS 0x1f + +#define THUMB_BIT 0x20 + +.extern armv7_exception + .section SECTION_NAME_EXCEPTION_TEXT, "ax" + .arm + .syntax unified + .align 4 +FUNCTION(_Data_Abort_Handler) + sub lr, lr, #8 + stmfd sp!, {r0-r12, lr} + mov r0, #DATA_ABORT + b common_handler +END_FUNCTION(_Data_Abort_Handler) + +FUNCTION(_Prefetch_Abort_Handler) + sub lr, lr, #4 + stmfd sp!, {r0-r12, lr} + mov r0, #PREFETCH_ABORT + b common_handler +END_FUNCTION(_Prefetch_Abort_Handler) + +FUNCTION(_Undefined_Instruction_Handler) + stmfd sp!, {r0-r12, lr} + mov r0, #UNDEFINED_INSTRUCTION + @ Update lr: + sub lr, lr, #4 + mrs r4, spsr + tst r4, #THUMB_BIT + beq 1f + @ Thumb mode, fix lr offset: + add lr, lr, #2 +1: + str lr, [sp, #52] + b common_handler +END_FUNCTION(_Undefined_Instruction_Handler) + +@ r0: exception type +@ r1: exception frame/saved registers +@ r2: temporary cpsr to change modes +@ r3: saved cpsr +@ r4: spsr +common_handler: + mrs r4, spsr + stmfd sp!, {r4} + mrs r3, cpsr + bic r2, r3, #MODE_MASK + mov r1, sp + + bic r4, #~MODE_MASK + teq r4, #MODE_FIQ + beq mode_fiq + teq r4, #MODE_IRQ + beq mode_irq + teq r4, #MODE_SVC + beq mode_svc + teq r4, #MODE_ABT + beq mode_abt + teq r4, #MODE_UND + beq mode_und + + @ If M field isn't valid, just pretend it's SYS + orr r2, r2, #MODE_SYS + b common_end + +mode_fiq: + orr r2, r2, #MODE_FIQ + @ FIQ mode also has banked r8-r12. We should fix the saved registers. + msr cpsr_c, r2 + add r5, r1, #36 + stmea r5, {r8-r12} + b common_end + +mode_irq: + orr r2, r2, #MODE_IRQ + b common_end + +mode_svc: + orr r2, r2, #MODE_SVC + b common_end + +mode_abt: + orr r2, r2, #MODE_ABT + b common_end + +mode_und: + orr r2, r2, #MODE_UND + +common_end: + msr cpsr_c, r2 + @ Below 2 lines are quivalent to stmfd r1!, {sp, lr} but armclang compiler + @ asserts a warning if sp is used in the list. Hence use 2 str instructions + str lr, [r1, #-4]! + str sp, [r1, #-4]! + msr cpsr_c, r3 + @ Need to subtract 4 for alignment + sub sp, r1, #4 + blx armv7_exception + b . diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu-asm-dynamic-hdr.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu-asm-dynamic-hdr.c new file mode 100644 index 0000000..16a52d8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu-asm-dynamic-hdr.c @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2015-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for U32_C, FSP_MISRA_BLOC... +#include // for ASM_OFFSET macros... + +/* Module-specific FSP headers */ +#include // for barrier_compiler, bar... +#include // Immune from CT_ASSERT protection +#include // for struct mpuParameters... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__GENERATE_ASM_HDR_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BARRIERS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @file armv7-mpu-asm-hdr.c + * @brief Generates the MPU asm/C header defines. + */ + +SECTION_MPU_INIT_TEXT +void mpuParameters_asm_hdr(void); + +void mpuParameters_asm_hdr(void) +{ + ASM_OFFSET(MPU_INDEX_OFFSET, struct mpuParameters, index); + ASM_OFFSET(MPU_BASE_OFFSET, struct mpuParameters, base); + ASM_SIZEOF(MPU_PARM_LENGTH, struct mpuParameters); + barrier_compiler(); +} + diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu-asm.S b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu-asm.S new file mode 100644 index 0000000..d31dd9b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu-asm.S @@ -0,0 +1,192 @@ +/* + * Copyright (c) 2015-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ +#include +#if defined(MPU_DYNAMIC_HEADERS) && (MPU_DYNAMIC_HEADERS == 1) +#include "armv7-mpu-asm-dynamic-hdr.h" +#else +#include +#endif + +/* + * ARMV7_MPU_RESTORE_REGION + * + * Macro that restores a single MPU region + * + * Inputs: + * R0: pointer to mpuParameters_t structure + * R7: 0 + * + * Outputs: + * R0: pointer to next mpuParameters_t structure + * + * Registers affected: + * R1, R2, R3 + */ + .macro ARMV7_MPU_RESTORE_REGION + LDR R1, [R0, MPU_INDEX_OFFSET] // get the region index + MCR p15, #0, R1, c6, c2, #0 // set region number + MCR p15, #0, R7, c6, c1, #2 // disable region + ADD R0, R0, MPU_BASE_OFFSET // point to values to be loaded + LDMIA R0!, {R1-R3} // R0 will point to next struct + MCR p15, #0, R1, c6, c1, #0 // setup base address + MCR p15, #0, R2, c6, c1, #4 // setup access permissions + MCR p15, #0, R3, c6, c1, #2 // setup size + .endm + +/* + * ARMV7_MPU_RESTORE_REGIONS + * + * Macro to restore a Task's MPU regions. It is a wrapper that will + * invoke ARMV7_MPU_RESTORE_REGION "n" times. + * + * Inputs: + * R0: pointer to first element in an array of mpuParameters_t + * structures that represent the MPU regions to be restored + * R7: 0 + * + * Outputs: + * R0: pointer past the last mpuParameters_t structure of the MPU + * regions being restored. + * + * Registers affected: + * Registers affected by ARMV7_MPU_RESTORE_REGION + */ + .macro ARMV7_MPU_RESTORE_REGIONS n + .if \n + ARMV7_MPU_RESTORE_REGION + ARMV7_MPU_RESTORE_REGIONS "(\n-1)" + .endif + .endm + + + .section SECTION_STR_MPU_TEXT, "ax" + .arm + .syntax unified +/* + * armv7_task_mpu_restore() - restores a task's MPU context + * + * @task_mpu: pointer to a task_mpu_regions_t structure that represents + * the task's MPU state that is to be restored. It is expected + * that this pointer is in R0. + * + * This function will restore the task's MPU context so that the task will + * be able to be dispatched and function correctly after a context switch. + * + * Return Values: + * none + */ + .global armv7_task_mpu_restore + .type armv7_task_mpu_restore, %function + .balign 4 +armv7_task_mpu_restore: + PUSH { R0, R1, R2, R3, R7, LR } + MOV R7, #0 + ARMV7_MPU_RESTORE_REGIONS MPU_NTASK_REGIONS + POP { R0, R1, R2, R3, R7, PC } + +/* + * ARMV7_MPU_DISABLE_REGION + * + * Macro that disables a single MPU region + * + * Inputs: + * R0: pointer to mpuParameters_t structure + * R7: 0 + * + * Outputs: + * R0: pointer to next mpuParameters_t structure + * + * Registers affected: + * R1 + */ + .macro ARMV7_MPU_DISABLE_REGION n + LDR R1, [R0, MPU_INDEX_OFFSET] // get the region index + MCR p15, #0, R1, c6, c2, #0 // set region number + MCR p15, #0, R7, c6, c1, #2 // disable region + ADD R0, R0, MPU_PARM_LENGTH // move to next region + .endm + +/* + * ARMV7_MPU_DISABLE_REGIONS + * + * Macro to disable a Task's MPU regions. It is a wrapper that will + * invoke ARMV7_MPU_DISABLE_REGION "n" times. + * + * Inputs: + * R0: pointer to mpuParameters_t structure + * R7: 0 + * + * Outputs: + * none + * + * Registers affected: + * Registers affected by ARMV7_MPU_DISABLE_REGION + */ + .macro ARMV7_MPU_DISABLE_REGIONS n + .if \n + ARMV7_MPU_DISABLE_REGION \n + ARMV7_MPU_DISABLE_REGIONS "(\n-1)" + .endif + .endm + + + .section SECTION_STR_MPU_TEXT, "ax" + .arm + .syntax unified +/* + * armv7_task_mpu_disable() - disables a task's MPU context + * + * This function will disable a task's MPU context. + * + * Inputs: + * task_regions A pointer to an array of mpuParameter structures + * that contains exactly MPU_NTASK_REGIONS. It is + * expected that this value is in R0. + * + * Return Values: + * none + */ + .global armv7_task_mpu_disable + .type armv7_task_mpu_disable, %function + .balign 4 +armv7_task_mpu_disable: + PUSH { R0, R1, R7, LR } + MOV R7, #0 + ARMV7_MPU_DISABLE_REGIONS MPU_NTASK_REGIONS + POP { R0, R1, R7, PC } diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu.c new file mode 100644 index 0000000..00fd2d3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/armv7-mpu.c @@ -0,0 +1,1390 @@ +/* + * Copyright (c) 2015-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, true, false +#include // for uint32_t, uintptr_t +#include // for NULL, memcpy, size_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for portBaseType, portUnsignedB... +#include // for fsp_c_v_ptr_to_uptr +#include // for ASSERT, FSP__DEBUG__A... +#include // for WEAK, UNUSED, FSP__MI... +#include // for BIT, bit_number, BIT32 +#include // for U32_C, FSP_MISRA_BLOC... +#include // for NV_DRF_NUM, FSP__MISC... + +/* Module-specific FSP headers */ +#include // for MPU_MAX_REGIONS, MPU_... +#include // for R5_DRSR_0_EN_LSB, R5_... +#include // for r5mpu_region_disable +#include // for vPortTaskHandleToMPUP... +#include // for mpuParameters_t, r5mp... +#include // Immune from CT_ASSERT protection +#include // for barrier_compiler, bar... +#include // for arm_builtin_clz, FSP_... +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_9, "Approval: Bug 200532001, DR: SWE-FSP-016-SWSADR.docx") +/** + * @file armv7-mpu.c + * @brief Implements the various MPU interfaces + * + * The implementation of the various function that are exposed to the + * application firmware and those functions that are needed by SafeRTOS. + */ + +/** + * @brief MPU Initialized + * + * Indicates if the various MPU structures (and the MPU HW itself) has + * been initialized. + * + * This is intended to be a catch if the various callbacks provided by + * this code to SafeRTOS are called without the MPU structures being + * initialized. + */ +static bool r5mpu_initialized SECTION_MPU_DATA = false; + +/** + * @brief MPU Global Regions + * + * This is here as a "weak" definition in case the application firmware + * doesn't define it. + */ +mpuParameters_t mpu_global_regions[MPU_NGLOBAL_REGIONS] WEAK + SECTION_MPU_DATA; + +/** + * @brief Task regions array for the xApplicationCopy* functions. + * + * This is an array of pointers to mpuParameters structures that are ordered + * based upon the index of the pointed to mpuParameters structures. The + * array itself represents the ordered regions that apply to the current + * task. + * + * It is permissable to have NULL pointers in this array. + * + * This array will be updated when one of the xApplicationCopy* functions + * is called and the task handle is different from the previous task handle. + */ +static mpuParameters_t *task_regions[MPU_MAX_REGIONS] SECTION_MPU_DATA; + +/** + * @brief Kernel regions array for the xApplicationCopy* functions. + * + * This is an array of pointers. Each valid pointer points to an + * mpuParameters structure. Each mpuParameters structure + * contains information to manage per-task MPU regions. Each + * region has a unique index value defined within the + * mpuParameters structure for that region. This array of + * pointers is ordered according to those region index values + * and represents the ordered regions that are always accessible + * to the kernel or any code that is not running in task context + * (e.g. ISRs). + * + * It is permissable to have NULL pointers in this array. + */ +static mpuParameters_t *kernel_regions[MPU_MAX_REGIONS] SECTION_MPU_DATA; + +/** + * @brief Previous Task Handle + * + * This contains the task handle of the previous task that performed + * any xApplicationCopy* functions. It is used to determine if the + * task_regions array needs to be updated to reflect the regions of + * a new task. + */ +static portTaskHandleType prev_check_task SECTION_MPU_DATA = NULL; + +/** + * @brief Array to map R5 MPU permissions to r5mpu_check_access_t + * + * This maps the access permissions contained in the access field in + * the mpuParameters structure to a value suitable for the permissions + * field. + * + * This array is only accessed by r5mpu_init() and r5mpu_task_region_init() + * and is not accessed again. + */ +static uint8_t mpu_access_check_map[8] SECTION_MPU_INIT_DATA = { + [0] = R5MPU_CHECK_PRIV_NONE | R5MPU_CHECK_USER_NONE, + [1] = R5MPU_CHECK_PRIV_RW | R5MPU_CHECK_USER_NONE, + [2] = R5MPU_CHECK_PRIV_RW | R5MPU_CHECK_USER_READ, + [3] = R5MPU_CHECK_PRIV_RW | R5MPU_CHECK_USER_RW, + [4] = R5MPU_CHECK_PRIV_NONE | R5MPU_CHECK_USER_NONE, + [5] = R5MPU_CHECK_PRIV_READ | R5MPU_CHECK_USER_NONE, + [6] = R5MPU_CHECK_PRIV_READ | R5MPU_CHECK_USER_READ, + [7] = R5MPU_CHECK_PRIV_NONE | R5MPU_CHECK_USER_NONE, +}; + +/** + * @brief R5 MPU not initialized hook + * + * This is a default hook that can be overridden by the application + * to handle cases when one of the MPU functions is called when the + * MPU has not been initialized. + * + * @return None + */ +SECTION_MPU_TEXT WEAK void +r5mpu_not_initialized_hook(void) +{ + /* + * This function does nothing as it is the default hook. + * The application firmware can override this if it wants + * to perform some other operation (like abort). + */ + barrier_compiler(); +} + +/** + * @brief R5 MPU re-initialization attempted + * + * This is a default hook that can be overridden by the application + * to handle cases when re-initialization of the MPU is attempted. + * + * @return None + */ +SECTION_MPU_TEXT WEAK void +r5mpu_reinitialize_hook(const mpuParameters_t * const region) +{ + /* + * This function does nothing as it is the default hook. + * The application firmware can override this if it wants + * to perform some other operation (like abort). + */ + UNUSED(region); + barrier_compiler(); +} + +/** + * @brief Application specific context switch callout + * + * This function is the default hook that can be overridden by the + * application for when it wants to perform some specific work prior + * the MPU switch occuring. + * + * @param [in] oldTaskData pointer to opaque data that is contained + * in the MPU data structure for the task being + * switched away from + * @param [in] newTaskData pointer to opaque data that is conteined + * in the MPU data structure for the task being + * switched to + * + * @return None + */ +SECTION_MPU_TEXT WEAK void +vApplicationTaskContextSwitchHook(const void *oldTaskData, + const void *newTaskData) +{ + /* + * This function does nothing as it is the default hook. + * The application firmware can override this if it wants + * to perform some other operation (like abort). + */ + UNUSED(oldTaskData); + UNUSED(newTaskData); + barrier_compiler(); +} + +/** + * @brief Initialize task_regions array for current task + * + * This function will initialize the task's check region array for use + * by the other check range functions. + * + * @pre r5mpu_init() must have been called. + * @pre r5mpu_task_region_init() must have been called for the task. + * @pre the supplied task handle must represent a valid task. + * + * @param[in] task task handle of the task who's ranges are to be + * initialized + * @param[in] regions pointer to the array containing the task's + * mpuParameters structures + * + * @return None + */ +SECTION_MPU_TEXT static void +vApplicationCheckTaskRangeInit(portTaskHandleType task, + mpuParameters_t * regions) +{ + uint32_t i; + mpuParameters_t const *prev_region; + + /* + * See if the task check array is still valid + */ + if ((prev_check_task != NULL) + && (prev_check_task == task)) { + goto out; + } + + /* + * Clear out the entries in the task check array from the previous + * task + */ + if (prev_check_task != NULL) { + prev_region = vPortTaskHandleToMPUPointer(prev_check_task); + + if (prev_region != NULL) { + for (i = 0UL; i < U32_C(MPU_NTASK_REGIONS); i += 1UL) { + task_regions[prev_region[i].index] = NULL; + } + } + } + + /* + * Set up the task check array for the new task + */ + if (regions != NULL) { + for (i = 0UL; i < U32_C(MPU_NTASK_REGIONS); i += 1UL) { + /* + * Fill the task_regions[i] with the current + * task's regions. + */ + task_regions[regions[i].index] = ®ions[i]; + } + } + + /* + * Update the previous check task if a valid task handle + * was passed. + */ + if (task != NULL) { + prev_check_task = task; + } + + out: + return; +} + +/** + * @brief Check a range to determine if it is covered by the region + * + * This function will check a single mpuParameters structure to determine + * if the specified range falls within it and has the appropriate access + * permissions. It will update the start and length if any part of the + * supplied range overlaps the region and has the correct access permissions. + * + * @pre None + * + * @param[in] region pointer to a single mpuParameters_t structure + * @param[in,out] start pointer to starting address the of range. The value + * pointed to will potentially be updated if it the + * value is within the region + * @param[in,out] length pointer to the length of therange in bytes. The value + * pointed to will potentially be updated if the range + * exists within the region + * + * @retval true Part of the range falls within the region + * @retval false No part of the range falls within the region + */ +SECTION_MPU_TEXT static bool +bApplicationCheckRange(mpuParameters_t const * region, + uintptr_t *start, + uint32_t *length) +{ + uintptr_t begin = *start; + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + uintptr_t end = *start + *length - 1UL; + uintptr_t region_end; + bool matched = false; + + /* + * Determine if any part of the supplied range is within the region + */ + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + region_end = region->base + region->size - 1UL; + + /* + * Determine if there is any part of the range that is covered + * by the region + */ + if ((begin >= region->base) + && (end <= region_end)) { + /* + * The range is completely contained within the region + * so there will be nothing left to check + */ + *start = 0UL; + *length = 0UL; + + matched = true; + } else if ((end >= region->base) + && (end <= region_end)) { + /* + * The end of the range overlaps the region so adjust + * the length but leave the start alone. + */ + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + *length -= end - region->base + 1UL; + matched = true; + } else if ((begin >= region->base) + && (begin <= region_end)) { + /* + * The start of the range overlaps the region so adjust + * both the start and length. + */ + *start = region_end + 1UL; + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + *length = end - *start + 1UL; + matched = true; + } else { + /* + * Nothing to do in this case. + */ + } + + return matched; +} + +/** + * @brief Check that range has access + * + * This function will check that the address range and required permissions + * are allowed. + * + * @pre None + * + * @param[in] regions pointer to an array of ordered regions to check + * @param[in] access access permissions required + * @param[in] addr address in task + * @param[in] length length of range + * + * @retval true range is valid against the supplied ordered list of regions + * and has the requested permissions. + * @retval false range is not valid against the supplied ordered list of + * regions or does not have the requested permissions. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_MPU_TEXT static bool bApplicationCheckAddrRange(mpuParameters_t *regions[], + r5mpu_check_access_t access, + const void * const addr, + uint32_t length) +{ + bool valid = false; + uint32_t i; + uintptr_t start; + uint32_t remaining = length; + mpuParameters_t const *cur_region; + r5mpu_check_access_t cur_access = access; + + /* + * If we get a 0 length then pass it. + */ + if (length == 0UL) { + valid = true; + goto out; + } + + /* + * A request to copy from NULL with a non-zero length + * will fail. + */ + if (addr == NULL) { + goto out; + } + + start = fsp_c_v_ptr_to_uptr(addr); + + /* + * Make sure that the address/length combination makes sense, + * that is that addr + length < UINT32_MAX + */ + if (start > (UINTPTR_MAX - length)) { + goto out; + } + + /* + * Scan through the task regions and see if access is allowed + */ + for (i = 0UL; i < U32_C(MPU_MAX_REGIONS); i += 1UL) { + cur_region = regions[U32_C(MPU_MAX_REGIONS) - i - 1UL]; + + /* + * Skip the region if it isn't valid + */ + if ((cur_region == NULL) + || ((cur_region->flags & R5MPU_FL_VALID) == 0U)) { + continue; + } + + if (bApplicationCheckRange(cur_region, &start, &remaining)) { + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-616, DR: SWE-FSP-050-SWSADR.docx"); + cur_access &= access & cur_region->permissions; + if (remaining == 0UL) { + if (cur_access == access) { + valid = true; + } + break; + } + } + } + + out: + return valid; +} + +/** + * @brief Check that a task's address range is valid + * + * This function will check that a task's address range is valid for + * the requested permissions. + * + * @param[in] taskAddr Address in the task's address space to be checked + * @param[in] uxLength Length of range to be checked + * @param[in] access permissions to be used for the check + * @param[in] priv indicates if the task is privileged (true) or + * unprivileged (false) + * + * @retval true task's region is valid for the permissions + * @retval false task's region is not valid for the permissions + */ +SECTION_MPU_TEXT static bool +bCheckTaskAddrRange(const void *taskAddr, + portUnsignedBaseType uxLength, + r5mpu_check_access_t access, + bool priv) +{ + bool rc = true; + +#if ((defined(MPU_COPY_PRIV_CHECK)) && (MPU_COPY_PRIV_CHECK == 1)) + UNUSED(priv); +#else + if (!priv) +#endif + { + rc = bApplicationCheckAddrRange(task_regions, + access, taskAddr, + (uint32_t)uxLength); + } + + return rc; +} + +/** + * @brief Check to see if a copy is valid + * + * This function will determine if the requested copy can be performed. + * + * @param[in] xCurrentTaskHandle handle to the current task whose context + * the copy will be performed under. If NULL + * assume the context is privileged, otherwise + * use the task's privilege + * @param[in] pvDestAddr destination address (e.g. will be written to) + * @param[in] pvSourceAddr source address (e.g. will be read from) + * @param[in] uxLength number of bytes in the copy + * @param[in] direction indicates the direction of the copy + * - true = task to kernel + * - false = kernel to task + * + * @retval true copy can proceed + * @retval false copy cannot proceed + */ +SECTION_MPU_TEXT static bool +bApplicationCheckCopyValid(portTaskHandleType xCurrentTaskHandle, + const void *pvDestAddr, + const void *pvSourceAddr, + portUnsignedBaseType uxLength, + bool direction) +{ + bool rc = true; + uint32_t irq_state; + + irq_state = disable_interrupts(); + + /* + * Allow the copy to proceed if the length is 0 because it + * won't do anything anyway. + */ + if (uxLength == 0UL) { + goto out; + } + + if ((pvDestAddr == NULL) + || (pvSourceAddr == NULL)) { + rc = false; + goto out; + } + +#if (defined(MPU_COPY_CHECK) && (MPU_COPY_CHECK==1)) + bool priv; + const void *kernelAddr; + const void *taskAddr; + r5mpu_check_access_t kernAccess; + r5mpu_check_access_t taskAccess; + mpuParameters_t *region; + + if (!r5mpu_initialized) { + r5mpu_not_initialized_hook(); + goto out; + } + + /* + * Determine if the task is privileged or not. + */ + priv = (xCurrentTaskHandle == NULL) ? true + : (uxPortTaskSystemModeSetting(xCurrentTaskHandle) == R5_PSR_MODE_SYSTEM); + + if (direction) { + kernelAddr = pvDestAddr; + kernAccess = R5MPU_CHECK_PRIV_WRITE; + taskAddr = pvSourceAddr; + taskAccess = (priv) ? R5MPU_CHECK_PRIV_READ : R5MPU_CHECK_USER_READ; + } else { + kernelAddr = pvSourceAddr; + kernAccess = R5MPU_CHECK_PRIV_READ; + taskAddr = pvDestAddr; + taskAccess = (priv) ? R5MPU_CHECK_PRIV_WRITE : R5MPU_CHECK_USER_WRITE; + } + + /* + * Setup the task's region check array. + */ + region = vPortTaskHandleToMPUPointer(xCurrentTaskHandle); + + vApplicationCheckTaskRangeInit(xCurrentTaskHandle, region); + + /* + * Make sure that the kernel address falls within the + * expected ranges and has the correct permissions. + */ + if (!bCheckTaskAddrRange(kernelAddr, uxLength, kernAccess, priv)) { + rc = false; + goto out; + } + + /* + * Make sure that the task's address falls within the + * expected ranges and has the correct permissions. + */ + if (!bCheckTaskAddrRange(taskAddr, uxLength, taskAccess, priv)) { + rc = false; + goto out; + } +#endif + + out: + restore_interrupts(irq_state); + + return rc; +} + +/** + * @brief Check to see if a copy in an ISR is valid + * + * This function will determine if the requested copy can be performed + * while in an ISR + * + * @param[in] pvDestinationAddr destination address (e.g. will be written to) + * @param[in] pvSourceAddr source address (e.g. will be read from) + * @param[in] uxLength number of bytes in the copy + * + * @retval true copy can proceed + * @retval false copy cannot proceed + */ +SECTION_MPU_TEXT static bool +bApplicationCheckISRAddrRange(const void *pvDestinationAddr, + const void *pvSourceAddr, + portUnsignedBaseType uxLength) +{ + bool rc = true; + + /* + * Allow the copy to proceed if the length is 0 because it + * won't do anything anyway. + */ + if (uxLength == 0UL) { + goto out; + } + + if ((pvDestinationAddr == NULL) + || (pvSourceAddr == NULL)) { + rc = false; + goto out; + } + +#if (defined(MPU_COPY_CHECK) && (MPU_COPY_CHECK==1)) + + if (!r5mpu_initialized) { + r5mpu_not_initialized_hook(); + } else { + +#if (defined(MPU_COPY_KERNEL_CHECK) && (MPU_COPY_KERNEL_CHECK==1)) + + if ((!bApplicationCheckAddrRange(kernel_regions, + R5MPU_CHECK_PRIV_WRITE, + pvDestinationAddr, + (uint32_t)uxLength)) + || (!bApplicationCheckAddrRange(kernel_regions, + R5MPU_CHECK_PRIV_READ, + pvSourceAddr, + (uint32_t)uxLength))) { + rc = false; + } + +#endif + + } + +#endif + + out: + return rc; +} + +/** + * @brief Initialize an MPU region structure + * + * This function assumes that most of the structure has already been + * initialized (more than likely statically). This fills in any remaining + * fields in the data structure from the information already present. + * + * @pre If set_mpu is true, then the R5's MPU must be disabled. If set_mpu + * is false, then there is no requirement on the state of the R5's MPU. + * + * @param[in] region pointer to an mpuParameters structure + * @param[in] set_mpu boolean that indicates if the actual MPU region + * in the R5 should be set or if this is only used + * to initialize the mpuParameters structure. + * + * @return None + */ +SECTION_MPU_INIT_TEXT void +r5mpu_region_init(mpuParameters_t *const region, + bool set_mpu) +{ + uint32_t access; + uint32_t size; + uint32_t first_bit; + + ASSERT(region != NULL); + ASSERT(region->index < U32_C(MPU_MAX_REGIONS)); + + /* + * Skip over regions that have already been initialized + * calling the reinitialize hook as necessary. + */ + if ((region->flags & R5MPU_FL_INIT) != 0U) { + r5mpu_reinitialize_hook(region); + goto out; + } + + if ((region->flags & R5MPU_FL_VALID) != 0U) { + /* + * Deal with regions that couldn't specify the size at compile time + */ + if ((region->flags & R5MPU_FL_END) != 0U) { + ASSERT(region->size > region->base); + + size = region->size - region->base; + region->size = size; + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-616, DR: SWE-FSP-050-SWSADR.docx"); + region->flags &= ~R5MPU_FL_END; + region->flags |= R5MPU_FL_SIZE; + } + + ASSERT((region->flags & (uint32_t)R5MPU_FL_SIZE) != 0U); + + access = (uint32_t)(region->access & R5_DRACR_AP_MASK) >> R5_DRACR_AP_SHIFT; + region->permissions = mpu_access_check_map[access]; + + /* + * The minimum size of a region is 32 bytes, so force the size + * to be at least 32 bytes. + */ + size = region->size; + if (size < 32UL) { + size = 32UL; + } + + /* + * Make sure that the size is a power-of-2. Adjust the + * resultant size to be the next larger power-of-2 as + * necessary. + */ + first_bit = 31UL - arm_builtin_clz(size); + + if (BIT(first_bit) < size) { + first_bit += 1UL; + size = BIT(first_bit); + } + + /* + * Make sure that the resulting base and size will cover the + * original region. + * + * At present, this will cause an ASSERT if the resulting + * region doesn't cover the originally specified region. It + * is not clear if adjusting the region further is the correct + * thing to do given that in some cases that may interfere with + * how overlapping regions would behave. + */ + ASSERT(size >= region->size); + ASSERT(((region->base & ~(size - 1UL)) + size) >= (region->base + region->size)); + + /* + * Clear the bits of base that correspond to the size + * That is, we know that size is now a power-of-2, so + * clear the low order bits of the base address so that + * it too is aligned to the same power-of-2. + * + * NOTE: it is OK to do this, because the R5 MPU would + * have done it, so nothing is really changed with this + * in terms of correct/incorrect behavior. + */ + + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + region->base &= ~(size - 1UL); + region->size = size; + + region->encoded_size = NV_DRF_NUM(R5, DRSR, RSIZE, + r5mpu_size(size)) + | NV_DRF_NUM(R5, DRSR, EN, 1UL); + if (set_mpu) { + r5mpu_region_config(region->index, + region->base, + region->encoded_size, + region->access); + /* Update the region state to initialized */ + region->flags |= R5MPU_FL_INIT; + } + } else { + region->encoded_size = 0UL; + if (set_mpu) { + r5mpu_region_disable(region->index); + } + } + + out: + return; +} + +/** + * @brief Initialize a task's regions + * + * This function will initialize the mpuParameters structures in the passed + * array (that contains exactly MPU_NTASK_REGIONS structures). It does *not* + * program the MPU with those mappings. + * + * @pre r5mpu_init must have already been called to set up the global + * regions. + * + * @param[in] task_regions A pointer to an array of mpuParameters structures + * that contains MPU_NTASK_REGIONS elements, that + * represent the MPU regions for a specific task + * + * @return None + */ +SECTION_MPU_INIT_TEXT void +r5mpu_task_region_init(mpuParameters_t *task_mpu_regions) +{ + uint32_t i; + uint32_t used; + uint32_t unused_index; + uint32_t bit; + uint32_t max_regions_mask; + + if (!r5mpu_initialized) { + r5mpu_not_initialized_hook(); + goto out; + } + + used = 0UL; + + if (task_mpu_regions != NULL) { + + max_regions_mask = BIT(MPU_MAX_REGIONS) - 1UL; + + /* + * Go through and see which are the used indecies + * first go through the global regions. + * + * Assumption here is that the indecies for all of + * the global regions are defined regardless of the + * region being enabled or not. + */ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + for (i = 0UL; i < (uint32_t)MPU_NGLOBAL_REGIONS; i += 1UL) { + bit = BIT32_FN(mpu_global_regions[i].index); + ASSERT((used & bit) == 0UL); + used |= bit; + } + + /* + * Now go through and figure out which indecies + * are used by the task. + */ + for (i = 0UL; i < U32_C(MPU_NTASK_REGIONS); i += 1UL) { + if ((task_mpu_regions[i].flags & R5MPU_FL_VALID) != 0U) { + bit = BIT32_FN(task_mpu_regions[i].index); + ASSERT((used & bit) == 0UL); + used |= bit; + } + } + + /* + * Sanity check to make sure used does not have invalid indices + */ + ASSERT((used & (~max_regions_mask)) == 0UL); + + /* + * By now we should have all the used indices. Now go through + * and assign unused MPU indices to the disabled per-task regions + */ + for (i = 0UL; i < U32_C(MPU_NTASK_REGIONS); i += 1UL) { + if ((task_mpu_regions[i].flags & R5MPU_FL_VALID) == 0U) { + /* + * find the bit position of the first zero + */ + unused_index = bit_number(~used); + task_mpu_regions[i].index = unused_index; + used |= BIT32_FN(unused_index); + } + } + + /* + * Initialize the task's MPU region structures + */ + for (i = 0UL; i < U32_C(MPU_NTASK_REGIONS); i += 1UL) { + r5mpu_region_init(&task_mpu_regions[i], false); + } + } + + out: + return; +} + +/** + * @brief Iinitialize the MPU + * + * This function will initialize the MPU initializing the global array + * of mpuParameters structures, writing the appropriate values contained + * in those structures into the MPU, disabling any unused (including task + * related MPU entries) and doing the overall enabling of the MPU. + * + * @pre None + * + * @return None + */ +SECTION_MPU_INIT_TEXT void +r5mpu_init(void) +{ + uint32_t i; + uint32_t n_regions; + mpuParameters_t *region; + + ASSERT((U32_C(MPU_MAX_REGIONS)) <= r5mpu_region_count()); + + /* + * Prevent re-initializing the MPU data structures and MPU HW + * once they've already been initializaed. + */ + if (r5mpu_initialized) { + r5mpu_reinitialize_hook(NULL); + + } + + n_regions = r5mpu_region_count(); + + r5mpu_disable(); + + /* + * Disable all regions + */ + for (i = 0UL; i < n_regions; i += 1UL) { + r5mpu_region_disable(i); + } + + for (i = 0UL; i < U32_C(MPU_MAX_REGIONS); i += 1UL) { + task_regions[i] = NULL; + kernel_regions[i] = NULL; + } + + /* + * Initialize the MPU with the global regions + */ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + for (i = 0UL; i < (uint32_t)MPU_NGLOBAL_REGIONS; i += 1UL) { + region = &mpu_global_regions[i]; + + r5mpu_region_init(region, true); + + /* + * Place the region based upon it's priority + */ + if ((region->flags & R5MPU_FL_VALID) != 0U) { + task_regions[region->index] = region; + kernel_regions[region->index] = region; + } + } + + r5mpu_enable(); + barrier_memory_complete(); + + r5mpu_initialized = true; + + return; +} + +/** + * @brief Application specific task switch handling + * + * This function is called by the context switch code in SafeRTOS. + * It will perform the necessary low level operations necessary to + * tear down the MPU mappings from the current task and set them up + * for the next task. + * + * @pre MPU must be enabled via r5mpu_init(). + * @pre The task's region arrays must be properly initialized by + * calling r5mpu_task_region_init(). + * @pre The handle specified by currentTask must represent a valid task + * @pre The handle specified by nextTask must represent a valid task + * + * @param[in] currentTask A valid task handle to the current task + * or NULL. + * @param[in] nextTask A valid task handle to the next task + * or NULL. + * + * @return None + */ +SECTION_MPU_TEXT void +vApplicationTaskSwitch(const xTCB *pxTCBOfTaskSwitchedOut, + const xTCB *pxTCBOfTaskSwitchedIn) +{ + mpuParameters_t *cur_region; + mpuParameters_t *next_region; + const void *old_task_data; + const void *new_task_data; + + if (!r5mpu_initialized) { + r5mpu_not_initialized_hook(); + goto out; + } + + next_region = (pxTCBOfTaskSwitchedIn == NULL) ? NULL : + pxTCBOfTaskSwitchedIn->pxMPUParameters; + cur_region = (pxTCBOfTaskSwitchedOut == NULL) ? NULL : + pxTCBOfTaskSwitchedOut->pxMPUParameters; + + new_task_data = (next_region == NULL) ? NULL : next_region->task_data; + old_task_data = (cur_region == NULL) ? NULL : cur_region->task_data; + + /* + * Call application's context switch hook + */ + vApplicationTaskContextSwitchHook(old_task_data, new_task_data); + + /* + * Only restore the MPU task mappings if: + * - there are actually task mappings (by the build) + * - the current task and next task are different + * - the MPU region pointers are different + */ + if ((U32_C(MPU_NTASK_REGIONS) > 0UL) + && (pxTCBOfTaskSwitchedOut != pxTCBOfTaskSwitchedIn) + && (cur_region != next_region)) { + + /* + * If the next task has per-task mappings, then set them up + * otherwise disable the per-task mappings. + */ + if (next_region != NULL) { + armv7_task_mpu_restore(next_region); + } else { + /* + * Next task has no per task regions, so disable + * the per task MPU entries to avoid erroneous mappings. + * + * If current task has no per task regions either, + * nothing needs to be done as the per-task regions have + * already been disabled. + */ + /* + * NOTE: cur_region is not checked for NULL here. A previous + * check ensures that cur_region != next_region and that + * next_region == NULL on this branch, so cur_region cannot + * be NULL. + */ + armv7_task_mpu_disable(cur_region); + } + } + + out: + return; +} + +/** + * @brief Copy data from a task to kernel + * + * This function will copy data from the specified task to kernel and will + * check to make sure that: + * -# the address specified for the task is readable by the task + * -# the address specified for the kernel is writable + * + * This function must be called from a non-interrupt context. + * + * This function is only callable from privileged mode. It will return an + * error if called from user mode. + * + * @pre r5mpu_init() must have been called to set up the global regions + * @pre r5mpu_task_region_init() must have been called to setup the task's + * regions if there are any for the task. + * @pre the task handle specified by fromTask must represent a valid task. + * + * @param[in] xCurrentTaskHandle task being copied to + * @param[in] pvKernelDestinationAddress address in the kernel being + * copied to + * @param[in[ pvApplicationSourceAddress address in the the task being + * copied from + * @param[in] uxLength number of bytes being copied + * + * @retval pdPASS Copy occurred + * @retval pdFAIL Copy could not proceed + */ +SECTION_MPU_TEXT portBaseType +xApplicationCopyDataFromTask(portTaskHandleType xCurrentTaskHandle, + void *pvKernelDestinationAddress, + const void *pvApplicationSourceAddress, + portUnsignedBaseType uxLength) +{ + portBaseType rc = pdFAIL; + + if (bApplicationCheckCopyValid(xCurrentTaskHandle, + (const void *)pvKernelDestinationAddress, + pvApplicationSourceAddress, + uxLength, true)) { + + /* + * It is possible to have NULL values for the addresses in certain + * cases. It will only happen when uxLength is 0. However, the + * operation of memcpy() is undefined if either of the pointers is NULL + * even if the length is 0. So to avoid the undefined behavior we skip + * calling memcpy() in those cases. + * + * bApplicationCheckCopyValid will eliminate all other cases where the + * pointers are NULL, so it is only necessary to check for NULL and not + * call memcpy() in those cases (the copy would have had a 0 length and + * not done anything anyway). + */ + if ((pvKernelDestinationAddress != NULL) && (pvApplicationSourceAddress != NULL)) { + (void)memcpy(pvKernelDestinationAddress, + pvApplicationSourceAddress, + (size_t)uxLength); + } + rc = pdPASS; + } + + return rc; +} + +#if (defined(SAFERTOS_MAJOR) && (SAFERTOS_MAJOR == 9)) +/** + * @brief Copy data to a new task from the kernel + * + * This function will copy data from the kernel to the specified task and will + * check to make sure that: + * -# the address specified for the task is writable by the task + * -# the address specified for the kernel is readable + * + * This function must be called from a non-interrupt context. + * + * This function is only callable from privileged mode. It will return an + * error if called from user mode. + * + * @pre r5mpu_init() must have been called to set up the global regions + * @pre r5mpu_task_region_init() must have been called to setup the new task's + * regions if there are any for the task. + * @pre the task handle specified by xNewTaskHandle must represent a valid task + * + * @param[in] xCurrentTaskHandle task being copied from + * @param[in] xNewTaskHandle task being copied to + * @param[in] pvApplicationDestinationAddress address in the task being + copied to + * @param[in[ pvKernelSourceAddress address in the kernel being + copied from + * @param[in] uxLength number of bytes being copied + * + * @retval pdPASS copy occurred + * @retval pdFAIL copy could not proceed + */ +SECTION_MPU_TEXT portBaseType +xApplicationCopyDataToNewTask(portTaskHandleType xCurrentTaskHandle, + portTaskHandleType xNewTaskHandle, + void *pvApplicationDestinationAddress, + const void *pvKernelSourceAddress, + portUnsignedBaseType uxLength) +{ + portBaseType rc = pdFAIL; + + if (bApplicationCheckCopyValid(xNewTaskHandle, + (const void *)pvApplicationDestinationAddress, + pvKernelSourceAddress, + uxLength, false)) { + + /* + * It is possible to have NULL values for the addresses in certain + * cases. It will only happen when uxLength is 0. However, the + * operation of memcpy() is undefined if either of the pointers is NULL + * even if the length is 0. So to avoid the undefined behavior we skip + * calling memcpy() in those cases. + * + * bApplicationCheckCopyValid will eliminate all other cases where the + * pointers are NULL, so it is only necessary to check for NULL and not + * call memcpy() in those cases (the copy would have had a 0 length and + * not done anything anyway). + */ + if ((pvApplicationDestinationAddress != NULL) && + (pvKernelSourceAddress != NULL)) { + (void)memcpy(pvApplicationDestinationAddress, + pvKernelSourceAddress, + (size_t)uxLength); + } + rc = pdPASS; + } + + return rc; +} +#endif + +/** + * @brief Copy data to a task from the kernel + * + * This function will copy data from the kernel to the specified task and will + * check to make sure that: + * -# the address specified for the task is writable by the task + * -# the address specified for the kernel is readable + * + * This function must be called from a non-interrupt context. + * + * This function is only callable from privileged mode. It will return an + * error if called from user mode. + * + * @pre r5mpu_init() must have been called to set up the global regions + * @pre r5mpu_task_region_init() must have been called to setup the task's + * regions if there are any for the task. + * @pre the task handle specified by toTask must represent a valid task. + * + * @param[in] xCurrentTaskHandle task being copied to + * @param[in] pvApplicationDestinationAddress address in the task being + * copied to + * @param[in[ pvKernelSourceAddress address in the kernel being + * copied from + * @param[in] uxLength number of bytes being copied + * + * @retval pdPASS copy occurred + * @retval pdFAIL copy could not proceed + */ +SECTION_MPU_TEXT portBaseType +xApplicationCopyDataToTask(portTaskHandleType xCurrentTaskHandle, + void *pvApplicationDestinationAddress, + const void *pvKernelSourceAddress, + portUnsignedBaseType uxLength) +{ + portBaseType rc = pdFAIL; + + if (bApplicationCheckCopyValid(xCurrentTaskHandle, + (const void *)pvApplicationDestinationAddress, + pvKernelSourceAddress, + uxLength, false)) { + + /* + * It is possible to have NULL values for the addresses in certain + * cases. It will only happen when uxLength is 0. However, the + * operation of memcpy() is undefined if either of the pointers is NULL + * even if the length is 0. So to avoid the undefined behavior we skip + * calling memcpy() in those cases. + * + * bApplicationCheckCopyValid will eliminate all other cases where the + * pointers are NULL, so it is only necessary to check for NULL and not + * call memcpy() in those cases (the copy would have had a 0 length and + * not done anything anyway). + */ + if ((pvApplicationDestinationAddress != NULL) && (pvKernelSourceAddress != NULL)) { + (void)memcpy(pvApplicationDestinationAddress, + pvKernelSourceAddress, + (size_t)uxLength); + } + rc = pdPASS; + } + + return rc; +} + +/** + * @brief Copy data from ISR to the kernel + * + * This function will copy data from the ISR into the kernel. Since the ISR + * will have the same access mappings as the kernel, it will only perform + * kernel access checks. That is, it cannot depend upon what the current + * task has mapped. + * + * This function is only callable from an ISR. It will return an + * error if called when not in an ISR. + * + * @pre r5mpu_init() must have been called to set up the global regions. + * + * @param[in] pvKernelDestinationAddress address in the kernel being + * copied to + * @param[in[ pvApplicationSourceAddress address in the the task being + * copied from + * @param[in] uxLength number of bytes being copied + * + * @retval pdPASS the copy occurred + * @retval pdFAIL the copy could not proceed + */ +SECTION_MPU_TEXT portBaseType +xApplicationCopyDataFromISR(void *pvKernelDestinationAddress, + const void *pvApplicationSourceAddress, + portUnsignedBaseType uxLength) +{ + portBaseType rc = pdFAIL; + + if (bApplicationCheckISRAddrRange(pvKernelDestinationAddress, + pvApplicationSourceAddress, + uxLength)) { + + /* + * It is possible to have NULL values for the addresses in certain + * cases. It will only happen when uxLength is 0. However, the + * operation of memcpy() is undefined if either of the pointers is NULL + * even if the length is 0. So to avoid the undefined behavior we skip + * calling memcpy() in those cases. + * + * bApplicationCheckCopyValid will eliminate all other cases where the + * pointers are NULL, so it is only necessary to check for NULL and not + * call memcpy() in those cases (the copy would have had a 0 length and + * not done anything anyway). + */ + if ((pvKernelDestinationAddress != NULL) && (pvApplicationSourceAddress != NULL)) { + (void)memcpy(pvKernelDestinationAddress, + pvApplicationSourceAddress, + (size_t)uxLength); + } + rc = pdPASS; + } + + return rc; +} + +/** + * @brief Copy data from task to ISR + * + * This function will copy data from the kernel into the ISR. Since the ISR + * will have the same access mappings as the kernel, it will only perform + * kernel access checks. That is, it cannot depend upon what the current + * task has mapped. + * + * @pre r5mpu_init() must have been called to set up the global regions. + * + * This function is only callable from an ISR. It will return an + * error if called from user mode. + * + * @param[in] pvApplicationDestinationAddress address in the task being + * copied to + * @param[in[ pvKernelSourceAddress address in the the kernel + * being copied from + * @param[in] uxLength number of bytes being copied + * + * @retval pdPASS the copy occurred + * @retval pdFAIL the copy could not proceed + */ +SECTION_MPU_TEXT portBaseType +xApplicationCopyDataToISR(void *pvApplicationDestinationAddress, + const void *pvKernelSourceAddress, + portUnsignedBaseType uxLength) +{ + portBaseType rc = pdFAIL; + + if (bApplicationCheckISRAddrRange((const void *)pvApplicationDestinationAddress, + pvKernelSourceAddress, + uxLength)) { + + /* + * It is possible to have NULL values for the addresses in certain + * cases. It will only happen when uxLength is 0. However, the + * operation of memcpy() is undefined if either of the pointers is NULL + * even if the length is 0. So to avoid the undefined behavior we skip + * calling memcpy() in those cases. + * + * bApplicationCheckCopyValid will eliminate all other cases where the + * pointers are NULL, so it is only necessary to check for NULL and not + * call memcpy() in those cases (the copy would have had a 0 length and + * not done anything anyway). + */ + if ((pvApplicationDestinationAddress != NULL) && (pvKernelSourceAddress != NULL)) { + (void)memcpy(pvApplicationDestinationAddress, + pvKernelSourceAddress, + (size_t)uxLength); + } + rc = pdPASS; + } + + return rc; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_8_9, "Approval: Bug 200532001, DR: SWE-FSP-016-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/cache-cortex-r5.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/cache-cortex-r5.c new file mode 100644 index 0000000..656a875 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/cache-cortex-r5.c @@ -0,0 +1,470 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t +#include // for size_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for fsp_c_v_ptr_to_uptr, FSP... +#include // for UNUSED_NONCONST_PTR +#include // for BIT, EXTRACT, FSP__MISC__B... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for bpiall, CACHE_LINE_SIZE +#include // for rd_sctlr, wr_sctlr, rd_actlr +#include // for barrier_cache_op_complete +#include // for FSP__CPU__CACHE_H +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_CACHE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BARRIERS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__CACHE_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Convert address/length to number of cache lines + * + * This function will report the number of lines (including partial lines) + * that are covered by the range described by addr and length. + * + * @param[in] addr: Address of start of range + * @param[in] length: number of bytes in range + * + * @return number of cache lines covered by the range + */ +static inline uint32_t +cache_len_to_lines(const uint32_t addr, const size_t length) +{ + uint32_t n_lines; + + /* + * Compute how many cache lines are covered by the data. + * + * It takes into account where the data lies within the cache + * line as the data may occupy an additional cache line based + * upon where it starts in the cache line. + */ + + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + n_lines = ((addr & (~CACHE_LINE_MASK)) + length + CACHE_LINE_SIZE - 1UL) + / CACHE_LINE_SIZE; + + return n_lines; +} + +/** + * @brief Clean a region of dCache + * + * This function will cause any "dirty" data in the dCache in the + * specified range to be written back to memory. The data may still + * reside in the dCache (e.g. it was not invalidated). + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be "cleaned" than was actually specified. + * + * @param[in] base: Address of start of range to be cleaned + * @param[in] length: Number of bytes in the range to be cleaned + * + * @return none + */ +SECTION_CACHE_TEXT void +dcache_clean(const void * const base, const size_t length) +{ + uint32_t addr; + uint32_t nlines; + + addr = fsp_c_v_ptr_to_uptr(base); + + /* + * Compute how many cache lines are covered by the data that + * need to be cleaned. + */ + nlines = cache_len_to_lines(addr, length); + + /* + * Align the address to the start of a cache line. + */ + addr &= CACHE_LINE_MASK; + + while (nlines != 0UL) { + dccmvac(addr); + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + addr += CACHE_LINE_SIZE; + nlines -= 1UL; + } + + barrier_cache_op_complete(); +} + +/** + * @brief Invalidate a region of dCache + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base: Address of start of range to be invalidated + * @param[in] length: Number of bytes in the range to be invalidated + * + * @return none + */ +SECTION_CACHE_TEXT void +dcache_invalidate(void *const base, const size_t length) +{ + uint32_t addr; + uint32_t nlines; + + UNUSED_NONCONST_PTR(base); + addr = fsp_c_v_ptr_to_uptr(base); + + /* + * Compute how many cache lines are covered by the data that + * need to be invalidated. + */ + nlines = cache_len_to_lines(addr, length); + + /* + * Align the address to the start of a cache line + */ + addr &= CACHE_LINE_MASK; + + while (nlines != 0UL) { + dcimvac(addr); + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + addr += CACHE_LINE_SIZE; + nlines -= 1UL; + } + + barrier_cache_op_complete(); +} + +/** + * @brief Invalidate entire dCache + * + * This function will cause the entire dCache to be invalidated + * + * @return none + */ +SECTION_CACHE_TEXT void +dcache_invalidate_all(void) +{ + dcivall(); + + barrier_cache_op_complete(); +} + +/** + * @brief Invalidate the entire iCache + * + * This function will cause the entire icache contents to be invalidated. + * + * @return none + */ +SECTION_CACHE_TEXT void +icache_invalidate_all(void) +{ + iciallu(); + barrier_cache_op_complete(); + bpiall(); +} + +/** + * @brief Invalidate a region of iCache + * + * This function will cause the specified region in the iCache to be + * invalidated. That is, that data will no longer reside in the iCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base: Address of start of range to be invalidated + * @param[in] length: Number of bytes in the range to be invalidated + * + * @return none + */ +SECTION_CACHE_TEXT void +icache_invalidate(void * const base, const size_t length) +{ + uint32_t addr; + uint32_t nlines; + + UNUSED_NONCONST_PTR(base); + addr = fsp_c_v_ptr_to_uptr(base); + + /* + * Compute how many cache lines are covered by the code that + * need to be invalidated. + */ + nlines = cache_len_to_lines(addr, length); + + /* + * Align the address to the start of a cache line + */ + addr &= CACHE_LINE_MASK; + + while (nlines != 0UL) { + icimvau(addr); + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + addr += CACHE_LINE_SIZE; + nlines -= 1UL; + } + + barrier_cache_op_complete(); + bpiall(); +} + +/** + * @brief Clean entire dCache + * + * This function will cause all of the dirty lines in the dCache to be + * "cleaned". That is, any dirty lines in the dCache will be written + * back to DRAM. + * + * This will only clean the L1 dCache as the R5 only has L1 caches. + * + * @return none + */ +SECTION_CACHE_TEXT void +dcache_clean_all(void) +{ + uint32_t ccsidr; + uint32_t num_ways; + uint32_t num_sets; + uint32_t way; + uint32_t set; + uint32_t dccsw_param; + + /* + * Write CSSELR (Cache Size SELection Register) + * Note that this implicitly selects the data cache + * which is OK since we're cleaning the data cache. + */ + wr_csselr(0UL); + barrier_instruction_synchronization(); + + /* Read CCSIDR (CaChe Size ID Register) */ + ccsidr = rd_ccsidr(); + + /* + * Note: num_ways *must* be less than or equal to 4 in order for + * the shift in setting up the dccsw_param to work properly. + * There cannot be a run-time check for this (e.g. an assert) because + * that would introduce a cyclic dependency: + * assert-->abort-->dcache_clean_all-->assert-->... + * + * This shouldn't be a problem except if this code is moved to something + * other than an R5. The R5 will always have num_ways <= 4. + */ + num_ways = EXTRACT(ccsidr, 12U, 3U, uint32_t) + 1UL; + num_sets = EXTRACT(ccsidr, 27U, 13U, uint32_t) + 1UL; + + for (set = 0UL; set < num_sets; set += 1UL) { + for (way = 0UL; way < num_ways; way += 1UL) { + dccsw_param = way << 30; + dccsw_param |= set << 5; + + dccsw(dccsw_param); + + } + } + + barrier_cache_op_complete(); +} + +/** + * @brief Disable all caches + * + * This function will disable the iCache and dCache. It will also ensure + * that any dirty lines in the dCache have been completely written to DRAM + * before this function returns. + * + * @return none + */ +SECTION_CACHE_INIT_TEXT void +cache_disable(void) +{ + uint32_t sctlr; + + sctlr = rd_sctlr(); + + if ((sctlr & BIT(2)) != 0U) { + dcache_clean_all(); + } + + sctlr &= ~BIT(12); /* instruction cache disable */ + sctlr &= ~BIT(2); /* data cache disable */ + + barrier_memory_complete(); + wr_sctlr(sctlr); + + barrier_instruction_synchronization(); +} + +/** + * @brief Enable all caches + * + * This function will enable the iCache and dCache. It will ensure that + * the contents of the caches are invalid (e.g. there is no data or instructions + * in the cache) before enabling the caches. + * + * @return none + */ +SECTION_CACHE_INIT_TEXT void +cache_enable(void) +{ + uint32_t sctlr; + + sctlr = rd_sctlr(); + + sctlr |= BIT(12); /* instruction cache enable */ + sctlr |= BIT(2); /* data cache enable */ + + barrier_memory_complete(); + + dcache_invalidate_all(); + icache_invalidate_all(); + bpiall(); + + wr_sctlr(sctlr); + barrier_instruction_synchronization(); +} + +/** + * @brief Enable all caches with ECC enabled + * + * This function will enable the iCache and dCache with ECC enabled. It + * follows the Sequence Reference 8.5.5. of Cortex R5 TRM (Disabling or + * enabling error checking). + * + * @return none + */ +SECTION_CACHE_INIT_TEXT void +cache_enable_ecc(void) +{ + uint32_t actlr; + + cache_disable(); + + actlr = rd_actlr(); + actlr &= ~(0x7UL << 3); + actlr |= 0x5UL << 3; // do not generate abort on ECC errors, + // enable HW error recovery + + /* + * WAR for ARM R5 Erratum 780125 + * See nvbugs 200322274 for details + * + * Dsiable write burst in the AXI master (DBWR: bit 14) + */ + actlr |= BIT(14); + wr_actlr(actlr); + + barrier_memory_complete(); + + cache_enable(); +} + +/** + * @brief Clean a region of dCache + * + * This function will cause any "dirty" data in the dCache in the + * specified range to be written back to memory. The data may still + * reside in the dCache (e.g. it was not invalidated). + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be "cleaned" than was actually specified. + * + * @param[in] base Address of start of range to be cleaned + * @param[in] length Number of bytes in the range to be cleaned + * + * @return none + * + * @deprecated dcache_clean() should be used instead. + */ +SECTION_CACHE_TEXT void +cache_clean(const void * const base, size_t length) +{ + dcache_clean(base, length); +} + +/** + * @brief Invalidate a region of dCache + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base: Address of start of range to be invalidated + * @param[in] length: Number of bytes in the range to be invalidated + * + * @return none + * + * @deprecated dcache_invalidate() should be used instead. + */ +SECTION_CACHE_TEXT void +cache_invalidate(void * const base, size_t length) +{ + dcache_invalidate(base, length); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/irqapi-cortex-r5.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/irqapi-cortex-r5.c new file mode 100644 index 0000000..76caf9d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/irqapi-cortex-r5.c @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2015-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for in_critical +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for FSP__CPU__ARMV7_MPU_H, R5_C... +#include // for rd_cpsr, FSP__CPU__ARMV7_RE... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +static inline uint32_t arm_get_i_bit(void) +{ + uint32_t cpsr; + + cpsr = rd_cpsr(); + + return (uint32_t)(cpsr & R5_CPSR_IRQ_MASK) >> R5_CPSR_IRQ_SHIFT; +} + +bool in_critical(void) +{ + return (arm_get_i_bit() != 0U); +} diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/module-cpl-cortex-r5-config.mk b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/module-cpl-cortex-r5-config.mk new file mode 100644 index 0000000..4678d5d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/module-cpl-cortex-r5-config.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cpl-cortex-r5-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_CPL_CONFIG := 1 +MODULE_CPL_CORTEX_R5_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CPL_DEPENDS := SOC CLUSTER +$(foreach _,$(MODULE_CPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define ARCH variables +ARCH := arm +ISA := armv7 +CPU := cortex-r5 + +# +# Location of source code files +CPL_SOC_IDS = $(FSP_COMMON_REPO)/soc/$(SOC)/ids/$(CLUSTER) +CPL_SOC_IDS_CMN = $(FSP_COMMON_REPO)/soc/$(SOC)/ids/soc-common +CPL_SOC_PORT = $(FSP_COMMON_REPO)/soc/$(SOC)/port/$(CLUSTER) +CPL_VIC_DIR = $(FSP_COMMON_REPO)/drivers/vic +CPL_ARCH_DIR = $(FSP_COMMON_REPO)/drivers/cpu/$(ARCH) +CPL_ISA_DIR = $(FSP_COMMON_REPO)/drivers/cpu/$(ARCH)/$(ISA) +MODULE_CPL_CORTEX_R5_SOURCE_DIR = +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_SOC_IDS) +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_SOC_IDS_CMN) +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_SOC_PORT) +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_VIC_DIR) +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_ISA_DIR)/$(CPU) +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_ARCH_DIR)/common +MODULE_CPL_CORTEX_R5_SOURCE_DIR += $(CPL_ISA_DIR) + +# +# Common includes '-I ' +MODULE_CPL_CORTEX_R5_INCLUDES = -I $(FSP_COMMON_REPO)/include/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_CPL_CORTEX_R5_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA) +MODULE_CPL_CORTEX_R5_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA)/$(CPU) +MODULE_CPL_CORTEX_R5_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/common diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/module-cpl-cortex-r5.mk b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/module-cpl-cortex-r5.mk new file mode 100644 index 0000000..3ea22b0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv7/cortex-r5/module-cpl-cortex-r5.mk @@ -0,0 +1,101 @@ +# +# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cpl-cortex-r5.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CPL_CORTEX_R5_NAME := CPL_CORTEX_R5 + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CPU_DEPENDS := CPL SOC OSA DEBUG_NOSAFETY CPL_CORTEX_R5 +$(foreach _,$(CONFIG_CPU_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CPL_CORTEX_R5_C_SRC = +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_VIC_DIR)/irqapi-vic.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_VIC_DIR)/vic-init.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_SOC_IDS)/irqapi-vic-ids.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_ARCH_DIR)/common/arm-vic.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_ARCH_DIR)/$(CPU)/cache-cortex-r5.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_ISA_DIR)/armv7-exception.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_ISA_DIR)/armv7-mpu.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_ARCH_DIR)/common/irqapi-arm.c +MODULE_CPL_CORTEX_R5_C_SRC += $(CPL_ARCH_DIR)/$(CPU)/irqapi-cortex-r5.c + +# +# Assembly source +MODULE_CPL_CORTEX_R5_ASM_SRC = +MODULE_CPL_CORTEX_R5_ASM_SRC += $(CPL_VIC_DIR)/vic-asm.S +MODULE_CPL_CORTEX_R5_ASM_SRC += $(CPL_ISA_DIR)/armv7-exceptions.S +MODULE_CPL_CORTEX_R5_ASM_SRC += $(CPL_ISA_DIR)/armv7-mpu-asm.S + +# +# Special C Flags +MODULE_CPL_CORTEX_R5_C_FLAGS = + +# +# Special ASM Flags +MODULE_CPL_CORTEX_R5_ASM_FLAGS = + +# +# Instructs the makefile system that there is a module-specific dependency. +# A few pieces are needed to make this work: +# MODULE_$(MODULE_NAME)_TARGET_ENABLED = 1 Tells the FSP makefile system that this module has a custom target +# MODULE_$(MODULE_NAME)_TARGET_NAMES = List of one or more target names (can be more than one) +# = This recipe will be dynamically created in the master makefile; +# no need to create it here. +# MODULE_CPL_CORTEX_R5_TARGET_RECIPE = List of recipe/dependencies to be built (made) by $(MODULE_$(MODULE_NAME)_TARGET_NAMES) +# $(MODULE_$(MODULE_NAME)_TARGET_NAMES)_AFLAGS = Compiler ASM-FLAGS used to compile this module +# $(MODULE_$(MODULE_NAME)_TARGET_NAMES)_CFLAGS = Compiler C-FLAGS used to compile this module +MODULE_CPL_CORTEX_R5_TARGET_ENABLED = 1 +MODULE_CPL_CORTEX_R5_TARGET_NAMES = MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS +MODULE_CPL_CORTEX_R5_TARGET_RECIPE = armv7-mpu-asm-dynamic-hdr.h +MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_AFLAGS = +MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_CFLAGS = -MT $(DYNAMIC_SRC_DIR)/$(addsuffix .s,$(notdir $(basename $@)-interim)) +MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_CFLAGS += -MMD +MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_CFLAGS += -MP +MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_CFLAGS += -MF $(DYNAMIC_DEP_DIR)/$(notdir $(basename $@)-interim).d + +armv7-mpu-asm-dynamic-hdr.h: armv7-mpu-asm-dynamic-hdr.c | GLOBAL_dirs + @echo [$(SOC)][C-\>ASM] $(notdir $(subst $(TEGRA_TOP)/,,$<)) + @$(CC) -c -S $(MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_AFLAGS) \ + $(MODULE_CPL_CORTEX_R5_DYNAMIC_HEADERS_CFLAGS) \ + $< -o $(DYNAMIC_SRC_DIR)/$(addsuffix .s,$(notdir $(basename $@)-interim)) + @echo [$(SOC)][ASM-\>HDR] $(notdir $(subst .c,.h,$(subst $(TEGRA_TOP)/,,$<))) + @$(GREP) -o '#define[ \t][ \t]*[^( |\t)]*[ \t][ \t]*[^( |\t|\$)]*' $(DYNAMIC_SRC_DIR)/$(addsuffix .s,$(notdir $(basename $@)-interim)) > $(DYNAMIC_HDR_DIR)/$@ + diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv8/cortex-r52/module-cpl-cortex-r52-config.mk b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv8/cortex-r52/module-cpl-cortex-r52-config.mk new file mode 100644 index 0000000..0543d96 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv8/cortex-r52/module-cpl-cortex-r52-config.mk @@ -0,0 +1,56 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cpl-cortex-r52-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_CPL_CONFIG := 1 +MODULE_CPL_CORTEX_R52_CONFIG := 1 + +# +# Define ARCH variables +ARCH := arm +ISA := armv8 +CPU := cortex-r52 + +# +# Location of source code files +CPL_SOC_IDS = $(FSP_COMMON_REPO)/soc/$(SOC)/ids/$(CLUSTER) +CPL_SOC_IDS_CMN = $(FSP_COMMON_REPO)/soc/$(SOC)/ids/soc-common +CPL_SOC_PORT = $(FSP_COMMON_REPO)/soc/$(SOC)/port/$(CLUSTER) +CPL_ARCH_DIR = $(FSP_COMMON_REPO)/drivers/cpu/$(ARCH) +CPL_ISA_DIR = $(FSP_COMMON_REPO)/drivers/cpu/$(ARCH)/$(ISA) +MODULE_CPL_CORTEX_R52_SOURCE_DIR = +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_SOC_IDS) +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_SOC_IDS_CMN) +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_SOC_PORT) +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_VIC_DIR) +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_ISA_DIR)/$(CPU) +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_ARCH_DIR)/common +MODULE_CPL_CORTEX_R52_SOURCE_DIR += $(CPL_ISA_DIR) + +# +# Common includes '-I ' +MODULE_CPL_CORTEX_R52_INCLUDES = -I $(FSP_COMMON_REPO)/include/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_CPL_CORTEX_R52_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA) +MODULE_CPL_CORTEX_R52_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA)/$(CPU) +MODULE_CPL_CORTEX_R52_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/common diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv8/cortex-r52/module-cpl-cortex-r52.mk b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv8/cortex-r52/module-cpl-cortex-r52.mk new file mode 100644 index 0000000..5fc0a48 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/armv8/cortex-r52/module-cpl-cortex-r52.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cpl-cortex-r52.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CPL_CORTEX_R52_NAME := CPL_CORTEX_R52 + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CPU_DEPENDS := CPL CPL_CORTEX_R52 +$(foreach _,$(CONFIG_CPU_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CPL_CORTEX_R52_C_SRC = + +# +# Assembly source +MODULE_CPL_CORTEX_R52_ASM_SRC = + +# +# Special C Flags +MODULE_CPL_CORTEX_R52_C_FLAGS = + +# +# Special ASM Flags +MODULE_CPL_CORTEX_R52_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/common/arm-vic.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/common/arm-vic.c new file mode 100644 index 0000000..05b6d24 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/common/arm-vic.c @@ -0,0 +1,169 @@ +/* + * Copyright (c) 2014-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before hwinc files */ + +/* Hardware headers */ +#include // for APS_VIC_VICVECTADDR0_0, APS_VIC_V... + +/* Late FSP headers */ +#include // for fsp_v_fn_ptr_to_uptr, FSP__MISC__T... +#include // for ASSERT, FSP__DEBUG__ASSERT_H +#include // for BIT, FSP__MISC__BITOPS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for writel_base_offset, readl_base_of... + +/* Module-specific FSP headers */ +#include // for arm_vic_context, ARM_VIC_IRQ_COUNT + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARM_VIC_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +void arm_vic_enable(uint32_t vic_base, uint32_t irq) +{ + writel_base_offset(BIT32_FN(irq), vic_base, APS_VIC_VICINTENABLE_0); +} + +void arm_vic_disable(uint32_t vic_base, uint32_t irq) +{ + writel_base_offset(BIT32_FN(irq), vic_base, APS_VIC_VICINTENCLEAR_0); +} + +void arm_vic_disable_all(uint32_t vic_base) +{ + writel_base_offset(~0U, vic_base, APS_VIC_VICINTENCLEAR_0); +} + +void arm_vic_gen_software_int(uint32_t vic_base, uint32_t irq) +{ + writel_base_offset(BIT32_FN(irq), vic_base, APS_VIC_VICSOFTINT_0); +} + +void arm_vic_clear_software_int(uint32_t vic_base, uint32_t irq) +{ + writel_base_offset(BIT32_FN(irq), vic_base, APS_VIC_VICSOFTINTCLEAR_0); +} + +void arm_vic_set_isr_vect_addr(uint32_t vic_base, uint32_t irq, + void (*isr_vect_addr)(void)) +{ + ASSERT(irq < MAX_ARM_VIC_IRQS); + + writel_base_offset((uint32_t)fsp_v_fn_ptr_to_uptr(isr_vect_addr), vic_base, + (uint32_t)APS_VIC_VICVECTADDR0_0 + + (uint32_t)(irq * (APS_VIC_VICVECTADDR1_0 - APS_VIC_VICVECTADDR0_0))); +} + +uint32_t arm_vic_read_irq_status(uint32_t vic_base) +{ + return readl_base_offset(vic_base, APS_VIC_VICIRQSTATUS_0); +} + +uint32_t arm_vic_read_fiq_status(uint32_t vic_base) +{ + return readl_base_offset(vic_base, APS_VIC_VICFIQSTATUS_0); +} + +uint32_t arm_vic_read_raw_int_status(uint32_t vic_base) +{ + return readl_base_offset(vic_base, APS_VIC_VICRAWINTR_0); +} + +void arm_vic_write_intselect(uint32_t vic_base, uint32_t intselect) +{ + writel_base_offset(intselect, vic_base, APS_VIC_VICINTSELECT_0); +} + +uint32_t arm_vic_read_intselect(uint32_t vic_base) +{ + return readl_base_offset(vic_base, APS_VIC_VICINTSELECT_0); +} + +void arm_vic_write_intenable(uint32_t vic_base, uint32_t intenable) +{ + writel_base_offset(intenable, vic_base, APS_VIC_VICINTENABLE_0); +} + +uint32_t arm_vic_read_intenable(uint32_t vic_base) +{ + return readl_base_offset(vic_base, APS_VIC_VICINTENABLE_0); +} + +void arm_vic_save_state(uint32_t vic_base, struct arm_vic_context *ctx) +{ + uint32_t i; + + for (i = 0; i < ARM_VIC_IRQ_COUNT; i++) { + ctx->vect_addr[i] = readl_base_offset(vic_base, (uint32_t)APS_VIC_VICVECTADDR0_0 + + (i * (uint32_t)(APS_VIC_VICVECTADDR1_0 - APS_VIC_VICVECTADDR0_0))); + } + ctx->intenable = readl_base_offset(vic_base, APS_VIC_VICINTENABLE_0); + ctx->intselect = readl_base_offset(vic_base, APS_VIC_VICINTSELECT_0); +} + +void arm_vic_restore_state(uint32_t vic_base, const struct arm_vic_context *ctx) +{ + uint32_t i; + + for (i = 0; i < ARM_VIC_IRQ_COUNT; i++) { + writel_base_offset(ctx->vect_addr[i], vic_base, (uint32_t)APS_VIC_VICVECTADDR0_0 + + (i * (uint32_t)(APS_VIC_VICVECTADDR1_0 - APS_VIC_VICVECTADDR0_0))); + } + writel_base_offset(~(ctx->intenable), vic_base, APS_VIC_VICINTENCLEAR_0); + writel_base_offset(ctx->intenable, vic_base, APS_VIC_VICINTENABLE_0); + writel_base_offset(ctx->intselect, vic_base, APS_VIC_VICINTSELECT_0); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/arm/common/irqapi-arm.c b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/common/irqapi-arm.c new file mode 100644 index 0000000..d93c276 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/arm/common/irqapi-arm.c @@ -0,0 +1,120 @@ +/* + * Copyright (c) 2015-2023 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for irq_callback_fn, enter_critical +#include // for UNUSED +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for E_SUCCESS, error_t + +/* Module-specific FSP headers */ +#include // for barrier_compiler +#include // for FSP__CPU__ARMV7_MPU_H, R5_P... +#include // for rd_cpsr, FSP__CPU__ARMV7_RE... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BARRIERS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +static inline uint32_t arm_get_mode(void) +{ + uint32_t cpsr; + + cpsr = rd_cpsr(); + return cpsr & R5_PSR_MODE_MASK; +} + +bool in_interrupt(void) +{ + uint32_t mode = arm_get_mode(); + return (mode == R5_PSR_MODE_FIQ) || (mode == R5_PSR_MODE_IRQ); +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +/* Weak dummy implementation for users with their own IRQ handling. */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +__attribute__((weak)) error_t irq_safe_set_handler(uint32_t irq, irq_callback_fn routine, void *data) +{ + UNUSED((irq)); + UNUSED((&routine)); + UNUSED((data)); + + return E_SUCCESS; +} + +/* Weak dummy implementation for users with their own IRQ handling. */ +__attribute__((weak)) +void irq_handler(uint32_t irq) +{ + (void) irq; +} + +/* Weak dummy implementation for users with their own implementation. */ +__attribute__((weak)) +void exit_critical(void) +{ + barrier_compiler(); +} + +/* Weak dummy implementation for users with their own implementation. */ +__attribute__((weak)) +void enter_critical(void) +{ + barrier_compiler(); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/exception.S b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/exception.S new file mode 100644 index 0000000..efdb088 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/exception.S @@ -0,0 +1,39 @@ +/** + * @file exception.S + * + * @brief Default assembly exception handler + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include "cpu/asm-helpers.h" + +.section ".text.exception_entry","ax",@progbits +.balign 4 +FUNC exception_entry + jal riscv_panic +EFUNC exception_entry diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/io_csb_over_pri.c b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/io_csb_over_pri.c new file mode 100644 index 0000000..013e0d6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/io_csb_over_pri.c @@ -0,0 +1,47 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2019-2020 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#include NVRISCV64_MANUAL_ADDRESS_MAP +#include +#if NVRISCV_IS_ENGINE_pmu +#include +#endif +#include +#include + +uint32_t csb_read(uint32_t addr) +{ +#if NVRISCV_IS_ENGINE_pmu + if (((uintptr_t)addr <= DEVICE_EXTENT(NV_CPWR_THERM)) && + ((uintptr_t)addr >= DEVICE_BASE(NV_CPWR_THERM))) + { + return pri_read(addr); + } + else +#endif + { + return pri_read((FALCON_BASE + + (addr >> NVRISCV_HAS_CSB_OVER_PRI_SHIFT))); + } +} + +void csb_write(uint32_t addr, uint32_t val) +{ +#ifdef NVRISCV_IS_ENGINE_pmu + if (((uintptr_t)addr <= DEVICE_EXTENT(NV_CPWR_THERM)) && + ((uintptr_t)addr >= DEVICE_BASE(NV_CPWR_THERM))) + { + pri_write(addr, val); + } + else +#endif + { + pri_write((FALCON_BASE + (addr >> NVRISCV_HAS_CSB_OVER_PRI_SHIFT)), val); + } +} diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/io_dio.c b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/io_dio.c new file mode 100644 index 0000000..ca807da --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/io_dio.c @@ -0,0 +1,413 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2023 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#include +#include + +#include +#include +#include + +/* ============================================================================= + * DIO additional macros + * ========================================================================== */ +#ifdef UTF_UCODE_BUILD +uint32_t g_dio_max_wait = DIO_MAX_WAIT_DEFAULT; +# define DIO_MAX_WAIT g_dio_max_wait +#else +# define DIO_MAX_WAIT 0xfffffffeU +#endif + +// sw defines to unify hw manual defined dio registers fields +// NV_PRGNLCL_FALCON_x and +// NV_PRGNLCL_FALCON_DIO_x(i) with +// NV_PRGNLCL_DIO_x +// +#define NV_PRGNLCL_DIO_DOC_CTRL_RESET_XMSB 16U +#define NV_PRGNLCL_DIO_DOC_CTRL_RESET_XLSB 16U +#define NV_PRGNLCL_DIO_DOC_CTRL_EMPTY_XMSB 18U +#define NV_PRGNLCL_DIO_DOC_CTRL_EMPTY_XLSB 18U +#define NV_PRGNLCL_DIO_DOC_CTRL_WR_FINISHED_XMSB 19U +#define NV_PRGNLCL_DIO_DOC_CTRL_WR_FINISHED_XLSB 19U +#define NV_PRGNLCL_DIO_DOC_CTRL_RD_FINISHED_XMSB 20U +#define NV_PRGNLCL_DIO_DOC_CTRL_RD_FINISHED_XLSB 20U +#define NV_PRGNLCL_DIO_DOC_CTRL_WR_ERROR_XMSB 21U +#define NV_PRGNLCL_DIO_DOC_CTRL_WR_ERROR_XLSB 21U +#define NV_PRGNLCL_DIO_DOC_CTRL_RD_ERROR_XMSB 22U +#define NV_PRGNLCL_DIO_DOC_CTRL_RD_ERROR_XLSB 22U +#define NV_PRGNLCL_DIO_DOC_CTRL_PROTOCOL_ERROR_XMSB 23U +#define NV_PRGNLCL_DIO_DOC_CTRL_PROTOCOL_ERROR_XLSB 23U +#define NV_PRGNLCL_DIO_DIC_CTRL_COUNT_XMSB 7U +#define NV_PRGNLCL_DIO_DIC_CTRL_COUNT_XLSB 0U +#define NV_PRGNLCL_DIO_DIC_CTRL_VALID_XMSB 19U +#define NV_PRGNLCL_DIO_DIC_CTRL_VALID_XLSB 19U +#define NV_PRGNLCL_DIO_DIC_CTRL_POP_XMSB 20U +#define NV_PRGNLCL_DIO_DIC_CTRL_POP_XLSB 20U + +// sw defines for specific DOC Dx interface +// +#if NVRISCV_HAS_DIO_SE +#define NV_PRGNLCL_DIO_DOC_D0_SEHUB_READ_XMSB 16U +#define NV_PRGNLCL_DIO_DOC_D0_SEHUB_READ_XLSB 16U +#define NV_PRGNLCL_DIO_DOC_D0_SEHUB_ADDR_XMSB 15U +#define NV_PRGNLCL_DIO_DOC_D0_SEHUB_ADDR_XLSB 0U +#define NV_PRGNLCL_DIO_DOC_D1_SEHUB_WDATA_XMSB 31U +#define NV_PRGNLCL_DIO_DOC_D1_SEHUB_WDATA_XLSB 0U +#endif // NVRISCV_HAS_DIO_SE +#if NVRISCV_HAS_DIO_SNIC +#define NV_PRGNLCL_DIO_DOC_D0_SNIC_WDATA_XMSB 31U +#define NV_PRGNLCL_DIO_DOC_D0_SNIC_WDATA_XLSB 0U +#define NV_PRGNLCL_DIO_DOC_D1_SNIC_ADDR_XMSB 31U +#define NV_PRGNLCL_DIO_DOC_D1_SNIC_ADDR_XLSB 0U +#define NV_PRGNLCL_DIO_DOC_D2_SNIC_READ_XMSB 0U +#define NV_PRGNLCL_DIO_DOC_D2_SNIC_READ_XLSB 0U +#endif // NVRISCV_HAS_DIO_SNIC +#if NVRISCV_HAS_DIO_FBHUB +#define NV_PRGNLCL_DIO_DOC_D0_FBHUB_READ_XMSB 16U +#define NV_PRGNLCL_DIO_DOC_D0_FBHUB_READ_XLSB 16U +#define NV_PRGNLCL_DIO_DOC_D0_FBHUB_ADDR_XMSB 15U +#define NV_PRGNLCL_DIO_DOC_D0_FBHUB_ADDR_XLSB 0U +#define NV_PRGNLCL_DIO_DOC_D1_FBHUB_WDATA_XMSB 31U +#define NV_PRGNLCL_DIO_DOC_D1_FBHUB_WDATA_XLSB 0U +#endif // NVRISCV_HAS_DIO_FBHUB + +/* ============================================================================= + * DIO control registers + * ========================================================================== */ +typedef struct +{ + uint32_t doc_ctrl; + uint32_t doc_d0, doc_d1, doc_d2; + uint32_t dic_ctrl; + uint32_t dic_d0, dic_d1, dic_d2; + uint32_t dio_error; +} DIO_CTRL_REGS; + +static const DIO_CTRL_REGS dio_ctrl_regs_array[] = +{ + // DIO_TYPE_INVALID + // + {}, +#if NVRISCV_HAS_DIO_SE + // DIO_TYPE_SE + // + { + NV_PRGNLCL_FALCON_DOC_CTRL, + NV_PRGNLCL_FALCON_DOC_D0, + NV_PRGNLCL_FALCON_DOC_D1, + NV_PRGNLCL_FALCON_DOC_D2, + NV_PRGNLCL_FALCON_DIC_CTRL, + NV_PRGNLCL_FALCON_DIC_D0, + NV_PRGNLCL_FALCON_DIC_D1, + NV_PRGNLCL_FALCON_DIC_D2, + NV_PRGNLCL_FALCON_DIO_ERR, + }, +#endif // NVRISCV_HAS_DIO_SE +#if NVRISCV_HAS_DIO_SNIC + // DIO_TYPE_SNIC + // + { + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_CTRL(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_D0(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_D1(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_D2(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_CTRL(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_D0(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_D1(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_D2(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIO_ERR(0), + }, +#endif // NVRISCV_HAS_DIO_SNIC +#if NVRISCV_HAS_DIO_FBHUB + // DIO_TYPE_FBHUB + // + { + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_CTRL(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_D0(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_D1(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DOC_D2(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_CTRL(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_D0(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_D1(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIC_D2(0), + (uint32_t)NV_PRGNLCL_FALCON_DIO_DIO_ERR(0), + }, +#endif // NVRISCV_HAS_DIO_FBHUB +}; + +/* ============================================================================= + * DIO core helper functions + * ========================================================================== */ +static error_t +dio_send_request +( + DIO_TYPE type, + DIO_OPERATION operation, + uint32_t addr, + const uint32_t *p_data +); + +static error_t +dio_wait_for_doc_empty (DIO_TYPE type); + +static error_t +dio_wait_for_operation_complete +( + DIO_TYPE type, + DIO_OPERATION operation, + uint32_t *p_data +); + +static bool +dio_if_timeout (uint32_t *p_timer_count); + +static error_t +dio_reset (DIO_TYPE type); + +/* ============================================================================= + * DIO API implementation + * ========================================================================== */ +// add the PORT information +error_t +dio_read_write +( + DIO_PORT port, + DIO_OPERATION operation, + uint32_t addr, + uint32_t *p_data +) +{ + error_t status = E_SUCCESS; + + if ((port.dio_type == DIO_TYPE_INVALID) || + (port.dio_type >= DIO_TYPE_END)) { + status = (E_NOTSUPPORTED); + } + + if (status == E_SUCCESS) { + status = dio_wait_for_doc_empty(port.dio_type); + } + + if (status == E_SUCCESS) { + status = dio_send_request(port.dio_type, operation, addr, p_data); + } + + if (status == E_SUCCESS) { + status = (dio_wait_for_operation_complete(port.dio_type, operation, p_data)); + } + + return status; +} /* dio_read_write() */ + +/* ============================================================================= + * DIO core helper functions implementation + * ========================================================================== */ +/*! + * @brief Send single dio read or write request + * @details Request is sent by populating corresponding DOCDx registers based on + * DIO_TYPE and operation. + */ +static error_t +dio_send_request +( + DIO_TYPE type, + DIO_OPERATION operation, + uint32_t addr, + const uint32_t *p_data +) +{ + error_t status = (E_SUCCESS); + switch (type) { +#if NVRISCV_HAS_DIO_SE + case DIO_TYPE_SE: + local_write(dio_ctrl_regs_array[type].doc_d1, + DRF_NUM(_PRGNLCL, _DIO_DOC_D1, _SEHUB_WDATA, + (operation == DIO_OPERATION_RD) ? 0U : *p_data)); + local_write(dio_ctrl_regs_array[type].doc_d0, + DRF_NUM(_PRGNLCL, _DIO_DOC_D0, _SEHUB_READ, + (operation == DIO_OPERATION_RD) ? 1U : 0U) | + DRF_NUM(_PRGNLCL, _DIO_DOC_D0, _SEHUB_ADDR, addr)); + break; +#endif // NVRISCV_HAS_DIO_SE +#if NVRISCV_HAS_DIO_SNIC + case DIO_TYPE_SNIC: + local_write(dio_ctrl_regs_array[type].doc_d2, + DRF_NUM(_PRGNLCL, _DIO_DOC_D2, _SNIC_READ, + (operation == DIO_OPERATION_RD) ? 1U : 0U)); + local_write(dio_ctrl_regs_array[type].doc_d1, + DRF_NUM(_PRGNLCL, _DIO_DOC_D1, _SNIC_ADDR, addr)); + local_write(dio_ctrl_regs_array[type].doc_d0, + DRF_NUM(_PRGNLCL, _DIO_DOC_D0, _SNIC_WDATA, + (operation == DIO_OPERATION_RD) ? 0U : *p_data)); + break; +#endif // NVRISCV_HAS_DIO_SNIC +#if NVRISCV_HAS_DIO_FBHUB + case DIO_TYPE_FBHUB: + local_write(dio_ctrl_regs_array[type].doc_d1, + DRF_NUM(_PRGNLCL, _DIO_DOC_D1, _FBHUB_WDATA, + (operation == DIO_OPERATION_RD) ? 0U : *p_data)); + local_write(dio_ctrl_regs_array[type].doc_d0, + DRF_NUM(_PRGNLCL, _DIO_DOC_D0, _FBHUB_READ, + (operation == DIO_OPERATION_RD) ? 1U : 0U) | + DRF_NUM(_PRGNLCL, _DIO_DOC_D0, _FBHUB_ADDR, addr)); + break; +#endif // NVRISCV_HAS_DIO_FBHUB + default: + status = (E_NOTSUPPORTED); + break; + } + return status; +} /* dio_send_request() */ + +/*! + * @brief Wait for free entry in DOC + * @details The function tries to take a free entry in DOC and exit with no DIO + * errors. + */ +static error_t +dio_wait_for_doc_empty (DIO_TYPE type) +{ + uint32_t timer_count = 0U; + uint32_t doc_ctrl = 0U; + uint32_t dio_error_code = 0U; + error_t status = (E_SUCCESS); + do { + doc_ctrl = local_read(dio_ctrl_regs_array[type].doc_ctrl); + + if ((DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _WR_ERROR, doc_ctrl) | + DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _RD_ERROR, doc_ctrl) | + DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _PROTOCOL_ERROR, doc_ctrl)) != 0U) { + dio_error_code = local_read(dio_ctrl_regs_array[type].dio_error); + status = dio_reset(type); + if (status == E_SUCCESS) { + status = ((dio_error_code != 0U) ? E_INVALID_PARAM : E_FAULT); + } + } + + if (dio_if_timeout(&timer_count)) { + status = dio_reset(type); + if (status == E_SUCCESS) { + status = (E_TIMEOUT); + } + } + + } while ((status == (E_SUCCESS)) && + (DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _EMPTY, doc_ctrl) == 0U)); + + return status; +} /* dio_wait_for_doc_empty() */ + +/*! + * @brief Wait for operation to complete and get response for read. + * @details We make sure no error is caused by the operation. + */ +static error_t +dio_wait_for_operation_complete +( + DIO_TYPE type, + DIO_OPERATION operation, + uint32_t *p_data +) +{ + uint32_t timer_count = 0U; + uint32_t doc_ctrl = 0U; + uint32_t dio_error_code = 0U; + error_t status = (E_SUCCESS); + do { + doc_ctrl = local_read(dio_ctrl_regs_array[type].doc_ctrl); + if ((DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _WR_ERROR, doc_ctrl) | + DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _RD_ERROR, doc_ctrl) | + DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _PROTOCOL_ERROR, doc_ctrl)) != 0U) { + dio_error_code = local_read(dio_ctrl_regs_array[type].dio_error); + status = dio_reset(type); + if (status == E_SUCCESS) { + status = ((dio_error_code != 0U) ? E_INVALID_PARAM : E_FAULT); + } + } + + if (dio_if_timeout(&timer_count)) { + status = dio_reset(type); + if (status == E_SUCCESS) { + status = (E_TIMEOUT); + } + } + + } while ((status == (E_SUCCESS)) && (((operation == DIO_OPERATION_RD) ? + DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _RD_FINISHED, doc_ctrl) : + DRF_VAL(_PRGNLCL, _DIO_DOC_CTRL, _WR_FINISHED, doc_ctrl)) == 0U)); + + // check dic_ctrl once doc_ctrl indicate operation done + // + timer_count = 0U; + if ((status == (E_SUCCESS)) && (operation == DIO_OPERATION_RD)) { + uint32_t dic_ctrl = 0U; + do { + dic_ctrl = local_read(dio_ctrl_regs_array[type].dic_ctrl); + if (dio_if_timeout(&timer_count)) { + status = dio_reset(type); + if (status == E_SUCCESS) { + status = (E_TIMEOUT); + } + } + + } while ((status == (E_SUCCESS)) && + (DRF_VAL(_PRGNLCL, _DIO_DIC_CTRL, _COUNT, dic_ctrl) == 0U)); + + // pop data and clear + // + if (status == (E_SUCCESS)) { + local_write(dio_ctrl_regs_array[type].dic_ctrl, + DRF_NUM(_PRGNLCL, _DIO_DIC_CTRL, _POP, 0x1U)); + *p_data = local_read(dio_ctrl_regs_array[type].dic_d0); + local_write(dio_ctrl_regs_array[type].dic_ctrl, + DRF_NUM(_PRGNLCL, _DIO_DIC_CTRL, _VALID, 0x1U)); + } + } + + return status; +} /* dio_wait_for_operation_complete */ + +/*! + * @brief Check the given counter reaches timeout + */ +static bool +dio_if_timeout (uint32_t *p_timer_count) +{ + bool b_timeout = (*p_timer_count >= DIO_MAX_WAIT); + if (b_timeout == false) + { + (*p_timer_count)++; + } + return b_timeout; +} /* dio_if_timeout */ + +/*! + * @brief Set clear bit and wait it to be cleared by hw on finish + */ +static error_t +dio_reset (DIO_TYPE type) +{ + error_t status = (E_SUCCESS); + uint32_t timer_count = 0U; + + local_write(dio_ctrl_regs_array[type].doc_ctrl, + DRF_NUM(_PRGNLCL, _DIO_DOC_CTRL, _RESET, 0x1U)); + + while (FLD_TEST_DRF_NUM(_PRGNLCL, _DIO_DOC_CTRL, _RESET, 0x1U, + local_read(dio_ctrl_regs_array[type].doc_ctrl))) { + if (dio_if_timeout(&timer_count)) { + status = (E_TIMEOUT); + break; + } + } + + return status; +} /* dio_reset */ + +/*** end of file ***/ diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/module-cpl-nvriscv-config.mk b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/module-cpl-nvriscv-config.mk new file mode 100644 index 0000000..6fcf7f6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/module-cpl-nvriscv-config.mk @@ -0,0 +1,58 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cpl-nvriscv-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_CPL_CONFIG := 1 +MODULE_CPL_NVRISCV_CONFIG := 1 + +# +# Define ARCH variables +ARCH := nvidia +ISA := riscv +CPU := nvriscv + +# +# Location of source code files +CPL_SOC_IDS = $(FSP_COMMON_REPO)/soc/$(SOC)/ids/$(CLUSTER) +CPL_SOC_IDS_CMN = $(FSP_COMMON_REPO)/soc/$(SOC)/ids/soc-common +CPL_SOC_PORT = $(FSP_COMMON_REPO)/soc/$(SOC)/port/$(CLUSTER) +CPL_VIC_DIR = $(FSP_COMMON_REPO)/drivers/vic +CPL_ARCH_DIR = $(FSP_COMMON_REPO)/drivers/cpu/$(ARCH) +CPL_ISA_DIR = $(FSP_COMMON_REPO)/drivers/cpu/$(ARCH)/$(ISA) +MODULE_CPL_NVRISCV_SOURCE_DIR = +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_SOC_IDS) +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_SOC_IDS_CMN) +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_SOC_PORT) +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_VIC_DIR) +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_ISA_DIR)/$(CPU) +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_ARCH_DIR)/common +MODULE_CPL_NVRISCV_SOURCE_DIR += $(CPL_ISA_DIR) + +# +# Common includes '-I ' +MODULE_CPL_NVRISCV_INCLUDES = -I $(FSP_COMMON_REPO)/include/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_CPL_NVRISCV_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA) +MODULE_CPL_NVRISCV_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA)/$(CPU) +MODULE_CPL_NVRISCV_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/common +MODULE_CPL_NVRISCV_INCLUDES += -I $(FSP_COMMON_REPO)/include/cpu/$(ARCH)/$(ISA)/common diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/module-cpl-nvriscv.mk b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/module-cpl-nvriscv.mk new file mode 100644 index 0000000..c7b72a1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/module-cpl-nvriscv.mk @@ -0,0 +1,90 @@ +# # Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cpl-nvriscv.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CPL_NVRISCV_NAME := CPL_NVRISCV + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CPU_DEPENDS := CPL_NVRISCV CPL +$(foreach _,$(CONFIG_CPU_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CPL_NVRISCV_C_SRC = + +ifeq ($(NVRISCV_FEATURE_MPU),y) +MODULE_CPL_NVRISCV_C_SRC += $(CPL_ISA_DIR)/riscv-mpu.c +endif + +ifeq ($(NVRISCV_FEATURE_DIO),y) +MODULE_CPL_NVRISCV_C_SRC += $(CPL_ISA_DIR)/io_dio.c +endif + +ifeq ($(NVRISCV_HAS_CSB_MMIO),n) +ifeq ($(NVRISCV_HAS_PRI),y) +ifeq ($(NVRISCV_HAS_CSB_OVER_PRI),y) +MODULE_CPL_NVRISCV_C_SRC += $(CPL_ISA_DIR)/io_csb_over_pri.c +endif +endif +endif + +ifeq ($(NVRISCV_HAS_SBI),y) +MODULE_CPL_NVRISCV_C_SRC += $(CPL_ISA_DIR)/shutdown_sbi.c +else +MODULE_CPL_NVRISCV_C_SRC += $(CPL_ISA_DIR)/shutdown_m.c +endif + +# +# Assembly source +MODULE_CPL_NVRISCV_ASM_SRC = + +ifeq ($(NVRISCV_FEATURE_START),y) +MODULE_CPL_NVRISCV_ASM_SRC += $(CPL_ISA_DIR)/start.S +endif + +ifeq ($(NVRISCV_FEATURE_EXCEPTION),y) +MODULE_CPL_NVRISCV_ASM_SRC += $(CPL_ISA_DIR)/exception.S +endif + +# +# Special C Flags +MODULE_CPL_NVRISCV_C_FLAGS = + +# +# Special ASM Flags +MODULE_CPL_NVRISCV_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/riscv-mpu.c b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/riscv-mpu.c new file mode 100644 index 0000000..7bbe204 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/riscv-mpu.c @@ -0,0 +1,433 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2020-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + + + +#include +#include // for BIT64, bitmap ops +#include // for memset +#include // before riscv-mpu.h +#include +#include + +// +// MISRA 1.2 RFD: Inline assembly +// MISRA 4.9 RFD: function-like macros +// MISRA 15.1 RFD: Forward gotos +// MISRA 8.7 RFD: Functions with external linkage only referenced in one translation unit +// +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") + +// +// each value of SMPUIDX allows us to access this many MPU entries via +// NV_RISCV_CSR_SMPUACC and NV_RISCV_CSR_SMPUDTY +// +#define MPUIDX2_ENTRIES_PER_INDEX DRF_SIZE(NV_RISCV_CSR_SMPUACC_ACC) + +/** + * @brief Select a HW MPU Entry. subsequent accesses to SMPUVA, SMPUPA, + * SMPURNG, and SMPUATTR will access the selected entry. + * + * @param[in] index index of the HW MPU entry to select. + * + * @return None + */ +static void mpu_idx_select(uint64_t index) +{ + csr_write(NV_RISCV_CSR_SMPUIDX, + DRF_NUM64(_RISCV, _CSR_SMPUIDX, _INDEX, index)); +} + +/** + * @brief Select a HW MPU Entry block. subsequent accesses to SMPUACC + * and SMPUDTY will access the selected entry. + * + * @param[in] index start index of the HW MPU entry block to select. + * + * @return None + */ +static void mpu_idx2_select(uint8_t index) +{ + uint8_t reg = index / MPUIDX2_ENTRIES_PER_INDEX; + + csr_write(NV_RISCV_CSR_SMPUIDX2, DRF_NUM64(_RISCV, _CSR_SMPUIDX2, _IDX, reg)); +} + +error_t +mpu_init(mpu_context_t *p_ctx) +{ + error_t status = E_SUCCESS; + uint64_t smpuctl; + uint8_t idx; + + if (p_ctx == NULL) + { + status = E_INVALID_PARAM; + goto out; + } + + (void) memset(p_ctx, 0, sizeof(mpu_context_t)); + + // + // Read the entry count. The number of entries could be + // limited by M-mode code if some entries are used by another partition + // + smpuctl = csr_read(NV_RISCV_CSR_SMPUCTL); + p_ctx->mpu_entry_count = (uint8_t) DRF_VAL64(_RISCV_CSR, _SMPUCTL, _ENTRY_COUNT, smpuctl); + + // Build entries for existing MPU settings + for (idx = 0; idx < p_ctx->mpu_entry_count; idx++) + { + // Check if the MPU entry has already been set + mpu_idx_select(idx); + uint64_t virt_addr = csr_read(NV_RISCV_CSR_SMPUVA); + if (FLD_TEST_DRF_NUM64(_RISCV_CSR, _SMPUVA, _VLD, 1U, virt_addr)) + { + bitmap_set_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, idx); + } + } + +out: + return status; +} + +error_t +mpu_enable(void) +{ + csr_write(NV_RISCV_CSR_SATP, + DRF_DEF64(_RISCV_CSR, _SATP, _MODE, _NVMPU) | + DRF_DEF64(_RISCV_CSR, _SATP, _ASID, _BARE) | + DRF_DEF64(_RISCV_CSR, _SATP, _PPN, _BARE)); + return E_SUCCESS; +} + +error_t +mpu_reserve_entry(mpu_context_t *p_ctx, uint32_t search_origin, mpu_handle_t *p_reserved_handle) +{ + error_t status = E_FAULT; + uint32_t idx; + + if ((p_ctx == NULL) || (p_reserved_handle == NULL)) + { + status = E_INVALID_PARAM; + goto out; + } + + for (idx = search_origin; idx < p_ctx->mpu_entry_count; idx++) + { + if (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, idx)) + { + bitmap_set_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, idx); + *p_reserved_handle = idx; + status = E_SUCCESS; + goto out; + } + } + +out: + return status; +} + +error_t +mpu_free_entry(mpu_context_t *p_ctx, mpu_handle_t handle) +{ + error_t status = E_SUCCESS; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + bitmap_clear_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle); + +out: + return status; +} + +error_t +mpu_write_entry +( + const mpu_context_t *p_ctx, + mpu_handle_t handle, + uint64_t va, + uint64_t pa, + uint64_t rng, + uint64_t attr +) +{ + error_t status = E_SUCCESS; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx_select(handle); + csr_clear(NV_RISCV_CSR_SMPUVA, DRF_NUM64(_RISCV_CSR, _SMPUVA, _VLD, 1)); + csr_write(NV_RISCV_CSR_SMPUPA, pa); + csr_write(NV_RISCV_CSR_SMPURNG, rng); + csr_write(NV_RISCV_CSR_SMPUATTR, attr); + csr_write(NV_RISCV_CSR_SMPUVA, va); + +out: + return status; +} + +error_t +mpu_read_entry +( + const mpu_context_t *p_ctx, + mpu_handle_t handle, + uint64_t *p_va, + uint64_t *p_pa, + uint64_t *p_rng, + uint64_t *p_attr +) +{ + error_t status = E_SUCCESS; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx_select(handle); + if (p_va != NULL) + { + *p_va = csr_read(NV_RISCV_CSR_SMPUVA); + } + + if (p_pa != NULL) + { + *p_pa = csr_read(NV_RISCV_CSR_SMPUPA); + } + + if (p_rng != NULL) + { + *p_rng = csr_read(NV_RISCV_CSR_SMPURNG); + } + + if (p_attr != NULL) + { + *p_attr = csr_read(NV_RISCV_CSR_SMPUATTR); + } + +out: + return status; +} + +error_t +mpu_enable_entry(const mpu_context_t *p_ctx, mpu_handle_t handle) +{ + error_t status = E_SUCCESS; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx_select(handle); + csr_set(NV_RISCV_CSR_SMPUVA, DRF_NUM64(_RISCV_CSR, _SMPUVA, _VLD, 1)); + +out: + return status; +} + +error_t +mpu_disable_entry(const mpu_context_t *p_ctx, mpu_handle_t handle) +{ + error_t status = E_SUCCESS; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx_select(handle); + csr_clear(NV_RISCV_CSR_SMPUVA, DRF_NUM64(_RISCV_CSR, _SMPUVA, _VLD, 1)); + +out: + return status; +} + +error_t +mpu_is_accessed(const mpu_context_t *p_ctx, mpu_handle_t handle, bool *b_accessed) +{ + error_t status = E_SUCCESS; + uint64_t smpuacc; + uint8_t idx_to_test; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle)) || + (b_accessed == NULL)) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx2_select((uint8_t)handle); + smpuacc = csr_read(NV_RISCV_CSR_SMPUACC); + idx_to_test = (uint8_t) handle % MPUIDX2_ENTRIES_PER_INDEX; + *b_accessed = ((smpuacc & BIT64(idx_to_test)) != 0U); + +out: + return status; +} + +error_t +mpu_is_dirty(const mpu_context_t *p_ctx, mpu_handle_t handle, bool *b_dirty) +{ + error_t status = E_SUCCESS; + uint64_t smpudty; + uint8_t idx_to_test; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle)) || + (b_dirty == NULL)) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx2_select((uint8_t)handle); + smpudty = csr_read(NV_RISCV_CSR_SMPUDTY); + idx_to_test = (uint8_t) handle % MPUIDX2_ENTRIES_PER_INDEX; + *b_dirty = ((smpudty & BIT64(idx_to_test)) != 0U); + +out: + return status; +} + +error_t +mpu_clear_accessed_bit(const mpu_context_t *p_ctx, mpu_handle_t handle) +{ + error_t status = E_SUCCESS; + uint8_t idx_to_clear; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx2_select((uint8_t)handle); + idx_to_clear = (uint8_t) handle % MPUIDX2_ENTRIES_PER_INDEX; + csr_clear(NV_RISCV_CSR_SMPUACC, BIT64(idx_to_clear)); + +out: + return status; +} + +error_t +mpu_clear_dirty_bit(const mpu_context_t *p_ctx, mpu_handle_t handle) +{ + error_t status = E_SUCCESS; + uint8_t idx_to_clear; + + if ((p_ctx == NULL) || + (handle >= p_ctx->mpu_entry_count) || + (!bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, handle))) + { + status = E_INVALID_PARAM; + goto out; + } + + mpu_idx2_select((uint8_t)handle); + idx_to_clear = (uint8_t) handle % MPUIDX2_ENTRIES_PER_INDEX; + csr_clear(NV_RISCV_CSR_SMPUDTY, BIT64(idx_to_clear)); + +out: + return status; +} + +error_t +mpu_va_to_pa(const mpu_context_t *p_ctx, uint64_t va, bool b_only_enabled, uint64_t *p_pa) +{ + error_t status = E_INVALID_PARAM; + uint8_t idx; + + if ((p_ctx == NULL) || (p_pa == NULL)) + { + status = E_INVALID_PARAM; + goto out; + } + + for (idx = 0; idx < p_ctx->mpu_entry_count; idx++) + { + if (bitmap_test_bit(p_ctx->mpu_reserved_bitmap, NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE, idx)) + { + mpu_idx_select(idx); + uint64_t va_reg = csr_read(NV_RISCV_CSR_SMPUVA); + uint64_t va_base = va_reg & ~NV_RISCV_CSR_MPU_PAGE_MASK; + uint64_t rng; + + //If entry is disabled or va is below range, don't check this entry + if ((b_only_enabled && FLD_TEST_DRF_NUM64(_RISCV_CSR, _SMPUVA, _VLD, 0U, va_reg)) || + (va_base > va)) + { + continue; + } + + rng = csr_read(NV_RISCV_CSR_SMPURNG) & ~NV_RISCV_CSR_MPU_PAGE_MASK; + + // check for overflow in va_base + rng (CERT-C). Shoudln't happen in a sanely-programmed entry. + if ((UINT64_MAX - va_base) < rng) + { + continue; + } + + if (va < (va_base + rng)) + { + //Do a manual translation + uint64_t pa_base = csr_read(NV_RISCV_CSR_SMPUPA) & ~NV_RISCV_CSR_MPU_PAGE_MASK; + + // check for overflow in (va - va_base) + pa_base; (CERT-C). Shoudln't happen in a sanely-programmed entry. + if ((UINT64_MAX - pa_base) < (va - va_base)) + { + continue; + } + + *p_pa = (va - va_base) + pa_base; + status = E_SUCCESS; + break; + } + } + } + +out: + return status; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/shutdown_m.c b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/shutdown_m.c new file mode 100644 index 0000000..2928ea5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/shutdown_m.c @@ -0,0 +1,106 @@ +/** + * @file shutdown_m.c + * + * @brief Describes behavior of shutdown API in M-Mode. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include +#include +#include + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__SHUTDOWN_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__CSR_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__GCC_ATTRS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__GCC_BUILTINS_H, "Header file missing or invalid.") + +GCC_ATTR_NAKED +GCC_ATTR_NORETURN +GCC_ATTR_NO_SSP +static void riscv_shutdown_int(void) +{ + __asm__("csrw mie, zero \n" // Disable interrupts + "csrrw zero, 0x800, zero\n" // lwfenceIO +#if defined(NV_RISCV_CSR_MOPT) + "csrrwi zero, 0x7d8, 0\n" // write MOPT.HALT +#endif + "1: \n" + "j 1b\n" // infinite loop if halt fails (or not available) + ); + _Static_assert(NV_RISCV_CSR_LWFENCEIO == 0x800, + "LWFENCEIO address has changed. Update assembly in riscv_shutdown_int."); + _Static_assert(NV_RISCV_CSR_MOPT == 0x7d8, + "MOPT address has changed. Update assembly in riscv_shutdown_int."); + _Static_assert(NV_RISCV_CSR_MOPT_CMD_HALT == 0, + "MOPT_CMD_HALT value has changed. Update assembly in riscv_shutdown_int."); + NVRV_BUILTIN_UNREACHABLE(); +} + +GCC_ATTR_NAKED +GCC_ATTR_NORETURN +GCC_ATTR_NO_SSP +void riscv_panic(void) +{ + riscv_shutdown_int(); +} + +GCC_ATTR_NORETURN +GCC_ATTR_NO_SSP +void riscv_shutdown(void) +{ + riscv_shutdown_int(); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/shutdown_sbi.c b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/shutdown_sbi.c new file mode 100644 index 0000000..c7397c3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/shutdown_sbi.c @@ -0,0 +1,96 @@ +/** + * @file shutdown_sbi.c + * + * @brief Describes behavior of shutdown API in S-Mode. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include +#include +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__SBI_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__SHUTDOWN_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__GCC_ATTRS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__GCC_BUILTINS_H, "Header file missing or invalid.") + +GCC_ATTR_NAKED +GCC_ATTR_NOINLINE +GCC_ATTR_NORETURN +GCC_ATTR_NO_SSP +void riscv_panic(void) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ ("li a7, 8 \n" // SBI_EXTENSION_SHUTDOWN + "li a6, 0 \n" // SBI_NVFUNC_FIRST + "ecall \n" + "1: \n" + "j 1b \n" + ); + // If one of those assert is triggered, that means function needs to be updated + _Static_assert(SBI_EXTENSION_SHUTDOWN == 8, "Shutdown extension id changed."); + _Static_assert(SBI_NVFUNC_FIRST == 0, "Function id changed."); + NVRV_BUILTIN_UNREACHABLE(); +} + +GCC_ATTR_NORETURN +GCC_ATTR_NO_SSP +void riscv_shutdown(void) +{ + (void) sbicall0((int32_t)SBI_EXTENSION_SHUTDOWN, (int32_t)SBI_NVFUNC_FIRST); + NVRV_BUILTIN_UNREACHABLE(); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/start.S b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/start.S new file mode 100644 index 0000000..29a5060 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/cpu/nvidia/riscv/nvriscv/start.S @@ -0,0 +1,116 @@ +/** + * @file start.S + * + * @brief Default assembly startup code + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +.section ".text.startup","ax",@progbits +.balign 4 +FUNC startup + j do_reset + +do_reset: + ZREG(x1) + ZREG(x2) + ZREG(x3) + ZREG(x4) + ZREG(x5) + ZREG(x6) + ZREG(x7) + ZREG(x8) + ZREG(x9) + ZREG(x10) + ZREG(x11) + ZREG(x12) + ZREG(x13) + ZREG(x14) + ZREG(x15) + ZREG(x16) + ZREG(x17) + ZREG(x18) + ZREG(x19) + ZREG(x20) + ZREG(x21) + ZREG(x22) + ZREG(x23) + ZREG(x24) + ZREG(x25) + ZREG(x26) + ZREG(x27) + ZREG(x28) + ZREG(x29) + ZREG(x30) + ZREG(x31) + + // write mtvec and make sure it sticks +#if NVRISCV_FEATURE_EXCEPTION == 1 + la t0, exception_entry +#else + la t0, riscv_panic_trampoline +#endif + +#if (NVRISCV_CONFIG_CPU_MODE==3) + csrw mtvec, t0 +#endif +#if (NVRISCV_HAS_S_MODE == 1) + csrw stvec, t0 +#endif + + // write mrsp on specific chips due to HW bug + // See https://nvbugs/3342254 +#if ((NVRISCV_IS_CHIP_ls10 == 1) || (NVRISCV_IS_CHIP_gh100==1)) && (NVRISCV_CONFIG_CPU_MODE==3) + csrw NV_RISCV_CSR_MRSP, zero +#endif + + la sp, _stack_bottom + LREG sp, 0(sp) + addi sp, sp, -0x10 + SREG zero, 0(sp) + SREG zero, 8(sp) + jal main + // halt the core one way or another + jal riscv_shutdown +_end: + j _end +EFUNC startup + +#if NVRISCV_FEATURE_EXCEPTION == 0 +.balign 4 +FUNC riscv_panic_trampoline + jal riscv_panic +EFUNC riscv_panic_trampoline +#endif + +// We need that dereference to handle chips where dmem is far away from imem + .balign 8 +_stack_bottom: + .dword _libnvriscv_stack_bottom diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/abort.c b/spe-freertos-bsp/fsp/source/drivers/debug/abort.c new file mode 100644 index 0000000..1dd5802 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/abort.c @@ -0,0 +1,222 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for uint32_t +#include // for true + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskGetCurrentTaskHandle, rto... +#include // for rtosTRUE +#include // for disable_interrupts, FSP__ARM__ARM... +#include // for barrier_compiler, barrier_memory_... +#include // for dcache_clean_all, FSP__ARM__COMMO... +#include // for error_t +#include // for NO_RETURN, WEAK +#include // START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for ABORT_RTOS, FSP__DEBUG__ABORT_SYS... +#include // for FSP__DEBUG__ABORT_H, abort_full +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BARRIERS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__CACHE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_SYS_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") + +/** + * abort_hook() - default abort hook function + * + * @reason: abort reason code + * @xErrorCode: error or argument to the abort + * @xHandleOfTaskWithError: task where the error originated from + * @pcErrorString: string to be reported with the error + * + * This function is a weakly bound function that serves as the default + * implemenation of the abort hook in the case when an application doesn't + * define its own version. + * + * Return Value: + * none + */ +INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +SECTION_ABORT_TEXT WEAK void +abort_hook(const uint32_t reason, + error_t xErrorCode, + rtosTaskHandle xHandleOfTaskWithError, + const char *pcErrorString) +{ +} + +/** + * abort_full() - abort to allow all arguments to be provided + * + * @reason: abort reason code + * @xErrorCode: error or argument to the abort + * @xHandleOfTaskWithError: task where the error originated from + * @pcErrorString: string to be reported with the error + * + * This is the full form of abort that unifies the various other interfaces + * when the system fails. + * + * This function does not return. + */ +SECTION_ABORT_TEXT NO_RETURN void +abort_full(const uint32_t reason, + error_t xErrorCode, + rtosTaskHandle xHandleOfTaskWithError, + const char *pcErrorString) +{ + /* + * Don't allow anything else to run after this point. + */ + (void)disable_interrupts(); + + /* + * Call the abort_hook. + */ + abort_hook(reason, xErrorCode, xHandleOfTaskWithError, pcErrorString); + + /* + * Wait for all operations to complete and to clean the + * dCache so that someone can examine DRAM if they so wish. + */ + barrier_memory_order(); + barrier_memory_complete(); + dcache_clean_all(); + + /* + * Done. + */ + while (true) { + /* + * Make sure that the infinite loop has side effects + * so that the optimizer doesn't try move or remove it. + */ + barrier_compiler(); + } + + /* + * Never reached. + */ +} + +/** + * tegra_abort() - signal an abort and halt the R5 + * + * @reason: abort reason code + * @arg: a 32-bit argument + * + * This function will "abort" the exectution of the R5. This is generally + * called because some fatal condition has been detected and continued + * execution is ill advised. + * + * It will disable the watchdog as well as suspending all tasks and stopping + * the scheduler. It will also disable all interrupts. + * + * Prior to entering into an infinte loop, it will call an "abort hook" to + * allow the platform to run some additional code. + */ +SECTION_ABORT_TEXT void +tegra_abort(const uint32_t reason, + const uint32_t arg) +{ + rtosTaskHandle cur_task = NULL; + + /* + * When getting the current task handle, make sure that the + * scheduler is running (mainly to make sure that it's been + * initialized/statrted) + */ + if (rtosTaskIsSchedulerStarted() == rtosTRUE) { + cur_task = rtosTaskGetCurrentTaskHandle(); + } + + abort_full(reason, (error_t)arg, cur_task, NULL); + + /* + * Never reached. + */ +} + +/** + * error_hook - SafeRTOS will call this when it has a fatal error + * + * @xHandleOfTaskWithError: handle of task that was running when error + * occured + * @pcErrorString: pointer to string to be reported + * @xErrorCode: Error code to be reported + * + * This function will be called when there SafeRTOS detects a fatal error. + * The objective of this function is to report the error and then "safe" + * the system. + * + * This function is not to be called directly execept by SafeRTOS. + * + * This function does not return. + */ +SECTION_ABORT_TEXT void +error_hook(rtosTaskHandle xHandleOfTaskWithError, + const char *pcErrorString, + error_t xErrorCode) +{ + abort_full(ABORT_RTOS, xErrorCode, + xHandleOfTaskWithError, pcErrorString); + + /* + * Never reached. + */ +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/assert.c b/spe-freertos-bsp/fsp/source/drivers/debug/assert.c new file mode 100644 index 0000000..4c9a0b5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/assert.c @@ -0,0 +1,152 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for FSP__MISC__ATTRIBUTES_H, NO_RETURN +#include // START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for tegra_abort, FSP__DEBUG__ABORT_H // IWYU pragma: keep +#include // for FSP__DEBUG__ASSERT_H, assert_hook +#include // Immune from CT_ASSERT protection + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") + +/** + * assert_hook() - default assert hook function + * + * @filename: pointer to a string that contains the filename + * where the assert occurred. + * @linenum: integer representing the line number in @filename + * where the assert occurred + * + * This function is a weakly bound function that serves as the default + * implementation of the assert hook if an application doesn't define + * its own version. + * + * Return Value: + * none + */ +SECTION_ASSERT_ERR_TEXT WEAK void +assert_hook(const char * const filename, + const uint32_t linenum) +{ +} + +/* + * Split out for easier debugging. It should not be called other than + * from assert(). Having it not be static means that it won't get + * inlined. + */ +void asserted(const char * const filename, + const uint32_t linenum) NO_RETURN; + +/** + * asserted() - log the fact that an assert fired + * + * @filename: pointer to a string that represents the name of + * the file where the assert failed. + * @linenum: integer that represents the line number within + * @filename where the assert failed. + * + * This function is called by assert() when the assertion check + * fails. + * + * It is split out as a separate function for ease of setting a breakpoint + * in the debugger in order to more easily catch assertion failures. + * + * Return Values: + * This function never returns + */ +SECTION_ASSERT_ERR_TEXT void +asserted(const char * const filename, + const uint32_t linenum) +{ + assert_hook(filename, linenum); + tegra_abort(ABORT_ASSERT, 0U); +} + +/** + * assert() - check to see if an assertion has failed + * + * @assertion: A boolean that is the result of an assertion check. + * If true, the assertion passed and this function will + * just return. If false, the assertion failed and this + * function will log the assertion failure and abort. + * @filename: A pointer to a string that represents the name of + * the file with the assertion check. + * @linenum: The binary value of the line number within @filename + * of the assertion check. + * + * This function implements an assertion check that can be placed in various + * places in the code to check for impossible or fatal conditions. It is + * intended that code desiring assertion checks should not call this function + * directly but instead use a macro that wrappers the call and the generation + * of the appropriate pointers (see ASSERT in debug/assert.h + * how this is done). + * + * Return Values: + * none + */ +SECTION_ASSERT_TEXT void +fsp_assert(const bool assertion, + const char * const filename, + const uint32_t linenum) +{ + if (!assertion) { + asserted(filename, linenum); + } +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/datasizes.c b/spe-freertos-bsp/fsp/source/drivers/debug/datasizes.c new file mode 100644 index 0000000..7dd3d01 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/datasizes.c @@ -0,0 +1,67 @@ +/* + * Copyright (c) 2014-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#pragma message "content of SIZE_MAX: " STR(SIZE_MAX) +#pragma message "content of INT_MAX: " STR(INT_MAX) +#pragma message "content of INT32_MAX: " STR(INT32_MAX) +#pragma message "content of UINT_MAX: " STR(UINT_MAX) +#pragma message "content of UINT32_MAX: " STR(UINT32_MAX) +#pragma message "content of LONG_MAX: " STR(LONG_MAX) +#pragma message "content of size_t: " STR(__SIZE_TYPE__) +#pragma message "content of sizeof(uint32_t): " STR(sizeof(uint32_t)) +#pragma message "content of sizeof(unsigned long): " STR(sizeof(unsigned long)) +#pragma message "content of sizeof(void *()): " STR(sizeof(void *())) +#pragma message "content of __LONG_MAX__: " STR(__LONG_MAX__) +#pragma message "content of UINTPTR_MAX: " STR(UINTPTR_MAX) diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/debug-fmt.c b/spe-freertos-bsp/fsp/source/drivers/debug/debug-fmt.c new file mode 100644 index 0000000..a9da4a0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/debug-fmt.c @@ -0,0 +1,129 @@ +/* + * Copyright (c) 2014-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false, true +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for FSP__DEBUG__DEBUG_FMT_H, dbg_putdec +#include // for dbg_putc, dbg_puts, FSP__DEBUG__DE... +#include // for SECTION_DEBUG_TEXT, SECTION_DEBUG_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__DEBUG_FMT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__DEBUG_UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +SECTION_DEBUG_TEXT static char +nibble_to_hex(uint32_t n) +{ + if (n < 10) + return '0' + n; + return 'a' + n - 10; +} + +SECTION_DEBUG_TEXT void +dbg_puthex8(uint32_t n) +{ + dbg_puts("0x"); + dbg_putc(nibble_to_hex((n >> 28) & 0xf)); + dbg_putc(nibble_to_hex((n >> 24) & 0xf)); + dbg_putc(nibble_to_hex((n >> 20) & 0xf)); + dbg_putc(nibble_to_hex((n >> 16) & 0xf)); + dbg_putc(nibble_to_hex((n >> 12) & 0xf)); + dbg_putc(nibble_to_hex((n >> 8) & 0xf)); + dbg_putc(nibble_to_hex((n >> 4) & 0xf)); + dbg_putc(nibble_to_hex( n & 0xf)); +} + +/* This lookup table avoids the integer division (div /= 10) */ +SECTION_DEBUG_DATA +static uint32_t divisors[] = +{ + 1U, + 10U, + 100U, + 1000U, + 10000U, + 100000U, + 1000000U, + 10000000U, + 100000000U, + 1000000000U +}; + +SECTION_DEBUG_TEXT void +dbg_putdec(uint32_t n) +{ + int32_t i; + bool keep_print = false; + uint32_t div; + uint32_t res; + + if (n == 0) { + dbg_putc('0'); + return; + } + + for (i = ARRAY_SIZE(divisors) - 1; i >= 0; i--) { + div = divisors[i]; + if (n >= div) { + keep_print = true; + res = n / div; + dbg_putc(res + '0'); + n -= res * div; + } else if (keep_print) { + dbg_putc('0'); + } + } +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/debug-print.c b/spe-freertos-bsp/fsp/source/drivers/debug/debug-print.c new file mode 100644 index 0000000..85e7250 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/debug-print.c @@ -0,0 +1,1132 @@ +/* + * Copyright (c) 2014-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for isdigit +#include // for va_arg, va_list, va_end, va_s... +#include // for bool, true, false +#include // for uint32_t, int32_t, uint64_t +#include // for size_t, NULL, memset, memcpy + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for disable_interrupts, restore_i... +#include +#include // for BIT, FSP__MISC__BITOPS_H +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for ASSERT, FSP__DEBUG__ASSERT_H +#include // for dbg_printf, dbg_snprintf, dbg... +#include // for dbg_puts, FSP__DEBUG__DEBUG_U... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_SYS_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__DEBUG_UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define DBG_PRINT_BUFF_LEN 160 + +typedef uint32_t format_flags_t; + +#define DBG_FMT_FL_ALTERNATE ((format_flags_t)BIT(0)) +#define DBG_FMT_FL_ZERO_PAD ((format_flags_t)BIT(1)) +#define DBG_FMT_FL_LEFT_ADJUST ((format_flags_t)BIT(2)) +#define DBG_FMT_FL_BLANK_POSITIVE ((format_flags_t)BIT(3)) +#define DBG_FMT_FL_ALWAYS_SIGN ((format_flags_t)BIT(4)) +#define DBG_FMT_FL_LENGTH_CHAR ((format_flags_t)BIT(5)) +#define DBG_FMT_FL_LENGTH_SHORT ((format_flags_t)BIT(6)) +#define DBG_FMT_FL_LENGTH_LONG ((format_flags_t)BIT(7)) +#define DBG_FMT_FL_LENGTH_LONG_LONG ((format_flags_t)BIT(8)) + +#define DBG_FMT_FL_LENGTH_MASK (DBG_FMT_FL_LENGTH_CHAR \ + | DBG_FMT_FL_LENGTH_SHORT \ + | DBG_FMT_FL_LENGTH_LONG \ + | DBG_FMT_FL_LENGTH_LONG_LONG) + + +typedef union { + int64_t sint64; + uint64_t uint64; + int32_t sint32; + uint32_t uint32; + int16_t sint16; + uint16_t uint16; + int8_t sint8; + uint8_t uint8; + char ch; + char *string; +} format_value_t; + +/* This lookup table avoids the integer division (div /= 10) */ +static const uint32_t divisors[] SECTION_DEBUG_RODATA = +{ + 1000000000U, + 100000000U, + 10000000U, + 1000000U, + 100000U, + 10000U, + 1000U, + 100U, + 10U, + 1U, +}; + +#define NUM_DECIMAL_DIGITS (ARRAY_SIZE(divisors)) +#define DECIMAL_BUFF_LEN (NUM_DECIMAL_DIGITS + 2U) + +#define NUM_OCTAL_DIGITS 11U +#define OCTAL_BUFF_LEN (NUM_OCTAL_DIGITS + 2U) + +static const char upper_hex[] SECTION_DEBUG_RODATA = "0123456789ABCDEF"; +static const char lower_hex[] SECTION_DEBUG_RODATA = "0123456789abcdef"; + +#define NUM_HEX_NIBBLES (sizeof(uint32_t) * 2U) +#define HEX_BUFF_LEN (NUM_HEX_NIBBLES + 3U) + +SECTION_DEBUG_TEXT static size_t +dbg_format_copy_string(char *strp, + char *buffp, + size_t limit, + size_t field_width, + bool left_adjust) +{ + size_t len; + uint32_t offset = 0; + size_t width = field_width; + + ASSERT(strp != NULL); + ASSERT(buffp != NULL); + + if (width > limit) { + width = limit; + } + + len = strlen(strp); + if (len > limit) { + len = limit; + } + + if (width > len) { + memset(buffp, ' ', width); + } else { + width = len; + } + + if (left_adjust) { + offset = width - len; + } + + memcpy(&buffp[offset], strp, len); + + return width; +} + +SECTION_DEBUG_TEXT static void +int32_to_decimal_str(int32_t value, + size_t n_digits, + size_t field_width, + char *buffp, + format_flags_t flags) +{ + int32_t val; + uint32_t i; + uint32_t digit; + size_t width = field_width; + bool emitted = false; + bool negative; + bool zero_pad; + char *bp = buffp; + const uint32_t *divs; + + ASSERT(buffp != NULL); + + /* Handle n_digits == 0 */ + if (n_digits == 0UL) { + *bp = ' '; + return; + } + + negative = value < 0; + val = negative ? -value : value; + + if (width > n_digits) { + width = n_digits; + } + + zero_pad = (flags & DBG_FMT_FL_ZERO_PAD) != 0U; + + if ((flags & DBG_FMT_FL_BLANK_POSITIVE) != 0U) { + *bp++ = negative ? '-' : ' '; + } + + if ((flags & DBG_FMT_FL_ALWAYS_SIGN) != 0U) { + *bp++ = negative ? '-' : '+'; + } + + if (((flags & (DBG_FMT_FL_BLANK_POSITIVE | DBG_FMT_FL_ALWAYS_SIGN)) == 0U) + && negative) { + *bp++ = '-'; + } + + divs = &divisors[NUM_DECIMAL_DIGITS - n_digits]; + + for (i = 0U; i < n_digits; i += 1U) { + digit = val / divs[i]; + val %= divs[i]; + + if (zero_pad + && (i >= (n_digits - width))) { + emitted = true; + } + + if ((digit != 0U) + || emitted) { + emitted = true; + *bp++ = '0' + digit; + } + } + + /* + * Handle the case where the value is 0 and there's + * no zero pad. + */ + if (!emitted) { + *bp = '0'; + } +} + +SECTION_DEBUG_TEXT static void +uint32_to_decimal_str(uint32_t value, + size_t n_digits, + size_t field_width, + char *buffp, + bool zero_pad) +{ + uint32_t i; + uint32_t digit; + size_t width = field_width; + uint32_t val = value; + bool emitted = false; + char *bp = buffp; + const uint32_t *divs; + + ASSERT(buffp != NULL); + + /* Handle n_digits == 0 */ + if (n_digits == 0UL) { + *bp = ' '; + return; + } + + if (width > n_digits) { + width = n_digits; + } + + divs = &divisors[NUM_DECIMAL_DIGITS - n_digits]; + + for (i = 0U; i < n_digits; i += 1U) { + digit = val / divs[i]; + val %= divs[i]; + + if (zero_pad + && (i >= (n_digits - width))) { + emitted = true; + } + + if ((digit != 0U) + || emitted) { + emitted = true; + *bp++ = '0' + digit; + } + } + + /* + * Handle the case where the value is 0 and there's + * no zero pad. + */ + if (!emitted) { + *bp = '0'; + } +} + +SECTION_DEBUG_TEXT static void +uint32_to_octal_str(uint32_t value, + size_t n_digits, + size_t field_width, + char *buffp, + bool zero_pad) +{ + uint32_t i; + uint32_t digit; + size_t width = field_width; + char *bp = buffp; + bool emitted = false; + + ASSERT(buffp != NULL); + + /* Handle n_digits == 0 */ + if (n_digits == 0UL) { + *bp = ' '; + return; + } + + if (width > n_digits) { + width = n_digits; + } + + for (i = 0U; i < n_digits; i += 1U) { + digit = (value >> (3U * (n_digits - 1U - i))) & 0x07U; + + if (zero_pad + && (i >= (n_digits - width))) { + emitted = true; + } + + if ((digit != 0U) + || emitted) { + emitted = true; + *bp++ = '0' + digit; + } + } + + /* + * Handle the case where the value is 0 and there's + * no zero pad. + */ + if (!emitted) { + *bp = '0'; + } +} + +SECTION_DEBUG_TEXT static void +uint32_to_hex_str(uint32_t value, + size_t n_digits, + size_t field_width, + char *buffp, + const char *hex_chars, + bool zero_pad) +{ + uint32_t i; + uint32_t nibble; + size_t width = field_width; + char *bp = buffp; + bool emitted = false; + + ASSERT(buffp != NULL); + ASSERT(hex_chars != NULL); + + /* Handle n_digits == 0 */ + if (n_digits == 0UL) { + *bp = ' '; + return; + } + + if (width > n_digits) { + width = n_digits; + } + + for (i = 0U; i < n_digits; i += 1U) { + nibble = (value >> (4U * (n_digits - 1U - i))) & 0x0FU; + + if (zero_pad + && (i >= (n_digits - width))) { + emitted = true; + } + + if ((nibble != 0U) + || emitted) { + emitted = true; + *bp++ = hex_chars[nibble]; + } + } + + /* + * Handle the case where the value is 0 and there's + * no zero pad. + */ + if (!emitted) { + *bp = '0'; + } +} + +SECTION_DEBUG_TEXT static void +dbg_format_signed_decimal(format_value_t value, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + size_t count; + size_t width = field_width; + char buff[DECIMAL_BUFF_LEN]; + char *bp; + int32_t val = 0; + uint32_t n_digits = 0; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + count = *countp; + + memset(buff, 0, DECIMAL_BUFF_LEN); + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0) { + val = value.uint8; + n_digits = 3; + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0) { + val = value.uint16; + n_digits = 5; + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val = value.uint32; + n_digits = 10; + } + + int32_to_decimal_str(val, n_digits, width, buff, flags); + + width = dbg_format_copy_string(buff, bp, count, width, + ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0)); + + *bufp += width; + *countp -= width; + +} + +SECTION_DEBUG_TEXT static void +dbg_format_unsigned_decimal(format_value_t value, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + size_t count; + size_t width = field_width; + char buff[DECIMAL_BUFF_LEN]; + char *bp; + uint32_t val = 0; + uint32_t n_digits = 0; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + count = *countp; + + memset(buff, 0, DECIMAL_BUFF_LEN); + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0) { + val = value.uint8; + n_digits = 3; + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0) { + val = value.uint16; + n_digits = 5; + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val = value.uint32; + n_digits = 10; + } + + uint32_to_decimal_str(val, n_digits, width, buff, + (flags & DBG_FMT_FL_ZERO_PAD) != 0); + + width = dbg_format_copy_string(buff, bp, count, width, + ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0)); + + *bufp += width; + *countp -= width; +} + +SECTION_DEBUG_TEXT static void +dbg_format_octal(format_value_t value, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + size_t count; + size_t width = field_width; + char buff[OCTAL_BUFF_LEN]; + char *bp; + char *sp; + uint32_t val = 0; + uint32_t n_digits = 0; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + count = *countp; + + memset(buff, 0, OCTAL_BUFF_LEN); + + if ((flags & DBG_FMT_FL_ALTERNATE) != 0) { + buff[0] = '0'; + sp = &buff[1]; + } else { + sp = &buff[0]; + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0) { + val = value.uint8; + n_digits = 3; + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0) { + val = value.uint16; + n_digits = 6; + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val = value.uint32; + n_digits = 11; + } + + uint32_to_octal_str(val, n_digits, width, sp, + (flags & DBG_FMT_FL_ZERO_PAD) != 0); + + width = dbg_format_copy_string(buff, bp, count, width, + ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0)); + + *bufp += width; + *countp -= width; +} + +SECTION_DEBUG_TEXT static void +dbg_format_lower_hex(format_value_t value, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + char *bp; + size_t count; + size_t width = field_width; + char buff[HEX_BUFF_LEN]; + char *sp; + uint32_t val = 0; + uint32_t n_digits = 0; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + count = *countp; + + memset(buff, 0, HEX_BUFF_LEN); + + if ((flags & DBG_FMT_FL_ALTERNATE) != 0) { + buff[0] = '0'; + buff[1] = 'x'; + sp = &buff[2]; + } else { + sp = &buff[0]; + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0) { + val = value.uint8; + n_digits = sizeof(uint8_t) * 2U; + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0) { + val = value.uint16; + n_digits = sizeof(uint16_t) * 2U; + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val = value.uint32; + n_digits = sizeof(uint32_t) * 2U; + } + + uint32_to_hex_str(val, n_digits, width, sp, lower_hex, + (flags & DBG_FMT_FL_ZERO_PAD) != 0); + + width = dbg_format_copy_string(buff, bp, count, width, + ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0)); + + *bufp += width; + *countp -= width; +} + +SECTION_DEBUG_TEXT static void +dbg_format_upper_hex(format_value_t value, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + char *bp; + size_t count; + size_t width = field_width; + char buff[HEX_BUFF_LEN]; + char *sp; + uint32_t val = 0; + uint32_t n_digits = 0; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + count = *countp; + + memset(buff, 0, HEX_BUFF_LEN); + + if ((flags & DBG_FMT_FL_ALTERNATE) != 0) { + buff[0] = '0'; + buff[1] = 'X'; + sp = &buff[2]; + } else { + sp = &buff[0]; + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0) { + val = value.uint8; + n_digits = sizeof(uint8_t) * 2U; + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0) { + val = value.uint16; + n_digits = sizeof(uint16_t) * 2U; + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val = value.uint32; + n_digits = sizeof(uint32_t) * 2U; + } + + uint32_to_hex_str(val, n_digits, width, sp, upper_hex, + (flags & DBG_FMT_FL_ZERO_PAD) != 0); + + width = dbg_format_copy_string(buff, bp, count, width, + ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0)); + + *bufp += width; + *countp -= width; +} + +SECTION_DEBUG_TEXT static void +dbg_format_char(char value, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + char *bp; + size_t width = field_width; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + + if (width > 0) { + memset(bp, ' ', width); + } else { + width = 1; + } + + if ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0) { + bp[0] = value; + } else { + bp[width - 1] = value; + } + + *bufp += width; + *countp -= width; +} + +static void +dbg_format_string(char *strp, + format_flags_t flags, + size_t field_width, + char **bufp, + size_t *countp) +{ + char *bp; + char *sp; + size_t count; + size_t width = field_width; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + ASSERT(countp != NULL); + ASSERT(field_width <= *countp); + + bp = *bufp; + count = *countp; + + if (strp == NULL) { + sp = (char *)"(NULL)"; + } else { + sp = strp; + } + + width = dbg_format_copy_string(sp, bp, count, width, + ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0)); + + *bufp += width; + *countp -= width; +} + + + +SECTION_DEBUG_TEXT static size_t +dbg_get_num(char **bufp) +{ + size_t value = 0; + char *bp; + + ASSERT(bufp != NULL); + ASSERT(*bufp != NULL); + + bp = *bufp; + + INLINE_RFD(MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx"); + while ((*bp != '\0') && (isdigit((int)*bp) != 0)) { + value *= 10; + value += *bp - '0'; + bp += 1; + } + + *bufp = bp; + + return value; +} + +SECTION_DEBUG_TEXT static format_flags_t +dbg_process_modifiers(char **fmtp, + size_t count, + size_t *field_widthp) +{ + char *fp; + format_flags_t flags = 0; + size_t field_width = 0; + bool find_flags = true; + + ASSERT(fmtp != NULL); + ASSERT(*fmtp != NULL); + ASSERT(field_widthp != NULL); + + fp = *fmtp; + + if (count == 0) { + goto out; + } + + /* + * Get the flag characters + */ + while (find_flags) { + switch (*fp) { + case '#': + flags |= DBG_FMT_FL_ALTERNATE; + fp += 1; + break; + + case '0': + flags |= DBG_FMT_FL_ZERO_PAD; + fp += 1; + break; + + case '-': + flags |= DBG_FMT_FL_LEFT_ADJUST; + fp += 1; + break; + + case ' ': + flags |= DBG_FMT_FL_BLANK_POSITIVE; + fp += 1; + break; + + case '+': + flags |= DBG_FMT_FL_ALWAYS_SIGN; + fp += 1; + break; + + default: + find_flags = false; + break; + } + } + + if (*fp == '\0') { + goto out; + } + + /* + * Get the field width if there is one + */ + field_width = dbg_get_num(&fp); + if (field_width > count) { + field_width = count; + } + + if (*fp == '\0') { + goto out; + } + + /* + * Get a length modifier if there is one + */ + switch (*fp) { + case 'h': + fp += 1; + if (*fp == 'h') { + flags |= DBG_FMT_FL_LENGTH_CHAR; + fp += 1; + } else { + flags |= DBG_FMT_FL_LENGTH_SHORT; + } + break; + + case 'l': + fp += 1; + if (*fp == 'l') { + flags |= DBG_FMT_FL_LENGTH_LONG_LONG; + fp += 1; + } else { + flags |= DBG_FMT_FL_LENGTH_LONG; + } + break; + + default: + break; + } + + /* + * Clean up the flags + */ + if ((flags & DBG_FMT_FL_LEFT_ADJUST) != 0) { + flags &= ~DBG_FMT_FL_ZERO_PAD; + } + + if ((flags & DBG_FMT_FL_ALWAYS_SIGN) != 0) { + flags &= ~DBG_FMT_FL_BLANK_POSITIVE; + } + + if ((flags & DBG_FMT_FL_LENGTH_MASK) == 0U) { + flags |= DBG_FMT_FL_LENGTH_LONG; + } + + out: + *fmtp = fp; + *field_widthp = field_width; + + return flags; +} + +SECTION_DEBUG_TEXT int32_t +dbg_vsnprintf(char *buff, + size_t size, + const char *format, + va_list ap) +{ + size_t count = size - 1; + char *bp = buff; + char *fp = (char *)format; + format_flags_t flags = 0; + size_t field_width; + format_value_t val; + + ASSERT(buff != NULL); + ASSERT(format != NULL); + + memset(bp, 0, size); + + while ((*fp != '\0') + && (count > 0)) { + switch (*fp) { + case '%': + fp += 1; + if (*fp == '%') { + *bp++ = *fp++; + count -= 1; + } else { + flags = dbg_process_modifiers(&fp, count, &field_width); + + /* + * Get conversion + */ + switch (*fp) { + case 'd': + case 'i': + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val.sint32 = va_arg(ap, int32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0U) { + val.sint8 = va_arg(ap, int32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0U) { + val.sint16 = va_arg(ap, int32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG_LONG) != 0U) { + val.sint64 = va_arg(ap, int64_t); + } + + dbg_format_signed_decimal(val, flags, field_width, + &bp, &count); + fp += 1; + break; + + case 'o': + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val.uint32 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0U) { + val.uint8 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0U) { + val.uint16 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG_LONG) != 0U) { + val.uint64 = va_arg(ap, uint64_t); + } + + dbg_format_octal(val, flags, field_width, &bp, &count); + fp += 1; + break; + + case 'u': + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val.uint32 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0U) { + val.uint8 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0U) { + val.uint16 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG_LONG) != 0U) { + val.uint64 = va_arg(ap, uint64_t); + } + + dbg_format_unsigned_decimal(val, flags, field_width, + &bp, &count); + fp += 1; + break; + + case 'x': + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val.uint32 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0U) { + val.uint8 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0U) { + val.uint16 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG_LONG) != 0U) { + val.uint64 = va_arg(ap, uint64_t); + } + + dbg_format_lower_hex(val, flags, field_width, &bp, &count); + fp += 1; + break; + + case 'X': + if ((flags & DBG_FMT_FL_LENGTH_LONG) != 0) { + val.uint32 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_CHAR) != 0U) { + val.uint8 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_SHORT) != 0U) { + val.uint16 = va_arg(ap, uint32_t); + } + + if ((flags & DBG_FMT_FL_LENGTH_LONG_LONG) != 0U) { + val.uint64 = va_arg(ap, uint64_t); + } + + dbg_format_upper_hex(val, flags, field_width, &bp, &count); + fp += 1; + break; + + case 'p': + val.uint32 = va_arg(ap, uint32_t); + dbg_format_lower_hex(val, flags, field_width, &bp, &count); + fp += 1; + break; + + case 'c': + val.ch = va_arg(ap, int32_t); + dbg_format_char(val.ch, flags, field_width, &bp, &count); + fp += 1; + break; + + case 's': + val.string = va_arg(ap, char *); + dbg_format_string(val.string, flags, field_width, + &bp, &count); + fp += 1; + break; + + default: + break; + } + } + break; + + case '\n': + *bp++ = '\r'; + if (count > 1) { + *bp++ = '\n'; + count -= 1; + } + + fp += 1; + count -= 1; + break; + + default: + *bp++ = *fp++; + } + } + + return bp - buff; +} + +SECTION_DEBUG_TEXT int32_t +dbg_snprintf(char *buff, + size_t size, + const char *format, + ...) +{ + int32_t count; + va_list ap; + + va_start(ap, format); + + count = dbg_vsnprintf(buff, size, + format, ap); + + va_end(ap); + + return count; +} + +static char print_buffer[DBG_PRINT_BUFF_LEN] SECTION_DEBUG_DATA; + +SECTION_DEBUG_TEXT int32_t +dbg_vprintf(const char *format, + va_list ap) +{ + int32_t count; + + enter_critical(); + + count = dbg_vsnprintf(print_buffer, DBG_PRINT_BUFF_LEN, + format, ap); + + dbg_puts(print_buffer); + + exit_critical(); + + return count; +} + + +SECTION_DEBUG_TEXT int32_t +dbg_printf(const char *format, + ...) +{ + int32_t count; + va_list ap; + + enter_critical(); + + va_start(ap, format); + count = dbg_vsnprintf(print_buffer, DBG_PRINT_BUFF_LEN, + format, ap); + + va_end(ap); + + dbg_puts(print_buffer); + + exit_critical(); + + return count; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/debug-uart.c b/spe-freertos-bsp/fsp/source/drivers/debug/debug-uart.c new file mode 100644 index 0000000..67e8583 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/debug-uart.c @@ -0,0 +1,177 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for DEBUG_UART, FSP__PROCESSOR__DEBUG_... + +/* Module-specific FSP headers */ +#include // for ASSERT, FSP__DEBUG__ASSERT_H +#include // for FSP__DEBUG__DEBUG_UART_H, dbg_flush +#include // Immune from CT_ASSERT protection + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__DEBUG_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__DEBUG_UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +extern const struct dbg_uart_ops dbg_standalone_uart_ops; +extern const struct dbg_uart_ops dbg_comb_uart_ops; + +/** + * + * Defaults to standalone uart ops to not break the builds + * for existing clients. At some point, this needs to be + * revisited. + */ +static struct dbg_uart_ops *ops = NULL; +static void *uart_ctlr = NULL; + +static inline struct dbg_uart_ops *c_ptr_to_nc_ptr(const struct dbg_uart_ops *input) +{ + union cast_c_ptr_to_nc_ptr { + const struct dbg_uart_ops *input; + struct dbg_uart_ops *output; + }; + union cast_c_ptr_to_nc_ptr t; + + t.input = input; + + return t.output; +} + +#if defined(DEBUG_COMB_UART) +static inline void *c_tcu_ptr_to_v_ptr(const struct comb_uart_id *input) +{ + union cast_c_tcu_ptr_to_v_ptr { + const struct comb_uart_id* input; + void *output; + }; + union cast_c_tcu_ptr_to_v_ptr t; + + t.input = input; + + return t.output; +} +#endif + +SECTION_DEBUG_TEXT void +dbg_init_uart_ops(uint32_t uart_mode) +{ + switch (uart_mode) { + case UART_MODE_TCU: + ops = c_ptr_to_nc_ptr(&dbg_comb_uart_ops); +#if defined(DEBUG_COMB_UART) + uart_ctlr = c_tcu_ptr_to_v_ptr(&DEBUG_COMB_UART); +#endif + break; + case UART_MODE_STANDALONE: + default: + ops = c_ptr_to_nc_ptr(&dbg_standalone_uart_ops); + uart_ctlr = &DEBUG_UART; + break; + } +} + + +SECTION_DEBUG_TEXT void +dbg_init(void) +{ + error_t rc = -1; + + /* default to standalone if not registered */ + if (ops == NULL) { + ops = c_ptr_to_nc_ptr(&dbg_standalone_uart_ops); + uart_ctlr = &DEBUG_UART; + } + + if (ops->init != NULL) { + rc = ops->init(uart_ctlr); + } + + ASSERT(rc == E_SUCCESS); +} + +SECTION_DEBUG_TEXT void +dbg_putc(char c) +{ + ops->putc(uart_ctlr, c); +} + +SECTION_DEBUG_TEXT void +dbg_putd(const char *d, uint32_t len) +{ + ops->putd(uart_ctlr, d, len); +} + +SECTION_DEBUG_TEXT void +dbg_puts(const char *s) +{ + ops->puts(uart_ctlr, s); +} + +SECTION_DEBUG_TEXT void +dbg_flush(void) +{ + ops->flush(uart_ctlr); +} + +SECTION_DEBUG_TEXT bool +dbg_tx_ready(void) +{ + return ops->tx_ready(uart_ctlr); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/debug-wait.c b/spe-freertos-bsp/fsp/source/drivers/debug/debug-wait.c new file mode 100644 index 0000000..31aff9e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/debug-wait.c @@ -0,0 +1,134 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for barrier_compiler, FSP__ARM__COMMON... +#include // START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for DEBUG_WAIT_BOOT_FL, FSP__DEBUG__TE... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__BARRIERS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__TEGRA_DEBUG_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * This variable must be marked "volatile" since the intent is that the + * debugger will modify this value, so it is necessary for the generated + * code to always read this variable when it is polling it. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +volatile uint32_t debug_wait_flags SECTION_DEBUG_DATA = 0; + +/* + * This variable is used to re-initialize the tegra_debug_wait_flags variable + * each time that tegra_debugger_wait() is called. This allows different + * calls to tegra_debugger_wait() to still wait even if a debugger reset the + * contents of tegra_debug_wait_flags on a previous call. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +uint32_t debug_wait_init SECTION_DEBUG_DATA + = DEBUG_WAIT_BOOT_FL; + +/** + * debugger_wait_bp() - internal debugger wait + * + * @wait_flag: Type of wait + * + * This function will wait until a specific bit (or bits) in the variable + * tegra_debug_wait_flags has been cleared. + * + * This function is called when the wait is to be performed. This allows + * for a debugger to set a breakpoint on this function when a wait is + * expected. + * + * Return Values: + * none + */ +void +debugger_wait_bp(const uint32_t wait_flag) +{ + /* + * Wait until the flags are cleared + */ + while ((debug_wait_flags & wait_flag) != 0) { + barrier_compiler(); + } +} + +/** + * debugger_wait() - waits for the debugger to clear a flag + * + * @wait_flag: flag that the debugger has to clear in order + * for the function to exit. + * + * This function will wait on a specific bit (or bits) in the variable + * tegra_debugger_wait_flags have been cleared. This variable is set to + * the initial values on entry so that this can be called multiple times + * and will wait appropriately each time this function is called. + * + * Return Values: + * none + */ +void +debugger_wait(const uint32_t wait_flag) +{ + /* + * Set the wait variable. When the debugger breaks in, it will + * clear the variable. + */ + debug_wait_flags = debug_wait_init; + + if ((debug_wait_flags & wait_flag) != 0) { + debugger_wait_bp(wait_flag); + } +} diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/debug.c b/spe-freertos-bsp/fsp/source/drivers/debug/debug.c new file mode 100644 index 0000000..e9960cf --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/debug.c @@ -0,0 +1,250 @@ +/* + * Copyright (c) 2014-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for va_list, va_end, va_start +#include // for true, bool, false +#include // for uint32_t +#include // for vsnprintf + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for UART_IER_DLAB_0_0, UART_IIR_FCR_0 + +/* Late FSP headers */ +#include // for tegra_clk_enable, tegra_clk_res... +#include // for ARRAY_SIZE +#include // for TEGRA_DBG_UART_BASE, TEGRA_DBG_... +#include // for writel, readl +#include // for TEGRA_DBG_UART_CLK + +/* Module-specific FSP headers */ +#include // for dbg_3rdparty_init, dbg_flush, dbg... +#include // for PRINTF_ISR_BUFSIZE, printf_isr +#include // for tegra_platform_is_silicon + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__DEBUG_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__DEBUG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__PRINTF_ISR_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define TEGRA_DBG_UART_TX (TEGRA_DBG_UART_BASE + UART_THR_DLAB_0_0) +#define TEGRA_DBG_UART_LSR (TEGRA_DBG_UART_BASE + UART_LSR_0) +#define TEGRA_DBG_UART_LSR_THRE (UART_LSR_0_THRE_EMPTY << UART_LSR_0_THRE_SHIFT) +#define TEGRA_DBG_UART_LSR_TMTY (UART_LSR_0_TMTY_EMPTY << UART_LSR_0_TMTY_SHIFT) + +#define TEGRA_DBG_UART_LCR (TEGRA_DBG_UART_BASE + UART_LCR_0) +#define TEGRA_DBG_UART_LCR_WD_SIZE \ + (UART_LCR_0_WD_SIZE_WORD_LENGTH_8 << UART_LCR_0_WD_SIZE_SHIFT) +#define TEGRA_DBG_UART_LCR_PAR \ + (UART_LCR_0_PAR_NO_PARITY << UART_LCR_0_PAR_SHIFT) +#define TEGRA_DBG_UART_LCR_STOP \ + (UART_LCR_0_STOP_DISABLE << UART_LCR_0_STOP_SHIFT) +#define TEGRA_DBG_UART_LCR_DLAB \ + (UART_LCR_0_DLAB_ENABLE << UART_LCR_0_DLAB_SHIFT) + +#define TEGRA_DBG_UART_IER_DLAB_IE_RHR \ + (UART_IER_DLAB_0_0_IE_RHR_ENABLE << UART_IER_DLAB_0_0_IE_RHR_SHIFT) + +#define TEGRA_DBG_UART_IIR_FCR (TEGRA_DBG_UART_BASE + UART_IIR_FCR_0) +#define TEGRA_DBG_UART_IIR_FCR_EN_FIFO \ + (UART_IIR_FCR_0_FCR_EN_FIFO_ENABLE << UART_IIR_FCR_0_FCR_EN_FIFO_SHIFT) +#define TEGRA_DBG_UART_IIR_FCR_RX_CLR \ + (UART_IIR_FCR_0_RX_CLR_CLEAR << UART_IIR_FCR_0_RX_CLR_SHIFT) +#define TEGRA_DBG_UART_IIR_FCR_TX_CLR \ + (UART_IIR_FCR_0_TX_CLR_CLEAR << UART_IIR_FCR_0_TX_CLR_SHIFT) + +#define TEGRA_DBG_UART_THR_DLAB (TEGRA_DBG_UART_BASE + UART_THR_DLAB_0_0) +#define TEGRA_DBG_UART_IER_DLAB (TEGRA_DBG_UART_BASE + UART_IER_DLAB_0_0) + +static bool inited = false; + +void dbg_init(void) +{ + uint32_t lcr = TEGRA_DBG_UART_LCR_WD_SIZE | TEGRA_DBG_UART_LCR_PAR | + TEGRA_DBG_UART_LCR_STOP; + + /* Setup UART to 8n1 */ +#ifdef TEGRA_DBG_UART_CLK + if (tegra_platform_is_silicon()) { + tegra_clk_set_rate(TEGRA_DBG_UART_CLK, TEGRA_DBG_UART_BAUD * 16); + tegra_clk_enable(TEGRA_DBG_UART_CLK); + tegra_clk_reset_clear(TEGRA_DBG_UART_RST); + } + + writel(lcr | TEGRA_DBG_UART_LCR_DLAB, TEGRA_DBG_UART_LCR); + writel(0x1, TEGRA_DBG_UART_THR_DLAB); /* Divider LSB */ + writel(0x0, TEGRA_DBG_UART_IER_DLAB); /* Divider MSB */ +#endif + writel(lcr, TEGRA_DBG_UART_LCR); + writel(0x0, TEGRA_DBG_UART_IIR_FCR); + writel(TEGRA_DBG_UART_IER_DLAB_IE_RHR, TEGRA_DBG_UART_IER_DLAB); + writel(TEGRA_DBG_UART_IIR_FCR_EN_FIFO,TEGRA_DBG_UART_IIR_FCR); + writel(TEGRA_DBG_UART_IIR_FCR_EN_FIFO | + TEGRA_DBG_UART_IIR_FCR_RX_CLR | + TEGRA_DBG_UART_IIR_FCR_TX_CLR, TEGRA_DBG_UART_IIR_FCR); + /* WAR to clear any pending interrupts after clearing the FIFOs */ + writel(0, TEGRA_DBG_UART_IER_DLAB); + writel(TEGRA_DBG_UART_IER_DLAB_IE_RHR, TEGRA_DBG_UART_IER_DLAB); + + inited = true; +} + +void dbg_3rdparty_init(void) +{ + inited = true; +} + +void dbg_putc(char c) +{ + if (!inited) + return; + + while (!(readl(TEGRA_DBG_UART_LSR) & TEGRA_DBG_UART_LSR_THRE)) + ; + writel(c, TEGRA_DBG_UART_TX); +} + +void dbg_putd(const char *d, uint32_t len) +{ + uint32_t i; + for (i = 0; i < len; i++) + dbg_putc(*d++); +} + +void dbg_puts(const char *s) +{ + while (*s) + dbg_putc(*s++); +} + +static char nibble_to_hex(uint32_t n) +{ + if (n < 10) + return '0' + n; + return 'a' + n - 10; +} + +void dbg_puthex8(uint32_t n) +{ + dbg_puts("0x"); + dbg_putc(nibble_to_hex((n >> 28) & 0xf)); + dbg_putc(nibble_to_hex((n >> 24) & 0xf)); + dbg_putc(nibble_to_hex((n >> 20) & 0xf)); + dbg_putc(nibble_to_hex((n >> 16) & 0xf)); + dbg_putc(nibble_to_hex((n >> 12) & 0xf)); + dbg_putc(nibble_to_hex((n >> 8) & 0xf)); + dbg_putc(nibble_to_hex((n >> 4) & 0xf)); + dbg_putc(nibble_to_hex( n & 0xf)); +} + +/* This lookup table avoids the integer division (div /= 10) */ +static uint32_t divisors[] = {1, 10, 100, 1000, 10000, 100000, 1000000, + 10000000, 100000000, 1000000000}; + +void dbg_putdec(uint32_t n) +{ + int32_t i; + bool keep_print = false; + uint32_t div; + uint32_t res; + + if (n == 0) { + dbg_putc('0'); + return; + } + + INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx"); + for (i = ARRAY_SIZE(divisors) - 1; i >= 0; i--) { + div = divisors[i]; + if (n >= div) { + keep_print = true; + res = n / div; + dbg_putc(res + '0'); + n -= res * div; + } else if (keep_print) { + dbg_putc('0'); + } + } +} + +int32_t vprintf_isr(const char *fmt, va_list ap) +{ + char msg[PRINTF_ISR_BUFSIZE]; + int32_t ret; + + ret = vsnprintf(msg, PRINTF_ISR_BUFSIZE, fmt, ap); + + if (ret > 0) + { + ret = (ret > PRINTF_ISR_BUFSIZE) ? PRINTF_ISR_BUFSIZE : ret; + dbg_putd(msg, ret); + } + + return ret; +} + +int32_t printf_isr(const char *fmt, ...) +{ + va_list args; + int32_t ret; + + va_start(args, fmt); + ret = vprintf_isr(fmt, args); + va_end(args); + + return ret; +} + +void dbg_flush(void) +{ + while (!(readl(TEGRA_DBG_UART_LSR) & TEGRA_DBG_UART_LSR_TMTY)) + ; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-datasizes-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-datasizes-nosafety-config.mk new file mode 100644 index 0000000..619c326 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-datasizes-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-datasizes-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_DATASIZES_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_DATASIZES_NOSAFETY_DEPENDS := +$(foreach _,$(MODULE_DATASIZES_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +DATASIZES_DIR = $(FSP_COMMON_REPO)/drivers/debug +MODULE_DATASIZES_NOSAFETY_SOURCE_DIR = $(DATASIZES_DIR) + +# +# Common includes '-I ' +MODULE_DATASIZES_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-datasizes-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-datasizes-nosafety.mk new file mode 100644 index 0000000..7a3df42 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-datasizes-nosafety.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-datasizes-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_DATASIZES_NOSAFETY_NAME := DATASIZES_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_DATASIZES_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_DATASIZES_NOSAFETY_DEPENDS := DATASIZES_NOSAFETY +$(foreach _,$(CONFIG_DATASIZES_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_DATASIZES_NOSAFETY_C_SRC = +MODULE_DATASIZES_NOSAFETY_C_SRC += $(DATASIZES_DIR)/datasizes.c + +# +# Assembly source +MODULE_DATASIZES_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_DATASIZES_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_DATASIZES_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-debug-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-debug-nosafety-config.mk new file mode 100644 index 0000000..e7ca230 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-debug-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-debug-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_DEBUG_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_DEBUG_NOSAFETY_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_DEBUG_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +DEBUG_DIR = $(FSP_COMMON_REPO)/drivers/debug +MODULE_DEBUG_NOSAFETY_SOURCE_DIR = $(DEBUG_DIR) + +# +# Common includes '-I ' +MODULE_DEBUG_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-debug-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-debug-nosafety.mk new file mode 100644 index 0000000..e46b1ef --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-debug-nosafety.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-debug-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_DEBUG_NOSAFETY_NAME := DEBUG_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_DEBUG_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_DEBUG_NOSAFETY_DEPENDS := DEBUG_NOSAFETY SOC CPL OSA +$(foreach _,$(CONFIG_DEBUG_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_DEBUG_NOSAFETY_C_SRC = +MODULE_DEBUG_NOSAFETY_C_SRC += $(DEBUG_DIR)/abort.c +MODULE_DEBUG_NOSAFETY_C_SRC += $(DEBUG_DIR)/assert.c +MODULE_DEBUG_NOSAFETY_C_SRC += $(DEBUG_DIR)/debug-wait.c + +# +# Assembly source +MODULE_DEBUG_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_DEBUG_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_DEBUG_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-lib-print-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-lib-print-nosafety-config.mk new file mode 100644 index 0000000..cb659a3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-lib-print-nosafety-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-lib-print-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIB_PRINT_NOSAFETY_CONFIG := 1 + +# +# Location of source code files +LIB_PRINT_DIR = $(FSP_COMMON_REPO)/drivers/debug +MODULE_LIB_PRINT_NOSAFETY_SOURCE_DIR = $(LIB_PRINT_DIR) + +# +# Common includes '-I ' +MODULE_LIB_PRINT_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-lib-print-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-lib-print-nosafety.mk new file mode 100644 index 0000000..d3198b0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-lib-print-nosafety.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-lib-print-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_LIB_PRINT_NOSAFETY_NAME := LIB_PRINT + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIB_PRINT_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_LIB_PRINT_NOSAFETY_DEPENDS := LIB_PRINT_NOSAFETY SOC +$(foreach _,$(CONFIG_LIB_PRINT_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_LIB_PRINT_NOSAFETY_C_SRC = +MODULE_LIB_PRINT_NOSAFETY_C_SRC += $(LIB_PRINT_DIR)/debug.c +MODULE_LIB_PRINT_NOSAFETY_C_SRC += $(LIB_PRINT_DIR)/print.c +MODULE_LIB_PRINT_NOSAFETY_C_SRC += $(LIB_PRINT_DIR)/retarget-stdio.c + +# +# Assembly source +MODULE_LIB_PRINT_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_LIB_PRINT_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_LIB_PRINT_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-standalone-print-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-standalone-print-nosafety-config.mk new file mode 100644 index 0000000..5062714 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-standalone-print-nosafety-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-standalone-print-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_STANDALONE_PRINT_NOSAFETY_CONFIG := 1 + +# +# Location of source code files +STANDALONE_PRINT_DIR = $(FSP_COMMON_REPO)/drivers/debug +MODULE_STANDALONE_PRINT_NOSAFETY_SOURCE_DIR = $(STANDALONE_PRINT_DIR) + +# +# Common includes '-I ' +MODULE_STANDALONE_PRINT_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/module-standalone-print-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/debug/module-standalone-print-nosafety.mk new file mode 100644 index 0000000..50b6044 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/module-standalone-print-nosafety.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-standalone-print-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_STANDALONE_PRINT_NOSAFETY_NAME := STANDALONE_PRINT + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_STANDALONE_PRINT_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_STANDALONE_PRINT_NOSAFETY_DEPENDS := STANDALONE_PRINT_NOSAFETY +$(foreach _,$(CONFIG_STANDALONE_PRINT_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_STANDALONE_PRINT_NOSAFETY_C_SRC = +MODULE_STANDALONE_PRINT_NOSAFETY_C_SRC += $(STANDALONE_PRINT_DIR)/debug-fmt.c +MODULE_STANDALONE_PRINT_NOSAFETY_C_SRC += $(STANDALONE_PRINT_DIR)/debug-print.c +MODULE_STANDALONE_PRINT_NOSAFETY_C_SRC += $(STANDALONE_PRINT_DIR)/debug-uart.c + +# +# Assembly source +MODULE_STANDALONE_PRINT_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_STANDALONE_PRINT_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_STANDALONE_PRINT_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/module-debug-nvriscv-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/module-debug-nvriscv-nosafety-config.mk new file mode 100644 index 0000000..e36cd9f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/module-debug-nvriscv-nosafety-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-debug-nvriscv-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_DEBUG_NVRISCV_NOSAFETY_CONFIG := 1 + +# +# Location of source code files +DEBUG_NVRISCV_DIR = $(FSP_COMMON_REPO)/drivers/debug/nvriscv +MODULE_DEBUG_NVRISCV_NOSAFETY_SOURCE_DIR = $(DEBUG_NVRISCV_DIR) + +# +# Common includes '-I ' +MODULE_DEBUG_NVRISCV_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/module-debug-nvriscv-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/module-debug-nvriscv-nosafety.mk new file mode 100644 index 0000000..666211f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/module-debug-nvriscv-nosafety.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-debug-nvriscv-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_DEBUG_NVRISCV_NOSAFETY_NAME := DEBUG_NVRISCV + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_DEBUG_NVRISCV_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_DEBUG_NVRISCV_NOSAFETY_DEPENDS := DEBUG_NVRISCV_NOSAFETY +$(foreach _,$(CONFIG_DEBUG_NVRISCV_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_DEBUG_NVRISCV_NOSAFETY_C_SRC = +MODULE_DEBUG_NVRISCV_NOSAFETY_C_SRC += $(DEBUG_NVRISCV_DIR)/print.c +MODULE_DEBUG_NVRISCV_NOSAFETY_C_SRC += $(DEBUG_NVRISCV_DIR)/vprintfmt.c + +# +# Assembly source +MODULE_DEBUG_NVRISCV_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_DEBUG_NVRISCV_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_DEBUG_NVRISCV_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/print.c b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/print.c new file mode 100644 index 0000000..aff65e1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/print.c @@ -0,0 +1,326 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include +#include + +/* Module-specific FSP headers */ +#include +#include +#include + +static bool bPrintEnabled = false; + +// +// Local copy of buffer metadata - we don't trust buffer shared with CPU. +// +static NVRISCV_DEBUG_BUFFER printBuffer; +static volatile uint8_t *printBufferData; + +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES +static uint32_t queueHeadAddr; +static uint32_t queueTailAddr; +#endif + +#if NVRISCV_CONFIG_DEBUG_PRINT_METADATA_IN_BUFFER +static volatile NVRISCV_DEBUG_BUFFER *printBufferTarget; +#endif + +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_SWGEN +static uint8_t printBufferInterrupt; // SWGEN 0 / 1 +#endif + +static const char s_hex_table[16] = "0123456789ABCDEF"; + +//------------------------------------------------------------------------------ +// Code +//------------------------------------------------------------------------------ +static bool printBufferIsFull(void) +{ + uint32_t wo; + + // Optimized modulo operation + wo = printBuffer.writeOffset + 1; + if (wo >= printBuffer.bufferSize) + { + wo -= printBuffer.bufferSize; + } + + +#if NVRISCV_CONFIG_DEBUG_PRINT_METADATA_IN_BUFFER + printBuffer.readOffset = printBufferTarget->readOffset; +#endif + +// Check queues (if enabled) *after* we read offset from buffer. That way +// both can be enabled, but queue takes precedence. +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES + // re-read register if we think we run out of buffer space + if (printBuffer.readOffset == wo) + { + printBuffer.readOffset = pri_read(queueTailAddr); + } +#endif + + return printBuffer.readOffset == wo; +} + +static void debugLogsFlush(void) +{ + // + // Ensure logs reach system memory, increment corresponding offset and + // send notification (interrupt) to client RM. + // MK TODO: maybe lightweight fence if there is no fbif? + // +#if !NVRISCV_HAS_FBIF || NVRISCV_WAR_FBIF_IS_DEAD + riscv_lw_fence_io(); +#else + riscv_fence_rw(); +#endif + +#if NVRISCV_PLATFORM_IS_CMOD +#if NVRISCV_CONFIG_DEBUG_PRINT_METADATA_IN_BUFFER + printBuffer.readOffset = printBufferTarget->readOffset; +#endif + + // This is based on Cmod print code + local_write(NV_PRGNLCL_FALCON_DEBUGINFO, 0x15c0de02); //start code + local_write(NV_PRGNLCL_FALCON_DEBUGINFO, 0x00000000); //number + while (printBuffer.readOffset != printBuffer.writeOffset) + { + local_write(NV_PRGNLCL_FALCON_DEBUGINFO, (uint32_t)(printBufferData[printBuffer.readOffset]) ); + // Optimized modulo operation + printBuffer.readOffset = printBuffer.readOffset + 1; + if (printBuffer.readOffset >= printBuffer.bufferSize) + { + printBuffer.readOffset -= printBuffer.bufferSize; + } + } + local_write(NV_PRGNLCL_FALCON_DEBUGINFO, 0x0e0dc0de); //end code + +#if NVRISCV_CONFIG_DEBUG_PRINT_METADATA_IN_BUFFER + printBufferTarget->readOffset = printBuffer.readOffset; +#endif +#else //NVRISCV_PLATFORM_IS_CMOD +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES + pri_write(queueHeadAddr, + printBuffer.writeOffset); +#endif + +#if NVRISCV_CONFIG_DEBUG_PRINT_METADATA_IN_BUFFER + printBufferTarget->writeOffset = printBuffer.writeOffset; +#endif + +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_SWGEN + if (printBufferInterrupt == 0) + local_write(NV_PRGNLCL_FALCON_IRQSSET, DRF_DEF(_PRGNLCL, _FALCON_IRQSSET, _SWGEN0, _SET)); + else + local_write(NV_PRGNLCL_FALCON_IRQSSET, DRF_DEF(_PRGNLCL, _FALCON_IRQSSET, _SWGEN1, _SET)); +#endif +#endif //NVRISCV_PLATFORM_IS_CMOD +} + +static void debugPutchar(int ch, void *pArg GCC_ATTR_UNUSED) +{ + // If buffer is full, notify client RM and stall GSP + if (printBufferIsFull()) + { + debugLogsFlush(); + do + { + } while (printBufferIsFull()); + } + + // Replace newline with null char for ease of displaying debug logs + if (ch == '\n') + { + ch = '\0'; + } + + printBufferData[printBuffer.writeOffset] = (uint8_t)ch; + + // Optimized modulo operation + printBuffer.writeOffset = printBuffer.writeOffset + 1; + if (printBuffer.writeOffset >= printBuffer.bufferSize) + { + printBuffer.writeOffset -= printBuffer.bufferSize; + } +} + +bool printInitEx(void *pBuffer, uint16_t bufferSize, uint32_t queueHeadPri, uint32_t queueTailPri, uint8_t swgenNo) +{ + if (pBuffer == NULL) + { + return false; + } + + if (bufferSize & 0x7) + { + return false; + } + + if (bufferSize < sizeof(printBuffer) + 16) + { + return false; + } + + if ((uintptr_t)pBuffer & 0x7) + { + return false; + } + +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES + queueHeadAddr = queueHeadPri; + queueTailAddr = queueTailPri; +#else + (void) queueHeadPri; + (void) queueTailPri; +#endif + +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_SWGEN + if (swgenNo > 1) + { + return false; + } + + printBufferInterrupt = swgenNo; +#else + (void) swgenNo; +#endif + + printBufferData = pBuffer; + printBuffer.readOffset = 0; + printBuffer.writeOffset = 0; + printBuffer.bufferSize = (uint32_t)bufferSize - (uint32_t)sizeof(printBuffer); + printBuffer.magic = NVRISCV_DEBUG_BUFFER_MAGIC; + + // Let last character be always null char for ease of displaying debug logs + printBufferData[printBuffer.bufferSize - 1] = '\0'; + +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES + printBuffer.readOffset = pri_read(queueTailAddr); + printBuffer.writeOffset = pri_read(queueHeadAddr); + + // Optimized modulo operation + if (printBuffer.writeOffset >= printBuffer.bufferSize) + { + printBuffer.writeOffset -= printBuffer.bufferSize; + pri_write(queueHeadAddr, printBuffer.writeOffset); + } +#endif + +#if NVRISCV_CONFIG_DEBUG_PRINT_METADATA_IN_BUFFER + printBufferTarget = (volatile NVRISCV_DEBUG_BUFFER *)(((uint8_t*)pBuffer) + bufferSize - sizeof(NVRISCV_DEBUG_BUFFER)); + printBufferTarget->readOffset = printBuffer.readOffset; + printBufferTarget->writeOffset = printBuffer.writeOffset; + printBufferTarget->bufferSize = printBuffer.bufferSize; + printBufferTarget->magic = printBuffer.magic; +#endif + + bPrintEnabled = true; + + return true; +} + +bool printInit(void *pBuffer, uint16_t bufferSize, + uint8_t queueNo GCC_ATTR_UNUSED, uint8_t swgenNo) +{ +#if NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES + (void) pBuffer; + (void) bufferSize; + (void) swgenNo; + return false; // We can't do queues with legacy print init, return error +#else + return printInitEx(pBuffer, bufferSize, 0, 0, swgenNo); +#endif // NVRISCV_CONFIG_DEBUG_PRINT_USES_QUEUES +} + + + +int putchar(int c) +{ + if (bPrintEnabled) + { + debugPutchar(c, 0); + debugLogsFlush(); + } + return 0; +} + +int puts(const char *pStr) +{ + if ((pStr != NULL) && bPrintEnabled) + { + for (; *pStr; pStr++) + { + debugPutchar(*pStr, 0); + } + debugLogsFlush(); + } + return 0; +} + +void putHex(unsigned count, unsigned long value) +{ + if (bPrintEnabled) + { + while (count) + { + count--; + putchar(s_hex_table[(value >> (count * 4)) & 0xF]); + } + debugLogsFlush(); + } +} + +int printf(const char *pFmt, ...) +{ + va_list ap; + + va_start(ap, pFmt); + + if (bPrintEnabled) + { + vprintfmt(debugPutchar, 0, pFmt, ap); + + debugLogsFlush(); + } + va_end(ap); + + return 0; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/vprintfmt.c b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/vprintfmt.c new file mode 100644 index 0000000..86fe07d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/nvriscv/vprintfmt.c @@ -0,0 +1,317 @@ +/* + * Copyright (c) 2013-2021, NVIDIA Corporation. All rights reserved. + * + * NVIDIA Corporation and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA Corporation is strictly prohibited. + */ + +/* + * This file originates from Tegra code base: + * Repo: git-master.nvidia.com:12001/tegra/bootloader/nvtboot + * Branch: Master + * Commit: 5dc8a5123649165aa9adca7d976e5df79d6bb176 + * File: common/lib/debug/nvtboot_debug.c + * File MD5: 9e36645a615840f2248bb9c195cd1d90 + * This code was mostly ported by Sukanto Ghosh (form previous Tegra bootloaders). + * + * libnvriscv version is branched off chips_a: + * //sw/dev/gpu_drv/chips_a/uproc/nvriscv/shlib/src/shlib/nv_vprintfmt.c#3 + */ + +/* Debug printf utilities, semihosting, assertion, etc */ +#include +#include +#include + +#include + +#define PRINTNUM_MAX_LEN 64 + +#if (__riscv_xlen == 32) +#define VPRINTFMT_UNSIGNE_LONG_TYPE unsigned long +#else // (__riscv_xlen == 32) +#define VPRINTFMT_UNSIGNE_LONG_TYPE unsigned long long +#endif // (__riscv_xlen == 32) + +static int s_printNum(void (*putch)(int, void*), void *putdat, + VPRINTFMT_UNSIGNE_LONG_TYPE n, int sign, int pad, + int alternate_form, unsigned radix, char padchar) +{ + static const char digits[] = "0123456789abcdefghijklmnopqrstuvwxyz"; + int len = 0; + int total; + VPRINTFMT_UNSIGNE_LONG_TYPE x = n; + + // calculate length + do + { + x /= radix; + len++; + } while (x > 0u); + + if (sign < 0) + { + len++; + } + + if (alternate_form) + { + if (radix == 8u) + { + len++; + } else if (radix == 16u) + { + len += 2; + } + } + + if (len > pad) + { + total = len; + pad = 0; + } + else + { + total = pad; + pad -= len; + } + + // pad + while (pad--) + { + putch(padchar, putdat); + } + + // write sign + if (sign < 0) + { + putch('-', putdat); + len--; + } + + // prefix '0x' (hex-values) or '0' (octal-values) + if (alternate_form) + { + if (radix == 8) + { + putch('0', putdat); + len--; + } else if (radix == 16) + { + putch('0', putdat); + putch('x', putdat); + len -= 2; + } + } + + // write integer + if (len > PRINTNUM_MAX_LEN) + { + len = PRINTNUM_MAX_LEN; + } + + { + char num[PRINTNUM_MAX_LEN]; + int i; + + x = n; + i = len; + while (i--) + { + num[i] = digits[x % radix]; + x /= radix; + } + for (i=0; i= '0') && (*arg <= '9')) + { + pad *= 10; + pad += (*(arg++)) - '0'; + } + + if (*arg == 'p') + { + // %p == %#lx + alternate_form = 1; + longint = 1; + } + + if (*arg == 'l') + { + arg++; + longint = 1; +#if (__riscv_xlen == 32) + if (*(arg) == 'l') + { + arg++; + longint = 2; + } +#endif // (__riscv_xlen == 32) + } + + switch (*(arg++)) + { + case 'i': + case 'd': + sign = 1; + __attribute__((fallthrough)); + case 'u': + base = 10; + __attribute__((fallthrough)); + case 'o': + if (!base) + base = 8; + __attribute__((fallthrough)); + case 'p': + case 'x': + case 'X': + { + VPRINTFMT_UNSIGNE_LONG_TYPE val; + + if (!base) + base = 16; + + if (longint == 2) + { + long long int tmp = va_arg(ap, long long int); + if ((sign) && (tmp < 0)) + { + sign = -1; + tmp = -tmp; + } + val = (VPRINTFMT_UNSIGNE_LONG_TYPE int)tmp; + } else if (longint == 1) + { + long int tmp = va_arg(ap, long int); + if ((sign) && (tmp < 0)) + { + sign = -1; + tmp = -tmp; + } + val = (unsigned long int)tmp; + } else + { + int tmp = va_arg(ap, int); + if ((sign) && (tmp < 0)) + { + sign = -1; + tmp = -tmp; + } + val = (unsigned int)tmp; + } + + wrote = s_printNum(putch, putdat, val, sign, pad, + alternate_form, (unsigned)base, padchar); + } + break; + case 's': + { + char* val = va_arg(ap, char *); + + wrote = 0; + while (val[wrote]) + { + putch(val[wrote], putdat); + wrote++; + } + + if (wrote == 0) + { + f = arg; + wrote = -2; + } + } + break; + case 'c': + { + char val = (char)va_arg(ap, unsigned); + + putch(val, putdat); + wrote = 1; + } + break; + case '%': + putch('%', putdat); + wrote = 1; + break; + default: + // unsupported, just return with whatever already printed + wrote = -1; + break; + } + + if (wrote >= 0) + f = arg; + } + + if (wrote == -1) + break; + + // put this after the previous if statement (wrote == 0) + if (wrote == -2) + { + wrote = 0; + } + + total += wrote; + } + + return total; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/print.c b/spe-freertos-bsp/fsp/source/drivers/debug/print.c new file mode 100644 index 0000000..d578abe --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/print.c @@ -0,0 +1,85 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for va_end, va_start +#include // for uint32_t +#include // for va_list, printf, vprintf + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for FSP__DEBUG__PRINT_H, print_driver, pri... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__PRINT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +static uint32_t print_log_level = PRINT_LEVEL_INFO; + +void print_message(uint32_t level, + const char *format, + ...) +{ + va_list args; + + if (level <= print_log_level) { + va_start(args, format); + vprintf(format, args); + va_end(args); + } +} + +void set_print_log_level(const uint32_t level) +{ + print_log_level = level; +} + +uint32_t get_print_log_level(void) +{ + return print_log_level; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/debug/retarget-stdio.c b/spe-freertos-bsp/fsp/source/drivers/debug/retarget-stdio.c new file mode 100644 index 0000000..b057a09 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/debug/retarget-stdio.c @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * ARM Standardlib STDIO retargeting for bare metal OS-less environment. + * + */ + +/* Compiler headers */ +#include // for FILE, fputc + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for dbg_putd, FSP__DEBUG__DEBUG_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__DEBUG__DEBUG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* FILE is typedef’d in stdio.h. */ +FILE __stdout; + +INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx") +int fputc(int ch, FILE *f) +{ + char tempch = ch; + + dbg_putd(&tempch, 1); + + return ch; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/external/ivclib/module-ivclib-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/external/ivclib/module-ivclib-nosafety-config.mk new file mode 100644 index 0000000..ffdba16 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/external/ivclib/module-ivclib-nosafety-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ivclib-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_IVCLIB_NOSAFETY_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_IVCLIB_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_IVCLIB_NOSAFETY_DEPENDS := CPL +$(foreach _,$(MODULE_IVCLIB_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_IVCLIB_NOSAFETY_DRIVERS_DIR = $(FSP_IVCLIB_REPO)/ivc +MODULE_IVCLIB_NOSAFETY_SOURCE_DIR = $(MODULE_IVCLIB_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_IVCLIB_NOSAFETY_INCLUDES = -I $(FSP_IVCLIB_REPO)/include diff --git a/spe-freertos-bsp/fsp/source/drivers/external/ivclib/module-ivclib-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/external/ivclib/module-ivclib-nosafety.mk new file mode 100644 index 0000000..abb3ba0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/external/ivclib/module-ivclib-nosafety.mk @@ -0,0 +1,60 @@ +# +# Copyright (c) 2020-2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ivclib-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_IVCLIB_NOSAFETY_NAME := IVCLIB_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_IVCLIB_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_IVCLIB_NOSAFETY_DEPENDS := IVCLIB_NOSAFETY +$(foreach _,$(CONFIG_IVCLIB_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_IVCLIB_NOSAFETY_C_SRC = +MODULE_IVCLIB_NOSAFETY_C_SRC += $(MODULE_IVCLIB_NOSAFETY_DRIVERS_DIR)/tegra-ivc.c +MODULE_IVCLIB_NOSAFETY_C_SRC += $(MODULE_IVCLIB_NOSAFETY_DRIVERS_DIR)/sivc.c + +# +# Special C Flags +MODULE_IVCLIB_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_IVCLIB_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/fbdma/fbdma.c b/spe-freertos-bsp/fsp/source/drivers/fbdma/fbdma.c new file mode 100644 index 0000000..8b008e1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/fbdma/fbdma.c @@ -0,0 +1,417 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2020-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +/*! + * @file fbdma.c + * @brief FBDMA driver + * + * Used to load data from FB to IMEM/DMEM and vice-versa. + */ + +#include +#include +#include + +#include +#include + +// +// MISRA 1.2 RFD: #pragma usage +// MISRA 4.9 RFD: function-like macros +// MISRA 15.1 RFD: Forward gotos +// MISRA 8.7 RFD: Functions with external linkage only referenced in one translation unit +// +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") + +#if NVRISCV_FEATURE_SCP +#include +#include + +#ifndef SCP_REGISTER_SIZE +#error "SCP_REGISTER_SIZE not defined!" +#endif + +CT_ASSERT(SCP_REGISTER_SIZE % DMA_BLOCK_SIZE_MIN == 0U, + "Minimum SCPDMA transfer size is not aligned to minimum FBDMA block size!"); +#endif + +#if (NVRISCV_IMEM_SIZE == 0U) || (NVRISCV_DMEM_SIZE == 0U) +#error "NVRISCV_IMEM_SIZE and NVRISCV_DMEM_SIZE must be configured" +#endif + +/** + * @brief Create a NV_PRGNLCL_FALCON_DMATRFCMD register value for a dma transfer + * + * @param[in] tcm_pa The RISCV PA for the TCM buffer. Must be aligned to DMA_BLOCK_SIZE_MIN, + * but DMA_BLOCK_SIZE_MAX alignement is optimal. + * @param[in] aperture_offset The external address (GPU PA or GPU VA) in the aperture + * determined by dma_idx. The type of memory to access is determined by FBIF_APERTURE_CFG.memType + * (on engines with FBIF) or by TFBIF_APERTURE_CFG.swid (on engines with TFBIF). + * memutils_riscv_pa_to_target_offset can be used to translate a RISCV PA to a GPU PA/VA suitable for + * this argument. Must be aligned to DMA_BLOCK_SIZE_MIN, but DMA_BLOCK_SIZE_MAX alignement + * is optimal. + * @param[in] size_bytes The number of bytes to transfer. Must have a granularity of + * DMA_BLOCK_SIZE_MIN, but DMA_BLOCK_SIZE_MAX granularity is optimal. + * @param[in] dma_idx Aperture index to use (0-7). + * @param[in] b_read_ext Transfer direction. true: External->TCM. false: TCM->External + * @param[out] p_dma_cmd The NV_PRGNLCL_FALCON_DMATRFCMD register value to use for this transfer. + * @param[out] p_tcm_offset The offset of tcm_pa from the start of its TCM. + * + * @return E_SUCCESS on success. + * E_INVALID_PARAM if tcm_pa is not a valid TCM address or if size_bytes, tcm_offset, + * or aperture_offset are not properly aligned. + */ +static error_t +create_dma_command( + uint64_t tcm_pa, + uint64_t size_bytes, + uint8_t dma_idx, + bool b_read_ext, + uint32_t *p_dma_cmd, + uint32_t *p_tcm_offset +) +{ + error_t status = E_SUCCESS; + bool b_tcm_imem = false; + uint32_t dma_cmd = 0; + uint32_t tcm_offset = 0; + uint64_t tcm_buf_end; + + // overflow check for tcm_pa + size_bytes + if ((UINT64_MAX - tcm_pa) < size_bytes) + { + status = E_INVALID_PARAM; + goto out; + } + else + { + tcm_buf_end = tcm_pa + size_bytes - 1U; + } + + // tcm_pa is in ITCM or DTCM? + if ((tcm_pa >= NV_RISCV_AMAP_IMEM_START) && + (tcm_buf_end < (NV_RISCV_AMAP_IMEM_START + (uint64_t)NVRISCV_IMEM_SIZE))) + { + b_tcm_imem = true; + tcm_offset = (uint32_t)((tcm_pa - NV_RISCV_AMAP_IMEM_START) & 0xFFFFFFFFU); + } + else if ((tcm_pa >= NV_RISCV_AMAP_DMEM_START) && + (tcm_buf_end < (NV_RISCV_AMAP_DMEM_START + (uint64_t)NVRISCV_DMEM_SIZE))) + { + tcm_offset = (uint32_t)((tcm_pa - NV_RISCV_AMAP_DMEM_START) & 0xFFFFFFFFU); + } + else + { + status = E_INVALID_PARAM; + goto out; + } + + if (b_tcm_imem) + { + dma_cmd = FLD_SET_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _IMEM, _TRUE, dma_cmd); + } + else + { + dma_cmd = FLD_SET_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _IMEM, _FALSE, dma_cmd); + dma_cmd = FLD_SET_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _SET_DMTAG, _TRUE, dma_cmd); + } + + if (b_read_ext) // Ext -> TCM + { + dma_cmd = FLD_SET_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _WRITE, _FALSE, dma_cmd); + } + else // TCM -> Ext + { + dma_cmd = FLD_SET_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _WRITE, _TRUE, dma_cmd); + } + + if (dma_idx <= DMA_MAX_DMAIDX) + { + dma_cmd = FLD_SET_DRF_NUM(_PRGNLCL, _FALCON_DMATRFCMD, _CTXDMA, dma_idx, dma_cmd); + } + else + { + status = E_INVALID_PARAM; + goto out; + } + + *p_dma_cmd = dma_cmd; + *p_tcm_offset = tcm_offset; + +out: + return status; +} + +/** + * @brief Kick off a DMA transfer between TCM PA and External memory + * + * @param[in] tcm_offset The offset of the TCM address from the start of that TCM. + * @param[in] aperture_offset The external address (GPU PA or GPU VA) in the aperture + * determined by dma_idx. This can be a GPU VA or GPU PA. + * @param[in] size_bytes The number of bytes to DMA. + * @param[in] dma_cmd The value to write into the NV_PRGNLCL_FALCON_DMATRFCMD register, + * excluding the size field. size will be determined inside this function. + * + * @return E_SUCCESS on success. + * E_INVALID_PARAM if aperture_offset is not a valid address or size_bytes, tcm_pa, + * or aperture_offset do not meet minimum alignment requirements. + * + * @pre The FBIF/TFBIF aperture referenced by dma_idx must have been configured by + * fbifConfigureAperture or tfbifConfigureAperture. If the aperture is configured + * to use a GPU VA, a context must be bound. + */ +static error_t +fbdma_xfer( + uint32_t tcm_offset, + uint64_t aperture_offset, + uint64_t size_bytes, + uint32_t dma_cmd +) +{ + error_t err = E_SUCCESS; + uint32_t dma_block_size; + uint8_t dma_enc_block_size; + uint32_t current_tcm_offset = tcm_offset; + uint64_t bytes_remaining = size_bytes; + uint32_t dma_cmd_with_block_size = dma_cmd; + uint32_t fb_offset; + + if (((aperture_offset | size_bytes | tcm_offset) & (DMA_BLOCK_SIZE_MIN - 1U)) != 0U) + { + err = E_INVALID_PARAM; + goto out; + } + + // When REQUIRE_CTX = true, DMAs without a CTX bound will report idle immediately but won't actually be issued + local_write(NV_PRGNLCL_FALCON_DMACTL, + DRF_DEF(_PRGNLCL, _FALCON_DMACTL, _REQUIRE_CTX, _FALSE)); + + // + // Break up aperture_offset into a base/offset to be used in DMATRFBASE, TRFFBOFFS + // Note: We cannot use current_tcm_offset for both TRFMOFFS and TRFFBOFFS because this + // would require us to calculate a DMATRFBASE value by subtracting + // (aperture_offset - current_tcm_offset) and this may result in a misaligned value + // which we cannot program into DMATRFBASE. + // + fb_offset = (uint32_t) (aperture_offset & 0xFFU); + + // Check for overflows (CERT-C INT30 violation in current_tcm_offset += dma_block_size; fb_offset += dma_block_size;) + // There is no codepath which allows current_tcm_offset + size_bytes to overflow. This check is just to appease CERT-C. + if (((UINT64_MAX - current_tcm_offset) < size_bytes) || + ((UINT64_MAX - fb_offset) < size_bytes)) + { + err = E_INVALID_PARAM; + goto out; + } + + local_write(NV_PRGNLCL_FALCON_DMATRFBASE, (uint32_t)((aperture_offset >> 8U) & 0xffffffffU)); +#ifdef NV_PRGNLCL_FALCON_DMATRFBASE1 + local_write(NV_PRGNLCL_FALCON_DMATRFBASE1, (uint32_t)(((aperture_offset >> 8U) >> 32U) & 0xffffffffU)); +#else //NV_PRGNLCL_FALCON_DMATRFBASE1 + if ((((aperture_offset >> 8U) >> 32U) & 0xffffffffU) != 0U) + { + err = E_INVALID_PARAM; + goto out; + } +#endif //NV_PRGNLCL_FALCON_DMATRFBASE1 + + while (bytes_remaining != 0U) + { + // Wait if we're full + while (FLD_TEST_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _FULL, _TRUE, local_read(NV_PRGNLCL_FALCON_DMATRFCMD))) + { + } + + local_write(NV_PRGNLCL_FALCON_DMATRFMOFFS, current_tcm_offset); // This is fine as long as caller does error checking. + local_write(NV_PRGNLCL_FALCON_DMATRFFBOFFS, fb_offset); + + // Determine the largest pow2 block transfer size of the remaining data + dma_block_size = LOWESTBIT(current_tcm_offset | fb_offset | DMA_BLOCK_SIZE_MAX); + + // Reduce the dma_block_size to not exceed remaining data. + while (dma_block_size > bytes_remaining) + { + dma_block_size >>= 1U; + } + + // Convert the pow2 block size to block size encoding + dma_enc_block_size = (uint8_t)BIT_IDX_32(dma_block_size / DMA_BLOCK_SIZE_MIN); + dma_cmd_with_block_size = FLD_SET_DRF_NUM(_PRGNLCL, _FALCON_DMATRFCMD, _SIZE, dma_enc_block_size, dma_cmd); + + local_write(NV_PRGNLCL_FALCON_DMATRFCMD, dma_cmd_with_block_size); + + bytes_remaining -= dma_block_size; + current_tcm_offset += dma_block_size; + fb_offset += dma_block_size; + } + +out: + return err; +} + +error_t +fbdma_pa +( + uint64_t tcm_pa, + uint64_t aperture_offset, + uint64_t size_bytes, + uint8_t dma_idx, + bool b_read_ext +) +{ + error_t ret; + uint32_t tcm_offset; + uint32_t dma_cmd; + + ret = create_dma_command(tcm_pa, size_bytes, dma_idx, b_read_ext, &dma_cmd, &tcm_offset); + if (ret != E_SUCCESS) + { + goto out; + } + + // Nothing to copy, bail after checks + if (size_bytes == 0U) + { + ret = E_SUCCESS; + goto out; + } + + ret = fbdma_xfer(tcm_offset, aperture_offset, size_bytes, dma_cmd); + if (ret != E_SUCCESS) + { + goto out; + } + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + ret = fbdma_wait_completion(); + +out: + return ret; +} + +error_t +fbdma_pa_async(uint64_t tcm_pa, + uint64_t aperture_offset, + uint64_t size_bytes, + uint8_t dma_idx, + bool b_read_ext +) +{ + error_t ret; + uint32_t tcm_offset; + uint32_t dma_cmd; + + ret = create_dma_command(tcm_pa, size_bytes, dma_idx, b_read_ext, &dma_cmd, &tcm_offset); + if (ret != E_SUCCESS) + { + goto out; + } + + // Nothing to copy, bail after checks + if (size_bytes == 0U) + { + ret = E_SUCCESS; + goto out; + } + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + ret = fbdma_xfer(tcm_offset, aperture_offset, size_bytes, dma_cmd); + +out: + return ret; +} + +error_t +fbdma_wait_completion(void) +{ + error_t err = E_SUCCESS; + uint32_t dmatrfcmd; + uint32_t dmainfo; + + // Wait for completion of any remaining transfers + do { + dmatrfcmd = local_read(NV_PRGNLCL_FALCON_DMATRFCMD); + } + while (FLD_TEST_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _IDLE, _FALSE, dmatrfcmd)); + + if (FLD_TEST_DRF(_PRGNLCL, _FALCON_DMATRFCMD, _ERROR, _TRUE, dmatrfcmd)) + { + err = E_FAULT; + goto out; + } + + dmainfo = local_read(NV_PRGNLCL_FALCON_DMAINFO_CTL); + if (FLD_TEST_DRF(_PRGNLCL, _FALCON_DMAINFO_CTL, _INTR_ERR_COMPLETION, _TRUE, dmainfo)) + { + // Received DMA NACK, clear it and return error + dmainfo = FLD_SET_DRF(_PRGNLCL, _FALCON_DMAINFO_CTL, _INTR_ERR_COMPLETION, _CLR, dmainfo); + local_write(NV_PRGNLCL_FALCON_DMAINFO_CTL, dmainfo); + err = E_BUSY; + goto out; + } + +out: + return err; +} + +#if NVRISCV_FEATURE_SCP || defined(TEST_SCPTOEXTMEM) +error_t +fbdma_scp_to_extmem( + uint64_t aperture_offset, + uint64_t size_bytes, + uint8_t dma_idx +) +{ + error_t ret; + + // Nothing to copy + if (size_bytes == 0U) + { + return E_SUCCESS; + } + + if ((((size_bytes | aperture_offset) & (SCP_REGISTER_SIZE - 1U)) != 0U) || + (dma_idx > DMA_MAX_DMAIDX)) + { + return E_INVALID_PARAM; + } + + // + // Set dma_cmd: + // - write to Extmem + // - enable direct bypass shortcut path from SCP + // - dma_idx + // + uint32_t dma_cmd = DRF_DEF(_PRGNLCL, _FALCON_DMATRFCMD, _WRITE, _TRUE) | + DRF_NUM(_PRGNLCL, _FALCON_DMATRFCMD, _SEC, 2U) | + DRF_NUM(_PRGNLCL, _FALCON_DMATRFCMD, _CTXDMA, dma_idx); + + // + // call fbdma_xfer with tcm_offset=0, since this value won't get used anyways: + // Data is sourced from SCP. + // + ret = fbdma_xfer(0U, aperture_offset, size_bytes, dma_cmd); + if (ret != E_SUCCESS) + { + return ret; + } + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + return fbdma_wait_completion(); +} +#endif // NVRISCV_FEATURE_SCP + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/fbdma/fbif.c b/spe-freertos-bsp/fsp/source/drivers/fbdma/fbif.c new file mode 100644 index 0000000..1275e97 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/fbdma/fbif.c @@ -0,0 +1,101 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +/*! + * @file fbif.c + * @brief FBIF driver + * + * Used to configure FBIF apertures + */ + +#include +#include + +#include +#include + +// +// MISRA 4.9 RFD: function-like macros +// MISRA 15.1 RFD: Forward gotos +// MISRA 8.7 RFD: Functions with external linkage only referenced in one translation unit +// +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") + +//The register manual currently doesn't define this as an indexed field. +//Because of this, we need to define our own. We have asked the hardware +//Folks to provide an indexed field definition in the manuals, so we don't +//need to do this here. +#define NV_PRGNLCL_FBIF_REGIONCFG_T_XMSB(i) (((i)*4U)+3U) +#define NV_PRGNLCL_FBIF_REGIONCFG_T_XLSB(i) ((i)*4U) + +error_t +fbif_configure_aperture +( + const fbif_aperture_cfg_t *p_cfgs, + uint8_t num_cfgs +) +{ + error_t err = E_SUCCESS; + uint8_t idx; + uint32_t regioncfg; + + if (p_cfgs == NULL) + { + err = E_INVALID_PARAM; + goto out; + } + + regioncfg = local_read(NV_PRGNLCL_FBIF_REGIONCFG); + + for (idx = 0U; idx < num_cfgs; idx++) + { + if ((p_cfgs[idx].aperture_idx >= FBIF_NUM_APERTURES) || + (p_cfgs[idx].target >= FBIF_TRANSCFG_TARGET_COUNT) || + (p_cfgs[idx].l2c_wr >= FBIF_TRANSCFG_L2C_COUNT) || + (p_cfgs[idx].l2c_rd >= FBIF_TRANSCFG_L2C_COUNT) || + (p_cfgs[idx].region_id >= (1U << DRF_SIZE(NV_PRGNLCL_FBIF_REGIONCFG_T0))) + ) + { + err = E_INVALID_PARAM; + goto out; + } + + regioncfg = FLD_IDX_SET_DRF_NUM(_PRGNLCL, _FBIF_REGIONCFG, _T, + p_cfgs[idx].aperture_idx, p_cfgs[idx].region_id, regioncfg); + + local_write(NV_PRGNLCL_FBIF_TRANSCFG((uint32_t)p_cfgs[idx].aperture_idx), + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _TARGET, p_cfgs[idx].target) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _MEM_TYPE, + ((p_cfgs[idx].b_target_va) ? + NV_PRGNLCL_FBIF_TRANSCFG_MEM_TYPE_VIRTUAL : NV_PRGNLCL_FBIF_TRANSCFG_MEM_TYPE_PHYSICAL)) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _L2C_WR, p_cfgs[idx].l2c_wr) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _L2C_RD, p_cfgs[idx].l2c_rd) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _WACHK0, p_cfgs[idx].b_fbif_transcfg_wachk0_enable ? 1 : 0) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _WACHK1, p_cfgs[idx].b_fbif_transcfg_wachk1_enable ? 1 : 0) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _RACHK0, p_cfgs[idx].b_fbif_transcfg_rachk0_enable ? 1 : 0) | + DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _RACHK1, p_cfgs[idx].b_fbif_transcfg_rachk1_enable ? 1 : 0) +#ifdef NV_PRGNLCL_FBIF_TRANSCFG_ENGINE_ID_FLAG + //Some instances of the FBIF do not have this field + | DRF_NUM(_PRGNLCL, _FBIF_TRANSCFG, _ENGINE_ID_FLAG, p_cfgs[idx].b_engine_id_flag_own ? 1 : 0) +#endif //NV_PRGNLCL_FBIF_TRANSCFG_ENGINE_ID_FLAG + ); + } + + local_write(NV_PRGNLCL_FBIF_REGIONCFG, regioncfg); + +out: + return err; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/fbdma/memutils.c b/spe-freertos-bsp/fsp/source/drivers/fbdma/memutils.c new file mode 100644 index 0000000..5d32535 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/fbdma/memutils.c @@ -0,0 +1,144 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +#include +#include +#include + +#include + +#include +#include + +// +// MISRA 4.9 RFD: function-like macros +// MISRA 15.1 RFD: Forward gotos +// MISRA 8.7 RFD: Functions with external linkage only referenced in one translation unit +// +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") + +#if NVRISCV_HAS_FBIF +#include +#endif // NVRISCV_HAS_FBIF + +#if NVRISCV_HAS_FBIF +error_t +memutils_riscv_pa_to_fbif_aperture +( + uintptr_t pa, + fbif_transcfg_target_t *p_target, + uint64_t *p_offset +) +{ + riscv_mem_target_t mem_target; + error_t status; + + if (p_target == NULL) + { + status = E_INVALID_PARAM; + goto out; + } + + // Obtain the memory target and offset for the provided physical address. + status = memutils_riscv_pa_to_target_offset(pa, &mem_target, p_offset); + if(status != E_SUCCESS) + { + goto out; + } + + // Translate the memory target to its corresponding FBIF target. + switch (mem_target) + { + case RISCV_MEM_TARGET_FBGPA: + *p_target = FBIF_TRANSCFG_TARGET_LOCAL_FB; + break; + + case RISCV_MEM_TARGET_SYSGPA: + // + // Just assume coherent here as this value is meant to be + // passed to dmaPa() anyway. + // + *p_target = FBIF_TRANSCFG_TARGET_COHERENT_SYSTEM; + break; + + default: + status = E_INVALID_PARAM; + break; + } + +out: + return status; +} +#endif // NVRISCV_HAS_FBIF + +error_t +memutils_riscv_pa_to_target_offset +( + uintptr_t pa, + riscv_mem_target_t *p_target, + uint64_t *p_offset +) +{ + error_t status = E_SUCCESS; + riscv_mem_target_t target; + uint64_t offset; + + // Determine which memory region pa resides in. + if (memutils_mem_addr_in_range(pa, NV_RISCV_AMAP_IMEM_START, NV_RISCV_AMAP_IMEM_END)) + { + target = RISCV_MEM_TARGET_IMEM; + offset = pa - NV_RISCV_AMAP_IMEM_START; + } + else if (memutils_mem_addr_in_range(pa, NV_RISCV_AMAP_DMEM_START, NV_RISCV_AMAP_DMEM_END)) + { + target = RISCV_MEM_TARGET_DMEM; + offset = pa - NV_RISCV_AMAP_DMEM_START; + } +#ifdef NV_RISCV_AMAP_FBGPA_START + else if (memutils_mem_addr_in_range(pa, NV_RISCV_AMAP_FBGPA_START, NV_RISCV_AMAP_FBGPA_END)) + { + target = RISCV_MEM_TARGET_FBGPA; + offset = pa - NV_RISCV_AMAP_FBGPA_START; + } +#endif // NV_RISCV_AMAP_FBGPA_START +#ifdef NV_RISCV_AMAP_SYSGPA_START + else if (memutils_mem_addr_in_range(pa, NV_RISCV_AMAP_SYSGPA_START, NV_RISCV_AMAP_SYSGPA_END)) + { + target = RISCV_MEM_TARGET_SYSGPA; + offset = pa - NV_RISCV_AMAP_SYSGPA_START; + } +#endif // NV_RISCV_AMAP_SYSGPA_START + else + { + // Not a supported memory region. + status = E_INVALID_PARAM; + goto out; + } + + // Return target/offset information as requested. + if (p_target != NULL) + { + *p_target = target; + } + + if (p_offset != NULL) + { + *p_offset = offset; + } + +out: + return status; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/fbdma/module-fbdma-config.mk b/spe-freertos-bsp/fsp/source/drivers/fbdma/module-fbdma-config.mk new file mode 100644 index 0000000..d35dcbe --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/fbdma/module-fbdma-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-fbdma-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FBDMA_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_FBDMA_DEPENDS := CPL FSP_COMMON +$(foreach _,$(MODULE_FBDMA_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_FBDMA_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/fbdma +MODULE_FBDMA_SOURCE_DIR = $(MODULE_FBDMA_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_FBDMA_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/fbdma/module-fbdma.mk b/spe-freertos-bsp/fsp/source/drivers/fbdma/module-fbdma.mk new file mode 100644 index 0000000..4e1f372 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/fbdma/module-fbdma.mk @@ -0,0 +1,77 @@ +# +# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-fbdma.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_FBDMA_NAME := FBDMA + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FBDMA_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_FBDMA_DEPENDS := FBDMA CPL +$(foreach _,$(CONFIG_FBDMA_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_FBDMA_C_SRC = + +MODULE_FBDMA_C_SRC += $(MODULE_FBDMA_DRIVERS_DIR)/memutils.c + +ifeq ($(NVRISCV_FEATURE_DMA),y) +ifeq ($(NVRISCV_HAS_FBDMA),y) +MODULE_FBDMA_C_SRC += $(MODULE_FBDMA_DRIVERS_DIR)/fbdma.c +endif +endif + +ifeq ($(NVRISCV_HAS_FBIF),y) +MODULE_FBDMA_C_SRC += $(MODULE_FBDMA_DRIVERS_DIR)/fbif.c +endif + +ifeq ($(NVRISCV_HAS_TFBIF),y) +MODULE_FBDMA_C_SRC += $(MODULE_FBDMA_DRIVERS_DIR)/tfbif.c +endif + +# +# Assembly source +MODULE_FBDMA_ASM_SRC = + +# +# Special C Flags +MODULE_FBDMA_C_FLAGS = + +# +# Special ASM Flags +MODULE_FBDMA_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/fbdma/tfbif.c b/spe-freertos-bsp/fsp/source/drivers/fbdma/tfbif.c new file mode 100644 index 0000000..474dd25 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/fbdma/tfbif.c @@ -0,0 +1,106 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2020-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +/*! + * @file tfbif.c + * @brief TFBIF driver + * + * Used to configure TFBIF apertures + */ + +#include +#include + +#include +#include + +// +// MISRA 4.9 RFD: function-like macros +// MISRA 15.1 RFD: Forward gotos +// MISRA 8.7 RFD: Functions with external linkage only referenced in one translation unit +// +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") + + +//The register manuals currently don't define these as indexed fields. +//Because of this, we need to define our own. We have asked the hardware +//Folks to provide indexed field definitions in the manuals, so we don't +//need to do this here. +#define NV_PRGNLCL_TFBIF_TRANSCFG_ATT_SWID(i) ((i)*4u+1U):((i)*4U) +#define NV_PRGNLCL_TFBIF_TRANSCFG_ATT_SWID_XMSB(i) ((i)*4U+1U) +#define NV_PRGNLCL_TFBIF_TRANSCFG_ATT_SWID_XLSB(i) ((i)*4U) + +#define NV_PRGNLCL_TFBIF_REGIONCFG_T_VPR(i) ((i)*4U+3U):((i)*4U+3U) +#define NV_PRGNLCL_TFBIF_REGIONCFG_T_VPR_XMSB(i) ((i)*4U+3U) +#define NV_PRGNLCL_TFBIF_REGIONCFG_T_VPR_XLSB(i) ((i)*4U+3U) + +#define NV_PRGNLCL_TFBIF_REGIONCFG1_T_APERT_ID(i) ((i)*8U+4U):((i)*8U) +#define NV_PRGNLCL_TFBIF_REGIONCFG1_T_APERT_ID_XMSB(i) ((i)*8U+4U) +#define NV_PRGNLCL_TFBIF_REGIONCFG1_T_APERT_ID_XLSB(i) ((i)*8U) + +#define NV_PRGNLCL_TFBIF_REGIONCFG2_T_APERT_ID(i) (((i)-4U)*8U+4U):(((i)-4U)*8U) +#define NV_PRGNLCL_TFBIF_REGIONCFG2_T_APERT_ID_XMSB(i) (((i)-4U)*8U+4U) +#define NV_PRGNLCL_TFBIF_REGIONCFG2_T_APERT_ID_XLSB(i) (((i)-4U)*8U) + +error_t +tfbif_configure_aperture +( + const tfbif_aperture_cfg_t *p_cfgs, + uint8_t num_cfgs +) +{ + error_t err = E_SUCCESS; + uint8_t idx; + uint32_t transcfg, regioncfg, regioncfg1, regioncfg2; + + if (p_cfgs == NULL) + { + err = E_INVALID_PARAM; + goto out; + } + + transcfg = local_read(NV_PRGNLCL_TFBIF_TRANSCFG); + regioncfg = local_read(NV_PRGNLCL_TFBIF_REGIONCFG); + regioncfg1 = local_read(NV_PRGNLCL_TFBIF_REGIONCFG1); + regioncfg2 = local_read(NV_PRGNLCL_TFBIF_REGIONCFG2); + + for (idx = 0; idx < num_cfgs; idx++) + { + if (p_cfgs[idx].aperture_idx >= TFBIF_NUM_APERTURES || + p_cfgs[idx].swid >= (1 << DRF_SIZE(NV_PRGNLCL_TFBIF_TRANSCFG_ATT0_SWID)) || + p_cfgs[idx].aperture_id >= (1 << DRF_SIZE(NV_PRGNLCL_TFBIF_REGIONCFG1_T0_APERT_ID)) + ) + { + err = E_INVALID_PARAM; + goto out; + } + + transcfg = FLD_IDX_SET_DRF_NUM(_PRGNLCL, _TFBIF_TRANSCFG, _ATT_SWID, p_cfgs[idx].aperture_idx, p_cfgs[idx].swid, transcfg); + regioncfg = FLD_IDX_SET_DRF_NUM(_PRGNLCL, _TFBIF_REGIONCFG, _T_VPR, p_cfgs[idx].aperture_idx, p_cfgs[idx].b_vpr, regioncfg); + if (p_cfgs[idx].aperture_idx <= 3) + { + regioncfg1 = FLD_IDX_SET_DRF_NUM(_PRGNLCL, _TFBIF_REGIONCFG1, _T_APERT_ID, p_cfgs[idx].aperture_idx, p_cfgs[idx].aperture_id, regioncfg1); + } + else + { + regioncfg2 = FLD_IDX_SET_DRF_NUM(_PRGNLCL, _TFBIF_REGIONCFG2, _T_APERT_ID, p_cfgs[idx].aperture_idx - 4, p_cfgs[idx].aperture_id, regioncfg2); + } + } + + local_write(NV_PRGNLCL_TFBIF_TRANSCFG, transcfg); + local_write(NV_PRGNLCL_TFBIF_REGIONCFG, regioncfg); + local_write(NV_PRGNLCL_TFBIF_REGIONCFG1, regioncfg1); + local_write(NV_PRGNLCL_TFBIF_REGIONCFG2, regioncfg2); + +out: + return err; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/gpcdma/gpcdma.c b/spe-freertos-bsp/fsp/source/drivers/gpcdma/gpcdma.c new file mode 100644 index 0000000..e140286 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/gpcdma/gpcdma.c @@ -0,0 +1,1025 @@ +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_1_2 \"Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx\") \ + (deviate MISRA_C_2012_Directive_4_8 \"Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx\")") +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t, uint8_t, UINT32_... +#include // for NULL + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // IWYU pragma: keep +#include // GPCDMA_CHANNEL_CH... + +/* Hardware headers */ +#include // NV_DRF_* macros + +/* Late FSP headers */ +#include // for fsp_c_v_ptr_to_u32 +#include // for error_t, E_SUCCESS +#include // for in_interrupt, irq_safe_enable, irq_safe_set... +#include // for UNUSED +#include // for BIT, bit_number, FSP__MISC__BITOPS_H +#include // for ARRAY_SIZE +#include // for readl_base_offset, writel_base_of... +#include // for ASSERT, ... +#include // for udelay +#include // for smp_unlock_irqrestore, smp_loc... + +/* Module specific headers */ +#include // for E_GPCDMA_NULL_PTR, E_GPCDMA_... +#include // Immune from CT_ASSERT protection +#include // for struct gpcdma_id, gpcdma_channel... +#include // for gpcdma_port_... +#include // for gpcdma_xfer and gpcdma_* apis + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__ARGPCDMA_DEFS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOCK__SMPLOCK_UP_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define GPCDMA_ADDR_MASK 0xFFFFFFFFUL +#define GPCDMA_HI_ADDR_MASK 0xFFU +#define GPCDMA_HI_ADDR_SHIFT 32UL + +SECTION_GPCDMA_TEXT static inline uint32_t +gpcdma_chan_readl(const struct gpcdma_channel *dma_chan, + uint32_t reg) +{ + return readl_base_offset(dma_chan->chan_base, reg); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_chan_writel(const struct gpcdma_channel *dma_chan, + uint32_t val, + uint32_t reg) +{ + writel_base_regoffset(val, dma_chan->chan_base, reg); +} + +SECTION_GPCDMA_TEXT static inline bool +gpcdma_chan_is_valid(const struct gpcdma_id *id, + uint32_t chan_num) +{ + return (chan_num < ARRAY_SIZE(id->channels)); +} + +SECTION_GPCDMA_TEXT static inline struct +gpcdma_channel *gpcdma_chan(const struct gpcdma_id *id, + uint32_t chan_num) +{ + return id->channels[chan_num]; +} + +SECTION_GPCDMA_TEXT static inline uint32_t +gpcdma_chan_base(const struct gpcdma_id *id, + uint32_t chan) +{ + const uint32_t channel_stride = GPCDMA_CHANNEL_CH1_CSR_0 - + GPCDMA_CHANNEL_CH0_CSR_0; + + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + return id->conf.base_addr + (chan * channel_stride); +} + +#if defined(HW_BUG_200667678) && (HW_BUG_200667678 == 1) +SECTION_GPCDMA_TEXT static inline void +gpcdma_disable_virtualization(const struct gpcdma_id *id) +{ + writel_base_regoffset(0UL, id->conf.base_addr, + GPCDMA_COMMON_DMA_CHAN_VIRTUALIZATION_ENABLE_0); +} +#endif + +/* Create list of buffers each equal to period_len for the cyclic mode */ +SECTION_GPCDMA_TEXT static error_t +gpcdma_create_list(struct gpcdma_xfer const *transfer, uint32_t id) +{ + struct gpcdma_buf_desc desc; + uint32_t el_cnt, period_len, rem_len; + uint64_t src_addr, dst_addr, cont_buf, const_buf; + error_t ret = E_SUCCESS; + + dst_addr = transfer->dst_addr; + src_addr = transfer->src_addr; + rem_len = transfer->xfer_count; + period_len = transfer->period_len; + el_cnt = rem_len / period_len; + + if (transfer->direction == GPCDMA_XFER_DIR_IO_TO_MEM) { + cont_buf = dst_addr; + const_buf = src_addr; + } else { + cont_buf = src_addr; + const_buf = dst_addr; + } + + ret = gpcdma_port_init_queue(id, el_cnt, sizeof(struct gpcdma_buf_desc)); + + if (ret != E_SUCCESS) { + goto out_no_del; + } + + while ((rem_len != 0UL) && (ret == E_SUCCESS)) { + if (transfer->direction == GPCDMA_XFER_DIR_IO_TO_MEM) { + desc.src_addr = (uint32_t)(const_buf & GPCDMA_ADDR_MASK); + desc.dst_addr = (uint32_t)(cont_buf & GPCDMA_ADDR_MASK); + desc.hi_src_addr = (uint32_t)((const_buf >> GPCDMA_HI_ADDR_SHIFT) & + GPCDMA_HI_ADDR_MASK); + desc.hi_dst_addr = (uint32_t)((cont_buf >> GPCDMA_HI_ADDR_SHIFT) & + GPCDMA_HI_ADDR_MASK); + } else { + desc.src_addr = (uint32_t)(cont_buf & GPCDMA_ADDR_MASK); + desc.dst_addr = (uint32_t)(const_buf & GPCDMA_ADDR_MASK); + desc.hi_src_addr = (uint32_t)((cont_buf >> GPCDMA_HI_ADDR_SHIFT) & + GPCDMA_HI_ADDR_MASK); + desc.hi_dst_addr = (uint32_t)((const_buf >> GPCDMA_HI_ADDR_SHIFT) & + GPCDMA_HI_ADDR_MASK); + } + ret = gpcdma_port_send_desc_to_back(id, (void *)&desc, 0UL, false); + + if (ret != E_SUCCESS) { + continue; + } + + if (rem_len < period_len) { + ret = E_GPCDMA_INVALID_PARAM; + } else { + rem_len -= period_len; + } + + if ((UINT64_MAX - cont_buf) < period_len) { + ret = E_GPCDMA_INVALID_PARAM; + } else { + cont_buf += period_len; + } + } + + if (ret != E_SUCCESS) { + gpcdma_port_delete_queue(id); + } + +out_no_del: + return ret; +} +/* End of cyclic mode codes */ + +SECTION_GPCDMA_TEXT static inline uint32_t +gpcdma_wcount_to_wrap_sz(uint32_t wcount, + bool io_wrap) +{ + uint32_t wrap = 0UL; + + if (wcount == 0UL) { + goto out; + } + + /* + * mmio address wrap : 2^n where n ranges from 0 to 6 + * mc address wrap : 2^n where n ranges from 5 to 11 + */ + wrap = io_wrap ? (bit_number(wcount) + 1UL) : + ((bit_number(wcount) + 1UL) - 5UL); + +out: + return wrap; +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_configure_wcount(const struct gpcdma_channel *dma_chan) +{ + /* + * byte count register expects the value to be in words. + * Value N means (N + 1) words transfer request size. + */ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, Example-5, DR: SWE-FSP-046-SWSADR.docx"); + gpcdma_chan_writel(dma_chan, (dma_chan->words_to_xfer - 1UL), + GPCDMA_CHANNEL_CH0_WCOUNT_0); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_configure_mc_sequencer(const struct gpcdma_channel *dma_chan, + const struct gpcdma_xfer *xfer, + bool src_io, + bool dst_io) +{ + uint32_t val; + uint32_t mc_src_wrap, mc_dst_wrap; + + mc_src_wrap = src_io ? 0UL : + gpcdma_wcount_to_wrap_sz(xfer->src_addr_wrap, false); + mc_dst_wrap = dst_io ? 0UL : + gpcdma_wcount_to_wrap_sz(xfer->dst_addr_wrap, false); + + /* + * FIXME: Figure out a way to drive this burst size by xfer->burst_size. + */ + val = NV_DRF_DEF(GPCDMA, CHANNEL_CH0_MC_SEQ, MC_BURST, DMA_BURST_16WORDS) | + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_MC_SEQ, MC_REQ_CNT, DEFAULT) | + NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MC_SEQ, MC_ADDR_WRAP0, mc_src_wrap) | + NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MC_SEQ, MC_ADDR_WRAP1, mc_dst_wrap); + + /* program the stream ids depending on the xfer direction */ + switch (xfer->direction) { + case GPCDMA_XFER_DIR_MEM_TO_MEM: + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MC_SEQ, + STREAMID0, xfer->src_sid); + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MC_SEQ, + STREAMID1, xfer->dst_sid); + break; + case GPCDMA_XFER_DIR_IO_TO_MEM: + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MC_SEQ, + STREAMID0, xfer->dst_sid); + break; + case GPCDMA_XFER_DIR_MEM_TO_IO: + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MC_SEQ, + STREAMID0, xfer->src_sid); + break; + + default: + /* will never run into this as the transfer is already validated */ + break; + } + + gpcdma_chan_writel(dma_chan, val, GPCDMA_CHANNEL_CH0_MC_SEQ_0); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_configure_mmio_sequencer(const struct gpcdma_channel *dma_chan, + const struct gpcdma_xfer *xfer, + bool src_io, + bool dst_io) +{ + uint32_t val = 0UL; + uint32_t io_wrap; + + /* + * MMIO sequencer needs to be programmed only for IO2MEM or MEM2IO + * transfers. + */ + if (src_io || dst_io) { + val = NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MMIO_SEQ, MMIO_BUS_WIDTH, + xfer->bus_width); + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, Example-5, DR: SWE-FSP-046-SWSADR.docx"); + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MMIO_SEQ, MMIO_BURST, + (xfer->burst_size - 1UL)); + io_wrap = src_io ? gpcdma_wcount_to_wrap_sz(xfer->src_addr_wrap, true) : + gpcdma_wcount_to_wrap_sz(xfer->dst_addr_wrap, true); + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_MMIO_SEQ, MMIO_ADDR_WRAP, io_wrap); + } + + gpcdma_chan_writel(dma_chan, val, GPCDMA_CHANNEL_CH0_MMIO_SEQ_0); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_clear_error_status(const struct gpcdma_channel *dma_chan) +{ + gpcdma_chan_writel(dma_chan, 0xFFFFFFFFUL, + GPCDMA_CHANNEL_CH0_ERR_STA_0); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_configure_hi_adr_ptr(const struct gpcdma_channel *dma_chan, + uint32_t hi_src_ptr, uint32_t hi_dst_ptr) +{ + uint32_t val; + + val = NV_DRF_NUM(GPCDMA, CHANNEL_CH0_HI_ADR_PTR, + HI_DST_PTR, hi_dst_ptr) | + NV_DRF_NUM(GPCDMA, CHANNEL_CH0_HI_ADR_PTR, + HI_SRC_PTR, hi_src_ptr); + + gpcdma_chan_writel(dma_chan, val, GPCDMA_CHANNEL_CH0_HI_ADR_PTR_0); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_configure_addr_ptrs(const struct gpcdma_channel *dma_chan, + uint32_t src_addr, uint32_t dst_addr) +{ + gpcdma_chan_writel(dma_chan, src_addr, GPCDMA_CHANNEL_CH0_SRC_PTR_0); + gpcdma_chan_writel(dma_chan, dst_addr, GPCDMA_CHANNEL_CH0_DST_PTR_0); +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_configure_csr(const struct gpcdma_channel *dma_chan, + const struct gpcdma_xfer *xfer, + uint32_t dma_mode) +{ + uint32_t val; + + val = dma_mode; + if (xfer->en_flow_ctrl) { + val |= NV_DRF_NUM(GPCDMA, CHANNEL_CH0_CSR, REQ_SEL, + xfer->slave_req); + } + + if (xfer->continuous) { + val |= NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, ONCE, CYCLIC_MODE); + } else { + val |= NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, ONCE, SINGLE_BLOCK); + } + val |= NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, IRQ_MASK, ENABLE) | + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, IE_EOC, ENABLE) | + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, WEIGHT, DEFAULT) | + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, ENB, ENABLE); + + gpcdma_chan_writel(dma_chan, val, GPCDMA_CHANNEL_CH0_CSR_0); +} + +SECTION_GPCDMA_TEXT static error_t +gpcdma_get_xfer_dma_mode(const struct gpcdma_xfer *transfer, + uint32_t *dma_mode, + bool *src_io, + bool *dst_io) +{ + error_t ret = E_SUCCESS; + + switch (transfer->direction) { + case GPCDMA_XFER_DIR_MEM_TO_IO: + *dma_mode = (transfer->en_flow_ctrl) ? + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, DMA_MODE, MEM2IO_FC) : + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, DMA_MODE, MEM2IO_NO_FC); + *src_io = false; + *dst_io = true; + break; + case GPCDMA_XFER_DIR_IO_TO_MEM: + *dma_mode = (transfer->en_flow_ctrl) ? + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, DMA_MODE, IO2MEM_FC) : + NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, DMA_MODE, IO2MEM_NO_FC); + *src_io = true; + *dst_io = false; + break; + case GPCDMA_XFER_DIR_MEM_TO_MEM: + *dma_mode = NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSR, DMA_MODE, MEM2MEM); + *src_io = false; + *dst_io = false; + break; + default: + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_XFER_DIR; + break; + } + + return ret; +} + +SECTION_GPCDMA_TEXT static inline error_t +gpcdma_validate_flow_cntrl(const struct gpcdma_xfer *xfer) +{ + error_t ret = E_SUCCESS; + + if (xfer->en_flow_ctrl) { + if (xfer->slave_req > GPCDMA_CHANNEL_CH0_CSR_0_REQ_SEL_DEFAULT_MASK) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_FC_REQ_ID; + } + } + + return ret; +} + +SECTION_GPCDMA_TEXT static error_t +gpcdma_validate_wrap(uint32_t wrap, + bool io_addr) +{ + error_t ret = E_SUCCESS; + uint32_t val; + uint32_t wrap_mask; + + /* wrap must be a power of 2 */ + if ((wrap > 0UL) && ((wrap & (wrap - 1UL)) != 0UL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_ADDR_WRAP; + goto out; + } + + val = gpcdma_wcount_to_wrap_sz(wrap, io_addr); + wrap_mask = (io_addr ? + GPCDMA_CHANNEL_CH0_MMIO_SEQ_0_MMIO_ADDR_WRAP_DEFAULT_MASK : + GPCDMA_CHANNEL_CH0_MC_SEQ_0_MC_ADDR_WRAP0_DEFAULT_MASK); + + if (val > wrap_mask) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_ADDR_WRAP; + goto out; + } + +out: + return ret; +} + +SECTION_GPCDMA_TEXT static error_t +gpcdma_validate_xfer(struct gpcdma_channel *dma_chan, + struct gpcdma_xfer const *xfer, + bool src_io, + bool dst_io) +{ + error_t ret = E_SUCCESS; + uint32_t align_mask; + + /* check if callback exists for asynchronous transfers */ + if (!xfer->synchronous && (xfer->callback == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_NO_CALLBACK_ASYNC; + goto out; + } + + /* Sanity check for continuous mode */ + if (xfer->continuous) { + if (xfer->period_len == 0UL) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + if ((xfer->period_len & 3UL) != 0UL) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + if ((xfer->xfer_count % xfer->period_len) != 0UL) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + if (xfer->direction == GPCDMA_XFER_DIR_MEM_TO_MEM) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + } + + /* update the channel callback */ + dma_chan->callback = (xfer->synchronous) ? NULL : xfer->callback; + dma_chan->cdata = xfer->callback_param; + dma_chan->synchronous = xfer->synchronous; + + /* check if the transfer size is word aligned */ + if ((xfer->xfer_count == 0UL) || ((xfer->xfer_count & 0x3UL) != 0UL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_XFER_SIZE; + goto out; + } + + /* + * for IO2MEM or MEM2IO, transfer size should be aligned to MMIO burst + * size. MMIO burst_size is represented in words. Convert it to bytes + * in computing the mask for alignment check. + */ + align_mask = (xfer->burst_size << 2) - 1UL; + if (((xfer->xfer_count & align_mask) != 0UL) && (src_io || dst_io)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_XFER_SIZE_IO; + goto out; + } + + /* + * validate [MC/IO] source address wrap and destination address wrap fields + * of the transfer. + */ + ret = gpcdma_validate_wrap(xfer->src_addr_wrap, src_io); + if (ret != E_SUCCESS) { + goto out; + } + ret = gpcdma_validate_wrap(xfer->dst_addr_wrap, dst_io); + if (ret != E_SUCCESS) { + goto out; + } + + /* + * IO address needs to be aligned with IO address wrap size. + * MC address needs to be word aligned. + */ + align_mask = (xfer->src_addr_wrap != 0UL) ? (xfer->src_addr_wrap - 1UL) : 0UL; + if (((xfer->src_addr & 0x3UL) != 0UL) || (src_io && + ((xfer->src_addr & align_mask) != 0UL))) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_UNALIGNED_SRC; + goto out; + } + align_mask = (xfer->dst_addr_wrap != 0UL) ? (xfer->dst_addr_wrap - 1UL) : 0UL; + if (((xfer->dst_addr & 0x3UL) != 0UL) || (dst_io && + ((xfer->dst_addr & align_mask) != 0UL))) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_UNALIGNED_DST; + goto out; + } + + /* + * If flow control is enabled, validate the slave request ID. + */ + ret = gpcdma_validate_flow_cntrl(xfer); + if (ret != E_SUCCESS) { + goto out; + } + +out: + return ret; +} + +SECTION_GPCDMA_TEXT static error_t +gpcdma_get_chan_context(const struct gpcdma_id *id, + uint32_t chan_num, + struct gpcdma_channel **dma_chan) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_NULL_PTR; + goto out; + } + + if (!id->inited) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_NOT_INITED; + goto out; + } + + if (!gpcdma_chan_is_valid(id, chan_num)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + *dma_chan = gpcdma_chan(id, chan_num); + +out: + return ret; +} + +SECTION_GPCDMA_TEXT static error_t +gpcdma_pause(const struct gpcdma_channel *dma_chan) +{ + uint32_t timeout; + uint32_t csre; + error_t ret = E_SUCCESS; + + if ((dma_chan == NULL) || !dma_chan->busy) { + ret = E_INVALID_PARAM; + goto out; + } + + timeout = GPCDMA_BURST_COMPLETION_TIMEOUT; + csre = gpcdma_chan_readl(dma_chan, GPCDMA_CHANNEL_CH0_CSRE_0); + csre |= NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSRE, DMA_ACTIVITY, PAUSE); + gpcdma_chan_writel(dma_chan, csre, GPCDMA_CHANNEL_CH0_CSRE_0); + + /* Wait until busy bit is de-asserted */ + do { + if (((gpcdma_chan_readl(dma_chan, GPCDMA_CHANNEL_CH0_STA_0) & + GPCDMA_CHANNEL_CH0_STA_0_BSY_FIELD)) == 0UL) { + break; + } + udelay(GPCDMA_BURST_COMPLETE_TIME); + timeout = (timeout < GPCDMA_BURST_COMPLETE_TIME) ? 0UL : + (timeout - GPCDMA_BURST_COMPLETE_TIME); + } while (timeout > 0UL); + + if (timeout == 0UL) { + ret = E_TIMEOUT; + } + +out: + return ret; +} + +SECTION_GPCDMA_TEXT static inline void +gpcdma_resume(const struct gpcdma_channel *dma_chan) +{ + uint32_t csre; + + csre = gpcdma_chan_readl(dma_chan, GPCDMA_CHANNEL_CH0_CSRE_0); + csre &= NV_DRF_DEF(GPCDMA, CHANNEL_CH0_CSRE, DMA_ACTIVITY, RESUME); + gpcdma_chan_writel(dma_chan, csre, GPCDMA_CHANNEL_CH0_CSRE_0); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_GPCDMA_TEXT void gpcdma_chan_irq(void *data) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + struct gpcdma_channel *dma_chan = (struct gpcdma_channel *)fsp_c_v_ptr_to_v_ptr(data); + struct gpcdma_buf_desc desc; + uint32_t status; + + smp_lock(dma_chan->lock); + + if (!dma_chan->continuous) { + ASSERT(irq_safe_disable(dma_chan->irq) == E_SUCCESS); + dma_chan->busy = false; + } + + /* Clear the DMA interrupt first */ + status = gpcdma_chan_readl(dma_chan, GPCDMA_CHANNEL_CH0_STA_0); + if (NV_DRF_VAL(GPCDMA, CHANNEL_CH0_STA, ISE_EOC, status) != 0UL) { + gpcdma_chan_writel(dma_chan, status, GPCDMA_CHANNEL_CH0_STA_0); + } + + if (dma_chan->synchronous) { + UNUSED((gpcdma_port_chan_sync_end(dma_chan->id))); + } else { + if (dma_chan->continuous) { + ASSERT(gpcdma_port_get_desc(dma_chan->id, &desc, 0UL, + true) == E_SUCCESS); + ASSERT(gpcdma_port_send_desc_to_back(dma_chan->id, + &desc, 0, true) == E_SUCCESS); + gpcdma_configure_addr_ptrs(dma_chan, desc.src_addr, + desc.dst_addr); + gpcdma_configure_hi_adr_ptr(dma_chan, desc.hi_src_addr, + desc.hi_dst_addr); + dma_chan->total_bytes = dma_chan->total_bytes + + (dma_chan->words_to_xfer * 4ULL); + } + dma_chan->callback(dma_chan->cdata, DMA_STATUS_COMPLETE); + } + smp_unlock(dma_chan->lock); +} + +SECTION_GPCDMA_TEXT static error_t +gpcdma_program_cycl_mode(struct gpcdma_xfer const *xfer, + struct gpcdma_channel *dma_chan, bool first) +{ + error_t ret = E_SUCCESS; + int32_t i; + struct gpcdma_buf_desc desc; + uint32_t st; + + if (gpcdma_port_get_desc(dma_chan->id, &desc, 0UL, + false) != E_SUCCESS) { + ret = E_GPCDMA_QUEUE_OP_FAIL; + goto op_failed; + } + + if (first) { + dma_chan->words_to_xfer = xfer->period_len >> 2UL; + dma_chan->continuous = true; + dma_chan->total_bytes = 0; + } else { + i = 20; + do { + st = gpcdma_chan_readl(dma_chan, GPCDMA_CHANNEL_CH0_STA_0); + if ((st & GPCDMA_CHANNEL_CH0_STA_0_BSY_FIELD) != 0UL) { + break; + } + udelay(1); + i--; + } while (i != 0); + + if (i == 0) { + ret = E_GPCDMA_CONT_MODE_OP_FAIL; + goto op_failed; + } + } + + gpcdma_configure_addr_ptrs(dma_chan, desc.src_addr, desc.dst_addr); + gpcdma_configure_hi_adr_ptr(dma_chan, desc.hi_src_addr, desc.hi_dst_addr); + + if (gpcdma_port_send_desc_to_back(dma_chan->id, &desc, 0UL, + false) != E_SUCCESS) { + ret = E_GPCDMA_QUEUE_OP_FAIL; + goto op_failed; + } + +op_failed: + return ret; +} + +SECTION_GPCDMA_TEXT error_t +gpcdma_transfer(const struct gpcdma_id *id, + uint32_t chan_num, + struct gpcdma_xfer const *xfer) +{ + error_t ret = E_SUCCESS; + struct gpcdma_channel *dma_chan; + uint32_t dma_mode; + bool src_io, dst_io; + uint32_t flags = 0; + uint32_t src_addr, dst_addr, hi_src_ptr, hi_dst_ptr; + + if (xfer == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_NULL_PTR; + goto out; + } + + if (xfer->synchronous && xfer->continuous) { + ret = E_GPCDMA_INVALID_XFER_MODE; + goto out; + } + + ret = gpcdma_get_chan_context(id, chan_num, &dma_chan); + if (ret != E_SUCCESS) { + goto out; + } + + smp_lock_irqsave(dma_chan->lock, &flags); + if (dma_chan->busy) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_CHAN_BUSY; + goto unlock_out; + } + + ret = gpcdma_get_xfer_dma_mode(xfer, &dma_mode, &src_io, &dst_io); + if (ret != E_SUCCESS) { + goto unlock_out; + } + + ret = gpcdma_validate_xfer(dma_chan, xfer, src_io, dst_io); + if (ret != E_SUCCESS) { + goto unlock_out; + } + + dma_chan->continuous = false; + src_addr = (uint32_t)(xfer->src_addr & GPCDMA_ADDR_MASK); + dst_addr = (uint32_t)(xfer->dst_addr & GPCDMA_ADDR_MASK); + hi_src_ptr = (uint32_t)((xfer->src_addr >> GPCDMA_HI_ADDR_SHIFT) & + GPCDMA_HI_ADDR_MASK); + hi_dst_ptr = (uint32_t)((xfer->dst_addr >> GPCDMA_HI_ADDR_SHIFT) & + GPCDMA_HI_ADDR_MASK); + dma_chan->words_to_xfer = xfer->xfer_count >> 2UL; + + if (xfer->continuous) { + ret = gpcdma_create_list(xfer, dma_chan->id); + if (ret != E_SUCCESS) { + ret = E_GPCDMA_QUEUE_ALLOC_FAIL; + goto unlock_out; + } + ret = gpcdma_program_cycl_mode(xfer, dma_chan, true); + if (ret != E_SUCCESS) { + goto op_failed; + } + } else { + gpcdma_configure_addr_ptrs(dma_chan, src_addr, dst_addr); + gpcdma_configure_hi_adr_ptr(dma_chan, hi_src_ptr, hi_dst_ptr); + } + + gpcdma_clear_error_status(dma_chan); + gpcdma_configure_mc_sequencer(dma_chan, xfer, src_io, dst_io); + gpcdma_configure_mmio_sequencer(dma_chan, xfer, src_io, dst_io); + gpcdma_configure_wcount(dma_chan); + dma_chan->busy = true; + gpcdma_configure_csr(dma_chan, xfer, dma_mode); + + /* + * For the continuous or cyclic mode, next buffer needs to be + * programmed right away after CSR. + */ + if (dma_chan->continuous) { + ret = gpcdma_program_cycl_mode(xfer, dma_chan, false); + if (ret != E_SUCCESS) { + goto op_failed; + } + } + + ret = irq_safe_enable(dma_chan->irq); + if (ret != E_SUCCESS) { + goto op_failed; + } + + /* + * For synchronous transfers, the driver relies on the port specific + * implementation of some kind of synchronization mechanism until the + * DMA transfer is complete. + */ + smp_unlock_irqrestore(dma_chan->lock, &flags); + if (dma_chan->callback == NULL) { + ret = gpcdma_port_chan_sync(chan_num, xfer->timeout); + if (ret != E_SUCCESS) { + (void)gpcdma_abort(id, chan_num); + dma_chan->busy = false; + goto out; + } + } + +op_failed: + if (ret != E_SUCCESS) { + if (xfer->continuous) { + gpcdma_chan_writel(dma_chan, 0UL, GPCDMA_CHANNEL_CH0_CSR_0); + gpcdma_port_delete_queue(dma_chan->id); + } + } + +unlock_out: + if (ret != E_SUCCESS) { + smp_unlock_irqrestore(dma_chan->lock, &flags); + dma_chan->busy = false; + } + +out: + return ret; +} + +SECTION_GPCDMA_TEXT error_t +gpcdma_get_bytes_xferred(const struct gpcdma_id *id, + uint32_t chan_num, + uint64_t *xfer_count) +{ + error_t ret = E_SUCCESS; + struct gpcdma_channel *dma_chan; + uint32_t flags = 0; + + if (xfer_count == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_NULL_PTR; + goto out; + } + + ret = gpcdma_get_chan_context(id, chan_num, &dma_chan); + if (ret != E_SUCCESS) { + goto out; + } + + smp_lock_irqsave(dma_chan->lock, &flags); + ret = gpcdma_pause(dma_chan); + if (ret != E_SUCCESS) { + goto unlock_out; + } + + if (!dma_chan->continuous) { + *xfer_count = gpcdma_chan_readl(dma_chan, + GPCDMA_CHANNEL_CH0_DMA_WORD_STA_0); + *xfer_count = (*xfer_count) * 4ULL; + } else { + *xfer_count = gpcdma_chan_readl(dma_chan, + GPCDMA_CHANNEL_CH0_DMA_WORD_TRA_0); + *xfer_count = dma_chan->words_to_xfer - *xfer_count; + *xfer_count = (*xfer_count) * 4ULL; + if ((UINT64_MAX - *xfer_count) < dma_chan->total_bytes) { + ret = E_GPCDMA_INVALID_PARAM; + goto unlock_out; + } + *xfer_count = (*xfer_count) + dma_chan->total_bytes; + } + + gpcdma_resume(dma_chan); + +unlock_out: + smp_unlock_irqrestore(dma_chan->lock, &flags); + +out: + return ret; +} + +SECTION_GPCDMA_TEXT error_t +gpcdma_abort(const struct gpcdma_id *id, + uint32_t chan_num) +{ + error_t ret = E_SUCCESS; + struct gpcdma_channel *dma_chan; + uint32_t flags = 0; + + ret = gpcdma_get_chan_context(id, chan_num, &dma_chan); + if (ret != E_SUCCESS) { + goto out; + } + + dma_chan->busy = false; + smp_lock_irqsave(dma_chan->lock, &flags); + if (dma_chan->busy) { + /* Disable IRQ and then disable the channel */ + ret = irq_safe_disable(dma_chan->irq); + if (ret != E_SUCCESS) { + goto unlock_out; + } + gpcdma_chan_writel(dma_chan, 0, GPCDMA_CHANNEL_CH0_CSR_0); + dma_chan->busy = false; + + /* + * This function can be called internally from gpcdma_transfer() + * for synchronous xfers, and there's no callback for those. + */ + if (dma_chan->callback != NULL) { + dma_chan->callback(dma_chan->cdata, DMA_STATUS_ABORTED); + } + } else { + ret = E_GPCDMA_CHAN_NOT_BUSY; + } + +unlock_out: + smp_unlock_irqrestore(dma_chan->lock, &flags); +out: + return ret; +} + +SECTION_GPCDMA_INIT_TEXT error_t +gpcdma_init(struct gpcdma_id *id) +{ + error_t ret = E_SUCCESS; + uint32_t i; + struct gpcdma_channel *dma_chan; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_NULL_PTR; + goto out; + } + + if ((id->conf.base_addr == 0UL) || (id->conf.base_addr == UINT32_MAX)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + if (id->inited) { + goto out; + } + + /* setup per channel attributes */ + for (i = 0UL; i < ARRAY_SIZE(id->channels); i += 1UL) { + dma_chan = id->channels[i]; + + dma_chan->chan_base = gpcdma_chan_base(id, i); + dma_chan->irq = id->conf.irqs[i]; + dma_chan->id = i; + dma_chan->busy = false; + dma_chan->total_bytes = 0; + smp_lock_init(dma_chan->lock); + + /* port specific per channel setup hook */ + ret = gpcdma_port_chan_setup(dma_chan->id); + + if (ret == E_SUCCESS) { + ret = irq_safe_set_handler(dma_chan->irq, gpcdma_chan_irq, dma_chan); + } + if (ret != E_SUCCESS) { + goto out; + } + + } + + /* port specific GPCDMA controller setup hook */ + ret = gpcdma_port_init(id); + if (ret != E_SUCCESS) { + goto out; + } + + /** + * WAR for HW Bug 200667678: Disable virtualization for GPCDMA and + * cluster DMAs out of reset. + */ +#if defined(HW_BUG_200667678) && (HW_BUG_200667678 == 1) + gpcdma_disable_virtualization(id); +#endif + + id->inited = true; + +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_8, "Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/gpcdma/module-gpcdma-config.mk b/spe-freertos-bsp/fsp/source/drivers/gpcdma/module-gpcdma-config.mk new file mode 100644 index 0000000..2edf015 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/gpcdma/module-gpcdma-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-gpcdma-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_GPCDMA_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_GPCDMA_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_GPCDMA_DEPENDS := SOC CLUSTER CPL +$(foreach _,$(MODULE_GPCDMA_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_GPCDMA_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/gpcdma +MODULE_GPCDMA_SOURCE_DIR = $(MODULE_GPCDMA_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_GPCDMA_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/gpcdma/module-gpcdma.mk b/spe-freertos-bsp/fsp/source/drivers/gpcdma/module-gpcdma.mk new file mode 100644 index 0000000..c8f5411 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/gpcdma/module-gpcdma.mk @@ -0,0 +1,70 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-gpcdma.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_GPCDMA_NAME := GPCDMA + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_GPCDMA_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_GPCDMA_DEPENDS := GPCDMA SOC CPL +$(foreach _,$(CONFIG_GPCDMA_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_GPCDMA_C_SRC = +MODULE_GPCDMA_C_SRC += $(MODULE_GPCDMA_DRIVERS_DIR)/gpcdma.c +MODULE_GPCDMA_C_SRC += $(CPL_SOC_IDS)/gpcdma-ids.c + +# +# If the client module does not need 'gpcdma-port.c' use this MAKEFILE flag to +# ignore it. +MODULE_GPCDMA_C_SRC += $(CPL_SOC_PORT)/gpcdma-port.c + +# +# Assembly source +MODULE_GPCDMA_ASM_SRC = +MODULE_GPCDMA_ASM_SRC += $(CPL_SOC_PORT)/gpcdma-irq.S + +# +# Special C Flags +MODULE_GPCDMA_C_FLAGS = + +# +# Special ASM Flags +MODULE_GPCDMA_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/gpio/module-gpio-config.mk b/spe-freertos-bsp/fsp/source/drivers/gpio/module-gpio-config.mk new file mode 100644 index 0000000..ca5c0c0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/gpio/module-gpio-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-gpio-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_GPIO_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_GPIO_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_GPIO_DEPENDS := SOC CLUSTER CPL +$(foreach _,$(MODULE_GPIO_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_GPIO_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/gpio +MODULE_GPIO_SOURCE_DIR = $(MODULE_GPIO_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_GPIO_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/gpio/module-gpio.mk b/spe-freertos-bsp/fsp/source/drivers/gpio/module-gpio.mk new file mode 100644 index 0000000..6b93664 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/gpio/module-gpio.mk @@ -0,0 +1,71 @@ +# +# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-gpio.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_GPIO_NAME := GPIO + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_GPIO_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_GPIO_DEPENDS := GPIO SOC CPL +$(foreach _,$(CONFIG_GPIO_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_GPIO_C_SRC = +MODULE_GPIO_C_SRC += $(MODULE_GPIO_DRIVERS_DIR)/tegra-gpio.c +MODULE_GPIO_C_SRC += $(CPL_SOC_IDS)/gpio-tegra-ids.c +ifeq ($(SOC),t234) + MODULE_GPIO_C_SRC += $(CPL_SOC_IDS)/gpio-main-tegra-ids.c + MODULE_GPIO_C_SRC += $(CPL_SOC_IDS)/gpio-aon-tegra-ids.c +endif +ifeq ($(SOC),t239) + MODULE_GPIO_C_SRC += $(CPL_SOC_IDS)/gpio-main-tegra-ids.c + MODULE_GPIO_C_SRC += $(CPL_SOC_IDS)/gpio-aon-tegra-ids.c +endif + +# +# Assembly source +MODULE_GPIO_ASM_SRC = + +# +# Special C Flags +MODULE_GPIO_C_FLAGS = + +# +# Special ASM Flags +MODULE_GPIO_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/gpio/tegra-gpio.c b/spe-freertos-bsp/fsp/source/drivers/gpio/tegra-gpio.c new file mode 100644 index 0000000..f312e36 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/gpio/tegra-gpio.c @@ -0,0 +1,1268 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +/* Compiler headers */ +#include //for uint32_t +#include //for NULL +#include //for bool + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for MK_U32_CONSTANT + +/* Hardware headers */ +#include // for GPIO_A_ENABLE_CONFIG_00_0... + +/* Late FSP headers */ +#include // for readl_base_offset, writel_base_offset +#include // for irq_safe_enable, irq_safe_set_handler, ... +#include // for BIT, BIT32, bit_number +#include // for START_RFD_BLOCk, END_RFD_BLOCK, INLINE_RFD +#include // for E_SUCCESS, error_t +#include // for NV_FLD_SET_DRF_NUM, NV_DRF_NUM + +/* Module headers */ +#include // For E_GPIO_INVALID_GPIO_IRQ,E_GPIO_INVALID_IRQ_HANDLER +#include // Immune from CT_ASSERT protection +#include // For tegra_gpio_direction_in..... +#include // For struct tegra_gpio_id.... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPIO__GPIO_ERROR_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPIO__TEGRA_GPIO_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif + +/** + * @defgroup PRIVATE_DATA + * @{ + */ +/** Maximum number of IRQ types supported by the GPIO */ +#define TEGRA_GPIO_IRQ_TYPES 0x4U +/** Maximum number of IRQ levels supported by the GPIO */ +#define TEGRA_GPIO_IRQ_LEVELS 0x2U + +/* Static global variables saving copy of GPIO SoC data and +number of controllers registered */ +static struct tegra_gpio_id **ctrls; +/** Variable to store number of controllers requested by the client */ +static uint32_t nctrls; + +/** Default mask for bank gpio IRQ */ +#define TEGRA_GPIO_IRQ_MASK 0xFFUL +/** @} */ + + +/** + * @defgroup PRIVATE_API + * @{ + */ +/** + * @brief Extract a GPIO controller ID from a global GPIO ID. + * + * No error-range-checking is performed on the parameters or returned value. + * + * @param[in] global_id The global ID of the GPIO. + * + * @retval ctrl_id The GPIO controller ID. + */ +static inline uint32_t gpio_ctrl_id_of_global_id(uint32_t global_id) +{ + return global_id >> 16; +} + +/** + * @brief Extract a controller-relative GPIO ID from a global GPIO ID. + * + * No error-range-checking is performed on the parameters or returned value. + * + * @param[in] global_id The global ID of the GPIO. + * + * @retval gpio_id The controller-relative GPIO ID of the GPIO. + */ +static inline uint32_t gpio_gpio_id_of_global_id(uint32_t global_id) +{ + return global_id & 0xffffUL; +} + +/** + * @brief Check if the input GPIO is valid + * + * @param[in] id Pointer to GPIO controller data + * @param[in] gpio Input GPIO number local to the controller + * + * @retval true GPIO is valid + * @retval false GPIO is invalid + */ + +static inline bool gpio_valid(const struct tegra_gpio_id *id, + uint32_t gpio) +{ + uint32_t bank = gpio >> MK_U32_CONST(3); + uint32_t gpio_id = gpio % GPIOS_PER_BANK; + + return (bank < id->bank_count) && (gpio_id < id->num_pins[bank]); +} + +/** + * @brief Generate GPIO register address. + * + * @param[in] id Pointer GPIO controller data + * @param[in] bank_gpio Local GPIO number + * @param[in] gpio_regnum Offset of GPIO configuration register relative to + * GPIO_N_ENABLE_CONFIG_00_0 + * + * @retval u32_value Absolute address of the GPIO register + */ +static inline uint32_t gpio_reg(const struct tegra_gpio_id *id, + uint32_t bank_gpio, + uint32_t gpio_regnum) +{ + uint32_t bank = bank_gpio / GPIOS_PER_BANK; + uint32_t gpio = bank_gpio % GPIOS_PER_BANK; + uint32_t bank_base = id->bank_bases[bank]; + + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, Example-1, Example-3, DR: SWE-FSP-045-SWSADR.docx"); + return id->base_addr + bank_base + (gpio_regnum - GPIO_A_ENABLE_CONFIG_00_0) + + (gpio * (GPIO_A_ENABLE_CONFIG_01_0 - GPIO_A_ENABLE_CONFIG_00_0)); +} +/** @} */ + +SECTION_GPIO_TEXT +error_t tegra_gpio_enable_irq(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t gpio_bank; + uint32_t gpio_pin; + uint32_t val, out_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + gpio_bank = gpio_id / GPIOS_PER_BANK; + gpio_pin = gpio_id % GPIOS_PER_BANK; + + if (id->isr_status == true) { + if ((id->irqs == NULL) || (id->nirqs == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + goto out; + } else if (id->irq_handlers[gpio_id].handler == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_IRQ_HANDLER; + goto out; + } else { + id->bank_irq_status[gpio_bank] |= (uint8_t)((1UL << gpio_pin) & TEGRA_GPIO_IRQ_MASK); + } + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val |= NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, INTERRUPT_FUNCTION, ENABLE); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_enable_timestamp(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val, out_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val |= NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, TIMESTAMPING_FUNCTION, ENABLE); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_disable_timestamp(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val &= ~NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, TIMESTAMPING_FUNCTION, ENABLE); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_disable_irq(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t gpio_bank; + uint32_t gpio_pin; + uint32_t val; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + gpio_bank = gpio_id / GPIOS_PER_BANK; + gpio_pin = gpio_id % GPIOS_PER_BANK; + + if (id->isr_status == true) { + if ((id->irqs == NULL) || (id->nirqs == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + goto out; + } else if (id->irq_handlers[gpio_id].handler == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_IRQ_HANDLER; + goto out; + } else { + id->bank_irq_status[gpio_bank] &= (uint8_t)((uint32_t)(~(1UL << gpio_pin)) + & TEGRA_GPIO_IRQ_MASK); + } + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val &= ~NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, INTERRUPT_FUNCTION, ENABLE); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_set_irq_type(uint32_t gpio, + tegra_gpio_irq_type type, + tegra_gpio_irq_level level) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val, out_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + if (level >= TEGRA_GPIO_IRQ_LEVELS) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_IRQ_LEVEL; + goto out; + } + + if(type >= TEGRA_GPIO_IRQ_TYPES) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_IRQ_TYPE; + goto out; + } + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val = NV_FLD_SET_DRF_NUM(GPIO, A_ENABLE_CONFIG_00, TRIGGER_LEVEL, + level, val); + val = NV_FLD_SET_DRF_NUM(GPIO, A_ENABLE_CONFIG_00, TRIGGER_TYPE, + type, val); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +/** + * @addtogroup PRIVATE_API + * @{ + */ +/** + * @brief Clear interrupt on GPIO + * + * @param[in] id Input GPIO controller data + * @param[in] gpio Local GPIO number + * + * @retval None + */ +SECTION_GPIO_TEXT +static void tegra_gpio_clear_irq(const struct tegra_gpio_id *id, + uint32_t gpio) +{ + uint32_t val; + + val = NV_DRF_DEF(GPIO, A_INTERRUPT_CLEAR_00, GPIO_INTERRUPT_CLEAR, CLEAR); + writel(val, gpio_reg(id, gpio, GPIO_A_INTERRUPT_CLEAR_00_0)); +} +/** @} */ + +SECTION_GPIO_TEXT +error_t tegra_gpio_clear_irq_status(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + const struct tegra_gpio_id *id; + uint32_t val, out_en; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + tegra_gpio_clear_irq(id, gpio_id); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_read_irq_status(uint32_t gpio, bool *irq_status) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t gpio_pin = gpio_id % GPIOS_PER_BANK; + uint32_t gpio_bank = gpio_id / GPIOS_PER_BANK; + uint32_t val, out_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (irq_status == NULL) { + err = E_GPIO_NULL_INPUT_PARAMETER; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + val = readl(id->base_addr + id->bank_bases[gpio_bank] + id->irq_status_offset); + *irq_status = ((val & (1UL << gpio_pin)) != 0U); + +out: + return err; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_GPIO_TEXT void tegra_gpio_irq_handler(void *data) +{ + const struct tegra_gpio_id *id; + uint32_t bank; + uint32_t gpio; + uint32_t val; + + if (data == NULL) { + goto irq_exit; + } + + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + id = (struct tegra_gpio_id const *)data; + for (bank = 0; bank < id->bank_count; bank++) { + if (id->bank_irq_status[bank] == 0U) { + continue; + } + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, Example-1, Example-3, DR: SWE-FSP-045-SWSADR.docx"); + val = readl(id->base_addr + id->bank_bases[bank] + id->irq_status_offset); + while (val != 0UL) { + gpio = bit_number(val); + val &= ~BIT32_FN(gpio); + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, Example-3, DR: SWE-FSP-045-SWSADR.docx"); + gpio += bank * GPIOS_PER_BANK; + tegra_gpio_clear_irq(id, gpio); + if (id->irq_handlers[gpio].handler != NULL) { + id->irq_handlers[gpio].handler( + id->irq_handlers[gpio].data); + } + } + } + +irq_exit: + return; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_set_irq_handler(uint32_t gpio, + void (*handler)(void *hdata), + void *data) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + const struct tegra_gpio_id *id; + uint32_t val, out_en; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + if ((id->irqs == NULL) || (id->nirqs == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + goto out; + } + + if (handler == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_IRQ_HANDLER; + goto out; + } + enter_critical(); + id->irq_handlers[gpio_id].handler = handler; + id->irq_handlers[gpio_id].data = data; + exit_critical(); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_clear_irq_handler(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + const struct tegra_gpio_id *id; + uint32_t val; + uint32_t irq_en; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + if ((id->irqs == NULL) || (id->nirqs == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + irq_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, INTERRUPT_FUNCTION, val); + if (irq_en != 0UL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + goto out; + } + enter_critical(); + id->irq_handlers[gpio_id].handler = NULL; + id->irq_handlers[gpio_id].data = NULL; + exit_critical(); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_set_debounce(uint32_t gpio, + uint32_t debounce_ms) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val = 0UL, out_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + if (debounce_ms == 0UL) { + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val &= ~NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, DEBOUNCE_FUNCTION, ENABLE); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + goto out; + } + + val |= NV_DRF_NUM(GPIO, A_DEBOUNCE_THRESHOLD_00, DEBOUNCE_THRESHOLD, debounce_ms); + writel(val, gpio_reg(id, gpio_id, GPIO_A_DEBOUNCE_THRESHOLD_00_0)); + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val |= NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, DEBOUNCE_FUNCTION, ENABLE); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_direction_in(uint32_t gpio) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val |= + NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, GPIO_ENABLE, ENABLE) | + NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, IN_OUT, IN); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_direction_out(uint32_t gpio, + bool value) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val, irq_en, tms_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + irq_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, INTERRUPT_FUNCTION, val); + tms_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, TIMESTAMPING_FUNCTION, val); + + /* Return error if interrupt or timestamping function is enabled for the GPIO */ + if ((irq_en != 0U) || (tms_en != 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + val = + NV_DRF_NUM(GPIO, A_OUTPUT_VALUE_00, GPIO_OUT_VAL, value ? 1UL : 0UL); + writel(val, gpio_reg(id, gpio_id, GPIO_A_OUTPUT_VALUE_00_0)); + + val = + NV_DRF_DEF(GPIO, A_OUTPUT_CONTROL_00, GPIO_OUT_CONTROL, DRIVEN); + writel(val, gpio_reg(id, gpio_id, GPIO_A_OUTPUT_CONTROL_00_0)); + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + val |= + NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, GPIO_ENABLE, ENABLE) | + NV_DRF_DEF(GPIO, A_ENABLE_CONFIG_00, IN_OUT, OUT); + writel(val, gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_get_direction(uint32_t gpio, uint32_t *gpio_dir) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (gpio_dir == NULL) { + err = E_GPIO_NULL_INPUT_PARAMETER; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + *gpio_dir = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_get_output_value(uint32_t gpio, + bool *gpio_val) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val; + uint32_t gpio_cfg; + const struct tegra_gpio_id *id; + error_t ret = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (gpio_val == NULL) { + ret = E_GPIO_NULL_INPUT_PARAMETER; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + gpio_cfg = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + if (gpio_cfg == 0UL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_CFQ_REQ; + } + val = readl(gpio_reg(id, gpio_id, GPIO_A_OUTPUT_VALUE_00_0)); + + *gpio_val = NV_DRF_VAL(GPIO, A_OUTPUT_VALUE_00, GPIO_OUT_VAL, val) != 0U; + +out: + return ret; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_get_input_value(uint32_t gpio, + bool *gpio_val) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val, out_en; + const struct tegra_gpio_id *id; + error_t ret = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (gpio_val == NULL) { + ret = E_GPIO_NULL_INPUT_PARAMETER; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for output mode */ + if (out_en != 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_INPUT_00_0)); + + *gpio_val = NV_DRF_VAL(GPIO, A_INPUT_00, GPIO_IN, val) != 0U; + +out: + return ret; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_get_value(uint32_t gpio, + bool *gpio_val) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val; + uint32_t gpio_cfg; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (gpio_val == NULL) { + err = E_GPIO_NULL_INPUT_PARAMETER; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + gpio_cfg = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + if (gpio_cfg == 0UL) { + val = readl(gpio_reg(id, gpio_id, GPIO_A_INPUT_00_0)); + *gpio_val = NV_DRF_VAL(GPIO, A_INPUT_00, GPIO_IN, val) != 0U; + } else { + val = readl(gpio_reg(id, gpio_id, GPIO_A_OUTPUT_VALUE_00_0)); + *gpio_val = NV_DRF_VAL(GPIO, A_OUTPUT_VALUE_00, GPIO_OUT_VAL, val) != 0U; + } + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_set_value(uint32_t gpio, + bool value) +{ + uint32_t ctrl_id = gpio_ctrl_id_of_global_id(gpio); + uint32_t gpio_id = gpio_gpio_id_of_global_id(gpio); + uint32_t val, out_en; + const struct tegra_gpio_id *id; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!gpio_valid(id, gpio_id)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO; + goto out; + } + + val = readl(gpio_reg(id, gpio_id, GPIO_A_ENABLE_CONFIG_00_0)); + out_en = NV_DRF_VAL(GPIO, A_ENABLE_CONFIG_00, IN_OUT, val); + /* Return error if GPIO is configured for input mode */ + if (out_en == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CFQ_REQ; + goto out; + } + + val = + NV_DRF_NUM(GPIO, A_OUTPUT_VALUE_00, GPIO_OUT_VAL, value ? 1UL : 0UL); + writel(val, gpio_reg(id, gpio_id, GPIO_A_OUTPUT_VALUE_00_0)); + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_suspend(uint32_t ctrl_id) +{ + struct tegra_gpio_id const *id; + uint32_t i; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if ((id->irqs == NULL) || (id->nirqs == 0U)) { + goto out; + } + + for (i = 0UL; i < id->nirqs; i++) { + if (id->irqs[i] == UINT32_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + } + if (err == E_SUCCESS) { + err = irq_safe_disable(id->irqs[i]); + } + if (err != E_SUCCESS) { + break; + } + } + +out: + return err; +} + +SECTION_GPIO_TEXT +error_t tegra_gpio_resume(uint32_t ctrl_id) +{ + struct tegra_gpio_id const *id; + uint32_t i; + error_t err = E_SUCCESS; + + if (ctrl_id >= nctrls) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_CTRL_ID; + goto out; + } + + id = ctrls[ctrl_id]; + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if ((id->irqs == NULL) || (id->nirqs == 0U)) { + goto out; + } + + for (i = 0UL; i < id->nirqs; i++) { + if (id->irqs[i] == UINT32_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + } + if (err == E_SUCCESS) { + err = irq_safe_disable(id->irqs[i]); + } + if (err != E_SUCCESS) { + break; + } + } + +out: + return err; +} + +/** + * @addtogroup PRIVATE_API + * @{ + */ +/** + * @brief Register input GPIO controller to the driver + * + * @param[in] id Input GPIO controller data + * + * @retval E_GPIO_INVALID_CTRL_DATA NULL/Invalid controller data + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid controller IRQ data + * @retval E_VIC_INVALID_VECTOR Invalid controller IRQ mapped to VIC. + * @retval E_SUCCESS Input GPIO controller registered successfully + */ +SECTION_GPIO_INIT_TEXT +static error_t tegra_gpio_do_init(struct tegra_gpio_id *id) +{ + uint32_t i; + error_t err = E_SUCCESS; + + if ((id == NULL) || (id->bank_bases == NULL) || (id->num_pins == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + if (!id->isr_status) { + goto out; + } + + if ((id->irqs == NULL) || (id->nirqs == 0U) || (id->irq_handlers == NULL) || + (id->bank_irq_status == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + for (i = 0UL; i < id->nirqs; i++) { + if (id->irqs[i] == UINT32_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_GPIO_IRQ; + } + if (err == E_SUCCESS) { + err = irq_safe_set_handler(id->irqs[i], tegra_gpio_irq_handler, id); + } + if (err == E_SUCCESS) { + err = irq_safe_enable(id->irqs[i]); + } + if (err != E_SUCCESS) { + break; + } + } + +out: + return err; +} +/** @} */ + +SECTION_GPIO_INIT_TEXT +error_t tegra_gpio_init(struct tegra_gpio_id **ids, uint32_t num_ctrls) +{ + uint32_t i; + error_t err = E_SUCCESS; + + if (ids == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_NULL_INPUT_PARAMETER; + goto out; + } + + if (num_ctrls > MAX_GPIO_CONTROLLERS) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_GPIO_INVALID_CTRL_DATA; + goto out; + } + + ctrls = ids; + nctrls = num_ctrls; + + for (i = 0U; i < nctrls; i++) { + err = tegra_gpio_do_init(ctrls[i]); + if (err != E_SUCCESS) { + break; + } + } + +out: + return err; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra-dummy-isr-sm-128.c b/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra-dummy-isr-sm-128.c new file mode 100644 index 0000000..d9eccd5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra-dummy-isr-sm-128.c @@ -0,0 +1,79 @@ +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_1_2 \"Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx\") \ + (deviate MISRA_C_2012_Directive_4_8 \"Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx\")") +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for UNUSED, WEAK +#include // for END_RFD_BLOCK, START_RFD_BLOCK + + +/* Module-specific FSP headers */ +#include // for tegra_hsp_suspend_ctx, FSP__HSP__... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +// IWYU pragma: no_forward_declare tegra_hsp_id +/* Dummy implementation for SOCs without 128-bit mailbox support */ +SECTION_HSP_TEXT void +tegra_hsp_sm128_irq_handler(const struct tegra_hsp_id *id, + uint32_t sm) +{ + UNUSED((id)); + UNUSED((sm)); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_8, "Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra-sm-128.c b/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra-sm-128.c new file mode 100644 index 0000000..dedb7ec --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra-sm-128.c @@ -0,0 +1,317 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false +#include // for NULL +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_TOP0_HSP_COMMON_SIZE +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_0... + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for readl_base_offset, writel_base_of... + +/* Module-specific FSP headers */ +#include // for E_HSP_ERR_NULL_PTR, E_HSP_ERR_NO_... +#include // for HSP_COMMON_SIZE, HSP_DBELL_OFFSET... +#include // for tegra_hsp_id, tegra_hsp_conf, teg... +#include // for tegra_hsp_suspend_ctx, FSP__HSP__... +#include // for tegra_hsp_sm_produce_128... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_DEFS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_SM_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief HSP 128-bit shared mailbox registers offset + * + * Defines the HSP shared mailbox registers offset for the 128-bit variant. + */ +#define HSP_SM_TYPE1_TAG_OFFSET (0x40UL) +#define HSP_SM_TYPE1_DATA0_OFFSET (0x48UL) +#define HSP_SM_TYPE1_DATA1_OFFSET (0x4cUL) +#define HSP_SM_TYPE1_DATA2_OFFSET (0x50UL) +#define HSP_SM_TYPE1_DATA3_OFFSET (0x54UL) + + +static inline uint32_t +hsp_sm_128_offset(uint32_t sm_index, + uint32_t offset) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return (HSP_COMMON_SIZE + (HSP_SHRD_MBOX_OFFSET * sm_index) + offset); +} + +static inline void +tegra_hsp_sm_write_128(const struct tegra_hsp_id *id, + uint32_t index, + hsp128_t const *value, + uint32_t tag) +{ + writel_base_offset(value->d0, id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA0_OFFSET)); + writel_base_offset(value->d1, id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA1_OFFSET)); + writel_base_offset(value->d2, id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA2_OFFSET)); + writel_base_offset(value->d3, id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA3_OFFSET)); + writel_base_offset(tag, id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_TAG_OFFSET)); +} + +static inline void +tegra_hsp_sm_read_128(const struct tegra_hsp_id *id, + uint32_t index, + hsp128_t *data) +{ + data->d0 = readl_base_offset(id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA0_OFFSET)); + data->d1 = readl_base_offset(id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA1_OFFSET)); + data->d2 = readl_base_offset(id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA2_OFFSET)); + data->d3 = readl_base_offset(id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_DATA3_OFFSET)); + data->tag = readl_base_offset(id->conf.base_addr, + hsp_sm_128_offset(index, HSP_SM_TYPE1_TAG_OFFSET)); +} + + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +SECTION_HSP_TEXT error_t +tegra_hsp_sm_produce_128(const struct tegra_hsp_id *id, + uint32_t sm, + hsp128_t const *value) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + tegra_hsp_sm_write_128(id, sm, value, HSP_SHRD_MBOX_TAG_FIELD); + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_consume_128(const struct tegra_hsp_id *id, + uint32_t sm, + hsp128_t *data) +{ + error_t ret; + + ret = tegra_hsp_sm_peek_128(id, sm, data); + + if (ret == E_SUCCESS) { + ret = tegra_hsp_sm_vacate_128(id, sm); + } + + return ret; +} + +SECTION_HSP_TEXT bool +tegra_hsp_sm_128_is_empty(const struct tegra_hsp_id *id, + uint32_t sm) +{ + bool ret; + hsp128_t data; + + if (id == NULL) { + ret = false; + goto out; + } + + if (sm >= id->n_sm) { + ret = false; + goto out; + } + + tegra_hsp_sm_read_128(id, sm, &data); + + ret = ((data.tag & HSP_SHRD_MBOX_TAG_FIELD) == 0U); + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_peek_128(const struct tegra_hsp_id *id, + uint32_t sm, + hsp128_t *data) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + tegra_hsp_sm_read_128(id, sm, data); + + if ((data->tag & HSP_SHRD_MBOX_TAG_FIELD) == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_EMPTY_MBOX; + goto out; + } + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_vacate_128(const struct tegra_hsp_id *id, + uint32_t sm) +{ + error_t ret; + hsp128_t data = { + .d0 = 0UL, + .d1 = 0UL, + .d2 = 0UL, + .d3 = 0UL, + }; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + tegra_hsp_sm_write_128(id, sm, &data, 0); + ret = E_SUCCESS; + +out: + return ret; +} + +SECTION_HSP_TEXT void +tegra_hsp_sm128_irq_handler(const struct tegra_hsp_id *id, + uint32_t sm) +{ + hsp_sm_data_t value; + void *cb_data; + + cb_data = id->sm[sm].opaque; + tegra_hsp_sm_read_128(id, sm, &value.sm.data); + id->sm[sm].callback(cb_data, &value); +} + +SECTION_HSP_TEXT error_t +tegra_hsp_set_sm_type(struct tegra_hsp_id *id, + uint32_t sm, + uint32_t type) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + switch(type) { + case HSP_SM_TYPE_32: + id->sm[sm].wide = false; + break; + case HSP_SM_TYPE_128: + id->sm[sm].wide = true; + break; + default: + ret = E_HSP_ERR_NO_MBOX; + break; + } + +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra.c b/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra.c new file mode 100644 index 0000000..665da88 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/hsp/hsp-tegra.c @@ -0,0 +1,1114 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false +#include // for NULL +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for HSP_DBELL_0_ENABLE_0, HSP_DBELL_0... +#include // for HSP_INT_DIMENSIONING_0_nDB_SHIFT + + +/* Late FSP headers */ +#include // for rtosTaskEnterCritical, rtosTaskEx... +#include // for rtosFALSE +#include // for fsp_c_v_ptr_to_v_ptr +#include // for E_SUCCESS, error_t +#include // for in_interrupt, irq_safe_enable, irq_set... +#include // for FSP__MISC__ATTRIBUTES_H, UNUSED +#include // for BIT, bit_number, FSP__MISC__BITOPS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for readl_base_offset, writel_base_of... + +/* Module-specific FSP headers */ +#include // for E_HSP_ERR_NULL_PTR, E_HSP_ERR_NO_... +#include // for HSP_COMMON_SIZE, HSP_DBELL_OFFSET... +#include // for tegra_hsp_id, tegra_hsp_conf, teg... +#include // for tegra_hsp_suspend_ctx, FSP__HSP__... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_DEFS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file hsp-tegra.c + * @brief Implementation of Tegra HSP driver + */ + +#define HSP_nSM_FIELD (1U) +#define HSP_nSS_FIELD (2U) +#define HSP_nAS_FIELD (3U) +#define HSP_nDB_FIELD (4U) +#define HSP_nSI_FIELD (5U) + +#define HSP_GET_nSM_FIELD(_reg_) (((_reg_) & HSP_INT_DIMENSIONING_0_nSM_FIELD) \ + >> HSP_INT_DIMENSIONING_0_nSM_SHIFT) +#define HSP_GET_nSS_FIELD(_reg_) (((_reg_) & HSP_INT_DIMENSIONING_0_nSS_FIELD) \ + >> HSP_INT_DIMENSIONING_0_nSS_SHIFT) +#define HSP_GET_nAS_FIELD(_reg_) (((_reg_) & HSP_INT_DIMENSIONING_0_nAS_FIELD) \ + >> HSP_INT_DIMENSIONING_0_nAS_SHIFT) +#define HSP_GET_nSI_FIELD(_reg_) (((_reg_) & HSP_INT_DIMENSIONING_0_nSI_FIELD) \ + >> HSP_INT_DIMENSIONING_0_nSI_SHIFT) +#define HSP_GET_nDB_FIELD(_reg_) (((_reg_) & HSP_INT_DIMENSIONING_0_nDB_FIELD) \ + >> HSP_INT_DIMENSIONING_0_nDB_SHIFT) + +static inline uint32_t +hsp_ie_offset(uint32_t si_index) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return ((uint32_t)HSP_INT_IE + (uint32_t)(HSP_INT_IE_OFFSET * si_index)); +} + +static inline uint32_t +hsp_sm_ie_offset(uint32_t sm_index, + uint32_t offset) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return (HSP_COMMON_SIZE + (HSP_SHRD_MBOX_OFFSET * sm_index) + offset); +} + +static inline uint32_t +hsp_sm_offset(uint32_t sm_index) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return (HSP_COMMON_SIZE + (HSP_SHRD_MBOX_OFFSET * sm_index)); +} + +static inline uint32_t +hsp_db_offset(uint32_t host, + uint32_t offset) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return ((uint32_t)(HSP_DBELL_OFFSET * host) + offset); +} + +static inline uint32_t +hsp_ss_offset(uint32_t ss_index, + uint32_t offset) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return ((HSP_SHRD_SEM_OFFSET * ss_index) + offset); +} + +static inline uint8_t +hsp_int_dimensioning_field(uint32_t reg_val, uint32_t field) +{ + uint32_t val = 0UL; + + switch(field) { + case HSP_nSM_FIELD: + val = HSP_GET_nSM_FIELD(reg_val); + break; + case HSP_nSS_FIELD: + val = HSP_GET_nSS_FIELD(reg_val); + break; + case HSP_nAS_FIELD: + val = HSP_GET_nAS_FIELD(reg_val); + break; + case HSP_nDB_FIELD: + val = HSP_GET_nDB_FIELD(reg_val); + break; + case HSP_nSI_FIELD: + val = HSP_GET_nSI_FIELD(reg_val); + break; + default: + /* Default case == NOP */ + break; + } + + return (uint8_t)val; +} + +static inline void +tegra_hsp_si_writel(const struct tegra_hsp_id *id, + uint32_t value) +{ + writel_base_offset(value, id->conf.base_addr, + hsp_ie_offset(id->conf.si_index)); +} + +static inline uint32_t +tegra_hsp_si_readl(const struct tegra_hsp_id *id) +{ + return readl_base_offset(id->conf.base_addr, + hsp_ie_offset(id->conf.si_index)); +} + +static inline void +tegra_hsp_sm_writel(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t value) +{ + writel_base_offset(value, id->conf.base_addr, hsp_sm_offset(index)); +} + +static inline uint32_t +tegra_hsp_sm_readl(const struct tegra_hsp_id *id, + uint32_t index) +{ + return readl_base_offset(id->conf.base_addr, hsp_sm_offset(index)); +} + +static inline void tegra_hsp_sm_ie_writel(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t ie_offset, + uint32_t value) +{ + writel_base_offset(value, id->conf.base_addr, + hsp_sm_ie_offset(index, ie_offset)); +} + +static inline void +tegra_hsp_db_writel(const struct tegra_hsp_id *id, + uint32_t host, + uint32_t value, + uint32_t offset) +{ + writel_base_offset(value, id->db_base, hsp_db_offset(host, offset)); +} + +static inline uint32_t +tegra_hsp_db_readl(const struct tegra_hsp_id *id, + uint32_t host, + uint32_t offset) +{ + return readl_base_offset(id->db_base, hsp_db_offset(host, offset)); +} + +static inline void +tegra_hsp_db_self_writel(const struct tegra_hsp_id *id, + uint32_t value, + uint32_t offset) +{ + tegra_hsp_db_writel(id, id->conf.host, value, offset); +} + +static inline uint32_t +tegra_hsp_db_self_readl(const struct tegra_hsp_id *id, + uint32_t offset) +{ + return tegra_hsp_db_readl(id, id->conf.host, offset); +} + +static inline error_t tegra_hsp_ss_writel(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t offset, + uint32_t value) +{ + error_t ret; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (index >= id->n_ss) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_SHRD_SMPHR; + goto out; + } + + writel_base_offset(value, id->ss_base, hsp_ss_offset(index, offset)); + + ret = E_SUCCESS; + +out: + return ret; +} + +static inline error_t tegra_hsp_ss_readl(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t offset, + uint32_t *return_value) +{ + error_t ret; + + if ((id == NULL) || (return_value == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (index >= id->n_ss) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_SHRD_SMPHR; + goto out; + } + + *return_value = readl_base_offset(id->ss_base, + hsp_ss_offset(index, offset)); + + ret = E_SUCCESS; + +out: + return ret; +} + +static inline uint32_t tegra_hsp_ir_readl(const struct tegra_hsp_id *id) +{ + return readl_base_offset(id->conf.base_addr, HSP_INT_IR_0); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_HSP_TEXT void tegra_hsp_db_irq_handler(void *data) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + const struct tegra_hsp_id *id = (const struct tegra_hsp_id *)data; + uint32_t db_pending; + rtosBool higher_prio_task_woken = (rtosBool) rtosFALSE; + uint32_t source; + + db_pending = tegra_hsp_db_self_readl(id, HSP_DBELL_0_PENDING_0); + tegra_hsp_db_self_writel(id, db_pending, HSP_DBELL_0_PENDING_0); + + while (db_pending != 0U) { + source = bit_number(db_pending); + db_pending &= ~BIT32_FN(source); + id->db_callback(source, &higher_prio_task_woken); + } + + rtosTaskYieldFromISR(higher_prio_task_woken); +} + +SECTION_HSP_TEXT static error_t +tegra_hsp_sm_disable(struct tegra_hsp_id *id, + uint32_t sm, + uint32_t ie_offset) +{ + error_t ret = E_SUCCESS; + + /* protect against accessing an instance that is power-gated */ + if (id->suspended) { + goto out; + } + + if (id->conf.si_index == (uint8_t)UINT8_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_INTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + if (!in_interrupt()) { + rtosTaskEnterCritical(); + } + + if (ie_offset != 0U) { + tegra_hsp_sm_ie_writel(id, sm, ie_offset, 0U); + } else { + id->sie_mask &= ~BIT(sm + HSP_INT_IE_0_mbox_empty_enable_SHIFT); + id->sie_mask &= ~BIT(sm + HSP_INT_IE_0_mbox_full_enable_SHIFT); + + if (tegra_hsp_si_readl(id) != id->sie_mask) { + tegra_hsp_si_writel(id, id->sie_mask); + } + } + + /* FIXME: sync interrupt handler here */ + id->sm[sm].callback = NULL; + + if (!in_interrupt()) { + rtosTaskExitCritical(); + } + +out: + return ret; +} + +SECTION_HSP_TEXT static void +tegra_hsp_sm32_irq_handler(const struct tegra_hsp_id *id, + uint32_t sm) +{ + hsp_sm_data_t value; + void *cb_data; + + cb_data = id->sm[sm].opaque; + value.sm.val = tegra_hsp_sm_readl(id, sm); + id->sm[sm].callback(cb_data, &value); +} + +SECTION_HSP_TEXT static void +tegra_hsp_sm_irq_handler(struct tegra_hsp_id *id, + uint32_t mask) +{ + uint32_t sm_mask = mask; + uint32_t i; + + while (sm_mask != 0U) { + i = bit_number(sm_mask); + + if (id->sm[i].callback != NULL) { + if (id->sm[i].wide) { + tegra_hsp_sm128_irq_handler(id, i); + } else { + tegra_hsp_sm32_irq_handler(id, i); + } + } else { + (void)tegra_hsp_sm_disable(id, i, 0U); + } + + sm_mask &= ~BIT(i); + } +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_HSP_TEXT void tegra_hsp_irq_handler(void *data) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + struct tegra_hsp_id *id = (struct tegra_hsp_id *)fsp_c_v_ptr_to_v_ptr(data); + uint32_t ie = tegra_hsp_si_readl(id); + uint32_t ir = tegra_hsp_ir_readl(id); + uint32_t full_mask; + uint32_t empty_mask; + + if (ie != id->sie_mask) { + tegra_hsp_si_writel(id, id->sie_mask); + } + + ir &= id->sie_mask; + + full_mask = (uint32_t)(ir & HSP_INT_IR_0_mbox_full_assert_FIELD) + >> HSP_INT_IR_0_mbox_full_asserted_SHIFT; + + tegra_hsp_sm_irq_handler(id, full_mask); + + empty_mask = (ir & HSP_INT_IR_0_mbox_empty_asserted_FIELD) + >> HSP_INT_IR_0_mbox_empty_asserted_SHIFT; + + tegra_hsp_sm_irq_handler(id, empty_mask); +} + +SECTION_HSP_INIT_TEXT error_t +tegra_hsp_init(struct tegra_hsp_id *id) +{ + uint32_t val; + uint32_t i; + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (id->inited) { + goto out; + } + + val = readl_base_offset(id->conf.base_addr, HSP_INT_DIMENSIONING_0); + id->n_sm = hsp_int_dimensioning_field(val, HSP_nSM_FIELD); + id->n_ss = hsp_int_dimensioning_field(val, HSP_nSS_FIELD); + id->n_as = hsp_int_dimensioning_field(val, HSP_nAS_FIELD); + id->n_db = hsp_int_dimensioning_field(val, HSP_nDB_FIELD); + id->n_si = hsp_int_dimensioning_field(val, HSP_nSI_FIELD); + + if (id->n_ss > 0U) { + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + id->ss_base = id->conf.base_addr + ((uint32_t)(1U + ((uint32_t)id->n_sm >> 1U)) << 16U); + } + + if (id->n_db > 0U) { + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + id->db_base = id->conf.base_addr + + ((uint32_t)(1U + ((uint32_t)id->n_sm >> 1U) + id->n_ss + id->n_as) << 16U); + } + + /* default to 32-bit type shared mailboxes */ + if (id->n_sm > 0U) { + for (i = 0UL; i < id->n_sm; i += 1UL) { + id->sm[i].wide = false; + } + } + + if ((id->conf.sh_irq != UINT32_MAX) && (id->conf.si_index != (uint8_t)UINT8_MAX)) { + /* Disable all shared interrupt sources */ + tegra_hsp_si_writel(id, id->sie_mask); + ret = irq_safe_set_handler((uint32_t)id->conf.sh_irq, tegra_hsp_irq_handler, (void*)id); + if (ret == E_SUCCESS) { + ret = irq_safe_enable((uint32_t)id->conf.sh_irq); + } + } + + if (ret == E_SUCCESS) { + id->inited = true; + } + +out: + return ret; +} + +SECTION_HSP_INIT_TEXT error_t +tegra_hsp_db_init(struct tegra_hsp_id *id, + uint32_t enabled_masters, + tegra_hsp_db_callback callback) +{ + error_t ret; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (callback == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_INVALID_CALLBACK; + goto out; + } + + UNUSED((tegra_hsp_init(id))); + + if (id->n_db == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_DB; + goto out; + } + id->db_callback = callback; + + ret = irq_safe_set_handler((uint32_t)id->conf.db_irq, tegra_hsp_db_irq_handler, (void*)id); + if (ret == E_SUCCESS) { + ret = irq_safe_enable((uint32_t)id->conf.db_irq); + } + + /* Enable the interrupt from */ + if (ret == E_SUCCESS) { + tegra_hsp_db_self_writel(id, enabled_masters, HSP_DBELL_0_ENABLE_0); + } + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_produce(const struct tegra_hsp_id *id, + uint32_t sm, + uint32_t value) +{ + error_t ret = E_SUCCESS; + uint32_t reg_val; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + /* protect against accessing an instance that is power-gated */ + if (id->suspended) { + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + reg_val = HSP_SHRD_MBOX_TAG_FIELD | value; +#if defined(HW_BUG_200395605) && (HW_BUG_200395605 == 1) + if (reg_val == DEAD1001) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_INVALID_DATA; + goto out; + } +#endif + + tegra_hsp_sm_writel(id, sm, reg_val); + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_consume(const struct tegra_hsp_id *id, + uint32_t sm, + uint32_t *data) +{ + error_t ret; + + ret = tegra_hsp_sm_peek(id, sm, data); + + if (ret == E_SUCCESS) { + ret = tegra_hsp_sm_vacate(id, sm); + } + + return ret; +} + +SECTION_HSP_TEXT bool +tegra_hsp_sm_is_empty(const struct tegra_hsp_id *id, + uint32_t sm) +{ + bool ret; + uint32_t v; + + if (id == NULL) { + ret = false; + goto out; + } + + /* protect against accessing an instance that is power-gated */ + if (id->suspended) { + ret = true; + goto out; + } + + if (sm >= id->n_sm) { + ret = false; + goto out; + } + + v = tegra_hsp_sm_readl(id, sm); + + ret = ((v & HSP_SHRD_MBOX_TAG_FIELD) == 0U); +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_peek(const struct tegra_hsp_id *id, + uint32_t sm, + uint32_t *data) +{ + error_t ret = E_SUCCESS; + uint32_t v; + + if ((id == NULL) || (data == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + /* protect against accessing an instance that is power-gated */ + if (id->suspended) { + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + v = tegra_hsp_sm_readl(id, sm); + + if ((v & HSP_SHRD_MBOX_TAG_FIELD) == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_EMPTY_MBOX; + goto out; + } + + *data = (v & HSP_SHRD_MBOX_DATA_FIELD); + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_vacate(const struct tegra_hsp_id *id, + uint32_t sm) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (id->suspended) { + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + tegra_hsp_sm_writel(id, sm, 0); + +out: + return ret; +} + +SECTION_HSP_TEXT static void +tegra_hsp_sm_enable(struct tegra_hsp_id *id, + uint32_t sm, + uint32_t ie_offset, + uint32_t setbit, + uint32_t clrbit, + tegra_hsp_sm_callback cb, + void *data) +{ + if (!in_interrupt()) { + rtosTaskEnterCritical(); + } + + id->sm[sm].callback = cb; + id->sm[sm].opaque = data; + id->sie_mask |= BIT32_FN(setbit); + id->sie_mask &= ~BIT32_FN(clrbit); + + if (id->sie_mask != tegra_hsp_si_readl(id)) { + tegra_hsp_si_writel(id, id->sie_mask); + } + + tegra_hsp_sm_ie_writel(id, sm, ie_offset, 1U); + + if (!in_interrupt()) { + rtosTaskExitCritical(); + } +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_full_enable(struct tegra_hsp_id *id, + uint32_t sm, + tegra_hsp_sm_callback cb, + void *data) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + /* protect against accessing an instance that is power-gated */ + if (id->suspended) { + goto out; + } + + if (id->conf.si_index == (uint8_t)UINT8_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_INTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + tegra_hsp_sm_enable(id, sm, HSP_SHRD_MBOX_FULL_IE_OFFSET, + (uint32_t)HSP_INT_IE_0_mbox_full_enable_SHIFT + sm, + (uint32_t)HSP_INT_IE_0_mbox_empty_enable_SHIFT + sm, + cb, data); + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_full_disable(struct tegra_hsp_id *id, + uint32_t sm) +{ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + return (id == NULL) ? E_HSP_ERR_NULL_PTR : + tegra_hsp_sm_disable(id, sm, HSP_SHRD_MBOX_FULL_IE_OFFSET); +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_empty_enable(struct tegra_hsp_id *id, + uint32_t sm, + tegra_hsp_sm_callback cb, + void *data) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + /* protect against accessing an instance that is power-gated */ + if (id->suspended) { + goto out; + } + + if (id->conf.si_index == (uint8_t)UINT8_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_INTR; + goto out; + } + + if (sm >= id->n_sm) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_MBOX; + goto out; + } + + tegra_hsp_sm_enable(id, sm, HSP_SHRD_MBOX_EMPTY_IE_OFFSET, + (uint32_t)HSP_INT_IE_0_mbox_empty_enable_SHIFT + sm, + (uint32_t)HSP_INT_IE_0_mbox_full_enable_SHIFT + sm, + cb, data); + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_sm_empty_disable(struct tegra_hsp_id *id, + uint32_t sm) +{ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + return (id == NULL) ? E_HSP_ERR_NULL_PTR : + tegra_hsp_sm_disable(id, sm, HSP_SHRD_MBOX_EMPTY_IE_OFFSET); +} + +SECTION_HSP_TEXT error_t +tegra_hsp_db_ring(const struct tegra_hsp_id *id, + uint32_t target) +{ + error_t ret; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (id->db_base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_DB; + goto out; + } + + tegra_hsp_db_writel(id, target, 1, HSP_DBELL_0_TRIGGER_0); + + ret = E_SUCCESS; + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_db_enable_master(const struct tegra_hsp_id *id, + uint32_t enabled_masters) +{ + error_t ret; + uint32_t enable; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (id->db_base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_DB; + goto out; + } + + if (!in_interrupt()) { + rtosTaskEnterCritical(); + } + + enable = tegra_hsp_db_self_readl(id, HSP_DBELL_0_ENABLE_0); + enable |= enabled_masters; + tegra_hsp_db_self_writel(id, enable, HSP_DBELL_0_ENABLE_0); + + if (!in_interrupt()) { + rtosTaskExitCritical(); + } + + ret = E_SUCCESS; + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_db_disable_master(const struct tegra_hsp_id *id, + uint32_t disabled_masters) +{ + error_t ret; + uint32_t enable; + + if (id == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (id->db_base == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NO_DB; + goto out; + } + + if (!in_interrupt()) { + rtosTaskEnterCritical(); + } + + enable = tegra_hsp_db_self_readl(id, HSP_DBELL_0_ENABLE_0); + enable &= ~disabled_masters; + tegra_hsp_db_self_writel(id, enable, HSP_DBELL_0_ENABLE_0); + + if (!in_interrupt()) { + rtosTaskExitCritical(); + } + + ret = E_SUCCESS; + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_suspend(struct tegra_hsp_id *id, + struct tegra_hsp_suspend_ctx *sctx) +{ + error_t ret = E_SUCCESS; + + if ((id == NULL) || (sctx == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if ((id->conf.sh_irq != UINT32_MAX) && + (id->conf.si_index != (uint8_t)UINT8_MAX)) { + + /* This statement only execute if (sctx != NULL). Normally, we would put in a check here + * to ensure that condition. However, in this case, that check isn't needed due to the + * conditional statements above. The 'if' clause above ((id == NULL) || (sctx == NULL)) + * guarantees that (sctx != NULL), therefore, this check is not needed below. + * Fixes MISRA Rule 14.3 violation. */ + sctx->si_enable = tegra_hsp_si_readl(id); + ret = irq_safe_disable((uint32_t)id->conf.sh_irq); + + } + if ((ret == E_SUCCESS) && (id->conf.db_irq != UINT32_MAX)) { + + /* This statement only execute if (sctx != NULL). Normally, we would put in a check here + * to ensure that condition. However, in this case, that check isn't needed due to the + * conditional statements above. The 'if' clause above ((id == NULL) || (sctx == NULL)) + * guarantees that (sctx != NULL), therefore, this check is not needed below. + * Fixes MISRA Rule 14.3 violation. */ + sctx->db_enable = tegra_hsp_db_self_readl(id, HSP_DBELL_0_ENABLE_0); + ret = irq_safe_disable((uint32_t)id->conf.db_irq); + if (ret != E_SUCCESS) { + goto out; + } + } + + id->suspended = (ret == E_SUCCESS) ? true : false; + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_resume(struct tegra_hsp_id *id, + const struct tegra_hsp_suspend_ctx *sctx) +{ + error_t ret = E_SUCCESS; + + if ((id == NULL) || (sctx == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_HSP_ERR_NULL_PTR; + goto out; + } + + if (id->conf.db_irq != UINT32_MAX) { + + /* This statement only execute if (sctx != NULL). Normally, we would put in a check here + * to ensure that condition. However, in this case, that check isn't needed due to the + * conditional statements above. The 'if' clause above ((id == NULL) || (sctx == NULL)) + * guarantees that (sctx != NULL), therefore, this check is not needed below. + * Fixes MISRA Rule 14.3 violation. */ + tegra_hsp_db_self_writel(id, sctx->db_enable, HSP_DBELL_0_ENABLE_0); + ret = irq_safe_enable((uint32_t)id->conf.db_irq); + } + if ((ret == E_SUCCESS) && (id->conf.sh_irq != UINT32_MAX) && + (id->conf.si_index != (uint8_t)UINT8_MAX)) { + + /* This statement only execute if (sctx != NULL). Normally, we would put in a check here + * to ensure that condition. However, in this case, that check isn't needed due to the + * conditional statements above. The 'if' clause above ((id == NULL) || (sctx == NULL)) + * guarantees that (sctx != NULL), therefore, this check is not needed below. + * Fixes MISRA Rule 14.3 violation. */ + tegra_hsp_si_writel(id, sctx->si_enable); + + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + ret = irq_safe_enable((uint32_t)id->conf.sh_irq); + } + + id->suspended = (ret == E_SUCCESS) ? false : true; + +out: + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_ss_read(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t *value) +{ + return tegra_hsp_ss_readl(id, index, HSP_SHRD_SEM_STA, value); +} + +SECTION_HSP_TEXT error_t +tegra_hsp_ss_set(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t data) +{ + error_t ret; + + /** + * parameter check for HW bug 200395605 (HSP IAS 7.3.1 SW WAR) + */ +#if defined(HW_BUG_200395605) && (HW_BUG_200395605 == 1) + if ((data & HSP_SS_FORBIDDEN_BITS) != 0U) { + ret = E_HSP_ERR_INVALID_DATA; + goto out; + } +#endif + + ret = tegra_hsp_ss_writel(id, index, HSP_SHRD_SEM_SET, data); + +#if defined(HW_BUG_200395605) && (HW_BUG_200395605 == 1) +out: +#endif + return ret; +} + +SECTION_HSP_TEXT error_t +tegra_hsp_ss_clear(const struct tegra_hsp_id * id, + uint32_t index, + uint32_t data) +{ + return tegra_hsp_ss_writel(id, index, HSP_SHRD_SEM_CLR, data); +} + +SECTION_HSP_TEXT uint32_t +tegra_hsp_sm_count(const struct tegra_hsp_id *id) +{ + uint32_t ret; + uint32_t val; + + if (id == NULL) { + ret = 0U; + goto out; + } + + val = readl_base_offset(id->conf.base_addr, HSP_INT_DIMENSIONING_0); + + ret = hsp_int_dimensioning_field(val, HSP_nSM_FIELD); + +out: + return ret; +} + +SECTION_HSP_TEXT uint32_t +tegra_hsp_ss_count(const struct tegra_hsp_id *id) +{ + uint32_t ret; + uint32_t val; + + if (id == NULL) { + ret = 0U; + goto out; + } + + val = readl_base_offset(id->conf.base_addr, HSP_INT_DIMENSIONING_0); + + ret = hsp_int_dimensioning_field(val, HSP_nSS_FIELD); + +out: + return ret; +} + +SECTION_HSP_TEXT uint32_t +tegra_hsp_db_count(const struct tegra_hsp_id *id) +{ + uint32_t ret; + uint32_t val; + + if (id == NULL) { + ret = 0U; + goto out; + } + + val = readl_base_offset(id->conf.base_addr, HSP_INT_DIMENSIONING_0); + + ret = hsp_int_dimensioning_field(val, HSP_nDB_FIELD); + +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/hsp/module-hsp-config.mk b/spe-freertos-bsp/fsp/source/drivers/hsp/module-hsp-config.mk new file mode 100644 index 0000000..560736f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/hsp/module-hsp-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-hsp-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_HSP_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_HSP_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_HSP_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_HSP_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/hsp +MODULE_HSP_SOURCE_DIR = $(MODULE_HSP_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_HSP_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/hsp/module-hsp.mk b/spe-freertos-bsp/fsp/source/drivers/hsp/module-hsp.mk new file mode 100644 index 0000000..2a79722 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/hsp/module-hsp.mk @@ -0,0 +1,69 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-hsp.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_HSP_NAME := HSP + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_HSP_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_HSP_DEPENDS := HSP SOC CPL OSA +$(foreach _,$(CONFIG_HSP_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_HSP_C_SRC = +MODULE_HSP_C_SRC += $(MODULE_HSP_DRIVERS_DIR)/hsp-tegra.c +MODULE_HSP_C_SRC += $(CPL_SOC_IDS)/hsp-tegra-ids.c +ifeq ($(SOC), t194) +MODULE_HSP_C_SRC += $(MODULE_HSP_DRIVERS_DIR)/hsp-tegra-dummy-isr-sm-128.c +else +MODULE_HSP_C_SRC += $(MODULE_HSP_DRIVERS_DIR)/hsp-tegra-sm-128.c +endif + +# +# Assembly source +MODULE_HSP_ASM_SRC = +MODULE_HSP_ASM_SRC += $(CPL_SOC_PORT)/hsp-irq.S + +# +# Special C Flags +MODULE_HSP_C_FLAGS = + +# +# Special ASM Flags +MODULE_HSP_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-core-async.c b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-core-async.c new file mode 100644 index 0000000..debf0f4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-core-async.c @@ -0,0 +1,191 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for true +#include // for uint16_t, uint32_t, uint8_t +#include // for NULL, memcpy, size_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_INVALID_PARAM, E_SUCCESS... + +/* Module-specific FSP headers */ +#include // for E_I2C_INVALID_OPS, FSP__I2C... +#include // for i2c_handle, ... +#include // for i2c_hw_ops, FSP__I2C__I2C_H... +#include // for i2c_xfer_msg, tegra_i2c_init +#include // for tegra_i2c_get_xfer_state +#include // for i2c_handle, FSP__I2C__I2C_H +#include // for i2c_start_async_xfer, i2c_f... +#include // for appfw_mutex_acquire, appfw_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_CONFIG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_HW_OPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_ASYNC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_ASYNC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEPENDENCIES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* Custom Defines */ +#define I2C_MUTEX_TIMEOUT_US 1000U + +/* Stuct Definitions and Declarations */ + +/* API Definitions */ + +error_t i2c_start_async_xfer(const struct i2c_handle *hi2c, + struct i2c_xfer_msg *msgs, uint32_t num_msgs, + void *client_data, i2c_async_callback async_cb) +{ + error_t ret; + error_t tmp; + uint32_t i; + + if ((hi2c == NULL) || + (msgs == NULL) || + (async_cb == NULL) || + ((num_msgs == 0UL))) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((pdata == NULL) ? "pdata" : + ((async_cb == NULL) ? "async_cb" : "num_data"))), + (int32_t)ret); + goto out; + } + + for (i = 0U; i < num_msgs; i++) { + if (msgs[i].buf_len == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid msg[%lu].buf_len, ret - 0x%x\n", __func__, + i, (int32_t)ret); + goto out; + } + } + + ret = appfw_mutex_acquire(hi2c->ctrl_id, I2C_MUTEX_TIMEOUT_US); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to acquire mutex, ret - 0x%x\n", __func__, + (int32_t)ret); + goto release; + } + + if (hi2c->hw_ops->start_async_xfer != NULL) { + ret = hi2c->hw_ops->start_async_xfer(hi2c->hi2c_tegra, msgs, num_msgs, + client_data, async_cb); + } else { + ret = E_I2C_INVALID_OPS; + i2c_pr_error("%s: invalid hi2c->hw_ops->start_async_xfer, ret - 0x%x\n", + __func__, (int32_t)ret); + } + +release: + /* Release mutex if start transfer failed. */ + if (ret != E_SUCCESS) { + tmp = appfw_mutex_release(hi2c->ctrl_id); + if (tmp != E_SUCCESS) { + i2c_pr_error("%s: failed to release mutex, ret - 0x%x\n", __func__, + (int32_t) ret); + } + } + +out: + return ret; +} + +error_t i2c_finish_async_xfer(const struct i2c_handle *hi2c, error_t xfer_ret) +{ + error_t ret; + error_t tmp; + + if (hi2c == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid hi2c, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + if (hi2c->hw_ops->finish_async_xfer != NULL) { + ret = hi2c->hw_ops->finish_async_xfer(hi2c->hi2c_tegra, xfer_ret); + } else { + ret = E_I2C_INVALID_OPS; + i2c_pr_error("%s: invalid hi2c->hw_ops->finish_async_xfer, ret - 0x%x\n", + __func__, (int32_t)ret); + } + + tmp = appfw_mutex_release(hi2c->ctrl_id); + if (ret == E_SUCCESS) { + ret = tmp; + i2c_pr_error("%s: failed to release mutex, ret - 0x%x\n", __func__, + (int32_t) ret); + } + +out: + return ret; +} + +error_t i2c_get_xfer_state(const struct i2c_handle *hi2c, uint32_t *state, + uint32_t *msgs_xfered) +{ + error_t ret = E_SUCCESS; + + if ((hi2c == NULL) || (state == NULL) || (msgs_xfered == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid %s, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + (state == NULL) ? "state" : "msgs_xfered"), + (int32_t)ret); + goto out; + } + + if (hi2c->hi2c_tegra != NULL) { + *state = tegra_i2c_get_xfer_state(hi2c->hi2c_tegra, msgs_xfered); + } else { + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid hi2c->hi2c_tegra, ret - 0x%x\n", __func__, + (int32_t)ret); + } + +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-core.c b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-core.c new file mode 100644 index 0000000..a9e67f4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-core.c @@ -0,0 +1,459 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for true +#include // for uint16_t, uint32_t, uint8_t +#include // for NULL, memcpy, size_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_INVALID_PARAM, E_SUCCESS... +#include // for UNUSED +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for E_I2C_INVALID_OPS, FSP__I2C... +#include // for i2c_hw_ops, FSP__I2C__I2C_H... +#include // for i2c_xfer_msg, tegra_i2c_init +#include // for i2c_handle, FSP__I2C__I2C_H +#include // for appfw_mutex_acquire, appfw_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_CONFIG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_HW_OPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEPENDENCIES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* Custom Defines */ +/* First msg contains the slave address and second contains data to transfer */ +#define I2C_REG_XFER_NUM_MSGS 2U +#define I2C_XFER_NUM_MSGS 1U + +/* Struct Definitions and Declarations */ + +/* API Definitions */ + +error_t i2c_reg_write_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint8_t reg_address, uint16_t flags, uint8_t const *pdata, + uint16_t num_data, uint32_t timeout) +{ + struct i2c_xfer_msg msg; + error_t ret; + uint8_t data[I2C_PKT_XFER_MAX_BYTES]; + + data[0] = reg_address; + + if ((hi2c == NULL) || (pdata == NULL) || (num_data == 0U) + || (num_data > (I2C_PKT_XFER_MAX_BYTES - 1U))) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((pdata == NULL) ? "pdata" : "num_data")), (int32_t)ret); + goto out; + } + + UNUSED((memcpy(&data[1], pdata, (size_t)num_data))); + msg.dev_addr = slave_address; + msg.pwbuf = data; + msg.buf_len = num_data + 1U; + msg.xfer_flags = flags; + + ret = i2c_do_transfer(hi2c, &msg, I2C_XFER_NUM_MSGS, timeout); + +out: + return ret; +} + +error_t i2c_reg_read_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint8_t reg_address, uint16_t flags, uint8_t *pdata, + uint16_t num_data, uint32_t timeout) +{ + struct i2c_xfer_msg m[I2C_REG_XFER_NUM_MSGS]; + error_t ret; + + if ((hi2c == NULL) || (pdata == NULL) || (num_data == 0ULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((pdata == NULL) ? "pdata" : "num_data")), (int32_t)ret); + goto out; + } + + m[0].dev_addr = slave_address; + m[0].pwbuf = ®_address; + m[0].buf_len = 1U; + m[0].xfer_flags = flags; + + m[1].dev_addr = slave_address; + m[1].prbuf = pdata; + m[1].buf_len = num_data; + m[1].xfer_flags = flags; + m[1].xfer_flags |= (uint16_t)I2C_XFER_FLAG_RD; + + ret = i2c_do_transfer(hi2c, m, I2C_REG_XFER_NUM_MSGS, timeout); + +out: + return ret; +} + +error_t i2c_send_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint16_t flags, const uint8_t *pdata, uint32_t num_data, + uint32_t timeout) +{ + struct i2c_xfer_msg m; + error_t ret; + + if ((hi2c == NULL) || (pdata == NULL) || (num_data == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((pdata == NULL) ? "pdata" : "num_data")), (int32_t)ret); + goto out; + } + + m.dev_addr = slave_address; + m.pwbuf = pdata; + m.buf_len = (uint16_t)num_data; + m.xfer_flags = flags; + + ret = i2c_do_transfer(hi2c, &m, I2C_XFER_NUM_MSGS, timeout); + +out: + return ret; +} + +error_t i2c_receive_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint16_t flags, uint8_t *pdata, uint32_t num_data, + uint32_t timeout) +{ + struct i2c_xfer_msg m; + error_t ret; + + if ((hi2c == NULL) || (pdata == NULL) || (num_data == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((pdata == NULL) ? "pdata" : "num_data")), (int32_t)ret); + goto out; + } + + m.dev_addr = slave_address; + m.prbuf = pdata; + m.buf_len = (uint16_t)num_data; + m.xfer_flags = flags; + m.xfer_flags |= (uint16_t)I2C_XFER_FLAG_RD; + + ret = i2c_do_transfer(hi2c, &m, I2C_XFER_NUM_MSGS, timeout); + +out: + return ret; +} + +error_t i2c_do_transfer(const struct i2c_handle *hi2c, + struct i2c_xfer_msg *msgs, + uint32_t num_msgs, uint32_t timeout) +{ + error_t ret; + error_t tmp; + uint32_t i; + + if ((hi2c == NULL) || (msgs == NULL) || (num_msgs == 0UL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((msgs == NULL) ? "msgs" : "num_data")), (int32_t)ret); + goto out; + } + + for (i = 0U; i < num_msgs; i++) { + if (msgs[i].buf_len == 0U){ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid msg[%lu].buf_len, ret - 0x%x\n", __func__, + i, (int32_t)ret); + goto out; + } + } + + ret = appfw_mutex_acquire(hi2c->ctrl_id, timeout); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to acquire mutex, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + if (hi2c->hw_ops->xfer != NULL) { + ret = hi2c->hw_ops->xfer(hi2c->hi2c_tegra, msgs, num_msgs, timeout); + } else { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_INVALID_OPS; + i2c_pr_error("%s: invalid hi2c->hw_ops->xfer, ret - 0x%x\n", __func__, + (int32_t)ret); + } + + tmp = appfw_mutex_release(hi2c->ctrl_id); + if (ret == E_SUCCESS) { + if (tmp != E_SUCCESS) { + ret = tmp; + i2c_pr_error("%s: failed to release mutex, ret - 0x%x\n", __func__, + (int32_t)ret); + } + } + +out: + return ret; +} + +error_t i2c_get_bus_state(const struct i2c_handle *hi2c, uint32_t *state) +{ + error_t ret = E_SUCCESS; + + if ((hi2c == NULL) || (hi2c->hw_ops == NULL) || (state == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : + ((hi2c->hw_ops == NULL) ? "hi2c->hw_ops" : "state")), + (int32_t)ret); + goto out; + } + + if(hi2c->hw_ops->get_bus_state == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_INVALID_OPS; + i2c_pr_error("%s: invalid hi2c->hw_ops->get_bus_state, ret - 0x%x\n", + __func__, (int32_t)ret); + goto out; + } + + ret = hi2c->hw_ops->get_bus_state(hi2c->hi2c_tegra, state); + +out: + return ret; +} + +error_t i2c_suspend(const struct i2c_handle *hi2c) +{ + error_t ret; + + if ((hi2c == NULL) || (hi2c->hw_ops == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : "hi2c->hw_ops"), (int32_t)ret); + goto out; + } + + if (hi2c->hw_ops->suspend == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_INVALID_OPS; + i2c_pr_error("%s: invalid hi2c->hw_ops->suspend, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + ret = hi2c->hw_ops->suspend(hi2c->hi2c_tegra); + +out: + return ret; +} + +error_t i2c_resume(const struct i2c_handle *hi2c) +{ + error_t ret; + + if ((hi2c == NULL) || (hi2c->hw_ops == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + ((hi2c == NULL) ? "hi2c" : "hi2c->hw_ops"), (int32_t)ret); + goto out; + } + + if (hi2c->hw_ops->resume == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_INVALID_OPS; + i2c_pr_error("%s: invalid hi2c->hw_ops->resume, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + ret = hi2c->hw_ops->resume(hi2c->hi2c_tegra); + +out: + return ret; +} + +error_t i2c_controller_pre_init(uint32_t ctrl_id, struct i2c_handle *hi2c) +{ + error_t ret; + const struct i2c_config_data *pi2c_config; + + if (ctrl_id > I2C_MAX_CTRLS) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid ctrl_id - %lu, allowed MAX - %u, ret - 0x%x\n", + __func__, ctrl_id, I2C_MAX_CTRLS, (int32_t)ret); + goto out; + } + + if (hi2c != NULL) { + if (hi2c->enabled) { + i2c_pr_debug("%s: i2c controller already enabled\n", __func__); + ret = E_SUCCESS; + goto out; + } + } else { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: hi2c not declared, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + +#ifdef I2C_CUSTOM_PORT_INIT + ret = appfw_port_init(ctrl_id); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: appfw_port_init failed, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } +#else + ret = appfw_mutex_create(ctrl_id); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to acquire mutex, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } +#endif + + pi2c_config = i2c_get_config_data(ctrl_id); + if (pi2c_config == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid pi2c_config\n", __func__); + goto out; + } + + if ((pi2c_config->ctrl_clk_rate < I2C_CLK_RATE_SM) || + (pi2c_config->bus_clk_rate < I2C_CLK_RATE_SM)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid bus_clk_rate(%u)/ctrl_clk_rate(%u)," + " ret - 0x%x\n", __func__, pi2c_config->ctrl_clk_rate, + pi2c_config->bus_clk_rate, (int32_t)ret); + goto out; + } + + hi2c->hi2c_tegra = i2c_get_tegra_handle(ctrl_id); + if (hi2c->hi2c_tegra == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: hi2c->hi2c_tegra not declared, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + ret = tegra_i2c_pre_init(ctrl_id, hi2c->hi2c_tegra); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_pre_init failed, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + hi2c->pre_init_done = true; + +out: + return ret; +} + +error_t i2c_controller_init(uint32_t ctrl_id, struct i2c_handle *hi2c) +{ + error_t ret; + + if (ctrl_id > I2C_MAX_CTRLS) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid ctrl_id - %lu, allowed MAX - %u, ret - 0x%x\n", + __func__, ctrl_id, I2C_MAX_CTRLS, (int32_t)ret); + goto out; + } + + if (hi2c != NULL) { + if (hi2c->enabled) { + i2c_pr_debug("%s: i2c controller already enabled\n", __func__); + ret = E_SUCCESS; + goto out; + } + } else { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: hi2c not declared, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + if (!hi2c->pre_init_done) { + ret = i2c_controller_pre_init(ctrl_id, hi2c); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: i2c_controller_pre_init failed, ret - 0x%x\n", + __func__, (int32_t)ret); + goto out; + } + } + + ret = tegra_i2c_init(ctrl_id, hi2c->hi2c_tegra, &hi2c->hw_ops); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_init failed, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + i2c_pr_info("%s: i2c controller init success\n", __func__); + hi2c->ctrl_id = ctrl_id; + hi2c->enabled = true; +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-tegra-async.c b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-tegra-async.c new file mode 100644 index 0000000..9653049 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-tegra-async.c @@ -0,0 +1,152 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for false, true, bool +#include // for NULL +#include // for uint32_t, uint8_t, UINT32_C + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, E_INVALID_PARAM,... +#include // for UNUSED +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for E_I2C_IO, E_I2C_ARB_LOST +#include // for i2c_tegra_handle, i2c_xfer_msg +#include // for I2C_BUS_BUSY, I2C_SCL_BUSY +#include // for appfw_udelay, appfw_timer_c... +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_ASYNC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEPENDENCIES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* Custom Defines */ + +/* Struct Definitions and Declarations */ + +/* API definitions */ +error_t tegra_i2c_start_async_xfer(struct i2c_tegra_handle *hi2c_tegra, + struct i2c_xfer_msg *msgs, uint32_t num_msgs, + void *client_data, i2c_async_callback async_xfer_cb) +{ + uint32_t i; + error_t ret; + const struct i2c_xfer_msg *this; + const struct i2c_xfer_msg *next; + + ret = tegra_i2c_acquire(hi2c_tegra); + if (ret != E_SUCCESS) { + goto out; + } + + ret = tegra_i2c_check_state(hi2c_tegra); + if (ret != E_SUCCESS) { + /* Assuming the worst possible scenario in the previous transfer */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED((tegra_i2c_hw_init(hi2c_tegra))); + goto release; + } + + ret = tegra_i2c_validate_msgs(msgs, num_msgs); + if (ret < 0) { + goto release; + } + + /* Default transfer variables */ + hi2c_tegra->is_async_xfer = true; + hi2c_tegra->async_xfer_cb = async_xfer_cb; + hi2c_tegra->client_data = client_data; + hi2c_tegra->xfer_status = I2C_XFER_REQUESTED; + hi2c_tegra->msgs = msgs; + hi2c_tegra->bytes_to_xfer = msgs[0].buf_len; + hi2c_tegra->msg_index = 0; + + for (i = 0U; i < num_msgs; i++) { + this = &msgs[i]; + next = ((i + 1U) < num_msgs) ? &msgs[i + 1U] : NULL; + + /* + * Ignoring the wait time return as the async transfer does not need to + * wait for intterupt. + */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED(tegra_i2c_xfer_one_msg(hi2c_tegra, this, next)); + } + + hi2c_tegra->xfer_status = I2C_XFER_STARTED; + +release: + /* Clk needs to be enabled throughout the xfer */ + if (ret != E_SUCCESS) { + /* Above failure reasons take priority than release return */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED(tegra_i2c_release(hi2c_tegra)); + } + +out: + return ret; +} + +error_t tegra_i2c_finish_async_xfer(const struct i2c_tegra_handle *hi2c_tegra, + error_t xfer_ret) +{ + error_t ret = E_SUCCESS; + error_t tmp = E_SUCCESS; + + /* Skip handling for ARB lost */ + if ((xfer_ret != E_SUCCESS) && ((xfer_ret != E_I2C_ARB_LOST))) { + ret = tegra_i2c_hw_init(hi2c_tegra); + } + + tmp = tegra_i2c_release(hi2c_tegra); + if (ret == E_SUCCESS) { + ret = tmp; + } + + return ret; +} + +uint32_t tegra_i2c_get_xfer_state(const struct i2c_tegra_handle *hi2c_tegra, + uint32_t *msgs_xfered) +{ + *msgs_xfered = hi2c_tegra->msg_index; + return hi2c_tegra->xfer_status; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-tegra.c b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-tegra.c new file mode 100644 index 0000000..4a3d4c3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/i2c/i2c-tegra.c @@ -0,0 +1,1631 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for false, true, bool +#include // for NULL +#include // for uint32_t, uint8_t, UINT32_C + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include +#include // for I2C_I2C_INTERFACE_TIMING_0_... + +/* Late FSP headers */ +#include // for E_SUCCESS, E_INVALID_PARAM,... +#include // for UNUSED +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for NV_FLD_SET_DRF_NUM, NV_DRF_NUM +#include // for readl, readl_base_offset + +/* Module-specific FSP headers */ +#include // for i2c_config_data +#include // for E_I2C_IO, E_I2C_ARB_LOST +#include // for FSP__I2C__I2C_HW_OPS_H, i2c... +#include // for i2c_tegra_handle, i2c_xfer_msg +#include // for I2C_BUS_BUSY, I2C_SCL_BUSY +#include // for i2c_hw_handle, i2c_get_hw_h... +#include // for I2C_TX_FIFO, I2C_FIFO_CONTROL +#include // for appfw_udelay, appfw_timer_c... +#ifdef I2C_ASYNC_XFER +#include // for tegra_i2c_acquire, tegra_i2... +#endif + +/** @file i2c-tegra.c */ +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_CONFIG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_HW_OPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEPENDENCIES_H, "Header file missing or invalid.") +#ifdef I2C_ASYNC_XFER +CT_ASSERT(FSP__I2C__I2C_TEGRA_ASYNC_H, "Header file missing or invalid.") +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif + +/* Custom Defines */ +/* Common apis need to be exposed to i2c-tegra-async.c */ +#ifdef I2C_ASYNC_XFER +#define SUPPORT_APIS(x) x +#else +#define SUPPORT_APIS(x) static x +#endif + +/** + * @defgroup I2C_INTERNAL_MACROS Macros internal to tegra i2c driver + * @{ + */ +/** Convert Bytes to Words */ +#define CONV_TO_WORD_CEIL(x) ((((x) % 4U) != 0U) ? \ + (((x) / 4U) + 1U) : ((x) / 4U)) + +/** Convert Seconds to Micro Seconds */ +#define I2C_SECONDS_TO_US 1000000ULL +/** Register read polling delay in Micro Seconds */ +#define I2C_REG_POLL_DELAY_US 1U +/** Register read polling timeout in Micro Seconds */ +#define I2C_REG_POLL_TIMEOUT_US (2U * 1000U) +/** Delay between CLK assert and Deassert */ +#define RESET_DELAY 5U +/** Bit field for stopping the transfer after current message */ +#define MSG_END_STOP 0U +/** Bit field to send repeated start after current message is transferred */ +#define MSG_END_REPEAT_START 1U +/** Bit field to continue transfer without repeated start */ +#define MSG_END_CONTINUE 2U +/** + * Magic value written to transfer return state variable before starting a + * transaction + * */ +#define TEGRA_I2C_ISR_RET_MAGIC 0xBABA +/** msg is a read operation */ +#define msg_is_read(msg) (((uint32_t)(msg)->xfer_flags & I2C_XFER_FLAG_RD) != 0U) +/** msg does not use repeated start for the transfer */ +#define msg_nostart(msg) (((uint32_t)(msg)->xfer_flags & I2C_XFER_FLAG_NOSTART) != 0U) +/** msg continues without ACK from slave */ +#define msg_ignore_nak(msg) (((uint32_t)(msg)->xfer_flags & I2C_XFER_FLAG_IGNORE_NAK) != 0U) +#define MASKED_REG_READ(x, mask) ((readl(x)) & (mask)) + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#endif + +/** Assign prod settings based on selected mode */ +#define I2C_PRODS(_mode) \ + .tlow = I2C_I2C_INTERFACE_TIMING_0_0_TLOW__PROD_C_##_mode, \ + .thigh = I2C_I2C_INTERFACE_TIMING_0_0_THIGH__PROD_C_##_mode, \ + .tsu_sta = I2C_I2C_INTERFACE_TIMING_1_0_TSU_STA__PROD_C_##_mode, \ + .thd_sta = I2C_I2C_INTERFACE_TIMING_1_0_THD_STA__PROD_C_##_mode, \ + .tsu_sto = I2C_I2C_INTERFACE_TIMING_1_0_TSU_STO__PROD_C_##_mode, \ + .tbuf = I2C_I2C_INTERFACE_TIMING_1_0_TBUF__PROD_C_##_mode, \ + .thd_dat = I2C_I2C_INTERFACE_TIMING_2_0_THD_DAT__PROD, \ + .mstr_tcapture = I2C_I2C_MSTR_DATA_CAPTURE_TIMING_0_TCAPTURE_DAT__PROD, \ + .slv_tcapture = I2C_I2C_SLV_DATA_CAPTURE_TIMING_0_TCAPTURE_DAT__PROD, + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#endif + +/** @} */ + +/** + * @struct tegra_i2c_prod + * @brief Struct Definitions and Declarations + * + * @{ + */ +struct tegra_i2c_prod { + /** Low period of the SCL clock */ + uint32_t tlow; + /** High period of the SCL clock */ + uint32_t thigh; + /** Set-up time for a Repeated START condition */ + const uint32_t tsu_sta; + /** Hold time for a (repeated) START condition */ + const uint32_t thd_sta; + /** Set-up time for STOP condition **/ + const uint32_t tsu_sto; + /** Bus free time between STOP and START conditions */ + const uint32_t tbuf; + /** Data hold time in SM/FM/Fm+ speed modes */ + const uint32_t thd_dat; + /** + * Used to tune the Master Controller Data Capture Period.
+ * Shifts the sampling point of SDA line by (Tcpature_dat+1) i2c_clk cycles + * from SCL rising edge.
+ * 0 = This field is not used, SDA line is sampled on SCL rising edge.
+ * Program to a value that is less than 3 or I2C_CLK_DIVISOR_STD_FAST_MODE + * or I2C_CLK_DIVISOR_HSMODE whichever is lower based on speed mode. + */ + const uint32_t mstr_tcapture; + /** + * Used to tune the Slave Controller Data Capture Period.
+ * Shifts the sampling point of SDA line by (Tcpature_dat+1) i2c_clk cycles + * from SCL rising edge.
+ * 0 = This field is not used, SDA line is sampled on SCL rising edge.
+ * Program to a value that is less than half (1/2) of SCL High time in + * number of i2c_clk cycles. + */ + const uint32_t slv_tcapture; +}; +/** @} */ + +/* API definitions */ +/** @defgroup I2C_TEGRA_INTERNAL_APIS Internal Static APIs */ +/** + * @brief Return the remaining timeout in microseconds. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] timeout Timeout value which should not exceed. + * @param[in] start Timer value at the beginning of the transfer. + * @retval 0> Timeout remaining. + * @retval 0 Timeout reached/exceeded.0 + */ +static uint32_t tegra_i2c_timeout_remaining(uint32_t timeout, uint64_t start) +{ + uint64_t timer_elapsed = 0ULL; + uint32_t ret = 0U; + + timer_elapsed = appfw_timer_cur_us() - start; + if (timer_elapsed <= (uint64_t)timeout) { + ret = timeout - ((uint32_t)timer_elapsed); + } + + return ret; +} + +/** + * @brief Read from an I2C controller specific register. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @param[in] reg Offset of the register to be read. + * @retval 32-bit_ret Value read from the register. + */ +static uint32_t tegra_i2c_readl(const struct i2c_hw_handle *hi2c_hw, + uint32_t reg) +{ + return readl_base_offset(hi2c_hw->base, reg); +} + +/** + * @brief Write to an I2C controller specific register. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @param[in] val value to be written to the register. + * @param[in] reg Offset of the register to be read. + */ +static void tegra_i2c_writel(const struct i2c_hw_handle *hi2c_hw, uint32_t val, + uint32_t reg) +{ + writel_base_offset(val, hi2c_hw->base, reg); +} + +/** + * @brief Mask specific interrupt bits in the Interrupt mask register. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @param[in] mask mask value to be written. + */ +static void tegra_i2c_mask_irq(const struct i2c_hw_handle *hi2c_hw, uint32_t mask) +{ + uint32_t int_mask = tegra_i2c_readl(hi2c_hw, I2C_INTERRUPT_MASK_REGISTER_0); + + int_mask &= ~mask; + tegra_i2c_writel(hi2c_hw, int_mask, I2C_INTERRUPT_MASK_REGISTER_0); +} + +/** + * @brief Unmask specific interrupt bits in the Interrupt mask register. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @param[in] mask mask value to be written. + */ +static void tegra_i2c_unmask_irq(const struct i2c_hw_handle *hi2c_hw, uint32_t mask) +{ + uint32_t int_mask = tegra_i2c_readl(hi2c_hw, I2C_INTERRUPT_MASK_REGISTER_0); + + int_mask |= mask; + tegra_i2c_writel(hi2c_hw, int_mask, I2C_INTERRUPT_MASK_REGISTER_0); +} + +/** + * @brief Set/Clear specific bits from a register value. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @param[in] reg Offset of the register to be read. + * @param[in] clr Bits to be cleared. + * @param[in] set Bits to be set. + */ +static void tegra_i2c_modifyl(const struct i2c_hw_handle *hi2c_hw, uint32_t reg, + uint32_t clr, uint32_t set) +{ + uint32_t value = readl_base_offset(hi2c_hw->base, reg); + value &= ~clr; + value |= set; + writel_base_offset(value, hi2c_hw->base, reg); +} + +/** + * @brief Poll a specific register address for a value. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] address address of the register to be read. + * @param[in] mask mask for the register value. + * @param[in] value Expected value. + * @param[in] timeout Timeout for polling. + * @retval E_SUCCESS Expected value read from the register. + * @retval E_FAULT Expected value not read from the register. + */ +static error_t tegra_i2c_poll_reg(const uint32_t address, const uint32_t mask, + const uint32_t value, uint32_t timeout) +{ + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + error_t ret = E_FAULT; + uint64_t timer_start; + uint64_t timer_cur; + + timer_start = appfw_timer_cur_us(); + do { + if (MASKED_REG_READ(address, mask) == value) { + ret = E_SUCCESS; + break; + } + /* + * NOTE: no yield in interrupt state + * 10 times polled in the given timeout in non-interrupt mode. + */ + appfw_udelay(I2C_REG_POLL_DELAY_US); + timer_cur = appfw_timer_cur_us(); + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + } while ((timer_cur - timer_start) < timeout); + + if (ret != E_SUCCESS) { + if (MASKED_REG_READ(address, mask) == value) { + ret = E_SUCCESS; + } + } + + return ret; +} + +/** + * @brief Apply prod settings corresponding to mode of operation. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + */ +static void tegra_i2c_apply_prod(const struct i2c_tegra_handle *hi2c_tegra) +{ + struct tegra_i2c_prod const *prod; + uint32_t val; + + static struct tegra_i2c_prod prod_sm = { + I2C_PRODS(SM) + }; + + static struct tegra_i2c_prod prod_fm = { + I2C_PRODS(FM) + }; + + static struct tegra_i2c_prod prod_fmplus = { + I2C_PRODS(FMPLUS) + }; + + if (hi2c_tegra->pi2c_config->bus_clk_rate <= I2C_CLK_RATE_SM) { + prod = &prod_sm; + } else if (hi2c_tegra->pi2c_config->bus_clk_rate <= I2C_CLK_RATE_FM) { + prod = &prod_fm; + } else { + prod = &prod_fmplus; + } + +#ifdef CUSTOM_TIMING_PARAMS + /* Overwrite the timing parameters from FW configuration if valid */ + if (hi2c_tegra->pi2c_config->thigh != UINT32_MAX) { + prod->thigh = hi2c_tegra->pi2c_config->thigh; + } + if (hi2c_tegra->pi2c_config->tlow != UINT32_MAX) { + prod->tlow = hi2c_tegra->pi2c_config->tlow; + } +#endif + + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_I2C_INTERFACE_TIMING_0_0); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_0, TLOW, + prod->tlow, val); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_0, THIGH, + prod->thigh, val); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_I2C_INTERFACE_TIMING_0_0); + + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_I2C_INTERFACE_TIMING_1_0); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_1, TSU_STA, + prod->tsu_sta, val); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_1, THD_STA, + prod->thd_sta, val); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_1, TSU_STO, + prod->tsu_sto, val); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_1, TBUF, + prod->tbuf, val); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_I2C_INTERFACE_TIMING_1_0); + + /* following registers are only in >t194 */ + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_I2C_INTERFACE_TIMING_2_0); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_INTERFACE_TIMING_2, THD_DAT, + prod->thd_dat, val); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_I2C_INTERFACE_TIMING_2_0); + + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_I2C_MSTR_DATA_CAPTURE_TIMING_0); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_MSTR_DATA_CAPTURE_TIMING, TCAPTURE_DAT, + prod->mstr_tcapture, val); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_I2C_MSTR_DATA_CAPTURE_TIMING_0); + + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_I2C_SLV_DATA_CAPTURE_TIMING_0); + val = NV_FLD_SET_DRF_NUM(I2C, I2C_SLV_DATA_CAPTURE_TIMING, TCAPTURE_DAT, + prod->slv_tcapture, val); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_I2C_SLV_DATA_CAPTURE_TIMING_0); +} + +/** + * @brief Configure the clock rate specified in the port layer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval appfw_*_returns return value from port layer apis. + * @retval E_INVALID_PARAM Invalid configuration parameters. + */ +static error_t tegra_i2c_clock_conf(const struct i2c_tegra_handle *hi2c_tegra) +{ + int64_t ret; + uint64_t val = 0U; + uint64_t t_val; + uint32_t clk_divider, x; + uint32_t tlow, thigh, reg; + const struct i2c_config_data *pi2c_config = hi2c_tegra->pi2c_config; + const struct i2c_hw_handle *hi2c_hw = hi2c_tegra->hi2c_hw; + + ret = appfw_configure_ctrl_clk_rate(hi2c_hw->ctrl_id); + if (ret < 0) { + i2c_pr_error("%s: failed to configure requested clock rate, ret - %x\n", + __func__, (int32_t)ret); + goto out; + } + val = (uint64_t)ret; + + /* Read tlow and thigh from hardware */ + reg = tegra_i2c_readl(hi2c_hw, I2C_I2C_INTERFACE_TIMING_0_0); + tlow = NV_DRF_VAL(I2C, I2C_INTERFACE_TIMING_0, TLOW, reg); + thigh = NV_DRF_VAL(I2C, I2C_INTERFACE_TIMING_0, THIGH, reg); + + /* + * w.r.t T186_I2C_IAS 11.1.1 + * bus_clk_rate = (source_clk) / (Tlow+Thigh+x)*(N+1) + * if N > 3 then x = 2 + * if N <=3 then x = 3 + * Solve for N, x with above eq + * if N > 3 + * => N+1 > 4 + * => (source_clk) / (bus_clk_rate) > 4(Tlow+Thigh)+8 + * If above exp is true => x = 2 and N can be calculated. + * Similarly for N <= 3 + */ + x = ((val / pi2c_config->bus_clk_rate) > ((4U * (tlow + thigh)) + 8U)) + ? 2U : 3U; + + /* + * clk_divider value is rounded up so that we do not + * exceed the bus_clk_rate value + */ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + t_val = (val / + (((uint64_t)tlow + thigh + x) * + (uint64_t)pi2c_config->bus_clk_rate)); + if (t_val > UINT32_MAX) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid t_val param\n", __func__); + goto out; + } + clk_divider = (uint32_t)t_val; + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + if ((val % (((uint64_t)tlow + thigh + x) * + (uint64_t)pi2c_config->bus_clk_rate)) != 0U) { + if (clk_divider != UINT32_MAX) { + clk_divider++; + } + } + + /* + clk divisor is n+1 divisor, write n to the I2C_CLK_DIVISOR + register, hw increments it by 1. + */ + if (clk_divider != 0U) { + clk_divider--; + } + + if (pi2c_config->bus_clk_rate <= I2C_CLK_RATE_FMPLUS) { + clk_divider <<= I2C_CLK_DIVISOR_STD_FAST_MODE_SHIFT; + } + + tegra_i2c_modifyl(hi2c_hw, I2C_CLK_DIVISOR, I2C_CLK_DIVISOR_STD_FAST_MASK, + clk_divider); + + tegra_i2c_writel(hi2c_hw, I2C_MST_CORE_CLKEN_OVR, I2C_CLKEN_OVERRIDE); + +out: + if (ret >= 0) { + ret = E_SUCCESS; + } + + return (error_t)ret; +} + +/** + * @brief Flush I2C Controller specific FIFOs. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @retval carry_return returns value returned from tegra_i2c_poll_reg(). + */ +static error_t tegra_i2c_flush_fifos(const struct i2c_hw_handle *hi2c_hw) +{ + error_t err; + + tegra_i2c_modifyl(hi2c_hw, I2C_FIFO_CONTROL, 0U, + I2C_FIFO_CONTROL_TX_FLUSH | I2C_FIFO_CONTROL_RX_FLUSH); + + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + err = tegra_i2c_poll_reg(hi2c_hw->base + I2C_FIFO_CONTROL, + I2C_FIFO_CONTROL_TX_FLUSH | I2C_FIFO_CONTROL_RX_FLUSH, + 0U, I2C_REG_POLL_TIMEOUT_US); + if (err != E_SUCCESS) { + } + + return err; +} + +/** + * @brief Load controller specific configuration. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + * @retval carry_return returns value returned from tegra_i2c_poll_reg(). + */ +static error_t tegra_i2c_config_load(const struct i2c_hw_handle *hi2c_hw) +{ + error_t err; + uint32_t val; + + val = NV_DRF_NUM(I2C, I2C_CONFIG_LOAD, MSTR_CONFIG_LOAD, 1U); + tegra_i2c_writel(hi2c_hw, val, I2C_I2C_CONFIG_LOAD_0); + + /** I2C IAS section 7.1.1.5: + * + * SW has to wait until these bits are auto-cleared before + * going for any further programming. The wait time is not + * more than 100ns for apb_clk = 100MHz and i2c_clk = + * 100MHz. And at apb_clk = 20MHz and i2c_clk = 20MHz, it is + * not more than 500ns time. + */ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + err = tegra_i2c_poll_reg(hi2c_hw->base + I2C_I2C_CONFIG_LOAD_0, + I2C_I2C_CONFIG_LOAD_0_MSTR_CONFIG_LOAD_FIELD, 0U, I2C_REG_POLL_TIMEOUT_US); + if (err != E_SUCCESS) { + } + + return err; +} + +/** + * @brief Issue controller soft reset. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_hw i2c_hw_handle structure corresponding to the controller. + */ +static void tegra_i2c_master_reset(const struct i2c_hw_handle *hi2c_hw) +{ + tegra_i2c_modifyl(hi2c_hw, I2C_MSTR_RESET, 0U, I2C_MSTR_SOFT_RESET); + appfw_udelay(2); + tegra_i2c_modifyl(hi2c_hw, I2C_MSTR_RESET, I2C_MSTR_SOFT_RESET, 0); + appfw_udelay(2); +} + +/** + * @brief Copy data from RX FIFO to caller msg buffer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] msg pointer to message contents. + * @retval E_SUCCESS data transferred to buffer from RX FIFO. + * @retval E_I2C_RX_FIFO_ERROR buffer length and RX FIFO data length mismatch. + */ +static error_t tegra_i2c_read_rx_msg(struct i2c_tegra_handle *hi2c_tegra, + const struct i2c_xfer_msg *msg) +{ + error_t ret = E_SUCCESS; + uint32_t i = 0U; + uint32_t cnt; + uint32_t val; + uint32_t rx_index = hi2c_tegra->rx_index; + + /* check that RX fifo has (at least) expected amount of data */ + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_MST_FIFO_STATUS_0); + cnt = NV_DRF_VAL(I2C, MST_FIFO_STATUS, RX_FIFO_FULL_CNT, val); + + cnt = min(cnt, CONV_TO_WORD_CEIL(hi2c_tegra->bytes_to_xfer)); + + /* Stop when required number of (4 words) are read */ + while (i < cnt) { + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_I2C_RX_FIFO_0); + + if (rx_index < msg->buf_len) { + msg->prbuf[rx_index] = (uint8_t)(val & 0xffU); + ++rx_index; + } + if (rx_index < msg->buf_len) { + msg->prbuf[rx_index] = (uint8_t)((val >> 8U) & 0xffU); + ++rx_index; + } + if (rx_index < msg->buf_len) { + msg->prbuf[rx_index] = (uint8_t)((val >> 16U) & 0xffU); + ++rx_index; + } + if (rx_index < msg->buf_len) { + msg->prbuf[rx_index] = (uint8_t)((val >> 24U) & 0xffU); + ++rx_index; + } + ++i; + } + + hi2c_tegra->rx_index = rx_index; + if (rx_index > msg->buf_len) { + ret = E_I2C_RX_FIFO_ERROR; + i2c_pr_error("%s: failed to read index %lu, buf_len - %hu, ret - 0x%x\n", + __func__, rx_index, msg->buf_len, (int32_t)ret); + } else { + hi2c_tegra->bytes_to_xfer = msg->buf_len - rx_index; + } + + return ret; +} + +/** + * @brief Create and send packet header for the message being transferred. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] xfer_msg pointer to message contents. + * @param[in] msg_end message end configuration
+ * MSG_END_STOP, MSG_END_REPEAT_START, MSG_END_CONTINUE + * @retval E_SUCCESS data transferred to buffer from RX FIFO. + * @retval E_I2C_RX_FIFO_ERROR buffer length and RX FIFO data length mismatch. + */ +static void tegra_i2c_send_packet_hdr(const struct i2c_tegra_handle *hi2c_tegra, + const struct i2c_xfer_msg *xfer_msg, + uint32_t msg_end) +{ + uint32_t xfer_packet_header; + uint32_t xfer_payload_size; + uint32_t xfer_io_header; + + xfer_packet_header = + PACKET_HEADER0_PROTOCOL_I2C + | (hi2c_tegra->hi2c_hw->ctrl_id << PACKET_HEADER0_CONT_ID_SHIFT) + | (1UL << PACKET_HEADER0_PACKET_ID_SHIFT); + + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + xfer_payload_size = xfer_msg->buf_len - 1UL; + + xfer_io_header = I2C_HEADER_IE; + xfer_io_header |= + ((msg_end == MSG_END_CONTINUE) ? + I2C_HEADER_CONTINUE_XFER : + ((msg_end == MSG_END_REPEAT_START) ? + I2C_HEADER_REPEAT_START : 0U)); + + xfer_io_header |= + (((xfer_msg->xfer_flags & I2C_XFER_FLAG_TEN) != 0U) ? + (uint32_t)(xfer_msg->dev_addr | I2C_HEADER_10BIT_ADDR) : + ((uint32_t)xfer_msg->dev_addr << I2C_HEADER_SLAVE_ADDR_SHIFT)); + + xfer_io_header |= + ((msg_ignore_nak(xfer_msg)) ? I2C_HEADER_CONT_ON_NAK : 0U); + + xfer_io_header |= + ((msg_is_read(xfer_msg)) ? I2C_HEADER_READ : 0U); + + xfer_io_header |= + ((hi2c_tegra->pi2c_config->bus_clk_rate == I2C_CLK_RATE_HS) + ? (I2C_HEADER_HIGHSPEED_MODE | + ((uint32_t)(hi2c_tegra->pi2c_config->hs_master_code & 0x7U) + << I2C_HEADER_MASTER_ADDR_SHIFT)) + : 0U); + + tegra_i2c_writel(hi2c_tegra->hi2c_hw, xfer_packet_header, I2C_TX_FIFO); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, xfer_payload_size, I2C_TX_FIFO); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, xfer_io_header, I2C_TX_FIFO); +} + +/** + * @brief Copy data from msg buffer to TX FIFO. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] msg pointer to message contents. + */ +static void tegra_i2c_send_tx_data(struct i2c_tegra_handle *hi2c_tegra, + const struct i2c_xfer_msg *msg) +{ + uint32_t i = 0U; + uint32_t cnt; + uint32_t val = 0U; + uint32_t tx_index = hi2c_tegra->tx_index; + + cnt = min(msg->buf_len, 512U); + + /* Stop when required number of (4 words) are written */ + while (i < CONV_TO_WORD_CEIL(cnt)) { + if (tx_index < msg->buf_len) { + val = msg->pwbuf[tx_index]; + ++tx_index; + } + if (tx_index < msg->buf_len) { + val |= (uint32_t)msg->pwbuf[tx_index] << 8U; + ++tx_index; + } + if (tx_index < msg->buf_len) { + val |= (uint32_t)msg->pwbuf[tx_index] << 16U; + ++tx_index; + } + if (tx_index < msg->buf_len) { + val |= (uint32_t)msg->pwbuf[tx_index] << 24U; + ++tx_index; + } + ++i; + + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_I2C_TX_PACKET_FIFO_0); + } + + hi2c_tegra->tx_index = tx_index; + hi2c_tegra->bytes_to_xfer = msg->buf_len - tx_index; +} + +/** + * @brief Message end bit logic + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] next next message to be transferred. + * @retval MSG_END_STOP no more messages to transfer. + * @retval MSG_END_CONTINUE continue without a repeated start. + * @retval MSG_END_REPEAT_START send repeat start after current message. + */ +static uint32_t msg_end_type(const struct i2c_xfer_msg *next) +{ + uint32_t msg_end; + + if (next == NULL) { + msg_end = MSG_END_STOP; + } else if (msg_nostart(next)) { + msg_end = MSG_END_CONTINUE; + } else { + msg_end = MSG_END_REPEAT_START; + } + + return msg_end; +} + +/** + * @brief Configure and load configuration for the i2c controller. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval carry_return return value returned from tegra_i2c_flush_fifos() + * @retval carry_return return value returned from tegra_i2c_config_load() + */ +static error_t tegra_i2c_conf(const struct i2c_tegra_handle *hi2c_tegra) +{ + error_t err; + uint32_t val; + + val = I2C_CNFG_NEW_MASTER_FSM | I2C_CNFG_PACKET_MODE_EN | + I2C_CNFG_MULTI_MASTER_MODE; + if (hi2c_tegra->pi2c_config->bus_clk_rate <= I2C_CLK_RATE_FM) { + val |= ((uint32_t)0x2U << I2C_CNFG_DEBOUNCE_CNT_SHIFT); + } + + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_CNFG_REG); + + err = tegra_i2c_flush_fifos(hi2c_tegra->hi2c_hw); + if (err != E_SUCCESS) { + i2c_pr_error("%s: failed to flush fifos, ret - 0x%x\n", __func__, + (int32_t)err); + goto out; + } + + err = tegra_i2c_config_load(hi2c_tegra->hi2c_hw); + /* The following test technically isn't needed because the return + * value falls through to return err. However, without this test, + * MISRA generates a Directive 4.7 violation (required). */ + if (err != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_config_load failed\n", __func__); + goto out; + } + + tegra_i2c_writel(hi2c_tegra->hi2c_hw, 0U, I2C_INTERRUPT_MASK_REGISTER_0); +out: + return err; +} + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +SUPPORT_APIS(error_t tegra_i2c_hw_init(const struct i2c_tegra_handle *hi2c_tegra)) +{ + error_t err; + + err = appfw_clk_reset_pulse(hi2c_tegra->ctrl_id, RESET_DELAY); + if (err != E_SUCCESS) { + i2c_pr_error("%s: appfw_clk_reset_pulse failed, ret - 0x%x\n", __func__, + (int32_t)err); + goto out; + } + + tegra_i2c_apply_prod(hi2c_tegra); + + err = tegra_i2c_clock_conf(hi2c_tegra); + if (err != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_clock_conf failed, ret - 0x%x\n", __func__, + (int32_t)err); + goto out; + } + + err = tegra_i2c_conf(hi2c_tegra); + if (err != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_conf failed, ret - 0x%x\n", __func__, + (int32_t)err); + goto out; + } + + /* Programming trigger levels to 1 word. */ + tegra_i2c_writel(hi2c_tegra->hi2c_hw, 0U, I2C_FIFO_CONTROL); + + if (!hi2c_tegra->is_initialized) { + tegra_i2c_master_reset(hi2c_tegra->hi2c_hw); + } + +out: + return err; +} +#endif + +/** + * @brief Recover the state machine from Arbitration loss. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + */ +static void tegra_i2c_arb_lost_recovery(const struct i2c_tegra_handle *hi2c_tegra) +{ + uint32_t v = 0; + + /* NOTE: all error return values in this function are + * intentionally suppressed. The I2C transaction is already + * failed. This routine tries to recover the bus with best effort + * principle */ + + if (!hi2c_tegra->hi2c_hw->is_multimaster) { + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED((tegra_i2c_hw_init(hi2c_tegra))); + + v |= NV_DRF_NUM(I2C, I2C_BUS_CLEAR_CONFIG, BC_SCLK_THRESHOLD, 9U); + v |= NV_DRF_NUM(I2C, I2C_BUS_CLEAR_CONFIG, BC_STOP_COND, 1U); + v |= NV_DRF_NUM(I2C, I2C_BUS_CLEAR_CONFIG, BC_TERMINATE, 1U); + + tegra_i2c_writel(hi2c_tegra->hi2c_hw, v, I2C_I2C_BUS_CLEAR_CONFIG_0); + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED((tegra_i2c_config_load(hi2c_tegra->hi2c_hw))); + v |= NV_DRF_NUM(I2C, I2C_BUS_CLEAR_CONFIG, BC_ENABLE, 1U); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, v, I2C_I2C_BUS_CLEAR_CONFIG_0); + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED((tegra_i2c_config_load(hi2c_tegra->hi2c_hw))); + + appfw_udelay(10U); + tegra_i2c_writel(hi2c_tegra->hi2c_hw, I2C_INT_BUS_CLEAR_DONE, I2C_INTERRUPT_STATUS_REGISTER_0); + } +} + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +SUPPORT_APIS(error_t tegra_i2c_validate_msgs(const struct i2c_xfer_msg *msgs, + uint32_t num)) +{ + error_t ret = 1; + uint32_t i; + const struct i2c_xfer_msg *msg; + + if ((msgs == NULL) || (num == 0U)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params, ret - 0x%x\n", __func__, + (msgs == NULL) ? "msgs" : "num", (int32_t)ret); + goto out; + } + + for (i = 0U; i < num; ++i) { + msg = &msgs[i]; + if (msg->buf_len == 0U) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: msg[%lu] validation failed, ret - 0x%x\n", + __func__, i, (int32_t)ret); + break; + } + } + +out: + return ret; +} + +SUPPORT_APIS(error_t tegra_i2c_acquire(const struct i2c_tegra_handle *hi2c_tegra)) +{ + error_t err; + + /* In case of suspended state i2c-acquire should fail */ + if (hi2c_tegra->is_suspended) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_INVALID_STATE; + i2c_pr_error("%s: controller in suspended state, ret - 0x%x\n", __func__, + (int32_t)err); + goto out; + } + + err = appfw_clk_enable(hi2c_tegra->ctrl_id); + +out: + return err; +} + +SUPPORT_APIS(error_t tegra_i2c_release(const struct i2c_tegra_handle *hi2c_tegra)) +{ + return appfw_clk_disable(hi2c_tegra->ctrl_id); +} +#endif + +/** + * @brief Return the interrupt status register value. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval reg_value value read from the interrupt status register. + */ +static uint32_t tegra_i2c_intr_status(const struct i2c_tegra_handle *hi2c_tegra) +{ + uint32_t val; + + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_INTERRUPT_STATUS_REGISTER_0); + /* Discard FIFO status interrupt bits, they are always + * masked and irrelevant to the logic of this driver */ + val = NV_FLD_SET_DRF_NUM(I2C, INTERRUPT_STATUS_REGISTER, TFIFO_DATA_REQ, 0U, val); + val = NV_FLD_SET_DRF_NUM(I2C, INTERRUPT_STATUS_REGISTER, RFIFO_DATA_REQ, 0U, val); + + return val; +} + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +SUPPORT_APIS(error_t tegra_i2c_check_state( + const struct i2c_tegra_handle *hi2c_tegra)) +{ + error_t ret = E_SUCCESS; + uint32_t val; + + /* expect that TX and RX fifos are empty */ + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_MST_FIFO_STATUS_0); + if (val != NV_RESETVAL(I2C, MST_FIFO_STATUS)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_FIFO_STATUS; + i2c_pr_error("%s: TX/RX fifos not empty, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + /* no interrupt should be pending */ + if (tegra_i2c_intr_status((const struct i2c_tegra_handle *)hi2c_tegra) + != 0U) { + ret = E_I2C_STALE_INT; + i2c_pr_error("%s: stale interrupts present, ret - 0x%x\n", __func__, + (int32_t)ret); + } +out: + return ret; +} +#endif + +/** + * @brief Disable packet mode for the i2c controller. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + */ +static void tegra_i2c_disable_packet_mode(const struct i2c_tegra_handle *hi2c_tegra) +{ + uint32_t val; + + val = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_CNFG_REG); + val = val & ~I2C_CNFG_PACKET_MODE_EN; + tegra_i2c_writel(hi2c_tegra->hi2c_hw, val, I2C_CNFG_REG); + /* We will reinit hw again and the error returned can be ignored */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-383, DR: SWE-FSP-004-SWSADR.docx"); + UNUSED(tegra_i2c_config_load(hi2c_tegra->hi2c_hw)); +} + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +void tegra_i2c_irq_handler(uint32_t ctrl_id) +{ + struct i2c_tegra_handle *hi2c_tegra = i2c_get_tegra_handle(ctrl_id); + const struct i2c_xfer_msg *cur = &hi2c_tegra->msgs[hi2c_tegra->msg_index]; + error_t ret = E_SUCCESS; + uint32_t status; + bool end_xfer = false; + + hi2c_tegra->xfer_status = I2C_XFER_IN_PROGRESS; + status = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_INTERRUPT_STATUS_REGISTER_0); + i2c_pr_debug("%s: interrupt status reg - 0x%lx\n", __func__, status); + + if ((status & I2C_INT_NO_ACK) != 0U) { + tegra_i2c_disable_packet_mode(hi2c_tegra); + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_NACK; + i2c_pr_error("%s: NACK error - Slave not present, ret - 0x%x\n", + __func__, (int32_t)ret); + end_xfer = true; + goto out; + } + + if ((status & I2C_INT_ARB_LOST) != 0U) { + tegra_i2c_arb_lost_recovery(hi2c_tegra); + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_I2C_ARB_LOST; + i2c_pr_error("%s: ARB lost error, ret - 0x%x\n", __func__, ret); + end_xfer = true; + goto out; + } + + if ((msg_is_read(cur)) && ((status & I2C_INT_RX_FIFO_DATA_REQ) != 0U)) { + if (hi2c_tegra->bytes_to_xfer > 0U) { + ret = tegra_i2c_read_rx_msg(hi2c_tegra, cur); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to read msg from RX FIFO, ret - 0x%x\n", + __func__, (int32_t)ret); + end_xfer = true; + } + } else { + ret = E_I2C_RX_FIFO_UNDERFLOW; + i2c_pr_error("%s: RX FIFO underflow, ret - 0x%x\n", __func__, + (int32_t)ret); + end_xfer = true; + } + } + + if ((!msg_is_read(cur)) && ((status & I2C_INT_TX_FIFO_DATA_REQ) != 0U)) { + if (hi2c_tegra->bytes_to_xfer > 0U) { + tegra_i2c_send_tx_data(hi2c_tegra, cur); + ret = E_SUCCESS; + } else { + tegra_i2c_mask_irq(hi2c_tegra->hi2c_hw, I2C_INT_TX_FIFO_DATA_REQ); + } + } + + if ((status & I2C_INT_PACKET_XFER_COMPLETE) != 0U) { + if (hi2c_tegra->bytes_to_xfer != 0U) { + ret = E_I2C_XFER_COMPLETE; + } else { + hi2c_tegra->msg_index++; + hi2c_tegra->bytes_to_xfer = + hi2c_tegra->msgs[hi2c_tegra->msg_index].buf_len; + tegra_i2c_mask_irq(hi2c_tegra->hi2c_hw, I2C_INT_PACKET_XFER_COMPLETE); + ret = E_SUCCESS; + if (hi2c_tegra->msg_index < hi2c_tegra->num_msgs) { + /* We are only ending the current msg transfer here. */ + end_xfer = true; + } + } + } + + if ((status & I2C_INT_ALL_PACKETS_XFER_COMPLETE) != 0U) { + hi2c_tegra->xfer_status = I2C_XFER_COMPLETED; + end_xfer = true; + } + +out: + if (ret != E_SUCCESS) { + /* Error occured, mask all interrupts */ + tegra_i2c_mask_irq(hi2c_tegra->hi2c_hw, I2C_INT_NO_ACK | + I2C_INT_ARB_LOST | I2C_INT_PACKET_XFER_COMPLETE | + I2C_INT_ALL_PACKETS_XFER_COMPLETE | + I2C_INT_RX_FIFO_DATA_REQ | + I2C_INT_TX_FIFO_DATA_REQ); + } + + tegra_i2c_writel(hi2c_tegra->hi2c_hw, status, I2C_INTERRUPT_STATUS_REGISTER_0); + + hi2c_tegra->end_xfer = end_xfer; + hi2c_tegra->isr_ret = ret; + +#ifdef I2C_ASYNC_XFER + if (hi2c_tegra->is_async_xfer && + hi2c_tegra->end_xfer && + (hi2c_tegra->async_xfer_cb != NULL)) { + hi2c_tegra->async_xfer_cb(hi2c_tegra->client_data, ret); + } +#endif +} +#endif + +/** + * @brief Start the i2c transfer with the validated messages. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] cur current message being transferred. + * @param[in] next next message to be transferred. + */ +static void tegra_i2c_xfer_start(struct i2c_tegra_handle *hi2c_tegra, + const struct i2c_xfer_msg *cur, + const struct i2c_xfer_msg *next) +{ + uint32_t msg_end = msg_end_type(next); + uint32_t mask = I2C_INT_ARB_LOST | + I2C_INT_NO_ACK | + I2C_INT_TX_FIFO_OVERFLOW | + I2C_INT_RX_FIFO_UNDERFLOW; + + tegra_i2c_unmask_irq(hi2c_tegra->hi2c_hw, mask); + + tegra_i2c_send_packet_hdr(hi2c_tegra, cur, msg_end); + + if (!msg_is_read(cur)) { + tegra_i2c_send_tx_data(hi2c_tegra, cur); + } else { + mask |= I2C_INT_RX_FIFO_DATA_REQ; + } + + mask |= I2C_INT_PACKET_XFER_COMPLETE; + tegra_i2c_unmask_irq(hi2c_tegra->hi2c_hw, mask); +} + +/** + * @brief Poll the isr return value for successful transfer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] timeout polling timeout value. + * @param[in] delay time to wait and start polling. + * @retval E_SUCCESS Transfer successful. + * @retval E_TIMEOUT poll timed out. + * @retval carry_return returns error returned by appfw_wait_irq() + * @retval carry_return returns error assigned in tegra_i2c_irq_handler() + */ +static error_t tegra_i2c_poll_isr_ret(const struct i2c_tegra_handle *hi2c_tegra, + uint32_t timeout, uint32_t delay) +{ + error_t ret = E_TIMEOUT; + uint64_t timer_start = appfw_timer_cur_us(); + uint32_t timeout_remaining = timeout; +#ifdef I2C_POLLING_XFER + uint32_t status; + uint32_t int_mask; +#endif + + do { +#ifdef I2C_POLLING_XFER + appfw_udelay((timeout_remaining == timeout) ? delay : + I2C_REG_POLL_DELAY_US); + + int_mask = tegra_i2c_readl(hi2c_tegra->hi2c_hw, + I2C_INTERRUPT_MASK_REGISTER_0); + status = tegra_i2c_readl(hi2c_tegra->hi2c_hw, + I2C_INTERRUPT_STATUS_REGISTER_0); + if ((status & int_mask) != 0U) { + tegra_i2c_irq_handler(hi2c_tegra->ctrl_id); + ret = hi2c_tegra->isr_ret; + } + + if (hi2c_tegra->end_xfer) { + break; + } +#else + /* Pass remaining timeout as available timeout */ + ret = appfw_wait_irq(hi2c_tegra->ctrl_id, timeout_remaining); + if (ret == E_SUCCESS) { + ret = hi2c_tegra->isr_ret; + } else { + ret = E_TIMEOUT; + } + + /* delay check is just to avoid misra and cert-c unused var errors */ + if (hi2c_tegra->end_xfer || (delay > timeout)) { + break; + } +#endif + timeout_remaining = tegra_i2c_timeout_remaining(timeout, + timer_start); + } while (timeout_remaining > 0U); + + return ret; +} + +/** + * @brief process the return value from isr. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] timeout timeout value for the transfer. + * @param[in] delay time to wait and start processing the transfer. + * @retval E_SUCCESS Transfer is successful. + * @retval carry_return returns error returned by tegra_i2c_poll_isr_ret() + */ +static error_t tegra_i2c_process_xfer(const struct i2c_tegra_handle *hi2c_tegra, + uint32_t timeout, uint32_t delay) +{ + error_t ret = E_SUCCESS; + +#ifndef I2C_POLLING_XFER + appfw_irq_enable(hi2c_tegra->ctrl_id); +#endif + ret = tegra_i2c_poll_isr_ret(hi2c_tegra, timeout, delay); +#ifndef I2C_POLLING_XFER + appfw_irq_disable(hi2c_tegra->ctrl_id); +#endif + + if (ret != E_SUCCESS) { + i2c_pr_error("%s: Polling for isr return failed\n", __func__); + /* Transfer return takes precedence */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED(tegra_i2c_hw_init(hi2c_tegra)); + } + + return ret; +} + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +SUPPORT_APIS(uint64_t tegra_i2c_xfer_one_msg(struct i2c_tegra_handle *hi2c_tegra, + const struct i2c_xfer_msg *this, + const struct i2c_xfer_msg *next)) +{ + uint32_t bytes_to_xfer; + uint16_t buf_len_w; + uint32_t fifo_trig_words; + uint32_t fifo_trig = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_FIFO_CONTROL); + uint64_t wait_time; + + /* Set state variables for each message */ + hi2c_tegra->end_xfer = false; + hi2c_tegra->isr_ret = TEGRA_I2C_ISR_RET_MAGIC; + hi2c_tegra->rx_index = 0; + hi2c_tegra->tx_index = 0; + + /* set trigger to one interrupt for all DATA REQ optimisation */ + buf_len_w = CONV_TO_WORD_CEIL(this->buf_len); + fifo_trig_words = min(buf_len_w, I2C_FIFO_MAX_SIZE_W); + if (!msg_is_read(this)) { + fifo_trig &= fifo_trig_words << I2C_FIFO_CONTROL_TX_TRIG_SHIFT; + } else { + fifo_trig &= fifo_trig_words << I2C_FIFO_CONTROL_RX_TRIG_SHIFT; + } + tegra_i2c_writel(hi2c_tegra->hi2c_hw, fifo_trig, I2C_FIFO_CONTROL); + + tegra_i2c_xfer_start(hi2c_tegra, this, next); + + /* + * Wait time(in us) for data to be written on bus. Adding the packet + * header bytes in the calculation to account for HW delays in transfer + * initiation. The time needed for transferring 1B of data is 9 clock + * cycles. + * + * Note: This is not ideal wait time, but fixes most of the timing + * mismatches in HW while transferring more than one message. The + * trade-off on performance for the extra delay is negligible. + */ + bytes_to_xfer = (I2C_PACKET_HEADER_SIZE_W + fifo_trig_words) * WORD_TO_BYTES; + wait_time = DIV_ROUND_UP(I2C_SECONDS_TO_US * bytes_to_xfer, + hi2c_tegra->pi2c_config->bus_clk_rate); + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + wait_time *= 9U; + + return wait_time; +} +#endif + +/** + * @brief Transfer the messages one after another. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] msgs messages to be transferred. + * @param[in] num_msgs number of messages to be transferred. + * @param[in] timeout timeout for the complete transfer. + * @retval E_SUCCESS transfer completed successfully. + * @retval E_TIMEOUT Timeout before successful transfer. + * @retval carry_return returns error returned by tegra_i2c_process_xfer() + */ +static error_t tegra_i2c_xfer_msg_by_msg(struct i2c_tegra_handle *hi2c_tegra, + struct i2c_xfer_msg *msgs, uint32_t num_msgs, + uint32_t timeout) +{ + error_t ret; + uint32_t tmp; + const struct i2c_xfer_msg *this; + const struct i2c_xfer_msg *next; + uint64_t timer_start = appfw_timer_cur_us(); + uint32_t timeout_remaining = timeout; + uint64_t wait_time; + + hi2c_tegra->msgs = msgs; + hi2c_tegra->num_msgs = num_msgs; + hi2c_tegra->msg_index = 0; + + for (tmp = 0U; tmp < num_msgs; tmp++) { + this = &msgs[tmp]; + next = ((tmp + 1U) < num_msgs) ? &msgs[tmp + 1U] : NULL; + + hi2c_tegra->bytes_to_xfer = this->buf_len; + wait_time = tegra_i2c_xfer_one_msg(hi2c_tegra, this, next); + + timeout_remaining = tegra_i2c_timeout_remaining(timeout, timer_start); + i2c_pr_debug("%s: Processing msg[%d], timeout remaining - %d\n", + __func__, tmp, timeout_remaining); + + if ((timeout_remaining > 0U) && + (wait_time < (uint64_t)timeout_remaining)) { + ret = tegra_i2c_process_xfer(hi2c_tegra, timeout_remaining, + (uint32_t)wait_time); + } else { + ret = E_TIMEOUT; + i2c_pr_error("%s: transfer timedout. msgs xfered(%lu)." + " remaining(%lu), ret - 0x%x\n", + __func__, tmp, num_msgs - tmp, (int32_t)ret); + } + + if (ret != E_SUCCESS) { + i2c_pr_error("%s: msg[%lu] failed to xfer, ret - 0x%x\n", __func__, + tmp, (int32_t)ret); + break; + } + hi2c_tegra->xfer_status = I2C_XFER_IN_PROGRESS; + } + + return ret; +} + +/** + * @brief Function definition for i2c_hw_xfer typedef function pointer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] msgs messages to be transferred. + * @param[in] num_msgs number of messages to be transferred. + * @param[in] timeout timeout for the complete transfer. + * @retval E_SUCCESS transfer completed successfully. + * @retval carry_return returns error returned by tegra_i2c_acquire() + * @retval carry_return returns error returned by tegra_i2c_check_state() + * @retval carry_return returns error returned by tegra_i2c_validate_msgs() + * @retval carry_return returns error returned by tegra_i2c_xfer_msg_by_msg() + * @retval carry_return returns error returned by tegra_i2c_release() + */ +static error_t tegra_i2c_xfer(struct i2c_tegra_handle *hi2c_tegra, + struct i2c_xfer_msg *msgs, uint32_t num_msgs, + uint32_t timeout) +{ + error_t ret; + error_t tmp; + +#ifdef I2C_ASYNC_XFER + hi2c_tegra->is_async_xfer = false; + hi2c_tegra->async_xfer_cb = NULL; + hi2c_tegra->client_data = NULL; + hi2c_tegra->xfer_status = I2C_XFER_REQUESTED; +#endif + + ret = tegra_i2c_acquire(hi2c_tegra); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to acquire controller, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + ret = tegra_i2c_check_state(hi2c_tegra); + if (ret != E_SUCCESS) { + /* Assuming the worst possible scenario in the previous transfer */ + INLINE_RFD(MISRA, DEVIATE, Directive_4_7, "Approval: JIRA TID-1795, DR: SWE-FSP-062-SWSADR.docx"); + UNUSED((tegra_i2c_hw_init(hi2c_tegra))); + i2c_pr_error("%s: i2c hw not ready for transfer, ret - 0x%x\n", __func__, + (int32_t)ret); + goto release; + } + + ret = tegra_i2c_validate_msgs(msgs, num_msgs); + if (ret < 0) { + i2c_pr_error("%s: msgs validation failed, ret - 0x%x\n", __func__, + (int32_t)ret); + goto release; + } + + ret = tegra_i2c_xfer_msg_by_msg(hi2c_tegra, msgs, num_msgs, + timeout); + +release: + tmp = tegra_i2c_release(hi2c_tegra); + if (tmp != E_SUCCESS) { + i2c_pr_error("%s: failed to release controller, ret - 0x%x\n", __func__, + (int32_t)tmp); + ret = (ret == E_SUCCESS) ? tmp : ret; + } + +out: + return ret; +} + +/** + * @brief Function definition for i2c_get_bus_status typedef function pointer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[out] state state of the bus as defined in I2C_HW_BUS_STATUS + * @retval E_SUCCESS bus state returned successfully. + * @retval carry_return returns error returned by tegra_i2c_acquire() + * @retval carry_return returns error returned by tegra_i2c_release() + */ +static error_t tegra_i2c_get_bus_state(const struct i2c_tegra_handle *hi2c_tegra, + uint32_t *state) +{ + error_t ret; + uint32_t bus_status; + *state = 0U; + + ret = tegra_i2c_acquire(hi2c_tegra); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to acquire controller, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + bus_status = tegra_i2c_readl(hi2c_tegra->hi2c_hw, I2C_BUS_STATUS); + + ret = tegra_i2c_release(hi2c_tegra); + if (ret != E_SUCCESS) { + i2c_pr_error("%s: failed to release controller, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + if ((bus_status & I2C_BUS_STATUS_SCL_MASK) != 0U) { + *state |= I2C_SCL_BUSY; + } + + if ((bus_status & I2C_BUS_STATUS_SDA_MASK) != 0U) { + *state |= I2C_SDA_BUSY; + } + + if ((bus_status & I2C_BUS_STATUS_BUSY_MASK) != 0U) { + *state |= I2C_BUS_BUSY; + } + +out: + return ret; +} + +/** + * @brief Function definition for i2c_hw_suspend typedef function pointer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval E_SUCCESS bus state returned successfully. + * @retval E_INVALID_PARAM Invalid hi2c_tegra structure data. + * @retval E_INVALID_STATE Controller already suspended. + */ +static error_t tegra_i2c_suspend(struct i2c_tegra_handle *hi2c_tegra) +{ + error_t ret = E_SUCCESS; + + if ((hi2c_tegra == NULL) || (hi2c_tegra->hi2c_hw == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params, ret - 0x%x\n", __func__, + (hi2c_tegra == NULL) ? "hi2c_tegra" : + "hi2c_tegra->hi2c_hw", (int32_t)ret); + goto out; + } + + if (hi2c_tegra->is_suspended) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_STATE; + i2c_pr_error("%s: controller already suspended, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + hi2c_tegra->is_suspended = true; +out: + return ret; +} + +/** + * @brief Function definition for i2c_hw_suspend typedef function pointer. + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval E_SUCCESS bus state returned successfully. + * @retval E_INVALID_PARAM Invalid hi2c_tegra structure data. + * @retval E_INVALID_STATE Controller not in suspended state. + * @retval carry_return returns error returned by tegra_i2c_acquire() + * @retval carry_return returns error returned by tegra_i2c_hw_init() + * @retval carry_return returns error returned by tegra_i2c_release() + */ +static error_t tegra_i2c_resume(struct i2c_tegra_handle *hi2c_tegra) +{ + error_t ret = E_SUCCESS; + error_t tmp = E_SUCCESS; + + if (hi2c_tegra == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_PARAM; + i2c_pr_error("%s: hi2c_tegra not declared, ret - 0x%x\n", __func__, + (int32_t)ret); + goto out; + } + + if (!hi2c_tegra->is_suspended) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_INVALID_STATE; + i2c_pr_error("%s: controller not in suspended state, ret - 0x%x\n", + __func__, (int32_t)ret); + goto out; + } + + /* Allow access to HW */ + hi2c_tegra->is_suspended = false; + + ret = tegra_i2c_acquire(hi2c_tegra); + if (ret == E_SUCCESS) { + ret = tegra_i2c_hw_init(hi2c_tegra); + if(ret != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_hw_init failed, ret - 0x%x\n", __func__, + (int32_t)ret); + } + } else { + i2c_pr_error("%s: failed to acquire controller, ret - 0x%x\n", __func__, + (int32_t)ret); + } + + tmp = tegra_i2c_release(hi2c_tegra); + if (tmp != E_SUCCESS) { + i2c_pr_error("%s: failed to release controller, ret - 0x%x", __func__, + (int32_t)tmp); + ret = (ret == E_SUCCESS) ? tmp : ret; + } + +out: + if (hi2c_tegra != NULL) { + hi2c_tegra->is_suspended = (ret != E_SUCCESS); + } + return ret; +} + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +error_t tegra_i2c_pre_init(uint32_t ctrl_id, struct i2c_tegra_handle *hi2c_tegra) +{ + error_t err = E_SUCCESS; + + hi2c_tegra->ctrl_id = ctrl_id; + hi2c_tegra->hi2c_hw = i2c_get_hw_handle(ctrl_id); + hi2c_tegra->pi2c_config = i2c_get_config_data(ctrl_id); + + if ((hi2c_tegra->hi2c_hw == NULL) || + (hi2c_tegra->pi2c_config == NULL)) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + err = E_INVALID_PARAM; + i2c_pr_error("%s: invalid (%s) params provided, ret - 0x%x\n", __func__, + (hi2c_tegra->hi2c_hw == NULL) ? "hi2c_tegra->hi2c_hw" : + "hi2c_tegra->pi2c_config", (int32_t)err); + } + + hi2c_tegra->pre_init_done = true; + + return err; +} + +error_t tegra_i2c_init(uint32_t ctrl_id, struct i2c_tegra_handle *hi2c_tegra, + struct i2c_hw_ops **hw_ops) +{ + error_t err = E_SUCCESS; + error_t tmp = E_SUCCESS; + static struct i2c_hw_ops tegra_hw_ops = { + .xfer = &tegra_i2c_xfer, +#ifdef I2C_ASYNC_XFER + .start_async_xfer = &tegra_i2c_start_async_xfer, + .finish_async_xfer = &tegra_i2c_finish_async_xfer, +#endif + .suspend = &tegra_i2c_suspend, + .resume = &tegra_i2c_resume, + .get_bus_state = &tegra_i2c_get_bus_state, + }; + + /* Setting to default values */ + hi2c_tegra->is_initialized = false; + hi2c_tegra->is_suspended = false; + *hw_ops = NULL; + + if (!hi2c_tegra->pre_init_done) { + err = tegra_i2c_pre_init(ctrl_id, hi2c_tegra); + if (err != E_SUCCESS) { + i2c_pr_error("%s: tegra_i2c_pre_init failed, ret - 0x%x\n", __func__, + (int32_t)err); + goto out; + } + } + + err = tegra_i2c_acquire(hi2c_tegra); + if (err == E_SUCCESS) { + err = tegra_i2c_hw_init(hi2c_tegra); + } else { + i2c_pr_error("%s: failed to acquire mutex, ret - 0x%x\n", __func__, + (int32_t)err); + } + + tmp = tegra_i2c_release(hi2c_tegra); + if (tmp != E_SUCCESS) { + i2c_pr_error("%s: failed to release mutex, ret - 0x%x\n", __func__, + (int32_t)tmp); + err = (err == E_SUCCESS) ? tmp : err; + } + + if (err == E_SUCCESS) { + hi2c_tegra->is_initialized = true; + *hw_ops = &tegra_hw_ops; + } + +out: + return err; +} +#endif + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/i2c/module-i2c-config.mk b/spe-freertos-bsp/fsp/source/drivers/i2c/module-i2c-config.mk new file mode 100644 index 0000000..4a7f5af --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/i2c/module-i2c-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-i2c-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_I2C_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_I2C_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_I2C_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_I2C_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/i2c +MODULE_I2C_SOURCE_DIR = $(MODULE_I2C_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_I2C_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/i2c/module-i2c.mk b/spe-freertos-bsp/fsp/source/drivers/i2c/module-i2c.mk new file mode 100644 index 0000000..bc654a1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/i2c/module-i2c.mk @@ -0,0 +1,69 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-i2c.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_I2C_NAME := I2C + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_I2C_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_I2C_DEPENDS := I2C SOC CPL OSA TKE +$(foreach _,$(CONFIG_I2C_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_I2C_C_SRC = +MODULE_I2C_C_SRC += $(MODULE_I2C_DRIVERS_DIR)/i2c-core.c +MODULE_I2C_C_SRC += $(MODULE_I2C_DRIVERS_DIR)/i2c-tegra.c +ifeq ($(I2C_ASYNC_XFER), 1) +MODULE_I2C_C_SRC += $(MODULE_I2C_DRIVERS_DIR)/i2c-core-async.c +MODULE_I2C_C_SRC += $(MODULE_I2C_DRIVERS_DIR)/i2c-tegra-async.c +endif +MODULE_I2C_C_SRC += $(CPL_SOC_PORT)/i2c-port.c +MODULE_I2C_C_SRC += $(CPL_SOC_IDS)/i2c-tegra-ids.c + +# +# Assembly source +MODULE_I2C_ASM_SRC = $(CPL_SOC_PORT)/i2c-irq.S + +# +# Special C Flags +MODULE_I2C_C_FLAGS = + +# +# Special ASM Flags +MODULE_I2C_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/lib/module-lib-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/lib/module-lib-nosafety-config.mk new file mode 100644 index 0000000..4bd623a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/lib/module-lib-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-lib-config-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIB_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_LIB_NOSAFETY_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_LIB_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_LIB_NOSAFETY_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/lib +MODULE_LIB_NOSAFETY_SOURCE_DIR = $(MODULE_LIB_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_LIB_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/lib/module-lib-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/lib/module-lib-nosafety.mk new file mode 100644 index 0000000..2bad888 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/lib/module-lib-nosafety.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-lib-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_LIB_NOSAFETY_NAME := LIB_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIB_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_LIB_NOSAFETY_DEPENDS := LIB_NOSAFETY SOC CPL OSA DEBUG_NOSAFETY +$(foreach _,$(CONFIG_LIB_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_LIB_NOSAFETY_C_SRC = +MODULE_LIB_NOSAFETY_C_SRC += $(MODULE_LIB_NOSAFETY_DRIVERS_DIR)/stack-guard.c + +# +# Assembly source +MODULE_LIB_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_LIB_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_LIB_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/lib/stack-guard.c b/spe-freertos-bsp/fsp/source/drivers/lib/stack-guard.c new file mode 100644 index 0000000..bc07644 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/lib/stack-guard.c @@ -0,0 +1,140 @@ +/* Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file stack-guard.c + * @brief Implementation of stack guard + * + * Provides implementations of the data and functions necessary for + * the compiler to generate stack guard code when any version of the + * -fstack-protector compiler switches is specified for any of the files. + */ + +/* Compiler headers */ +#include // for uintptr_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for ABORT_STACK, FSP__DEBUG__ABORT... +#include // for tegra_abort, FSP__DEBUG__ABORT_H +#include // for NO_RETURN +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // Immune from CT_ASSERT protection +#include // for FSP__LIB__STACK_GUARD_H, __sta... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") +CT_ASSERT(FSP__DEBUG__ABORT_SYS_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LIB__STACK_GUARD_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Initial Stack Check Value + * + * The value that will be placed on the stack of a function that upon + * exit will be checked if any version of -fstack-guard is specified + * on the command line of the compiler. + * + * This value is here so that the variable __stack_chk_guard is + * always initialized to a non-zero value. + */ +#define STACK_CHK_GUARD_VALUE ((uintptr_t)(0xDEADBEEFUL)) + +/** + * @brief Stack Variable + * + * Contains the value that will be used to place a guard value on the + * stack and again to check that value when a function is about to return. + * + * It will be initialized to a non-zero value but it is expected that + * the application code will overwrite the contentes with a randomized + * value during initialization. + */ +extern uintptr_t __stack_chk_guard; +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_9, "Approval: Bug 200532001, DR: SWE-FSP-016-SWSADR.docx") +INLINE_RFD(MISRA, DEVIATE, Rule_21_2, "Approval: JIRA TID-1063, DR: SWE-FSP-053-SWSADR.docx") +uintptr_t __stack_chk_guard SECTION_STACKGUARD_DATA = STACK_CHK_GUARD_VALUE; + +/** + * @brief Initialize Stack Guard Variable + * + * This function will initialize the stack guard variable with the + * supplied value. This allows the application a means to initialize + * the stack check variable with a (hopefully) randomized value. + * + * @param[in] check_value Value to be used to check if the stack has + * been overwritten. + * + * @return None + */ +SECTION_STACKGUARD_INIT_TEXT void +stack_chk_init(uintptr_t check_value) +{ + __stack_chk_guard = check_value; +} + + +/** + * @brief Stack Check Failure + * + * Called when the guard value on the stack has been overwritten. + * + * @return Does not return + */ +INLINE_RFD(MISRA, DEVIATE, Rule_21_2, "Approval: JIRA TID-1063, DR: SWE-FSP-053-SWSADR.docx") +NO_RETURN SECTION_STACKGUARD_TEXT void __stack_chk_fail(void) +{ + uint8_t stack; + + tegra_abort(ABORT_STACK, (uint32_t)&stack); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_8_9, "Approval: Bug 200532001, DR: SWE-FSP-016-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/libc-lite/memops.c b/spe-freertos-bsp/fsp/source/drivers/libc-lite/memops.c new file mode 100644 index 0000000..142c10c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/libc-lite/memops.c @@ -0,0 +1,134 @@ +/** +* @file memops.c +* +* @brief Exposes a handful of libc-lite utility functions used by other +* modules. +* +* Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* * Neither the name of NVIDIA CORPORATION nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include +#include +#include +#include + +#include +#include + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_21_2, "Approval: Jira TID-1970, DR: SWE-FSP-066-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-067-SWSADR.docx") + + +void *memcpy(void *dst, const void *src, size_t n) +{ + START_RFD_BLOCK(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") + char *d = (char *)(dst); + const char *s = (const char *)(src); + END_RFD_BLOCK(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") + + // CERTC INT30 fix - integer wrap-around + // MISRA RULE 14.4 fix - return essential boolean type + for (size_t j=n; j > 0U ; j--) + { + *d = *s; + + // MISRA RULE 13.3 fix - increment separated from pointer dereference + d++; + s++; + } + + return dst; +} + +int memcmp(const void *s1, const void *s2, size_t n) +{ + START_RFD_BLOCK(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") + const uint8_t *d = (const uint8_t *)(s1); + const uint8_t *s = (const uint8_t *)(s2); + END_RFD_BLOCK(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") + int32_t cmp = 0; + + // CERTC INT30 fix - integer wrap-around + // MISRA RULE 14.4 fix - return essential boolean type + for (size_t j=n ; j > 0U ; j--) + { + // MISRA RULE 10.3 fix - explicit conversion to int32_t + int32_t x = (int32_t)(*s) - (int32_t)(*d); + + // MISRA RULE 14.4 fix - return essential boolean type + if (x != 0) + { + // MISRA RULE 15.5 fix - temp var to pass to return statement + cmp = x; + break; + } + + // MISRA RULE 13.3 fix - increment separated from pointer dereference + d++; + s++; + } + + return cmp; +} + +void *memset(void *s, int c, size_t n) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + uint8_t *p = (uint8_t *)(s); + uint8_t set_c; + + // check "c" and clip to max value if out of bounds + if (c > UINT8_MAX) + { + set_c = UINT8_MAX; + } + else + { + set_c = (uint8_t)c; + } + + // CERTC INT30 fix - integer wrap-around + // MISRA RULE 14.4 fix - return essential boolean type + for (size_t j=n ; j > 0U ; j--) + { + *p = set_c; + + // MISRA RULE 13.3 fix - increment separated from pointer dereference + p++; + } + + return s; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_21_2, "Approval: Jira TID-1970, DR: SWE-FSP-066-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-067-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/libc-lite/module-libc-lite-config.mk b/spe-freertos-bsp/fsp/source/drivers/libc-lite/module-libc-lite-config.mk new file mode 100644 index 0000000..0fc4684 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/libc-lite/module-libc-lite-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile utilities message +ifeq ($(VERBOSE), 1) +$(info Including: module-libc-lite-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIBC_LITE_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIBC_LITE_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_LIBC_LITE_DEPENDS := CPL +$(foreach _,$(MODULE_LIBC_LITE_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_LIBC_LITE_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/libc-lite +MODULE_LIBC_LITE_SOURCE_DIR = $(MODULE_LIBC_LITE_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_LIBC_LITE_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/libc-lite/module-libc-lite.mk b/spe-freertos-bsp/fsp/source/drivers/libc-lite/module-libc-lite.mk new file mode 100644 index 0000000..883b768 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/libc-lite/module-libc-lite.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2021-2023, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile utility functions +ifeq ($(VERBOSE), 1) +$(info Including: module-libc-lite.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_LIBC_LITE_NAME := LIBC_LITE + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIBC_LITE_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_LIBC_LITE_DEPENDS := LIBC_LITE CPL +$(foreach _,$(CONFIG_LIBC_LITE_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_LIBC_LITE_C_SRC = + +MODULE_LIBC_LITE_C_SRC += $(MODULE_LIBC_LITE_DRIVERS_DIR)/memops.c + +# +# Assembly source +MODULE_LIBC_LITE_ASM_SRC = + +# +# Special C Flags +MODULE_LIBC_LITE_C_FLAGS = + +# +# Special ASM Flags +MODULE_LIBC_LITE_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/lic/lic-tegra.c b/spe-freertos-bsp/fsp/source/drivers/lic/lic-tegra.c new file mode 100644 index 0000000..075103d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/lic/lic-tegra.c @@ -0,0 +1,427 @@ +/* + * Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false +#include // for NULL +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_LIC_BASE +#include // for INTR_CTLR_CHANNEL0_SLICE0_IER_0... + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H +#include // for readl_base_offset, writel_base_of... +#include // for in_interrupt, enter_critical, exi... +#include // for ARRAY_SIZE,... + +/* Module-specific FSP headers */ +#include // for E_LIC_ERR_NULL_PTR, E_LIC_ERR_NO_... +#include // for tegra_lic_id, ... +#include // for tegra_lic_int, ... +#include // for SECTION_LIC_TEXT, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx") + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__LIC__LIC_ERRORS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__LIC__LIC_TEGRA_PRIV_H, "Header file missing or invalid.") + CT_ASSERT(FSP__LIC__LIC_TEGRA_H, "Header file missing or invalid.") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +#define LIC_IER_REG INTR_CTLR_CHANNEL0_SLICE0_IER_0 +#define LIC_IER_SET_REG INTR_CTLR_CHANNEL0_SLICE0_IER_SET_0 +#define LIC_IER_CLR_REG INTR_CTLR_CHANNEL0_SLICE0_IER_CLR_0 +#define LIC_IDR_REG INTR_CTLR_CHANNEL0_SLICE0_IDR_0 +#define LIC_IEP_CLASS_REG INTR_CTLR_CHANNEL0_SLICE0_IEP_CLASS_0 +#define LIC_VIRQ_REG INTR_CTLR_CHANNEL0_SLICE0_VIRQ_0 +#define LIC_VFIQ_REG INTR_CTLR_CHANNEL0_SLICE0_VFIQ_0 + +#define LIC_CHAN_OFFSET \ + (INTR_CTLR_CHANNEL1_SLICE0_VIRQ_0 - INTR_CTLR_CHANNEL0_SLICE0_VIRQ_0) +#define LIC_SLICE_OFFSET \ + (INTR_CTLR_CHANNEL0_SLICE1_VIRQ_0 - INTR_CTLR_CHANNEL0_SLICE0_VIRQ_0) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") + +static inline uint32_t +lic_reg(uint32_t offset) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return (NV_ADDRESS_MAP_LIC_BASE + offset); +} + +static inline uint32_t +lic_chan_slice_reg(uint8_t chan, uint8_t slice, uint32_t offset) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return ((chan * LIC_CHAN_OFFSET) + (slice * LIC_SLICE_OFFSET) + offset); +} + +static inline uint32_t +lic_slice_reg(uint32_t reg, uint8_t slice) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-451, DR: SWE-FSP-046-SWSADR.docx"); + return reg + (slice * LIC_SLICE_OFFSET); +} + +static inline uint32_t +lic_ier_set(uint8_t chan, uint8_t slice) +{ + + return lic_reg(lic_chan_slice_reg(chan, slice, LIC_IER_SET_REG)); +} + +static inline uint32_t +lic_ier_clr(uint8_t chan, uint8_t slice) +{ + + return lic_reg(lic_chan_slice_reg(chan, slice, LIC_IER_CLR_REG)); +} + +static inline uint32_t +lic_iep_class(uint8_t chan, uint8_t slice) +{ + return lic_reg(lic_chan_slice_reg(chan, slice, LIC_IEP_CLASS_REG)); +} + +static inline uint32_t +lic_virq(uint8_t chan, uint8_t slice) +{ + return lic_reg(lic_chan_slice_reg(chan, slice, LIC_VIRQ_REG)); +} + +static inline uint32_t +lic_vfiq(uint8_t chan, uint8_t slice) +{ + return lic_reg(lic_chan_slice_reg(chan, slice, LIC_VFIQ_REG)); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx", MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +SECTION_LIC_TEXT void tegra_lic_irq_handler(void *data) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + const lic_irq_context_t *ctx = (lic_irq_context_t *)data; + const struct tegra_lic_id *id = ctx->id; + uint8_t chan = ctx->chan; + uint32_t virq[LIC_MAX_SLICES]; + uint8_t slice = 0; + uint32_t slice_map = 0; + uint32_t lic_irq, irq; + uint32_t mask; + uint32_t irqs_left = ctx->irqs_set; + uint32_t reg; + irq_callback_fn isr_handler; + + reg = ctx->is_vfiq ? lic_vfiq(chan, slice) : lic_virq(chan, slice); + + while (irqs_left != 0UL) { + lic_irq = bit_number(irqs_left); + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, Example-4, DR: SWE-FSP-045-SWSADR.docx"); + irq = lic_irq + id->conf.lic_irq_base; + slice = id->lic_map[lic_irq].slice; + mask = BIT32_FN(id->lic_map[lic_irq].bit); + isr_handler = id->lic_map[lic_irq].routine; + + if ((slice_map & BIT32_FN(slice)) == 0UL) { + virq[slice] = readl(lic_slice_reg(reg, slice)); + slice_map = BIT32_FN(slice); + } + + if ((virq[slice] & mask) != 0UL) { + if (isr_handler != NULL) { + isr_handler(id->lic_map[lic_irq].cb_data); + } else { + irq_handler(irq); + } + } + + irqs_left &= ~BIT32_FN(lic_irq); + } + +} + +SECTION_LIC_TEXT error_t +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +tegra_lic_irq_enable(const struct tegra_lic_id *id, + uint32_t irq) +{ + error_t ret = E_SUCCESS; + uint32_t lic_irq; + uint32_t irq_line; + uint8_t chan; + + if (id == NULL) { + ret = E_LIC_NULL_PTR; + goto out; + } + + if (irq < id->conf.lic_irq_base) { + ret = E_LIC_INVALID_IRQ; + goto out; + } + + lic_irq = irq - id->conf.lic_irq_base; + if (lic_irq >= id->lic_map_size) { + ret = E_LIC_INVALID_IRQ; + goto out; + } + + irq_line = id->lic_map[lic_irq].local_irq - (uint32_t)id->conf.local_irq_base; + if (irq_line > id->num_lic_irq_lines) { + ret = E_LIC_INVALID_IRQ; + goto out; + } + chan = id->irq_contexts[irq_line]->chan; + + if (!in_interrupt()) { + enter_critical(); + } + + writel(BIT32_FN(id->lic_map[lic_irq].bit), + lic_ier_set(chan, id->lic_map[lic_irq].slice)); + + if (!in_interrupt()) { + exit_critical(); + } + +out: + return ret; +} + +SECTION_LIC_TEXT error_t +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +tegra_lic_irq_disable(const struct tegra_lic_id *id, + uint32_t irq) +{ + error_t ret = E_SUCCESS; + uint32_t lic_irq; + uint32_t irq_line; + uint8_t chan; + + if (id == NULL) { + ret = E_LIC_NULL_PTR; + goto out; + } + + if (irq < id->conf.lic_irq_base) { + ret = E_LIC_INVALID_IRQ; + goto out; + } + + lic_irq = irq - id->conf.lic_irq_base; + if (lic_irq >= id->lic_map_size) { + ret = E_LIC_INVALID_IRQ; + goto out; + } + + irq_line = id->lic_map[lic_irq].local_irq - (uint32_t)id->conf.local_irq_base; + if (irq_line > id->num_lic_irq_lines) { + ret = E_LIC_INVALID_IRQ; + goto out; + } + chan = id->irq_contexts[irq_line]->chan; + + if (!in_interrupt()) { + enter_critical(); + } + + writel(BIT32_FN(id->lic_map[lic_irq].bit), + lic_ier_clr(chan, id->lic_map[lic_irq].slice)); + + if (!in_interrupt()) { + exit_critical(); + } + +out: + return ret; +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") +static error_t +tegra_lic_validate_irq_context(const struct tegra_lic_id *id) +{ + error_t ret = E_SUCCESS; + uint32_t i; + uint32_t chan; + uint8_t max_chan; + + for (i = 0UL; i < id->num_lic_irq_lines; i += 1UL) { + if (id->irq_contexts[i] == NULL) { + ret = E_LIC_INVALID_PARAM; + goto out; + } + + chan = id->irq_contexts[i]->chan; + max_chan = id->conf.base_chan; + max_chan += id->conf.num_chans; + if ((chan < id->conf.base_chan) || (chan >= max_chan)) { + ret = E_LIC_INVALID_PARAM; + goto out; + } + + id->irq_contexts[i]->irqs_set = 0UL; + } + +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") + +static void +tegra_lic_configure_lic_map(const struct tegra_lic_id *id) +{ + const lic_irq_context_t *irq_ctx; + uint32_t i; + uint8_t chan; + uint32_t iep; + bool is_vfiq; + uint16_t irq_line; + uint8_t slice; + + for (i = 0UL; i < id->lic_map_size; i += 1UL) { + slice = id->lic_map[i].slice; + irq_line = id->lic_map[i].local_irq; + INLINE_RFD(CERTC, DEVIATE, INT30_C,"Approval: JIRA TID-449, Example-4, DR: SWE-FSP-045-SWSADR.docx"); + irq_line -= id->conf.local_irq_base; + irq_ctx = id->irq_contexts[irq_line]; + chan = irq_ctx->chan; + is_vfiq = irq_ctx->is_vfiq; + + iep = readl(lic_iep_class(chan, slice)); + + if (is_vfiq) { + iep |= BIT32_FN(id->lic_map[i].bit); + } + writel(iep, lic_iep_class(chan, slice)); + + writel(BIT32_FN(id->lic_map[i].bit), lic_ier_clr(chan, slice)); + + id->irq_contexts[irq_line]->irqs_set |= BIT(i); + } + +} + +static error_t +tegra_lic_set_irq_handlers(const struct tegra_lic_id *id) +{ + lic_irq_context_t *irq_ctx; + uint32_t i; + uint32_t local_irq; + error_t ret = E_SUCCESS; + + for (i = 0UL; i < id->num_lic_irq_lines; i += 1UL) { + irq_ctx = id->irq_contexts[i]; + local_irq = id->conf.local_irq_base + i; + + ret = irq_safe_set_handler(local_irq, tegra_lic_irq_handler, (void*)irq_ctx); + if (ret == E_SUCCESS) { + ret = irq_safe_enable(local_irq); + } + if (ret != E_SUCCESS) { + break; + } + } + + return ret; +} + +SECTION_LIC_INIT_TEXT error_t +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +tegra_lic_init(struct tegra_lic_id *id, + const lic_irq_t *lic_map, + const uint32_t lic_map_size) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + ret = E_LIC_NULL_PTR; + goto out; + } + + if (id->conf.num_chans == 0UL) { + ret = E_LIC_NO_CHANS; + goto out; + } + + if ((lic_map == NULL) || (lic_map_size == 0UL)) { + ret = E_LIC_NO_MAP; + goto out; + } + id->lic_map = lic_map; + id->lic_map_size = lic_map_size; + + if (id->num_lic_irq_lines == 0UL) { + ret = E_LIC_NO_IRQ; + goto out; + } + + if (id->num_lic_irq_lines != (id->conf.num_chans * 2UL)) { + ret = E_LIC_INVALID_PARAM; + goto out; + } + + ret = tegra_lic_validate_irq_context(id); + if (ret != E_SUCCESS) { + goto out; + } + + tegra_lic_configure_lic_map(id); + + ret = tegra_lic_set_irq_handlers(id); + +out: + return ret; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/lic/module-lic-config.mk b/spe-freertos-bsp/fsp/source/drivers/lic/module-lic-config.mk new file mode 100644 index 0000000..174b5b2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/lic/module-lic-config.mk @@ -0,0 +1,54 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-lic-config.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIC_CONFIG := 1 + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIC_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_LIC_DEPENDS := SOC CLUSTER CPL +$(foreach _,$(MODULE_LIC_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_LIC_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/lic +MODULE_LIC_SOURCE_DIR = $(MODULE_LIC_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_LIC_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/lic/module-lic.mk b/spe-freertos-bsp/fsp/source/drivers/lic/module-lic.mk new file mode 100644 index 0000000..fd6eb6e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/lic/module-lic.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-lic.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to +# VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_LIC_NAME := LIC + +# +# Define a something similar to header guard protection...for makefiles +# instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LIC_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_LIC_DEPENDS := LIC SOC CPL +$(foreach _,$(CONFIG_LIC_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_LIC_C_SRC = +MODULE_LIC_C_SRC += $(MODULE_LIC_DRIVERS_DIR)/lic-tegra.c +MODULE_LIC_C_SRC += $(CPL_SOC_IDS)/lic-tegra-ids.c + +# +# Assembly source +MODULE_LIC_ASM_SRC = $(CPL_SOC_PORT)/lic-irq.S + +# +# Special C Flags +MODULE_LIC_C_FLAGS = + +# +# Special ASM Flags +MODULE_LIC_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/logger/logger.c b/spe-freertos-bsp/fsp/source/drivers/logger/logger.c new file mode 100644 index 0000000..a1605c8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/logger/logger.c @@ -0,0 +1,389 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false, true +#include // for uint32_t, uint8_t, uint16_t, uin... +#include // for NULL, memcpy + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskEnterCritical, rtosTaskE... +#include // for ASSERT, FSP__DEBUG__ASSERT_H +#include // for in_interrupt, FSP__IRQ__SAFE_IRQS_H +#include // for WEAK, FSP__MISC__ATTRIBUTES_H +#include // for LOW32 +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for tegra_tke_get_tsc64 + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for log_buff_t, LEB_STATE_EMPTY, LEB... +#include // for FSP__LOGGER__LOGGER_H, log_entry +#include // Immune from CT_ASSERT protection +#include // for log_entry_t, log_arg_t, log_meta... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_PRIVATE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_DATA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +log_buff_t log_buffers[NUM_LOG_BUFFERS] SECTION_LOG_BSS; +uint32_t cur_buff_num SECTION_LOG_DATA = 0; +log_buff_t *log_cur_buff SECTION_LOG_DATA = NULL; +uint32_t dropped_log_entries SECTION_LOG_DATA = 0; + +uint32_t log_level SECTION_LOG_DATA + = DEFAULT_LOG_LEVEL; + +/* + * Define the print hook as a weak symbol so that if the application wants + * to define it with an initializer, that will take precedence. + */ +log_hook_t log_print_hook WEAK SECTION_LOG_DATA; + +/** + * log_set_level_mask() - set the level mask for logging + * + * @mask: mask of the levels that will cause log entries to be emitted + * + * This function will set the mask of the levels that will allow log entries + * to be emitted. + * + * Return Values: + * none + */ +SECTION_LOG_ADMIN_TEXT void +log_set_level_mask(const uint32_t mask) +{ + log_level = mask; +} + +/** + * log_get_level_mask() - get the current level mask for logging + * + * This function will return the current mask of the levels used for logging. + * + * Return Values: + * current level mask + */ +SECTION_LOG_ADMIN_TEXT uint32_t +log_get_level_mask(void) +{ + return(log_level); +} + +/** + * log_buffer_empty() - make a log buffer appear empty + * + * @buff: pointer to the log buffer that is to be initialized to the + * empty state. + * + * This function will initialize a log_buff_t to be in the empty state. + * This function should be called anytime that a log buffer is to be reset + * to its empty state. + * + * Return Values: + * none. + */ +SECTION_LOG_TEXT static void +log_buffer_empty(log_buff_t * const buff) +{ + ASSERT(buff != NULL); + + buff->next = 0; + buff->state = LEB_STATE_EMPTY; + buff->remaining = LOG_BUFFER_SIZE; +} + +/** + * log_buffer_switch() - switch to a new buffer if necessary + * + * @buff: pointer to the current buffer + * + * This function determines if the current buffer can be used for storing + * additional log entries. If the current buffer cannot be used, it will + * switch to using another buffer. + * + * If the new buffer is chosen its contents will be overwritten (that is + * when it is chosen, the buffer will be set to the empty state). The only + * time that this does not occur is if the buffer is being copied. In which + * case any new log entries will be dropped until there is a buffer that is + * available. + * + * Return Values: + * NULL no buffers are available (they're in the copying + * state) + * others pointer to a buffer that can be used to store log + * entries. + */ +SECTION_LOG_TEXT static log_buff_t * +log_buffer_switch(log_buff_t * const buff) +{ + log_buff_t *new_buff = buff; + uint32_t buff_num; + + ASSERT(buff != NULL); + + switch (new_buff->state) { + case LEB_STATE_EMPTY: + case LEB_STATE_PARTIAL: + /* + * OK to use the current buffer. + */ + break; + + case LEB_STATE_FULL: + case LEB_STATE_TOCOPY: + case LEB_STATE_COPYING: + /* + * Have to switch to the next buffer + */ + buff_num = (cur_buff_num + 1) % NUM_LOG_BUFFERS; + new_buff = &log_buffers[buff_num]; + if ((new_buff->state == LEB_STATE_TOCOPY) + || (new_buff->state == LEB_STATE_COPYING)) { + /* + * Cannot touch a buffer that's actively being + * copied. So we'll have to drop any trace points + * until the copy has completed. + */ + new_buff = NULL; + } else { + log_buffer_empty(new_buff); + cur_buff_num = buff_num; + log_cur_buff = new_buff; + } + break; + } + + return new_buff; +} + +/** + * log_buffer_get() - get a buffer to use to hold log entries + * + * This function will return a pointer to a log buffer that can be used + * to hold log entries. + * + * Return Values: + * NULL no buffers are available + * others pointer to a buffer that can be used to store log + * entries. + */ +SECTION_LOG_TEXT static log_buff_t * +log_buffer_get(void) +{ + log_buff_t *buff = NULL; + + /* + * Handle initialization + */ + if (log_cur_buff == NULL) { + cur_buff_num = 0; + log_cur_buff = &log_buffers[0]; + buff = log_cur_buff; + log_buffer_empty(buff); + } else { + /* + * Make sure that the current buffer can be used. + * If not, move to another one. + */ + buff = log_buffer_switch(log_cur_buff); + } + + return buff; +} + +/** + * log_entry() - add a log entry + * + * @token: pointer to the meta-data structure for the log entry + * @n_args: number of actual args in log_args_t structure + * @args: pointer to a log_args_t structure + * + * This function will add a log entry into a log buffer. It will construct + * a log entry and attempt to place it in to a log buffer. + * + * Return Values: + * none + */ +SECTION_LOG_TEXT void +log_entry(const log_metadata_t * const token, + const uint8_t n_args, + log_args_t args) +{ + log_buff_t *buff = NULL; + log_entry_t *lep; + uint8_t *le_args; + uint64_t now; + bool full = false; + bool from_isr; + uint32_t le_size; + + ASSERT(token != NULL); + ASSERT(args != NULL); + + from_isr = in_interrupt(); + + if (!from_isr) { + rtosTaskEnterCritical(); + } + + /* + * Determine if there is a print "hook" + */ + if ((log_print_hook != NULL) + && ((token->flags & LOG_FL_PRINT) != 0)) { + (*log_print_hook)(token, n_args, args); + goto out; + } + + buff = log_buffer_get(); + if (buff == NULL) { + /* + * There are no buffers that have space for any + * log entries, so just drop this log entry on + * the floor. + */ + dropped_log_entries += 1; + goto out; + } + + /* + * See if there is enough space in the current buffer + * for the new log entry. + */ + le_size = sizeof(log_entry_t) + (n_args * sizeof(log_arg_t)); + if (le_size > buff->remaining) { + /* + * Mark the current buffer as full and queue it + */ + buff->state = LEB_STATE_FULL; + log_buffer_push(buff); + + /* + * Get a new buffer + */ + buff = log_buffer_get(); + if (buff == NULL) { + /* + * There are no buffers that have space for any + * trace points, so just drop this trace point + * on the floor. + */ + dropped_log_entries += 1; + goto out; + } + } + + lep = (log_entry_t *)&buff->buffer[buff->next]; + buff->next += le_size; + + if (buff->next >= LOG_BUFFER_SIZE) { + buff->state = LEB_STATE_FULL; + full = true; + } + + now = tegra_tke_get_tsc64(); + + if (buff->state == LEB_STATE_EMPTY) { + buff->start_time = now; + buff->last_time = now; + buff->state = LEB_STATE_PARTIAL; + } + + lep->delta_time = LOW32(now - buff->last_time); + buff->last_time = now; + + lep->token = (log_token_t)token; + lep->n_bytes = (uint16_t)le_size; + lep->n_fixed_args = 0; + lep->fixed_flags = 0; + if (n_args > 0) { + le_args = ((uint8_t *)lep) + sizeof(log_entry_t); + memcpy(le_args, args, n_args * sizeof(log_arg_t)); + } + + out: + if (!from_isr) { + if (full) { + log_buffer_push(buff); + } + + rtosTaskExitCritical(); + } + + return; +} + +/** + * log_buffer_push() - pushes a log buffer to memory + * + * @buff: Buffer to be pushed + * + * This function will push a buffer to memory so that it is visible to + * the rest of the system. + * + * This particular version is a "stub". It does not do anything to the + * buffer, so it will be re-used when selected again. + * It has a "weak" linkage so that the application can implement its own + * version. + */ +SECTION_LOG_TEXT WEAK void +log_buffer_push(log_buff_t * const buff) +{ + (void)buff; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/logger/module-logger-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/logger/module-logger-nosafety-config.mk new file mode 100644 index 0000000..b9ccb78 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/logger/module-logger-nosafety-config.mk @@ -0,0 +1,45 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-logger-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LOGGER_NOSAFETY_CONFIG := 1 + +# +# Location of source code files +LOGGER_DIR = $(FSP_COMMON_REPO)/drivers/logger +MODULE_LOGGER_NOSAFETY_SOURCE_DIR = $(LOGGER_DIR) + +# +# Common includes '-I ' +MODULE_LOGGER_NOSAFETY_INCLUDES = + +# +# Configuration options. These can be specified to control how the firmware +# is built. Setting the option=1 (e.g. DEBUG=1) will enable the option and +# setting the option to 0 (e.g. DEBUG=0) will disable the option. +# +# DEFAULT_LOG_LEVEL Serves as a divisor to help calculate clock +# rate. +# +DEFAULT_LOG_LEVEL ?= 0 diff --git a/spe-freertos-bsp/fsp/source/drivers/logger/module-logger-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/logger/module-logger-nosafety.mk new file mode 100644 index 0000000..1553018 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/logger/module-logger-nosafety.mk @@ -0,0 +1,65 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-logger-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_LOGGER_NOSAFETY_NAME := LOGGER_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_LOGGER_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_LOGGER_NOSAFETY_DEPENDS := LOGGER_NOSAFETY SOC CPL OSA DEBUG_NOSAFETY TKE +$(foreach _,$(CONFIG_LOGGER_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_LOGGER_NOSAFETY_C_SRC = +MODULE_LOGGER_NOSAFETY_C_SRC += $(LOGGER_DIR)/logger.c + +# +# Assembly source +MODULE_LOGGER_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_LOGGER_NOSAFETY_C_FLAGS = +ifndef LOG_LEVEL +MODULE_LOGGER_NOSAFETY_C_FLAGS += -DDEFAULT_LOG_LEVEL=$(DEFAULT_LOG_LEVEL) +endif + +# +# Special ASM Flags +MODULE_LOGGER_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/freertosv10/arm/armv7/cortex-r5/module-ospl-config.mk b/spe-freertos-bsp/fsp/source/drivers/osa/freertosv10/arm/armv7/cortex-r5/module-ospl-config.mk new file mode 100644 index 0000000..98c591f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/freertosv10/arm/armv7/cortex-r5/module-ospl-config.mk @@ -0,0 +1,47 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_OSPL_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_OSPL_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osp*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Location of source code files +OSPL_DIR = $(FSP_COMMON_REPO)/drivers/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_OSPL_SOURCE_DIR = $(OSPL_DIR) + +# +# Common includes '-I ' +MODULE_OSPL_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/freertosv10/arm/armv7/cortex-r5/module-ospl.mk b/spe-freertos-bsp/fsp/source/drivers/osa/freertosv10/arm/armv7/cortex-r5/module-ospl.mk new file mode 100644 index 0000000..f39ba21 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/freertosv10/arm/armv7/cortex-r5/module-ospl.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_OSPL_NAME := OSPL + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_OSPL_DEPENDS := OSPL SOC CPL OSA +$(foreach _,$(CONFIG_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_OSPL_C_SRC = + +# +# Assembly source +MODULE_OSPL_ASM_SRC = + +# +# Special C Flags +MODULE_OSPL_C_FLAGS = + +# +# Special ASM Flags +MODULE_OSPL_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/littlekernel/arm/armv8/cortex-r52/module-ospl-config.mk b/spe-freertos-bsp/fsp/source/drivers/osa/littlekernel/arm/armv8/cortex-r52/module-ospl-config.mk new file mode 100644 index 0000000..98c591f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/littlekernel/arm/armv8/cortex-r52/module-ospl-config.mk @@ -0,0 +1,47 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_OSPL_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_OSPL_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osp*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Location of source code files +OSPL_DIR = $(FSP_COMMON_REPO)/drivers/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_OSPL_SOURCE_DIR = $(OSPL_DIR) + +# +# Common includes '-I ' +MODULE_OSPL_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/littlekernel/arm/armv8/cortex-r52/module-ospl.mk b/spe-freertos-bsp/fsp/source/drivers/osa/littlekernel/arm/armv8/cortex-r52/module-ospl.mk new file mode 100644 index 0000000..f39ba21 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/littlekernel/arm/armv8/cortex-r52/module-ospl.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_OSPL_NAME := OSPL + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_OSPL_DEPENDS := OSPL SOC CPL OSA +$(foreach _,$(CONFIG_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_OSPL_C_SRC = + +# +# Assembly source +MODULE_OSPL_ASM_SRC = + +# +# Special C Flags +MODULE_OSPL_C_FLAGS = + +# +# Special ASM Flags +MODULE_OSPL_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/module-osa-config.mk b/spe-freertos-bsp/fsp/source/drivers/osa/module-osa-config.mk new file mode 100644 index 0000000..24e22dc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/module-osa-config.mk @@ -0,0 +1,41 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-osa-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_OSA_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_OSA_DEPENDS := SOC CLUSTER CPL +$(foreach _,$(MODULE_OSA_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_OSA_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_OSA_INCLUDES = -I $(FSP_COMMON_REPO)/include/osa/$(OSA) diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/module-osa.mk b/spe-freertos-bsp/fsp/source/drivers/osa/module-osa.mk new file mode 100644 index 0000000..21626b4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/module-osa.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-osa.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_OSA_NAME := OSA + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_OSA_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_OSA_DEPENDS := OSA +$(foreach _,$(CONFIG_OSA_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_OSA_C_SRC = + +# +# Assembly source +MODULE_OSA_ASM_SRC = + +# +# Special C Flags +MODULE_OSA_C_FLAGS = + +# +# Special ASM Flags +MODULE_OSA_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/module-ospl-config.mk b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/module-ospl-config.mk new file mode 100644 index 0000000..98c591f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/module-ospl-config.mk @@ -0,0 +1,47 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_OSPL_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_OSPL_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osp*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Location of source code files +OSPL_DIR = $(FSP_COMMON_REPO)/drivers/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_OSPL_SOURCE_DIR = $(OSPL_DIR) + +# +# Common includes '-I ' +MODULE_OSPL_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/module-ospl.mk b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/module-ospl.mk new file mode 100644 index 0000000..f7b04fc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/module-ospl.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_OSPL_NAME := OSPL + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_OSPL_DEPENDS := OSPL SOC CPL OSA +$(foreach _,$(CONFIG_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_OSPL_C_SRC = +MODULE_OSPL_C_SRC += $(OSPL_DIR)/rtos-port-timer.c +MODULE_OSPL_C_SRC += $(OSPL_DIR)/rtos-port-task.c + +# +# Assembly source +MODULE_OSPL_ASM_SRC = + +# +# Special C Flags +MODULE_OSPL_C_FLAGS = + +# +# Special ASM Flags +MODULE_OSPL_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/rtos-port-task.c b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/rtos-port-task.c new file mode 100644 index 0000000..0c6b5ba --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/rtos-port-task.c @@ -0,0 +1,162 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for int32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for fsp_i32_to_u32 +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for rtosTaskCreate, rtosTaskInitializeSche... +#include // for SETFIELD, SETFIELD_t + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_PRIV_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") +/** + * rtosTaskCreate() - rtos wrapper for xTaskCreate() + * + * @pxTaskParameters: pointer to the parameter structure that will + * specify the attributes of the task being + * created. + * @pxCreatedTask: pointer to where the task handle for the newly + * created task will be stored. + * + * This function is a wrapper for xTaskCreate in SafeRTOS. It provides + * a translation of the structures and types used by NVIDIA code to those + * used by SafeRTOS. + * + * Return Values: + * rtosPASS if the task was created successfully + * other values if the task could not be created successfully + */ +SECTION_OSA_CREATE_TEXT +rtosError +rtosTaskCreate(const rtosTaskParameters * const pxTaskParameters, + rtosTaskHandle *pxCreatedTask) +{ + xTaskParameters xParms; + xTaskParameters *pxParms = &xParms; + + SETFIELD(pxParms, pxTaskParameters, pvTaskCode); + SETFIELD(pxParms, pxTaskParameters, pcTaskName); + SETFIELD(pxParms, pxTaskParameters, pxTCB); + SETFIELD(pxParms, pxTaskParameters, pcStackBuffer); + SETFIELD(pxParms, pxTaskParameters, uxStackDepthBytes); + SETFIELD(pxParms, pxTaskParameters, pvParameters); + SETFIELD(pxParms, pxTaskParameters, uxPriority); + SETFIELD(pxParms, pxTaskParameters, pvObject); + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + SETFIELD_t(pxParms, int32_t, pxTaskParameters, xUsingFPU); + SETFIELD(pxParms, pxTaskParameters, uxPrivilegeLevel); + SETFIELD(pxParms, pxTaskParameters, pxMPUParameters); + + /* + * Call the SafeRTOS API to create the task + */ + return xTaskCreate(pxParms, pxCreatedTask); +} + + +/** + * rtosTaskInitializeScheduler() - rtos wrapper for xTaskInitializeScheduler() + * + * @pxSchedInitParameters: pointer to a structure that contains the + * parameters that are used to initialize the + * SafeRTOS scheduler. + * + * This function is a wrapper for xTaskInitializeScheduler in SafeRTOS. It + * provides a translation of the structures and types used by NVIDIA code to + * those used by SafeRTOS. + * + * Return Values: + * none + */ +SECTION_OSA_INIT_TEXT +rtosError +rtosTaskInitializeScheduler(const rtosSchedParameters * const pxSchedInitParameters) +{ + xPORT_INIT_PARAMETERS xParms; + xPORT_INIT_PARAMETERS *pxParms = &xParms; + + SETFIELD(pxParms, pxSchedInitParameters, ulCPUClockHz); + SETFIELD(pxParms, pxSchedInitParameters, ulTickRateHz); + SETFIELD(pxParms, pxSchedInitParameters, uxAdditionalStackCheckMarginBytes); + SETFIELD(pxParms, pxSchedInitParameters, pcIdleTaskStackBuffer); + SETFIELD(pxParms, pxSchedInitParameters, uxIdleTaskStackSizeBytes); + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + SETFIELD_t(pxParms, int32_t, pxSchedInitParameters, xIdleTaskUsingFPU); + SETFIELD(pxParms, pxSchedInitParameters, pvIdleTaskTLSObject); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerTaskPriority); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerTaskStackSize); + SETFIELD(pxParms, pxSchedInitParameters, pcTimerTaskStackBuffer); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerCommandQueueLength); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerCommandQueueBufferSize); + SETFIELD(pxParms, pxSchedInitParameters, pcTimerCommandQueueBuffer); + SETFIELD(pxParms, pxSchedInitParameters, pxIdleTaskMPUParameters); + SETFIELD(pxParms, pxSchedInitParameters, pxTimerTaskMPUParameters); + + /* Always set idle task privilege level to pdTRUE */ + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + pxParms->uxIdleTaskPrivilegeLevel = fsp_i32_to_u32(pdTRUE); + + /* + * Call the SafeRTOS API to initialize the scheduler. + */ + return xTaskInitializeScheduler(pxParms); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/rtos-port-timer.c b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/rtos-port-timer.c new file mode 100644 index 0000000..6189640 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/arm/armv7/cortex-r5/rtos-port-timer.c @@ -0,0 +1,95 @@ +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_1_2 \"Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx\") \ + (deviate MISRA_C_2012_Directive_4_8 \"Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx\")") +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for int32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for SETFIELD, SETFIELD_t +#include // for rtosTimerCreate + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TIMER_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") +SECTION_OSA_CREATE_TEXT +rtosError +rtosTimerCreate(const rtosTimerInitParametersType * const pxTimerParameters, + rtosTimerHandle *pxTimerHandle) +{ + timerInitParametersType xParams; + timerInitParametersType *pxParams = &xParams; + + SETFIELD(pxParams, pxTimerParameters, pcTimerName); + SETFIELD(pxParams, pxTimerParameters, xTimerPeriodInTicks); + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + SETFIELD_t(pxParams, int32_t, pxTimerParameters, xIsPeriodic); + SETFIELD(pxParams, pxTimerParameters, xTimerID); + SETFIELD(pxParams, pxTimerParameters, pxNewTimer); + SETFIELD(pxParams, pxTimerParameters, pxCallbackFunction); + SETFIELD(pxParams, pxTimerParameters, pxTimerInstance); + SETFIELD(pxParams, pxTimerParameters, pvObject); + + /* + * Call the SafeRTOS API to create a timer + */ + return xTimerCreate(pxParams, pxTimerHandle); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_8, "Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/nvidia/riscv/nvriscv/module-ospl-config.mk b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/nvidia/riscv/nvriscv/module-ospl-config.mk new file mode 100644 index 0000000..8bc4ac1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/nvidia/riscv/nvriscv/module-ospl-config.mk @@ -0,0 +1,47 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_OSPL_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_OSPL_DEPENDS := OSA +$(foreach _,$(MODULE_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osp*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Location of source code files +OSPL_DIR = $(FSP_COMMON_REPO)/drivers/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_OSPL_SOURCE_DIR = $(OSPL_DIR) + +# +# Common includes '-I ' +MODULE_OSPL_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/nvidia/riscv/nvriscv/module-ospl.mk b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/nvidia/riscv/nvriscv/module-ospl.mk new file mode 100644 index 0000000..09d9538 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv8/nvidia/riscv/nvriscv/module-ospl.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_OSPL_NAME := OSPL + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_OSPL_DEPENDS := OSPL OSA +$(foreach _,$(CONFIG_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_OSPL_C_SRC = +MODULE_OSPL_C_SRC += +MODULE_OSPL_C_SRC += + +# +# Assembly source +MODULE_OSPL_ASM_SRC = + +# +# Special C Flags +MODULE_OSPL_C_FLAGS = + +# +# Special ASM Flags +MODULE_OSPL_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/module-ospl-config.mk b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/module-ospl-config.mk new file mode 100644 index 0000000..98c591f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/module-ospl-config.mk @@ -0,0 +1,47 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cpl_*.mk' files. +MODULE_OSPL_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_OSPL_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osp*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Location of source code files +OSPL_DIR = $(FSP_COMMON_REPO)/drivers/osa/$(OSA)/$(ARCH)/$(ISA)/$(CPU) +MODULE_OSPL_SOURCE_DIR = $(OSPL_DIR) + +# +# Common includes '-I ' +MODULE_OSPL_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/module-ospl.mk b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/module-ospl.mk new file mode 100644 index 0000000..f7b04fc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/module-ospl.mk @@ -0,0 +1,63 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ospl.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_OSPL_NAME := OSPL + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_OSPL_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_OSPL_DEPENDS := OSPL SOC CPL OSA +$(foreach _,$(CONFIG_OSPL_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_OSPL_C_SRC = +MODULE_OSPL_C_SRC += $(OSPL_DIR)/rtos-port-timer.c +MODULE_OSPL_C_SRC += $(OSPL_DIR)/rtos-port-task.c + +# +# Assembly source +MODULE_OSPL_ASM_SRC = + +# +# Special C Flags +MODULE_OSPL_C_FLAGS = + +# +# Special ASM Flags +MODULE_OSPL_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/rtos-port-task.c b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/rtos-port-task.c new file mode 100644 index 0000000..350aeee --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/rtos-port-task.c @@ -0,0 +1,155 @@ +/* Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for int32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for rtosTaskCreate, rtosTaskInitializeSche... +#include // for SETFIELD, SETFIELD_t +#include // for portTickType.., + + +/* The SVC stack base address - Based on the value from the linker script */ +extern rtosUInt32Type Image$$SVC_STACK$$ZI$$Limit; +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") + CT_ASSERT(FSP__OSA__RTOS_PRIV_H, "Header file missing or invalid.") + +/** + * rtosTaskCreate() - rtos wrapper for xTaskCreate() + * + * @pxTaskParameters: pointer to the parameter structure that will + * specify the attributes of the task being + * created. + * @pxCreatedTask: pointer to where the task handle for the newly + * created task will be stored. + * + * This function is a wrapper for xTaskCreate in SafeRTOS. It provides + * a translation of the structures and types used by NVIDIA code to those + * used by SafeRTOS. + * + * Return Values: + * rtosPASS if the task was created successfully + * other values if the task could not be created successfully + */ +SECTION_OSA_CREATE_TEXT +rtosError +rtosTaskCreate(const rtosTaskParameters * const pxTaskParameters, + rtosTaskHandle *pxCreatedTask) +{ + xTaskParameters xParms; + xTaskParameters *pxParms = &xParms; + + SETFIELD(pxParms, pxTaskParameters, pvTaskCode); + SETFIELD(pxParms, pxTaskParameters, pcTaskName); + SETFIELD(pxParms, pxTaskParameters, pxTCB); + SETFIELD(pxParms, pxTaskParameters, pcStackBuffer); + SETFIELD(pxParms, pxTaskParameters, uxStackDepthBytes); + SETFIELD(pxParms, pxTaskParameters, pvParameters); + SETFIELD(pxParms, pxTaskParameters, uxPriority); + SETFIELD(pxParms, pxTaskParameters, pvObject); + SETFIELD_t(pxParms, int32_t, pxTaskParameters, xUsingFPU); + SETFIELD(pxParms, pxTaskParameters, uxPrivilegeLevel); + SETFIELD(pxParms, pxTaskParameters, pxMPUParameters); + + /* + * Call the SafeRTOS API to create the task + */ + return xTaskCreate(pxParms, pxCreatedTask); +} + + +/** + * rtosTaskInitializeScheduler() - rtos wrapper for xTaskInitializeScheduler() + * + * @pxSchedInitParameters: pointer to a structure that contains the + * parameters that are used to initialize the + * SafeRTOS scheduler. + * + * This function is a wrapper for xTaskInitializeScheduler in SafeRTOS. It + * provides a translation of the structures and types used by NVIDIA code to + * those used by SafeRTOS. + * + * Return Values: + * none + */ +SECTION_OSA_INIT_TEXT +rtosError +rtosTaskInitializeScheduler(const rtosSchedParameters * const pxSchedInitParameters) +{ + xPORT_INIT_PARAMETERS xParms; + xPORT_INIT_PARAMETERS *pxParms = &xParms; + + SETFIELD(pxParms, pxSchedInitParameters, ulCPUClockHz); + SETFIELD(pxParms, pxSchedInitParameters, ulTickRateHz); + SETFIELD(pxParms, pxSchedInitParameters, uxAdditionalStackCheckMarginBytes); + SETFIELD(pxParms, pxSchedInitParameters, pcIdleTaskStackBuffer); + SETFIELD(pxParms, pxSchedInitParameters, uxIdleTaskStackSizeBytes); + SETFIELD_t(pxParms, int32_t, pxSchedInitParameters, xIdleTaskUsingFPU); + SETFIELD(pxParms, pxSchedInitParameters, pvIdleTaskTLSObject); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerTaskPriority); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerTaskStackSize); + SETFIELD(pxParms, pxSchedInitParameters, pcTimerTaskStackBuffer); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerCommandQueueLength); + SETFIELD(pxParms, pxSchedInitParameters, uxTimerCommandQueueBufferSize); + SETFIELD(pxParms, pxSchedInitParameters, pcTimerCommandQueueBuffer); + SETFIELD(pxParms, pxSchedInitParameters, pxIdleTaskMPUParameters); + SETFIELD(pxParms, pxSchedInitParameters, pxTimerTaskMPUParameters); + + /* Always set idle task privilege level to pdTRUE */ + pxParms->uxIdleTaskPrivilegeLevel = pdTRUE; + +#if defined(SAFERTOS_VARIANT_SVC) && (SAFERTOS_VARIANT_SVC == 1) + pxParms->pcSVCStackBaseAddress = (void *)&Image$$SVC_STACK$$ZI$$Limit; +#endif + + /* + * Call the SafeRTOS API to initialize the scheduler. + */ + return xTaskInitializeScheduler(pxParms); +} + + diff --git a/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/rtos-port-timer.c b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/rtos-port-timer.c new file mode 100644 index 0000000..2655260 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/osa/safertosv9/arm/armv7/cortex-r5/rtos-port-timer.c @@ -0,0 +1,82 @@ +/* Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for int32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for SETFIELD, SETFIELD_t +#include // for portTickType.., +#include // for rtosTimerCreate + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSA__RTOS_PRIV_H, "Header file missing or invalid.") + CT_ASSERT(FSP__OSA__RTOS_TIMER_H, "Header file missing or invalid.") + +SECTION_OSA_CREATE_TEXT +rtosError +rtosTimerCreate(const rtosTimerInitParametersType * const pxTimerParameters, + rtosTimerHandle *pxTimerHandle) +{ + timerInitParametersType xParams; + timerInitParametersType *pxParams = &xParams; + + SETFIELD(pxParams, pxTimerParameters, pcTimerName); + SETFIELD(pxParams, pxTimerParameters, xTimerPeriodInTicks); + SETFIELD_t(pxParams, int32_t, pxTimerParameters, xIsPeriodic); + SETFIELD(pxParams, pxTimerParameters, xTimerID); + SETFIELD(pxParams, pxTimerParameters, pxNewTimer); + SETFIELD(pxParams, pxTimerParameters, pxCallbackFunction); + SETFIELD(pxParams, pxTimerParameters, pxTimerInstance); + SETFIELD(pxParams, pxTimerParameters, pvObject); + SETFIELD(pxParams, pxTimerParameters, xTaskToNotify); + + /* + * Call the SafeRTOS API to create a timer + */ + return xTimerCreate(pxParams, pxTimerHandle); +} + + diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/module-scp-config.mk b/spe-freertos-bsp/fsp/source/drivers/scp/module-scp-config.mk new file mode 100644 index 0000000..1eeb7e8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/module-scp-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-scp-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SCP_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_SCP_DEPENDS := CPL FSP_COMMON FBDMA +$(foreach _,$(MODULE_SCP_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_SCP_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/scp +MODULE_SCP_SOURCE_DIR = $(MODULE_SCP_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_SCP_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/module-scp.mk b/spe-freertos-bsp/fsp/source/drivers/scp/module-scp.mk new file mode 100644 index 0000000..52351a5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/module-scp.mk @@ -0,0 +1,70 @@ +# +# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-scp.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_SCP_NAME := SCP + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SCP_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_SCP_DEPENDS := SCP CPL FBDMA +$(foreach _,$(CONFIG_SCP_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_SCP_C_SRC = + +ifeq ($(NVRISCV_FEATURE_SCP),y) +MODULE_SCP_C_SRC += $(MODULE_SCP_DRIVERS_DIR)/scp_crypt.c +MODULE_SCP_C_SRC += $(MODULE_SCP_DRIVERS_DIR)/scp_direct.c +MODULE_SCP_C_SRC += $(MODULE_SCP_DRIVERS_DIR)/scp_general.c +MODULE_SCP_C_SRC += $(MODULE_SCP_DRIVERS_DIR)/scp_private.c +MODULE_SCP_C_SRC += $(MODULE_SCP_DRIVERS_DIR)/scp_rand.c +MODULE_SCP_C_SRC += $(MODULE_SCP_DRIVERS_DIR)/scp_sanity.c +endif + +# +# Assembly source +MODULE_SCP_ASM_SRC = + +# +# Special C Flags +MODULE_SCP_C_FLAGS = + +# +# Special ASM Flags +MODULE_SCP_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/scp_crypt.c b/spe-freertos-bsp/fsp/source/drivers/scp/scp_crypt.c new file mode 100644 index 0000000..fa51615 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/scp_crypt.c @@ -0,0 +1,1911 @@ +/** + * @file scp_crypt.c + * @brief Cryptographic SCP features. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#if !NVRISCV_FEATURE_SCP +#error "Attempting to build scp_crypt.c but the SCP driver is disabled!" +#endif // NVRISCV_FEATURE_SCP + + +/* Compiler headers */ +#include // for bool, true, false +#include // for size_t, NULL +#include // for uint8_t, uintptr_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, common error codes +#include // for memutils_mem_has_overlap +#include // for DRF macros (for scp_direct.h) + +/* Module-specific FSP headers */ +#include // for SCP error codes +#include // for scp_register_index_t +#include // for scp_key_desc_t, etc. +#include // for SCP primitives +#include // for scp_pvt_* + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__FBDMA__MEMUTILS_H) +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__SCP__SCP_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_CRYPT_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_PRIVATE_H) + + +/** + * @brief The chmod value for a secure-keyable-only register ACL. + * + * Intended to protect encryption/decryption keys in secure contexts. + */ +#define SCP_REGISTER_ACL_KEY 0x1U + + +// +// Prototypes for local helper functions. +// See definitions for details. +// +static error_t s_scp_Crypt(const scp_key_desc_t * p_key_desc, + scp_cipher_mode_t cipher_mode, + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa, + bool b_decrypt); + +static error_t s_scp_Cmac(const scp_key_desc_t * p_key_desc, + scp_cmac_mode_t cmac_mode, + uintptr_t source_pa, + size_t size, + uintptr_t context_pa); + +static error_t s_scp_Load_Key(const scp_key_desc_t * p_key_desc); + +static error_t s_scp_Load_Buffer_Key(uintptr_t key_pa); + +static error_t s_scp_Load_Register_Key(scp_register_index_t reg_index); + +static error_t s_scp_Load_Ecb_Key(uint8_t secret_index, uintptr_t salt_pa); + +static error_t s_scp_Load_Cbc_Key(uint8_t secret_index, uintptr_t salt_pa, + uintptr_t iv_pa); + +static error_t s_scp_Load_Cmac_Key(uint8_t secret_index, + uintptr_t message_pa, + size_t size, + bool b_padded); + +static error_t s_scp_Load_Crypt_Sequence(scp_cipher_mode_t cipher_mode, + bool b_decrypt); + +static error_t s_scp_Load_Ecb_Sequence(bool b_decrypt); + +static error_t s_scp_Load_Cbc_Sequence(bool b_decrypt); + +static error_t s_scp_Load_Ctr_Sequence(void); + +static error_t s_scp_Load_Hash_Sequence(void); + +static error_t s_scp_Load_Cmac_Sequence(void); + +static error_t s_scp_Complete_Cmac(uintptr_t final_pa, bool b_padded); + + +/** + * @copydoc scp_Encrypt + */ +error_t +scp_Encrypt +( + const scp_key_desc_t * p_key_desc, + scp_cipher_mode_t cipher_mode, + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa +) +{ + return s_scp_Crypt(p_key_desc, cipher_mode, source_pa, dest_pa, size, + context_pa, false); +} + +/** + * @copydoc scp_Decrypt + */ +error_t +scp_Decrypt +( + const scp_key_desc_t * p_key_desc, + scp_cipher_mode_t cipher_mode, + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa +) +{ + return s_scp_Crypt(p_key_desc, cipher_mode, source_pa, dest_pa, size, + context_pa, true); +} + +/** + * @copydoc scp_Dmhash + */ +error_t +scp_Dmhash +( + uintptr_t source_pa, + size_t size, + uintptr_t dest_pa, + uintptr_t init_pa +) +{ + error_t status = E_SUCCESS; + + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_NOT_READY; + } + + // This function cannot be called from direct mode. + if (g_scp_state.b_direct_mode_active) + { + // Early exit as clean-up code may not be able to execute safely. + return E_INVALID_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_INVALID_LOCK_STATE; + } + + // Verify source buffer. + status = scp_pvt_Validate_Buffer(source_pa, size, false); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Verify byte count. + if ((size == 0U) || (size % SCP_KEY_SIZE != 0U)) + { + status = E_SCP_INVALID_REQUEST; + goto cleanup; + } + + // Verify destination buffer. + status = scp_pvt_Validate_Buffer(dest_pa, SCP_BLOCK_SIZE, true); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Verify initial hash buffer. + status = scp_pvt_Validate_Buffer(init_pa, SCP_BLOCK_SIZE, false); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Load initial hash value into register-index one. + status = scp_pvt_Load_Buffer(init_pa, SCP_REGISTER_INDEX_1); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Load sequencer zero with the instructions for DmHash and update Ku. + status = s_scp_Load_Hash_Sequence(); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Run the input data through the sequence we loaded above. + status = scp_pvt_Run_Sequence(source_pa, (uintptr_t)NULL, size); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Read the final hash value out of register-index one. + status = scp_pvt_Store_Buffer(SCP_REGISTER_INDEX_1, dest_pa); + if (status != E_SUCCESS) + { + goto cleanup; + } + +cleanup: + // + // Clear the sequencers to free them up for future use and prevent + // anything accidentally carrying forward into other interfaces. + // + scp_pvt_Reset_Sequencers(); + + // + // Clear the SCP GPRs to scrub any potentially sensitive data from them and + // unlock their associated ACLs. Report failures only if no higher-priority + // error is already pending. + // + error_t clear_status = scp_pvt_Clear_All(); + if (status == E_SUCCESS) + { + status = clear_status; + } + + // Done. + return status; +} + +/** + * @copydoc scp_Cmac + */ +error_t +scp_Cmac +( + const scp_key_desc_t * p_key_desc, + scp_cmac_mode_t cmac_mode, + uintptr_t source_pa, + size_t size, + uintptr_t dest_pa, + uintptr_t context_pa +) +{ + error_t status = E_SUCCESS; + + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_NOT_READY; + } + + // This function cannot be called from direct mode. + if (g_scp_state.b_direct_mode_active) + { + // Early exit as clean-up code may not be able to execute safely. + return E_INVALID_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_INVALID_LOCK_STATE; + } + + // Verify destination buffer (other parameters validated by s_scp_Cmac()). + status = scp_pvt_Validate_Buffer(dest_pa, SCP_BLOCK_SIZE, true); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Perform CMAC computation. + status = s_scp_Cmac(p_key_desc, cmac_mode, source_pa, size, context_pa); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Read the final CMAC value out of register-index one. + status = scp_pvt_Store_Buffer(SCP_REGISTER_INDEX_1, dest_pa); + if (status != E_SUCCESS) + { + goto cleanup; + } + +cleanup: + // + // Clear the sequencers to free them up for future use and prevent + // anything accidentally carrying forward into other interfaces. + // + scp_pvt_Reset_Sequencers(); + + // + // Clear the SCP GPRs to scrub any potentially sensitive data from them and + // unlock their associated ACLs. Report failures only if no higher-priority + // error is already pending. + // + error_t clear_status = scp_pvt_Clear_All(); + if (status == E_SUCCESS) + { + status = clear_status; + } + + // Done. + return status; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Encrypts or decrypts an arbitary buffer of data using AES-128. + * + * Encrypts or decrypts the first size bytes of data from source_pa using the + * key described by p_key_desc and writes the result to dest_pa. Uses an AES-128 + * block cipher operating in the mode indicated by cipher_mode as the encryption + * or decryption algorithm. If applicable, SCP_BLOCK_SIZE bytes from context_pa + * are used as the initial contextual input to the cipher. Performs a + * decryption operation if b_decrypt is true and an encryption operation + * otherwise. + * + * Should p_key_desc describe a derived key, the s_scp_Crypt() function will + * perform the indicated key-derivation operation automatically. See the + * relevant SCP_KEY_* macros for details. + * + * Note that it is permissible for source_pa and dest_pa to reference the same + * memory locations (i.e. to facilitate encrypting or decrypting data in- + * place). However, the use of buffers that only partially overlap is + * prohibited and will result in an error. + * + * In the event that dest_pa refers to an external memory location, the + * application must ensure that it has first called scp_Configure_Shortcut() (or + * used the SCP_EXTERNAL_DEST() helper macro) to configure the shortcut-DMA + * path accordingly. + * + * @param[in] p_key_desc A pointer to the key-descriptor to be used for the + * encryption or decryption operation. Applications + * should acquire this parameter through one of the + * provided SCP_KEY_* macros. + * + * @param[in] cipher_mode The block-cipher mode of operation to use. + * + * @param[in] source_pa The physical address of the input buffer to be + * encrypted or decrypted. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least size + * bytes. Supports IMEM and DMEM locations only. + * + * @param[out] dest_pa The physical address of the output buffer to which + * the encrypted or decrypted data is to be written. + * Must be aligned to SCP_BUFFER_ALIGNMENT and have at + * least size bytes of capacity. Permitted to overlap + * with source_pa only if exactly equal. Supports IMEM, + * DMEM, and external locations. + * + * @param[in] size The number of bytes to process from source_pa. Must + * be a nonzero multiple of SCP_BLOCK_SIZE. + * + * @param[in] context_pa The physical address of the input buffer containing + * the initialization vector (CBC) or initial counter + * value with nonce (CTR) to be used for the + * encryption or decryption operation. Must be aligned + * to SCP_BUFFER_ALIGNMENT and contain at least + * SCP_BLOCK_SIZE bytes. Required to be zero (NULL) + * for ECB mode. Supports IMEM and DMEM locations + * only. + * + * @param[in] b_decrypt A boolean value indicating whether to decrypt the + * data from source_pa rather than encrypting it. + * + * @retval E_SUCCESS if data was encrypted or decrypted + * successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_OBJECT if p_key_desc does not point to a valid + * key-descriptor. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if p_key_desc was constructed with a + * zero (NULL) or incorrectly-aligned + * address, or a pointer to an unsupported + * memory location (e.g. EMEM), or a buffer + * that overflows the memory region in + * which it resides, or a buffer of invalid + * size. + * + * @retval E_SCP_INVALID_INDEX if p_key_desc was constructed with an + * invalid register or hardware-secret + * index, or references secret-index zero. + * + * @retval E_PERM if p_key_desc was constructed with a + * hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_SCP_INVALID_POINTER if one or more of p_key_desc, source_pa, + * or dest_pa is zero/NULL, or context_pa + * is zero (NULL) and cipher_mode is not + * SCP_CIPHER_MODE_ECB. + * + * @retval E_SCP_INVALID_ADDRESS if one or more of source_pa, dest_pa, or + * context_pa is incorrectly aligned, or + * the buffers referenced by source_pa and + * dest_pa overlap without being equal. + * + * @retval E_SCP_INVALID_BASE if one or more of source_pa, dest_pa, or + * context_pa points to an unsupported + * memory region (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_BLOCK_SIZE. + * + * @retval E_SCP_INVALID_OPERATION if cipher_mode is not a valid + * scp_cipher_mode_t value, or cipher_mode + * is SCP_CIPHER_MODE_ECB and context_pa is + * nonzero (non-NULL). + * + * @retval E_SCP_FEATURE_NOT_ENABLED if dest_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if dest_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if one or more of the buffers referenced + * by source_pa, dest_pa, or context_pa + * overflows the memory region in which it + * resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Crypt +( + const scp_key_desc_t * p_key_desc, + scp_cipher_mode_t cipher_mode, + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa, + bool b_decrypt +) +{ + error_t status = E_SUCCESS; + + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_NOT_READY; + } + + // This function cannot be called from direct mode. + if (g_scp_state.b_direct_mode_active) + { + // Early exit as clean-up code may not be able to execute safely. + return E_INVALID_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_INVALID_LOCK_STATE; + } + + // Verify source buffer. + status = scp_pvt_Validate_Buffer(source_pa, size, false); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Verify destination buffer. + status = scp_pvt_Validate_Buffer(dest_pa, size, true); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Check for partial overlap (exact aliasing is fine). + if ((source_pa != dest_pa) && + memutils_mem_has_overlap(source_pa, size, dest_pa, size)) + { + status = E_SCP_INVALID_ADDRESS; + goto cleanup; + } + + // Verify byte count. + if ((size == 0U) || (size % SCP_BLOCK_SIZE != 0U)) + { + status = E_SCP_INVALID_REQUEST; + goto cleanup; + } + + // Verify mode of operation. + switch (cipher_mode) + { + case SCP_CIPHER_MODE_ECB: + // No context in ECB mode. + if (context_pa != (uintptr_t)NULL) + { + status = E_SCP_INVALID_OPERATION; + goto cleanup; + } + break; + + case SCP_CIPHER_MODE_CBC: + case SCP_CIPHER_MODE_CTR: + // Verify context buffer for other modes. + status = scp_pvt_Validate_Buffer(context_pa, SCP_BLOCK_SIZE, false); + if (status != E_SUCCESS) + { + goto cleanup; + } + break; + + default: + // Not a recognized block-cipher mode. + status = E_SCP_INVALID_OPERATION; + goto cleanup; + } + + // Verify key-descriptor, load key into register-index zero, and update Ku. + status = s_scp_Load_Key(p_key_desc); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Load initial context information (if any) into register-index one. + if (context_pa != (uintptr_t)NULL) + { + status = scp_pvt_Load_Buffer(context_pa, SCP_REGISTER_INDEX_1); + if (status != E_SUCCESS) + { + goto cleanup; + } + } + + // Load sequencer zero with the instructions for the selected cipher mode. + status = s_scp_Load_Crypt_Sequence(cipher_mode, b_decrypt); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Run the input data through the sequence we loaded above. + status = scp_pvt_Run_Sequence(source_pa, dest_pa, size); + if (status != E_SUCCESS) + { + goto cleanup; + } + +cleanup: + // + // Clear the sequencers to free them up for future use and prevent + // anything accidentally carrying forward into other interfaces. + // + scp_pvt_Reset_Sequencers(); + + // + // Clear the SCP GPRs to scrub any potentially sensitive data from them and + // unlock their associated ACLs. Report failures only if no higher-priority + // error is already pending. + // + error_t clear_status = scp_pvt_Clear_All(); + if (status == E_SUCCESS) + { + status = clear_status; + } + + // Done. + return status; +} + +/** + * @brief Computes the CMAC of an arbitrary buffer of data. + * + * Computes the CMAC of the first size bytes of data from source_pa using the + * key described by p_key_desc and writes the result to SCP register-index one. + * Uses an AES-128 block cipher for the operation. If provided, SCP_BLOCK_SIZE + * bytes from context_pa are used as the initial contextual input (IV) for the + * computation. + * + * When cmac_mode is SCP_CMAC_MODE_PARTIAL, s_scp_Cmac() skips the final step of + * the CMAC computation, thus allowing the result to be chained into a future + * call via context_pa. The full CMAC result can then be obtained by passing + * SCP_CMAC_MODE_COMPLETE, as is done for singular, unchained calls. + * + * Notice that it is the application's responsibility to pad the source message + * if needed (by appending 0b10...0 per the CMAC specification) and to signal + * that padding has occurred by setting cmac_mode to SCP_CMAC_MODE_PADDED in + * place of SCP_CMAC_MODE_COMPLETE. + * + * Should p_key_desc describe a derived key, the s_scp_Cmac() function will + * perform the indicated key-derivation operation automatically. See the + * relevant SCP_KEY_* macros for details. + * + * Note that this function uses register-indices zero through three for + * intermediate storage and also loads instructions into sequencer zero. The + * caller is responsible for clearing these resources before returning to the + * client application. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The SCP driver must not be operating in direct mode. + * @pre Must be called from a secure context if SCP lockdown is enabled. + * + * @param[in] p_key_desc A pointer to the key-descriptor to be used for the + * CMAC computation. Applications should acquire this + * parameter through one of the provided SCP_KEY_* + * macros. + * + * @param[in] cmac_mode The CMAC mode of operation to use. See the + * documentation for scp_cmac_mode_t for a list of + * supported values. + * + * @param[in] source_pa The physical address of the input buffer for which + * the CMAC will be computed. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least size + * bytes. Supports IMEM and DMEM locations only. + * + * @param[in] size The number of bytes to process from source_pa. Must + * be a nonzero multiple of SCP_BLOCK_SIZE. + * + * @param[in] context_pa The physical address of the input buffer containing + * the result of a prior partial CMAC computation, if + * applicable. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least SCP_BLOCK_SIZE bytes. Should + * be zero (NULL) or should point to an all-zero + * buffer if not continuing a prior computation. + * Supports IMEM and DMEM locations only. + * + * @retval E_SUCCESS if CMAC was computed successfully. + * + * @retval E_SCP_INVALID_OBJECT if p_key_desc does not point to a valid + * key-descriptor. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if p_key_desc was constructed with a + * zero (NULL) or incorrectly-aligned + * address, or a pointer to an unsupported + * memory location (e.g. EMEM), or a buffer + * that overflows the memory region in + * which it resides, or a buffer of invalid + * size. + * + * @retval E_SCP_INVALID_INDEX if p_key_desc was constructed with an + * invalid register or hardware-secret + * index, or references secret-index zero. + * + * @retval E_PERM if p_key_desc was constructed with a + * hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_SCP_INVALID_POINTER if one or both of p_key_desc or + * source_pa is zero/NULL. + * + * @retval E_SCP_INVALID_ADDRESS if one or both of source_pa or + * context_pa is incorrectly aligned, or + * the buffers referenced by source_pa and + * context_pa overlap. + * + * @retval E_SCP_INVALID_BASE if one or both of source_pa or + * context_pa points to an unsupported + * memory region (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_BLOCK_SIZE. + * + * @retval E_SCP_INVALID_OPERATION if cmac_mode is not a valid + * scp_cmac_mode_t value. + * + * @retval E_SCP_OUT_OF_RANGE if one or both of the buffers referenced + * by source_pa or context_pa overflows the + * memory region in which it resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Cmac +( + const scp_key_desc_t * p_key_desc, + scp_cmac_mode_t cmac_mode, + uintptr_t source_pa, + size_t size, + uintptr_t context_pa +) +{ + error_t status = E_SUCCESS; + size_t batch_size = size; + bool b_padded = false; + + // Verify source buffer. + status = scp_pvt_Validate_Buffer(source_pa, size, false); + if (status != E_SUCCESS) + { + return status; + } + + // Verify byte count. + if ((size == 0U) || (size % SCP_BLOCK_SIZE != 0U)) + { + return E_SCP_INVALID_REQUEST; + } + + // Verify context buffer, if provided. + if (context_pa != (uintptr_t)NULL) + { + status = scp_pvt_Validate_Buffer(context_pa, SCP_BLOCK_SIZE, false); + if (status != E_SUCCESS) + { + return status; + } + + // Check for overlap with source buffer. + if (memutils_mem_has_overlap(source_pa, size, context_pa, + SCP_BLOCK_SIZE)) + { + return E_SCP_INVALID_ADDRESS; + } + } + + // Verify mode of operation. + switch (cmac_mode) + { + case SCP_CMAC_MODE_PADDED: + b_padded = true; + // Fall-through. + + case SCP_CMAC_MODE_COMPLETE: + // + // The final block in non-partial messages requires special + // handling, so exclude it from the inital batch. + // + batch_size -= SCP_BLOCK_SIZE; + break; + + case SCP_CMAC_MODE_PARTIAL: + // Nothing to do. + break; + + default: + // Not a recognized operating mode. + return E_SCP_INVALID_OPERATION; + } + + // Verify key-descriptor, load key into register-index zero, and update Ku. + status = s_scp_Load_Key(p_key_desc); + if (status != E_SUCCESS) + { + return status; + } + + // Load initial context information if provided. + if (context_pa != (uintptr_t)NULL) + { + status = scp_pvt_Load_Buffer(context_pa, SCP_REGISTER_INDEX_1); + if (status != E_SUCCESS) + { + return status; + } + } + // Otherwise, use zero. + else + { + status = scp_pvt_Clear_Reg(SCP_REGISTER_INDEX_1); + if (status != E_SUCCESS) + { + return status; + } + } + + // Load sequencer zero with the instructions for CMAC. + status = s_scp_Load_Cmac_Sequence(); + if (status != E_SUCCESS) + { + return status; + } + + // Run the input data through the sequence we loaded above. + status = scp_pvt_Run_Sequence(source_pa, (uintptr_t)NULL, batch_size); + if (status != E_SUCCESS) + { + return status; + } + + // Handle the final block if needed. + if (batch_size != size) + { + status = s_scp_Complete_Cmac((source_pa + batch_size), b_padded); + if (status != E_SUCCESS) + { + return status; + } + } + + // Done. + return status; +} + +/** + * @brief Validates a key-descriptor and then loads the key it describes to R0. + * + * Checks the provided key-descriptor for errors and then loads the key it + * describes into register-index zero. Automatically performs any key- + * derivation operations as required and updates the key register (Ku) to + * point to the newly-loaded key. + * + * Note that this function may use register-indices one through three for + * intermediate storage and may load instructions into sequencer zero. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The SCP driver must not be operating in direct mode. + * @pre For register-type keys, the source register must be writable and + * fetchable if called from an insecure context. + * + * @param[in] p_key_desc A pointer to the key-descriptor to be processed. + * + * @retval E_SUCCESS if key was loaded successfully. + * + * @retval E_SCP_INVALID_OBJECT if p_key_desc does not point to a valid + * key-descriptor. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if p_key_desc was constructed with a + * zero (NULL) or incorrectly-aligned + * address, or a pointer to an unsupported + * memory location (e.g. EMEM), or a buffer + * that overflows the memory region in + * which it resides, or a buffer of invalid + * size. + * + * @retval E_SCP_INVALID_INDEX if p_key_desc was constructed with an + * invalid register or hardware-secret + * index, or references secret-index zero. + * + * @retval E_PERM if p_key_desc was constructed with a + * hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_SCP_INVALID_POINTER if p_key_desc is NULL. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Key +( + const scp_key_desc_t * p_key_desc +) +{ + error_t status; + + // Check for valid pointer. + if (p_key_desc == NULL) + { + return E_SCP_INVALID_POINTER; + } + + // Load the requested key based on its type. + switch (p_key_desc->key_type) + { + case SCP_KEY_TYPE_RAW_BUFFER: + status = s_scp_Load_Buffer_Key(p_key_desc->raw_buffer_pa); + break; + + case SCP_KEY_TYPE_RAW_REGISTER: + status = s_scp_Load_Register_Key(p_key_desc->raw_register_index); + break; + + case SCP_KEY_TYPE_DERIVED_ECB: + status = s_scp_Load_Ecb_Key(p_key_desc->ecb_secret_index, + p_key_desc->ecb_salt_pa); + break; + + case SCP_KEY_TYPE_DERIVED_CBC: + status = s_scp_Load_Cbc_Key(p_key_desc->cbc_secret_index, + p_key_desc->cbc_salt_pa, + p_key_desc->cbc_iv_pa); + break; + + case SCP_KEY_TYPE_DERIVED_CMAC: + status = s_scp_Load_Cmac_Key(p_key_desc->cmac_secret_index, + p_key_desc->cmac_message_pa, + p_key_desc->cmac_size, + p_key_desc->cmac_padded); + break; + + default: + // Not a recognized key type. + return E_SCP_INVALID_OBJECT; + } + + // Report any errors to the caller. + if (status != E_SUCCESS) + { + return status; + } + + // + // Restrict the key's associated ACL to the bare minimum required for + // encryption and decryption operations. + // + if (scp_pvt_Is_Secure()) + { + scp_chmod(SCP_REGISTER_ACL_KEY, SCP_REGISTER_INDEX_0); + } + + // Update the key register to point to the newly-loaded key. + scp_key(SCP_REGISTER_INDEX_0); + + // Wait for the above operations to complete. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Key was loaded successfully. + return E_SUCCESS; +} + +/** + * @brief Loads a raw key from the provided buffer into R0. + * + * Validates the buffer referenced by key_pa and then loads the first + * SCP_KEY_SIZE bytes from it into register-index zero. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] key_pa The physical address of the input buffer containing the + * raw key to be loaded. + * + * @retval E_SUCCESS if key was loaded successfully. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if key_pa is zero (NULL) or incorrectly- + * aligned, or points to an unsupported + * memory location (e.g. EMEM), or + * references a buffer that overflows the + * memory region in which it resides. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Buffer_Key +( + uintptr_t key_pa +) +{ + // Validate the source buffer. + if (scp_pvt_Validate_Buffer(key_pa, SCP_KEY_SIZE, false) != E_SUCCESS) + { + return E_SCP_INVALID_OBJECT_BUFFER; + } + + // Load into register-index zero. + return scp_pvt_Load_Buffer(key_pa, SCP_REGISTER_INDEX_0); +} + +/** + * @brief Loads a raw key from the indicated SCP GPR into R0. + * + * Copies the contents of the register specified by reg_index into register- + * index zero. Clears the source register after copying. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The source register must be writable and fetchable if called from an + * insecure context. + * + * @param[in] reg_index The index of the SCP register containing the raw + * key to be loaded. + * + * @retval E_SUCCESS if key was loaded successfully. + * + * @retval E_SCP_INVALID_INDEX if reg_index is not a valid + * scp_register_index_t value. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Register_Key +( + scp_register_index_t reg_index +) +{ + // Validate the register index. + if (reg_index > SCP_REGISTER_INDEX_7) + { + return E_SCP_INVALID_INDEX; + } + + // No-op if already in R0. + if (reg_index == SCP_REGISTER_INDEX_0) + { + return E_SUCCESS; + } + + // Copy into register-index zero. + scp_mov(reg_index, SCP_REGISTER_INDEX_0); + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Clear the source register. + return scp_pvt_Clear_Reg(reg_index); +} + +/** + * @brief Loads a key derived via AES-ECB of a provided salt value into R0. + * + * Performs AES-ECB encryption on the first SCP_BLOCK_SIZE bytes from salt_pa, + * using the hardware-secret indicated by secret_index as the key, and stores + * the result in register-index zero. + * + * Note that this function uses register-index one for intermediate values. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] secret_index The index of the hardware-secret to be used in the + * key-derivation process. + * + * @param[in] salt_pa The physical address of the input buffer containing + * the salt value to be used in the key-derivation + * process. + * + * @retval E_SUCCESS if key was loaded successfully. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if salt_pa is zero (NULL) or + * incorrectly-aligned, or points to an + * unsupported memory location (e.g. EMEM), + * or references a buffer that overflows + * the memory region in which it resides. + * + * @retval E_SCP_INVALID_INDEX if secret_index is not a valid SCP + * secret-index, or references secret-index + * zero. + * + * @retval E_PERM if secret_index references a hardware- + * secret that the application does not + * have permission to use. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Ecb_Key +( + uint8_t secret_index, + uintptr_t salt_pa +) +{ + error_t status; + + // Verify context (hardware secrets cannot be used in insecure contexts). + if (!scp_pvt_Is_Secure()) + { + return E_PERM; + } + + // Validate the secret index. + // TODO(COREUCODES-1846): Reinstate check against SCP_SECRET_INDEX_CLEAR. + if (secret_index >= SCP_SECRET_COUNT) + { + return E_SCP_INVALID_INDEX; + } + + // Validate the salt buffer. + if (scp_pvt_Validate_Buffer(salt_pa, SCP_BLOCK_SIZE, false) != E_SUCCESS) + { + return E_SCP_INVALID_OBJECT_BUFFER; + } + + // Load the salt value into a temporary register. + scp_load(salt_pa, SCP_REGISTER_INDEX_1); + scp_wait_dma(); + + // Load the hardware secret into the destination register. + scp_secret(secret_index, SCP_REGISTER_INDEX_0); + + // Encrypt the salt with the hardware secret. + scp_key(SCP_REGISTER_INDEX_0); + scp_encrypt(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_0); + + // Wait for completion. + scp_wait_dma(); + + // Check for any failures. + status = scp_check_dma(true); + if ((status == E_PERM) || (status == E_FAULT)) + { + // Bubble up permissions and IO-PMP errors. + return status; + } + else if (status != E_SUCCESS) + { + // No other errors are expected. + return E_SCP_GENERIC; + } + + // Clear the temporary register. + return scp_pvt_Clear_Reg(SCP_REGISTER_INDEX_1); +} + +/** + * @brief Loads a key derived via AES-CBC of a provided salt value into R0. + * + * Performs AES-CBC encryption on the first SCP_BLOCK_SIZE bytes from salt_pa, + * using the hardware-secret indicated by secret_index as the key and the first + * SCP_BLOCK_SIZE bytes from iv_pa as the initialization vector, and stores + * the result in register-index zero. + * + * Note that this function uses register-index one for intermediate values. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] secret_index The index of the hardware-secret to be used in the + * key-derivation process. + * + * @param[in] salt_pa The physical address of the input buffer containing + * the salt value to be used in the key-derivation + * process. + * + * @param[in] iv_pa The physical address of the input buffer containing + * the initialization vector to be used in the key- + * derivation process. + * + * @retval E_SUCCESS if key was loaded successfully. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if one or more of salt_pa or iv_pa is + * zero (NULL) or incorrectly-aligned, or + * points to an unsupported memory location + * (e.g. EMEM), or references a buffer that + * overflows the memory region in which it + * resides. + * + * @retval E_SCP_INVALID_INDEX if secret_index is not a valid SCP + * secret-index, or references secret-index + * zero. + * + * @retval E_PERM if secret_index references a hardware- + * secret that the application does not + * have permission to use. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Cbc_Key +( + uint8_t secret_index, + uintptr_t salt_pa, + uintptr_t iv_pa +) +{ + error_t status; + + // Verify context (hardware secrets cannot be used in insecure contexts). + if (!scp_pvt_Is_Secure()) + { + return E_PERM; + } + + // Validate the secret index. + // TODO(COREUCODES-1846): Reinstate check against SCP_SECRET_INDEX_CLEAR. + if (secret_index >= SCP_SECRET_COUNT) + { + return E_SCP_INVALID_INDEX; + } + + // Validate the salt buffer. + if (scp_pvt_Validate_Buffer(salt_pa, SCP_BLOCK_SIZE, false) != E_SUCCESS) + { + return E_SCP_INVALID_OBJECT_BUFFER; + } + + // Validate the IV buffer. + if (scp_pvt_Validate_Buffer(iv_pa, SCP_BLOCK_SIZE, false) != E_SUCCESS) + { + return E_SCP_INVALID_OBJECT_BUFFER; + } + + // Load the IV and salt values into registers. + scp_load(iv_pa, SCP_REGISTER_INDEX_0); + scp_load(salt_pa, SCP_REGISTER_INDEX_1); + scp_wait_dma(); + + // XOR the IV and salt as the first step of CBC encryption. + scp_xor(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_1); + + // Load the hardware secret into the destination register. + scp_secret(secret_index, SCP_REGISTER_INDEX_0); + + // Encrypt the XORed salt with the hardware secret. + scp_key(SCP_REGISTER_INDEX_0); + scp_encrypt(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_0); + + // Wait for completion. + scp_wait_dma(); + + // Check for any failures. + status = scp_check_dma(true); + if ((status == E_PERM) || (status == E_FAULT)) + { + // Bubble up permissions and IO-PMP errors. + return status; + } + else if (status != E_SUCCESS) + { + // No other errors are expected. + return E_SCP_GENERIC; + } + + // Clear the temporary register. + return scp_pvt_Clear_Reg(SCP_REGISTER_INDEX_1); +} + +/** + * @brief Loads a key derived via AES-CMAC of a provided message into R0. + * + * Computes the CMAC of the first size bytes from message_pa, using the + * hardware-secret indicated by secret_index as the key, and stores the result + * in register-index zero. Assumes that the input has been padded per the CMAC + * specification if b_padded is true. + * + * Note that this function uses register-indices one through three for + * intermediate values and also loads instructions into sequencer zero. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The SCP driver must not be operating in direct mode. + * + * @param[in] secret_index The index of the hardware-secret to be used in the + * key-derivation process. + * + * @param[in] message_pa The physical address of the input buffer containing + * the message to be used in the key-derivation + * process. + * + * @param[in] size The number of bytes to process from message_pa. + * + * @param[in] b_padded A boolean value indicating whether the source + * message contains padding. + * + * @retval E_SUCCESS if key was loaded successfully. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if message_pa is zero (NULL) or + * incorrectly-aligned, or points to an + * unsupported memory location (e.g. EMEM), + * or references a buffer that overflows + * the memory region in which it resides, + * or references a buffer of invalid size. + * + * @retval E_SCP_INVALID_INDEX if secret_index is not a valid SCP + * secret-index, or references secret-index + * zero. + * + * @retval E_PERM if secret_index references a hardware- + * secret that the application does not + * have permission to use. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Cmac_Key +( + uint8_t secret_index, + uintptr_t message_pa, + size_t size, + bool b_padded +) +{ + error_t status; + + // Verify context (hardware secrets cannot be used in insecure contexts). + if (!scp_pvt_Is_Secure()) + { + return E_PERM; + } + + // Validate the secret index. + // TODO(COREUCODES-1846): Reinstate check against SCP_SECRET_INDEX_CLEAR. + if (secret_index >= SCP_SECRET_COUNT) + { + return E_SCP_INVALID_INDEX; + } + + // Load the requested hardware secret. + scp_secret(secret_index, SCP_REGISTER_INDEX_0); + scp_wait_dma(); + + // Check for any failures. + status = scp_check_dma(true); + if (status == E_PERM) + { + // Bubble up permissions errors. + return status; + } + else if (status != E_SUCCESS) + { + // No other errors are expected. + return E_SCP_GENERIC; + } + + // Generate derived key in register-index one. + status = s_scp_Cmac(SCP_KEY_RAW_REGISTER(SCP_REGISTER_INDEX_0), + b_padded ? SCP_CMAC_MODE_PADDED : SCP_CMAC_MODE_COMPLETE, + message_pa, size, (uintptr_t)NULL); + switch (status) + { + // Continue on success. + case E_SUCCESS: + break; + + // Translate buffer-related errors. + case E_SCP_INVALID_POINTER: + case E_SCP_INVALID_ADDRESS: + case E_SCP_INVALID_BASE: + case E_SCP_INVALID_REQUEST: + case E_SCP_OUT_OF_RANGE: + return E_SCP_INVALID_OBJECT_BUFFER; + + // Bubble-up other plausible errors. + case E_SCP_INSUFFICIENT_RESOURCES: + case E_FAULT: + return status; + + // Anything else is unexpected. + default: + return E_SCP_GENERIC; + } + + // Move key to destination register. + scp_mov(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_0); + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Clear the source register. + return scp_pvt_Clear_Reg(SCP_REGISTER_INDEX_1); +} + +/** + * @brief Loads the requested cryptographic algorithm into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions corresponding to a + * single iteration of the requested block-cipher algorithm. Uses the + * decryption form if b_decrypt is true and the encryption form otherwise. + * + * The loaded algorithm assumes that key material has already been loaded to + * register-index zero and has also been selected via the scp_key() + * instruction. It further assumes that any context information has been loaded + * to register-index one and that register-indices two and three are available + * for use as intermediate storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] cipher_mode The block-cipher algorithm to load. + * + * @param[in] b_decrypt A boolean value indicating whether to load the + * decryption sequence for the selected algorithm + * rather than the encryption sequence. + * + * @retval E_SUCCESS if algorithm was loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Crypt_Sequence +( + scp_cipher_mode_t cipher_mode, + bool b_decrypt +) +{ + // Load the correct sequence for the requested block-cipher mode. + switch (cipher_mode) + { + case SCP_CIPHER_MODE_ECB: + return s_scp_Load_Ecb_Sequence(b_decrypt); + + case SCP_CIPHER_MODE_CBC: + return s_scp_Load_Cbc_Sequence(b_decrypt); + + case SCP_CIPHER_MODE_CTR: + return s_scp_Load_Ctr_Sequence(); + + default: + // + // Not a recognized block-cipher mode. This should have been + // validated already by the caller so treat as unexpected. + // + return E_SCP_GENERIC; + } +} + +/** + * @brief Loads the SCP instructions for AES-ECB into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions corresponding to a + * single iteration of AES-ECB encryption/decryption. Uses the decryption + * algorithm if b_decrypt is true and the encryption algorithm otherwise. + * + * The loaded algorithm assumes that key material has already been loaded to + * register-index zero and has also been selected via the scp_key() + * instruction (but not yet converted via scp_rkey10(), if applicable). It + * further assumes that register-index two is available for use as intermediate + * storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] b_decrypt A boolean value indicating whether to load the + * decryption sequence rather than the encryption + * sequence. + * + * @retval E_SUCCESS if instructions were loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Ecb_Sequence +( + bool b_decrypt +) +{ + // Prepare to write three instructions to sequencer zero. + scp_load_trace0(3U); + { + // Load the next block of plaintext/ciphertext to process. + scp_push(SCP_REGISTER_INDEX_2); + + if (b_decrypt) + { + // Decrypt the ciphertext in-place. + scp_decrypt(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_2); + } + else + { + // Encrypt the plaintext in-place. + scp_encrypt(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_2); + } + + // Store the resulting ciphertext/plaintext. + scp_fetch(SCP_REGISTER_INDEX_2); + } + + // + // Convert the key loaded in register-index zero to the form required for + // decryption operations, if applicable. This only needs to be done once, + // hence its exclusion from the above sequencer load. + // + if (b_decrypt) + { + scp_rkey10(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_0); + } + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Sequence loaded successfully. + return E_SUCCESS; +} + +/** + * @brief Loads the SCP instructions for AES-CBC into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions corresponding to a + * single iteration of AES-CBC encryption/decryption. Uses the decryption + * algorithm if b_decrypt is true and the encryption algorithm otherwise. + * + * The loaded algorithm assumes that key material has already been loaded to + * register-index zero and has also been selected via the scp_key() + * instruction (but not yet converted via scp_rkey10(), if applicable). It + * further assumes that the initialization vector has been loaded to register- + * index one and that register-indices two and three are available for use as + * intermediate storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] b_decrypt A boolean value indicating whether to load the + * decryption sequence rather than the encryption + * sequence. + * + * @retval E_SUCCESS if instructions were loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Cbc_Sequence +( + bool b_decrypt +) +{ + // Split because decryption requires an extra instruction over encryption. + if (b_decrypt) + { + // Prepare to write five instructions to sequencer zero. + scp_load_trace0(5U); + { + // Load the next block of ciphertext to process. + scp_push(SCP_REGISTER_INDEX_2); + + // Decrypt non-destructively. + scp_decrypt(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_3); + + // XOR with the current "IV" to obtain the plaintext. + scp_xor(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_3); + + // Carry the original ciphertext forward as the new "IV". + scp_mov(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_1); + + // Store the resulting plaintext. + scp_fetch(SCP_REGISTER_INDEX_3); + } + + // + // Convert the key loaded in register-index zero to the form required + // for decryption operations. This only needs to be done once, hence + // its exclusion from the above sequencer load. + // + scp_rkey10(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_0); + } + else + { + // Prepare to write four instructions to sequencer zero. + scp_load_trace0(4U); + { + // Load the next block of plaintext to process. + scp_push(SCP_REGISTER_INDEX_2); + + // XOR with the current "IV". + scp_xor(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_2); + + // Encrypt to obtain the ciphertext and save as the new "IV". + scp_encrypt(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_1); + + // Store the resulting ciphertext. + scp_fetch(SCP_REGISTER_INDEX_1); + } + } + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Sequence loaded successfully. + return E_SUCCESS; +} + +/** + * @brief Loads the SCP instructions for AES-CTR into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions corresponding to a + * single iteration of AES-CTR encryption/decryption. + * + * The loaded algorithm assumes that key material has already been loaded to + * register-index zero and has also been selected via the scp_key() + * instruction. It further assumes that the initial counter value (with nonce) + * has been loaded to register-index one and that register-indices two and + * three are available for use as intermediate storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @retval E_SUCCESS if instructions were loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Ctr_Sequence(void) +{ + // Prepare to write five instructions to sequencer zero. + scp_load_trace0(5U); + { + // Load the next block of plaintext/ciphertext to process. + scp_push(SCP_REGISTER_INDEX_3); + + // Encrypt the current counter value (with nonce) non-destructively. + scp_encrypt(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_2); + + // XOR with the current block to obtain the ciphertext/plaintext. + scp_xor(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_3); + + // Update the current counter value. + scp_add(1U, SCP_REGISTER_INDEX_1); + + // Store the resulting ciphertext/plaintext. + scp_fetch(SCP_REGISTER_INDEX_3); + } + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Sequence loaded successfully. + return E_SUCCESS; +} + +/** + * @brief Loads the SCP instructions for DmHash into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions required to compute + * the Davies-Meyer hash of a single block of data. Also updates the key + * register (Ku). + * + * The loaded algorithm assumes that the initial hash value (H0) has been + * loaded to register-index one and that register-indices two and three are + * available for use as intermediate storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @retval E_SUCCESS if instructions were loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Hash_Sequence(void) +{ + // Prepare to write three instructions to sequencer zero. + scp_load_trace0(3U); + { + // Load the next block of the message to process. + scp_push(SCP_REGISTER_INDEX_2); + + // Encrypt the previous hash value with the message. + scp_encrypt(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_3); + + // XOR with the previous hash value to obtain the new hash value. + scp_xor(SCP_REGISTER_INDEX_3, SCP_REGISTER_INDEX_1); + } + + // + // Select the register from which the encrypt stage of each sequencer + // iteration will source its key. This only needs to be specified once, + // hence its exclusion from the above sequencer load. + // + scp_key(SCP_REGISTER_INDEX_2); + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Sequence loaded successfully. + return E_SUCCESS; +} + +/** + * @brief Loads the SCP instructions for CMAC into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions required to compute + * the CMAC of a single intermediate block of data. + * + * The loaded algorithm assumes that key material has already been loaded to + * register-index zero and has also been selected via the scp_key() + * instruction. It further assumes that the initialization vector, if any, has + * been loaded to register-index one and that register-index two is available + * for use as intermediate storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @retval E_SUCCESS if instructions were loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Cmac_Sequence(void) +{ + // Prepare to write three instructions to sequencer zero. + scp_load_trace0(3U); + { + // Load the next block of the message to process. + scp_push(SCP_REGISTER_INDEX_2); + + // XOR with the current MAC value (or IV). + scp_xor(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_2); + + // Encrypt to obtain the new MAC value. + scp_encrypt(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_1); + } + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Sequence loaded successfully. + return E_SUCCESS; +} + +/** + * @brief Completes a CMAC computation by handling a message's final block. + * + * Generates the correct CMAC subkey per the value of b_padded and uses it to + * tweak the first SCP_BLOCK_SIZE bytes from final_pa before computing the final + * CMAC result from it and the intermediate value in SCP register-index one. + * + * Assumes that key material has already been loaded to register-index zero and + * has also been selected via the scp_key() instruction. Further assumes that + * register-indices two and three are available for use as intermediate storage. + * + * Note that the caller is responsible for validating final_pa before passing it + * to this function, and is also responsible for clearing the intermediate + * registers when finished. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Register-index one must be fetchable. + * + * @param[in] final_pa The physical address of the final block of the + * input message. Must be aligned to and contain at + * least SCP_BLOCK_SIZE bytes. Supports IMEM and DMEM + * locations only. + * + * @param[in] b_padded A boolean value indicating whether the input + * message has been padded per the CMAC specification. + * + * @retval E_SUCCESS if CMAC was completed successfully. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Complete_Cmac +( + uintptr_t final_pa, + bool b_padded +) +{ + error_t status; + + // Load the final message block. + status = scp_pvt_Load_Buffer(final_pa, SCP_REGISTER_INDEX_2); + if (status != E_SUCCESS) + { + return status; + } + + // Ensure that register-index three is zero. + status = scp_pvt_Clear_Reg(SCP_REGISTER_INDEX_3); + if (status != E_SUCCESS) + { + return status; + } + + // Generate the first CMAC subkey. + scp_encrypt(SCP_REGISTER_INDEX_3, SCP_REGISTER_INDEX_3); + scp_cmac_sk(SCP_REGISTER_INDEX_3, SCP_REGISTER_INDEX_3); + + // Generate the second subkey if needed. + if (b_padded) + { + scp_cmac_sk(SCP_REGISTER_INDEX_3, SCP_REGISTER_INDEX_3); + } + + // Tweak the final message block using the relevant subkey. + scp_xor(SCP_REGISTER_INDEX_3, SCP_REGISTER_INDEX_2); + + // XOR with the current MAC value. + scp_xor(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_2); + + // Encrypt to obtain the final MAC value. + scp_encrypt(SCP_REGISTER_INDEX_2, SCP_REGISTER_INDEX_1); + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Done. + return status; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/scp_direct.c b/spe-freertos-bsp/fsp/source/drivers/scp/scp_direct.c new file mode 100644 index 0000000..e4ce8b5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/scp_direct.c @@ -0,0 +1,516 @@ +/** + * @file scp_direct.c + * @brief Low-level SCP primitives. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#if !NVRISCV_FEATURE_SCP +#error "Attempting to build scp_direct.c but the SCP driver is disabled!" +#endif // NVRISCV_FEATURE_SCP + + +/* Compiler headers */ +#include // for bool, true +#include // for uint32_t, uintptr_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK +#include // for DRF macros + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for local_read, local_write +#include // for iopmp_has_error +#include // for error_t, common error codes +#include // for memutils_riscv_pa_to_target_offset +#include // for INLINE_RFD + +/* Module-specific FSP headers */ +#include // for SCP error codes +#include // for scp_register_index_t +#include // for scp_transfer_size_t, etc. +#include // for scp_pvt_* + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__CPU__IO_H) +HEADER_CHECK(FSP__CPU__IOPMP_H) +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__FBDMA__MEMUTILS_H) +HEADER_CHECK(FSP__MISC__MACROS_H) +HEADER_CHECK(FSP__SCP__SCP_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_PRIVATE_H) + + +/** + * @brief Initiates a single SCPDMA transfer. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[inout] offset The IMEM/DMEM offset for the transfer. Ignored for + * shortcut transfers (32-bit). + * + * @param[in] suppress Whether to avoid issuing a corresponding push/fetch + * instruction for this transfer (ENABLE / DISABLE). + * + * @param[in] shortcut Whether to enable the shortcut path for direct + * transfer to FB/SYSMEM. Only valid for writes (ENABLE + * / DISABLE). + * + * @param[in] imem Whether to target IMEM rather than DMEM. Ignored for + * shortcut transfers (TRUE / FALSE). + * + * @param[in] write Indicates transfer direction. Here "write" means a + * transfer from memory to the SCP unit (TRUE / FALSE). + * + * @param[in] size The number of bytes to transfer. Must be a valid + * scp_transfer_size_t value, or zero for non-suppressed + * transfers. + * + * @param[in] gpr The SCP register to target in the corresponding push + * /fetch instruction. Must be a valid + * scp_register_index_t value, or zero for suppressed + * transfers. + */ +#define SCP_TRANSFER(offset, suppress, shortcut, imem, write, size, gpr) do { \ + INLINE_RFD(CERTC, DEVIATE, INT31_C, "Bug: TODO, DR: TODO - NVRISCV_RISCV_AMAP_IMEM/DMEM_END < UINT32_MAX") \ + uint32_t local_offset = (uint32_t) offset; \ + local_write(NV_PRGNLCL_RISCV_SCPDMATRFMOFFS, \ + DRF_NUM(_PRGNLCL_RISCV, _SCPDMATRFMOFFS, _OFFS, local_offset)); \ + \ + local_write(NV_PRGNLCL_RISCV_SCPDMATRFCMD, \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _SUPPRESS, _##suppress) | \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _SHORTCUT, _##shortcut) | \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _IMEM, _##imem ) | \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _WRITE, _##write ) | \ + DRF_NUM(_PRGNLCL_RISCV, _SCPDMATRFCMD, _SIZE, size ) | \ + DRF_NUM(_PRGNLCL_RISCV, _SCPDMATRFCMD, _GPR, gpr ) | \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _CCI_EX, _SCPDMA ) \ + ); \ +} while(0) + + +/** + * @brief Tracks load/store failures for scp_check_dma() to report later. + */ +static error_t s_transfer_status = E_SUCCESS; + + +// +// Prototypes for local helper functions. +// See definitions for details. +// +static inline error_t s_scp_Get_Error(void); +static inline void s_scp_Clear_Error(void); + + +/** + * @copydoc scp_Start_Direct + */ +error_t +scp_Start_Direct(void) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Skip entry if already in direct mode. + if (g_scp_state.b_direct_mode_active) + { + return E_SCP_NOTHING_TO_DO; + } + + // + // The high-level SCP interfaces are written such that the SCP GPRs should + // already be cleared and unlocked, the sequencers should already be empty, + // any SCPDMA errors should already be handled, and the SCP unit should + // already be idle before this function is even called. Therefore, we have + // nothing to do here besides updating the internal driver state. + // + g_scp_state.b_direct_mode_active = true; + + // Direct mode was started successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_Stop_Direct + */ +error_t +scp_Stop_Direct(void) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Skip exit if not in direct mode in the first place. + if (!g_scp_state.b_direct_mode_active) + { + return E_SCP_NOTHING_TO_DO; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // + // Wait for idle before issuing the pipe reset. Otherwise, we may end up + // corrupting the result of some prior operation that's still pending. + // + scp_wait_dma(); + + // + // Do a full pipe reset. This ensures that the SCP unit isn't in some weird + // state (e.g. stalled, in the middle of a sequencer load, etc.). + // + scp_pvt_Reset_Pipeline(); + + // + // Clear the sequencers to prevent anything accidentally carrying forward + // into higher-level operations. + // + scp_pvt_Reset_Sequencers(); + + // + // Clear any pending SCPDMA errors the application may have neglected to + // deal with (or else we might get false failures from scp_pvt_Clear_All()). + // Ignore result explicitly to avoid coverity errors. + // + (void) scp_check_dma(true); + + // Clear and unlock the GPRs. + error_t clear_status = scp_pvt_Clear_All(); + if (clear_status != E_SUCCESS) + { + return clear_status; + } + + // Update internal state. + g_scp_state.b_direct_mode_active = false; + + // Direct mode was stopped successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_load + */ +void +scp_load +( + uintptr_t source_pa, + scp_register_index_t reg_index +) +{ + riscv_mem_target_t mem_target; + uint64_t mem_offset; + + // + // Determine which memory region source_pa points to and obtain the offset + // of source_pa into said region. + // + if (memutils_riscv_pa_to_target_offset(source_pa, &mem_target, &mem_offset) + != E_SUCCESS) + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } + // Issue a transfer from IMEM. + else if (mem_target == RISCV_MEM_TARGET_IMEM) + { + // We assume that IMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, DISABLE, DISABLE, TRUE, TRUE, 0U, reg_index); + } + // Issue a transfer from DMEM. + else if (mem_target == RISCV_MEM_TARGET_DMEM) + { + // We assume that DMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, DISABLE, DISABLE, FALSE, TRUE, 0U, reg_index); + } + // Invalid memory region. + else + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } +} + +/** + * @copydoc scp_store + */ +void +scp_store +( + scp_register_index_t reg_index, + uintptr_t dest_pa +) +{ + riscv_mem_target_t mem_target; + uint64_t mem_offset; + + // + // Determine which memory region dest_pa points to and obtain the offset + // of dest_pa into said region. + // + if (memutils_riscv_pa_to_target_offset(dest_pa, &mem_target, &mem_offset) != + E_SUCCESS) + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } + // Issue a transfer to IMEM. + else if (mem_target == RISCV_MEM_TARGET_IMEM) + { + // We assume that IMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, DISABLE, DISABLE, TRUE, FALSE, 0U, reg_index); + } + // Issue a transfer to DMEM. + else if (mem_target == RISCV_MEM_TARGET_DMEM) + { + // We assume that DMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, DISABLE, DISABLE, FALSE, FALSE, 0U, reg_index); + } + // Issue a transfer to external memory (shortcut). + else if ((mem_target == RISCV_MEM_TARGET_FBGPA) || + (mem_target == RISCV_MEM_TARGET_SYSGPA)) + { + SCP_TRANSFER(0U, DISABLE, ENABLE, FALSE, FALSE, 0U, reg_index); + } + // Invalid memory region. + else + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } +} + +/** + * @copydoc scp_queue_read + */ +void +scp_queue_read +( + uintptr_t source_pa, + scp_transfer_size_t size +) +{ + riscv_mem_target_t mem_target; + uint64_t mem_offset; + + // + // Determine which memory region source_pa points to and obtain the offset + // of source_pa into said region. + // + if (memutils_riscv_pa_to_target_offset(source_pa, &mem_target, &mem_offset) + != E_SUCCESS) + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } + // Queue a transfer from IMEM. + else if (mem_target == RISCV_MEM_TARGET_IMEM) + { + // We assume that IMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, ENABLE, DISABLE, TRUE, TRUE, size, 0U); + } + // Queue a transfer from DMEM. + else if (mem_target == RISCV_MEM_TARGET_DMEM) + { + // We assume that DMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, ENABLE, DISABLE, FALSE, TRUE, size, 0U); + } + // Invalid memory region. + else + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } +} + +/** + * @copydoc scp_queue_write + */ +void +scp_queue_write +( + uintptr_t dest_pa, + scp_transfer_size_t size +) +{ + riscv_mem_target_t mem_target; + uint64_t mem_offset; + + // + // Determine which memory region dest_pa points to and obtain the offset + // of dest_pa into said region. + // + if (memutils_riscv_pa_to_target_offset(dest_pa, &mem_target, &mem_offset) != + E_SUCCESS) + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } + // Queue a transfer to IMEM. + else if (mem_target == RISCV_MEM_TARGET_IMEM) + { + // We assume that IMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, ENABLE, DISABLE, TRUE, FALSE, size, 0U); + } + // Queue a transfer to DMEM. + else if (mem_target == RISCV_MEM_TARGET_DMEM) + { + // We assume that DMEM does not exceed 2^32 bytes in size. + SCP_TRANSFER(mem_offset, ENABLE, DISABLE, FALSE, FALSE, size, 0U); + } + // Queue a transfer to external memory (shortcut). + else if ((mem_target == RISCV_MEM_TARGET_FBGPA) || + (mem_target == RISCV_MEM_TARGET_SYSGPA)) + { + SCP_TRANSFER(0U, ENABLE, ENABLE, FALSE, FALSE, size, 0U); + } + // Invalid memory region. + else + { + // Track for scp_check_dma() to report later. + s_transfer_status = E_SCP_INVALID_BASE; + } +} + +/** + * @copydoc scp_check_dma + */ +error_t +scp_check_dma +( + bool b_clear +) +{ + error_t final_status; + + // Give first precedence to errors cached from prior load/store operations. + if (s_transfer_status != E_SUCCESS) + { + final_status = s_transfer_status; + } + else + { + // Next, check for errors flagged by the SCPDMA hardware. + final_status = s_scp_Get_Error(); + + // Finally, check for general IO-PMP errors. + if ((final_status == E_SUCCESS) && iopmp_has_error()) + { + final_status = E_FAULT; + } + } + + // + // Clear any errors if requested. Note that we don't clear IO-PMP errors as + // the user may want to investigate them in more detail. + // + if (b_clear) + { + s_transfer_status = E_SUCCESS; + s_scp_Clear_Error(); + } + + return final_status; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Checks for and returns any pending SCPDMA errors. + * + * @pre The SCPDMA hardware must be idle. + * + * @retval E_SUCCESS if no errors were reported. + * + * @retval E_SCP_INVALID_ADDRESS if an SCPDMA transfer was initiated with an + * offset that is not aligned to its size. + * + * @retval E_PERM if a CCI secret instruction was initiated + * with a hardware-secret index that the + * application does not have permission to + * use. + */ +static inline error_t +s_scp_Get_Error(void) +{ + const uint32_t reg = local_read(NV_PRGNLCL_RISCV_SCPDMAPOLL); + + // Check for bad alignment. + if (FLD_TEST_DRF(_PRGNLCL_RISCV, _SCPDMAPOLL, _ERROR_CODE, + _NOT_SIZE_ALIGNED, reg)) + { + return E_SCP_INVALID_ADDRESS; + } + // Check for bad secret index. + else if (FLD_TEST_DRF(_PRGNLCL_RISCV, _SCPDMAPOLL, _ERROR_CODE, + _SECRET_NOT_ALLOWED, reg)) + { + return E_PERM; + } + // No errors reported. + else + { + return E_SUCCESS; + } +} + +/** + * @brief Clears any pending SCPDMA errors. + * + * @pre The SCPDMA hardware must be idle. + */ +static inline void +s_scp_Clear_Error(void) +{ + local_write(NV_PRGNLCL_RISCV_SCPDMAPOLL, + FLD_SET_DRF_NUM(_PRGNLCL_RISCV, _SCPDMAPOLL, _ERROR_CLR, 1U, + local_read(NV_PRGNLCL_RISCV_SCPDMAPOLL))); +} diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/scp_general.c b/spe-freertos-bsp/fsp/source/drivers/scp/scp_general.c new file mode 100644 index 0000000..8d9c30b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/scp_general.c @@ -0,0 +1,929 @@ +/** + * @file scp_general.c + * @brief General SCP operations. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#if !NVRISCV_FEATURE_SCP +#error "Attempting to build scp_general.c but the SCP driver is disabled!" +#endif // NVRISCV_FEATURE_SCP + + +/* Compiler headers */ +#include // for bool, true, false +#include // for uint8_t, uint32_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK +#include // for DRF macros + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for DEVICEMAP_HAS_ACCESS +#include // for local_read, local_write +#include // for IOPMP_IS_CAPTURE_ENABLED +#include // for error_t, common error codes +#include // for INLINE_RFD + +/* Module-specific FSP headers */ +#include // for SCP error codes +#include // for scp_register_index_t +#include // for SCP primitives +#include // for scp_init_flag_t +#include // for scp_pvt_* + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__CPU__DEVICEMAP_H) +HEADER_CHECK(FSP__CPU__IO_H) +HEADER_CHECK(FSP__CPU__IOPMP_H) +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__MISC__MACROS_H) +HEADER_CHECK(FSP__SCP__SCP_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_GENERAL_H) +HEADER_CHECK(FSP__SCP__SCP_PRIVATE_H) + + +// +// Prototypes for local helper functions. +// See definitions for details. +// +static error_t s_scp_Forget_Signature(void); +static error_t s_scp_Recover_Insecure(void); + +static bool s_scp_Has_Interrupt(void); + +static inline bool s_scp_Is_Active(void); +static inline bool s_scp_Is_Present(void); +static inline bool s_scp_Is_Secure_Capable(void); + +static inline void s_scp_Clear_Interrupts(void); +static inline void s_scp_Disable_Interrupts(void); +static inline void s_scp_Enable_Interrupts(void); + +static inline void s_scp_Disable_Processing(void); +static inline void s_scp_Enable_Processing(void); + +static inline void s_scp_Reset_Configuration(void); +static inline void s_scp_Reset_Controls(void); +static inline void s_scp_Reset_Secret_63(void); +static inline void s_scp_Reset_State(void); + + +/** + * @copydoc scp_Init + */ +error_t +scp_Init +( + scp_init_flag_t flags +) +{ + error_t status; + + // + // Reset the internal driver state before doing anything else. This + // prevents, e.g., stale state from some other partition carrying over into + // this one, even in the event of an early-exit later in this function. + // + s_scp_Reset_State(); + + // Verify that the host Peregrine actually contains an SCP unit. + if (!s_scp_Is_Present()) + { + return E_NOTSUPPORTED; + } + + // + // Check that we have sufficient access rights to the necessary device-map + // groups. We do this just as a courtesy check at init and not in every + // interface. + // + if (!DEVICEMAP_HAS_ACCESS(MMODE, SCP, READ) || + !DEVICEMAP_HAS_ACCESS(MMODE, SCP, WRITE) || + !DEVICEMAP_HAS_ACCESS(MMODE, IOPMP, READ)) + { + return E_PERM; + } + +#if NVRISCV_CONFIG_CPU_MODE != 3 + // Not operating in M-mode so check S/U as well. + if (!DEVICEMAP_HAS_ACCESS(SUBMMODE, SCP, READ) || + !DEVICEMAP_HAS_ACCESS(SUBMMODE, SCP, WRITE) || + !DEVICEMAP_HAS_ACCESS(SUBMMODE, IOPMP, READ)) + { + return E_PERM; + } +#endif // NVRISCV_CONFIG_CPU_MODE != 3 + + // Verify that IO-PMP error-capture is enabled for CPDMA transfers. + if (!IOPMP_IS_CAPTURE_ENABLED(CPDMA)) + { + return E_INVALID_STATE; + } + + // Verify that SCP lockdown is correctly configured. + if (s_scp_Is_Secure_Capable() != scp_pvt_Is_Lockdown_Enabled()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // + // Ensure the SCP unit is idle before trying to reset it. Otherwise, we + // may corrupt the result of some prior operation that's still pending. + // + if (scp_poll_dma()) + { + return E_BUSY; + } + + // + // Hardware state has been verified. Check that the configuration flags + // are valid as well before initiating any changes. + // + if (flags != SCP_INIT_FLAG_DEFAULT) + { + // No other flags are supported currently. + return E_SCP_INVALID_FLAGS; + } + + // + // Concurrent SCP usage is not supported, so the unit is expected to remain + // idle throughout initialization regardless, but disable processing anyway + // as a precautionary measure. + // + s_scp_Disable_Processing(); + + // Disable any interrupts that could cause us to stall later. + s_scp_Disable_Interrupts(); + + // + // Clear any already-pending interrupts or SCPDMA errors so we can check + // later that we didn't unexpectedly trigger any new ones ourselves. + // + s_scp_Clear_Interrupts(); + (void) scp_check_dma(true); + + // + // Perform a pipe reset and clear the sequencers. We also disable RNG at + // this point (applications can explicitly re-enable later if needed). + // + s_scp_Reset_Controls(); + + // + // Reset the carry-chain, endianness, stall-timeout, etc. to their + // default values. + // + s_scp_Reset_Configuration(); + + // + // Re-enable processing now that configuration is complete. Needs to be + // done before attempting to clear registers or we'll hang. + // + s_scp_Enable_Processing(); + + if (!scp_pvt_Is_Secure()) + { + // + // Ensure we have fetchable access to the general-purpose registers + // before trying to clear them. Secure code can do this via the + // scp_secret() primitive (which scp_pvt_Zero_All() issues automatically + // if needed) but insecure code requires the alternative approach + // invoked here. + // + // Note that any subsequent driver code that causes these permissions + // to be revoked again will also make sure to restore them before + // returning, thus bypassing the need for this special procedure + // beyond first-time initialization. + // + // In the event that one or more of the general-purpose registers lack + // insecure-writable access (Wi), we will have no means of recovering + // access whatsoever and will simply error out when we catch the + // ensuing write-violation interrupt below. + // + status = s_scp_Recover_Insecure(); + if (status != E_SUCCESS) + { + return status; + } + } + + // Clear the contents of all general-purpose registers. + status = scp_pvt_Zero_All(); + if (status != E_SUCCESS) + { + return status; + } + + if (scp_pvt_Is_Secure()) + { + // + // Relax the ACLs of the general-purpose registers so insecure code is + // not locked out later on. It is critical that we only do this if + // scp_pvt_Zero_All() succeeded entirely, hence the interrupt check. + // + if (!s_scp_Has_Interrupt()) + { + status = scp_pvt_Unlock_All(); + if (status != E_SUCCESS) + { + return status; + } + } + + // + // Invalidate the engine's signature/hash. This will generate an + // interrupt if the signature register is already invalid, hence doing + // it while they're still disabled. + // + // Note that the RISC-V BootROM normally performs this step itself but + // we repeat it here anyway as a defense-in-depth measure. + // + status = s_scp_Forget_Signature(); + if (status != E_SUCCESS) + { + return status; + } + } + + // + // Check for any unexpected interrupts. There are very few realistic + // scenarios in which we would ever hit this condition, so we just return + // a generic error code here without investigating further. + // + if (s_scp_Has_Interrupt()) + { + return E_SCP_GENERIC; + } + + // + // Clear any non-fatal interrupts we may have triggered and then enable a + // reasonable subset of them for the application. + // + s_scp_Clear_Interrupts(); + s_scp_Enable_Interrupts(); + + // Update internal state to reflect completed initialization. + g_scp_state.b_initialized = true; + + // Initialization was successful. + return E_SUCCESS; +} + +/** + * @copydoc scp_Shutdown + */ +error_t +scp_Shutdown(void) +{ + error_t current_status, final_status = E_SUCCESS; + + // Skip shutdown if already done. + if (g_scp_state.b_shutdown) + { + return E_SCP_NOTHING_TO_DO; + } + + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // + // Ensure the SCP unit is idle before trying to shut it down. Otherwise, + // we may corrupt the result of some prior operation that's still pending. + // + if (s_scp_Is_Active()) + { + return E_BUSY; + } + + // Disable any interrupts that could cause us to stall later. + s_scp_Disable_Interrupts(); + + // + // Clear any already-pending interrupts or SCPDMA errors so we can check + // later that we didn't unexpectedly trigger any new ones. + // + s_scp_Clear_Interrupts(); + (void) scp_check_dma(true); + + // + // Perform a pipe reset and clear the sequencers. It's important to do this + // before attempting to clear the registers in case the application forgot + // to properly exit direct mode, or encountered a stall. We also disable + // RNG at this point. + // + s_scp_Reset_Controls(); + + // + // Ensure processing is enabled in case, e.g., the application is calling + // this function in response to a fatal error. + // + s_scp_Enable_Processing(); + + if (!scp_pvt_Is_Secure()) + { + // + // Try to ensure that we have fetchable access to the general-purpose + // registers before attempting to clear them. scp_pvt_Zero_All() will + // handle this automatically for secure contexts, but insecure contexts + // require the alternative procedure used here. + // + // Realistically, this should only be necessary if the application has + // been misusing direct mode, but we do it anyway to maximize our + // chances of a clean shutdown. + // + current_status = s_scp_Recover_Insecure(); + if (final_status == E_SUCCESS) + { + final_status = current_status; + } + } + + // Clear the contents of all general-purpose registers. + current_status = scp_pvt_Zero_All(); + if (final_status == E_SUCCESS) + { + final_status = current_status; + } + + // + // Relax the ACLs of the general-purpose registers so insecure code can + // freely use them afterwards. It is critical that we only do this if + // scp_pvt_Zero_All() succeeded entirely, hence the extra check. + // + if (scp_pvt_Is_Secure() && !s_scp_Has_Interrupt() && + (final_status == E_SUCCESS)) + { + final_status = scp_pvt_Unlock_All(); + } + + // + // Check for any unexpected interrupts. There are very few realistic + // scenarios in which we would ever hit this condition, so we just return + // a generic error code here without investigating further. + // + if (s_scp_Has_Interrupt() && (final_status == E_SUCCESS)) + { + final_status = E_SCP_GENERIC; + } + + // Disable further processing until the SCP unit is needed again. + s_scp_Disable_Processing(); + + // Clear any interrupts we may have triggered. + s_scp_Clear_Interrupts(); + + // Reset the source for secret-index 63 (hardware recommendation). + s_scp_Reset_Secret_63(); + + // Clear internal driver state. + s_scp_Reset_State(); + + // + // Update internal state to reflect completed shutdown. The driver will no + // longer be in a usable state by this point, even if some prior operation + // failed, so we do this unconditionally. + // + g_scp_state.b_shutdown = true; + + // Shutdown complete. + return final_status; +} + +/** + * @copydoc scp_Is_Debug + */ +bool +scp_Is_Debug(void) +{ + return !FLD_TEST_DRF(_PRGNLCL_SCP, _CTL_STAT, _DEBUG_MODE, _DISABLED, + local_read(NV_PRGNLCL_SCP_CTL_STAT)); +} + +/** + * @copydoc scp_Clear_Reg + */ +error_t +scp_Clear_Reg +( + scp_register_index_t reg_index +) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Ensure the provided register index is valid. + if (reg_index > SCP_REGISTER_INDEX_7) + { + return E_SCP_INVALID_INDEX; + } + + // Clear the selected register and unlock its associated ACL if needed. + return scp_pvt_Clear_Reg(reg_index); +} + +/** + * @copydoc scp_Clear_All + */ +error_t +scp_Clear_All(void) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Clear all GPRs and unlock their associated ACLs if needed. + return scp_pvt_Clear_All(); +} + +/** + * @copydoc scp_Configure_Shortcut + */ +error_t +scp_Configure_Shortcut +( + uint8_t dma_index +) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Invalidate previous setting, if any. + g_scp_state.b_shortcut_configured = false; + + // Check that shortcut-DMA support is enabled. + if (!NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED) + { + return E_SCP_FEATURE_NOT_ENABLED; + } + + // Ensure the provided DMA index is valid. + if (dma_index > DRF_MASK(NV_PRGNLCL_FALCON_DMATRFCMD_CTXDMA)) + { + return E_SCP_INVALID_INDEX; + } + + // Update internal state. + g_scp_state.b_shortcut_configured = true; + g_scp_state.dma_index = dma_index; + + // Shortcut-DMA path was configured successfully. + return E_SUCCESS; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Invalidates the engine's signature/hash. + * + * Intended as an internal-only convenience wrapper for scp_forget_sig(). + * + * @pre The SCP hardware must have been properly initialized. + * @pre This function must only be called from secure contexts. + * + * @retval E_SUCCESS if signature/hash was invalidated successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Forget_Signature(void) +{ + // Invalidate the engine's signature/hash. + scp_forget_sig(); + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Signature/hash invalidated successfully. + return E_SUCCESS; +} + +/** + * @brief Recovers insecure access to the SCP GPRs. + * + * Recovers insecure-fetchable and insecure-keyable access to the SCP GPRs. + * + * Requires that insecure-writable access (Wi) is already present for all + * registers. Only intended to be called from insecure contexts. + * + * Note that this function makes use of the SCP unit's RNG hardware and does + * NOT preserve its configuration settings, or the contents of the affected + * GPRs. + * + * @pre The SCP hardware must have been properly initialized. + * @pre SCP lockdown must be disabled. + * + * @retval E_SUCCESS if access was recovered successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Recover_Insecure(void) +{ + // + // The only way an insecure context can recover access to an SCP GPR + // previously locked by a secure context is by loading data of some kind + // into it, which will overwrite the GPR's previous contents and reset its + // associated ACL to a fully-open state. + // + // Unfortunately, declaring a temporary buffer to load data from is out of + // the question here as we have no means of obtaining said buffer's + // physical address in order to initiate an SCPDMA transfer. That leaves + // the "rand" instruction as the only other practical means of getting + // insecure data into the GPRs. + // + // Of course, for even this to work, we need to already have insecure- + // writable (Wi) access to the target GPRs or we'll trigger a write- + // violation interrupt, hence the pre-condition listed in the function + // description. + // + // As of SCP RNG v2.0, the RNG hardware should be usable "out of the box", + // so we don't bother with any configuration here (since the actual entropy + // of the values we produce is irrelevant). + // + + // Ensure that the RNG hardware is enabled. + scp_pvt_Enable_Rand(); + + // + // Load a true-random number into register-index zero. This will + // overwrite any (potentially sensitive) prior contents and unlock the + // register's associated ACL to a fully-open state. + // + scp_rand(SCP_REGISTER_INDEX_0); + + // + // Copy the true-random number from register-index zero into the remaining + // GPRs, thus effectively copying its fully-open ACL to each of them as + // well. + // + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_1); + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_2); + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_3); + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_4); + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_5); + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_6); + scp_mov(SCP_REGISTER_INDEX_0, SCP_REGISTER_INDEX_7); + + // Wait for completion. + scp_wait_dma(); + + // Disable the RNG hardware. + scp_pvt_Disable_Rand(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Registers unlocked successfully. + return E_SUCCESS; +} + +/** + * @brief Checks for pending SCP interrupts. + * + * @retval true if there are interrupts pending. + * @retval false if there are no interrupts pending. + * + * @note This function only checks for interrupts that would represent + * genuine error conditions in the context of initialization or + * shutdown and ignores all others. + */ +static bool +s_scp_Has_Interrupt(void) +{ + uint32_t reg; + + // Read interrupt status. + reg = local_read(NV_PRGNLCL_SCP_INTR); + + // ACL violations and security violations are always relevant. + if (FLD_TEST_DRF(_PRGNLCL_SCP, _INTR, _ACL_VIO, _PENDING, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _INTR, _SECURITY_VIO, _PENDING, reg)) + { + return true; + } + + // Only certain command errors are relevant so investigate further. + if (FLD_TEST_DRF(_PRGNLCL_SCP, _INTR, _CMD_ERROR, _PENDING, reg)) + { + // Obtain error details. + reg = local_read(NV_PRGNLCL_SCP_CMD_ERROR); + + // Check for relevant errors. + if (FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _UNDEFINED, + _TRUE, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _SEQ_EMPTY, + _TRUE, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _SEQ_OVERFLOW, + _TRUE, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _SIG_INSECURE, + _TRUE, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _CHMOD_INSECURE, + _TRUE, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _SECRET_INSECURE, + _TRUE, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CMD_ERROR, _SEQ_INST_WHILE_LOADING, + _TRUE, reg)) + { + return true; + } + } + + // No relevant pending interrupts. + return false; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Checks the SCP unit for activity. + * + * Checks whether the SCP unit is currently active. Does not check for pending + * activity (i.e. CCI transfers queued while processing is disabled). + * + * @retval true if the SCP unit is busy. + * @retval false if the SCP unit is idle. + */ +static inline bool +s_scp_Is_Active(void) +{ + return FLD_TEST_DRF(_PRGNLCL_SCP, _STATUS, _SCP_ACTIVE, _TRUE, + local_read(NV_PRGNLCL_SCP_STATUS)); +} + +/** + * @brief Checks whether the host engine contains an SCP unit. + * + * @retval true if the SCP unit is present. + * @retval false if the SCP unit is absent. + */ +static inline bool +s_scp_Is_Present(void) +{ + return FLD_TEST_DRF(_PRGNLCL_FALCON, _HWCFG2, _SCP, _ENABLE, + local_read(NV_PRGNLCL_FALCON_HWCFG2)); +} + +/** + * @brief Checks whether the host engine is able to operate in a secure context. + * + * @retval true if the host engine is capable of operating in a secure context. + * @retval false if the host engine is not capable of operating in a secure + * context. + * + * @note To check whether the host engine is currently operating in a secure + * context, use scp_pvt_Is_Secure() instead. + */ +static inline bool +s_scp_Is_Secure_Capable(void) +{ + return FLD_TEST_DRF64(_RISCV_CSR, _XSPM, _XSECM, _SEC, + csr_read(NV_RISCV_CSR_XSPM)); +} + +/** + * @brief Clears any pending SCP interrupts. + */ +static inline void +s_scp_Clear_Interrupts(void) +{ + // Clear the main interrupt register first. + local_write(NV_PRGNLCL_SCP_INTR, + DRF_DEF(_PRGNLCL_SCP, _INTR, _RAND_READY, _RESET) | + DRF_DEF(_PRGNLCL_SCP, _INTR, _ACL_VIO, _RESET) | + DRF_DEF(_PRGNLCL_SCP, _INTR, _SECURITY_VIO, _RESET) | + DRF_DEF(_PRGNLCL_SCP, _INTR, _CMD_ERROR, _RESET) | + DRF_DEF(_PRGNLCL_SCP, _INTR, _STEP, _RESET) | + DRF_DEF(_PRGNLCL_SCP, _INTR, _RNDHOLDOFF_REQUESTED, _RESET) | + DRF_DEF(_PRGNLCL_SCP, _INTR, _STALL_TIMEOUT, _RESET)); + + // Clear any ACL violations. + local_write(NV_PRGNLCL_SCP_ACL_VIO, + DRF_DEF(_PRGNLCL_SCP, _ACL_VIO, _CHMOD_RELAX_VIO, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _ACL_VIO, _FETCH_VIO, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _ACL_VIO, _WR_VIO, _CLEAR)); + + // Can't clear security violations. + + // Clear any command errors. + local_write(NV_PRGNLCL_SCP_CMD_ERROR, + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _UNDEFINED, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _SEQ_EMPTY, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _SEQ_OVERFLOW, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _SEQ_INST_WHILE_LOADING, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _SIG_INSECURE, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _SIG_INVALID, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _CHMOD_INSECURE, _CLEAR) | + DRF_DEF(_PRGNLCL_SCP, _CMD_ERROR, _SECRET_INSECURE, _CLEAR)); +} + +/** + * @brief Disables all SCP interrupts. + */ +static inline void +s_scp_Disable_Interrupts(void) +{ + // Disable all interrupts. + local_write(NV_PRGNLCL_SCP_INTR_EN, + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _RAND_READY, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _ACL_VIO, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _SECURITY_VIO, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _CMD_ERROR, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _STEP, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _RNDHOLDOFF_REQUESTED, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _STALL_TIMEOUT, _DISABLED)); +} + +/** + * @brief Enables a critical subset of SCP interrupts. + */ +static inline void +s_scp_Enable_Interrupts(void) +{ + // Enable only critical interrupts that shouldn't be ignored. + local_write(NV_PRGNLCL_SCP_INTR_EN, + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _RAND_READY, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _ACL_VIO, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _SECURITY_VIO, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _CMD_ERROR, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _STEP, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _RNDHOLDOFF_REQUESTED, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _INTR_EN, _STALL_TIMEOUT, _DISABLED)); +} + +/** + * @brief Disables all processing of SCP commands. + */ +static inline void +s_scp_Disable_Processing(void) +{ + local_write(NV_PRGNLCL_SCP_CTL0, + DRF_DEF(_PRGNLCL_SCP, _CTL0, _CTL_EN, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SEQ_EN, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SF_CMD_IFACE_EN, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SF_PUSH_IFACE_EN, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SF_FETCH_IFACE_EN, _DISABLED)); +} + +/** + * @brief Enables processing of SCP commands. + */ +static inline void +s_scp_Enable_Processing(void) +{ + local_write(NV_PRGNLCL_SCP_CTL0, + DRF_DEF(_PRGNLCL_SCP, _CTL0, _CTL_EN, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SEQ_EN, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SF_CMD_IFACE_EN, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SF_PUSH_IFACE_EN, _ENABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL0, _SF_FETCH_IFACE_EN, _ENABLED)); +} + +/** + * @brief Resets the SCP hardware to its default configuration settings. + * + * These values have been confirmed by the hardware team. + */ +static inline void +s_scp_Reset_Configuration(void) +{ + // + // Casting to uint32_t as these constants are technically signed and will + // produce a warning otherwise. There should be no risk of overflow here + // since these constants are reasonably assumed to fit within the 32-bit + // CFG0 register they're defined for. + // + INLINE_RFD(CERTC, DEVIATE, INT31_C, "Bug: TODO, DR: TODO - perceived sign of bitmap is irrelevant for correctly initializing the register.") + local_write(NV_PRGNLCL_SCP_CFG0, (uint32_t) + DRF_DEF(_PRGNLCL_SCP, _CFG0, _STALL_TIMEOUT, _INIT) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _CARRY_CHAIN, _64) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _CMD_FLUSH, _FALSE) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _AES_ENDIAN, _BIG) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _PUSH_ENDIAN, _LITTLE) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _FETCH_ENDIAN, _LITTLE) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _CMAC_ENDIAN, _BIG) | + DRF_DEF(_PRGNLCL_SCP, _CFG0, _ADD_ENDIAN, _BIG)); +} + +/** + * @brief Resets the SCP pipeline and sequencers. Also disables RNG. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +s_scp_Reset_Controls(void) +{ + uint32_t reg; + + // + // Disable RNG and request pipe and sequencer resets. We also disable some + // debug-only features here that must not be active in production. + // + local_write(NV_PRGNLCL_SCP_CTL1, + DRF_DEF(_PRGNLCL_SCP, _CTL1, _SF_PUSH_BYPASS, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL1, _SF_FETCH_BYPASS, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL1, _SF_FETCH_AS_ZERO, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL1, _RNG_EN, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL1, _RNG_FAKE_MODE, _DISABLED) | + DRF_DEF(_PRGNLCL_SCP, _CTL1, _PIPE_RESET, _TASK) | + DRF_DEF(_PRGNLCL_SCP, _CTL1, _SEQ_CLEAR, _TASK)); + + // Wait for the pipe and sequencer resets to complete. + do + { + reg = local_read(NV_PRGNLCL_SCP_CTL1); + } while (FLD_TEST_DRF(_PRGNLCL_SCP, _CTL1, _PIPE_RESET, _PENDING, reg) || + FLD_TEST_DRF(_PRGNLCL_SCP, _CTL1, _SEQ_CLEAR, _PENDING, reg)); +} + +/** + * @brief Resets the source of secret-index 63 per hardware recommendation. + */ +static inline void +s_scp_Reset_Secret_63(void) +{ + local_write(NV_PRGNLCL_SCP_SECRET63_CTL, + DRF_DEF(_PRGNLCL_SCP, _SECRET63_CTL, _SEL, _PKEY)); +} + +/** + * @brief Resets the driver's internal state. + */ +static inline void +s_scp_Reset_State(void) +{ + g_scp_state.b_initialized = false; + g_scp_state.b_shutdown = false; + g_scp_state.b_direct_mode_active = false; + g_scp_state.b_rand_configured = false; + g_scp_state.b_shortcut_configured = false; + g_scp_state.dma_index = UINT8_MAX; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/scp_private.c b/spe-freertos-bsp/fsp/source/drivers/scp/scp_private.c new file mode 100644 index 0000000..15dbc35 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/scp_private.c @@ -0,0 +1,799 @@ +/** + * @file scp_private.c + * @brief Private interfaces for internal use by the SCP driver. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#if !NVRISCV_FEATURE_SCP +#error "Attempting to build scp_private.c but the SCP driver is disabled!" +#endif // NVRISCV_FEATURE_SCP + + +/* Compiler headers */ +#include // for bool, true, false +#include // for size_t, NULL +#include // for uintptr_t, uint64_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, common error codes +#if NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED +#include // for fbdma_scp_to_extmem +#endif // NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED +#include // for memutils_riscv_pa_to_target_offset +#include // for INLINE_RFD +#include // for DRF macros + +/* Module-specific FSP headers */ +#include // for SCP error codes +#include // for scp_register_index_t, etc. +#include // for SCP primitives +#include // for SCP_SECRET_INDEX_CLEAR, etc. + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +#if NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED +HEADER_CHECK(FSP__FBDMA__FBDMA_H) +#endif // NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED +HEADER_CHECK(FSP__FBDMA__MEMUTILS_H) +HEADER_CHECK(FSP__MISC__MACROS_H) +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__SCP__SCP_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_PRIVATE_H) + + +/** + * @brief The chmod value for a fully-open register ACL. + */ +#define SCP_REGISTER_ACL_ALL 0x1FU + +/** + * @brief The maximum supported size for a single SCPDMA transfer, in bytes. + */ +#define SCP_TRANSFER_LIMIT 256U + + +// +// Prototypes for local helper functions. +// See definitions for details. +// +static error_t s_scp_Unlock_Reg(scp_register_index_t reg_index); +static error_t s_scp_Zero_Reg(scp_register_index_t reg_index); + + +/** + * @copydoc scp_pvt_Clear_Reg + */ +error_t +scp_pvt_Clear_Reg +( + scp_register_index_t reg_index +) +{ + error_t status; + + // Clear the register's contents. + status = s_scp_Zero_Reg(reg_index); + if (status != E_SUCCESS) + { + return status; + } + + // + // In secure contexts, s_scp_Zero_Reg() will have locked out insecure access + // to the target register, so restore it here. In insecure contexts, the + // register is assumed to already be accessible (or else s_scp_Zero_Reg() + // would have triggered an ACL violation). + // + if (scp_pvt_Is_Secure()) + { + status = s_scp_Unlock_Reg(reg_index); + if (status != E_SUCCESS) + { + return status; + } + } + + // Register cleared successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_pvt_Clear_All + */ +error_t +scp_pvt_Clear_All(void) +{ + error_t current_status, final_status = E_SUCCESS; + scp_register_index_t reg_index; + + // + // Clear each register in turn. To ensure we always clear as much data as + // possible, we avoid exiting immediately on failure here and instead + // simply track any errors for later. + // + for (reg_index = SCP_REGISTER_INDEX_0; + reg_index < SCP_REGISTER_INDEX_COUNT; + reg_index++) + { + current_status = scp_pvt_Clear_Reg(reg_index); + if (current_status != E_SUCCESS) + { + final_status = current_status; + } + } + + // Registers cleared. + return final_status; +} + +/** + * @copydoc scp_pvt_Unlock_All + */ +error_t +scp_pvt_Unlock_All(void) +{ + error_t current_status, final_status = E_SUCCESS; + scp_register_index_t reg_index; + + // + // Unlock each register in turn. To ensure we always unlock as many GPRs as + // possible, we avoid exiting immediately on failure here and instead + // simply track any errors for later. + // + for (reg_index = SCP_REGISTER_INDEX_0; + reg_index < SCP_REGISTER_INDEX_COUNT; + reg_index++) + { + current_status = s_scp_Unlock_Reg(reg_index); + if (current_status != E_SUCCESS) + { + final_status = current_status; + } + } + + // Registers unlocked. + return final_status; +} + +/** + * @copydoc scp_pvt_Zero_All + */ +error_t +scp_pvt_Zero_All(void) +{ + error_t current_status, final_status = E_SUCCESS; + scp_register_index_t reg_index; + + // + // Zero each register in turn. To ensure we always zero as many GPRs as + // possible, we avoid exiting immediately on failure here and instead + // simply track any errors for later. + // + for (reg_index = SCP_REGISTER_INDEX_0; + reg_index < SCP_REGISTER_INDEX_COUNT; + reg_index++) + { + current_status = s_scp_Zero_Reg(reg_index); + if (current_status != E_SUCCESS) + { + final_status = current_status; + } + } + + // Registers zeroed. + return final_status; +} + +/** + * @copydoc scp_pvt_Load_Buffer + */ +error_t +scp_pvt_Load_Buffer +( + uintptr_t source_pa, + scp_register_index_t reg_index +) +{ + error_t status; + + // Load into the selected register. + scp_load(source_pa, reg_index); + + // Wait for completion. + scp_wait_dma(); + + // Check for any failures. + status = scp_check_dma(true); + if (status == E_FAULT) + { + // Bubble up IO-PMP errors. + return status; + } + else if (status != E_SUCCESS) + { + // No other errors are expected. + return E_SCP_GENERIC; + } + + // Data was loaded successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_pvt_Store_Buffer + */ +error_t +scp_pvt_Store_Buffer +( + scp_register_index_t reg_index, + uintptr_t dest_pa +) +{ + error_t status; + + // Write to the destination buffer. + scp_store(reg_index, dest_pa); + +#if NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED + riscv_mem_target_t dest_target; + uint64_t dest_offset; + + // Obtain the global target/offset pair for the destination buffer. + if (memutils_riscv_pa_to_target_offset(dest_pa, &dest_target, &dest_offset) + != E_SUCCESS) + { + // This should have been validated by the caller. + return E_SCP_GENERIC; + } + + // Complete the follow-up transfer to external memory, if applicable. + if ((dest_target == RISCV_MEM_TARGET_FBGPA) || + (dest_target == RISCV_MEM_TARGET_SYSGPA)) + { + if (fbdma_scp_to_extmem(dest_offset, SCP_REGISTER_SIZE, + g_scp_state.dma_index) != E_SUCCESS) + { + // + // This should never happen so long as the caller has properly + // sanitized dest_pa and ensured that the shortcut-DMA path has + // been configured. + // + return E_SCP_GENERIC; + } + } +#endif // NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED + + // Wait for completion. + scp_wait_dma(); + + // Check for any failures. + status = scp_check_dma(true); + if (status == E_FAULT) + { + // Bubble up IO-PMP errors. + return status; + } + else if (status != E_SUCCESS) + { + // No other errors are expected. + return E_SCP_GENERIC; + } + + // Data was stored successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_pvt_Validate_Buffer + */ +error_t +scp_pvt_Validate_Buffer +( + uintptr_t base_pa, + size_t size, + bool b_allow_external +) +{ + riscv_mem_target_t base_target, end_target; + uint64_t base_offset; + + // Check base address for zero/NULL. + if (base_pa == (uintptr_t)NULL) + { + return E_SCP_INVALID_POINTER; + } + + // Convert to global target/offset pair. + if (memutils_riscv_pa_to_target_offset(base_pa, &base_target, &base_offset) + != E_SUCCESS) + { + return E_SCP_INVALID_BASE; + } + + // Ensure the target memory region is supported. + switch (base_target) + { + // IMEM and DMEM are always supported. + case RISCV_MEM_TARGET_IMEM: + case RISCV_MEM_TARGET_DMEM: + break; + + // + // FB and SYSMEM are supported only for output buffers and only if the + // shortcut-DMA path has been enabled and configured. + // + case RISCV_MEM_TARGET_FBGPA: + case RISCV_MEM_TARGET_SYSGPA: + { + if (!b_allow_external) + { + return E_SCP_INVALID_BASE; + } + + if (!NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED) + { + return E_SCP_FEATURE_NOT_ENABLED; + } + + if (!g_scp_state.b_shortcut_configured) + { + return E_SCP_INVALID_DMA_SPECIFIER; + } + } + break; + + // No other locations are supported. + default: + return E_SCP_INVALID_BASE; + } + + // + // Obtain the offset of the final byte in the buffer (accounting for the + // edge case of a zero-sized buffer). + // + const size_t end_index = (size - (size > 0U)); + + // Ensure the buffer does not overflow uintptr_t. + if ((end_index > UINTPTR_MAX) || ((UINTPTR_MAX - end_index) < base_pa)) + { + return E_SCP_OUT_OF_RANGE; + } + + // Obtain the physical address of the final byte in the buffer. + const uintptr_t end_pa = base_pa + end_index; + + // Ensure the buffer does not overflow the target memory region. + if ((memutils_riscv_pa_to_target_offset(end_pa, &end_target, NULL) != + E_SUCCESS) || (end_target != base_target)) + { + return E_SCP_OUT_OF_RANGE; + } + + // Ensure the offset into the target memory region is correctly aligned. + if (!NV_IS_ALIGNED64(base_offset, SCP_BUFFER_ALIGNMENT)) + { + return E_SCP_INVALID_ADDRESS; + } + + // Buffer validated successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_pvt_Run_Sequence + */ +error_t +scp_pvt_Run_Sequence +( + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size +) +{ + riscv_mem_target_t dest_target; + uint64_t source_offset, dest_offset; + + // Track which parameters are present. + const bool b_has_input = (source_pa != (uintptr_t)NULL); + const bool b_has_output = (dest_pa != (uintptr_t)NULL); + + // Obtain the aperture offset of the source buffer, if any. + if (b_has_input) + { + if (memutils_riscv_pa_to_target_offset(source_pa, NULL, + &source_offset) != E_SUCCESS) + { + // This should have been validated by the caller. + return E_SCP_GENERIC; + } + } + + // Obtain the global target/offset pair for the destination buffer, if any. + if (b_has_output) + { + if (memutils_riscv_pa_to_target_offset(dest_pa, &dest_target, + &dest_offset) != E_SUCCESS) + { + // This should have been validated by the caller. + return E_SCP_GENERIC; + } + } + +#if NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED + // + // Track whether the destination buffer (if any) is located in an external + // memory region. + // + const bool b_external_dest = (b_has_output && + ((dest_target == RISCV_MEM_TARGET_FBGPA) || + (dest_target == RISCV_MEM_TARGET_SYSGPA))); +#endif // NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED + + // Continue processing until no data remains. + while (size > 0U) + { + scp_transfer_size_t transfer_size; + uint8_t num_iterations; + + // + // Determine the maximum number of bytes we can process this iteration + // based on the alignment of the source and destination buffers (as + // applicable), and the constraints of the SCPDMA unit. + // + // Note that the cast to uint32_t is safe so long as SCP_TRANSFER_LIMIT + // is less than 2^32, which we can reasonably assume will always be + // true. + // + INLINE_RFD(CERTC, DEVIATE, INT31_C, "Bug: TODO, DR: TODO - the cast to uint32_t is safe so long as SCP_TRANSFER_LIMIT is less than 2^32"); + uint32_t batch_size = (uint32_t)LOWESTBIT( + (b_has_input ? source_offset : 0U) | + (b_has_output ? dest_offset : 0U) | + SCP_TRANSFER_LIMIT); + + // + // Ensure that the computed size does not exceed the quantity of data + // remaining to be processed. + // + while (batch_size > size) + { + batch_size >>= 1U; + } + + // + // Convert to an equivalent SCPDMA transfer size and corresponding + // number of sequencer iterations (assuming at most one push and/or + // fetch instruction per loop). + // + switch (batch_size) + { + case (16U * SCP_REGISTER_SIZE): + transfer_size = SCP_TRANSFER_SIZE_16R; + num_iterations = 16U; + break; + + case (8U * SCP_REGISTER_SIZE): + transfer_size = SCP_TRANSFER_SIZE_8R; + num_iterations = 8U; + break; + + case (4U * SCP_REGISTER_SIZE): + transfer_size = SCP_TRANSFER_SIZE_4R; + num_iterations = 4U; + break; + + case (2U * SCP_REGISTER_SIZE): + transfer_size = SCP_TRANSFER_SIZE_2R; + num_iterations = 2U; + break; + + case (1U * SCP_REGISTER_SIZE): + transfer_size = SCP_TRANSFER_SIZE_1R; + num_iterations = 1U; + break; + + default: + // + // This should never happen unless the caller has failed to + // ensure that source_pa, dest_pa, and size are aligned + // properly. + // + return E_SCP_GENERIC; + } + + // Queue the next batch of data to read from the source (if any). + if (b_has_input) + { + scp_queue_read(source_pa, transfer_size); + } + + // Queue the next batch of data to write to the destination (if any). + if (b_has_output) + { + scp_queue_write(dest_pa, transfer_size); + } + + // Execute the computed number of sequencer iterations. + scp_loop_trace0(num_iterations); + +#if NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED + // Complete the follow-up transfer to external memory, if applicable. + if (b_external_dest) + { + if (fbdma_scp_to_extmem(dest_offset, batch_size, + g_scp_state.dma_index) != E_SUCCESS) + { + // + // This should never happen so long as the caller has properly + // sanitized dest_pa and ensured that the shortcut-DMA path has + // been configured. + // + return E_SCP_GENERIC; + } + } +#endif // NVRISCV_DRIVER_SCP_SHORTCUT_ENABLED + + // Wait for the current batch to finish processing. + scp_wait_dma(); + + // Check for any failures. + error_t status = scp_check_dma(true); + if (status == E_FAULT) + { + // Bubble up IO-PMP errors. + return status; + } + else if (status != E_SUCCESS) + { + // No other errors are expected. + return E_SCP_GENERIC; + } + + // Update pointers. + source_pa += batch_size; + dest_pa += batch_size; + + // Update aperture offsets. + if (b_has_input) + { + source_offset += batch_size; + } + + if (b_has_output) + { + dest_offset += batch_size; + } + + // Update bytes remaining. + size -= batch_size; + } + + // Data was processed successfully. + return E_SUCCESS; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Resets the ACL of the specified SCP GPR to a fully-open state. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] reg_index The index of the SCP register to unlock. + * + * @retval E_SUCCESS if the register was unlocked successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @note This function must only be called from secure contexts and requires + * that both secure permissions (Fs and Ks) are already present for the + * register being unlocked. + * + * @note As a precaution, the target register's contents are cleared after + * unlocking. It is recommended that callers also clear the register + * before unlocking by calling s_scp_Zero_Reg() and checking that it + * succeeded. + */ +static error_t +s_scp_Unlock_Reg +( + scp_register_index_t reg_index +) +{ + // + // Enable all permissions in the ACL of the specified register. + // + // Some concerns were raised that this creates a dangerous potential ROP + // gadget for an attacker to leverage, but we don't have any other options + // for recovering the insecure-write (Wi) permission at this point. + // + // We did consider reducing the number of permissions we grant here, but + // that would require sprinkling additional code throughout other parts of + // the SCP driver in order to recover the remaining insecure-fetch (Fi) and + // insecure-key (Ki) permissions on-demand. It's also unlikely that such an + // alternative approach would buy us much addditional security as any + // attacker with ROP capabilities can likely also manipulate function + // arguments anyway. + // + scp_chmod(SCP_REGISTER_ACL_ALL, reg_index); + + // + // Clear the register's contents. This gives us some protection against the + // aforementioned ROP threat as it makes leaking sensitive information a + // bit harder. + // + // Note that we don't need to go through the extra steps that + // s_scp_Zero_Reg() follows here since the target register is expected to be + // fetchable already. + // + scp_xor(reg_index, reg_index); + + // Wait for completion. + scp_wait_dma(); + + // + // Check for failure. The SCPDMA itself should never fail here (we'd get + // an interrupt instead if the actual chmod or xor instructions failed), + // but we check anyway to be safe. + // + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Register unlocked successfully. + return E_SUCCESS; +} + +/** + * @brief Zeroes the specified SCP GPR. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The target register must be writable and fetchable if called from an + * insecure context. + * + * @param[in] reg_index The index of the SCP register to zero. + * + * @retval E_SUCCESS if the register was zeroed successfully. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @note Calling this function from a secure context will leave the specified + * SCP GPR inaccessible from insecure contexts until explicitly unlocked + * later. + */ +static error_t +s_scp_Zero_Reg +( + scp_register_index_t reg_index +) +{ + // + // In order for the xor operation below to succeed, the target register + // must have its fetchable attribute set in its associated ACL. We can + // ensure this in secure contexts by first loading a fetchable hardware + // secret into the register, which we do here. + // + // Insecure contexts do not have this option but are also not expected to + // ever encounter a non-fetchable register unless the application has been + // misusing certain direct-mode interfaces (in which case we'll simply end + // up triggering an ACL violation). + // + if (scp_pvt_Is_Secure()) + { + // Load secret-index zero to ensure the target register is fetchable. + scp_secret(SCP_SECRET_INDEX_CLEAR, reg_index); + + // Wait for completion. + scp_wait_dma(); + + // Check for failures. + error_t status = scp_check_dma(true); + + // + // Catch denied access to the hardware secret. We return a unique + // error code here to help differentiate this failure from other + // permissions errors that higher-level interfaces using this function + // may return. + // + if (status == E_PERM) + { + return E_SCP_INSUFFICIENT_RESOURCES; + } + // + // Other failures shouldn't be possible here so just return a generic + // error on the off chance we hit one somehow. + // + else if (status != E_SUCCESS) + { + return E_SCP_GENERIC; + } + } + + // Clear the register's contents. + scp_xor(reg_index, reg_index); + + // Wait for completion. + scp_wait_dma(); + + // + // Check for failure. The SCPDMA itself should never fail here (we'd get + // an interrupt instead if the actual xor instruction failed), but we + // check anyway to be safe. + // + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Register was zeroed successfully. + return E_SUCCESS; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @copydoc g_scp_state + */ +scp_state_t g_scp_state = +{ + // Not initialized until scp_Init() is called. + .b_initialized = false, + + // Not shutdown until scp_Shutdown() is called. + .b_shutdown = false, + + // Direct mode must be requested by the application. + .b_direct_mode_active = false, + + // RNG hardware must be configured explicitly. + .b_rand_configured = false, + + // Shortcut path must be configured explicitly. + .b_shortcut_configured = false, + .dma_index = UINT8_MAX, +}; diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/scp_rand.c b/spe-freertos-bsp/fsp/source/drivers/scp/scp_rand.c new file mode 100644 index 0000000..a771026 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/scp_rand.c @@ -0,0 +1,498 @@ +/** + * @file scp_rand.c + * @brief SCP features for random-number generation. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#if !NVRISCV_FEATURE_SCP +#error "Attempting to build scp_rand.c but the SCP driver is disabled!" +#endif // NVRISCV_FEATURE_SCP + + +/* Compiler headers */ +#include // for bool, true, false +#include // for size_t, NULL +#include // for uintptr_t, uint32_t + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for local_read, local_write +#include // for error_t, common error codes +#include // for DRF macros + +/* Module-specific FSP headers */ +#include // for SCP error codes +#include // for scp_register_index_t +#include // for SCP primitives +#include // for scp_Is_Debug +#include // for scp_pvt_* +#include // for SCP_RAND_SIZE, etc. + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__CPU__IO_H) +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__SCP__SCP_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_GENERAL_H) +HEADER_CHECK(FSP__SCP__SCP_PRIVATE_H) +HEADER_CHECK(FSP__SCP__SCP_RAND_H) + + +/** + * @brief Default tap selections for the two non-SCC ring-oscillators. + * + * Values taken from https://confluence.nvidia.com/x/MO1QGw. + * + * @macro-title Default ring-oscillator tap selections. + * + * @SCP_DEFAULT_RO_TAP_A Tap selection for ring-oscillator A. + * @SCP_DEFAULT_RO_TAP_B Tap selection for ring-oscillator B. + */ +#define SCP_DEFAULT_RO_TAP_A 0x7U +#define SCP_DEFAULT_RO_TAP_B 0x5U + + +// +// Prototypes for local helper functions. +// See definitions for details. +// +static error_t s_scp_Load_Rand_Sequence(void); + +static inline bool s_scp_Is_Rand_Enabled(void); + +static inline void s_scp_Configure_Oscillators(void); + +static inline void s_scp_Disable_Fake_Rand(void); +static inline void s_scp_Enable_Fake_Rand(void); + + +/** + * @copydoc scp_Configure_Rand + */ +error_t +scp_Configure_Rand +( + scp_rand_config_t config +) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Invalidate previous configuration settings, if any. + g_scp_state.b_rand_configured = false; + + // This function cannot be called from direct mode. + if (g_scp_state.b_direct_mode_active) + { + return E_INVALID_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // Ensure that the RNG hardware is not currently active. + if (s_scp_Is_Rand_Enabled()) + { + return E_BUSY; + } + + // Apply the desired configuration settings. + switch (config) + { + case SCP_RAND_CONFIG_DEFAULT: + // Tap the ring-oscillators at their recommended lengths. + s_scp_Configure_Oscillators(); + + // Ensure that deterministic mode is off. + s_scp_Disable_Fake_Rand(); + break; + + case SCP_RAND_CONFIG_FAKE: + // Build-time configuration is mandatory per security-bar rules. + if (!NVRISCV_DRIVER_SCP_FAKE_RNG_ENABLED) + { + return E_SCP_FEATURE_NOT_ENABLED; + } + + // Deterministic mode is not permitted in production. + if (!scp_Is_Debug()) + { + return E_SCP_INVALID_REQUEST; + } + + // + // Enable deterministic mode as requested (no further configuration + // is needed as of SCP RNG v2.0). + // + s_scp_Enable_Fake_Rand(); + break; + + default: + // Not a recognized configuration. + return E_INVALID_PARAM; + } + + // Perform a pipe reset to clear any residual RNG data. + scp_pvt_Reset_Pipeline(); + + // Update internal state. + g_scp_state.b_rand_configured = true; + + // Configuration settings were applied successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_Start_Rand + */ +error_t +scp_Start_Rand(void) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Ensure that the RNG hardware has been properly configured. + if (!g_scp_state.b_rand_configured) + { + return E_INVALID_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // Check whether the RNG hardware is already running. + if (s_scp_Is_Rand_Enabled()) + { + return E_SCP_NOTHING_TO_DO; + } + + // Start the RNG hardware. + scp_pvt_Enable_Rand(); + + // RNG hardware was started successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_Stop_Rand + */ +error_t +scp_Stop_Rand(void) +{ + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + return E_SCP_NOT_READY; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + return E_SCP_INVALID_LOCK_STATE; + } + + // Check whether the RNG hardware is already stopped. + if (!s_scp_Is_Rand_Enabled()) + { + return E_SCP_NOTHING_TO_DO; + } + + // + // Make sure the SCP unit is idle before disabling RNG. Otherwise, we may + // cause some pending RNG operation to hang. + // + scp_wait_dma(); + + // Stop the RNG hardware. + scp_pvt_Disable_Rand(); + + // RNG hardware was stopped successfully. + return E_SUCCESS; +} + +/** + * @copydoc scp_Get_Rand + */ +error_t +scp_Get_Rand +( + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa +) +{ + error_t status = E_SUCCESS; + + // Verify driver state before proceeding further. + if (!g_scp_state.b_initialized) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_NOT_READY; + } + + // This function cannot be called from direct mode. + if (g_scp_state.b_direct_mode_active) + { + // Early exit as clean-up code may not be able to execute safely. + return E_INVALID_STATE; + } + + // Verify access to lockable SCP registers/fields. + if (scp_pvt_Is_Access_Restricted()) + { + // Early exit as clean-up code may not be able to execute safely. + return E_SCP_INVALID_LOCK_STATE; + } + + // Make sure the RNG hardware is active and properly configured. + if (!s_scp_Is_Rand_Enabled() || !g_scp_state.b_rand_configured) + { + status = E_SCP_INVALID_OPERATION; + goto cleanup; + } + + // Verify destination buffer. + status = scp_pvt_Validate_Buffer(dest_pa, size, true); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Verify byte count. + if ((size == 0U) || (size % SCP_RAND_SIZE != 0U)) + { + status = E_SCP_INVALID_REQUEST; + goto cleanup; + } + + // Handle context buffer, if provided. + if (context_pa != (uintptr_t)NULL) + { + // Verify context buffer. + status = scp_pvt_Validate_Buffer(context_pa, SCP_RAND_SIZE, false); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Load initial context information into register-index one. + status = scp_pvt_Load_Buffer(context_pa, SCP_REGISTER_INDEX_1); + if (status != E_SUCCESS) + { + goto cleanup; + } + } + + // Load sequencer zero with the instructions for RNG and update Ku. + status = s_scp_Load_Rand_Sequence(); + if (status != E_SUCCESS) + { + goto cleanup; + } + + // Run the sequence we loaded above to generate the output data. + status = scp_pvt_Run_Sequence((uintptr_t)NULL, dest_pa, size); + if (status != E_SUCCESS) + { + goto cleanup; + } + +cleanup: + // + // Clear the sequencers to free them up for future use and prevent + // anything accidentally carrying forward into other interfaces. + // + scp_pvt_Reset_Sequencers(); + + // + // Clear the SCP GPRs to scrub any potentially sensitive data from them and + // unlock their associated ACLs. Report failures only if no higher-priority + // error is already pending. + // + error_t clear_status = scp_pvt_Clear_All(); + if (status == E_SUCCESS) + { + status = clear_status; + } + + // Done. + return status; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Loads the SCP instructions for RNG into sequencer zero. + * + * Loads sequencer zero with the set of SCP instructions required to generate a + * single block of true-random data. Also updates the key register (Ku). + * + * The loaded algorithm assumes that the initial context value, if any, has + * been loaded to register-index one and that register-indices two and three + * are available for use as intermediate storage. + * + * @pre The SCP hardware must have been properly initialized. + * + * @retval E_SUCCESS if instructions were loaded successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +static error_t +s_scp_Load_Rand_Sequence(void) +{ + // Prepare to write five instructions to sequencer zero. + scp_load_trace0(5U); + { + // + // Improve RNG quality by collecting entropy across two consecutive + // random numbers. + // + scp_rand(SCP_REGISTER_INDEX_2); + scp_rand(SCP_REGISTER_INDEX_3); + + // Mix the current context value into the first number. + scp_xor(SCP_REGISTER_INDEX_1, SCP_REGISTER_INDEX_2); + + // + // Whiten the second number with an encryption step using the above + // value as the key. The result will be carried forward as the new + // context value to be used in the next iteration. + // + scp_encrypt(SCP_REGISTER_INDEX_3, SCP_REGISTER_INDEX_1); + + // Store the random data we produced. + scp_fetch(SCP_REGISTER_INDEX_1); + } + + // + // Select the register from which the encrypt stage of each sequencer + // iteration will source its key. This only needs to be specified once, + // hence its exclusion from the above sequencer load. + // + scp_key(SCP_REGISTER_INDEX_2); + + // Wait for completion. + scp_wait_dma(); + + // Check for any unexpected failures. + if (scp_check_dma(true) != E_SUCCESS) + { + return E_SCP_GENERIC; + } + + // Sequence loaded successfully. + return E_SUCCESS; +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Checks whether the SCP unit's RNG hardware is enabled. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + * + * @retval true if the RNG hardware is enabled. + * @retval false if the RNG hardware is disabled. + */ +static inline bool +s_scp_Is_Rand_Enabled(void) +{ + return FLD_TEST_DRF(_PRGNLCL_SCP, _CTL1, _RNG_EN, _ENABLED, + local_read(NV_PRGNLCL_SCP_CTL1)); +} + +/** + * @brief Configures the ring-oscillators for the SCP unit's RNG hardware. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +s_scp_Configure_Oscillators(void) +{ + uint32_t reg = local_read(NV_PRGNLCL_SCP_RNDCTL11); + + reg = FLD_SET_DRF_NUM(_PRGNLCL_SCP, _RNDCTL11, _AUTOCAL_STATIC_TAP_A, + SCP_DEFAULT_RO_TAP_A, reg); + reg = FLD_SET_DRF_NUM(_PRGNLCL_SCP, _RNDCTL11, _AUTOCAL_STATIC_TAP_B, + SCP_DEFAULT_RO_TAP_B, reg); + + local_write(NV_PRGNLCL_SCP_RNDCTL11, reg); +} + +/** + * @brief Disables deterministic mode for the SCP unit's RNG hardware. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +s_scp_Disable_Fake_Rand(void) +{ + local_write(NV_PRGNLCL_SCP_CTL1, + FLD_SET_DRF(_PRGNLCL_SCP, _CTL1, _RNG_FAKE_MODE, _DISABLED, + local_read(NV_PRGNLCL_SCP_CTL1))); +} + +/** + * @brief Enables deterministic mode for the SCP unit's RNG hardware. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +s_scp_Enable_Fake_Rand(void) +{ + local_write(NV_PRGNLCL_SCP_CTL1, + FLD_SET_DRF(_PRGNLCL_SCP, _CTL1, _RNG_FAKE_MODE, _ENABLED, + local_read(NV_PRGNLCL_SCP_CTL1))); +} diff --git a/spe-freertos-bsp/fsp/source/drivers/scp/scp_sanity.c b/spe-freertos-bsp/fsp/source/drivers/scp/scp_sanity.c new file mode 100644 index 0000000..32656a3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/scp/scp_sanity.c @@ -0,0 +1,112 @@ +/** + * @file scp_sanity.c + * @brief Global sanity checks for the SCP driver. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#if !NVRISCV_FEATURE_SCP +#error "Attempting to build scp_sanity.c but the SCP driver is disabled!" +#endif // NVRISCV_FEATURE_SCP + + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for DRF macros (for scp_direct.h) + +/* Module-specific FSP headers */ +#include // for scp_register_index_t, etc. +#include // for SCP_BLOCK_SIZE, SCP_KEY_SIZE +#include // for SCP_REGISTER_SIZE +#include // for SCP_SECRET_INDEX_CLEAR +#include // for SCP_RAND_SIZE + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_CRYPT_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_PRIVATE_H) +HEADER_CHECK(FSP__SCP__SCP_RAND_H) + + +// +// Keeping these constants distinct helps insulate external clients against +// future hardware changes, but also complicates the internal driver logic +// somewhat. To get around this, we simply assume them to be equivalent for +// now and defer any complicated logic updates until that assumption no longer +// holds. +// +_Static_assert((SCP_BLOCK_SIZE == SCP_REGISTER_SIZE) && + (SCP_BUFFER_ALIGNMENT == SCP_REGISTER_SIZE) && + (SCP_KEY_SIZE == SCP_REGISTER_SIZE) && + (SCP_RAND_SIZE == SCP_REGISTER_SIZE) , + "One or more of the core size constants used by the SCP driver no longer " + "match the SCP register size. Substantial updates may need to be made to " + "the internal driver logic to accommodate." +); + +// +// The enumeration constants for the SCP GPRs have both short- and long-form +// names as a compromise between the stylistic consistency perferred by some +// clients and the brevity preferred by others. This check loosely ensures that +// the two formats remain in sync with each other. +// +_Static_assert(SCP_RCOUNT == SCP_REGISTER_INDEX_COUNT, + "Mismatch detected between the short and long forms of the " + "scp_register_index_t enumeration constants." +); + +// +// The specific value of this constant is mandated by the microcode security +// bar and is also assumed by the SCP driver in order to simplify certain input +// -validation checks. It should therefore only be changed with care and prior +// approval. +// +_Static_assert(SCP_SECRET_INDEX_CLEAR == 0U, + "The secret index selected by the SCP driver for clearing registers in " + "secure mode does not match the value mandated by the microcode security " + "bar. Please ensure that you have received the proper prior approvals " + "before making this change, and remember to update all affected input-" + "validation routines and API documentation accordingly." +); diff --git a/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/module-sha-nvriscv-config.mk b/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/module-sha-nvriscv-config.mk new file mode 100644 index 0000000..37b91e7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/module-sha-nvriscv-config.mk @@ -0,0 +1,65 @@ +# +# @file module-sha-nvriscv-config.mk +# +# @brief SHA-NVRISCV config makefile for libFSP. +# +# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of NVIDIA CORPORATION nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-sha-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SHA_NVRISCV_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_SHA_NVRISCV_DEPENDS := FSP_COMMON +MODULE_SHA_NVRISCV_DEPENDS := SHA_NVRISCV +$(foreach _,$(MODULE_SHA_NVRISCV_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_SHA_NVRISCV_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/sha-nvriscv +MODULE_SHA_NVRISCV_SOURCE_DIR = $(MODULE_SHA_NVRISCV_DRIVERS_DIR) + +# +# Common includes '-I ' +#MODULE_SHA_NVRISCV_INCLUDES = $(FSP_COMMON_REPO)/include/sha diff --git a/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/module-sha-nvriscv.mk b/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/module-sha-nvriscv.mk new file mode 100644 index 0000000..1be22c9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/module-sha-nvriscv.mk @@ -0,0 +1,87 @@ +# +# @file module-sha-nvriscv.mk +# +# @brief SHA-NVRISCV makefile for libFSP. +# +# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of NVIDIA CORPORATION nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-sha-nvriscv.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_SHA_NVRISCV_NAME := SHA_NVRISCV + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SHA_NVRISCV_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_SHA_NVRISCV_DEPENDS := SHA_NVRISCV +$(foreach _,$(CONFIG_SHA_NVRISCV_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_SHA_NVRISCV_C_SRC = + +ifeq ($(NVRISCV_FEATURE_SHA),y) +MODULE_SHA_NVRISCV_C_SRC += $(MODULE_SHA_NVRISCV_DRIVERS_DIR)/sha.c +endif + +# +# Assembly source +MODULE_SHA_NVRISCV_ASM_SRC = + +# +# Special C Flags +MODULE_SHA_NVRISCV_C_FLAGS = + +# +# Special ASM Flags +MODULE_SHA_NVRISCV_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/sha.c b/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/sha.c new file mode 100644 index 0000000..53a991d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/sha-nvriscv/sha.c @@ -0,0 +1,1447 @@ +/** + * @file sha.c + * + * @brief SHA library for SHA-2 and HMAC SHA-2. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include +#include + + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: TODO, DR: TODO") + +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__MISC__MACROS_H) +HEADER_CHECK(FSP__CPU__TYPE_CONVERSION_H) +HEADER_CHECK(FSP__CPU__IO_H) +HEADER_CHECK(FSP__CPU__IO_DIO_H) +HEADER_CHECK(FSP__LIBC__LIBC_H) +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__MISC__BITOPS_H) +HEADER_CHECK(FSP__SHA_NVRISCV__SHA_H) +HEADER_CHECK(FSP__SHA_NVRISCV__SHA_ERRORS_H) + +// sync with PTIMER, currently 100ms is safe for the longest message +#define SHA_ENGINE_IDLE_TIMEOUT_NS (100000000ULL) +// sync with PTIMER, base on idle timeout, HW recommend SHA_ENGINE_IDLE_TIMEOUT_NS + 20ns +#define SHA_ENGINE_SW_RESET_TIMEOUT_NS ((SHA_ENGINE_IDLE_TIMEOUT_NS) + 20ULL) +#define SHA_ENGINE_HALT_TIMEOUT_NS (SHA_ENGINE_IDLE_TIMEOUT_NS) +#define SHA_MSG_BYTES_MAX (BIT_TO_BYTE_LENGTH(UINT32_MAX)) +#define HMAC_SHA_IPAD_MASK ((uint8_t)0x36) +#define HMAC_SHA_OPAD_MASK ((uint8_t)0x5C) +#define HMAC_SHA_MAX_BLOCK_SIZE_BYTE SHA_512_BLOCK_SIZE_BYTE +#define HMAC_SHA_MAX_HASH_SIZE_BYTE SHA_512_HASH_SIZE_BYTE + +//TODO: Remove this when moving to nvriscv and use byteswap function from utils +#define NV_BYTESWAP32(a) ( \ + (((a) & 0xff000000U) >> 24U) | \ + (((a) & 0x00ff0000U) >> 8U) | \ + (((a) & 0x0000ff00U) << 8U) | \ + (((a) & 0x000000ffU) << 24U) ) + +/* Private Function Declaration */ +static void sha_set_init_vector(SHA_ALGO_ID algo_id); +static error_t sha_wait_engine_idle(uint64_t time_out_ns); +static error_t sha_engine_soft_reset(uint64_t time_out_ns); +static error_t sha_wait_for_busy(uint64_t time_out_ns); +static error_t sha_get_config_encode_mode(SHA_ALGO_ID algo_id, uint8_t* p_mode); +static bool sha_hmac_is_sha_algo_supported(SHA_ALGO_ID algo_id); +static bool sha_task_config_is_valid +( + const SHA_CONTEXT *p_sha_context, + const SHA_TASK_CONFIG *p_task_cfg +); +static inline uint64_t pointer_to_address(uint8_t* buf); +static inline bool timeout_is_hit(uint64_t start_time, uint64_t timeout); +static inline error_t sha_get_result_word(uint32_t register_index, uint8_t* result, bool b_scrub_reg); + + +/*! + * @brief Execute SHA engine halt + * + * @return E_SUCCESS if halt engine successfully + * E_SHA_ENG_ERROR if failed. + * + */ +error_t +sha_engine_halt +( + void +) +{ + uint32_t reg = 0; + error_t status = E_SUCCESS; + + reg = local_read(NV_PRGNLCL_FALCON_SHA_OPERATION); + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_OPERATION, _HALT, _ENABLE, reg); + local_write(NV_PRGNLCL_FALCON_SHA_OPERATION, reg); + + reg = local_read(NV_PRGNLCL_FALCON_SHA_STATUS); + + if (!FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA, _STATUS_STATE, _HALTED, reg)) + { + status = E_SHA_ENG_ERROR; + } + + return status; +} + +/*! + * @brief Acquire SHA mutex + * + * @param[in] mutex_token The mutex_token allocated by client to acquire SHA mutex. + * + * @return E_SUCCESS if acquire or release mutex successfuly. + * E_SHA_MUTEX_ACQUIRE_FAILED if failed. + * + */ +error_t +sha_acquire_mutex +( + uint8_t mutex_token +) +{ + uint32_t reg = 0; + bool locked = false; + error_t status = E_SUCCESS; + + if (mutex_token == 0U) + { + status = E_INVALID_PARAM; + } + + if (status == E_SUCCESS) + { + reg = local_read(NV_PRGNLCL_FALCON_SHA_MUTEX_STATUS); + locked = FLD_TEST_DRF_NUM(_PRGNLCL, _FALCON_SHA_MUTEX_STATUS, _LOCKED, mutex_token, reg); + if (locked) + { + status = E_SHA_MUTEX_ACQUIRE_FAILED; // mutex blocked + } + } + + if (status == E_SUCCESS) + { + reg = DRF_NUM(_PRGNLCL, _FALCON_SHA_MUTEX, _VAL, mutex_token); + local_write(NV_PRGNLCL_FALCON_SHA_MUTEX , reg); + reg = local_read(NV_PRGNLCL_FALCON_SHA_MUTEX_STATUS); + locked = FLD_TEST_DRF_NUM(_PRGNLCL, _FALCON_SHA_MUTEX_STATUS, _LOCKED, mutex_token, reg); + + status = locked ? E_SUCCESS : E_SHA_MUTEX_ACQUIRE_FAILED; + } + + return status; +} + +/*! + * @brief Release SHA mutex + * + * @param[in] mutex_token The mutex_token allocated by client to release SHA mutex. + * + * @return E_SUCCESS if acquire or release mutex successfuly. + * E_SHA_MUTEX_ACQUIRE_FAILED if failed. + * + */ +error_t +sha_release_mutex +( + uint8_t mutex_token +) +{ + uint32_t reg = 0; + bool unlocked = false; + error_t status = E_SUCCESS; + + if (mutex_token == 0U) + { + status = E_INVALID_PARAM; + } + if (status == E_SUCCESS) + { + reg = DRF_NUM(_PRGNLCL, _FALCON_SHA_MUTEX_RELEASE, _VAL, mutex_token); + local_write(NV_PRGNLCL_FALCON_SHA_MUTEX_RELEASE, reg); + reg = local_read(NV_PRGNLCL_FALCON_SHA_MUTEX_STATUS); + unlocked = FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA_MUTEX_STATUS, _LOCKED, _INIT, reg); + + status = unlocked ? E_SUCCESS : E_SHA_MUTEX_RELEASE_FAILED; + } + + return status; +} + +/*! + * @brief To get SHA hash size in byte per SHA algorithm id + * + * @param[in] algo_id SHA algorithm id + * @param[out] *p_size The pointer to save return hash size + * + * @return E_SUCCESS if get hash size successfully. + * E_INVALID_PARAM if failed. + * + */ +error_t +sha_get_hash_size_byte +( + SHA_ALGO_ID algo_id, + uint32_t *p_size +) +{ + error_t status = E_SUCCESS; + if (p_size == NULL) + { + status = E_INVALID_PARAM; + } + if (status == E_SUCCESS) + { + switch (algo_id) + { + case SHA_ALGO_ID_SHA_1: + *p_size = SHA_1_HASH_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_224: + *p_size = SHA_224_HASH_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_256: + *p_size = SHA_256_HASH_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_384: + *p_size = SHA_384_HASH_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_512: + *p_size = SHA_512_HASH_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_512_224: + *p_size = SHA_512_224_HASH_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_512_256: + *p_size = SHA_512_256_HASH_SIZE_BYTE; + break; + + default: + status = E_INVALID_PARAM; + break; + } + } + return status; +} + +/*! + * @brief To get SHA block size in byte per SHA algorithm id + * + * @param[in] algo_id SHA algorithm id + * @param[out] *p_size The pointer to save return block size + * + * @return E_SUCCESS if get hash size successfully. + * E_INVALID_PARAM if failed. + * + */ +error_t +sha_get_block_size_byte +( + SHA_ALGO_ID algo_id, + uint32_t *p_size +) +{ + error_t status = E_SUCCESS; + if (p_size == NULL) + { + status = E_INVALID_PARAM; + } + if (status == E_SUCCESS) + { + switch (algo_id) + { + case SHA_ALGO_ID_SHA_1: + *p_size = SHA_1_BLOCK_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_224: + *p_size = SHA_224_BLOCK_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_256: + *p_size = SHA_256_BLOCK_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_384: + *p_size = SHA_384_BLOCK_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_512: + *p_size = SHA_512_BLOCK_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_512_224: + *p_size = SHA_512_224_BLOCK_SIZE_BYTE; + break; + + case SHA_ALGO_ID_SHA_512_256: + *p_size = SHA_512_256_BLOCK_SIZE_BYTE; + break; + + default: + status = E_INVALID_PARAM; + break; + } + } + return status; +} + +/*! + * @brief Initilaize SHA operation. + * + * @param[in] p_sha_context The designated SHA context + * + * @return E_SUCCESS if initialization is successfuly; otherwise NVRV_ERR_SHA_XXX return. + * + * Please refer to 17. Programming Guidelines in SHA IAS to get more detail description. + */ +error_t +sha_operation_init +( + const SHA_CONTEXT *p_sha_context +) +{ + uint32_t reg; + uint32_t msg_size, i; + uint8_t enc_mode = 0; + error_t status = E_SUCCESS; + + if (p_sha_context == NULL) + { + status = E_INVALID_PARAM; + } + if (status == E_SUCCESS) + { + msg_size = p_sha_context->msg_size; + + if (msg_size > SHA_MSG_BYTES_MAX) + { + status = E_INVALID_PARAM; + } + } + if (status == E_SUCCESS) + { + /* Issue HALT when SHA state is IDLE or HALTED will be dropped silently. + * So we only halt SHA engine when it's at busy state. + */ + reg = local_read(NV_PRGNLCL_FALCON_SHA_STATUS); + + if (FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA, _STATUS_STATE, _BUSY, reg)) + { + status = sha_wait_for_busy(SHA_ENGINE_HALT_TIMEOUT_NS); + } + } + + if (status == E_SUCCESS) + { + status = sha_engine_soft_reset(SHA_ENGINE_SW_RESET_TIMEOUT_NS); + } + + if (status == E_SUCCESS) + { + status = sha_get_config_encode_mode(p_sha_context->algo_id, &enc_mode); + } + + if (status == E_SUCCESS) + { + reg = DRF_NUM(_PRGNLCL, _FALCON_SHA_CONFIG, _ENC_MODE, enc_mode) | + DRF_DEF(_PRGNLCL, _FALCON_SHA_CONFIG, _ENC_ALG, _SHA) | + DRF_DEF(_PRGNLCL, _FALCON_SHA_CONFIG, _DST, _HASH_REG); + local_write(NV_PRGNLCL_FALCON_SHA_CONFIG, reg); + + /* + * !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + * SW reset should clear NV_CSEC_FALCON_SHA_MSG_LENGTH(i) and NV_CSEC_FALCON_SHA_MSG_LEFT(i) + * But we observed NV_CSEC_FALCON_SHA_MSG_LEFT(i) still has garbage values. + * So we still clear these all registers to make sure operation able to work correctly. + * !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + * + * TODO: Reset SHA_HASH_RESULT registers after soft reset as these are not cleared by it. + * Add bool arument to check for chaining tasks before clearing results. + * + */ + for (i = 0; i < NV_PRGNLCL_FALCON_SHA_MSG_LENGTH__SIZE_1; i++) + { + local_write(NV_PRGNLCL_FALCON_SHA_MSG_LENGTH(i), 0); + } + + for (i = 0; i < NV_PRGNLCL_FALCON_SHA_MSG_LEFT__SIZE_1; i++) + { + local_write(NV_PRGNLCL_FALCON_SHA_MSG_LEFT(i), 0); + } + + /* + * In NIST spec, the MIN unit for SHA message is bit, but in real case, we just use byte unit. + * Although HW provide 4 registers for message length and left message length separately, + * but currently SW just uses one 32-bit register for SHA length(0x1FFFFFFF bytes) + * In real case usage, openSSL supports byte unit as well. + * And it should be enough for current requirement. + */ + + // Set bit length + local_write(NV_PRGNLCL_FALCON_SHA_MSG_LENGTH(0U), BYTE_TO_BIT_LENGTH(msg_size)); + } + return status; +} + +/*! + * @brief Insert SHA task configuration. + * + * @param[in] p_sha_context The designated SHA context + * @param[in] p_task_cfg The designated SHA task config + * + * @return E_SUCCESS if task config is inserted successfully; otherwise return NVRV_ERR_SHA_XXX. + * + * Please refer to 17. Programming Guidelines in SHA IAS to get more detail + * + */ +error_t +sha_insert_task +( + SHA_CONTEXT *p_sha_context, + const SHA_TASK_CONFIG *p_task_cfg +) +{ + uint32_t reg, tmp; + SHA_ALGO_ID algo_id; + error_t status = E_SUCCESS; + uint64_t msg_addr; + uint32_t left_msg_length = 0; + + if ((p_sha_context == NULL) || + (p_task_cfg == NULL)) + { + status = E_INVALID_PARAM; + } + if (status == E_SUCCESS) + { + if (sha_task_config_is_valid(p_sha_context, p_task_cfg)) + { + algo_id = p_sha_context->algo_id; + left_msg_length = p_sha_context->msg_size; + } + else + { + status = E_INVALID_PARAM; + } + } + if (status == E_SUCCESS) + { + status = sha_wait_engine_idle(SHA_ENGINE_IDLE_TIMEOUT_NS); + } + + if (status == E_SUCCESS) + { + // For each task, we need to set length for left message, bit unit. + local_write(NV_PRGNLCL_FALCON_SHA_MSG_LEFT(0U), BYTE_TO_BIT_LENGTH(left_msg_length)); + + //TODO: Add validation for all things from p_task_cfg! + // set source address + msg_addr = p_task_cfg->addr; + local_write(NV_PRGNLCL_FALCON_SHA_IN_ADDR , LOW32(msg_addr)); + + reg = DRF_NUM(_PRGNLCL, _FALCON_SHA_IN_ADDR_HI, _MSB, HI32(msg_addr)) | + DRF_NUM(_PRGNLCL, _FALCON_SHA_IN_ADDR_HI, _SZ, p_task_cfg->size); + local_write(NV_PRGNLCL_FALCON_SHA_IN_ADDR_HI, reg); + + + // Set source config + // TODO: Rename variables such as tmp to appropriate ones. + tmp = DRF_SIZE(NV_PRGNLCL_FALCON_SHA_IN_ADDR_HI_MSB); + tmp = (HI32(msg_addr)) >> tmp; + reg = DRF_NUM(_PRGNLCL, _FALCON_SHA_SRC_CONFIG, _FB_BASE, tmp) | + DRF_NUM(_PRGNLCL, _FALCON_SHA_SRC_CONFIG, _CTXDMA, p_task_cfg->dma_idx) | + DRF_NUM(_PRGNLCL, _FALCON_SHA_SRC_CONFIG, _SRC, p_task_cfg->src_type); + local_write(NV_PRGNLCL_FALCON_SHA_SRC_CONFIG , reg); + + // Set task config + reg = 0; + if (p_task_cfg->b_default_hash_iv) + { + // sha512-224 sha512-256, SW needs to set initial vector. + if ((algo_id == SHA_ALGO_ID_SHA_512_224) || + (algo_id == SHA_ALGO_ID_SHA_512_256)) + { + sha_set_init_vector(algo_id); + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_TASK_CONFIG, _HW_INIT_HASH, _DISABLE, reg); + } + else + { + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_TASK_CONFIG, _HW_INIT_HASH, _ENABLE, reg); + } + } + else + { + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_TASK_CONFIG, _HW_INIT_HASH, _DISABLE, reg); + } + local_write(NV_PRGNLCL_FALCON_SHA_TASK_CONFIG, reg); + + // Trigger OP start + reg = 0; + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_OPERATION, _LAST_BUF, _TRUE, reg); + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_OPERATION, _OP, _START, reg); + local_write(NV_PRGNLCL_FALCON_SHA_OPERATION, reg); + } + + if (status == E_SUCCESS) + { + status = sha_wait_engine_idle(SHA_ENGINE_IDLE_TIMEOUT_NS); + } + + if (status == E_SUCCESS) + { + // Check if any error interrupt asserted + reg = local_read(NV_PRGNLCL_FALCON_SHA_ERR_STATUS); + + if (reg == 0U) + { + // Use msg_size to track left message length. + p_sha_context->msg_size = left_msg_length - p_task_cfg->size; + } + else + { + status = E_SHA_ENG_ERROR; + } + } + return status; + +} + +/*! + * @brief Read SHA hash result. + * + * @param[in] p_sha_context The designated SHA context + * @param[out] p_buf The output buffer to save computed SHA hash value + * @param[in] buf_size The output buffer size. + * @param[in] b_scrub_reg true to clear hash registers after hash is read out; false doesn't clear hash registers. + * + * @return E_SUCCESS if hash read successfully; otherwise return NVRV_ERR_SHA_XXX. + * + */ +error_t +sha_read_hash_result +( + const SHA_CONTEXT *p_sha_context, + bool b_scrub_reg +) +{ + error_t status = E_SUCCESS; + uint32_t num_words = 0; + bool b_double_word = false; + + if (p_sha_context == NULL) + { + status = E_INVALID_PARAM; + } + else if (p_sha_context->p_buf_out == NULL) + { + status = E_INVALID_PARAM; + } + else + { + uint32_t hash_size_bytes, block_size_bytes; + + // Format inputs + status = sha_get_hash_size_byte(p_sha_context->algo_id, &hash_size_bytes); + num_words = hash_size_bytes >> 2; + if (status == E_SUCCESS) + { + status = sha_get_block_size_byte(p_sha_context->algo_id, &block_size_bytes); + } + if (status == E_SUCCESS) + { + // SHA384 and up have 128B blocks. These algorithms all report results as double-words. + b_double_word = (block_size_bytes == SHA_384_BLOCK_SIZE_BYTE); + status = (p_sha_context->buf_size == hash_size_bytes) ? E_SUCCESS : E_INVALID_PARAM; + } + } + + if (status == E_SUCCESS) + { + uint8_t* p_dest = p_sha_context->p_buf_out; + uint32_t index = 0; + + for (uint32_t word = 0; word < num_words; word++) + { + if (b_double_word) + { + bool most_sig_word = (word & 1U) == 1U; + if (most_sig_word) + { + INLINE_RFD(CERTC, FP, INT30_C, "Under Review: Bug TID-1900, DR: TODO") + index = word - 1U; + } + else + { + INLINE_RFD(CERTC, FP, INT30_C, "Under Review: Bug TID-1900, DR: TODO") + index = word + 1U; + } + } + else + { + index = word; + } + + status = sha_get_result_word(index, p_dest, b_scrub_reg); + if (status == E_SUCCESS) + { + p_dest = &p_dest[sizeof(uint32_t)]; + } + else + { + break; + } + } + } + return status; +} + +/*! + * @brief Run single task through SHA HW. + * + * @param[in] p_task_cfg The designated SHA task config + * @param[in] p_sha_ctx The struct containing SHA task parameters and output buffer pointer. + * + * @return E_SUCCESS if hash read successfully; otherwise return NVRV_ERR_SHA_XXX. + * + */ +error_t sha_run_single_task_common +( + const SHA_TASK_CONFIG *p_task_cfg, + SHA_CONTEXT *p_sha_ctx +) +{ + error_t status = E_SUCCESS; + bool has_mutex = false; + + if ((p_task_cfg == NULL) || (p_sha_ctx == NULL)) + { + status = E_INVALID_PARAM; + } + else if ((p_sha_ctx->msg_size == 0UL) || + (p_sha_ctx->msg_size > SHA_MSG_BYTES_MAX) || + (p_sha_ctx->p_buf_out == NULL) || + (p_sha_ctx->mutex_token == 0UL) || + + // Only DMEM operations are supported in current SW driver. We can extend to IMEM/FB if necessary. + (p_task_cfg->src_type != NV_PRGNLCL_FALCON_SHA_SRC_CONFIG_SRC_DMEM) || + ((p_task_cfg->size + p_task_cfg->addr) >= NV_RISCV_AMAP_DMEM_END) || + ((p_task_cfg->size + p_task_cfg->addr) >= NV_RISCV_AMAP_DMEM_END) || + (p_task_cfg->size == 0UL)) + { + status = E_INVALID_PARAM; + } + else + { + status = sha_acquire_mutex(p_sha_ctx->mutex_token); + } + + if (status == E_SUCCESS) + { + has_mutex = true; + } + + if (status == E_SUCCESS) + { + status = sha_operation_init(p_sha_ctx); + } + + if (status == E_SUCCESS) + { + status = sha_insert_task(p_sha_ctx, p_task_cfg); + } + + if (status == E_SUCCESS) + { + status = sha_read_hash_result(p_sha_ctx, true); + } + + if (has_mutex) + { + status = sha_release_mutex(p_sha_ctx->mutex_token); + } + return status; +} + + +/*! + * @brief Initilaize SHA HW to start HMAC SHA-256 operation. + * @param[in] p_hmac_context The designated HMAC SHA-256 context + * + * @return E_SUCCESS if initialization is successfuly; otherwise NVRV_ERR_SHA_XXX return. + * + */ +error_t +sha_hmac_operation_init +( + HMAC_CONTEXT *p_hmac_context +) +{ + error_t status = E_SUCCESS; + uint32_t loop_count = 0; + uint32_t algo_block_size_byte = 0; + SHA_CONTEXT *p_sha_context = NULL; + SHA_TASK_CONFIG task_cfg; + uint8_t ipad[HMAC_SHA_MAX_BLOCK_SIZE_BYTE] = {0}; + + if (p_hmac_context == NULL) + { + status = E_INVALID_PARAM; + } + if (status == E_SUCCESS) + { + p_sha_context = &(p_hmac_context->sha_context); + } + + if (status == E_SUCCESS) + { + status = sha_get_block_size_byte(p_sha_context->algo_id, &algo_block_size_byte); + } + + if (status == E_SUCCESS) + { + // Ensure context is initialized and valid. + if ((p_sha_context->msg_size == 0U) || + !sha_hmac_is_sha_algo_supported(p_sha_context->algo_id)|| + (p_hmac_context->key_size > algo_block_size_byte) || + (p_hmac_context->key_size == 0U)) + { + status = E_INVALID_PARAM; + } + else + { + /* + * Initialize first SHA session - first hash will be H(inner key || message). + * msg_size will be decremented by algo_hash_size_byte after call to sha_insert_task + */ + p_sha_context->msg_size = p_sha_context->msg_size + algo_block_size_byte; + } + } + + if (status == E_SUCCESS) + { + status = sha_operation_init(p_sha_context); + } + + if (status == E_SUCCESS) + { + // Generate inner key. + (void) memset(ipad, 0, algo_block_size_byte); + (void) memcpy(ipad, &(p_hmac_context->key_buffer), p_hmac_context->key_size); + for (loop_count = 0; loop_count < algo_block_size_byte; loop_count++) + { + ipad[loop_count] = ipad[loop_count] ^ HMAC_SHA_IPAD_MASK; + } + + task_cfg.src_type = NV_PRGNLCL_FALCON_SHA_SRC_CONFIG_SRC_DMEM; + task_cfg.b_default_hash_iv = true; + task_cfg.dma_idx = 0; // dma_idx is unused here since src_type is DMEM + task_cfg.size = algo_block_size_byte; + + task_cfg.addr = pointer_to_address(ipad); + } + + // Add inner key to hash. + if (status == E_SUCCESS) + { + status = sha_insert_task(p_sha_context, &task_cfg); + } + + return status; +} + +/*! + * @brief Insert HMAC-SHA-256 task configuration. + * Task is basically plain textfor which Hash needs to be computed + * + * @param[in] p_hmac_context The designated HMAC SHA-256 context + * @param[in] p_task_cfg The designated SHA task config + * p_task_cfg->b_default_hash_iv should always be set to NV_FALSE for HMAC computation + * if not done then API itself forces it to NV_FALSE. + * + * @return E_SUCCESS if task config is inserted successfully; otherwise return NVRV_ERR_SHA_XXX. + */ +error_t +sha_hmac_insert_task +( + HMAC_CONTEXT *p_hmac_context, + SHA_TASK_CONFIG *p_task_cfg +) +{ + error_t status = E_SUCCESS; + + if ((p_hmac_context == NULL) || + (p_task_cfg == NULL) || + (!sha_hmac_is_sha_algo_supported(p_hmac_context->sha_context.algo_id))) + { + status = E_INVALID_PARAM; + } + else + { + /* + * b_default_hash_iv is expected to be false since already SHA computation is begin in + * sha_hmac_operation_init where SHA(K xor ipad) is computed + * If this is set to true complete hash value gets modified hence forcing it to false + */ + p_task_cfg->b_default_hash_iv = false; + } + + if (status == E_SUCCESS) + { + status = sha_insert_task(&(p_hmac_context->sha_context), p_task_cfg); + } + + return status; +} + +/*! + * @brief Read HMAC-SHA result + * This API concludes the HMAC-SHA operation and reads out Hash result in output buffer. + * @param[in] p_hmac_context The designated HMAC SHA context + * @return E_SUCCESS if task config is inserted successfully; otherwise return NVRV_ERR_SHA_XXX. + */ +error_t +sha_hmac_read_hash_result +( + const HMAC_CONTEXT *p_hmac_context +) +{ + error_t status = E_SUCCESS; + uint32_t msg_size = 0; + uint32_t loop_count = 0; + uint32_t algo_block_size_byte = 0; + uint32_t algo_hash_size_byte = 0; + const SHA_CONTEXT *p_sha_context; + SHA_CONTEXT temp_sha_context; + SHA_TASK_CONFIG task_cfg; + uint8_t opad[HMAC_SHA_MAX_BLOCK_SIZE_BYTE] = {0}; + uint8_t inner_digest[HMAC_SHA_MAX_HASH_SIZE_BYTE] = {0}; + + if (p_hmac_context == NULL) + { + status = E_INVALID_PARAM; + } + else + { + p_sha_context = &(p_hmac_context->sha_context); + } + + if (status == E_SUCCESS) + { + status = sha_get_block_size_byte(p_sha_context->algo_id , &algo_block_size_byte); + } + + if (status == E_SUCCESS) + { + // Ensure context is initialized and valid. + if (!sha_hmac_is_sha_algo_supported(p_sha_context->algo_id) || + (p_hmac_context->key_size > algo_block_size_byte) || + (p_hmac_context->key_size == 0U)) + { + status = E_INVALID_PARAM; + } + else + { + temp_sha_context = p_hmac_context->sha_context; + temp_sha_context.p_buf_out = inner_digest; + } + } + + if (status == E_SUCCESS) + { + status = sha_read_hash_result(&temp_sha_context, true); + } + + if (status == E_SUCCESS) + { + // Generate outer key. + (void) memset(opad, 0, algo_block_size_byte); + (void) memcpy(opad, &(p_hmac_context->key_buffer), p_hmac_context->key_size); + for (loop_count = 0; loop_count < algo_block_size_byte; loop_count++) + { + opad[loop_count] = opad[loop_count] ^ HMAC_SHA_OPAD_MASK; + } + } + + // Initialize new SHA session for H(outer key || H(inner key || message)). + if (status == E_SUCCESS) + { + status = sha_get_hash_size_byte(p_sha_context->algo_id, &algo_hash_size_byte); + } + + if (status == E_SUCCESS) + { + msg_size = algo_block_size_byte + algo_hash_size_byte; + + temp_sha_context.msg_size = msg_size; + } + + if (status == E_SUCCESS) + { + status = sha_operation_init(&temp_sha_context); + } + + if (status == E_SUCCESS) + { + task_cfg.src_type = NV_PRGNLCL_FALCON_SHA_SRC_CONFIG_SRC_DMEM; + task_cfg.b_default_hash_iv = true; + task_cfg.dma_idx = 0; // dma_idx is unused here since src_type is DMEM + task_cfg.size = algo_block_size_byte; + + task_cfg.addr = pointer_to_address(opad); + } + + // Add outer key to hash, ensuring we use default IV. + if (status == E_SUCCESS) + { + status = sha_insert_task(&temp_sha_context, &task_cfg); + } + + if (status == E_SUCCESS) + { + task_cfg.src_type = NV_PRGNLCL_FALCON_SHA_SRC_CONFIG_SRC_DMEM; + task_cfg.b_default_hash_iv = false; + task_cfg.dma_idx = 0; // dma_idx is unused here since src_type is DMEM + task_cfg.size = algo_hash_size_byte; + + task_cfg.addr = pointer_to_address(inner_digest); + } + + // Add H(inner key || message) to digest, resulting in HMAC. + if (status == E_SUCCESS) + { + status = sha_insert_task(&temp_sha_context, &task_cfg); + } + + // Output HMAC. + if (status == E_SUCCESS) + { + status = sha_read_hash_result(p_sha_context, true); + } + + return status; +} + +/*! + * @brief Run single task through HMAC-SHA. + * When application has the complete plain text data then this API can be used + * This will compute Hash for plain text as well as return the result in output buffer of task_cfg. + * + * @param[in] p_hmac_context The struct containing HMAC SHA task parameters and output buffer pointer. + * @param[in] p_task_cfg The designated HMAC SHA task config + * p_task_cfg->b_default_hash_iv should always be set to NV_FALSE for HMAC computation + * if not done then API itself forces it to NV_FALSE. + * + * @return E_SUCCESS if hash read successfully; otherwise return NVRV_ERR_SHA_XXX. + */ +error_t sha_hmac_run_single_task_common +( + HMAC_CONTEXT *p_hmac_context, + SHA_TASK_CONFIG *p_task_cfg +) +{ + error_t status = E_SUCCESS; + bool has_mutex = false; + + if ((p_task_cfg == NULL) || (p_hmac_context == NULL)) + { + status = E_INVALID_PARAM; + } + else if ((p_hmac_context->sha_context.msg_size == 0U) || + (p_hmac_context->sha_context.msg_size > SHA_MSG_BYTES_MAX) || + (p_hmac_context->sha_context.p_buf_out == NULL) || + (p_hmac_context->sha_context.mutex_token == 0U) || + + // Only DMEM operations are supported in current SW driver. We can extend to IMEM/FB if necessary. + (p_task_cfg->src_type != NV_PRGNLCL_FALCON_SHA_SRC_CONFIG_SRC_DMEM) || + ((p_task_cfg->size + p_task_cfg->addr) >= NV_RISCV_AMAP_DMEM_END) || + ((p_task_cfg->size + p_task_cfg->addr) >= NV_RISCV_AMAP_DMEM_END) || + (p_task_cfg->size == 0U)) + { + status = E_INVALID_PARAM; + } + else + { + status = sha_acquire_mutex(p_hmac_context->sha_context.mutex_token); + } + + if (status == E_SUCCESS) + { + has_mutex = true; + } + + if (status == E_SUCCESS) + { + status = sha_hmac_operation_init(p_hmac_context); + } + + if (status == E_SUCCESS) + { + status = sha_hmac_insert_task(p_hmac_context, p_task_cfg); + } + + if (status == E_SUCCESS) + { + status = sha_hmac_read_hash_result(p_hmac_context); + } + + if (has_mutex) + { + status = sha_release_mutex(p_hmac_context->sha_context.mutex_token); + } + + return status; +} + + +/********************************** +* Private Function Definition +**********************************/ + + +/*! + * @brief To set initial vector for SHA-512-224 and SHA-512-256. + * + * @param[in] algo_id The SHA algorithm id. + * + */ +static void +sha_set_init_vector +( + SHA_ALGO_ID algo_id +) +{ + size_t arr_len = 0; + static const uint32_t sha_512_224_iv[16] = { + 0x19544DA2, 0x8C3D37C8, 0x89DCD4D6, 0x73E19966, + 0x32FF9C82, 0x1DFAB7AE, 0x582F9FCF, 0x679DD514, + 0x7BD44DA8, 0x0F6D2B69, 0x04C48942, 0x77E36F73, + 0x6A1D36C8, 0x3F9D85A8, 0x91D692A1, 0x1112E6AD + }; + + static const uint32_t sha_512_256_iv[16] = { + 0xFC2BF72C, 0x22312194, 0xC84C64C2, 0x9F555FA3, + 0x6F53B151, 0x2393B86B, 0x5940EABD, 0x96387719, + 0xA88EFFE3, 0x96283EE2, 0x53863992, 0xBE5E1E25, + 0x2C85B8AA, 0x2B0199FC, 0x81C52CA2, 0x0EB72DDC + }; + + if (algo_id == SHA_ALGO_ID_SHA_512_224) + { + arr_len = sizeof(sha_512_224_iv)/sizeof(sha_512_224_iv[0]); + for (size_t i = 0; i < arr_len; i++) + { + local_write(LOW32(NV_PRGNLCL_FALCON_SHA_HASH_RESULT(i)), sha_512_224_iv[i]); + } + } + else // algo_id == SHA_ALGO_ID_SHA_512_256 + { + arr_len = sizeof(sha_512_256_iv)/sizeof(sha_512_256_iv[0]); + for(size_t i = 0; i < arr_len; i++) + { + local_write(LOW32(NV_PRGNLCL_FALCON_SHA_HASH_RESULT(i)), sha_512_256_iv[i]); + } + } +} + +/*! + * @brief To check SHA task configuration. + * + * @param[in] p_sha_context The designated SHA context + * @param[in] p_task_cfg The designated SHA task config + * + * @return true if task config is valid; otherwise return false. + * + */ +static bool +sha_task_config_is_valid +( + const SHA_CONTEXT *p_sha_context, + const SHA_TASK_CONFIG *p_task_cfg +) +{ + bool b_valid = true; + + /* + * We use p_sha_context->msg_size to track left message length. + * Once left message size is less(or equal to) than inserted task size, + * This means this is the last task. Only the last task size doesn't + * have to be aligned with block size. + */ + if (p_sha_context->msg_size == p_task_cfg->size) + { + b_valid = true; + } + + else if (p_sha_context->msg_size < p_task_cfg->size) + { + b_valid = false; + } + else + { + switch (p_sha_context->algo_id) + { + case SHA_ALGO_ID_SHA_1: + case SHA_ALGO_ID_SHA_224: + case SHA_ALGO_ID_SHA_256: + b_valid = NV_IS_ALIGNED(p_task_cfg->size, SHA_256_BLOCK_SIZE_BYTE); + break; + + case SHA_ALGO_ID_SHA_384: + case SHA_ALGO_ID_SHA_512: + case SHA_ALGO_ID_SHA_512_224: + case SHA_ALGO_ID_SHA_512_256: + b_valid = NV_IS_ALIGNED(p_task_cfg->size, SHA_512_BLOCK_SIZE_BYTE); + break; + + default: + b_valid = false; + break; + } + } + return b_valid; +} + +/* + * @brief This function checks whether particular SHA_ALGO_ID is supported for HMAC computation. + * @param[in] algo_id SHA ALGO Id + * + * @return true if SHA_ALGO_ID is supported else false. + */ +static bool sha_hmac_is_sha_algo_supported +( + SHA_ALGO_ID algo_id +) +{ + bool supported; + switch (algo_id) + { + case SHA_ALGO_ID_SHA_256: + case SHA_ALGO_ID_SHA_384: + case SHA_ALGO_ID_SHA_512: + supported = true; + break; + default: + supported = false; + break; + } + return supported; +} + +/*! + * @brief Wait for SHA engine idle + * + * @param[in] time_out_ns Timeout initialization value + * + * @return E_SUCCESS if engine enter idle state successfuly. + * E_SHA_ENG_ERROR if SHA halted status asserted + * E_SHA_WAIT_IDLE_TIMEOUT if timeout detected + */ +static error_t +sha_wait_for_busy +( + uint64_t time_out_ns +) +{ + uint32_t reg; + uint64_t start_time; + error_t status = E_SUCCESS; + + start_time = ptimer_read(); + + do + { + reg = local_read(NV_PRGNLCL_FALCON_SHA_STATUS); + + if (timeout_is_hit(start_time, time_out_ns)) + { + status = E_SHA_WAIT_IDLE_TIMEOUT; + break; + } + } while (FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA, _STATUS_STATE, _BUSY, reg)); + + return status; +} + +/*! + * @brief Wait for SHA engine idle + * + * @param[in] time_out_ns Timeout initialization value + * + * @return E_SUCCESS if engine enter idle state successfuly. + * E_SHA_ENG_ERROR if SHA halted status asserted + * E_SHA_WAIT_IDLE_TIMEOUT if timeout detected + */ +static error_t +sha_wait_engine_idle +( + uint64_t time_out_ns +) +{ + uint32_t reg; + uint64_t start_time; + error_t status = E_SUCCESS; + + start_time = ptimer_read(); + + do + { + reg = local_read(NV_PRGNLCL_FALCON_SHA_STATUS); + if (FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA, _STATUS_STATE, _HALTED, reg)) + { + status = E_SHA_ENG_ERROR; + } + if (timeout_is_hit(start_time, time_out_ns) && (status == E_SUCCESS)) + { + status = E_SHA_WAIT_IDLE_TIMEOUT; + } + if(status != E_SUCCESS) + { + break; + } + } while (FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA, _STATUS_STATE, _BUSY, reg)); + + return status; +} + +/*! + * @brief Execute SHA engine soft reset and wait for engine idle + * + * @param[in] time_out_ns Timeout initialization value + * + * @return E_SUCCESS if reset and enter idle state successfuly. + E_SHA_WAIT_IDLE_TIMEOUT/SW_RESET_TIMEOUT if timeout detected + * + */ +static error_t +sha_engine_soft_reset +( + uint64_t time_out_ns +) +{ + uint32_t reg; + uint64_t start_time = 0; + error_t status = E_SUCCESS; + + reg = local_read(NV_PRGNLCL_FALCON_SHA_STATUS); + + if (FLD_TEST_DRF(_PRGNLCL, _FALCON_SHA, _STATUS_STATE, _BUSY, reg)) + { + status = sha_engine_halt(); + } + + if (status == E_SUCCESS) + { + reg = FLD_SET_DRF(_PRGNLCL_FALCON, _SHA_OPERATION, _SOFTRESET, _ENABLE, reg); + local_write(NV_PRGNLCL_FALCON_SHA_OPERATION, reg); + + start_time = ptimer_read(); + + // wait for soft reset clear + do + { + reg = local_read(NV_PRGNLCL_FALCON_SHA_OPERATION); + + if (timeout_is_hit(start_time, time_out_ns)) + { + status = E_SHA_SW_RESET_TIMEOUT; + break; + } + } while (FLD_TEST_DRF(_PRGNLCL_FALCON, _SHA_OPERATION, _SOFTRESET, _ENABLE, reg)); + } + + if (status == E_SUCCESS) + { + status = sha_wait_engine_idle(SHA_ENGINE_IDLE_TIMEOUT_NS); + } + + return status; +} + +/*! + * @brief To get SHA encode value per SHA algorithm id + * + * @param[in] algo_id SHA algorithm id + * @param[out] *p_mode The pointer to save encode value + * + * @return E_SUCCESS if get encode value successfully. + * E_INVALID_PARAM if failed. + * + */ +static error_t +sha_get_config_encode_mode +( + SHA_ALGO_ID algo_id, + uint8_t *p_mode +) +{ + error_t status = E_SUCCESS; + switch (algo_id) + { + case SHA_ALGO_ID_SHA_1: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA1; + break; + case SHA_ALGO_ID_SHA_224: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA224; + break; + case SHA_ALGO_ID_SHA_256: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA256; + break; + case SHA_ALGO_ID_SHA_384: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA384; + break; + case SHA_ALGO_ID_SHA_512: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA512; + break; + case SHA_ALGO_ID_SHA_512_224: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA512_224; + break; + case SHA_ALGO_ID_SHA_512_256: + *p_mode = NV_PRGNLCL_FALCON_SHA_CONFIG_ENC_MODE_SHA512_256; + break; + default: + status = E_INVALID_PARAM; + break; + } + + return status; +} + +/*! + * @brief Convert a pointer to a uint64_t so that it can be passed as 64b address to sha engine + * indicating location of data to hash. + * + * @param[in] buf pointer to buffer/data to hash + * + * @return uint64_t + * + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "TODO: The need for this deviation will be removed when COREUCODES-2066 is resolved") +static inline uint64_t pointer_to_address(uint8_t* buf) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_4, "TODO: The need for this deviation will be removed when COREUCODES-2066 is resolved") + return (uint64_t) buf; +} + +/*! + * @brief Identify if a timeout has been hit (accounting for integer overflow) + * + * @param[in] start_time start time of operation + * @param[in] timeout max duration to wait before timeout + * + * @return E_SUCCESS if fetch configuration can be set correctly; otherwise return E_INVALID_PARAM. + * + */ +static inline bool timeout_is_hit(uint64_t start_time, uint64_t timeout) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Under Review: Bug TID-1899, DR: TODO") + return (ptimer_read() - start_time) > timeout; +} + +/*! + * @brief Get Hash Result. Guard against illegal reads. + * + * @param[in] register_index register to read from [0,SHA_MAX_RESULT_REGISTER] + * @param[out] result buffer to write result into + * @param[in] b_scrub_reg scrub (zero) hash result after read if true + * + * @return E_SUCCESS if read is valid, E_INVALID_PARAM otherwise + * + */ +static inline error_t sha_get_result_word(uint32_t register_index, uint8_t* result, bool b_scrub_reg) +{ + error_t status = E_SUCCESS; + if((result == NULL) || (register_index > NV_PRGNLCL_FALCON_SHA_HASH_RESULT__SIZE_1)) + { + status = E_INVALID_PARAM; // Unreachable due to input formatting in sha_read_hash_result + } + else + { + INLINE_RFD(CERTC, FP, INT30_C, "Under Review: Bug TID-1901, DR: TODO") + uint32_t reg = NV_PRGNLCL_FALCON_SHA_HASH_RESULT(register_index); + uint32_t hash = local_read(reg); + hash = NV_BYTESWAP32(hash); + (void) memcpy(result, (uint8_t*) &hash, sizeof(hash)); + if(b_scrub_reg) + { + local_write(reg, 0); + } + } + return status; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: TODO, DR: TODO") + + +/*** end of file ***/ diff --git a/spe-freertos-bsp/fsp/source/drivers/spi-mst/module-spi-mst-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/spi-mst/module-spi-mst-nosafety-config.mk new file mode 100644 index 0000000..d2f471b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/spi-mst/module-spi-mst-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-spi-mst-config-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_SPI_MST_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_SPI_MST_NOSAFETY_DEPENDS := SOC CLUSTER CPL FSP_COMMON +$(foreach _,$(MODULE_SPI_MST_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_SPI_MST_NOSAFETY_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/spi-mst +MODULE_SPI_MST_NOSAFETY_SOURCE_DIR = $(MODULE_SPI_MST_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_SPI_MST_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/spi-mst/module-spi-mst-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/spi-mst/module-spi-mst-nosafety.mk new file mode 100644 index 0000000..c0ad833 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/spi-mst/module-spi-mst-nosafety.mk @@ -0,0 +1,68 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-spi-mst-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_SPI_MST_NOSAFETY_NAME := SPI_MST_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SPI_MST_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_SPI_MST_NOSAFETY_DEPENDS := SPI_MST_NOSAFETY SOC CPL +$(foreach _,$(CONFIG_SPI_MST_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_SPI_MST_NOSAFETY_C_SRC = +MODULE_SPI_MST_NOSAFETY_C_SRC += $(MODULE_SPI_MST_NOSAFETY_DRIVERS_DIR)/spi.c +MODULE_SPI_MST_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/spi-ids.c + +# +# If the client module does not need 'spi-port.c' use this MAKEFILE flag to +# ignore it. +MODULE_SPI_MST_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/spi-port.c + +# +# Assembly source +MODULE_SPI_MST_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_SPI_MST_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_SPI_MST_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/spi-mst/spi.c b/spe-freertos-bsp/fsp/source/drivers/spi-mst/spi.c new file mode 100644 index 0000000..dab7a8f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/spi-mst/spi.c @@ -0,0 +1,1201 @@ +/* + * Copyright (c) 2015-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t, uint8_t, UINT32_... +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // IWYU pragma: keep + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include // NV_DRF_* macros +#include // for fsp_c_v_ptr_to_u32 +#include // for error_t, E_SUCCESS +#include // for UNUSED +#include // for in_interrupt, irq_enable, irq_set... +#include // for BIT, bit_number, FSP__MISC__BITOPS_H +#include // for ARRAY_SIZE +#include // for readl_base_offset, writel_base_of... +#include // for udelay +#include // for CACHE_LINE_SIZE... + +/* Module specific headers */ +#include // for E_SPI_NULL_PTR, E_SPI_... +#include // for spi_init... +#include // Immune from CT_ASSERT protection +#include // for struct spi_ctlr, spi_ctrl... +#include // for spi_port_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SPI__SPI_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SPI__SPI_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SPI__SPI_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SPI__SPI_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define SPI_ERR (NV_DRF_DEF(SPI, FIFO_STATUS, ERR, ERROR)) +#define SPI_FIFO_ERROR (NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_UNF, \ + ERROR) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_OVF, \ + ERROR) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_UNF, \ + ERROR) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_OVF, \ + ERROR)) +#define SPI_FIFO_EMPTY (NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_EMPTY, \ + EMPTY) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_EMPTY, \ + EMPTY)) + +#define SPI_FIFO_DEPTH 64U +#define DATA_DIR_TX BIT(0) +#define DATA_DIR_RX BIT(1) + +#define SPI_FIFO_FLUSH_MAX_DELAY 2000UL /* usec */ + +#define SPI_SPEED_TAP_DELAY_MARGIN 35000000UL /* usec */ +#define SPI_DEFAULT_RX_TAP_DELAY 10U /* usec */ + +#define SPI_TRANSFER_TIMEOUT 3000UL /* usec */ + +static inline uint32_t +spi_readl(struct spi_ctlr *ctlr, + uint32_t reg) +{ + return readl(ctlr->conf.base_addr + reg); +} + +static inline void +spi_writel(struct spi_ctlr *ctlr, + uint32_t val, + uint32_t reg) +{ + writel(val, ctlr->conf.base_addr + reg); +} + +SECTION_SPI_TEXT static void +handle_xfer_err(struct spi_ctlr *ctlr) +{ + uint32_t errs = 0UL; + + if ((ctlr->cur_direction & DATA_DIR_TX) && (ctlr->tx_status)) { + errs += 1UL; + } + + if ((ctlr->cur_direction & DATA_DIR_RX) && (ctlr->rx_status)) { + errs += 2UL; + } + + if (errs != 0UL) { + spi_port_clk_reset_pulse(ctlr, 2); + } +} + +SECTION_SPI_TEXT static void +spi_clear_status(struct spi_ctlr *ctlr) +{ + uint32_t val; + + /* Write 1 to clear status register */ + val = spi_readl(ctlr, SPI_TRANSFER_STATUS_0); + spi_writel(ctlr, val, SPI_TRANSFER_STATUS_0); + + val = spi_readl(ctlr, SPI_INTR_MASK_0); + if ((val & NV_DRF_DEF(SPI, INTR_MASK, RDY_INTR_MASK, DEFAULT_MASK)) == 0UL) { + val |= (NV_DRF_DEF(SPI, INTR_MASK, RDY_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, RX_FIFO_UNF_INTR_MASK, + DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, TX_FIFO_UNF_INTR_MASK, + DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, RX_FIFO_OVF_INTR_MASK, + DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, TX_FIFO_OVF_INTR_MASK, + DEFAULT_MASK)); + spi_writel(ctlr, val, SPI_INTR_MASK_0); + } + + /* Clear FIFO status error if any */ + val = spi_readl(ctlr, SPI_FIFO_STATUS_0); + if (val & SPI_ERR) { + spi_writel(ctlr, SPI_ERR | SPI_FIFO_ERROR, SPI_FIFO_STATUS_0); + } +} + +SECTION_SPI_TEXT void +spi_master_isr(void *data) +{ + struct spi_ctlr *ctlr = (struct spi_ctlr *)data; + uint32_t cmd1; + bool isr_yield_flag = false; + + cmd1 = spi_readl(ctlr, SPI_COMMAND_0); + ctlr->status_reg = spi_readl(ctlr, SPI_FIFO_STATUS_0); + + if ((cmd1 & NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE)) != 0UL) { + ctlr->tx_status = ctlr->status_reg & + (NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_UNF, ERROR) | + NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_OVF, ERROR)); + } + + if ((cmd1 & NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE)) != 0UL) { + ctlr->rx_status = ctlr->status_reg & + (NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_UNF, ERROR) | + NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_OVF, ERROR)); + } + + spi_clear_status(ctlr); + + if (((cmd1 & NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE)) == 0UL) && + ((cmd1 & NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE)) == 0UL)) { + /* SPI: spurious interrupt */ + goto out; + } + + handle_xfer_err(ctlr); + + UNUSED((spi_port_xfer_sync_end(ctlr))); + +out: + spi_port_isr_exit(ctlr, isr_yield_flag); +} + +static uint32_t +spi_calculate_curr_xfer_param(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t remain_len = xfer->len - ctlr->cur_pos; + uint32_t max_word; + uint32_t max_len; + uint32_t total_fifo_words; + bool spi_no_dma = ctlr->cdata[xfer->chip_select].spi_no_dma; + + ctlr->bytes_per_word = (xfer->bits_per_word - 1) / 8 + 1; + + /* + * SPI transfer length should be multiple of SPI word size + * where SPI word size should be power-of-two multiple + */ + if (ctlr->bytes_per_word == 3) { + ctlr->bytes_per_word = 4; + } + + if ((xfer->bits_per_word == 8 || xfer->bits_per_word == 16 || + xfer->bits_per_word == 32) && (remain_len > 3)) { + ctlr->is_packed = 1; + ctlr->words_per_32bit = 32 / xfer->bits_per_word; + } else { + ctlr->is_packed = 0; + ctlr->words_per_32bit = 1; + } + + if (ctlr->is_packed) { + max_len = remain_len; + if (spi_no_dma) { + max_len = min(max_len, (SPI_FIFO_DEPTH * 4)); + } + ctlr->curr_dma_words = max_len / ctlr->bytes_per_word; + total_fifo_words = (max_len + 3) / 4; + } else { + max_word = (remain_len - 1) / ctlr->bytes_per_word + 1; + if (spi_no_dma) { + max_word = min(max_word, SPI_FIFO_DEPTH); + } + ctlr->curr_dma_words = max_word; + total_fifo_words = max_word; + } + + return total_fifo_words; +} + +static uint32_t +spi_fill_tx_fifo_from_client_txbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t nbytes; + uint32_t tx_empty_count; + uint32_t fifo_status; + uint32_t max_n_32bit; + uint32_t i, count, byte_count; + uint32_t x; + uint32_t written_words; + uint32_t fifo_words_left; + uint8_t *tx_buf = (uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos; + + fifo_status = spi_readl(ctlr, SPI_FIFO_STATUS_0); + tx_empty_count = NV_DRF_VAL(SPI, FIFO_STATUS, TX_FIFO_EMPTY_COUNT, + fifo_status); + + if (ctlr->is_packed) { + fifo_words_left = tx_empty_count * ctlr->words_per_32bit; + written_words = min(fifo_words_left, ctlr->curr_dma_words); + nbytes = written_words * ctlr->bytes_per_word; + max_n_32bit = DIV_ROUND_UP(nbytes, 4); + byte_count = 4UL; + } else { + max_n_32bit = min(ctlr->curr_dma_words, tx_empty_count); + written_words = max_n_32bit; + nbytes = written_words * ctlr->bytes_per_word; + byte_count = ctlr->bytes_per_word; + } + + for (count = 0UL; count < max_n_32bit; count++) { + x = 0UL; + for (i = 0UL; (i < byte_count) && nbytes; i += 1UL, nbytes -= 1UL) { + x |= ((*tx_buf++) << (i * 8)); + } + spi_writel(ctlr, x, SPI_TX_FIFO_0); + } + + ctlr->cur_tx_pos += written_words * ctlr->bytes_per_word; + + return written_words; +} + +static uint32_t +spi_read_rx_fifo_to_client_rxbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t rx_full_count; + uint32_t fifo_status; + uint32_t i, count; + uint32_t x; + uint32_t read_words = 0; + uint32_t len; + uint8_t *rx_buf = (uint8_t *)xfer->rx_buf + ctlr->cur_rx_pos; + + fifo_status = spi_readl(ctlr, SPI_FIFO_STATUS_0); + rx_full_count = NV_DRF_VAL(SPI, FIFO_STATUS, RX_FIFO_FULL_COUNT, + fifo_status); + + if (ctlr->is_packed) { + len = ctlr->curr_dma_words * ctlr->bytes_per_word; + for (count = 0UL; count < rx_full_count; count++) { + x = spi_readl(ctlr, SPI_RX_FIFO_0); + for (i = 0UL; len && (i < 4UL); i += 1UL, len -= 1UL) { + *rx_buf++ = (x >> (i * 8U)) & 0xFFU; + } + } + ctlr->cur_rx_pos += ctlr->curr_dma_words * ctlr->bytes_per_word; + read_words += ctlr->curr_dma_words; + } else { + for (count = 0UL; count < rx_full_count; count++) { + x = spi_readl(ctlr, SPI_RX_FIFO_0); + for (i = 0UL; (i < ctlr->bytes_per_word); i += 1UL) { + *rx_buf++ = (x >> (i * 8U)) & 0xFFU; + } + } + ctlr->cur_rx_pos += rx_full_count * ctlr->bytes_per_word; + read_words += rx_full_count; + } + + return read_words; +} + +static void +spi_copy_client_txbuf_to_spi_txbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t i; + int32_t count; + uint32_t x; + uint32_t offset; + uint8_t *tx_c_buf; + uint32_t base; + uint32_t *tx_buf = (uint32_t *)((uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos); + uint32_t nbytes = ctlr->curr_dma_words * ctlr->bytes_per_word; + + if (!ctlr->is_packed) { + tx_c_buf = (uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos + + nbytes - 1; + /* curr_dma_words and fifo_words are same for unpacked mode */ + for (count = ctlr->curr_dma_words - 1; count >= 0; count--) { + x = 0; + for (i = 0; nbytes && (i < ctlr->bytes_per_word); + i++) { + offset = (--nbytes) % (ctlr->bytes_per_word); + x |= (*tx_c_buf--) << (offset * 8); + } + tx_buf[count] = x; + } + /** + * The following cache flush is needed only for unpacked mode + * as for packed mode you do not need to modify the tx buffer + */ + if (xfer->flags & BIT(TEGRA_SPI_XFER_HANDLE_CACHE)) { + /** + * Align buffer address and length to cache line size + * and flush the cache + */ + base = (uint32_t) xfer->tx_buf & CACHE_LINE_MASK; + spi_port_cache_clean((void *)base, (((ctlr->curr_dma_words * 4) + + (CACHE_LINE_SIZE - 1)) & CACHE_LINE_MASK)); + } + } +} + +static void +spi_copy_spi_rxbuf_to_client_rxbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t i; + uint32_t count; + uint32_t x; + uint32_t rx_mask; + uint32_t base; + uint32_t *rx_buf = (uint32_t *)((uint8_t *)xfer->rx_buf + + ctlr->cur_rx_pos); + uint8_t *rx_c_buf = (uint8_t *)xfer->rx_buf + + ctlr->cur_rx_pos; + + /** + * Align buffer address and length to cache line size + * and invalidate the cache + */ + if (xfer->flags & BIT(TEGRA_SPI_XFER_HANDLE_CACHE)) { + base = (uint32_t) xfer->rx_buf & CACHE_LINE_MASK; + spi_port_cache_invalidate((void *)base, + ((xfer->len + (CACHE_LINE_SIZE - 1)) & + CACHE_LINE_MASK)); + } + if (!ctlr->is_packed) { + rx_mask = ((uint64_t)1 << xfer->bits_per_word) - 1; + for (count = 0; count < ctlr->curr_dma_words; count++) { + x = rx_buf[count]; + x &= rx_mask; + rx_c_buf = (uint8_t *)&rx_buf[count]; + for (i = 0; (i < ctlr->bytes_per_word); i++) { + *rx_c_buf++ = (x >> (i*8)) & 0xFF; + } + } + } + ctlr->cur_rx_pos += ctlr->curr_dma_words * ctlr->bytes_per_word; +} + +SECTION_SPI_TEXT static error_t +spi_check_and_clear_fifo(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + uint32_t status; + uint32_t cnt; + + /* Make sure that Rx and Tx FIFO are empty */ + status = spi_readl(ctlr, SPI_FIFO_STATUS_0); + if ((status & SPI_FIFO_EMPTY) != SPI_FIFO_EMPTY) { + /* flush the FIFO */ + status = NV_FLD_SET_DRF_DEF(SPI, FIFO_STATUS, + RX_FIFO_FLUSH, FLUSH, status); + status = NV_FLD_SET_DRF_DEF(SPI, FIFO_STATUS, + TX_FIFO_FLUSH, FLUSH, status); + spi_writel(ctlr, status, SPI_FIFO_STATUS_0); + for (cnt = 0UL; cnt != SPI_FIFO_FLUSH_MAX_DELAY; cnt += 1UL) { + status = spi_readl(ctlr, SPI_FIFO_STATUS_0); + if ((status & SPI_FIFO_EMPTY) == SPI_FIFO_EMPTY) { + goto out; + } + udelay(1); + } + ret = E_SPI_FIFO_NON_EMPTY; + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_start_dma_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t val = 0; + uint32_t cmd1; + uint32_t intr_mask = 0UL; + uint32_t len; + uint32_t burst_size; + + /* For half duplex, ensure rx and tx transfers are not enabled. + * If rx and tx transfers are enabled, return error. + */ + if (ctlr->dma_chans.tx == ctlr->dma_chans.rx) { + if ((ctlr->cur_direction & DATA_DIR_TX) && + (ctlr->cur_direction & DATA_DIR_RX)) { + ret = E_SPI_XFER_NOT_SUPPORTED; + goto out; + } + } + + val = NV_FLD_SET_DRF_NUM(SPI, DMA_BLK_SIZE, DMA_BLOCK_SIZE, + (ctlr->curr_dma_words - 1), val); + spi_writel(ctlr, val, SPI_DMA_BLK_SIZE_0); + + if (ctlr->is_packed) { + len = DIV_ROUND_UP(ctlr->curr_dma_words * ctlr->bytes_per_word, 4) * 4; + } else { + len = ctlr->curr_dma_words * 4; + } + + /* Set attention level based on length of transfer. + * DMA burst size and SPI trigger level should be same. + */ + val = 0; + if (len & 0xF) { + val |= NV_DRF_DEF(SPI, DMA_CTL, TX_TRIG, TRIG1) | + NV_DRF_DEF(SPI, DMA_CTL, RX_TRIG, TRIG1); + burst_size = 1; + } else if (((len) >> 4) & 0x1) { + val |= NV_DRF_DEF(SPI, DMA_CTL, TX_TRIG, TRIG4) | + NV_DRF_DEF(SPI, DMA_CTL, RX_TRIG, TRIG4); + burst_size = 4; + } else { + val |= NV_DRF_DEF(SPI, DMA_CTL, TX_TRIG, TRIG8) | + NV_DRF_DEF(SPI, DMA_CTL, RX_TRIG, TRIG8); + burst_size = 8; + } + + if ((ctlr->cur_direction & DATA_DIR_TX) || + (ctlr->cur_direction & DATA_DIR_RX)) { + intr_mask = spi_readl(ctlr, SPI_INTR_MASK_0); + intr_mask &= ~(NV_DRF_DEF(SPI, INTR_MASK , + RDY_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + TX_FIFO_UNF_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + RX_FIFO_UNF_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + TX_FIFO_OVF_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + RX_FIFO_OVF_INTR_MASK, DEFAULT_MASK)); + spi_writel(ctlr, intr_mask, SPI_INTR_MASK_0); + } + + spi_writel(ctlr, val, SPI_DMA_CTL_0); + ctlr->dma_ctrl_reg_val = val; + if (ctlr->cur_direction & DATA_DIR_TX) { + spi_copy_client_txbuf_to_spi_txbuf(ctlr, xfer); + ret = spi_port_start_tx_dma(ctlr, xfer, len, burst_size); + if (ret != E_SUCCESS) { + goto out; + } + } + if (ctlr->cur_direction & DATA_DIR_RX) { + ret = spi_port_start_rx_dma(ctlr, xfer, len, burst_size); + if (ret != E_SUCCESS) { + goto out; + } + } + + ctlr->is_curr_dma_xfer = true; + cmd1 = ctlr->cmd1_reg_val; + if (ctlr->cur_direction & DATA_DIR_TX) { + cmd1 |= NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE); + } + if (ctlr->cur_direction & DATA_DIR_RX) { + cmd1 |= NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE); + } + spi_writel(ctlr, cmd1, SPI_COMMAND_0); + + val |= NV_DRF_DEF(SPI, DMA_CTL, DMA_EN, ENABLE); + spi_writel(ctlr, val, SPI_DMA_CTL_0); + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_start_pio_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t val = 0UL; + uint32_t cur_words; + uint32_t intr_mask; + + if (ctlr->cur_direction & DATA_DIR_TX) { + cur_words = spi_fill_tx_fifo_from_client_txbuf(ctlr, xfer); + } else { + cur_words = ctlr->curr_dma_words; + } + + val = NV_FLD_SET_DRF_NUM(SPI, DMA_BLK_SIZE, DMA_BLOCK_SIZE, + (cur_words - 1), val); + spi_writel(ctlr, val, SPI_DMA_BLK_SIZE_0); + + intr_mask = spi_readl(ctlr, SPI_INTR_MASK_0); + intr_mask &= ~(NV_DRF_DEF(SPI, INTR_MASK , RDY_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + TX_FIFO_UNF_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + RX_FIFO_UNF_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + TX_FIFO_OVF_INTR_MASK, DEFAULT_MASK) | + NV_DRF_DEF(SPI, INTR_MASK, + RX_FIFO_OVF_INTR_MASK, DEFAULT_MASK)); + spi_writel(ctlr, intr_mask, SPI_INTR_MASK_0); + + val = 0UL; + spi_writel(ctlr, val, SPI_DMA_CTL_0); + ctlr->dma_ctrl_reg_val = val; + + ctlr->is_curr_dma_xfer = false; + val = ctlr->cmd1_reg_val; + if (ctlr->cur_direction & DATA_DIR_TX) { + val |= NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE); + } + if (ctlr->cur_direction & DATA_DIR_RX) { + val |= NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE); + } + spi_writel(ctlr, val, SPI_COMMAND_0); + + val = NV_FLD_SET_DRF_DEF(SPI, COMMAND, PIO, PIO, val); + spi_writel(ctlr, val, SPI_COMMAND_0); + + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_clk_set_rate(struct spi_ctlr *ctlr, + uint32_t rate) +{ + error_t ret = E_SUCCESS; + + /* TODO: Change parent to support lower frequencies + * Currently there is no option to change parent for a clock + * minimum supported frequency on PLLP is 3.5MHz + */ + + spi_port_clk_disable(ctlr); + + ret = spi_port_clk_set_rate(ctlr, rate); + if (ret != E_SUCCESS) { + ret = E_SPI_CLK_SET_RATE; + goto out; + } + + ret = spi_port_clk_enable(ctlr); + if (ret != E_SUCCESS) { + ret = E_SPI_CLK_EN; + goto out; + } + +out: + return ret; +} + +SECTION_SPI_TEXT error_t +spi_suspend(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret =E_SPI_NULL_PTR; + goto out; + } + + if (ctlr->busy) { + ret = E_SPI_CTLR_BUSY; + goto out; + } + + spi_port_clk_disable(ctlr); + +out: + return ret; +} + +SECTION_SPI_TEXT error_t +spi_resume(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret =E_SPI_NULL_PTR; + goto out; + } + + ret = spi_port_clk_set_rate(ctlr, ctlr->spi_clk_rate); + +out: + return ret; +} + +SECTION_SPI_TEXT static void +spi_configure_cmd1_reg(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t command1; + uint32_t cs_pol_bit[MAX_CHIP_SELECT] = { + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE0, HIGH), + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE1, HIGH), + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE2, HIGH), + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE3, HIGH), + }; + + command1 = ctlr->def_cmd1_reg_val; + if (xfer->mode & TEGRA_SPI_CS_HIGH) { + command1 &= ~cs_pol_bit[xfer->chip_select]; + } else { + command1 |= cs_pol_bit[xfer->chip_select]; + } + + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, CS_SEL, xfer->chip_select, + command1); + + ctlr->def_cmd1_reg_val = command1; + + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, BIT_LENGTH, + (xfer->bits_per_word - 1), command1); + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, MODE, + (xfer->mode & 0x3), command1); + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, CS_SW_HW, SOFTWARE, command1); + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, CS_SW_VAL, + (xfer->mode & TEGRA_SPI_CS_HIGH), command1); + + if (xfer->mode & TEGRA_SPI_LSBYTE_FIRST) { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Byte, + FIRST, command1); + } else { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Byte, + LAST, command1); + } + + if (xfer->mode & TEGRA_SPI_LSB_FIRST) { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Bit, FIRST, command1); + } else { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Bit, LAST, command1); + } + + if (xfer->mode & TEGRA_SPI_3WIRE) { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, BIDIR, BIDIR, + command1); + } else { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, BIDIR, NORMAL, + command1); + } + + if ((xfer->rx_nbits == TEGRA_SPI_NBITS_DUAL) || + (xfer->tx_nbits == TEGRA_SPI_NBITS_DUAL)) { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, BOTH_EN_BIT, + ENABLE, command1); + } + + if (ctlr->is_packed) { + command1 |= NV_DRF_DEF(SPI, COMMAND, PACKED, ENABLE); + } else { + command1 &= ~(NV_DRF_DEF(SPI, COMMAND, PACKED, ENABLE)); + } + + command1 &= ~(NV_DRF_DEF(SPI, COMMAND, CS_SEL, DEFAULT_MASK) | + NV_DRF_DEF(SPI, COMMAND, Tx_EN, DEFAULT_MASK) | + NV_DRF_DEF(SPI, COMMAND, Rx_EN, DEFAULT_MASK)); + + ctlr->cmd1_reg_val = command1; +} + +SECTION_SPI_TEXT static void +spi_init_ctlr_context(struct spi_ctlr *ctlr) +{ + ctlr->cur_pos = 0UL; + ctlr->cur_rx_pos = 0UL; + ctlr->cur_tx_pos = 0UL; + ctlr->tx_status = 0UL; + ctlr->rx_status = 0UL; + ctlr->cur_direction = 0UL; +} + +SECTION_SPI_TEXT static error_t +spi_handle_message(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + bool reset = false; + + if (!ctlr->is_curr_dma_xfer) { + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_read_rx_fifo_to_client_rxbuf(ctlr, xfer); + ctlr->cur_pos = ctlr->cur_rx_pos; + } else { + ctlr->cur_pos = ctlr->cur_tx_pos; + } + } else { + if (ctlr->tx_dma_status != E_SUCCESS) { + if (ctlr->cur_direction & DATA_DIR_TX) { + spi_port_tx_dma_xfer_abort(ctlr); + reset = true; + } + } + if (ctlr->rx_dma_status != E_SUCCESS) { + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_port_rx_dma_xfer_abort(ctlr); + reset = true; + } + } + if (reset) { + spi_port_clk_reset_pulse(ctlr, 2); + ret = E_SPI_DMA_XFER_FAIL; + goto out; + } + + if (ctlr->cur_direction & DATA_DIR_TX) { + ctlr->cur_tx_pos += ctlr->curr_dma_words * ctlr->bytes_per_word; + ctlr->cur_pos = ctlr->cur_tx_pos; + } + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_copy_spi_rxbuf_to_client_rxbuf(ctlr, xfer); + ctlr->cur_pos = ctlr->cur_rx_pos; + } + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_wait_on_message_xfer(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + bool xfer_timeout = false; + + ret = irq_safe_enable(ctlr->conf.irq); + if (ret != E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + /* + * For synchronous transfers, the driver relies on the port specific + * implementation of some kind of synchronization mechanism until the + * SPI transfer is complete. + */ + ret = spi_port_xfer_sync(ctlr, SPI_TRANSFER_TIMEOUT); + (void)irq_safe_disable(ctlr->conf.irq); + if (ret != E_SUCCESS) { + xfer_timeout = true; + spi_port_clk_reset_pulse(ctlr, 2); + } + + if (xfer_timeout || ctlr->rx_status || ctlr->tx_status) { + if (ctlr->is_curr_dma_xfer) { + if (ctlr->cur_direction & DATA_DIR_TX) { + spi_port_tx_dma_xfer_abort(ctlr); + } + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_port_rx_dma_xfer_abort(ctlr); + } + } + ret = E_SPI_XFER_ERR; + goto out; + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_transfer_remain_message(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t total_fifo_words; + + total_fifo_words = spi_calculate_curr_xfer_param(ctlr, xfer); + if (ctlr->is_curr_dma_xfer) { + /* Make sure that Rx and Tx FIFO are empty */ + ret = spi_check_and_clear_fifo(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + if (total_fifo_words > SPI_FIFO_DEPTH) { + ret = spi_start_dma_transfer(ctlr, xfer); + } else { + ret = spi_start_pio_transfer(ctlr, xfer); + } + if (ret != E_SUCCESS) { + goto out; + } + } else { + ret = spi_start_pio_transfer(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + } + + ret = spi_wait_on_message_xfer(ctlr); + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_start_transfer_one(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t total_fifo_words; + uint32_t speed; + + spi_init_ctlr_context(ctlr); + + ctlr->cur_xfer = xfer; + total_fifo_words = spi_calculate_curr_xfer_param(ctlr, xfer); + + if (xfer->rx_buf != NULL) { + ctlr->cur_direction |= DATA_DIR_RX; + } + if (xfer->tx_buf != NULL) { + ctlr->cur_direction |= DATA_DIR_TX; + } + + /* Return if neither RX or TX is requested OR + * not all words are available + */ + if ((ctlr->cur_direction == 0UL) || + ((xfer->len % ctlr->bytes_per_word) != 0UL)) { + ret = E_SPI_INVALID_PARAM; + goto out; + } + + speed = (xfer->spi_clk_rate != 0UL) ? xfer->spi_clk_rate : + ctlr->cdata[xfer->chip_select].spi_max_clk_rate; + if (speed != ctlr->spi_clk_rate) { + ret = spi_clk_set_rate(ctlr, speed); + if (ret != E_SUCCESS) { + goto out; + } else { + ctlr->spi_clk_rate = speed; + } + } + + spi_clear_status(ctlr); + + spi_configure_cmd1_reg(ctlr, xfer); + + /* Make sure that Rx and Tx FIFO are empty */ + ret = spi_check_and_clear_fifo(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + if (total_fifo_words > SPI_FIFO_DEPTH) { + ret = spi_start_dma_transfer(ctlr, xfer); + } else { + ret = spi_start_pio_transfer(ctlr, xfer); + } + +out: + return ret; +} + + +SECTION_SPI_TEXT static error_t +spi_dma_init(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + ret = spi_port_dma_init(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + /* Full duplex transactions require 2 channels. Check your POR + * to ensure 2 channels are supported. + */ + if (ctlr->en_full_duplex) { + /* check for 2 different dma channels if full duplex + * is supported. + */ + if (ctlr->dma_chans.tx == ctlr->dma_chans.rx) { + ret = E_SPI_FD_MODE_NO_SUPPORT; + goto out; + } + } + +out: + return ret; +} + +SECTION_SPI_TEXT static void +spi_dma_config_setup(struct spi_ctlr *ctlr, + struct spi_master_init *setting) +{ + /* TODO: figure out if there is a way to validate these params */ + ctlr->dma_id = setting->dma_id; + ctlr->dma_chans.tx = setting->dma_chans.tx; + ctlr->dma_chans.rx = setting->dma_chans.rx; + ctlr->dma_slave_req = setting->dma_slave_req; +} + +SECTION_SPI_TEXT error_t +spi_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL || xfer == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_SPI_NULL_PTR; + goto out; + } + + if (!ctlr->inited) { + ret = E_SPI_NO_INIT; + goto out; + } + + if (xfer->len == 0) { + ret = E_SPI_INVALID_PARAM; + goto out; + } + + if (ctlr->busy) { + ret = E_SPI_CTLR_BUSY; + goto out; + } + + ctlr->busy = true; + + if (xfer->flags & BIT(TEGRA_SPI_XFER_FIRST_MSG)) { + ret = spi_start_transfer_one(ctlr, xfer); + } else { + ret = spi_transfer_remain_message(ctlr, xfer); + } + + if (ret != E_SUCCESS) { + goto out; + } + + ret = spi_wait_on_message_xfer(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + ret = spi_handle_message(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + + if (ctlr->cur_pos == xfer->len) { + goto out; + } + + while (1) { + ret = spi_transfer_remain_message(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + + ret = spi_handle_message(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + + if (ctlr->cur_pos == xfer->len) { + break; + } + } + +out: + /* de-assert CS to end the transaction */ + if (ret == E_SUCCESS && + ((xfer->flags & BIT(TEGRA_SPI_XFER_LAST_MSG)) != 0UL)) { + spi_writel(ctlr, ctlr->def_cmd1_reg_val, SPI_COMMAND_0); + } + + if (ctlr != NULL) { + ctlr->busy = false; + } + + return ret; +} + +SECTION_SPI_INIT_TEXT error_t +spi_client_setup(struct spi_ctlr *ctlr, + struct spi_client_setting *setting) +{ + error_t ret = E_SUCCESS; + struct spi_client_setting *cdata; + uint32_t command2_reg; + + if (ctlr == NULL || setting == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_SPI_NULL_PTR; + goto out; + } + + if (!ctlr->inited) { + ret = E_SPI_NO_INIT; + goto out; + } + + if (ctlr->busy) { + ret = E_SPI_CTLR_BUSY; + goto out; + } + + if (setting->spi_max_clk_rate == 0UL) { + ret = E_SPI_INVALID_CLK_RATE; + goto out; + } + + cdata = &ctlr->cdata[setting->chip_select]; + cdata->chip_select = setting->chip_select; + cdata->cs_setup_clk_count = setting->cs_setup_clk_count; + cdata->cs_hold_clk_count = setting->cs_hold_clk_count; + cdata->cs_inactive_cycles = setting->cs_inactive_cycles; + cdata->set_rx_tap_delay = setting->set_rx_tap_delay; + cdata->spi_max_clk_rate = setting->spi_max_clk_rate; + cdata->spi_no_dma = setting->spi_no_dma; + + ret = spi_port_clk_set_rate(ctlr, setting->spi_max_clk_rate); + if (ret != E_SUCCESS) { + ret = E_SPI_CLK_SET_RATE; + goto out; + } + ctlr->spi_clk_rate = setting->spi_max_clk_rate; + + ctlr->def_cmd2_reg_val = spi_readl(ctlr, SPI_COMMAND2_0); + command2_reg = ctlr->def_cmd2_reg_val; + + if (cdata->set_rx_tap_delay) { + if (ctlr->spi_clk_rate > SPI_SPEED_TAP_DELAY_MARGIN) { + command2_reg = NV_FLD_SET_DRF_NUM(SPI, COMMAND2, + Rx_Clk_TAP_DELAY, + SPI_DEFAULT_RX_TAP_DELAY, + command2_reg); + } + } + spi_writel(ctlr, command2_reg, SPI_COMMAND2_0); + +out: + return ret; +} + +SECTION_SPI_INIT_TEXT error_t +spi_init(struct spi_ctlr *ctlr, + struct spi_master_init *setting) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL || setting == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_SPI_NULL_PTR; + goto out; + } + + if (ctlr->inited) { + ret = E_SPI_REINIT; + goto out; + } + + ctlr->spi_clk_rate = setting->spi_max_clk_rate; + ctlr->busy = false; + + spi_dma_config_setup(ctlr, setting); + + /* Set SPI controller clock rate */ + ret = spi_port_clk_set_rate(ctlr, ctlr->spi_clk_rate); + if (ret!= E_SUCCESS) { + goto out; + } + + /* enable the clock for SPI controller */ + ret = spi_port_clk_enable(ctlr); + if (ret!= E_SUCCESS) { + goto out; + } + + /* assert followed by deassert the reset for SPI controller */ + ret = spi_port_clk_reset_pulse(ctlr, 2); + if (ret!= E_SUCCESS) { + goto out; + } + + /* Initialize the SPI DMA */ + ret = spi_dma_init(ctlr); + if (ret!= E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + + if (ctlr->conf.irq != UINT32_MAX) { + /* register irq handler */ + ret = irq_safe_set_handler(ctlr->conf.irq, spi_master_isr, ctlr); + if (ret != E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + } + + /* port specific SPI controller setup callout */ + ret = spi_port_init(ctlr); + if (ret != E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + + ctlr->def_cmd1_reg_val = NV_DRF_DEF(SPI, COMMAND, M_S, MASTER) | + NV_DRF_DEF(SPI, COMMAND, CS_SW_VAL, HIGH) | + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE3, HIGH) | + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE2, HIGH) | + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE1, HIGH) | + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE0, HIGH); + spi_writel(ctlr, ctlr->def_cmd1_reg_val, SPI_COMMAND_0); + + ctlr->inited = true; + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/spi-slv/module-spi-slv-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/spi-slv/module-spi-slv-nosafety-config.mk new file mode 100644 index 0000000..298e505 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/spi-slv/module-spi-slv-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-spi-slv-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_SPI_SLV_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_SPI_SLV_NOSAFETY_DEPENDS := SOC CLUSTER CPL FSP_COMMON +$(foreach _,$(MODULE_SPI_SLV_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_SPI_SLV_NOSAFETY_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/spi-slv +MODULE_SPI_SLV_NOSAFETY_SOURCE_DIR = $(MODULE_SPI_SLV_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_SPI_SLV_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/spi-slv/module-spi-slv-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/spi-slv/module-spi-slv-nosafety.mk new file mode 100644 index 0000000..d9a2077 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/spi-slv/module-spi-slv-nosafety.mk @@ -0,0 +1,71 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-spi-slv-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_SPI_SLV_NOSAFETY_NAME := SPI_SLV_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SPI_SLV_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_SPI_SLV_NOSAFETY_DEPENDS := SPI_SLV_NOSAFETY SOC CPL +$(foreach _,$(CONFIG_SPI_SLV_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_SPI_SLV_NOSAFETY_C_SRC = +MODULE_SPI_SLV_NOSAFETY_C_SRC += $(MODULE_SPI_SLV_NOSAFETY_DRIVERS_DIR)/spi-slave.c +MODULE_SPI_SLV_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/spi-ids.c + +# +# If the client module does not need 'spi-port.c' use this MAKEFILE flag to +# ignore it. +ifndef IGNORE_SPI_PORT +MODULE_SPI_SLV_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/spi-port.c +endif + +# +# Assembly source +MODULE_SPI_SLV_NOSAFETY_ASM_SRC = +#MODULE_SPI_SLV_NOSAFETY_ASM_SRC += $(CPL_SOC_PORT)/spi-irq.S + +# +# Special C Flags +MODULE_SPI_SLV_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_SPI_SLV_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/spi-slv/spi-slave.c b/spe-freertos-bsp/fsp/source/drivers/spi-slv/spi-slave.c new file mode 100644 index 0000000..f55beed --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/spi-slv/spi-slave.c @@ -0,0 +1,1115 @@ +/* + * Copyright (c) 2017-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t, uint8_t, UINT32_... +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // IWYU pragma: keep +#include // GPCDMA_CHANNEL_CH... + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include // NV_DRF_* macros +#include // for fsp_c_v_ptr_to_u32 +#include // for error_t, E_SUCCESS +#include // for in_interrupt, irq_enable, irq_set... +#include // for UNUSED +#include // for BIT, bit_number, FSP__MISC__BITOPS_H +#include // for ARRAY_SIZE +#include // for readl_base_offset, writel_base_of... +#include // +#include // + +/* Module specific headers */ +#include // for E_SPI_NULL_PTR, E_SPI_... +#include // +#include // Immune from CT_ASSERT protection +#include // for struct spi_ctlr, spi_ctrl... +#include // for spi_port_... + +#define SPI_CS_INACTIVE_ERR (NV_DRF_DEF(SPI, FIFO_STATUS, CS_INACTIVE, DEFAULT_MASK)) +#define SPI_ERR (NV_DRF_DEF(SPI, FIFO_STATUS, ERR, ERROR)) +#define SPI_FIFO_ERROR (NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_UNF, \ + ERROR) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_OVF, \ + ERROR) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_UNF, \ + ERROR) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_OVF, \ + ERROR)) +#define SPI_FIFO_EMPTY (NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_EMPTY, \ + EMPTY) | \ + NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_EMPTY, \ + EMPTY)) + +#define SPI_INTR_DEFAULT_MASK (NV_DRF_DEF(SPI, INTR_MASK, CS_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, FRAME_END_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, RX_FIFO_UNF_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, TX_FIFO_UNF_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, RX_FIFO_UNF_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, RX_FIFO_OVF_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, TX_FIFO_OVF_INTR_MASK, \ + DEFAULT_MASK) | \ + NV_DRF_DEF(SPI, INTR_MASK, RDY_INTR_MASK, \ + DEFAULT_MASK)) + +#define SPI_TX_FIFO_EMPTY NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_EMPTY, \ + EMPTY) + +#define SPI_FIFO_DEPTH 64 +#define DATA_DIR_TX BIT(0) +#define DATA_DIR_RX BIT(1) +#define SPI_MISC_EXT_CLK_EN BIT(30) +#define SPI_FIFO_FLUSH_MAX_DELAY 2000 /* usec */ + +#define SPI_TRANSFER_TIMEOUT (50 * 1000 /* usec */) + +static struct spi_slave_init_setup default_slave_setting = { + .dma_id = NULL, + .dma_chans.tx = 0UL, + .dma_chans.rx = 0UL, + .spi_max_clk_rate = SPI_DEFAULT_MAX_CLK, + .dma_slave_req = 0UL, +}; + +static inline uint32_t +spi_slave_readl(struct spi_ctlr *ctlr, + uint32_t reg) +{ + return readl(ctlr->conf.base_addr + reg); +} + +static inline void +spi_slave_writel(struct spi_ctlr *ctlr, + uint32_t val, + uint32_t reg) +{ + writel(val, ctlr->conf.base_addr + reg); +} + +static void +spi_slave_ext_clk_enable(struct spi_ctlr *ctlr, + bool enable) +{ + uint32_t misc_reg = 0; + + misc_reg = spi_slave_readl(ctlr, SPI_MISC_0); + /* Enable external clock bit in SPI_MISC_REG */ + if (enable) { + misc_reg |= SPI_MISC_EXT_CLK_EN; + } else { + misc_reg &= (~SPI_MISC_EXT_CLK_EN); + } + + spi_slave_writel(ctlr, misc_reg, SPI_MISC_0); +} + +static void +spi_slave_dma_setup(struct spi_ctlr *ctlr, + struct spi_slave_init_setup *setting) +{ + /* TODO: figure out if there is a way to validate these params */ + if (ctlr->slave_dma_support) { + ctlr->dma_id = setting->dma_id; + ctlr->dma_chans.tx = setting->dma_chans.tx; + ctlr->dma_chans.rx = setting->dma_chans.rx; + ctlr->dma_slave_req = setting->dma_slave_req; + } +} + +static uint32_t +spi_calculate_curr_xfer_param(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t remain_len = xfer->len - ctlr->cur_pos; + uint32_t max_word; + uint32_t max_len; + uint32_t total_fifo_words; + bool spi_no_dma = ctlr->cdata[xfer->chip_select].spi_no_dma; + + ctlr->bytes_per_word = (xfer->bits_per_word - 1) / 8 + 1; + + if ((xfer->bits_per_word == 8 || xfer->bits_per_word == 16 || + xfer->bits_per_word == 32) && (remain_len > 3)) { + ctlr->is_packed = 1; + ctlr->words_per_32bit = 32 / xfer->bits_per_word; + } else { + ctlr->is_packed = 0; + ctlr->words_per_32bit = 1; + } + + if (ctlr->is_packed) { + max_len = remain_len; + if (spi_no_dma) { + max_len = min(max_len, (SPI_FIFO_DEPTH * 4)); + } + ctlr->curr_dma_words = max_len / ctlr->bytes_per_word; + total_fifo_words = (max_len + 3) / 4; + } else { + max_word = (remain_len - 1) / ctlr->bytes_per_word + 1; + if (spi_no_dma) { + max_word = min(max_word, SPI_FIFO_DEPTH); + } + ctlr->curr_dma_words = max_word; + total_fifo_words = max_word; + } + + return total_fifo_words; +} + +static uint32_t +spi_fill_tx_fifo_from_client_txbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t nbytes; + uint32_t tx_empty_count; + uint32_t fifo_status; + uint32_t max_n_32bit; + uint32_t i, count, byte_count; + uint32_t x; + uint32_t written_words; + uint32_t fifo_words_left; + uint8_t *tx_buf = (uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos; + + fifo_status = spi_slave_readl(ctlr, SPI_FIFO_STATUS_0); + tx_empty_count = NV_DRF_VAL(SPI, FIFO_STATUS, TX_FIFO_EMPTY_COUNT, + fifo_status); + + if (ctlr->is_packed) { + fifo_words_left = tx_empty_count * ctlr->words_per_32bit; + written_words = min(fifo_words_left, ctlr->curr_dma_words); + nbytes = written_words * ctlr->bytes_per_word; + max_n_32bit = DIV_ROUND_UP(nbytes, 4); + byte_count = 4; + } else { + max_n_32bit = min(ctlr->curr_dma_words, tx_empty_count); + written_words = max_n_32bit; + nbytes = written_words * ctlr->bytes_per_word; + byte_count = ctlr->bytes_per_word; + } + + for (count = 0; count < max_n_32bit; count++) { + x = 0; + for (i = 0; (i < byte_count) && nbytes; i++, nbytes--) + x |= ((*tx_buf++) << (i * 8)); + spi_slave_writel(ctlr, x, SPI_TX_FIFO_0); + } + + ctlr->cur_tx_pos += written_words * ctlr->bytes_per_word; + + return written_words; +} + +static uint32_t +spi_read_rx_fifo_to_client_rxbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t rx_full_count; + uint32_t fifo_status; + uint32_t i, count; + uint32_t x; + uint32_t read_words = 0; + uint32_t len; + uint8_t *rx_buf = (uint8_t *)xfer->rx_buf + ctlr->cur_rx_pos; + + fifo_status = spi_slave_readl(ctlr, SPI_FIFO_STATUS_0); + rx_full_count = NV_DRF_VAL(SPI, FIFO_STATUS, RX_FIFO_FULL_COUNT, + fifo_status); + + if (ctlr->is_packed) { + len = ctlr->curr_dma_words * ctlr->bytes_per_word; + for (count = 0; count < rx_full_count; count++) { + x = spi_slave_readl(ctlr, SPI_RX_FIFO_0); + for (i = 0; len && (i < 4); i++, len--) { + *rx_buf++ = (x >> (i * 8)) & 0xFF; + } + } + ctlr->cur_rx_pos += ctlr->curr_dma_words * ctlr->bytes_per_word; + read_words += ctlr->curr_dma_words; + } else { + for (count = 0; count < rx_full_count; count++) { + x = spi_slave_readl(ctlr, SPI_RX_FIFO_0); + for (i = 0; (i < ctlr->bytes_per_word); i++) { + *rx_buf++ = (x >> (i * 8)) & 0xFF; + } + } + ctlr->cur_rx_pos += rx_full_count * ctlr->bytes_per_word; + read_words += rx_full_count; + } + + return read_words; +} + +static void +spi_copy_client_txbuf_to_spi_txbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t i; + int32_t count; + uint32_t x; + uint32_t offset; + uint8_t *tx_c_buf; + uint32_t base; + uint32_t *tx_buf = (uint32_t *)((uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos); + uint32_t nbytes = ctlr->curr_dma_words * ctlr->bytes_per_word; + + if (!ctlr->is_packed) { + tx_c_buf = (uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos + + nbytes - 1; + /* curr_dma_words and fifo_words are same for unpacked mode */ + for (count = ctlr->curr_dma_words - 1; count >= 0; count--) { + x = 0; + for (i = 0; nbytes && (i < ctlr->bytes_per_word); + i++) { + offset = (--nbytes) % (ctlr->bytes_per_word); + x |= (*tx_c_buf--) << (offset * 8); + } + tx_buf[count] = x; + } + /** + * The following cache flush is needed only for unpacked mode + * as for packed mode you do not need to modify the tx buffer + */ + if (xfer->flags & BIT(TEGRA_SPI_XFER_HANDLE_CACHE)) { + /** + * Align buffer address and length to cache line size + * and flush the cache + */ + base = (uint32_t) xfer->tx_buf & CACHE_LINE_MASK; + spi_port_cache_clean((void *)base, (((ctlr->curr_dma_words * 4) + + (CACHE_LINE_SIZE - 1)) & CACHE_LINE_MASK)); + } + } +} + +static void +spi_copy_spi_rxbuf_to_client_rxbuf(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + unsigned int i; + unsigned int count; + unsigned int x; + unsigned int rx_mask; + uint32_t base; + uint32_t *rx_buf = (uint32_t *)((uint8_t *)xfer->rx_buf + + ctlr->cur_rx_pos); + uint8_t *rx_c_buf = (uint8_t *)xfer->rx_buf + + ctlr->cur_rx_pos; + + /** + * Align buffer address and length to cache line size + * and invalidate the cache + */ + if (xfer->flags & BIT(TEGRA_SPI_XFER_HANDLE_CACHE)) { + base = (uint32_t) xfer->rx_buf & CACHE_LINE_MASK; + spi_port_cache_invalidate((void *)base, + ((xfer->len + (CACHE_LINE_SIZE - 1)) & + CACHE_LINE_MASK)); + } + if (!ctlr->is_packed) { + rx_mask = ((uint64_t)1 << xfer->bits_per_word) - 1; + for (count = 0; count < ctlr->curr_dma_words; count++) { + x = rx_buf[count]; + x &= rx_mask; + rx_c_buf = (uint8_t *)&rx_buf[count]; + for (i = 0; (i < ctlr->bytes_per_word); i++) { + *rx_c_buf++ = (x >> (i*8)) & 0xFF; + } + } + } + ctlr->cur_rx_pos += ctlr->curr_dma_words * ctlr->bytes_per_word; +} + +SECTION_SPI_TEXT static void +handle_pio_err_xfer(struct spi_ctlr *ctlr) +{ + if (ctlr->tx_status || ctlr->rx_status) { + spi_port_clk_reset_pulse(ctlr, 2); + } +} + +SECTION_SPI_TEXT static void +handle_dma_err_xfer(struct spi_ctlr *ctlr) +{ + uint32_t errs = 0UL; + + if ((ctlr->cur_direction & DATA_DIR_TX) && (ctlr->tx_status)) { + errs += 1UL; + } + + if ((ctlr->cur_direction & DATA_DIR_RX) && (ctlr->rx_status)) { + errs += 2UL; + } + + if (errs != 0UL) { + spi_port_clk_reset_pulse(ctlr, 2); + } +} + +SECTION_SPI_TEXT static void +spi_clear_status(struct spi_ctlr *ctlr) +{ + uint32_t val; + + /* Write 1 to clear status register */ + val = spi_slave_readl(ctlr, SPI_TRANSFER_STATUS_0); + spi_slave_writel(ctlr, val, SPI_TRANSFER_STATUS_0); + val = spi_slave_readl(ctlr, SPI_INTR_MASK_0); + + if (NV_DRF_VAL(SPI, INTR_MASK, RDY_INTR_MASK, val) == 0) { + val = NV_FLD_SET_DRF_DEF(SPI, INTR_MASK , CS_INTR_MASK, ENABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, TX_FIFO_OVF_INTR_MASK, ENABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RX_FIFO_OVF_INTR_MASK, ENABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, TX_FIFO_UNF_INTR_MASK, ENABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RX_FIFO_UNF_INTR_MASK, ENABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RDY_INTR_MASK, ENABLE, + val )))))); + + spi_slave_writel(ctlr, val, SPI_INTR_MASK_0); + } + + /* Clear FIFO status error if any */ + val = spi_slave_readl(ctlr, SPI_FIFO_STATUS_0); + if (val & SPI_ERR) { + spi_slave_writel(ctlr, SPI_ERR | SPI_FIFO_ERROR | + SPI_CS_INACTIVE_ERR, + SPI_FIFO_STATUS_0); + } +} + +SECTION_SPI_TEXT void +spi_slave_isr(void *data) +{ + struct spi_ctlr *ctlr = (struct spi_ctlr *)data; + uint32_t cmd1; + bool isr_yield_flag = false; + + cmd1 = spi_slave_readl(ctlr, SPI_COMMAND_0); + ctlr->status_reg = spi_slave_readl(ctlr, SPI_FIFO_STATUS_0); + + if ((cmd1 & NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE)) != 0UL) { + ctlr->tx_status = ctlr->status_reg & + (NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_UNF, ERROR) | + NV_DRF_DEF(SPI, FIFO_STATUS, TX_FIFO_OVF, ERROR)); + } + + if ((cmd1 & NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE)) != 0UL) { + ctlr->rx_status = ctlr->status_reg & + (NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_UNF, ERROR) | + NV_DRF_DEF(SPI, FIFO_STATUS, RX_FIFO_OVF, ERROR)); + } + spi_clear_status(ctlr); + + if (((cmd1 & NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE)) == 0UL) && + ((cmd1 & NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE)) == 0UL)) { + /* SPI: spurious interrupt */ + goto out; + } + + if (!ctlr->is_curr_dma_xfer) { + handle_pio_err_xfer(ctlr); + } else { + if (ctlr->slave_dma_support) { + handle_dma_err_xfer(ctlr); + } + } + + UNUSED((spi_port_xfer_sync_end(ctlr))); + +out: + spi_port_isr_exit(ctlr, isr_yield_flag); +} + +SECTION_SPI_TEXT static error_t +spi_dma_init(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + ret = spi_port_dma_init(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + /* Full duplex transactions require 2 channels. Check your POR + * to ensure 2 channels are supported. + */ + if (ctlr->en_full_duplex) { + /* check for 2 different dma channels if full duplex + * is supported. + */ + if (ctlr->dma_chans.tx == ctlr->dma_chans.rx) { + ret = E_SPI_FD_MODE_NO_SUPPORT; + goto out; + } + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_check_and_clear_fifo(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + uint32_t status; + uint32_t cnt = 0UL; + + /* Make sure that Rx and Tx FIFO are empty */ + status = spi_slave_readl(ctlr, SPI_FIFO_STATUS_0); + if ((status & SPI_FIFO_EMPTY) != SPI_FIFO_EMPTY) { + /* flush the FIFO */ + status = NV_FLD_SET_DRF_DEF(SPI, FIFO_STATUS, + RX_FIFO_FLUSH, FLUSH, status); + status = NV_FLD_SET_DRF_DEF(SPI, FIFO_STATUS, + TX_FIFO_FLUSH, FLUSH, status); + spi_slave_writel(ctlr, status, SPI_FIFO_STATUS_0); + while (cnt != SPI_FIFO_FLUSH_MAX_DELAY) { + status = spi_slave_readl(ctlr, SPI_FIFO_STATUS_0); + if ((status & SPI_FIFO_EMPTY) == SPI_FIFO_EMPTY) { + goto out; + } + udelay(1); + cnt += 1UL; + } + ret = E_SPI_FIFO_NON_EMPTY; + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_slave_start_dma_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t val = 0, cmd1; + uint32_t intr_mask = 0UL; + uint32_t len; + uint32_t burst_size; + + /* For half duplex, ensure rx and tx transfers are not enabled. + * If rx and tx transfers are enabled, return error. + */ + if (ctlr->dma_chans.tx == ctlr->dma_chans.rx) { + if ((ctlr->cur_direction & DATA_DIR_TX) && + (ctlr->cur_direction & DATA_DIR_RX)) { + ret = E_SPI_XFER_NOT_SUPPORTED; + goto out; + } + } + + val = NV_FLD_SET_DRF_NUM(SPI, DMA_BLK_SIZE, DMA_BLOCK_SIZE, + (ctlr->curr_dma_words - 1), val); + spi_slave_writel(ctlr, val, SPI_DMA_BLK_SIZE_0); + + if (ctlr->is_packed) { + len = DIV_ROUND_UP(ctlr->curr_dma_words * ctlr->bytes_per_word, 4) * 4; + } else { + len = ctlr->curr_dma_words * 4; + } + + /* Set attention level based on length of transfer. + * DMA burst size and SPI trigger level should be same. + */ + val = 0; + if (len & 0xF) { + val |= NV_DRF_DEF(SPI, DMA_CTL, TX_TRIG, TRIG1) | + NV_DRF_DEF(SPI, DMA_CTL, RX_TRIG, TRIG1); + burst_size = 1; + } else if (((len) >> 4) & 0x1) { + val |= NV_DRF_DEF(SPI, DMA_CTL, TX_TRIG, TRIG4) | + NV_DRF_DEF(SPI, DMA_CTL, RX_TRIG, TRIG4); + burst_size = 4; + } else { + val |= NV_DRF_DEF(SPI, DMA_CTL, TX_TRIG, TRIG8) | + NV_DRF_DEF(SPI, DMA_CTL, RX_TRIG, TRIG8); + burst_size = 8; + } + + if (ctlr->cur_direction & DATA_DIR_TX) { + spi_copy_client_txbuf_to_spi_txbuf(ctlr, xfer); + ret = spi_port_start_tx_dma(ctlr, xfer, len, burst_size); + if (ret != E_SUCCESS) { + goto out; + } + } + if (ctlr->cur_direction & DATA_DIR_RX) { + ret = spi_port_start_rx_dma(ctlr, xfer, len, burst_size); + if (ret != E_SUCCESS) { + goto out; + } + } + spi_slave_writel(ctlr, val, SPI_DMA_CTL_0); + ctlr->dma_ctrl_reg_val = val; + + intr_mask = NV_FLD_SET_DRF_DEF(SPI, INTR_MASK , CS_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, TX_FIFO_OVF_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RX_FIFO_OVF_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, TX_FIFO_UNF_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RX_FIFO_UNF_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RDY_INTR_MASK, DISABLE, + intr_mask )))))); + + spi_slave_writel(ctlr, intr_mask, SPI_INTR_MASK_0); + + ctlr->is_curr_dma_xfer = true; + cmd1 = ctlr->cmd1_reg_val; + if (ctlr->cur_direction & DATA_DIR_TX) + cmd1 |= NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE); + if (ctlr->cur_direction & DATA_DIR_RX) + cmd1 |= NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE); + spi_slave_writel(ctlr, cmd1, SPI_COMMAND_0); + + val |= NV_DRF_DEF(SPI, DMA_CTL, DMA_EN, ENABLE); + spi_slave_writel(ctlr, val, SPI_DMA_CTL_0); + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_slave_start_pio_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t val = 0UL; + uint32_t cur_words; + uint32_t intr_mask = SPI_INTR_DEFAULT_MASK; + + if (ctlr->cur_direction & DATA_DIR_TX) { + cur_words = spi_fill_tx_fifo_from_client_txbuf(ctlr, xfer); + } else { + cur_words = ctlr->curr_dma_words; + } + + val = NV_FLD_SET_DRF_NUM(SPI, DMA_BLK_SIZE, DMA_BLOCK_SIZE, + (cur_words - 1), val); + + spi_slave_writel(ctlr, val, SPI_DMA_BLK_SIZE_0); + + intr_mask = NV_FLD_SET_DRF_DEF(SPI, INTR_MASK , CS_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, TX_FIFO_UNF_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RX_FIFO_UNF_INTR_MASK, DISABLE, + NV_FLD_SET_DRF_DEF(SPI, INTR_MASK, RDY_INTR_MASK, DISABLE, + intr_mask )))); + + spi_slave_writel(ctlr, intr_mask, SPI_INTR_MASK_0); + + val = 0UL; + spi_slave_writel(ctlr, val, SPI_DMA_CTL_0); + ctlr->dma_ctrl_reg_val = val; + + ctlr->is_curr_dma_xfer = false; + val = ctlr->cmd1_reg_val; + if (ctlr->cur_direction & DATA_DIR_TX) { + val |= NV_DRF_DEF(SPI, COMMAND, Tx_EN, ENABLE); + } + if (ctlr->cur_direction & DATA_DIR_RX) { + val |= NV_DRF_DEF(SPI, COMMAND, Rx_EN, ENABLE); + } + spi_slave_writel(ctlr, val, SPI_COMMAND_0); + + val = NV_FLD_SET_DRF_DEF(SPI, COMMAND, PIO, PIO, val); + spi_slave_writel(ctlr, val, SPI_COMMAND_0); + spi_slave_ext_clk_enable(ctlr, true); + + return ret; +} + +SECTION_SPI_TEXT static void +spi_configure_cmd1_reg(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + uint32_t command1; + uint32_t cs_pol_bit[MAX_CHIP_SELECT] = { + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE0, HIGH), + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE1, HIGH), + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE2, HIGH), + NV_DRF_DEF(SPI, COMMAND, CS_POL_INACTIVE3, HIGH), + }; + + command1 = ctlr->def_cmd1_reg_val; + if (xfer->mode & TEGRA_SPI_CS_HIGH) { + command1 &= ~cs_pol_bit[xfer->chip_select]; + } else { + command1 |= cs_pol_bit[xfer->chip_select]; + } + + ctlr->def_cmd1_reg_val = command1; + + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, BIT_LENGTH, + (xfer->bits_per_word - 1), command1); + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, MODE, + (xfer->mode & 0x3), command1); + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, CS_SW_HW, SOFTWARE, command1); + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, CS_SW_VAL, + (xfer->mode & TEGRA_SPI_CS_HIGH), command1); + + if (xfer->mode & TEGRA_SPI_LSBYTE_FIRST) { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Byte, + FIRST, command1); + } else { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Byte, + LAST, command1); + } + + if (xfer->mode & TEGRA_SPI_LSB_FIRST) { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Bit, FIRST, command1); + } else { + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, En_LE_Bit, LAST, command1); + } + + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, BIDIR, NORMAL, command1); + + if (ctlr->is_packed) { + command1 |= NV_DRF_DEF(SPI, COMMAND, PACKED, ENABLE); + } else { + command1 &= ~(NV_DRF_DEF(SPI, COMMAND, PACKED, ENABLE)); + } + + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, CS_SEL, CS0, command1); + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, Tx_EN, DISABLE, command1); + command1 = NV_FLD_SET_DRF_DEF(SPI, COMMAND, Rx_EN, DISABLE, command1); + + command1 = NV_FLD_SET_DRF_NUM(SPI, COMMAND, CS_SEL, xfer->chip_select, + command1); + + spi_slave_writel(ctlr, command1, SPI_COMMAND_0); + ctlr->cmd1_reg_val = command1; + +} + +SECTION_SPI_TEXT static error_t +spi_slave_handle_message(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + bool reset = false; + + if (!ctlr->is_curr_dma_xfer) { + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_read_rx_fifo_to_client_rxbuf(ctlr, xfer); + ctlr->cur_pos = ctlr->cur_rx_pos; + } else { + ctlr->cur_pos = ctlr->cur_tx_pos; + } + } else { + if (ctlr->tx_dma_status != E_SUCCESS) { + if (ctlr->cur_direction & DATA_DIR_TX) { + spi_port_tx_dma_xfer_abort(ctlr); + reset = true; + } + } + if (ctlr->tx_dma_status != E_SUCCESS) { + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_port_rx_dma_xfer_abort(ctlr); + reset = true; + } + } + if (reset) { + spi_port_clk_reset_pulse(ctlr, 2); + ret = E_SPI_DMA_XFER_FAIL; + goto out; + } + + if (ctlr->cur_direction & DATA_DIR_TX) { + ctlr->cur_tx_pos += ctlr->curr_dma_words * ctlr->bytes_per_word; + ctlr->cur_pos = ctlr->cur_tx_pos; + } + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_copy_spi_rxbuf_to_client_rxbuf(ctlr, xfer); + ctlr->cur_pos = ctlr->cur_rx_pos; + } + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_wait_on_message_xfer(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + uint32_t int_source; + uint32_t cmd1_reg_val; + uint32_t prog_byte_per_word; + uint32_t rx_full_count; + bool xfer_timeout = false; + + cmd1_reg_val = spi_slave_readl(ctlr, SPI_COMMAND_0); + /* + * For synchronous transfers, the driver relies on the port specific + * implementation of some kind of synchronization mechanism until the + * SPI transfer is complete. + */ + ret = spi_port_xfer_sync(ctlr, SPI_TRANSFER_TIMEOUT); + if (ret == E_SUCCESS) { + int_source = ctlr->status_reg; + } else { + xfer_timeout = true; + /* disable PIO bit if transfer timed out */ + if (ctlr->is_curr_dma_xfer == false) { + spi_slave_writel(ctlr,(0x7fffffff & cmd1_reg_val), SPI_COMMAND_0); + } + spi_port_clk_reset_pulse(ctlr, 2); + spi_check_and_clear_fifo(ctlr); + } + + if (xfer_timeout || ctlr->rx_status || ctlr->tx_status) { + if (ctlr->is_curr_dma_xfer) { + if (ctlr->cur_direction & DATA_DIR_TX) { + spi_port_tx_dma_xfer_abort(ctlr); + } + if (ctlr->cur_direction & DATA_DIR_RX) { + spi_port_rx_dma_xfer_abort(ctlr); + } + } + ret = E_SPI_XFER_ERR; + goto out; + } + + if (int_source & SPI_CS_INACTIVE_ERR) { + rx_full_count = NV_DRF_VAL(SPI, FIFO_STATUS, + RX_FIFO_FULL_COUNT, int_source); + prog_byte_per_word = spi_slave_readl(ctlr, SPI_DMA_BLK_SIZE_0); + /* CS_INACTIVE deassert interrupt is considered as error only when + * number of bytes transferred are less than programmed bytes + */ + if (((ctlr->cur_direction & DATA_DIR_RX) && + (rx_full_count != prog_byte_per_word + 1)) || + ((ctlr->cur_direction & DATA_DIR_TX) && + !(int_source & SPI_TX_FIFO_EMPTY))) { + spi_port_clk_reset_pulse(ctlr, 2); + spi_check_and_clear_fifo(ctlr); + ret = E_SPI_XFER_ERR; + } + } + +out: + return ret; +} + +SECTION_SPI_TEXT static void +spi_init_ctlr_context(struct spi_ctlr *ctlr) +{ + ctlr->cur_pos = 0UL; + ctlr->cur_rx_pos = 0UL; + ctlr->cur_tx_pos = 0UL; + ctlr->tx_status = 0UL; + ctlr->rx_status = 0UL; + ctlr->cur_direction = 0UL; +} + +SECTION_SPI_TEXT static error_t +spi_start_transfer_one(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t total_fifo_words; + + spi_init_ctlr_context(ctlr); + + ctlr->cur_xfer = xfer; + total_fifo_words = spi_calculate_curr_xfer_param(ctlr, xfer); + + if (xfer->rx_buf != NULL) { + ctlr->cur_direction |= DATA_DIR_RX; + } + if (xfer->tx_buf != NULL) { + ctlr->cur_direction |= DATA_DIR_TX; + } + + /* Return if neither RX or TX is requested OR + * not all words are available + */ + if ((ctlr->cur_direction == 0UL) || + ((xfer->len % ctlr->bytes_per_word) != 0UL)) { + ret = E_SPI_INVALID_PARAM; + goto out; + } + + spi_clear_status(ctlr); + + spi_configure_cmd1_reg(ctlr, xfer); + + /* Make sure that Rx and Tx FIFO are empty */ + ret = spi_check_and_clear_fifo(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + if (total_fifo_words > SPI_FIFO_DEPTH) { + ret = spi_slave_start_dma_transfer(ctlr, xfer); + } else { + ret = spi_slave_start_pio_transfer(ctlr, xfer); + } + +out: + return ret; +} + +SECTION_SPI_TEXT static error_t +spi_slave_transfer_remain_message(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + uint32_t total_fifo_words; + + total_fifo_words = spi_calculate_curr_xfer_param(ctlr, xfer); + if (ctlr->is_curr_dma_xfer) { + /* Make sure that Rx and Tx FIFO are empty */ + ret = spi_check_and_clear_fifo(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + if (total_fifo_words > SPI_FIFO_DEPTH) { + ret = spi_slave_start_dma_transfer(ctlr, xfer); + } else { + ret = spi_slave_start_pio_transfer(ctlr, xfer); + } + if (ret != E_SUCCESS) { + goto out; + } + } else { + ret = spi_slave_start_pio_transfer(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + } + + ret = spi_wait_on_message_xfer(ctlr); + +out: + return ret; +} + +SECTION_SPI_TEXT error_t +spi_slave_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL || xfer == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_SPI_NULL_PTR; + goto out; + } + + if (xfer->len == 0) { + goto out; + } + + ctlr->busy = true; + /* switch off ext clk before programming registers */ + spi_slave_ext_clk_enable(ctlr, false); + spi_port_clk_reset_pulse(ctlr, 2); + + if (xfer->flags & BIT(TEGRA_SPI_XFER_FIRST_MSG)) { + ret = spi_start_transfer_one(ctlr, xfer); + } else { + ret = spi_slave_transfer_remain_message(ctlr, xfer); + } + + if (ret != E_SUCCESS) { + goto out; + } + + ret = spi_wait_on_message_xfer(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + ret = spi_slave_handle_message(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + + if (ctlr->cur_pos == xfer->len) { + goto out; + } + + while (1) { + ret = spi_slave_transfer_remain_message(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + + ret = spi_slave_handle_message(ctlr, xfer); + if (ret != E_SUCCESS) { + goto out; + } + + if (ctlr->cur_pos == xfer->len) { + break; + } + } + +out: + if (ctlr != NULL) { + ctlr->busy = false; + } + + return ret; +} + +SECTION_SPI_INIT_TEXT error_t +spi_slave_setup(struct spi_ctlr *ctlr, + struct spi_client_setting *setting) +{ + error_t ret = E_SUCCESS; + struct spi_client_setting *cdata; + + if (ctlr == NULL || setting == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_SPI_NULL_PTR; + goto out; + } + + if (setting->spi_max_clk_rate == 0UL) { + ret = E_SPI_INVALID_CLK_RATE; + goto out; + } + + cdata = &ctlr->cdata[setting->chip_select]; + cdata->chip_select = setting->chip_select; + cdata->spi_max_clk_rate = setting->spi_max_clk_rate; + cdata->spi_no_dma = setting->spi_no_dma; + + ret = spi_port_clk_set_rate(ctlr, (setting->spi_max_clk_rate * 3) >> 1); + if (ret != E_SUCCESS) { + goto out; + } + + ctlr->spi_clk_rate = (setting->spi_max_clk_rate * 3) >> 1; + +out: + return ret; +} + +SECTION_SPI_INIT_TEXT error_t +spi_slave_init(struct spi_ctlr *ctlr, + struct spi_slave_init_setup *setting) +{ + error_t ret = E_SUCCESS; + + /* sanity check the controller pointer */ + if (ctlr == NULL) { + INLINE_RFD(MISRA, FP, Rule_10_8, "Approval: JIRA TID-412, DR: SWE-FSP-021-SWSADR.docx"); + ret = E_SPI_NULL_PTR; + goto out; + } + + /* sanity check for setting pointer */ + if (setting == NULL) { + setting = &default_slave_setting; + } + + ctlr->spi_clk_rate = (setting->spi_max_clk_rate) ? + setting->spi_max_clk_rate : + default_slave_setting.spi_max_clk_rate; + + spi_slave_dma_setup(ctlr, setting); + + ctlr->busy = false; + + /* Set slave controller clk 1.5 times the bus frequency */ + ret = spi_port_clk_set_rate(ctlr, ((ctlr->spi_clk_rate *3) >>1)); + if (ret!= E_SUCCESS) { + goto out; + } + + /* enable the clock for the UART controller */ + ret = spi_port_clk_enable(ctlr); + if (ret!= E_SUCCESS) { + goto out; + } + + /* reset the SPI slave controller */ + ret = spi_port_clk_reset_pulse(ctlr, 2); + if (ret!= E_SUCCESS) { + goto out; + } + + spi_slave_ext_clk_enable(ctlr, false); + + /* + * FIXME: DMA path is not yet verified for spi-slave driver. + * Currently we support PIO mode only. + */ + if (ctlr->slave_dma_support) { + ret = spi_dma_init(ctlr); + if (ret != E_SUCCESS) { + ret = E_SPI_INIT_FAIL; + spi_port_clk_disable(ctlr); + goto out; + } + } + + if (ctlr->conf.irq != UINT32_MAX) { + /* register irq handler and enable irq */ + ret = irq_safe_set_handler(ctlr->conf.irq, spi_slave_isr, ctlr); + if (ret != E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + ret = irq_safe_enable(ctlr->conf.irq); + if (ret != E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + } + + /* port specific SPI controller setup callout */ + ret = spi_port_init(ctlr); + if (ret != E_SUCCESS) { + spi_port_clk_disable(ctlr); + goto out; + } + + ctlr->def_cmd1_reg_val = NV_DRF_DEF(SPI, COMMAND, M_S, SLAVE) | + NV_DRF_DEF(SPI, COMMAND, En_LE_Byte, FIRST) | + NV_DRF_DEF(SPI, COMMAND, CS_SEL, CS0); + spi_slave_writel(ctlr, ctlr->def_cmd1_reg_val, SPI_COMMAND_0); + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/ssp/module-ssp-config.mk b/spe-freertos-bsp/fsp/source/drivers/ssp/module-ssp-config.mk new file mode 100644 index 0000000..ccd9163 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/ssp/module-ssp-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ssp-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SSP_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_SSP_DEPENDS := CPL FSP_COMMON +$(foreach _,$(MODULE_SSP_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_SSP_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/ssp +MODULE_SSP_SOURCE_DIR = $(MODULE_SSP_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_SSP_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/ssp/module-ssp.mk b/spe-freertos-bsp/fsp/source/drivers/ssp/module-ssp.mk new file mode 100644 index 0000000..ceb063f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/ssp/module-ssp.mk @@ -0,0 +1,70 @@ +# +# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-ssp.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_SSP_NAME := SSP + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SSP_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_SSP_DEPENDS := SSP CPL +$(foreach _,$(CONFIG_SSP_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_SSP_C_SRC = + +ifeq ($(NVRISCV_FEATURE_SSP), y) +MODULE_SSP_C_SRC += $(MODULE_SSP_DRIVERS_DIR)/ssp.c +endif +# +# Assembly source +MODULE_SSP_ASM_SRC = + +# +# Special C Flags +MODULE_SSP_C_FLAGS = + +ifeq ($(NVRISCV_FEATURE_SSP), y) +MODULE_SSP_C_FLAGS += -fstack-protector-strong +MODULE_SSP_C_FLAGS += --param=ssp-buffer-size=4 +MODULE_SSP_C_FLAGS += -Wstack-protector +endif + +# +# Special ASM Flags +MODULE_SSP_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/ssp/ssp.c b/spe-freertos-bsp/fsp/source/drivers/ssp/ssp.c new file mode 100644 index 0000000..34d92fa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/ssp/ssp.c @@ -0,0 +1,121 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2020 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +#include +#include +#include +#include +#include +#include +#if !NVRISCV_FEATURE_SSP_FORCE_SW_CANARY +#include +#include +#endif // NVRISCV_FEATURE_SSP_FORCE_SW_CANARY + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") + +#define CHECK_ERROR_OR_GOTO(X, Y) \ +({ \ + ret = X; \ + if (ret != E_SUCCESS) \ + { \ + goto Y; \ + } \ +}) + +/* + * For baremetal image, it can stay as is. + * For multi-partition images, it likely nees to be written in some shared data + * segment and then stored/restored on partition entry/exit + */ +GCC_ATTR_SECTION(".data.libnvriscv.__stack_chk_guard") +uintptr_t __stack_chk_guard = 0; + +#if !NVRISCV_FEATURE_SSP_FORCE_SW_CANARY +GCC_ATTR_SECTION(".data.libnvriscv.ssp_scpdma_buf") +GCC_ATTR_ALIGNED(SCP_RAND_SIZE) static uintptr_t ssp_scpdma_buf[SCP_RAND_SIZE / sizeof(uint64_t)] = {0,}; +#endif + +GCC_ATTR_NAKED +GCC_ATTR_NORETURN +GCC_ATTR_NO_SSP +void __stack_chk_fail(void) +{ +#if NVRISCV_FEATURE_SSP_ENABLE_FAIL_HOOK + __asm__("jal ssp_check_fail_hook"); +#endif // NVRISCV_FEATURE_SSP_ENABLE_FAIL_HOOK + __asm__("j riscv_panic"); +} + +GCC_ATTR_NO_SSP +void ssp_set_canary(uintptr_t canary) +{ + __stack_chk_guard = canary; +} + +uintptr_t ssp_get_canary(void) +{ + return __stack_chk_guard; +} + +#if !NVRISCV_FEATURE_SSP_FORCE_SW_CANARY +GCC_ATTR_NO_SSP +error_t ssp_generate_and_set_canary_with_init(void) +{ + error_t ret = E_SUCCESS; + + CHECK_ERROR_OR_GOTO((scp_Init(SCP_INIT_FLAG_DEFAULT)), out); + + CHECK_ERROR_OR_GOTO((scp_Configure_Rand(SCP_RAND_CONFIG_DEFAULT)), out); + + CHECK_ERROR_OR_GOTO((scp_Start_Rand()), out); + + CHECK_ERROR_OR_GOTO((ssp_generate_and_set_canary()), out); + + ret = scp_Shutdown(); + +out: + return ret; + +} + +GCC_ATTR_NO_SSP +error_t ssp_generate_and_set_canary(void) +{ + error_t ret = E_SUCCESS; + uint32_t attempts=10; // Try 10 times to get proper number + + ssp_scpdma_buf[0] = 0; + + while (attempts--) + { + CHECK_ERROR_OR_GOTO((scp_Get_Rand((uintptr_t)&ssp_scpdma_buf, sizeof(ssp_scpdma_buf), 0)), out); + + if (ssp_scpdma_buf[0] != 0) + { + ssp_set_canary(ssp_scpdma_buf[0]); + goto out; + } + } + + ret = E_TIMEOUT; + +out: + // Wipe buffer to avoid canary leak + ssp_scpdma_buf[0] = 0; + return ret; +} +#endif // NVRISCV_FEATURE_SSP_FORCE_SW_CANARY + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/tke/module-tke-config.mk b/spe-freertos-bsp/fsp/source/drivers/tke/module-tke-config.mk new file mode 100644 index 0000000..f984654 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/tke/module-tke-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-tke-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_TKE_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_TKE_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_TKE_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_TKE_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/tke +MODULE_TKE_SOURCE_DIR = $(MODULE_TKE_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_TKE_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/tke/module-tke.mk b/spe-freertos-bsp/fsp/source/drivers/tke/module-tke.mk new file mode 100644 index 0000000..9e88fe4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/tke/module-tke.mk @@ -0,0 +1,66 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-tke.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_TKE_NAME := TKE + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_TKE_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_TKE_DEPENDS := TKE SOC CPL OSA +$(foreach _,$(CONFIG_TKE_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_TKE_C_SRC = +MODULE_TKE_C_SRC += $(MODULE_TKE_DRIVERS_DIR)/tke-tegra.c +MODULE_TKE_C_SRC += $(MODULE_TKE_DRIVERS_DIR)/tke/tke-tegra-udelay.c +MODULE_TKE_C_SRC += $(MODULE_TKE_DRIVERS_DIR)/tke/tke-tegra-tsc-fixed.c +MODULE_TKE_C_SRC += $(CPL_SOC_IDS)/tke-tegra-ids.c + +# +# Assembly source +MODULE_TKE_ASM_SRC = +MODULE_TKE_ASM_SRC += $(CPL_SOC_PORT)/tke-irq.S + +# +# Special C Flags +MODULE_TKE_C_FLAGS = + +# +# Special ASM Flags +MODULE_TKE_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-tsc-fixed.c b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-tsc-fixed.c new file mode 100644 index 0000000..4b1a33f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-tsc-fixed.c @@ -0,0 +1,242 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint64_t, uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTICK_RATE_MS +#include // for hilo_to_64, FSP__MISC__BITOPS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for tegra_tke_get_tsc64, FSP__TKE__TK... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Number of nanoseconds per tic of TSC + */ +#define TEGRA_TKE_TSC_NS_PER_TIC 32U + +/** + * div_by_1000() - return value divided by 1000 + * + * @value: 64-bit value that is to be divided by 1000 + * + * This function will divide a 64-bit value by 1000. It will do it so + * as not to pull in the general 64-bit divide code. + * + * Return Value: + * 64-bit value representing the input divided by 1000. + */ +SECTION_TKE_TEXT static uint64_t +div_by_1000(const uint64_t value) +{ + uint32_t value_hi; + uint32_t value_lo; + uint64_t result; + + /* + * There isn't a 64-bit divide on the R5 and to avoid + * pulling in a lot of library code, a bit of a "cheat" + * is being done here. + * + * The idea is that if value fits in 32-bits then perform + * a 32-bit divide and expand it back to 64-bits (where it + * is known that the upper 32-bits will be 0). + * + * If the upper 32-bits of value are not zero, then approximate + * the divide with some shifts and adds. Since the result is + * being used by timer functions, super high accuracy is not + * absolutely required. + */ + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + value_hi = HI32(value); + if (value_hi == 0U) { + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + value_lo = LOW32(value); + value_lo /= 1000U; + result = PACK64(value_lo, value_hi); + } else { + /* + * Approximate dividing by 1000 + * + * Division is really an approximation and is really + * just multiplication by the reciprocal (e.g. x / 1000 + * is equivalent to x * 1/1000). So what the code is + * doing is multiplying the value by 1/1000 (or the + * approximation thereof). + * + * The series for x/1000 (for at least to the accuracy we + * need) is: + * x/1000 ~= x/2^10 + x/2^16 + x/2^17 + x/2^21 + x/2^24 + * + * It could argued that for the timing needs that only the + * first term is sufficient but computing the extra terms + * is not expensive and results in a closer approximation. + */ + START_RFD_BLOCK(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + result = value >> 10; + result += value >> 16; + result += value >> 17; + result += value >> 21; + result += value >> 24; + END_RFD_BLOCK(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + } + + return result; +} + +/** + * tegra_tke_convert_usecs_to_ticks() - Convert a microsecond value to ticks + * + * @value: a value in microseconds to be converted + * + * This function will covert a value that is represented in microseconds and + * convert that to the equivalent number of ticks (with lower resolution of + * course). + * + * Return Values: + * number of ticks that represents the value + */ +SECTION_TKE_TEXT uint64_t +tegra_tke_convert_usecs_to_ticks(const uint64_t value) +{ + uint64_t ticks; + + ticks = div_by_1000(value) / rtosTICK_RATE_MS; + + return ticks; +} + +/* TSC timestamp at nanosecond resolution */ +SECTION_TKE_TEXT uint64_t +tegra_tke_get_tsc_ns(void) +{ + /* TSC (cntfid0) is usually 31.25MHz, cntperiod is 32 ns */ + return tegra_tke_get_tsc64() * TEGRA_TKE_TSC_NS_PER_TIC; +} + +/* Convert nanosecond to TSC timestamp*/ +SECTION_TKE_TEXT uint64_t +tegra_tke_ns_to_tsc(uint64_t ns) +{ + /* TSC is 31.25MHz = 32 ns, devide by 32*/ + return (ns / TEGRA_TKE_TSC_NS_PER_TIC); +} + +/* Convert TSC timestamp to nanosecond resolution */ +SECTION_TKE_TEXT uint64_t +tegra_tke_tsc_to_ns(uint64_t tsc) +{ + /* TSC is 31.25MHz = 32 ns */ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + return tsc * TEGRA_TKE_TSC_NS_PER_TIC; +} + +SECTION_TKE_TEXT uint64_t +tegra_tke_get_elapsed_usec(uint32_t prev_tsc_hi, uint32_t prev_tsc_low) +{ + uint64_t result, curr_tsc, prev_tsc; + + curr_tsc = tegra_tke_get_tsc64(); + prev_tsc = hilo_to_64(prev_tsc_hi, prev_tsc_low); + + /* cntfid0 holds the base frequency of the tsc. + * This will always be the frequency tsc runs. + * There is no plan to change it for tegra + */ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + result = div_by_1000((curr_tsc - prev_tsc) * TEGRA_TKE_TSC_NS_PER_TIC); + + return result; +} + +/** + * tegra_tke_get_elapsed_usecs64() - Return elapsed microseconds + * + * @start: value of TSC at the start of the period of when + * the elapsed time is being computed. + * + * Return Value: + * the number of microseconds that have elapsed between when + * the start time was taken and this function called. This is + * a 64-bit value. + */ +SECTION_TKE_TEXT uint64_t +tegra_tke_get_elapsed_usecs64(const uint64_t start) +{ + uint64_t elapsed; + uint64_t now; + uint64_t elapsed_tsc; + + now = tegra_tke_get_tsc64(); + + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + elapsed_tsc = now - start; + + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + elapsed = div_by_1000(elapsed_tsc * TEGRA_TKE_TSC_NS_PER_TIC); + + return elapsed; +} + +SECTION_TKE_INIT_TEXT void +tegra_tsc_init(void) +{ +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-tsc-var.c b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-tsc-var.c new file mode 100644 index 0000000..2e0d0b8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-tsc-var.c @@ -0,0 +1,152 @@ +/* + * Copyright (c) 2015-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint64_t, uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_TSC_IMPL_BASE + +/* Late FSP headers */ +#include // for hilo_to_64, FSP__MISC__BITOPS_H +#include // for readl, FSP__REG_ACCESS__REG_ACCESS_H + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for FSP__TKE__TKE_TEGRA_REGS_H, TSC_B... +#include // for tegra_tke_get_tsc64, FSP__TKE__TK... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") + +static uint32_t cntfid0 SECTION_TKE_DATA; +static uint32_t cntperiod SECTION_TKE_DATA; + +/* TSC timestamp at nanosecond resolution */ +SECTION_TKE_TEXT uint64_t +tegra_tke_get_tsc_ns(void) +{ + /* TSC (cntfid0) is usually 31.25MHz, cntperiod is 32 ns */ + return tegra_tke_get_tsc64() * cntperiod; +} + +/* Convert nanosecond to TSC timestamp*/ +SECTION_TKE_TEXT uint64_t +tegra_tke_ns_to_tsc(uint64_t ns) +{ + /* TSC is 31.25MHz = 32 ns, devide by 32*/ + return (cntperiod != 0U) ? (ns / cntperiod) : 0ULL; +} + +/* Convert TSC timestamp to nanosecond resolution */ +SECTION_TKE_TEXT uint64_t +tegra_tke_tsc_to_ns(uint64_t tsc) +{ + /* TSC is 31.25MHz = 32 ns */ + return tsc * cntperiod; +} + +SECTION_TKE_TEXT uint64_t +tegra_tke_get_elapsed_usec(uint32_t prev_tsc_hi, uint32_t prev_tsc_low) +{ + uint64_t result, curr_tsc, prev_tsc; + + curr_tsc = tegra_tke_get_tsc64(); + prev_tsc = hilo_to_64(prev_tsc_hi, prev_tsc_low); + + /* cntfid0 holds the base frequency of the tsc. + * This will always be the frequency tsc runs. + * There is no plan to change it for tegra + */ + result = (curr_tsc - prev_tsc) * cntperiod / 1000; + + return result; +} + +/** + * tegra_tke_get_elapsed_usecs64() - Return elapsed microseconds + * + * @start: value of TSC at the start of the period of when + * the elapsed time is being computed. + * + * Return Value: + * the number of microseconds that have elapsed between when + * the start time was taken and this function called. This is + * a 64-bit value. + */ +SECTION_TKE_TEXT uint64_t +tegra_tke_get_elapsed_usecs64(const uint64_t start) +{ + uint64_t elapsed; + uint64_t now; + uint64_t elapsed_tsc; + + now = tegra_tke_get_tsc64(); + + elapsed_tsc = now - start; + + elapsed = (elapsed_tsc * cntperiod) / 1000; + + return elapsed; +} + +SECTION_TKE_INIT_TEXT void +tegra_tsc_init(void) +{ + uint32_t m0, r0, d0; + uint32_t val; + + val = readl(NV_ADDRESS_MAP_TSC_IMPL_BASE + TSC_MTSCANNR_0); + + m0 = (val & TSC_MTSCANNR_0_M0_MASK) >> TSC_MTSCANNR_0_M0_SHIFT; + r0 = (val & TSC_MTSCANNR_0_R0_MASK) >> TSC_MTSCANNR_0_R0_SHIFT; + + val = readl(NV_ADDRESS_MAP_TSC_IMPL_BASE + TSC_MTSCANDR_0); + d0 = (val & TSC_MTSCANDR_0_D0_MASK) >> TSC_MTSCANDR_0_D0_SHIFT; + + cntfid0 = (TSC_BASE_RATE / d0) * (d0 * r0 + m0); + cntperiod = 1000000000U / cntfid0; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-udelay.c b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-udelay.c new file mode 100644 index 0000000..4a7eb66 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra-udelay.c @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2015-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint64_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskIsSchedulerStarted +#include // for barrier_compiler, FSP__ARM__COMMON_... +#include // for FSP__DELAY__DELAY_H, get_time_delta_us +#include // for in_critical, in_interrupt +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for tegra_tke_get_elapsed_usecs64, tegr... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BARRIERS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +void udelay(uint64_t delay_us) +{ + bool cant_yield; + uint64_t start = tegra_tke_get_tsc64(); + + cant_yield = in_interrupt(); + if (!cant_yield) { + /* xTaskGetSchedulerState can't be called from an ISR */ + cant_yield = (!rtosTaskIsSchedulerStarted()) || in_critical(); + } + + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + while ((tegra_tke_get_elapsed_usecs64(start)) <= delay_us) { + if (cant_yield) { + barrier_compiler(); + } else { + rtosTaskYield(); + } + } +} + +uint64_t get_time_ticks(void) +{ + return tegra_tke_get_elapsed_usecs64(0ULL); +} + +uint64_t get_time_delta_us(uint64_t ticks_start) +{ + return tegra_tke_get_elapsed_usecs64(ticks_start); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra.c b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra.c new file mode 100644 index 0000000..551ac77 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/tke/tke-tegra.c @@ -0,0 +1,272 @@ +/* + * Copyright (c) 2015-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, true +#include // for NULL +#include // for uint32_t, uint64_t + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for TKE_TOP_SHARED_TKETSC0_0, TKE_TOP... + +/* Late FSP headers */ +#include // for rtosSystemTickHandler +#include // for ASSERT, FSP__DEBUG__ASSERT_H +#include // for E_SUCCESS +#include // for irq_safe_disable, irq_safe_enable, irq_safe_set_... +#include // for FSP__MISC__ATTRIBUTES_H, UNUSED +#include // for hilo_to_64, FSP__MISC__BITOPS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for readl_base_offset, writel_base_of... + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for tegra_tke_id, tegra_tke_conf, tke... +#include // for TKE_TIMER_TMRCR_0, TKE_TIMER_TMRSR_0 +#include // for FSP__TKE__TKE_TEGRA_H, tegra_tke_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +static inline uint32_t +tegra_tke_timer_readl(const struct tegra_tke_id *id, uint32_t reg) +{ + return readl_base_offset(id->conf.base_addr, reg); +} + +static inline void +tegra_tke_timer_writel(const struct tegra_tke_id *id, uint32_t val, uint32_t reg) +{ + writel_base_offset(val, id->conf.base_addr, reg); +} + +SECTION_TKE_TEXT void +tegra_tke_set_up_timer(struct tegra_tke_id *id, uint32_t clk_src_sel, + bool periodic, uint32_t divisor, + tegra_tke_timer_callback callback, void *data) +{ + uint32_t tmrcr; + error_t err; + + ASSERT(divisor != 0UL); + id->callback = callback; + id->data = data; + + /* select timer clock source */ + tegra_tke_timer_writel(id, clk_src_sel, TKE_TIMER_TMRCSSR_0); + + /* Disable timer, set cycle counter */ + tmrcr = (divisor - 1U) & TKE_TIMER_TMRCR_0_PTV; + tegra_tke_timer_writel(id, tmrcr, TKE_TIMER_TMRCR_0); + + /* Clear timer interrupts. */ + tegra_tke_timer_writel(id, TKE_TIMER_TMRSR_0_INTR_CLR, TKE_TIMER_TMRSR_0); + + /* Enable timer and configure timer type. */ + tmrcr |= TKE_TIMER_TMRCR_0_EN; + if (periodic) { + tmrcr |= TKE_TIMER_TMRCR_0_PER; + } + tegra_tke_timer_writel(id, tmrcr, TKE_TIMER_TMRCR_0); + + if (id->conf.irq != TEGRA_TKE_NO_IRQ) { + err = irq_safe_set_handler(id->conf.irq, tegra_tke_irq, (void *)id); + ASSERT(err == E_SUCCESS); + err = irq_safe_enable(id->conf.irq); + ASSERT(err == E_SUCCESS); + } +} + +SECTION_TKE_TEXT void +tegra_tke_stop_timer(const struct tegra_tke_id *id) +{ + uint32_t tmrcr; + error_t err; + + if (id->conf.irq != TEGRA_TKE_NO_IRQ) { + err = irq_safe_disable(id->conf.irq); + ASSERT(err == E_SUCCESS); + } + + tmrcr = tegra_tke_timer_readl(id, TKE_TIMER_TMRCR_0); + tmrcr &= ~TKE_TIMER_TMRCR_0_EN; + tegra_tke_timer_writel(id, tmrcr, TKE_TIMER_TMRCR_0); +} + +SECTION_TKE_TEXT uint32_t +tegra_tke_get_pcv(const struct tegra_tke_id *id) +{ + uint32_t val; + + val = tegra_tke_timer_readl(id, TKE_TIMER_TMRSR_0); + + return val & TKE_TIMER_TMRSR_0_PCV; +} + +SECTION_TKE_TEXT void +tegra_tke_enable_timer_irq(const struct tegra_tke_id *id) +{ + error_t err; + + if (id->conf.irq != TEGRA_TKE_NO_IRQ) { + err = irq_safe_enable(id->conf.irq); + ASSERT(err == E_SUCCESS); + } +} + +SECTION_TKE_TEXT void +tegra_tke_disable_timer_irq(const struct tegra_tke_id *id) +{ + error_t err; + + if (id->conf.irq != TEGRA_TKE_NO_IRQ) { + err = irq_safe_disable(id->conf.irq); + ASSERT(err == E_SUCCESS); + } +} + +SECTION_TKE_TEXT void +tegra_tke_clear_timer_irq(const struct tegra_tke_id *id) +{ + tegra_tke_timer_writel(id, TKE_TIMER_TMRSR_0_INTR_CLR, + TKE_TIMER_TMRSR_0); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_TKE_TEXT void tegra_tke_irq(void *tke_id) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + const struct tegra_tke_id *id = (const void *)tke_id; + + tegra_tke_clear_timer_irq(id); + + if (id->callback != NULL) { + id->callback(id->data); + } +} + +SECTION_TKE_TEXT void +tegra_tke_get_tsc(uint32_t *tsc_hi, uint32_t *tsc_lo) +{ + uint64_t tsc = tegra_tke_get_tsc64(); + + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + *tsc_lo = LOW32(tsc); + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-559, DR: SWE-FSP-048-SWSADR.docx"); + *tsc_hi = HI32(tsc); +} + +/* TSC timestamp from 31.25 MHz clock (32 ns cycle) */ +SECTION_TKE_TEXT uint32_t +tegra_tke_get_tsc32(void) +{ + return readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKETSC0_0); +} + +SECTION_TKE_TEXT uint64_t +tegra_tke_get_tsc64(void) +{ + uint32_t hi0, lo, hi; + + /* + * Here is how the code to handle rollover of the upper word: + * Always read twice the MSW, pattern is read MSW, LSW, MSW. + * If the two MSW are OK then it's done, otherwise read LSW a + * second time, and keep the second set of both values + */ + hi0 = readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKETSC1_0); + lo = readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKETSC0_0); + hi = readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKETSC1_0); + + if (hi0 != hi) { + lo = readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKETSC0_0); + } + + return hilo_to_64(hi, lo); +} + +SECTION_TKE_TEXT uint32_t +tegra_tke_get_usec(void) +{ + return readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKEUSEC_0); +} + +SECTION_TKE_TEXT uint32_t +tegra_tke_get_osc(void) +{ + return readl_base_offset(tke_top_base, TKE_TOP_SHARED_TKEOSC_0); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_TKE_TEXT static void tegra_tke_os_tick(void * data) +{ + UNUSED((data)); + + rtosSystemTickHandler(); +} + +SECTION_TKE_INIT_TEXT void +tegra_tke_set_up_tick(struct tegra_tke_id *id, uint32_t clk_src, + uint32_t divisor) +{ + tegra_tke_set_up_timer(id, clk_src, true, divisor, tegra_tke_os_tick, + NULL); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/module-uart-sbsa-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/module-uart-sbsa-nosafety-config.mk new file mode 100644 index 0000000..e47f171 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/module-uart-sbsa-nosafety-config.mk @@ -0,0 +1,41 @@ +# +# Copyright (c) 2020-2021 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-uart-sbsa-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_UART_SBSA_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_UART_SBSA_NOSAFETY_DEPENDS := SOC CLUSTER CPL OSA FSP_COMMON +$(foreach _,$(MODULE_UART_SBSA_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_UART_SBSA_NOSAFETY_SOURCE_DIR = $(FSP_COMMON_REPO)/drivers/uart-sbsa + +# +# Common includes '-I ' +MODULE_UART_SBSA_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/module-uart-sbsa-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/module-uart-sbsa-nosafety.mk new file mode 100644 index 0000000..fb8f719 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/module-uart-sbsa-nosafety.mk @@ -0,0 +1,66 @@ +# +# Copyright (c) 2020-2022 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-uart-sbsa-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_UART_SBSA_NOSAFETY_NAME := UART_SBSA_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_UART_SBSA_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_UART_SBSA_NOSAFETY_DEPENDS := UART_SBSA_NOSAFETY SOC CPL OSA +$(foreach _,$(CONFIG_UART_SBSA_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_UART_SBSA_NOSAFETY_C_SRC = +MODULE_UART_SBSA_NOSAFETY_C_SRC += $(MODULE_UART_SBSA_NOSAFETY_SOURCE_DIR)/uart-sbsa.c +MODULE_UART_SBSA_NOSAFETY_C_SRC += $(MODULE_UART_SBSA_NOSAFETY_SOURCE_DIR)/uart-sbsa-ops.c +MODULE_UART_SBSA_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/uart-tegra-ids.c +MODULE_UART_SBSA_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/uart-port.c + +# +# Assembly source +MODULE_UART_SBSA_NOSAFETY_ASM_SRC = +#MODULE_UART_SBSA_NOSAFETY_ASM_SRC = $(CPL_SOC_PORT)/uart-irq.S + +# +# Special C Flags +MODULE_UART_SBSA_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_UART_SBSA_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/uart-sbsa-ops.c b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/uart-sbsa-ops.c new file mode 100644 index 0000000..9360094 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/uart-sbsa-ops.c @@ -0,0 +1,136 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for sbsa_uart_flush_tx_hw_fifo, sbsa... + +/* Module-specific FSP headers */ +#include // for dbg_uart_ops... +#include // Immune from CT_ASSERT protection + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__SBSA_UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +static const struct tegra_uart_conf debug_uart_conf SECTION_DEBUG_DATA = +{ + .parity = TEGRA_UART_NO_PARITY, + .stop_bits = TEGRA_UART_STOP_BITS_1, + .data_bits = TEGRA_UART_DATA_BITS_8, + .baud = 115200U, +}; + +static inline error_t +dbg_uart_init(void *data) +{ + struct tegra_uart_ctlr *ctlr = (struct tegra_uart_ctlr *)data; + + return sbsa_uart_init_hw(ctlr, &debug_uart_conf); +} + +static inline void +dbg_uart_putc(void *data, + const char ch) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + sbsa_uart_write_char(ctlr, ch); +} + +static inline void +dbg_uart_puts(void *data, + const char *s) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + sbsa_uart_write_string(ctlr, s); +} + +static inline void +dbg_uart_putd(void *data, + const char *d, + uint32_t len) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + sbsa_uart_write_now(ctlr, d, len); +} + +static inline void +dbg_uart_tx_flush(void *data) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + sbsa_uart_flush_tx_hw_fifo(ctlr); +} + +static inline bool +dbg_uart_is_tx_ready(void *data) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + return sbsa_uart_is_tx_ready(ctlr); +} + +const struct dbg_uart_ops dbg_standalone_uart_ops = { + .init = &dbg_uart_init, + .putc = &dbg_uart_putc, + .puts = &dbg_uart_puts, + .putd = &dbg_uart_putd, + .flush = &dbg_uart_tx_flush, + .tx_ready = &dbg_uart_is_tx_ready, +}; + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/uart-sbsa.c b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/uart-sbsa.c new file mode 100644 index 0000000..0ba4426 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart-sbsa/uart-sbsa.c @@ -0,0 +1,949 @@ +/* + * Copyright (c) 2021-2023 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* Compiler headers */ +#include // for true +#include // for uint32_t +#include // for NULL + +/* HW headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t, FSP_... +#include // for FSP__MISC__ATTRIBUTES_H +#include // for BIT +#include // for readl, writel, FSP__REG_... +#include // for irq_enable, irq_disable... +#include // for get_time_ticks + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for E_UART_ERR_CONFIG, ... +#include // for tegra_uart_conf, ... +#include // for tegra_uart_ctlr, tegra_u... +#include // for uart_port_... +#include // for sbsa_uart_... +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") + +#define SBSA_UARTDR_0 0x00UL +#define SBSA_UARTRSR_0 0x04UL +#define SBSA_UARTIBRD_0 0x24UL +#define SBSA_UARTFR_0 0x18UL +#define SBSA_UARTLCR_H_0 0x2CUL +#define SBSA_UARTCR_0 0x30UL +#define SBSA_UARTIFLS_0 0x34UL +#define SBSA_UARTIMSC_0 0x38UL +#define SBSA_UARTRIS_0 0x3CUL +#define SBSA_UARTMIS_0 0x40UL +#define SBSA_UARTICR_0 0x44UL + +#define SBSA_UARTIFLS_0_TX_TRIG_1_8 0x0U +#define SBSA_UARTIFLS_0_TX_TRIG_1_4 0x1U +#define SBSA_UARTIFLS_0_TX_TRIG_1_2 0x2U +#define SBSA_UARTIFLS_0_TX_TRIG_3_4 0x3U +#define SBSA_UARTIFLS_0_TX_TRIG_7_8 0x4U +#define SBSA_UARTIFLS_0_RX_TRIG_1_8 0x0U +#define SBSA_UARTIFLS_0_RX_TRIG_1_4 0x1U +#define SBSA_UARTIFLS_0_RX_TRIG_1_2 0x2U +#define SBSA_UARTIFLS_0_RX_TRIG_3_4 0x3U +#define SBSA_UARTIFLS_0_RX_TRIG_7_8 0x4U + +#define SBSA_UARTIFLS_0_TXIFLS_SHIFT 0x0U +#define SBSA_UARTIFLS_0_RXIFLS_SHIFT 0x3U +#define SBSA_UARTCR_0_TXE_SHIFT 0x8U +#define SBSA_UARTCR_0_RXE_SHIFT 0x9U +#define SBSA_UARTCR_0_UARTEN_SHIFT 0x0U +#define SBSA_UARTLCR_H_0_PEN_SHIFT 0x1U +#define SBSA_UARTLCR_H_0_EPS_SHIFT 0x2U +#define SBSA_UARTLCR_H_0_FEN_SHIFT 0x4U +#define SBSA_UARTLCR_H_0_STP2_SHIFT 0x3U +#define SBSA_UARTLCR_H_0_WLEN_SHIFT 0x5U + +#define SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_5 0x0U +#define SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_6 0x1U +#define SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_7 0x2U +#define SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_8 0x3U + +#define SBSA_UARTFR_0_TXFE BIT(7U) +#define SBSA_UARTFR_0_RXFE BIT(4U) +#define SBSA_UARTFR_0_BUSY BIT(3U) +#define SBSA_UARTIMSC_0_TXIM BIT(5U) +#define SBSA_UARTIMSC_0_RXIM BIT(4U) +#define SBSA_UARTIMSC_0_RTIM BIT(6U) +#define SBSA_UARTRIS_RTRIS BIT(6U) +#define SBSA_UARTRIS_RXRIS BIT(4U) +#define SBSA_UARTRIS_TXRIS BIT(5U) +#define SBSA_UART_ISR_NO_INT 0x0U +#define SBSA_UART_IRQ_MASK 0x7FFUL +#define SBSA_UARTCR_0_TXE_TX_ENABLE 0x1U +#define SBSA_UARTCR_0_RXE_RX_ENABLE 0x1U +#define SBSA_UARTCR_0_UARTEN_UART_ENABLE 0x1U +#define SBSA_UARTLCR_H_0_PEN_NO_PARITY 0x0U +#define SBSA_UARTLCR_H_0_PEN_PARITY 0x1U +#define SBSA_UARTLCR_H_0_EPS_ODD 0x0U +#define SBSA_UARTLCR_H_0_EPS_EVEN 0x1U +#define SBSA_UARTLCR_H_0_STP2_ONE 0x0U +#define SBSA_UARTLCR_H_0_STP2_TWO 0x1U +#define SBSA_UARTLCR_H_0_FEN_ENABLE 0x1U + +static inline uint32_t +sbsa_uart_readl(const struct tegra_uart_ctlr * const ctlr, + uint32_t offset) +{ + return readl_base_offset(ctlr->id.base_addr, offset); +} + +static inline void +sbsa_uart_writel(const struct tegra_uart_ctlr * const ctlr, + uint32_t val, + uint32_t offset) +{ + writel_base_offset(val, ctlr->id.base_addr, offset); +} + + +static inline void +sbsa_uart_putc(const struct tegra_uart_ctlr * const ctlr, + char c) +{ + while (!sbsa_uart_is_tx_ready(ctlr)) { + } + + sbsa_uart_writel(ctlr, c, SBSA_UARTDR_0); +} + +static inline char +sbsa_uart_getc(const struct tegra_uart_ctlr * const ctlr) +{ + while ((sbsa_uart_readl(ctlr, SBSA_UARTFR_0) & SBSA_UARTFR_0_RXFE) != 0U); + + return sbsa_uart_readl(ctlr, SBSA_UARTDR_0); +} + +SECTION_UART_TEXT bool +sbsa_uart_is_tx_ready(const struct tegra_uart_ctlr * const ctlr) +{ + return (sbsa_uart_readl(ctlr, SBSA_UARTFR_0) & SBSA_UARTFR_0_BUSY) == 0UL; +} + +SECTION_UART_TEXT error_t +sbsa_uart_flush_tx_hw_fifo(const struct tegra_uart_ctlr * const ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + while ((sbsa_uart_readl(ctlr, SBSA_UARTFR_0) & + SBSA_UARTFR_0_TXFE) == 0UL); + +out: + return ret; +} + +SECTION_UART_TEXT error_t +sbsa_uart_write_now(const struct tegra_uart_ctlr * const ctlr, + const char *buf, + uint32_t count) +{ + error_t ret = E_SUCCESS; + uint32_t i; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (buf == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + for (i = 0U; i < count; i += 1U) { + sbsa_uart_putc(ctlr, *buf++); + } + +out: + return ret; +} + +SECTION_UART_TEXT error_t +sbsa_uart_write_char(const struct tegra_uart_ctlr * const ctlr, + const char c) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + sbsa_uart_putc(ctlr, c); + +out: + return ret; +} + +SECTION_UART_TEXT error_t +sbsa_uart_write_string(const struct tegra_uart_ctlr * const ctlr, + const char *buf) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (buf == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + while (*buf != '\0') { + sbsa_uart_putc(ctlr, *buf++); + } + +out: + return ret; +} + +static inline uint64_t +sbsa_uart_get_elapsed_ticks(uint64_t tstart, uint64_t timeout) +{ + uint64_t tcurr = uart_port_get_elapsed_usecs(0ULL); + uint64_t elapsed = 0UL; + + if ((tcurr - tstart) < timeout) { + elapsed = (timeout - (tcurr - tstart)); + } + + return elapsed; +} + +static void +sbsa_uart_disable_tx_interrupt(const struct tegra_uart_ctlr *ctlr) +{ + uint32_t irq_mask; + + UNUSED(irq_safe_disable(ctlr->id.irq)); + irq_mask = sbsa_uart_readl(ctlr, SBSA_UARTIMSC_0); + if ((irq_mask & SBSA_UARTIMSC_0_TXIM) != 0UL) { + sbsa_uart_writel(ctlr, + irq_mask & ~SBSA_UARTIMSC_0_TXIM, + SBSA_UARTIMSC_0); + } + UNUSED(irq_safe_enable(ctlr->id.irq)); +} + +static void +sbsa_uart_enable_tx_interrupt(const struct tegra_uart_ctlr *ctlr) +{ + uint32_t irq_mask; + + UNUSED(irq_safe_disable(ctlr->id.irq)); + irq_mask = sbsa_uart_readl(ctlr, SBSA_UARTIMSC_0); + if ((irq_mask & SBSA_UARTIMSC_0_TXIM) == 0UL) { + sbsa_uart_writel(ctlr, + irq_mask | SBSA_UARTIMSC_0_TXIM, + SBSA_UARTIMSC_0); + } + UNUSED(irq_safe_enable(ctlr->id.irq)); +} + +static void +sbsa_uart_enable_rx_interrupt(const struct tegra_uart_ctlr *ctlr) +{ + uint32_t irq_mask; + + /* + * RX interrupt is enabled once in init. No need to place it in + * the critical section. + */ + irq_mask = sbsa_uart_readl(ctlr, SBSA_UARTIMSC_0); + + /* Enable the rx timeout and rx interrupt */ + sbsa_uart_writel(ctlr, + irq_mask | SBSA_UARTIMSC_0_RXIM | SBSA_UARTIMSC_0_RTIM, + SBSA_UARTIMSC_0); +} + +SECTION_UART_TEXT error_t +sbsa_uart_write(const struct tegra_uart_ctlr * const ctlr, + const char *buf, + uint32_t count, + uint32_t *written, + uint64_t timeout) +{ + uint64_t tstart; + uint64_t timeout_left = 0; + uint32_t write_cnt = 0UL; + error_t ret = E_SUCCESS; + uint32_t fr; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (buf == NULL || written == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + if (count == 0UL) { + goto out; + } + + tstart = uart_port_get_elapsed_usecs(0ULL); + + if (ctlr->id.irq == UINT32_MAX) { + for (write_cnt = 0UL; write_cnt < count; write_cnt++) { + do { + fr = sbsa_uart_readl(ctlr, SBSA_UARTFR_0); + if ((fr & SBSA_UARTFR_0_BUSY) == 0UL) { + sbsa_uart_writel(ctlr, *buf, SBSA_UARTDR_0); + buf++; + } + timeout_left = sbsa_uart_get_elapsed_ticks(tstart, timeout); + } while (timeout_left != 0); + } + goto out; + } + + for (write_cnt = 0UL; write_cnt < count; write_cnt++) { + ret = uart_port_tx_queue_send(ctlr, buf, 0); + if (ret == E_UART_QUEUE_FULL) { + sbsa_uart_enable_tx_interrupt(ctlr); + timeout_left = sbsa_uart_get_elapsed_ticks(tstart, timeout); + ret = uart_port_tx_queue_send(ctlr, buf, timeout_left); + if (ret != E_SUCCESS) { + break; + } + } + buf++; + } + + if (write_cnt != 0UL) { + sbsa_uart_enable_tx_interrupt(ctlr); + } + +out: + if (written != NULL) { + *written = write_cnt; + } + return ret; +} + +SECTION_UART_TEXT error_t +sbsa_uart_flush_tx_fifo(const struct tegra_uart_ctlr * const ctlr) +{ + error_t ret = E_SUCCESS; + char c; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + sbsa_uart_disable_tx_interrupt(ctlr); + while (1) { + ret = uart_port_tx_queue_receive(ctlr, &c, 0); + if (ret != E_SUCCESS) { + ret = E_UART_FLUSH_TX_FIFO_FAIL; + break; + } + sbsa_uart_putc(ctlr, c); + } + +out: + return ret; +} + +SECTION_UART_TEXT error_t +sbsa_uart_read_char(const struct tegra_uart_ctlr * const ctlr, + char *c) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (c == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + *c = sbsa_uart_getc(ctlr); + +out: + return ret; +} + +SECTION_UART_TEXT error_t +sbsa_uart_read(const struct tegra_uart_ctlr * const ctlr, + char *buf, + uint32_t count, + uint32_t *read, + uint64_t timeout) +{ + error_t ret = E_SUCCESS; + uint64_t tstart; + uint64_t timeout_left = 0; + uint32_t read_cnt = 0UL; + uint32_t fr; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (buf == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + if (!ctlr->initialized) { + ret = E_UART_NO_INIT; + goto out; + } + + if (count == 0UL) { + goto out; + } + + tstart = uart_port_get_elapsed_usecs(0ULL); + + if (ctlr->id.irq == UINT32_MAX) { + for (read_cnt = 0; read_cnt < count; read_cnt += 1UL) { + do { + fr = sbsa_uart_readl(ctlr, SBSA_UARTFR_0); + if ((fr & SBSA_UARTFR_0_RXFE) == 0U) { + *buf = sbsa_uart_readl(ctlr, SBSA_UARTDR_0); + buf++; + } + timeout_left = sbsa_uart_get_elapsed_ticks(tstart, timeout); + } while (timeout_left != 0); + } + goto out; + } + + timeout_left = timeout; + for (read_cnt = 0UL; read_cnt < count; read_cnt += 1UL) { + ret = uart_port_rx_queue_receive(ctlr, + buf, + timeout_left); + if (ret != E_SUCCESS) { + break; + } + buf++; + timeout_left = sbsa_uart_get_elapsed_ticks(tstart, timeout); + } + +out: + *read = read_cnt; + return ret; +} + +SECTION_UART_TEXT static void +sbsa_uart_irq_handler(void *data) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + uint32_t isr; + uint32_t lsr; + uint32_t irq_mask; + char c_in, c_out; + error_t status; + bool isr_yield_flag = false; + + isr = sbsa_uart_readl(ctlr, SBSA_UARTRIS_0) & SBSA_UART_IRQ_MASK; + if (isr == SBSA_UART_ISR_NO_INT) { + goto out; + } + + /* RX timeout or RX data available */ + if (((isr & SBSA_UARTRIS_RTRIS) != 0UL) || + ((isr & SBSA_UARTRIS_RXRIS) != 0UL)) { + do { + c_in = sbsa_uart_readl(ctlr, SBSA_UARTDR_0) & 0xFFU; + status = uart_port_rx_queue_send_from_isr(ctlr, + &c_in, + &isr_yield_flag); + if (status != E_SUCCESS) { + break; + } + lsr = sbsa_uart_readl(ctlr, SBSA_UARTFR_0); + } while ((lsr & SBSA_UARTFR_0_RXFE) == 0UL); + } + + /* TX holding register empty */ + if ((isr & SBSA_UARTRIS_TXRIS) != 0UL) { + do { + status = uart_port_tx_queue_receive_from_isr(ctlr, + &c_out, + &isr_yield_flag); + if (status != E_SUCCESS) { + /* if no data in queue, disable the TX interrupts */ + irq_mask = sbsa_uart_readl(ctlr, SBSA_UARTIMSC_0); + sbsa_uart_writel(ctlr, + irq_mask & ~SBSA_UARTIMSC_0_TXIM, + SBSA_UARTIMSC_0); + break; + } + sbsa_uart_writel(ctlr, c_out, SBSA_UARTDR_0); + lsr = sbsa_uart_readl(ctlr, SBSA_UARTFR_0); + } while ((lsr & SBSA_UARTFR_0_TXFE) != 0UL); + } + +out: + uart_port_isr_exit(ctlr, isr_yield_flag); +} + +static inline void +sbsa_uart_configure_tx_fifo_level(const struct tegra_uart_ctlr * const ctlr) +{ + uint32_t fifo_lvl; + + fifo_lvl = (SBSA_UARTIFLS_0_TX_TRIG_1_8 << SBSA_UARTIFLS_0_TXIFLS_SHIFT); + + sbsa_uart_writel(ctlr, fifo_lvl, SBSA_UARTIFLS_0); +} + +static inline void +sbsa_uart_configure_fifo_level(const struct tegra_uart_ctlr * const ctlr) +{ + uint32_t fifo_lvl; + + fifo_lvl = (SBSA_UARTIFLS_0_TX_TRIG_1_8 << SBSA_UARTIFLS_0_TXIFLS_SHIFT) | + (SBSA_UARTIFLS_0_RX_TRIG_1_8 << SBSA_UARTIFLS_0_RXIFLS_SHIFT); + + sbsa_uart_writel(ctlr, fifo_lvl, SBSA_UARTIFLS_0); +} + +static inline void +sbsa_uart_configure_tx_ctrl(const struct tegra_uart_ctlr * const ctlr) +{ + uint32_t cr; + + cr = (SBSA_UARTCR_0_TXE_TX_ENABLE << SBSA_UARTCR_0_TXE_SHIFT); + + sbsa_uart_writel(ctlr, cr, SBSA_UARTCR_0); +} + +static inline void +sbsa_uart_configure_ctrl(const struct tegra_uart_ctlr * const ctlr) +{ + uint32_t cr; + + cr = (SBSA_UARTCR_0_TXE_TX_ENABLE << SBSA_UARTCR_0_TXE_SHIFT) | + (SBSA_UARTCR_0_RXE_RX_ENABLE << SBSA_UARTCR_0_RXE_SHIFT); + + sbsa_uart_writel(ctlr, cr, SBSA_UARTCR_0); +} + +static inline void +sbsa_uart_enable(const struct tegra_uart_ctlr * const ctlr) +{ + uint32_t cr; + + cr = sbsa_uart_readl(ctlr, SBSA_UARTCR_0); + cr |= (SBSA_UARTCR_0_UARTEN_UART_ENABLE << SBSA_UARTCR_0_UARTEN_SHIFT); + + sbsa_uart_writel(ctlr, cr, SBSA_UARTCR_0); +} + +static inline error_t +sbsa_uart_get_parity_mode(const struct tegra_uart_ctlr * const ctlr, + uint32_t parity_conf, + uint32_t *parity) +{ + error_t ret = E_SUCCESS; + + switch (parity_conf) { + case SBSA_UART_NO_PARITY: + *parity = (SBSA_UARTLCR_H_0_PEN_NO_PARITY << SBSA_UARTLCR_H_0_PEN_SHIFT); + break; + case SBSA_UART_ODD_PARITY: + *parity = (SBSA_UARTLCR_H_0_EPS_ODD << SBSA_UARTLCR_H_0_EPS_SHIFT) | + (SBSA_UARTLCR_H_0_PEN_PARITY << SBSA_UARTLCR_H_0_PEN_SHIFT); + break; + case SBSA_UART_EVEN_PARITY: + *parity = (SBSA_UARTLCR_H_0_EPS_EVEN << SBSA_UARTLCR_H_0_EPS_SHIFT) | + (SBSA_UARTLCR_H_0_PEN_PARITY << SBSA_UARTLCR_H_0_PEN_SHIFT); + break; + default: + ret = E_UART_ERR_CONFIG; + break; + } + + return ret; +} + +static inline error_t +sbsa_uart_get_data_frame_len(const struct tegra_uart_ctlr * const ctlr, + uint32_t data_conf, + uint32_t *data_bits) +{ + error_t ret = E_SUCCESS; + + switch (data_conf) { + case SBSA_UART_DATA_BITS_5: + *data_bits = (SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_5 << + SBSA_UARTLCR_H_0_WLEN_SHIFT); + break; + case SBSA_UART_DATA_BITS_6: + *data_bits = (SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_6 << + SBSA_UARTLCR_H_0_WLEN_SHIFT); + break; + case SBSA_UART_DATA_BITS_7: + *data_bits = (SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_7 << + SBSA_UARTLCR_H_0_WLEN_SHIFT); + break; + case SBSA_UART_DATA_BITS_8: + *data_bits = (SBSA_UARTLCR_H_0_WLEN_WORD_LENGTH_8 << + SBSA_UARTLCR_H_0_WLEN_SHIFT); + break; + default: + ret = E_UART_ERR_CONFIG; + break; + } + + return ret; +} + +static inline error_t +sbsa_uart_get_stop_bits_len(const struct tegra_uart_ctlr * const ctlr, + uint32_t stop_conf, + uint32_t *stop_bits) +{ + error_t ret = E_SUCCESS; + + switch (stop_conf) { + case SBSA_UART_STOP_BITS_1: + *stop_bits = (SBSA_UARTLCR_H_0_STP2_ONE << SBSA_UARTLCR_H_0_STP2_SHIFT); + break; + case SBSA_UART_STOP_BITS_2: + *stop_bits = (SBSA_UARTLCR_H_0_STP2_TWO << SBSA_UARTLCR_H_0_STP2_SHIFT); + break; + default: + ret = E_UART_ERR_CONFIG; + break; + } + + return ret; +} + +static inline void +sbsa_uart_configure_line_ctrl(const struct tegra_uart_ctlr * const ctlr, + uint32_t parity, + uint32_t data_bits, + uint32_t stop_bits) +{ + uint32_t lcr; + + /* + * configure the data line attributes - data bits, stop bits and parity + * also enable the FIFO. + */ + lcr = parity | data_bits | stop_bits | + (SBSA_UARTLCR_H_0_FEN_ENABLE << SBSA_UARTLCR_H_0_FEN_SHIFT); + + sbsa_uart_writel(ctlr, lcr, SBSA_UARTLCR_H_0); +} + +static error_t +sbsa_uart_config(struct tegra_uart_ctlr * const ctlr, + const struct tegra_uart_conf * const conf) +{ + error_t ret = E_SUCCESS; + uint32_t parity; + uint32_t data_bits = 0UL; + uint32_t stop_bits = 0UL; + + /* reset the UART controller */ + uart_port_clk_reset_pulse(ctlr, 10); + + /* configure the clock rate based on the baud rate */ + uart_port_clk_set_rate(ctlr, conf->baud * 16); + + /* enable the clock for the UART controller */ + uart_port_clk_enable(ctlr); + + /* port specific init such as pinmux settings to select the UART */ + uart_port_init(ctlr); + + /* generate the parity mode based on input configuration */ + ret = sbsa_uart_get_parity_mode(ctlr, conf->parity, &parity); + if (ret != E_SUCCESS) { + goto out; + } + + /* fetch the data frame length in bits */ + ret = sbsa_uart_get_data_frame_len(ctlr, conf->data_bits, &data_bits); + if (ret != E_SUCCESS) { + goto out; + } + + /* fetch the stop bits length */ + ret = sbsa_uart_get_stop_bits_len(ctlr, conf->stop_bits, &stop_bits); + if (ret != E_SUCCESS) { + goto out; + } + + /* reset the data line attributes by clearing line control register */ + sbsa_uart_writel(ctlr, 0x0, SBSA_UARTLCR_H_0); + + /* clear all the interrupts */ + sbsa_uart_writel(ctlr, 0x0, SBSA_UARTICR_0); + + /* configure the line control register */ + sbsa_uart_configure_line_ctrl(ctlr, parity, data_bits, stop_bits); + +out: + return ret; +} + +SECTION_UART_INIT_TEXT error_t +sbsa_uart_init_hw(struct tegra_uart_ctlr * const ctlr, + const struct tegra_uart_conf * const conf) +{ + error_t ret = E_SUCCESS; + + /* sanity check the controller pointer */ + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + /* sanity check for invalid conf parameter */ + if (conf == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + /* configure the UART */ + sbsa_uart_config(ctlr, conf); + + /* configure the uart control register */ + sbsa_uart_configure_ctrl(ctlr); + + /* configure the uart fifo level */ + sbsa_uart_configure_fifo_level(ctlr); + + /* enable the uart */ + sbsa_uart_enable(ctlr); + + /* enable the rx interrupt */ + sbsa_uart_enable_rx_interrupt(ctlr); + + if (ctlr->id.irq != UINT32_MAX) { + /* register irq handler and enable irq */ + ret = irq_safe_set_handler(ctlr->id.irq, sbsa_uart_irq_handler, ctlr); + if (ret != E_SUCCESS) { + goto out; + } + ret = irq_safe_enable(ctlr->id.irq); + } + + /* indicate the controller is initialized */ + if (ret == E_SUCCESS) { + ctlr->initialized = true; + } + +out: + if (ret != E_SUCCESS) { + uart_port_clk_disable(ctlr); + } + + return ret; +} + +SECTION_UART_INIT_TEXT error_t +sbsa_uart_3rdparty_init(struct tegra_uart_ctlr *ctlr, + const struct tegra_uart_conf * const conf) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (conf == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + /* + * Do the minimum required for configuring the UART if not already done. + */ + if (!uart_port_is_configured(ctlr)) { + ret = sbsa_uart_config(ctlr, conf); + if (ret != E_SUCCESS) { + goto out; + } + + /* configure the uart control register */ + sbsa_uart_configure_tx_ctrl(ctlr); + + /* configure the uart fifo level */ + sbsa_uart_configure_tx_fifo_level(ctlr); + + /* enable the uart */ + sbsa_uart_enable(ctlr); + } + + /* indicate the controller is initialized */ + ctlr->initialized = true; + +out: + return ret; +} + +SECTION_UART_INIT_TEXT error_t +sbsa_uart_init(struct tegra_uart_ctlr *ctlr, + const struct tegra_uart_conf * const conf) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (conf == NULL) { + ret = E_UART_INVALID_PARAM; + goto out; + } + + /* check if UART is already configured by a 3rd party and skip the init */ + if (uart_port_is_configured(ctlr)) { + ctlr->initialized = true; + goto out; + } + + /* check if irq is supported */ + if (ctlr->id.irq == UINT32_MAX) { + goto skip_queues; + } + + /* create the TX sw buffer for interrupt driven TX */ + ret = uart_port_tx_queue_create(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + /* create the RX sw buffer for interrupt driven RX */ + ret = uart_port_rx_queue_create(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + +skip_queues: + ret = sbsa_uart_init_hw(ctlr, conf); + +out: + return ret; +} + +error_t sbsa_uart_deinit(struct tegra_uart_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + ctlr->initialized = false; + + ret = uart_port_tx_queue_delete(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + ret = uart_port_rx_queue_delete(ctlr); + if (ret != E_SUCCESS) { + goto out; + } + + ret = uart_port_clk_disable(ctlr); + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/uart/module-uart-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/uart/module-uart-nosafety-config.mk new file mode 100644 index 0000000..6d28687 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart/module-uart-nosafety-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-uart-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_UART_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_UART_NOSAFETY_DEPENDS := +$(foreach _,$(MODULE_UART_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_UART_NOSAFETY_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/uart +MODULE_UART_NOSAFETY_SOURCE_DIR = $(MODULE_UART_NOSAFETY_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_UART_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/uart/module-uart-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/uart/module-uart-nosafety.mk new file mode 100644 index 0000000..009f794 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart/module-uart-nosafety.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-uart-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_UART_NOSAFETY_NAME := UART_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_UART_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_UART_NOSAFETY_DEPENDS := UART_NOSAFETY SOC +$(foreach _,$(CONFIG_UART_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_UART_NOSAFETY_C_SRC = +MODULE_UART_NOSAFETY_C_SRC += $(MODULE_UART_NOSAFETY_DRIVERS_DIR)/tegra-uart.c +MODULE_UART_NOSAFETY_C_SRC += $(MODULE_UART_NOSAFETY_DRIVERS_DIR)/tegra-uart-ops.c +MODULE_UART_NOSAFETY_C_SRC += $(FSP_COMMON_REPO)/soc/$(SOC)/ids/soc-common/uart-tegra-ids.c + +# +# Assembly source +MODULE_UART_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_UART_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_UART_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/uart/tegra-uart-ops.c b/spe-freertos-bsp/fsp/source/drivers/uart/tegra-uart-ops.c new file mode 100644 index 0000000..43952d5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart/tegra-uart-ops.c @@ -0,0 +1,136 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for tegra_uart_flush_tx_hw_fifo, tegra... + +/* Module-specific FSP headers */ +#include // for dbg_uart_ops... +#include // Immune from CT_ASSERT protection + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__TEGRA_UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +static const struct tegra_uart_conf debug_uart_conf SECTION_DEBUG_DATA = +{ + .parity = TEGRA_UART_NO_PARITY, + .stop_bits = TEGRA_UART_STOP_BITS_1, + .data_bits = TEGRA_UART_DATA_BITS_8, + .baud = 115200U, +}; + +static inline error_t +dbg_uart_init(void *data) +{ + struct tegra_uart_ctlr *ctlr = (struct tegra_uart_ctlr *)data; + + return tegra_uart_init_hw(ctlr, &debug_uart_conf); +} + +static inline void +dbg_uart_putc(void *data, + const char ch) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + tegra_uart_write_char(ctlr, ch); +} + +static inline void +dbg_uart_puts(void *data, + const char *s) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + tegra_uart_write_string(ctlr, s); +} + +static inline void +dbg_uart_putd(void *data, + const char *d, + uint32_t len) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + tegra_uart_write(ctlr, d, len); +} + +static inline void +dbg_uart_tx_flush(void *data) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + tegra_uart_flush_tx_hw_fifo(ctlr); +} + +static inline bool +dbg_uart_is_tx_ready(void *data) +{ + const struct tegra_uart_ctlr *ctlr = (const struct tegra_uart_ctlr *)data; + + return tegra_uart_is_tx_ready(ctlr); +} + +const struct dbg_uart_ops dbg_standalone_uart_ops = { + .init = &dbg_uart_init, + .putc = &dbg_uart_putc, + .puts = &dbg_uart_puts, + .putd = &dbg_uart_putd, + .flush = &dbg_uart_tx_flush, + .tx_ready = &dbg_uart_is_tx_ready, +}; + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/uart/tegra-uart.c b/spe-freertos-bsp/fsp/source/drivers/uart/tegra-uart.c new file mode 100644 index 0000000..805254a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/uart/tegra-uart.c @@ -0,0 +1,280 @@ +/* +* Copyright (c) 2014-2022, NVIDIA CORPORATION. All rights reserved. +* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* Compiler headers */ +#include // for true +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for UART_LCR_0_WD_SIZE_SHIFT + +/* Late FSP headers */ +#include // for tegra_clk_disable, tegra... +#include // for E_SUCCESS, error_t, FSP_... +#include // for FSP__MISC__ATTRIBUTES_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for UART_CLOCKS, UART_CAR_AC... +#include // for readl, writel, FSP__REG_... + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for tegra_uart_ctlr, tegra_u... +#include // for tegra_uart_conf, FSP__UA... +#include // for E_UART_ERR_CONFIG, FSP__... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__TEGRA_UART_HW_PARAMS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__TEGRA_UART_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__TEGRA_UART_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__UART_ERRORS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define TEGRA_UART_LCR_DLAB (UART_LCR_0_DLAB_ENABLE << UART_LCR_0_DLAB_SHIFT) +#define TEGRA_UART_IER_THRE (UART_IER_DLAB_0_0_IE_THR_ENABLE << UART_IER_DLAB_0_0_IE_THR_SHIFT) +#define TEGRA_UART_LSR_RDY (UART_LSR_0_RDR_DATA_IN_FIFO << UART_LSR_0_RDR_SHIFT) +#define TEGRA_UART_LSR_TX_FIFO_FULL (UART_LSR_0_TX_FIFO_FULL_FULL << UART_LSR_0_TX_FIFO_FULL_SHIFT) +#define TEGRA_UART_LSR_THRE_EMPTY (UART_LSR_0_THRE_EMPTY << UART_LSR_0_THRE_SHIFT) +#define TEGRA_UART_LSR_TX_SHIFT_EMPTY (UART_LSR_0_TMTY_EMPTY << UART_LSR_0_TMTY_SHIFT) +#define TEGRA_UART_IIR_NO_INT (UART_IIR_FCR_0_IS_STA_NO_INTR_PEND << UART_IIR_FCR_0_IS_STA_SHIFT) + + +static inline uint32_t +tegra_uart_readl(const struct tegra_uart_ctlr * const ctlr, + uint32_t offset) +{ + offset += ctlr->id.base_addr; + + return readl(offset); +} + +static inline void +tegra_uart_writel(const struct tegra_uart_ctlr * const ctlr, + uint32_t val, + uint32_t offset) +{ + offset += ctlr->id.base_addr; + writel(val, offset); +} + +SECTION_UART_INIT_TEXT error_t +tegra_uart_init_hw(struct tegra_uart_ctlr * const ctlr, + const struct tegra_uart_conf * const conf) +{ + error_t rc = E_SUCCESS; + uint32_t fcr; + uint32_t divisor; + uint32_t comm_param; + +#ifdef UART_CAR_ACCESS + tegra_clk_enable(ctlr->id.hw_handle->clk); + tegra_clk_reset_pulse(ctlr->id.hw_handle->rst, 10); +#endif + + /* Program the FCR register */ + fcr = (UART_IIR_FCR_0_FCR_EN_FIFO_ENABLE << UART_IIR_FCR_0_FCR_EN_FIFO_SHIFT); + fcr |= (UART_IIR_FCR_0_TX_TRIG_FIFO_COUNT_GREATER_8 << + UART_IIR_FCR_0_TX_TRIG_SHIFT); + fcr |= (UART_IIR_FCR_0_RX_TRIG_FIFO_COUNT_GREATER_4 << + UART_IIR_FCR_0_RX_TRIG_SHIFT); + tegra_uart_writel(ctlr, fcr, UART_IIR_FCR_0); + +#ifdef UART_CLOCKS + tegra_clk_set_rate((ctlr->id.hw_handle->clk), conf->baud * 16); +#endif + + divisor = 1; + + switch (conf->parity) { + case TEGRA_UART_NO_PARITY: + comm_param = (UART_LCR_0_PAR_NO_PARITY << UART_LCR_0_PAR_SHIFT); + break; + case TEGRA_UART_ODD_PARITY: + comm_param = (UART_LCR_0_EVEN_DISABLE << UART_LCR_0_EVEN_SHIFT) | + (UART_LCR_0_PAR_PARITY << UART_LCR_0_PAR_SHIFT); + break; + case TEGRA_UART_EVEN_PARITY: + comm_param = (UART_LCR_0_EVEN_ENABLE << UART_LCR_0_EVEN_SHIFT) | + (UART_LCR_0_PAR_PARITY << UART_LCR_0_PAR_SHIFT); + break; + default: + rc = E_UART_ERR_CONFIG; + goto conf_err; + } + + switch (conf->data_bits) { + case TEGRA_UART_DATA_BITS_5: + comm_param |= (UART_LCR_0_WD_SIZE_WORD_LENGTH_5 << + UART_LCR_0_WD_SIZE_SHIFT); + break; + case TEGRA_UART_DATA_BITS_6: + comm_param |= (UART_LCR_0_WD_SIZE_WORD_LENGTH_6 << + UART_LCR_0_WD_SIZE_SHIFT); + break; + case TEGRA_UART_DATA_BITS_7: + comm_param |= (UART_LCR_0_WD_SIZE_WORD_LENGTH_7 << + UART_LCR_0_WD_SIZE_SHIFT); + break; + case TEGRA_UART_DATA_BITS_8: + comm_param |= (UART_LCR_0_WD_SIZE_WORD_LENGTH_8 << + UART_LCR_0_WD_SIZE_SHIFT); + break; + default: + rc = E_UART_ERR_CONFIG; + goto conf_err; + } + + if (conf->stop_bits == TEGRA_UART_STOP_BITS_2) + comm_param |= (UART_LCR_0_STOP_ENABLE << UART_LCR_0_STOP_SHIFT); + + tegra_uart_writel(ctlr, 0x0, UART_LCR_0); + tegra_uart_writel(ctlr, 0x0, UART_IER_DLAB_0_0); + + tegra_uart_writel(ctlr, comm_param | TEGRA_UART_LCR_DLAB, UART_LCR_0); + tegra_uart_writel(ctlr, divisor & 0xFF, UART_THR_DLAB_0_0); + tegra_uart_writel(ctlr, ((divisor >> 8) & 0xFF), UART_IER_DLAB_0_0); + tegra_uart_writel(ctlr, comm_param & ~TEGRA_UART_LCR_DLAB, UART_LCR_0); + + /* dummy read to ensure write is posted */ + tegra_uart_readl(ctlr, UART_SPR_0); + + ctlr->initialized = true; + + conf_err: + if (rc != E_SUCCESS) { +#ifdef UART_CLOCKS + tegra_clk_disable(ctlr->id.hw_handle->clk); +#endif + } + + return rc; +} + +SECTION_UART_TEXT void +tegra_uart_flush_tx_hw_fifo(const struct tegra_uart_ctlr * const ctlr) +{ + if (ctlr->initialized) { + while ((tegra_uart_readl(ctlr, UART_LSR_0) & TEGRA_UART_LSR_TX_SHIFT_EMPTY) == 0U) { + } + } +} + +SECTION_UART_TEXT bool +tegra_uart_is_tx_ready(const struct tegra_uart_ctlr * const ctlr) +{ + bool empty = false; + + if (!ctlr->initialized) { + goto out; + } + + empty = (tegra_uart_readl(ctlr, UART_LSR_0) & TEGRA_UART_LSR_THRE_EMPTY) != 0U; + + out: + return empty; +} + + +SECTION_UART_TEXT void +tegra_uart_write_char(const struct tegra_uart_ctlr * const ctlr, + const char c) +{ + if (!ctlr->initialized) { + goto out; + } + + while (!tegra_uart_is_tx_ready(ctlr)) { + } + tegra_uart_writel(ctlr, c, UART_THR_DLAB_0_0); + + out: + return; +} + +SECTION_UART_TEXT void +tegra_uart_write(const struct tegra_uart_ctlr * const ctlr, + const char *buf, + uint32_t count) +{ + uint32_t i; + + for (i = 0; i < count; i += 1U) { + tegra_uart_write_char(ctlr, *buf++); + } +} + +SECTION_UART_TEXT void +tegra_uart_write_string(const struct tegra_uart_ctlr * const ctlr, + const char *buf) +{ + while (*buf != '\0') { + tegra_uart_write_char(ctlr, *buf++); + } +} + +SECTION_UART_TEXT char +tegra_uart_read_char(const struct tegra_uart_ctlr * const ctlr) +{ + char ch = '\0'; + + if (!ctlr->initialized) { + goto out; + } + + while ((tegra_uart_readl(ctlr, UART_LSR_0) & TEGRA_UART_LSR_RDY) == 0U) { + } + + ch = (char)tegra_uart_readl(ctlr, UART_THR_DLAB_0_0); + + out: + return ch; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/utc/module-utc-nosafety-config.mk b/spe-freertos-bsp/fsp/source/drivers/utc/module-utc-nosafety-config.mk new file mode 100644 index 0000000..3d3f895 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/utc/module-utc-nosafety-config.mk @@ -0,0 +1,41 @@ +# +# Copyright (c) 2023 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-utc-nosafety-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-osa*.mk' files. +MODULE_UTC_NOSAFETY_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_UTC_NOSAFETY_DEPENDS := SOC CLUSTER CPL FSP_COMMON +$(foreach _,$(MODULE_UTC_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_UTC_NOSAFETY_SOURCE_DIR = $(FSP_COMMON_REPO)/drivers/utc + +# +# Common includes '-I ' +MODULE_UTC_NOSAFETY_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/utc/module-utc-nosafety.mk b/spe-freertos-bsp/fsp/source/drivers/utc/module-utc-nosafety.mk new file mode 100644 index 0000000..5d109d4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/utc/module-utc-nosafety.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2023 NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-utc-nosafety.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_UTC_NOSAFETY_NAME := UTC_NOSAFETY + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_UTC_NOSAFETY_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_UTC_NOSAFETY_DEPENDS := UTC_NOSAFETY SOC CPL +$(foreach _,$(CONFIG_UTC_NOSAFETY_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_UTC_NOSAFETY_C_SRC = +MODULE_UTC_NOSAFETY_C_SRC += $(MODULE_UTC_NOSAFETY_SOURCE_DIR)/utc-client.c +MODULE_UTC_NOSAFETY_C_SRC += $(CPL_SOC_IDS)/utc-ids.c +MODULE_UTC_NOSAFETY_C_SRC += $(CPL_SOC_PORT)/utc-port.c + +# +# Assembly source +MODULE_UTC_NOSAFETY_ASM_SRC = + +# +# Special C Flags +MODULE_UTC_NOSAFETY_C_FLAGS = + +# +# Special ASM Flags +MODULE_UTC_NOSAFETY_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/utc/utc-client.c b/spe-freertos-bsp/fsp/source/drivers/utc/utc-client.c new file mode 100644 index 0000000..fa02a72 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/utc/utc-client.c @@ -0,0 +1,594 @@ +/* + * Copyright (c) 2023 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* Compiler headers */ +#include // for true +#include // for uint32_t +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* HW headers */ +#include // for NV_ADDRESS_MAP_UTC_... +#include // for utc registers + +/* Late FSP headers */ +#include // for NV_DRF* macros +#include // for E_SUCCESS, error_t, FSP_... +#include // for irq_safe_enable... +#include // for ASSERT +#include // for UNUSED + +/* Module-specific FSP headers */ +#include // for readl, writel_... +#include // Immune from CT_ASSERT protection +#include // for E_UTC_... +#include // for utc_init, utc... +#include // for utc_port_... +#include // for utc_id... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__UTC__UTC_MMIO_H, "Header file missing or invalid.") + CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") + +#define UTC_COMMON_BASE NV_ADDRESS_MAP_UTC_COMMON_32BITBASE +#define UTC_COMMON_LIMIT NV_ADDRESS_MAP_UTC_COMMON_32BITLIMIT +#define UTC_LIMIT NV_ADDRESS_MAP_UTC_32BITLIMIT + +#define COMMON_REG(x) (UTC_COMMON_##x##_0) +#define TX_REG(x) (UTC_TX_CLIENT_1_##x##_0) +#define RX_REG(x) (UTC_RX_CLIENT_1_##x##_0) + +#define COMMON_DRF(r, f, v) NV_DRF_VAL(UTC_COMMON, r, f, v) +#define TX_DRF(r, f, v) NV_DRF_VAL(UTC_TX_CLIENT_1, r, f, v) +#define RX_DRF(r, f, v) NV_DRF_VAL(UTC_RX_CLIENT_1, r, f, v) +#define TX_DRF_NUM(r, f, n) NV_DRF_NUM(UTC_TX_CLIENT_1, r, f, n) +#define RX_DRF_NUM(r, f, n) NV_DRF_NUM(UTC_RX_CLIENT_1, r, f, n) + +#define UTC_CLIENT_ID_MAX 16U +#define UTC_TX_FIFO_SZ 128U + +/* status flags */ +static bool rx_enabled = false; +static bool utc_poll = false; +static bool utc_inited = false; + +static uintptr_t rx_queue; + +static inline uint32_t +utc_common_reg(const uint32_t reg) +{ + const uint32_t addr = UTC_BASE + reg; + + ASSERT((addr >= UTC_COMMON_BASE) && (addr < UTC_COMMON_LIMIT)); + + return addr; +} + +static inline uint32_t +utc_client_reg(const struct utc_client *cl, uint32_t reg) +{ + const uint32_t addr = cl->base + reg; + + ASSERT((addr >= UTC_BASE) && (addr < UTC_LIMIT)); + + return addr; +} + +static inline void +utc_writel(const struct utc_client *cl, uint32_t val, uint32_t reg) +{ + const uint32_t addr = utc_client_reg(cl, reg); + + writel(val, addr); +} + +static inline uint32_t +utc_readl(const struct utc_client *cl, uint32_t reg) +{ + return readl(utc_client_reg(cl, reg)); +} + +static void +utc_tx_init(const struct utc_client *cl) +{ + uint32_t val = 0U; + + /* perform a soft reset to start with a clean slate */ + val = TX_DRF_NUM(COMMAND, SOFT_RESET, 1U); + utc_writel(cl, val, TX_REG(COMMAND)); + + /* drain any existing interrupts */ + utc_writel(cl, 0U, TX_REG(INTR_MASK)); + + /* enable TX */ + val = TX_DRF_NUM(ENABLE, ENABLE, 1U); + utc_writel(cl, val, TX_REG(ENABLE)); +} + +static error_t +utc_rx_init(const struct utc_client *cl) +{ + error_t ret = E_SUCCESS; + uint32_t val = 0U; + + /* okay to not use rx */ + if (!cl->enable_rx) { + goto out; + } + + ret = utc_port_rx_queue_create(&rx_queue); + if (ret != E_SUCCESS) { + goto out; + } + + /* perform a soft reset to start with a clean slate */ + val = RX_DRF_NUM(COMMAND, SOFT_RESET, 1U); + utc_writel(cl, val, RX_REG(COMMAND)); + + /* drain any existing interrupts */ + utc_writel(cl, 0U, RX_REG(INTR_MASK)); + + /* Enable RX_REQ interrupts */ + if (!utc_poll) { + val = RX_DRF_NUM(INTR_MASK, RX_REQ, 1U); + utc_writel(cl, val, RX_REG(INTR_MASK)); + } + + /* Enable RX */ + val = RX_DRF_NUM(ENABLE, ENABLE, 1U); + utc_writel(cl, val, RX_REG(ENABLE)); + + rx_enabled = true; + +out: + return ret; +} + +static error_t +utc_validate_global_cfg(const struct utc_client *cl) +{ + error_t ret = E_SUCCESS; + uint32_t val; + + val = readl(utc_common_reg(COMMON_REG(ENABLE))); + val = COMMON_DRF(ENABLE, ENABLE, val); + if (val == 0U) { + ret = E_UTC_NOT_INITED; + goto out; + } + +out: + return ret; +} + +static inline void +utc_write_char(const struct utc_client *cl, const char ch) +{ + uint32_t fr; + + do { + fr = utc_readl(cl, TX_REG(FIFO_STATUS)); + fr = TX_DRF(FIFO_STATUS, FULL, fr); + } while (fr != 0U); + + utc_writel(cl, ch, TX_REG(TX_DATA)); +} + +static void +utc_handle_rx_req_irq(const struct utc_client *cl, bool *isr_flag) +{ + error_t status = E_SUCCESS; + uint32_t occupancy; + uint32_t c_in; + uint32_t i; + + occupancy = utc_readl(cl, RX_REG(FIFO_OCCUPANCY)) & 0xFFU; + for (i = 0U; i < occupancy; i += 1U) { + c_in = utc_readl(cl, RX_REG(RX_DATA)) & 0xFFU; + status = utc_port_rx_queue_send_from_isr(rx_queue, + (char *)&c_in, + isr_flag); + if (status != E_SUCCESS) { + break; + } + } +} + +static void +utc_irq_handler(void *data) +{ + const struct utc_client *cl = (const struct utc_client *)data; + uint32_t isr; + uint32_t rx_req; + bool isr_flag; + + isr = utc_readl(cl, RX_REG(INTR_STATUS)); + do { + rx_req = RX_DRF(INTR_STATUS, RX_REQ, isr); + if (rx_req != 0U) { + utc_handle_rx_req_irq(cl, &isr_flag); + } + utc_writel(cl, isr, RX_REG(INTR_CLEAR)); + isr = utc_readl(cl, RX_REG(INTR_STATUS)); + } while (isr != 0U); + + utc_port_isr_exit(isr_flag); +} + +static inline uint64_t +utc_get_elapsed_ticks(uint64_t tstart, uint64_t timeout) +{ + uint64_t tcurr = utc_port_get_elapsed_usecs(0ULL); + uint64_t elapsed = 0UL; + + if ((tcurr - tstart) < timeout) { + elapsed = (timeout - (tcurr - tstart)); + } + + return elapsed; +} + +SECTION_UTC_TEXT error_t +utc_is_tx_ready(const struct utc_client *cl, bool *ready) +{ + error_t ret = E_SUCCESS; + uint32_t fr; + + if ((cl == NULL) || (ready == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + fr = utc_readl(cl, TX_REG(FIFO_STATUS)); + fr = TX_DRF(FIFO_STATUS, FULL, fr); + *ready = (fr == 0U); + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_get_tx_empty_space(const struct utc_client *cl, uint8_t *count) +{ + error_t ret = E_SUCCESS; + uint32_t occupancy; + + if ((cl == NULL) || (count == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + occupancy = utc_readl(cl, TX_REG(FIFO_OCCUPANCY)) & 0xFFU; + *count = (uint8_t)(UTC_TX_FIFO_SZ - occupancy); + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_puts(const struct utc_client *cl, const char *s) +{ + error_t ret = E_SUCCESS; + + if ((cl == NULL) || (s == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + while (*s != '\0') { + utc_write_char(cl, *s++); + } + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_putc(const struct utc_client *cl, const char ch) +{ + error_t ret = E_SUCCESS; + + if (cl == NULL) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + utc_write_char(cl, ch); + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_write_now(const struct utc_client *cl, + const char *buf, + uint32_t count) +{ + error_t ret = E_SUCCESS; + uint32_t i; + + if ((cl == NULL) || (buf == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + if (count == 0UL) { + goto out; + } + + for (i = 0U; i < count; i += 1U) { + utc_write_char(cl, *buf); + buf++; + } + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_write(const struct utc_client *cl, + const char *buf, + uint32_t count, + uint32_t *written, + uint64_t timeout_us) +{ + error_t ret = E_SUCCESS; + uint64_t tstart; + uint64_t timeout_left = 0UL; + uint32_t write_cnt = 0UL; + uint32_t fr; + + if ((cl == NULL) || (buf == NULL) || (written == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + if (count == 0UL) { + goto out; + } + + tstart = utc_port_get_elapsed_usecs(0ULL); + do { + fr = utc_readl(cl, TX_REG(FIFO_STATUS)); + fr = TX_DRF(FIFO_STATUS, FULL, fr); + if (fr == 0U) { + utc_writel(cl, *buf, TX_REG(TX_DATA)); + buf++; + write_cnt += 1UL; + } + timeout_left = utc_get_elapsed_ticks(tstart, timeout_us); + } while ((write_cnt < count) && (timeout_left != 0U)); + + if (timeout_left == 0U) { + ret = E_UTC_TIMED_OUT; + } + + *written = write_cnt; + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_tx_flush(const struct utc_client *cl) +{ + error_t ret = E_SUCCESS; + uint32_t val = 0U; + + if (cl == NULL) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + val = TX_DRF_NUM(COMMAND, FLUSH, 1U); + utc_writel(cl, val, TX_REG(COMMAND)); + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_getc(const struct utc_client *cl, char *ch) +{ + error_t ret = E_SUCCESS; + uint32_t fr; + + if ((cl == NULL) || (ch == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + if (!rx_enabled) { + ret = E_UTC_RX_DISABLED; + goto out; + } + + do { + fr = utc_readl(cl, RX_REG(FIFO_STATUS)); + fr = RX_DRF(FIFO_STATUS, EMPTY, fr); + } while (fr != 0U); + + *ch = utc_readl(cl, RX_REG(RX_DATA)) & 0xFFU; + +out: + return ret; +} + +SECTION_UTC_TEXT error_t +utc_read(const struct utc_client *cl, + char *buf, + uint32_t count, + uint32_t *read, + uint64_t timeout_us) +{ + error_t ret = E_SUCCESS; + uint64_t tstart; + uint64_t timeout_left = 0; + uint32_t read_cnt = 0UL; + + if ((cl == NULL) || (buf == NULL)) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if (!utc_inited) { + ret = E_UTC_NOT_INITED; + goto out; + } + + if (!rx_enabled) { + ret = E_UTC_RX_DISABLED; + goto out; + } + + if (count == 0UL) { + goto out; + } + + tstart = utc_port_get_elapsed_usecs(0ULL); + timeout_left = timeout_us; + for (read_cnt = 0UL; read_cnt < count; read_cnt += 1UL) { + ret = utc_port_rx_queue_receive(rx_queue, + buf, + timeout_left); + if (ret != E_SUCCESS) { + break; + } + buf++; + timeout_left = utc_get_elapsed_ticks(tstart, timeout_us); + } + +out: + *read = read_cnt; + return ret; +} + +SECTION_UTC_INIT_TEXT error_t +utc_client_init(const struct utc_client *cl) +{ + error_t ret = E_SUCCESS; + uint32_t cl_base = 0U; + + if (cl == NULL) { + ret = E_UTC_NULL_PTR; + goto out; + } + + if ((cl->id == 0U) || (cl->id > UTC_CLIENT_ID_MAX)) { + ret = E_UTC_INVALID_PARAM; + goto out; + } + + cl_base = CL_BASE(cl->id); + ASSERT((cl_base >= UTC_BASE) && (cl_base < UTC_LIMIT)); + ASSERT(cl_base == cl->base); + + ret = utc_validate_global_cfg(cl); + if (ret != E_SUCCESS) { + goto out; + } + + if (cl->irq == UINT32_MAX) { + utc_poll = true; + } + + utc_tx_init(cl); + ret = utc_rx_init(cl); + if (ret != E_SUCCESS) { + goto out; + } + + if (!utc_poll) { + ret = irq_safe_set_handler(cl->irq, utc_irq_handler, (void*)cl); + if (ret == E_SUCCESS) { + ret = irq_safe_enable(cl->irq); + } + } + + if (ret == E_SUCCESS) { + utc_inited = true; + } + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/drivers/vic/irqapi-vic.c b/spe-freertos-bsp/fsp/source/drivers/vic/irqapi-vic.c new file mode 100644 index 0000000..c187c0f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/vic/irqapi-vic.c @@ -0,0 +1,208 @@ +/* + * Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for arm_vic_disable, arm_vic_enable +#include // for tegra_abort, FSP__DEBUG__ABORT_H +#include // for irq_safe_disable, irq_safe_enable +#include // for EXTRACT +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for WEAK +#include // for error_t, E_SUCCESS, MODULE_ID_VIC... + +/* Module-specific FSP headers */ +#include // for TEGRA_INTERRUPT_TO_IRQ, TEGRA_INTER... +#include // for ABORT_BAD_IRQ, FSP__VIC__VIC_ABORT_... +#include // Immune from CT_ASSERT protection +#include // for vic_base_addr, irq_vect_t... +#include // for E_VIC_INVALID_VECTOR_ID, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__ARM_VIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__VIC_ABORT_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__VIC_LD_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__VIC_ERRORS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * irq_safe_enable() - enables the interrupt on a particular vector + * + * @vector: interrupt vector number (VIC and IRQ are encoded in the + * vector number) to be enabled. + * + * This function will enable the vector to generate interrupts. Until this + * function is called, no interrupts from the indicated vector will be presented + * to the CPU. + */ +SECTION_VIC_TEXT WEAK error_t +irq_safe_enable(const uint32_t vector) +{ + uint32_t vic; + uint32_t irq; + error_t err = E_SUCCESS; + + if (vector > MAX_VIC_INTERRUPT_VECTOR) { + err = E_VIC_INVALID_VECTOR; + goto out; + } + + vic = TEGRA_INTERRUPT_TO_VIC(vector); + irq = TEGRA_INTERRUPT_TO_IRQ(vector); + + arm_vic_enable(vic_base_addr[vic], irq); + +out: + return err; +} + +/** + * irq_safe_disable() - disables the interrupt on a particular vector + * + * @vector: interrupt vector number (VIC and IRQ are encoded in the + * vector number) to be disabled. + * + * This function will disable the vector to prevent it from generating + * interrupts. After this function has been called, no interrupts from the + * specified vector will be presented to the CPU. + */ +SECTION_VIC_TEXT WEAK error_t +irq_safe_disable(const uint32_t vector) +{ + uint32_t vic; + uint32_t irq; + error_t err = E_SUCCESS; + + if (vector > MAX_VIC_INTERRUPT_VECTOR) { + err = E_VIC_INVALID_VECTOR; + goto out; + } + + vic = TEGRA_INTERRUPT_TO_VIC(vector); + irq = TEGRA_INTERRUPT_TO_IRQ(vector); + + arm_vic_disable(vic_base_addr[vic], irq); + +out: + return err; +} + +SECTION_VIC_TEXT error_t +irq_state_safe_save(const uint32_t vic, irq_context *ctx) +{ + error_t err = E_SUCCESS; + + if (vic > MAX_VIC_INSTANCE_ID) { + err = E_VIC_INVALID_VIC_INSTANCE; + goto out; + } + + if (ctx == NULL) { + err = E_VIC_NULL_INPUT_PARAMETER; + goto out; + } + + arm_vic_save_state(vic_base_addr[vic], ctx); + +out: + return err; +} + +SECTION_VIC_TEXT error_t +irq_state_safe_restore(const uint32_t vic, const irq_context *const ctx) +{ + error_t err = E_SUCCESS; + + if (vic > MAX_VIC_INSTANCE_ID) { + err = E_VIC_INVALID_VIC_INSTANCE; + goto out; + } + + if (ctx == NULL) { + err = E_VIC_NULL_INPUT_PARAMETER; + goto out; + } + + arm_vic_restore_state(vic_base_addr[vic], ctx); + +out: + return err; +} + +/** + * bad_irq() - ISR to be called for an unrecognized interrupt + * + * @vector: interrupt vector number (VIC and IRQ are encoded in the + * vector number) that generated the unrecognized interrupt. + * + * This function is the interrupt handler that gets called for any interrupt + * vector that does not otherwise have a registered interrupt handler. + * + * Return Values: + * none + * + * This function is not expected to return. + */ +SECTION_VIC_ERROR_TEXT void +bad_irq(const irq_vect_t vector) +{ + tegra_abort(ABORT_BAD_IRQ, EXTRACT(vector, 15U, 0U, uint32_t)); +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/vic/vic-asm.S b/spe-freertos-bsp/fsp/source/drivers/vic/vic-asm.S new file mode 100644 index 0000000..fa23e34 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/vic/vic-asm.S @@ -0,0 +1,48 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2018-2023 NVIDIA CORPORATION & + * AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_VIC_TEXT, "ax" + .arm + .syntax unified +/* + * Code to handle the end of interrupt processing. + * + * Defines the vic0_isr_end and vic1_isr_end functions + */ + ACK_VIC0_IRQ vic0_isr_end + rtosIRQ_EXIT + + ACK_VIC1_IRQ vic1_isr_end + rtosIRQ_EXIT + +.if MAX_VIC_CONTROLLER == 4 + ACK_VIC2_IRQ vic2_isr_end + rtosIRQ_EXIT + + ACK_VIC3_IRQ vic3_isr_end + rtosIRQ_EXIT +.endif diff --git a/spe-freertos-bsp/fsp/source/drivers/vic/vic-init.c b/spe-freertos-bsp/fsp/source/drivers/vic/vic-init.c new file mode 100644 index 0000000..13740d0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/vic/vic-init.c @@ -0,0 +1,158 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for arm_vic_set_isr_vect_addr, FSP__ARM... +#include // for IMAGE_SYM_BASE +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t, E_SUCCESS + +/* Module-specific FSP headers */ +#include // for num_isr_map_entries, FSP__VIC__TEGR... +#include // Immune from CT_ASSERT protection +#include // for vic_isr_map_s, Image$$VIC_ISR_MAP$$... +#include // for E_VIC_INVALID_VECTOR_ID, .... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__ARM_VIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__LINKER_SYMBOLS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__VIC_LD_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__VIC_ERRORS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief safe_tegra_vic_init() + * + * This function will initialize the various VICs and setup the vector + * addresses for each vector. + * + * No input argument. + * + * @pre Client driver has mapped ISR for respective device + * interrupts using isr_map_entry. + * + * @func_req_id 9373448 + * + * @retval E_SUCCESS For success + * @retval E_VIC_INVALID_VECTOR ISR map entry with invalid vector ID + * @retval E_VIC_NULL_IRQ_HANDLER ISR map entry with NULL interrupt handler + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +SECTION_VIC_INIT_TEXT error_t tegra_safe_vic_init(void) +{ + uint32_t i; + const struct vic_isr_map_s *entry; + uint32_t vic; + uint32_t irq_num; + error_t err = E_SUCCESS; + + for (i = 0; i < num_isr_map_entries(); i += 1U) { + entry = &(((struct vic_isr_map_s *)&IMAGE_SYM_BASE(VIC_ISR_MAP))[i]); + if (entry->vector > MAX_VIC_INTERRUPT_VECTOR) { + err = E_VIC_INVALID_VECTOR; + break; + } + if (entry->isr_handler == NULL) { + err = E_VIC_NULL_IRQ_HANDLER; + break; + } + + vic = TEGRA_INTERRUPT_TO_VIC(entry->vector); + irq_num = TEGRA_INTERRUPT_TO_IRQ(entry->vector); + arm_vic_set_isr_vect_addr(vic_base_addr[vic], + irq_num, + entry->isr_handler); + } + + return err; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") + + +/** + * @brief tegra_vic_init() + * + * This function will initialize the various VICs and set up the vector + * addresses for each vector. The function skips the entries with invalid + * value of vector id or isr_handler + * + * No input arguments and return value. + * + * @pre Client driver has mapped ISR for respective device + * interrupts using isr_map_entry. + * + * @func_req_id 9373448 + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx") +SECTION_VIC_INIT_TEXT void tegra_vic_init(void) +{ + uint32_t i; + const struct vic_isr_map_s *entry; + uint32_t vic; + uint32_t irq_num; + + for (i = 0; i < num_isr_map_entries(); i += 1U) { + entry = &(((struct vic_isr_map_s *)&IMAGE_SYM_BASE(VIC_ISR_MAP))[i]); + if ((entry->vector <= MAX_VIC_INTERRUPT_VECTOR) && + (entry->isr_handler != NULL)) { + vic = TEGRA_INTERRUPT_TO_VIC(entry->vector); + irq_num = TEGRA_INTERRUPT_TO_IRQ(entry->vector); + arm_vic_set_isr_vect_addr(vic_base_addr[vic], + irq_num, + entry->isr_handler); + } + } +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-no-watchdog-config.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-no-watchdog-config.mk new file mode 100644 index 0000000..206d978 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-no-watchdog-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-no-watchdog-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_NO_WATCHDOG_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_NO_WATCHDOG_DEPENDS := +$(foreach _,$(MODULE_NO_WATCHDOG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_NO_WATCHDOG_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/watchdog +MODULE_NO_WATCHDOG_SOURCE_DIR = $(MODULE_NO_WATCHDOG_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_NO_WATCHDOG_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-no-watchdog.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-no-watchdog.mk new file mode 100644 index 0000000..9af1b37 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-no-watchdog.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-no-watchdog.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_NO_WATCHDOG_NAME := NO_WATCHDOG + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_NO_WATCHDOG_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_NO_WATCHDOG_DEPENDS := NO_WATCHDOG SOC CPL OSA DEBUG_NOSAFETY +$(foreach _,$(CONFIG_NO_WATCHDOG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_NO_WATCHDOG_C_SRC = +MODULE_NO_WATCHDOG_C_SRC += $(MODULE_NO_WATCHDOG_DRIVERS_DIR)/watchdog-stubs.c + +# +# Assembly source +MODULE_NO_WATCHDOG_ASM_SRC = + +# +# Special C Flags +MODULE_NO_WATCHDOG_C_FLAGS = + +# +# Special ASM Flags +MODULE_NO_WATCHDOG_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-config.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-config.mk new file mode 100644 index 0000000..43bd03d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-watchdog-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WATCHDOG_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_WATCHDOG_DEPENDS := +$(foreach _,$(MODULE_WATCHDOG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_WATCHDOG_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/watchdog +MODULE_WATCHDOG_SOURCE_DIR = $(MODULE_WATCHDOG_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_WATCHDOG_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-statistics-config.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-statistics-config.mk new file mode 100644 index 0000000..cb4ae1e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-statistics-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-watchdog-statistics-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WATCHDOG_STATISTICS_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_WATCHDOG_STATISTICS_DEPENDS := +$(foreach _,$(MODULE_WATCHDOG_STATISTICS_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_WATCHDOG_STATISTICS_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/watchdog +MODULE_WATCHDOG_STATISTICS_SOURCE_DIR = $(MODULE_WATCHDOG_STATISTICS_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_WATCHDOG_STATISTICS_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-statistics.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-statistics.mk new file mode 100644 index 0000000..ed98dc5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-statistics.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-watchdog-statistics.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_WATCHDOG_STATISTICS_NAME := WATCHDOG_STATISTICS + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WATCHDOG_STATISTICS_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_WATCHDOG_STATISTICS_DEPENDS := WATCHDOG_STATISTICS +$(foreach _,$(CONFIG_WATCHDOG_STATISTICS_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_WATCHDOG_STATISTICS_C_SRC = +MODULE_WATCHDOG_STATISTICS_C_SRC += $(MODULE_WATCHDOG_STATISTICS_DRIVERS_DIR)/watchdog-statistics.c + +# +# Assembly source +MODULE_WATCHDOG_STATISTICS_ASM_SRC = + +# +# Special C Flags +MODULE_WATCHDOG_STATISTICS_C_FLAGS = -DWATCHDOG_STATISTICS=1 + +# +# Special ASM Flags +MODULE_WATCHDOG_STATISTICS_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-task-config.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-task-config.mk new file mode 100644 index 0000000..8404c76 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-task-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-watchdog-task-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WATCHDOG_TASK_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_WATCHDOG_TASK_DEPENDS := LOGGER_NOSAFETY WDT +$(foreach _,$(MODULE_WATCHDOG_TASK_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_WATCHDOG_TASK_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/watchdog +MODULE_WATCHDOG_TASK_SOURCE_DIR = $(MODULE_WATCHDOG_TASK_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_WATCHDOG_TASK_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-task.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-task.mk new file mode 100644 index 0000000..215c9ba --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog-task.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-watchdog-task.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_WATCHDOG_TASK_NAME := WATCHDOG_TASK + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WATCHDOG_TASK_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_WATCHDOG_TASK_DEPENDS := WATCHDOG_TASK LOGGER_NOSAFETY WDT +$(foreach _,$(CONFIG_WATCHDOG_TASK_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_WATCHDOG_TASK_C_SRC = +MODULE_WATCHDOG_TASK_C_SRC += $(MODULE_WATCHDOG_TASK_DRIVERS_DIR)/watchdog-task.c + +# +# Assembly source +MODULE_WATCHDOG_TASK_ASM_SRC = + +# +# Special C Flags +MODULE_WATCHDOG_TASK_C_FLAGS = + +# +# Special ASM Flags +MODULE_WATCHDOG_TASK_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog.mk new file mode 100644 index 0000000..9ecea5a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-watchdog.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-watchdog.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_WATCHDOG_NAME := WATCHDOG + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WATCHDOG_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_WATCHDOG_DEPENDS := WATCHDOG SOC CPL OSA DEBUG_NOSAFETY TKE +$(foreach _,$(CONFIG_WATCHDOG_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_WATCHDOG_C_SRC = +MODULE_WATCHDOG_C_SRC += $(MODULE_WATCHDOG_DRIVERS_DIR)/watchdog.c + +# +# Assembly source +MODULE_WATCHDOG_ASM_SRC = + +# +# Special C Flags +MODULE_WATCHDOG_C_FLAGS = + +# +# Special ASM Flags +MODULE_WATCHDOG_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-wdt-config.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-wdt-config.mk new file mode 100644 index 0000000..8025d34 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-wdt-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE),1) +$(info Including: module-wdt-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WDT_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_WDT_DEPENDS := +$(foreach _,$(MODULE_WDT_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_WDT_DRIVERS_DIR = $(FSP_COMMON_REPO)/drivers/watchdog +MODULE_WDT_SOURCE_DIR = $(MODULE_WDT_DRIVERS_DIR) + +# +# Common includes '-I ' +MODULE_WDT_INCLUDES = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/module-wdt.mk b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-wdt.mk new file mode 100644 index 0000000..efe708c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/module-wdt.mk @@ -0,0 +1,64 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-wdt.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_WDT_NAME := WDT + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_WDT_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_WDT_DEPENDS := WDT SOC CPL OSA +$(foreach _,$(CONFIG_WDT_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_WDT_C_SRC = +MODULE_WDT_C_SRC += $(MODULE_WDT_DRIVERS_DIR)/wdt-tegra.c +MODULE_WDT_C_SRC += $(CPL_SOC_IDS)/wdt-tegra-ids.c + +# +# Assembly source +MODULE_WDT_ASM_SRC = +MODULE_WDT_ASM_SRC += $(CPL_SOC_PORT)/wdt-irq.S + +# +# Special C Flags +MODULE_WDT_C_FLAGS = + +# +# Special ASM Flags +MODULE_WDT_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-statistics.c b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-statistics.c new file mode 100644 index 0000000..d49f4d6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-statistics.c @@ -0,0 +1,201 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint64_t, UINT64_MAX +#include // for NULL, memcpy + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskEnterCritical +#include // for ASSERT +#include // for E_SUCCESS, error_t +#include // for UNUSED +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for E_WDT_ERR_NULL_PTR +#include // for WatchdogStatistics +#include // for WatchdogTaskState, Wat... +#include // for WatchdogGetTaskStatistics +#include // for WatchdogStatsAddItem +#include // for WatchdogTaskID + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATISTICS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_INTERNAL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATS_INTERNAL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_TYPES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file watchdog-statistics.c + * @brief Implementation of Watchdog Statistics + */ + +/* + * There is no point in attempting to compile this file if + * watchdog statistics are not enabled. This checks for that + * and causes an error to be reported. + */ +#if !defined(WATCHDOG_STATISTICS) || (WATCHDOG_STATISTICS != 1) +#error "WATCHDOG_STATISTICS != 1" +#endif + +SECTION_WATCHDOG_INIT_TEXT void +WatchdogStatsInit(WatchdogTaskState *state) +{ + ASSERT(state != NULL); + + state->taskStats.maxItemsInQueue = 0; + state->taskStats.itemStats.count = 0; + state->taskStats.itemStats.accumulatedTime = 0; + state->taskStats.itemStats.minTime = UINT64_MAX; + state->taskStats.itemStats.maxTime = 0; +} + +SECTION_WATCHDOG_TEXT void +WatchdogStatsAddItem(WatchdogTaskState *state) +{ + WatchdogTaskStatistics *stats; + + ASSERT(state != NULL); + + stats = &state->taskStats; + + /* + * Track the maximum number of items that have + * appeared in the queue. + */ + if (state->itemsInQueue > stats->maxItemsInQueue) { + stats->maxItemsInQueue = state->itemsInQueue; + } +} + +SECTION_WATCHDOG_TEXT void +WatchdogStatsStartItem(const WatchdogTaskState *state) +{ + UNUSED(state); +} + +SECTION_WATCHDOG_TEXT void +WatchdogStatsCompleteItem(WatchdogTaskState *state, + uint64_t completeTime) +{ + WatchdogStatistics *stats; + uint64_t deltaT; + uint64_t maxTimeout; + uint64_t histIndex; + + ASSERT(state != NULL); + ASSERT(state->taskTimeout > 0ULL); + + stats = &state->taskStats.itemStats; + + deltaT = completeTime - state->lastStartTime; + stats->accumulatedTime += deltaT; + + if (stats->minTime > deltaT) { + stats->minTime = deltaT; + } + + if (stats->maxTime < deltaT) { + stats->maxTime = deltaT; + } + + /* + * Compute the index into the histogram that represents the + * percentage (decimals...0-9, 10-19, 20-29, etc). + */ + maxTimeout = state->taskTimeout; + histIndex = (WATCHDOG_STATS_NUM_BUCKETS * deltaT) / maxTimeout; + + stats->histogram[histIndex] += 1U; + + stats->count += 1U; +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") +SECTION_WATCHDOG_TEXT error_t +WatchdogGetTaskStatistics(const WatchdogTaskID ID, + WatchdogTaskStatistics *stats) +{ + error_t rc = E_SUCCESS; + const WatchdogTaskState *statep = NULL; + + rc = WatchdogValidateID(ID); + if (rc != E_SUCCESS) { + goto out; + } + + if (stats == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + statep = &watchdogState[ID]; + + rtosTaskEnterCritical(); + + (void)memcpy(stats, &statep->taskStats, sizeof(WatchdogTaskStatistics)); + + rtosTaskExitCritical(); + + out: + return rc; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-stubs.c b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-stubs.c new file mode 100644 index 0000000..a64d722 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-stubs.c @@ -0,0 +1,213 @@ +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_1_2 \"Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx\") \ + (deviate MISRA_C_2012_Directive_4_8 \"Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx\")") +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for uint64_t, uint32_t + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskHandle +#include // for ASSERT, MODULE_ID_ABORT +#include // for error_t, E_SUCCESS +#include // for WEAK, UNUSED +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ +#include // for WatchdogAddItem, WatchdogA... +#include // for E_WDT_ERR_NO_STATS +#include // for WatchdogTaskStatistics +#include // for WatchdogTaskID + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATISTICS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_TYPES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file watchdog-stubs.c + * @brief Stubs for watchdog APIs if the watchdog framework is not used + */ + +SECTION_WATCHDOG_INIT_TEXT WEAK error_t +WatchdogInit(uint64_t minTimeout, + uint64_t maxTimeout, + uint64_t defaultTimeout) +{ + UNUSED(minTimeout); + UNUSED(maxTimeout); + UNUSED(defaultTimeout); + + return E_SUCCESS; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_INIT_TEXT WEAK error_t WatchdogTaskMonitor(const rtosTaskHandle taskID, uint64_t maxTime, WatchdogTaskID *pID) +{ + UNUSED(taskID); + UNUSED(maxTime); + + ASSERT(pID != NULL); + + *pID = 0; + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogAddItem(const WatchdogTaskID ID) +{ + UNUSED(ID); + + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogAddItemFromISR(const WatchdogTaskID ID) +{ + UNUSED(ID); + + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogTaskStartItem(const WatchdogTaskID ID) +{ + UNUSED(ID); + + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogStartItem(void) +{ + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogTaskCompleteItem(WatchdogTaskID ID) +{ + UNUSED(ID); + + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCompleteItem(void) +{ + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCheckStatus(void) +{ + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCheckTaskStatus(const WatchdogTaskID ID) +{ + UNUSED(ID); + + return E_SUCCESS; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_TEXT WEAK error_t WatchdogGetTaskID(const rtosTaskHandle taskID, WatchdogTaskID *pID) +{ + ASSERT(pID != NULL); + + UNUSED(taskID); + + *pID = 0; + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogGetNumTaskIDs(uint32_t *pNumTaskIDs) +{ + ASSERT(pNumTaskIDs != NULL); + + *pNumTaskIDs = 0; + + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCallbackTaskOutOfBounds(WatchdogTaskID ID) +{ + UNUSED(ID); + + return E_SUCCESS; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCallbackApplicationCheck(void) +{ + return E_SUCCESS; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_TEXT WEAK error_t WatchdogGetTaskStatistics(const WatchdogTaskID ID, WatchdogTaskStatistics *stats) +{ + UNUSED(ID); + UNUSED(stats); + + return E_WDT_ERR_NO_STATS; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_8, "Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-task.c b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-task.c new file mode 100644 index 0000000..67481d9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog-task.c @@ -0,0 +1,396 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for false, true +#include // for NULL +#include // for uintptr_t, uint32_t, uint8_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_RTOS_NEXT_UNBLOCK_TIME_E... +#include // for rtosEventGroupSetBitsFromISR +#include // for rtosTaskYieldFromISR +#include // for rtosPASS, rtosFAIL, rtosFALSE +#include // for MPU_NTASK_REGIONS +#include // for R5_DRACR_AP_PRIV_RW, R5_DR... +#include // for mpuParameters_t, R5MPU_CHE... +#include // Immune from CT_ASSERT protection +#include // for ABORT_CODE +#include // for ASSERT, tegra_abort +#include // for E_SUCCESS, error_t +#include // for INTERRUPT_WDTFIQ, INTERRUP... +#include // for irq_safe_enable +#include // for LOG_LEVEL_INFO_ENABLE, LOG... +#include // for LOG_INFO, LOG_WARN, LOG_ERROR +#include // for LOG_FL_ERROR, LOG_FL_NONE +#include // for UNUSED, ALIGN, FSP__MISC__... +#include // for BIT +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // Immune from CT_ASSERT protection +#include // for WATCHDOG_LOG_INIT, WATCHDO... +#include // for WatchdogInitParameters +#include // for WatchdogCheckStatus, Watch... +#include // for tegra_wdt +#include // for tegra_safe_wdt_conf, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_EVENT_GROUP_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_DATA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_LOGGING_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__TEGRA_SAFE_WDT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx", + MISRA, DEVIATE, Rule_8_9, "Approval: Bug 200532001, DR: SWE-FSP-016-SWSADR.docx") +static rtosEventGroupHandle WatchdogSignal SECTION_WATCHDOG_DATA; +static rtosEventGroup WatchdogSignalMemory SECTION_WATCHDOG_DATA; + +static struct tegra_wdt_conf wdt_conf SECTION_WATCHDOG_INIT_DATA; + +extern struct tegra_wdt tegra_wdt_instance SECTION_WATCHDOG_DATA; + +static rtosTick WatchdogPetPeriod SECTION_WATCHDOG_DATA; + +static uint8_t WatchdogTaskStack[WATCHDOG_STACK_DEPTH] SECTION_WATCHDOG_PRIV_STACKS + ALIGN(WATCHDOG_STACK_DEPTH); +static uint8_t WatchdogTCB[rtosTCB_OVERHEAD_BYTES] SECTION_WATCHDOG_DATA; + +static const char WatchdogTask_name[] SECTION_STRINGS_RODATA = "Watchdog"; + +static void WatchdogTaskCode(void *parameters); + +rtosTaskParameters WatchdogTaskParams SECTION_WATCHDOG_INIT_DATA = { + .pvTaskCode = WatchdogTaskCode, + .pcTaskName = &WatchdogTask_name[0], + .pxTCB = WatchdogTCB, + .pcStackBuffer = WatchdogTaskStack, + .uxStackDepthBytes = WATCHDOG_STACK_DEPTH, + .pvParameters = NULL, + .uxPriority = 0, // to be set by WatchdogTaskInit() + .pvObject = NULL, + .xUsingFPU = rtosFALSE, + .pxMPUParameters = NULL, // to be set by WatchdogTaskInit() + .uxPrivilegeLevel = RTOS_SYSTEM_MODE, +}; + +/* + * Watchdog Task's MPU Regions + * + * This defines the watchdog task's stack region. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_11_4, "Approval: Bug 200532002, DR: SWE-FSP-063-SWSADR.docx") +static mpuParameters_t watchdog_task_mpu_regions[MPU_NTASK_REGIONS] SECTION_MPU_DATA = +{ + [0] = { + .flags = R5MPU_FL_VALID | R5MPU_FL_SIZE, + .index = 0, // filled in by WatchdogTaskInit + .permissions = R5MPU_CHECK_PRIV_RW, + .access = R5_DRACR_NORMAL_CACHED + | R5_DRACR_XN | R5_DRACR_AP_PRIV_RW, + .base = (uintptr_t)WatchdogTaskStack, + .size = WATCHDOG_STACK_DEPTH, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx", + MISRA, DEVIATE, Rule_8_9, "Approval: Bug 200532001, DR: SWE-FSP-016-SWSADR.docx", + MISRA, DEVIATE, Rule_11_4, "Approval: Bug 200532002, DR: SWE-FSP-063-SWSADR.docx") + +/* + * Events that can be signalled + */ +#define WATCHDOG_LVL1_TIMEOUT BIT(0) // WDT FIQ interrupt fired +#define WATCHDOG_LVL2_TIMEOUT BIT(1) // WDT IRQ interrupt fired +#define WATCHDOG_PET_TIMER BIT(2) // time to pet the WDT + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_ERROR_TEXT static void Watchdog_fiq_callback(uint32_t status, void *data) +{ + rtosError rc; + rtosBool wake; + + UNUSED(status); + UNUSED(data); + + LOG_ERROR(WATCHDOG_LOG_LVL1_TIMEOUT, LOG_FL_ERROR, 0); + + /* + * Indicate that the WDT FIQ occurred + */ + rc = rtosEventGroupSetBitsFromISR(WatchdogSignal, WATCHDOG_LVL1_TIMEOUT, + &wake); + ASSERT(rc == rtosPASS); + /* + * XXX: TODO + * Better error handling + */ + + rtosTaskYieldFromISR(wake); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_ERROR_TEXT static void Watchdog_irq_callback(uint32_t status, void *data) +{ + rtosError rc; + rtosBool wake; + + UNUSED(status); + UNUSED(data); + + LOG_INFO(WATCHDOG_LOG_LVL2_TIMEOUT, LOG_FL_NONE, 0); + + /* + * Indicate the the WDT IRQ occurred + */ + rc = rtosEventGroupSetBitsFromISR(WatchdogSignal, WATCHDOG_LVL2_TIMEOUT, + &wake); + ASSERT(rc == rtosPASS); + /* + * XXX: TODO + * Better error handling + */ + + rtosTaskYieldFromISR(wake); +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCallbackApplicationCheck(void) +{ + return E_SUCCESS; +} + +SECTION_WATCHDOG_INIT_TEXT rtosError +WatchdogTaskInit(const void * const parameters) +{ + rtosError rc = rtosPASS; + error_t err; + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx", MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx") + WatchdogInitParameters *parms = (WatchdogInitParameters *)parameters; + + LOG_INFO(WATCHDOG_LOG_INIT, LOG_FL_START, 0); + + ASSERT(parms != NULL); + + WatchdogPetPeriod = parms->pet_period; + WatchdogTaskParams.uxPriority = parms->task_priority; + + /* + * Determine if the watchdog task should setup an MPU + * region for its stack. + */ + if (parms->watchdog_mpu) { + watchdog_task_mpu_regions[0].index = parms->stack_priority; + WatchdogTaskParams.pxMPUParameters = watchdog_task_mpu_regions; + } + + rc = rtosEventGroupCreate(&WatchdogSignalMemory, &WatchdogSignal); + if (rc != rtosPASS) { + goto exit; + } + + /* + * Initialize the watchdog framework + */ + err = WatchdogInit(parms->min_timeout, + parms->max_timeout, + parms->default_timeout); + if (err != E_SUCCESS) { + rc = rtosFAIL; + goto exit; + } + + /* + * Set up the Watchdog HW + */ + + /* + * Initializing the Watchdog timer Configuration register + * NvTimer0 as source which is set for RTOS 1ms periodic timer. + * Period set for 15 of 1msec timer + * Enabled all irqs + * Threshold set to default value + */ + wdt_conf.tmrsrc = 0x0; + wdt_conf.period = parms->hw_period; + wdt_conf.irq_en = true; + wdt_conf.fiq_en = true; + wdt_conf.remoteIrq_en = true; + wdt_conf.sys_dbg_rst_en = false; + wdt_conf.sys_por_rst_en = false; + wdt_conf.tsc_ref_en = false; + wdt_conf.err_threshold = 0x7; + wdt_conf.irq_callback = Watchdog_irq_callback; + wdt_conf.irq_data = NULL; + wdt_conf.fiq_callback = Watchdog_fiq_callback; + wdt_conf.fiq_data = NULL; + + err = tegra_safe_wdt_setup(&tegra_wdt_instance.id, &wdt_conf); + if (err != E_SUCCESS) { + goto exit; + } + + /* + * Make sure that the watchdog timer will be enabled. + */ + if (!parms->wdt_enabled) { + goto exit; + } + + /* Start the watchdog timer*/ + err = tegra_safe_wdt_start(&tegra_wdt_instance.id); + if (err != E_SUCCESS) { + goto exit; + } + + err = irq_safe_enable(INTERRUPT_WDTFIQ); + ASSERT(err == E_SUCCESS); + err = irq_safe_enable(INTERRUPT_WDTIRQ); + ASSERT(err == E_SUCCESS); + + exit: + LOG_INFO(WATCHDOG_LOG_INIT, LOG_FL_END, rc); + return rc; +} + +/* + * RTOS task for managing the watchdog timer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_TEXT NO_RETURN static void WatchdogTaskCode(void *parameters) +{ + rtosError rc; + rtosEventBits events; + rtosEventBits wait_events; + + UNUSED(parameters); + while (true) { + wait_events = (WATCHDOG_LVL1_TIMEOUT | WATCHDOG_LVL2_TIMEOUT); + + LOG_INFO(WATCHDOG_LOG_SLEEP, LOG_FL_NONE, 0); + + /* + * Wait for the WDT to report a timeout or a specific amount + * of time has elapsed. + */ + rc = rtosEventGroupWaitBits(WatchdogSignal, wait_events, + false, false, &events, + WatchdogPetPeriod); + + LOG_INFO(WATCHDOG_LOG_WAKEUP, LOG_FL_NONE, rc, events); + + if (rc != rtosPASS) { + if (rc == E_RTOS_NEXT_UNBLOCK_TIME_EXPIRED) { + events |= WATCHDOG_PET_TIMER; + } else { + continue; + } + } + + /* + * If the event was caused by FIQ or IRQ from the + * watchdog hardware, abort to the ccplex and let + * it deal with it. + */ + if ((events & (WATCHDOG_LVL1_TIMEOUT | WATCHDOG_LVL2_TIMEOUT)) != 0UL) { + tegra_abort(ABORT_CODE(WATCHDOG, 0U), events); + } + + /* + * So far eveything is OK. Go check the tasks to make + * sure that they've made progress + */ + rc = WatchdogCheckStatus(); + if (rc != E_SUCCESS) { + LOG_WARN(WATCHDOG_LOG_TIMEOUT, LOG_FL_ERROR, rc); + continue; + } + + /* + * Check to see if the application has other checks + * to perform + */ + if (WatchdogCallbackApplicationCheck() != E_SUCCESS) { + LOG_WARN(WATCHDOG_LOG_APPLICATION, LOG_FL_ERROR, 0UL); + continue; + } + + /* + * Reset the watchdog timer + */ + rc = tegra_safe_wdt_start(&tegra_wdt_instance.id); + if (rc != E_SUCCESS) { + LOG_WARN(WATCHDOG_LOG_TIMEOUT, LOG_FL_ERROR, rc); + continue; + } + } +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog.c b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog.c new file mode 100644 index 0000000..4c1d388 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/watchdog.c @@ -0,0 +1,646 @@ +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_1_2 \"Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx\") \ + (deviate MISRA_C_2012_Directive_4_8 \"Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx\")") +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false, true +#include // for NULL +#include // for uint64_t, uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskEnterCritical +#include // for ABORT_CODE, FSP__... +#include // for tegra_abort, FSP_... +#include // for E_SUCCESS, error_t +#include // for WEAK +#include // for LOW32, HI32 +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // Immune from CT_ASSERT protection +#include // for E_WDT_ERR_TASK_OU... +#include // for WatchdogTaskState +#include // for FSP__WATCHDOG__WA... +#include // for WatchdogTaskStati... +#include // for WatchdogStatsAddItem +#include // for WatchdogTaskID + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_INTERNAL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATISTICS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATISTICS_INTERNAL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_TYPES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file watchdog.c + * @brief Implementation of Watchdog framework + */ + +/** + * @brief State of all monitored tasks + * + * This array is used by the watchdog framework to track the state of all + * of the tasks that are being monitored. + */ +WatchdogTaskState watchdogState[WATCHDOG_MAX_TASKS] + SECTION_WATCHDOG_DATA; + +/** + * @brief Number of monitored tasks + * + * Number of tasks that have been registered with the watchdog framework + * to be monitored. + */ +static uint32_t num_tasks SECTION_WATCHDOG_DATA = 0; + +/** + * @brief Watchdog framework initialized + * + * A boolean that indicates if the watchdog framework has been initialized + * or not. + */ +static bool init SECTION_WATCHDOG_DATA = false; + +/** + * @brief Minimum task timeout + * + * A value set during initialization of the watchdog framework that indicates + * the minimum value that can be specified for a timeout when a task is + * registered to be monitored. + */ +static uint64_t wdt_min_timeout SECTION_WATCHDOG_INIT_DATA = 0; + +/** + * @brief Maximum task timeout + * + * A value set during initialization of the watchdog framework that indicates + * the maximum value that can be specified for a timeout when a task is + * registered to be monitored. + */ +static uint64_t wdt_max_timeout SECTION_WATCHDOG_INIT_DATA = 0; + +/** + * @brief Default task timeout + * + * A value set during initialization of the watchdog framework that indicates + * the default value that will be used for a timeout when a task is registered + * to be monitored if the task does not specify a timeout value. + */ +static uint64_t wdt_default_timeout SECTION_WATCHDOG_INIT_DATA = 0; + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") +SECTION_WATCHDOG_TEXT error_t +WatchdogValidateID(const WatchdogTaskID ID) +{ + error_t rc = E_SUCCESS; + const WatchdogTaskState *statep; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + if (ID >= num_tasks) { + rc = E_WDT_ERR_NO_TASK; + goto out; + } + + statep = &watchdogState[ID]; + + if (statep->taskStatus == WATCHDOG_NOT_MONITORED) { + rc = E_WDT_ERR_NO_TASK; + goto out; + } + + out: + return rc; + +} + +SECTION_WATCHDOG_INIT_TEXT error_t +WatchdogInit(uint64_t minTimeout, + uint64_t maxTimeout, + uint64_t defaultTimeout) +{ + error_t rc = E_SUCCESS; + + /* + * Perform various bounds checks on the timeout values: + * 1) min <= max + * 2) max < 2^32 + * 3) min <= default <= max + */ + if (minTimeout > maxTimeout) { + rc = E_WDT_ERR_INVALID_TIMEOUT; + goto out; + } + + if ((defaultTimeout < minTimeout) + || (defaultTimeout > maxTimeout)) { + rc = E_WDT_ERR_INVALID_TIMEOUT; + goto out; + } + + /* + * Set the variables to be used when checking a task's max time + */ + wdt_min_timeout = minTimeout; + wdt_max_timeout = maxTimeout; + wdt_default_timeout = defaultTimeout; + + init = true; + + out: + return rc; +} + +SECTION_WATCHDOG_INIT_TEXT error_t +WatchdogTaskMonitor(const rtosTaskHandle taskID, + uint64_t maxTime, + WatchdogTaskID *pID) +{ + error_t rc = E_SUCCESS; + uint64_t timeout = maxTime; + WatchdogTaskState *statep; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + /* + * Check that maxTime is within bounds + */ + if (maxTime > wdt_max_timeout) { + rc = E_WDT_ERR_INVALID_TIMEOUT; + goto out; + } + + /* + * If maxTime is too small, use a default value + */ + if (maxTime < wdt_min_timeout) { + timeout = wdt_default_timeout; + } + + /* + * Make sure that we have space for adding another + * task to be monitored. + */ + if (num_tasks >= WATCHDOG_MAX_TASKS) { + rc = E_WDT_ERR_TOO_MANY_TASKS; + goto out; + } + + statep = &watchdogState[num_tasks]; + + /* + * Make sure that the next slot isn't actually + * used. + */ + if (statep->taskStatus != WATCHDOG_NOT_MONITORED) { + rc = E_WDT_ERR_DUPLICATE_TASK; + goto out; + } + + /* + * Set up the watchdog monitor entry. + */ + statep->taskStatus = WATCHDOG_TASK_WAITING; + statep->taskID = taskID; + statep->taskTimeout = timeout; + + WatchdogStatsInit(statep); + + *pID = num_tasks; + num_tasks += 1UL; + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogAddItem(const WatchdogTaskID ID) +{ + error_t rc = E_SUCCESS; + WatchdogTaskState *statep; + + rc = WatchdogValidateID(ID); + if (rc != E_SUCCESS) { + goto out; + } + + statep = &watchdogState[ID]; + + rtosTaskEnterCritical(); + + statep->itemsInQueue += 1U; + + WatchdogStatsAddItem(statep); + + rtosTaskExitCritical(); + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogAddItemFromISR(const WatchdogTaskID ID) +{ + error_t rc = E_SUCCESS; + WatchdogTaskState *statep; + + rc = WatchdogValidateID(ID); + if (rc != E_SUCCESS) { + goto out; + } + + statep = &watchdogState[ID]; + + statep->itemsInQueue += 1U; + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogTaskStartItem(const WatchdogTaskID ID) +{ + error_t rc = E_SUCCESS; + WatchdogTaskState *statep; + + rc = WatchdogValidateID(ID); + if (rc != E_SUCCESS) { + goto out; + } + + statep = &watchdogState[ID]; + + rtosTaskEnterCritical(); + + /* + * Make sure that there's actually work to do + */ + if (statep->itemsInQueue == 0UL) { + rc = E_WDT_ERR_NO_WORK; + goto out_critical; + } + + /* + * Make sure that the task has completed previous + * work prior to starting next piece of work + */ + if (statep->taskStatus == WATCHDOG_ITEM_STARTED) { + rc = E_WDT_ERR_SEQUENCE; + goto out_critical; + } + + /* + * Make sure that the task hasn't previously + * timed out + */ + if (statep->taskStatus == WATCHDOG_ITEM_TIMEOUT) { + rc = E_WDT_ERR_TASK_OUT_OF_BOUNDS; + goto out_critical; + } + + /* + * Capture the time and indicate that the task + * has started work + */ + statep->lastStartTime = WatchdogGetTime(); + statep->taskStatus = WATCHDOG_ITEM_STARTED; + + WatchdogStatsStartItem(statep); + + out_critical: + rtosTaskExitCritical(); + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogStartItem(void) +{ + error_t rc = E_SUCCESS; + rtosTaskHandle task; + WatchdogTaskID id; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + /* + * Get the watchdog ID of the current task + */ + task = rtosTaskGetCurrentTaskHandle(); + rc = WatchdogGetTaskID(task, &id); + if (rc != E_SUCCESS) { + goto out; + } + + rc = WatchdogTaskStartItem(id); + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogTaskCompleteItem(WatchdogTaskID ID) +{ + error_t rc = E_SUCCESS; + WatchdogTaskState *statep; + uint64_t now; + + rc = WatchdogValidateID(ID); + if (rc != E_SUCCESS) { + goto out; + } + + rtosTaskEnterCritical(); + + statep = &watchdogState[ID]; + + /* + * Make sure that there's actually work to do + */ + if (statep->itemsInQueue == 0UL) { + rc = E_WDT_ERR_NO_WORK; + goto out_critical; + } + + /* + * Make sure that the task is actually processing + * work. + */ + if (statep->taskStatus != WATCHDOG_ITEM_STARTED) { + rc = E_WDT_ERR_SEQUENCE; + goto out_critical; + } + + statep->itemsInQueue -= 1U; + + /* + * Make sure that there wasn't a timeout + */ + now = WatchdogGetTime(); + if ((now - statep->lastStartTime) <= statep->taskTimeout) { + statep->taskStatus = WATCHDOG_ITEM_COMPLETED; + } else { + statep->taskStatus = WATCHDOG_ITEM_TIMEOUT; + + (void)WatchdogCallbackTaskOutOfBounds(ID); + + rc = E_WDT_ERR_TASK_OUT_OF_BOUNDS; + } + + WatchdogStatsCompleteItem(statep, now); + + out_critical: + rtosTaskExitCritical(); + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogCompleteItem(void) +{ + error_t rc = E_SUCCESS; + rtosTaskHandle task; + WatchdogTaskID id; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + /* + * Get the watchdog ID of the current task + */ + task = rtosTaskGetCurrentTaskHandle(); + rc = WatchdogGetTaskID(task, &id); + if (rc != E_SUCCESS) { + goto out; + } + + rc = WatchdogTaskCompleteItem(id); + + out: + return rc; +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") +SECTION_WATCHDOG_TEXT error_t +WatchdogCheckStatus(void) +{ + error_t rc = E_SUCCESS; + error_t err = E_SUCCESS; + const WatchdogTaskState *statep; + WatchdogTaskID id; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + for (id = 0; id < num_tasks; id += 1UL) { + statep = &watchdogState[id]; + + /* + * Skip over non-active tasks + */ + if ((statep->taskStatus == WATCHDOG_NOT_MONITORED) + || (statep->taskStatus == WATCHDOG_TASK_WAITING)) { + continue; + } + + rc = WatchdogCheckTaskStatus(id); + if (rc == E_WDT_ERR_TASK_OUT_OF_BOUNDS) { + rc = WatchdogCallbackTaskOutOfBounds(id); + if (rc == E_WDT_ERR_DONE) { + rc = E_WDT_ERR_TASK_OUT_OF_BOUNDS; + break; + } + + err = E_WDT_ERR_TASK_OUT_OF_BOUNDS; + } + + if (rc != E_SUCCESS) { + break; + } + } + + out: + return (err == E_SUCCESS) ? rc : err; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") + +SECTION_WATCHDOG_TEXT error_t +WatchdogCheckTaskStatus(const WatchdogTaskID ID) +{ + error_t rc = E_SUCCESS; + const WatchdogTaskState *statep; + uint64_t now; + + rc = WatchdogValidateID(ID); + if (rc != E_SUCCESS) { + goto out; + } + + statep = &watchdogState[ID]; + + rtosTaskEnterCritical(); + + if (statep->taskStatus == WATCHDOG_ITEM_TIMEOUT) { + rc = E_WDT_ERR_TASK_OUT_OF_BOUNDS; + goto out_critical; + } + + if (statep->taskStatus == WATCHDOG_ITEM_STARTED) { + now = WatchdogGetTime(); + if ((now - statep->lastStartTime) > statep->taskTimeout) { + rc = E_WDT_ERR_TASK_OUT_OF_BOUNDS; + } + } + + out_critical: + rtosTaskExitCritical(); + + out: + return rc; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_TEXT error_t WatchdogGetTaskID(const rtosTaskHandle taskID, WatchdogTaskID *pID) +{ + error_t rc = E_WDT_ERR_NO_TASK; + const WatchdogTaskState *statep; + WatchdogTaskID id; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + if (pID == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + for (id = 0; id < num_tasks; id += 1UL) { + statep = &watchdogState[id]; + + if (statep->taskID == taskID) { + *pID = id; + rc = E_SUCCESS; + break; + } + } + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT error_t +WatchdogGetNumTaskIDs(uint32_t *pNumTaskIDs) +{ + error_t rc = E_SUCCESS; + + if (!init) { + rc = E_WDT_ERR_WATCHDOG_NOT_INIT; + goto out; + } + + if (pNumTaskIDs == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + *pNumTaskIDs = num_tasks; + + out: + return rc; +} + +SECTION_WATCHDOG_TEXT WEAK error_t +WatchdogCallbackTaskOutOfBounds(WatchdogTaskID ID) +{ + tegra_abort(ABORT_CODE(WDT, 1U), ID); + + /* + * Not reached but needed to keep the compiler happy + */ + return E_WDT_ERR_DONE; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WATCHDOG_TEXT WEAK error_t WatchdogGetTaskStatistics(const WatchdogTaskID ID, WatchdogTaskStatistics *stats) +{ + UNUSED(ID); + UNUSED(stats); + return E_WDT_ERR_NO_STATS; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_8, "Approval: Bug 200534384, DR: SWE-FSP-011-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/drivers/watchdog/wdt-tegra.c b/spe-freertos-bsp/fsp/source/drivers/watchdog/wdt-tegra.c new file mode 100644 index 0000000..32e583b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/drivers/watchdog/wdt-tegra.c @@ -0,0 +1,498 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for false, true +#include // for uint32_t, uint8_t +#include // IWYU pragma: keep + // for NULL +#include // for offsetof + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for BASE_ADDRESS_TKE_TOP_WDT0, TKE... + +/* Late FSP headers */ +#include // for rtosTaskEnterCritical, rtosTas... +#include // for E_SUCCESS, error_t +#include // for in_interrupt, irq_safe_disable, irq... +#include // for FSP_ALIGNOF +#include // for CONTAINER_OF +#include // for NV_DRF_NUM, FSP__MISC__NVRM_DRF_H +#include // for readl_base_offset, writel_base... +#include // for ASSERT + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for E_WDT_ERR_IRQ_CONFIG, E_WDT_ER... +#include // for tegra_wdt, tegra_wdt_id, FSP__... +#include // for tegra_safe_wdt_conf, ... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__TEGRA_SAFE_WDT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define TEGRA_WDT_CONFIG_0 U32_C(TKE_TOP_WDT0_WDTCR_0 - BASE_ADDRESS_TKE_TOP_WDT0) +#define TEGRA_WDT_STATUS_0 U32_C(TKE_TOP_WDT0_WDTSR_0 - BASE_ADDRESS_TKE_TOP_WDT0) +#define TEGRA_WDT_COMMAND_0 U32_C(TKE_TOP_WDT0_WDTCMDR_0 - BASE_ADDRESS_TKE_TOP_WDT0) +#define TEGRA_WDT_WINDOW_CONFIG_0 U32_C(TKE_TOP_WDT0_WDTFWCR_0 - BASE_ADDRESS_TKE_TOP_WDT0) +#define TEGRA_WDT_UNLOCK_PATTERN_0 U32_C(TKE_TOP_WDT0_WDTUR_0 - BASE_ADDRESS_TKE_TOP_WDT0) +#define TEGRA_WDT_UNLOCK_PATTERN_VALUE 0xC45AUL +#define TEGRA_WDT_UNLOCK_CRC32 0xEDB88320UL + +static inline const struct tegra_wdt * +tegra_wdt_from_id(const struct tegra_wdt_id *id) +{ + uint32_t wdtptr = fsp_c_wdtid_ptr_to_u32(id) - offsetof(struct tegra_wdt, id); + return fsp_u32_to_c_wdt_ptr(wdtptr); +} + +static inline uint32_t +tegra_wdt_readl(const struct tegra_wdt_id *id, + uint32_t reg) +{ + return readl_base_offset(id->base_addr, reg); +} + +static inline void +tegra_wdt_writel(const struct tegra_wdt_id *id, + uint32_t val, uint32_t reg) +{ + writel_base_offset(val, id->base_addr, reg); +} + +static SECTION_WDT_TEXT void +tegra_wdt_unlock(const struct tegra_wdt_id *id) +{ + const struct tegra_wdt *wdt_dev = tegra_wdt_from_id(id); + uint32_t val; + + if (wdt_dev->challenge_response) { + /* + * The Challenge is a LFSR value, present in the Unlock + * register. + * + * The Response is the next value of the LFSR, that needs to + * be written in the Unlock register. + * + * The LFSR uses the classical CRC-32 polynomial operating + * in shift right (reversed) direction, that is the next + * value is calculated as + * + * LFSR = (LFSR >> 1) ^ ((LFSR & 0x1) ? 0xEDB88320 : 0) + */ + val = tegra_wdt_readl(id, TEGRA_WDT_UNLOCK_PATTERN_0); + val = (val >> 1) ^ (((val & 1UL) != 0UL) ? TEGRA_WDT_UNLOCK_CRC32 : 0UL); + } else { + val = TEGRA_WDT_UNLOCK_PATTERN_VALUE; + } + + tegra_wdt_writel(id, val, TEGRA_WDT_UNLOCK_PATTERN_0); +} + +static SECTION_WDT_TEXT void +tegra_wdt_ack_internal(const struct tegra_wdt_id *id) +{ + tegra_wdt_unlock(id); + UNUSED(tegra_safe_wdt_start(id)); +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx") +SECTION_WDT_TEXT error_t +tegra_safe_wdt_start(const struct tegra_wdt_id *id) +{ + error_t rc = E_SUCCESS; + const struct tegra_wdt *wdt_dev; + uint32_t val; + + if (id == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + wdt_dev = tegra_wdt_from_id(id); + + /* + * When written to 1b, enable the counter operation, load the counter + * with Period and starts downcounting, resets the expiration count to + * 0 and clears all status flags. + */ + val = NV_DRF_NUM(TKE_TOP, WDT0_WDTCMDR, StartCounter, 1UL); + tegra_wdt_writel(id, val, TEGRA_WDT_COMMAND_0); + + if (wdt_dev->irq_callback != NULL) { + rc = irq_safe_enable(id->irq); + if (rc != E_SUCCESS) { + goto out; + } + } + if (wdt_dev->fiq_callback != NULL) { + rc = irq_safe_enable(id->fiq); + if ((rc != E_SUCCESS) && (wdt_dev->irq_callback != NULL)) { + ASSERT(irq_safe_disable(id->irq) == E_SUCCESS); + } + } + + out: + return rc; +} + +SECTION_WDT_ERROR_TEXT error_t +tegra_safe_wdt_stop(const struct tegra_wdt_id *id) +{ + error_t rc = E_SUCCESS; + const struct tegra_wdt *wdt_dev; + uint32_t val; + + if (id == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + wdt_dev = tegra_wdt_from_id(id); + + /* + * Only working if the unlock register (WDTUR{w}) has been + * programmed before with the correct pattern. Writing to the command + * register always clears the unlock register. + * If written DisableCounter to 1b, while WDT counter is enabled and the + * unlock register contains the unlock pattern, the watchdog transitions + * back to disabled. + */ + + if (!in_interrupt()) { + rtosTaskEnterCritical(); + } + + tegra_wdt_unlock(id); + + val = NV_DRF_NUM(TKE_TOP, WDT0_WDTCMDR, DisableCounter, 1UL); + tegra_wdt_writel(id, val, TEGRA_WDT_COMMAND_0); + + if (wdt_dev->irq_callback != NULL) { + rc = irq_safe_disable(id->irq); + if (rc != E_SUCCESS) { + goto exit; + } + } + if (wdt_dev->fiq_callback != NULL) { + rc = irq_safe_disable(id->fiq); + if ((rc != E_SUCCESS) && (wdt_dev->irq_callback != NULL)) { + ASSERT(irq_safe_enable(id->irq) == E_SUCCESS); + } + } + +exit: + if (!in_interrupt()) { + rtosTaskExitCritical(); + } + + out: + return rc; +} + +SECTION_WDT_ERROR_TEXT error_t +tegra_safe_wdt_stop_from_isr(const struct tegra_wdt_id *id) +{ + return tegra_safe_wdt_stop(id); +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WDT_ERROR_TEXT void tegra_safe_wdt_irq(void *data) +{ + error_t rc; + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + const struct tegra_wdt_id *id = data; + const struct tegra_wdt *wdt_dev; + uint32_t status = 0; + + ASSERT(id != NULL); + + wdt_dev = tegra_wdt_from_id(id); + + rc = tegra_safe_wdt_read_status(id, &status); + ASSERT(rc == E_SUCCESS); + + if (wdt_dev->irq_callback != NULL) { + if (wdt_dev->irq_ack_by_callback) { + rc = irq_safe_disable(id->irq); + ASSERT(rc == E_SUCCESS); + } else { + tegra_wdt_ack_internal(id); + } + wdt_dev->irq_callback(status, wdt_dev->irq_data); + } +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WDT_ERROR_TEXT void tegra_safe_wdt_fiq(void *data) +{ + error_t rc; + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + const struct tegra_wdt_id *id = data; + const struct tegra_wdt *wdt_dev; + uint32_t status = 0; + + ASSERT(id != NULL); + + wdt_dev = tegra_wdt_from_id(id); + + rc = tegra_safe_wdt_read_status(id, &status); + ASSERT(rc == E_SUCCESS); + + if (wdt_dev->fiq_callback != NULL) { + if (wdt_dev->fiq_ack_by_callback) { + rc = irq_safe_disable(id->fiq); + ASSERT(rc == E_SUCCESS); + } else { + tegra_wdt_ack_internal(id); + } + wdt_dev->fiq_callback(status, wdt_dev->fiq_data); + } +} + +SECTION_WDT_TEXT error_t +tegra_safe_wdt_read_status(const struct tegra_wdt_id *id, + uint32_t *status) +{ + error_t rc = E_SUCCESS; + + if (id == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + *status = tegra_wdt_readl(id, TEGRA_WDT_STATUS_0); + + out: + return rc; +} + +SECTION_WDT_TEXT error_t +tegra_safe_wdt_ack(const struct tegra_wdt_id *id) +{ + error_t rc = E_SUCCESS; + const struct tegra_wdt *wdt_dev; + + if (id == NULL) { + rc = E_WDT_ERR_NULL_PTR; + goto out; + } + + wdt_dev = tegra_wdt_from_id(id); + + if (!in_interrupt()) { + rtosTaskEnterCritical(); + } + + tegra_wdt_ack_internal(id); + + if (wdt_dev->irq_ack_by_callback) { + rc = irq_safe_enable(id->irq); + if (rc != E_SUCCESS) { + goto exit; + } + } + if (wdt_dev->fiq_ack_by_callback) { + rc = irq_safe_enable(id->fiq); + if ((rc != E_SUCCESS) && wdt_dev->irq_ack_by_callback) { + ASSERT(irq_safe_disable(id->irq) == E_SUCCESS); + } + } + +exit: + if (!in_interrupt()) { + rtosTaskExitCritical(); + } + + out: + return rc; +} + +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +SECTION_WDT_INIT_TEXT error_t tegra_safe_wdt_setup(struct tegra_wdt_id *id, const struct tegra_wdt_conf *conf) +{ + struct tegra_wdt *wdt_dev; + uint32_t val; + error_t err = E_SUCCESS; + + if ((id == NULL) + || (conf == NULL)) { + err = E_WDT_ERR_NULL_PTR; + goto out; + } + + wdt_dev = fsp_c_wdt_ptr_to_wdt_ptr(tegra_wdt_from_id(id)); + + if ((conf->tmrsrc & ~TKE_TOP_WDT0_WDTCR_0_TimerSource_DEFAULT_MASK) != 0U) { + err = E_WDT_ERR_TMRSRC_INVALID; + goto out; + } + + if ((conf->err_threshold & ~TKE_TOP_WDT0_WDTCR_0_ErrorThreshold_DEFAULT_MASK) != 0UL) { + err = E_WDT_ERR_THRESHOLD_INVALID; + goto out; + } + + if (conf->irq_en && (conf->irq_callback == NULL)) { + err = E_WDT_ERR_IRQ_CONFIG; + goto out; + } + + if (conf->fiq_en && (conf->fiq_callback == NULL)) { + err = E_WDT_ERR_IRQ_CONFIG; + goto out; + } + + wdt_dev->irq_ack_by_callback = conf->irq_en && conf->irq_ack_by_callback; + wdt_dev->irq_callback = conf->irq_en ? conf->irq_callback : NULL; + wdt_dev->irq_data = conf->irq_data; + wdt_dev->fiq_ack_by_callback = conf->fiq_en && conf->fiq_ack_by_callback; + wdt_dev->fiq_callback = conf->fiq_en ? conf->fiq_callback : NULL; + wdt_dev->fiq_data = conf->fiq_data; + + val = + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, TimerSource, conf->tmrsrc) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, Period, conf->period) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, LocalInterruptEnable, conf->irq_en ? 1UL : 0UL) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, LocalFIQEnable, conf->fiq_en ? 1UL : 0UL) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, RemoteInterruptEnable, conf->remoteIrq_en ? 1UL : 0UL) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, SystemDebugResetEnable, conf->sys_dbg_rst_en ? 1UL : 0UL) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, SystemPOResetEnable, conf->sys_por_rst_en ? 1UL : 0UL) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, TscReferenceEnable, conf->tsc_ref_en ? 1UL : 0UL) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, ErrorThreshold, conf->err_threshold); + + tegra_wdt_writel(id, val, TEGRA_WDT_CONFIG_0); + + /* Explicitly disable windowed operation mode */ + err = tegra_safe_disable_wdt_windowed_operation(id); + if (err != E_SUCCESS) { + goto out; + } + + if ((val & NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, ChallengeResponseEnable, 1UL)) != 0UL) { + wdt_dev->challenge_response = true; + } else { + wdt_dev->challenge_response = false; + } + + if (conf->irq_en) { + err = irq_safe_set_handler(id->irq, tegra_safe_wdt_irq, (void *)id); + if (err != E_SUCCESS) { + goto out; + } + } + + if (conf->fiq_en) { + err = irq_safe_set_handler(id->fiq, tegra_safe_wdt_fiq, (void *)id); + if (err != E_SUCCESS) { + goto out; + } + } + +out: + return err; +} + +SECTION_WDT_TEXT error_t +tegra_safe_enable_wdt_windowed_operation(const struct tegra_wdt_id *id, + uint8_t start_level, + uint8_t start_count) +{ + uint32_t val; + error_t err = E_SUCCESS; + + if (id == NULL) { + err = E_WDT_ERR_NULL_PTR; + goto out; + } + + val = NV_DRF_NUM(TKE_TOP, WDT0_WDTFWCR, StartLevel, start_level) | + NV_DRF_NUM(TKE_TOP, WDT0_WDTFWCR, StartCount, start_count); + tegra_wdt_writel(id, val, TEGRA_WDT_WINDOW_CONFIG_0); + + val = tegra_wdt_readl(id, TEGRA_WDT_CONFIG_0); + val |= NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, WindowedOperationEnable, 0x1UL); + tegra_wdt_writel(id, val, TEGRA_WDT_CONFIG_0); + +out: + return err; +} + +SECTION_WDT_TEXT error_t +tegra_safe_disable_wdt_windowed_operation(const struct tegra_wdt_id *id) +{ + uint32_t val; + error_t err = E_SUCCESS; + + if (id == NULL) { + err = E_WDT_ERR_NULL_PTR; + goto out; + } + + val = tegra_wdt_readl(id, TEGRA_WDT_CONFIG_0); + val &= ~NV_DRF_NUM(TKE_TOP, WDT0_WDTCR, WindowedOperationEnable, 0x1UL); + tegra_wdt_writel(id, val, TEGRA_WDT_CONFIG_0); + +out: + return err; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/include/adcc/adcc-errors.h b/spe-freertos-bsp/fsp/source/include/adcc/adcc-errors.h new file mode 100644 index 0000000..26c37dc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/adcc/adcc-errors.h @@ -0,0 +1,70 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ADCC__ADCC_ERRORS_H +#define ADCC__ADCC_ERRORS_H +#define FSP__ADCC__ADCC_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") + +/** + * @file adcc-errors.h + * @brief Error codes that are specific to the adcc + */ + +#define E_ADCC_NULL_PTR MODULE_ERROR(ADCC, 0UL) +#define E_ADCC_INVALID_PARAM MODULE_ERROR(ADCC, 1UL) +#define E_ADCC_CLK_EN MODULE_ERROR(ADCC, 2UL) +#define E_ADCC_CLK_RST MODULE_ERROR(ADCC, 3UL) +#define E_ADCC_NO_INIT MODULE_ERROR(ADCC, 4UL) +#define E_ADCC_INVALID_CHAN MODULE_ERROR(ADCC, 5UL) +#define E_ADCC_CHAN_NOT_ENABLED MODULE_ERROR(ADCC, 6UL) + +#endif /* ADCC__ADCC_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/adcc/adcc-priv.h b/spe-freertos-bsp/fsp/source/include/adcc/adcc-priv.h new file mode 100644 index 0000000..e0c7121 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/adcc/adcc-priv.h @@ -0,0 +1,85 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ADCC__ADCC_PRIV_H +#define ADCC__ADCC_PRIV_H +#define FSP__ADCC__ADCC_PRIV_H 1 + +/** + * @file adcc/adcc-tegra-priv.h + * @brief Structures that are internal to the ADCC driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ADCC__ADCC_H, "Header file missing or invalid.") + +/* + * Declaration for tera_rst/clk that allows the structs/APIs to take a pointer + * to it without actually defining its contents here. + */ +struct tegra_rst; + +/** + * @brief ADCC controller context structure + * + * Structure that is used by the ADCC driver to manage the ADCC controller + * during run time. + * + * @base_addr base address of the controller + * @rst controller reset configuration + * @clk controller clock configuration + */ +struct adcc_id { + uint32_t base_addr; + const struct tegra_rst *rst; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/adcc/adcc.h b/spe-freertos-bsp/fsp/source/include/adcc/adcc.h new file mode 100644 index 0000000..1d4086c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/adcc/adcc.h @@ -0,0 +1,196 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ADCC__ADCC_H +#define ADCC__ADCC_H +#define FSP__ADCC__ADCC_H 1 + +#define ADCC_MODE_SINGLE_SHOT 1U +#define ADCC_MODE_CONT_MODE 0U + +#define ADCC_CLK_SRC_OSC_UNDIV 0U +#define ADCC_CLK_SRC_PLLP 1U + +/** + * @file adcc/adcc-tegra-priv.h + * @brief Structures that are internal to the ADCC driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/** + * ADCC controllers support 6 channels. Hence, + * setting number of ADCC channels as 6. + */ +#define ADCC_NCHANS 6U + +/* + * Declaration for adcc_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +struct adcc_id; + +/** + * @brief ADCC channels samples + * + * Structure that is used by the ADCC driver to fetch the samples from + * all the ADCC channels. + * + * @ch_data array containing all the channels samples + * @enabled_chans bit mask of the enabled channels + */ +struct adcc_data { + uint32_t ch_data[ADCC_NCHANS]; + uint32_t enabled_chans; +}; + +/** + * @brief ADCC configuration + * + * Structure that stores the configuration details that is used by the + * ADCC driver. + * + * @enabled_chans bit mask of the enabled channels + * @sampling_dur sampling duration + * @avg_window averaging window duration + * @mode single shot or continuous mode + * @clk_src adcc clock source + * @chans_lb_data adcc channels loop back data + */ +struct adcc_conf { + uint32_t enabled_chans; + uint32_t sampling_dur; + uint32_t avg_window; + uint32_t mode; + uint32_t clk_src; + uint64_t chans_lb_data; +}; + +/** + * @brief Read all ADCC channels samples + * + * @jama_func_req_id xxxxxxx + * + * This function fetches the samples read on all ADCC channel. + * + * @pre the function adcc_init() has been called + * + * @param[in] id pointer to the ADCC descriptor instance. + * @param[in] data pointer to store the channels samples read. + * + * @retval E_SUCCESS indicates success + * @retval E_ADCC_NULL_PTR invalid id paramter passed + * @retval E_ADCC_NO_INIT adcc is not initialized + */ +error_t adcc_read_data(const struct adcc_id *id, + struct adcc_data *data); + +/** + * @brief Read an ADCC channel's sample + * + * @jama_func_req_id xxxxxxx + * + * This function fetches the sample read on an ADCC channel specified. + * + * @pre the function adcc_init() has been called + * + * @param[in] id pointer to the ADCC descriptor instance. + * @param[in] chan channel index in [0, ADCC_NCHANS - 1] + * @param[in] data pointer to store the read channel sample + * + * @retval E_SUCCESS indicates success + * @retval E_ADCC_NULL_PTR invalid id paramter passed + * @retval E_ADCC_NO_INIT adcc is not initialized + * @retval E_ADCC_INVALID_CHAN invalid chan id passed + * @retval E_ADCC_CHAN_NOT_ENABLED invalid chan id passed + */ +error_t adcc_read_chan_data(const struct adcc_id *id, + uint32_t chan, + uint32_t *data); + +/** + * @brief Stop the ADCC channel scan + * + * @jama_func_req_id xxxxxxx + * + * This function disables the ADCC channel scanning. + * + * @pre the function adcc_init() has been called + * + * @param[in] id pointer to the ADCC descriptor instance. + * + * @retval E_SUCCESS indicates success + * @retval E_ADCC_NULL_PTR invalid id paramter passed + * @retval E_ADCC_NO_INIT adcc is not initialized + */ +error_t adcc_stop_scan(const struct adcc_id *id); + +/** + * @brief Start the ADCC channel scan + * + * @jama_func_req_id xxxxxxx + * + * This function enables the ADCC channel scanning. + * + * @pre the function adcc_init() has been called + * + * @param[in] id pointer to the ADCC descriptor instance. + * + * @retval E_SUCCESS indicates success + * @retval E_ADCC_NULL_PTR invalid id paramter passed + * @retval E_ADCC_NO_INIT adcc is not initialized + */ +error_t adcc_start_scan(const struct adcc_id *id); + +/** + * @brief Initialize the ADCC context + * + * @jama_func_req_id xxxxxxx + * + * This function initializes the ADCC context for an instance. + * + * @param[in] id pointer to the ADCC descriptor instance. + * @param[conf] adcc configuration. + * + * @retval E_SUCCESS indicates success + * @retval E_ADCC_NULL_PTR invalid paramter passed + */ +error_t adcc_init(const struct adcc_id *id, + const struct adcc_conf *conf); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/adcc/sections-adcc.h b/spe-freertos-bsp/fsp/source/include/adcc/sections-adcc.h new file mode 100644 index 0000000..207773d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/adcc/sections-adcc.h @@ -0,0 +1,86 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ADCC__SECTIONS_ADCC_H +#define ADCC__SECTIONS_ADCC_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_ADCC_DATA SECTION_BUILDER(adcc, data) +#define SECTION_NAME_ADCC_RODATA SECTION_BUILDER(adcc, rodata) +#define SECTION_NAME_ADCC_TEXT SECTION_BUILDER(adcc, text) +#define SECTION_NAME_ADCC_INIT_DATA SECTION_BUILDER(init.adcc, data) +#define SECTION_NAME_ADCC_INIT_TEXT SECTION_BUILDER(init.adcc, text) + +#define SECTION_STR_ADCC_TEXT STR(SECTION_NAME_ADCC_TEXT) +#define SECTION_STR_ADCC_RODATA STR(SECTION_NAME_ADCC_RODATA) +#define SECTION_STR_ADCC_DATA STR(SECTION_NAME_ADCC_DATA) +#define SECTION_STR_ADCC_INIT_TEXT STR(SECTION_NAME_ADCC_INIT_TEXT) +#define SECTION_STR_ADCC_INIT_DATA STR(SECTION_NAME_ADCC_INIT_DATA) + +#define SECTION_ADCC_TEXT SECTION(SECTION_STR_ADCC_TEXT) +#define SECTION_ADCC_RODATA SECTION(SECTION_STR_ADCC_RODATA) +#define SECTION_ADCC_DATA SECTION(SECTION_STR_ADCC_DATA) +#define SECTION_ADCC_INIT_TEXT SECTION(SECTION_STR_ADCC_INIT_TEXT) +#define SECTION_ADCC_INIT_DATA SECTION(SECTION_STR_ADCC_INIT_DATA) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/aodmic/aodmic-errors.h b/spe-freertos-bsp/fsp/source/include/aodmic/aodmic-errors.h new file mode 100644 index 0000000..a140cdd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/aodmic/aodmic-errors.h @@ -0,0 +1,79 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef AODMIC__AODMIC_ERRORS_H_ +#define AODMIC__AODMIC_ERRORS_H_ +#define FSP__AODMIC__AODMIC_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for END_RFD_BLOCK, START_RFD_BLOCK +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +/* Error codes */ +#define E_AODMIC_CONFIGURATION_NA MODULE_ERROR(AODMIC, 0x01UL) +#define E_AODMIC_INVALID_SAMPLE_RATE MODULE_ERROR(AODMIC, 0x02UL) +#define E_AODMIC_CLK_RATE_ERROR MODULE_ERROR(AODMIC, 0x03UL) +#define E_AODMIC_INVALID_CHANNELS MODULE_ERROR(AODMIC, 0x04UL) +#define E_AODMIC_INVALID_SAMPLE_WIDTH MODULE_ERROR(AODMIC, 0x05UL) +#define E_AODMIC_INVALID_PERIOD MODULE_ERROR(AODMIC, 0x06UL) +#define E_AODMIC_MEM_ALLOC_FAILURE MODULE_ERROR(AODMIC, 0x07UL) +#define E_AODMIC_SEM_CREATE_FAILURE MODULE_ERROR(AODMIC, 0x08UL) +#define E_AODMIC_NOT_INITIALIZED MODULE_ERROR(AODMIC, 0x09UL) +#define E_AODMIC_BUF_INVALID MODULE_ERROR(AODMIC, 0x0AUL) +#define E_AODMIC_READ_TIMEOUT MODULE_ERROR(AODMIC, 0x0BUL) +#define E_AODMIC_NULL_POINTER MODULE_ERROR(AODMIC, 0x0CUL) +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/aodmic/sections-aodmic.h b/spe-freertos-bsp/fsp/source/include/aodmic/sections-aodmic.h new file mode 100644 index 0000000..a0dc8a4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/aodmic/sections-aodmic.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef AODMIC__SECTIONS_AODMIC_H +#define AODMIC__SECTIONS_AODMIC_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_AODMIC_DATA SECTION_BUILDER(aodmic, data) +#define SECTION_NAME_AODMIC_RODATA SECTION_BUILDER(aodmic, rodata) +#define SECTION_NAME_AODMIC_TEXT SECTION_BUILDER(aodmic, text) +#define SECTION_NAME_AODMIC_INIT_DATA SECTION_BUILDER(init.aodmic, data) +#define SECTION_NAME_AODMIC_INIT_TEXT SECTION_BUILDER(init.aodmic, text) + +#define SECTION_STR_AODMIC_TEXT STR(SECTION_NAME_AODMIC_TEXT) +#define SECTION_STR_AODMIC_RODATA STR(SECTION_NAME_AODMIC_RODATA) +#define SECTION_STR_AODMIC_DATA STR(SECTION_NAME_AODMIC_DATA) +#define SECTION_STR_AODMIC_INIT_TEXT STR(SECTION_NAME_AODMIC_INIT_TEXT) +#define SECTION_STR_AODMIC_INIT_DATA STR(SECTION_NAME_AODMIC_INIT_DATA) + +#define SECTION_AODMIC_TEXT SECTION(SECTION_STR_AODMIC_TEXT) +#define SECTION_AODMIC_RODATA SECTION(SECTION_STR_AODMIC_RODATA) +#define SECTION_AODMIC_DATA SECTION(SECTION_STR_AODMIC_DATA) +#define SECTION_AODMIC_INIT_TEXT SECTION(SECTION_STR_AODMIC_INIT_TEXT) +#define SECTION_AODMIC_INIT_DATA SECTION(SECTION_STR_AODMIC_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/aodmic/tegra-aodmic-priv.h b/spe-freertos-bsp/fsp/source/include/aodmic/tegra-aodmic-priv.h new file mode 100644 index 0000000..8a377ba --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/aodmic/tegra-aodmic-priv.h @@ -0,0 +1,121 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef AODMIC__TEGRA_AODMIC_PRIV_H_ +#define AODMIC__TEGRA_AODMIC_PRIV_H_ +#define FSP__AODMIC__TEGRA_AODMIC_PRIV_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ +#include // for AODMIC_MAX_NUM_PERIODS + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_QUEUE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* Internal hardcodings of AODMIC */ +#define TEGRA_AODMIC_WORD_SIZE 4u /* 4 bytes */ +#define TEGRA_AODMIC_FIFO_SIZE 32u /* 32 words */ + +/* AODMIC interrupt threshold */ +#define TEGRA_AODMIC_FIFO_THRESHOLD (TEGRA_AODMIC_FIFO_SIZE / 2u) + +#define TEGRA_AODMIC_MIN_ALLOWED_PERIODS (2UL) + +struct tegra_aodmic_id { + uint32_t base_addr; + const struct aodmic_port_clk_rst *aodmic_hw_handle; + uint32_t irq; +}; + +struct tegra_aodmic_ctlr { + const struct tegra_aodmic_id id; + + /* PCM configuration */ + uint32_t sample_rate; /* In Hz */ + uint32_t num_channels; /* Channel count */ + uint32_t samp_bytes; /* Bytes per sample */ + + /* GPCDMA configuration */ + struct gpcdma_id *dma_id; /* DMA instance ID */ + uint32_t dma_chan_num; /* DMA channel no. */ + struct gpcdma_xfer dma_xfer; /* DMA transfer parameters */ + + /* Driver data buffer */ + uint8_t *data; /* Data pointer (of num_periods length) */ + uint32_t period_bytes; /* Size of each period in data buffer */ + uint32_t num_periods; /* No. of periods */ + + /* Buffer control */ + rtosSemaphoreBuffer rtosSemaphore_object; /* statically allocated object */ + rtosSemaphoreHandle rtosSemaphore_free_buf; /* Count of free periods */ + uint8_t rtosQueue_object_mem[ /* queue object and queue data */ + rtosQueueSize(AODMIC_MAX_NUM_PERIODS, sizeof(uint64_t))]; + rtosQueueHandle rtosQueue_filled_buf; /* Queue of filled periods */ + rtosTick max_read_timeout; /* Timeout at queue receive */ + uint32_t free_pos; /* Next available free period (for writing) */ + uint8_t *read_ptr; /* Location of period to read */ + uint32_t bytes_to_read; /* Bytes available to read */ + + /* Control information */ + bool init_done; + bool dma_running; + bool reset; + uint32_t xrun_cnt; + + /* Error Logging */ + uint32_t overflow_count; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/aodmic/tegra-aodmic.h b/spe-freertos-bsp/fsp/source/include/aodmic/tegra-aodmic.h new file mode 100644 index 0000000..068ed4d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/aodmic/tegra-aodmic.h @@ -0,0 +1,201 @@ +/* + * Copyright (c) 2015-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef AODMIC__TEGRA_AODMIC_H +#define AODMIC__TEGRA_AODMIC_H +#define FSP__AODMIC__TEGRA_AODMIC_H 1 + +/* Compiler headers */ +#include + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for MODULE_ID_AODMIC, E_SUCCESS +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + + +// IWYU pragma: no_forward_declare tegra_aodmic_ctlr +struct tegra_aodmic_ctlr; + +/* Supported sample rates */ +enum tegra_aodmic_sample_rate { + TEGRA_AODMIC_RATE_8KHZ = 8000, + TEGRA_AODMIC_RATE_16KHZ = 16000, + TEGRA_AODMIC_RATE_44KHZ = 44100, + TEGRA_AODMIC_RATE_48KHZ = 48000, + TEGRA_AODMIC_NUM_RATES +}; + +/* Supported channel configurations */ +enum tegra_aodmic_channel_config { + TEGRA_AODMIC_CHANNEL_MONO_LEFT, + TEGRA_AODMIC_CHANNEL_MONO_RIGHT, + TEGRA_AODMIC_CHANNEL_STEREO, + TEGRA_AODMIC_NUM_CHANNEL_CONFIGS +}; + +/* + * Supported sample widths + * AODMIC provides samples at 24 bit sample width, + * which will be scaled as per below configuration + */ +enum tegra_aodmic_sample_width { + TEGRA_AODMIC_BITS_PER_SAMPLE_16 = 2, + TEGRA_AODMIC_BITS_PER_SAMPLE_32 = 4, +}; + +/* + * This relates to the Queue size in the driver. It is statically + * allocated for the largest number supported, so this number + * should only be raised in rare cases where quadruple data buffering + * is deemed insufficient. Double buffering is the typical usage. + */ +#define AODMIC_MAX_NUM_PERIODS (4) + +/* + * @brief AODMIC config structure + * PCM configuration: + * @sample_rate As per tegra_aodmic_sample_rate + * @channel_config As per tegra_aodmic_channel_config + * @sample_width As per tegra_aodmic_sample_width + * DMA configuration: + * @period_size DMA interrupt interval (in sample frames), + * must be multiple of 16 + * @num_periods 2 <= num_periods <= AODMIC_MAX_NUM_PERIODS + * DMA instance: + * @gpcdma_id GPCDMA instance handle + * @dma_chan_num GPCDMA channel no. to use (0 - 7) + * + * GPCDMA Data Buffers + * @gpcdma_buf Pointer to data buffer that will be + * used exclusively by the driver, i.e. application should + * create but never directly access this buffer. + * @gpcdma_buf_size This is the size of the buffer created. It must be at + * least period_size*num_periods*4*num_channels where + * num_channels=1 for mono channel configurations and + * num_channels=2 for stereo channel configutations. If + * this condition is not met the driver will return an + * error code of E_AODMIC_MEM_ALLOC_FAILURE. + */ +struct tegra_aodmic_config { + /* PCM configuration */ + enum tegra_aodmic_sample_rate sample_rate; + enum tegra_aodmic_channel_config channel_config; + enum tegra_aodmic_sample_width sample_width; + + /* DMA configuration */ + uint32_t period_size; + uint32_t num_periods; + + /* DMA instance */ + struct gpcdma_id *dma_id; + uint32_t dma_chan_num; + + /* GPCDMA Data Buffers */ + uint8_t *gpcdma_buf; + uint32_t gpcdma_buf_size; +}; + +/** + * @brief open and initialize AODMIC instance + * + * @pre gpcdma_init() has been called + * + * @param[in] ctlr: AODMIC controller instance + * @param[in] config: Configuration structure + * + * @retval E_SUCCESS indicates success + * @retval E_AODMIC_NULL_POINTER indicates NULL pointer was passed + * @retval E_AODMIC_INVALID_SAMPLE_RATE invalid sample rate + * @retval E_AODMIC_INVALID_CHANNELS invalid channel configuration + * @retval E_AODMIC_INVALID_SAMPLE_WIDTH invalid sample width + * @retval E_AODMIC_INVALID_PERIOD invalid period + * @retval E_AODMIC_MEM_ALLOC_FAILURE gpcdma_buf_size too small + * @retval E_AODMIC_SEM_CREATE_FAILURE failed rtos object creation + */ +error_t +tegra_aodmic_open(struct tegra_aodmic_ctlr *ctlr, + const struct tegra_aodmic_config *config); + +/** + * @brief Read captured samples + * + * @pre the function tegra_aodmic_open() has been called + * + * @param[in] ctlr: AODMIC controller instance + * @param[in] count: number of bytes to capture + * + * @retval E_SUCCESS success + * @retval E_AODMIC_NULL_POINTER detected a null pointer + * @retval E_AODMIC_CONFIGURATION_NA count of 0 not allowed + * @retval E_AODMIC_NOT_INITIALIZED tegra_aodmic_open() not called prior + * @retval E_AODMIC_BUF_INVALID null data pointer + * @retval E_AODMIC_READ_TIMEOUT timeout waiting for queue + */ +error_t +tegra_aodmic_read(struct tegra_aodmic_ctlr *ctlr, + void *data, + uint32_t count); + +/** + * @brief Close AODMIC instance + * + * @pre none + * + * @param[in] ctlr: AODMIC controller instance + * + * @retval E_SUCCESS indicates success + * @retval E_AODMIC_NULL_POINTER detected a null pointer + */ +error_t +tegra_aodmic_close(struct tegra_aodmic_ctlr *ctlr); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/asm/asm.h b/spe-freertos-bsp/fsp/source/include/asm/asm.h new file mode 100644 index 0000000..cccbdf9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/asm/asm.h @@ -0,0 +1,53 @@ +/* + * Copyright (c) 2018-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + * + * This file is derived from LittleKernel include/asm.h provided under the + * following license terms: + * + * Copyright (c) 2008-2013 Travis Geiselbrecht + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files + * (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, + * publish, distribute, sublicense, and/or sell copies of the Software, + * and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifndef ASM__ASM_H +#define ASM__ASM_H +#define FSP__ASM__ASM_H 1 + +/* + * @brief Macros to declare the start of a global function, local function + * and end of a local or global function. + */ +#define FUNCTION(x) .global x; .type x, STT_FUNC; x: +#define LOCAL_FUNCTION(x) .type x, STT_FUNC; x: +#define END_FUNCTION(x) .L##x##_end0 : .size x, (.L##x##_end0 - x) + +/* + * @brief Macros to declare the start of global data and local data in asm + */ +#define DATA(x) .global x; .type x, STT_OBJECT; x: +#define LOCAL_DATA(x) .type x, STT_OBJECT; x: + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/ast/ast-errors.h b/spe-freertos-bsp/fsp/source/include/ast/ast-errors.h new file mode 100644 index 0000000..00d41aa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/ast/ast-errors.h @@ -0,0 +1,100 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef AST__AST_ERRORS_H +#define AST__AST_ERRORS_H +#define FSP__AST__AST_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Macro definitions for errors from AST layer + * + * @macro-title AST error codes + * + * @E_AST_INVALID_VMINDEX Error value returned for invalid VM index + * @E_AST_INVALID_AST_BASE Error value returned for invalid or NULL + * AST base addresses + * @E_AST_GLOBALLY_LOCKED Error value returned if request could not + * be processed because AST is globally locked. + * @E_AST_REGION_DISABLED Error value returned if request could not + * be processed because AST region is disabled + * @E_AST_REGION_STREAMID_DISABLED Error value returned if request could not + * be processed because AST region streamID is + * disabled + * E_AST_INVALID_INPUT_PARAMETERS Error value returned for invalid or NULL + * input parameters + * E_AST_INVALID_PHY_REGION_REQUEST Error value returned when the request is + * not applicable to regions mapped with + * physical streamID + * E_AST_NOT_SUPPORTED Error value returned when the function + * is not supported on a particular SoC + */ +#define E_AST_INVALID_VMINDEX MODULE_ERROR(AST,1UL) +#define E_AST_INVALID_AST_BASE MODULE_ERROR(AST,2UL) +#define E_AST_GLOBALLY_LOCKED MODULE_ERROR(AST,3UL) +#define E_AST_REGION_DISABLED MODULE_ERROR(AST,4UL) +#define E_AST_REGION_STREAMID_DISABLED MODULE_ERROR(AST,5UL) +#define E_AST_INVALID_INPUT_PARAMETERS MODULE_ERROR(AST,6UL) +#define E_AST_INVALID_PHY_REGION_REQUEST MODULE_ERROR(AST,7UL) +#define E_AST_NOT_SUPPORTED MODULE_ERROR(AST,8UL) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/ast/sections-ast.h b/spe-freertos-bsp/fsp/source/include/ast/sections-ast.h new file mode 100644 index 0000000..f441227 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/ast/sections-ast.h @@ -0,0 +1,94 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef AST__SECTIONS_AST_H +#define AST__SECTIONS_AST_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_AST_DATA SECTION_BUILDER(ast, data) +#define SECTION_NAME_AST_RODATA SECTION_BUILDER(ast, rodata) +#define SECTION_NAME_AST_TEXT SECTION_BUILDER(ast, text) +#define SECTION_NAME_AST_INIT_DATA SECTION_BUILDER(init.ast, data) +#define SECTION_NAME_AST_INIT_TEXT SECTION_BUILDER(init.ast, text) + +#define SECTION_STR_AST_TEXT STR(SECTION_NAME_AST_TEXT) +#define SECTION_STR_AST_RODATA STR(SECTION_NAME_AST_RODATA) +#define SECTION_STR_AST_DATA STR(SECTION_NAME_AST_DATA) +#define SECTION_STR_AST_INIT_TEXT STR(SECTION_NAME_AST_INIT_TEXT) +#define SECTION_STR_AST_INIT_DATA STR(SECTION_NAME_AST_INIT_DATA) + +#define SECTION_AST_TEXT SECTION(SECTION_STR_AST_TEXT) +#define SECTION_AST_RODATA SECTION(SECTION_STR_AST_RODATA) +#define SECTION_AST_DATA SECTION(SECTION_STR_AST_DATA) +#define SECTION_AST_INIT_TEXT SECTION(SECTION_STR_AST_INIT_TEXT) +#define SECTION_AST_INIT_DATA SECTION(SECTION_STR_AST_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif + diff --git a/spe-freertos-bsp/fsp/source/include/ast/tegra-ast.h b/spe-freertos-bsp/fsp/source/include/ast/tegra-ast.h new file mode 100644 index 0000000..afd52a1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/ast/tegra-ast.h @@ -0,0 +1,637 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef AST__TEGRA_AST_H +#define AST__TEGRA_AST_H +#define FSP__AST__TEGRA_AST_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for MK_U32_CONST + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__AST_DEFS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief AST instance macro definitions + * + * @macro-title AST instance mask macros + * + * @MK_U32_CONST Defines a u32 constant value + * @MAX_AST_CONTROLLER Defines maximum number of AST instances per cluster. + * @AST_INSTANCE_R5 Mask to configure R5 instance. + * @AST_INSTANCE_DMA Mask to configure DMA instance. + * @AST_INSTANCE_R5_AND_DMA Mask to configure both R5 and DMA instances. + * @MAX_REGION_INDEX Max value of valid region index + */ +#define MAX_AST_CONTROLLER MK_U32_CONST(2) +#define AST_INSTANCE_0 MK_U32_CONST(0) +#define AST_INSTANCE_1 MK_U32_CONST(1) +#define AST_INSTANCE_R5 (uint8_t)(1U << AST_INSTANCE_0) +#define AST_INSTANCE_DMA (uint8_t)(1U << AST_INSTANCE_1) +#define AST_INSTANCE_R5_AND_DMA (AST_INSTANCE_R5 | AST_INSTANCE_DMA) +#define MAX_REGION_INDEX (AST_NUM_REGIONS - 1U) + +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +const extern uint32_t ast_tegra_id[MAX_AST_CONTROLLER]; + +typedef uint64_t iova; + +#define IOVA_NULL ((iova)0U) + +/** + * @brief Structure defining the AST region map + * + * @master_base Base address of the translated region in the system address + * space. + * @slave_base Base address of the translated region in the local address + * space + * @size Size of the translated region. Size should be defined as a + * power of 2 multiple of the align address and less than the + * size of the private address space + * @streamid StreamID used with the translated region. StreamID value for a + * VM is assigned by the hypervisor. This is don't care value for + * regions mapped with physical streamID. + * @is_phy_region Indicator if the requested region is mapped using physical + * streamID + * @vmindex VMIndex used by the region + * @is_enabled Indicated if the region is enabled + */ +struct tegra_ast_region_map { + iova master_base; + uint64_t slave_base; + uint64_t size; + uint8_t stream_id; + bool is_phy_region; + uint8_t vmindex; + bool is_enabled; +}; + +/** + * @brief Enable an AST region for address translation + * This API should be used to enable regions mapped with virtual + * streamID. + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] stream_id StreamID used with region as assigned by + * the hypervisor. + * @param[in] master Base address in SoC address space + * @param[in] slave Base address in private address space + * @param[in] size Size of the region. Should be less than size + * of the private address space + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA, AST_INSTANCE_R5_AND_DMA] + * + * @pre + * - Region size must be programmed as power of 2 multiple of the align + * address. + * - Regions may not overlap. + * - Master and slave base addresses must be aligned to the region size. + * + * @func_req_id 10551222 + * + * @retval 0 For success + * @retval E_AST_INVALID_VMINDEX If streamID could not be set + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_enable_region(uint8_t region, uint8_t stream_id, + iova master, uint64_t slave, + uint64_t size, uint8_t instance_mask); + +/** + * @brief Enable an AST region for address translation + * This API should be used to enable regions mapped with virtual + * streamID. + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] stream_id StreamID used with region as assigned by + * the hypervisor. + * @param[in] master Base address in SoC address space + * @param[in] slave Base address in private address space + * @param[in] size Size of the region. Should be less than size + * of the private address space + * @param[in] base base address of the AST instance + * + * @pre + * - Region size must be programmed as power of 2 multiple of the align + * address. + * - Regions may not overlap. + * - Master and slave base addresses must be aligned to the region size. + * + * @func_req_id 10551222 + * + * @retval 0 For success + * @retval E_AST_INVALID_VMINDEX If streamID could not be set + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_addr_enable_region(uint8_t region, uint8_t stream_id, + iova master, uint64_t slave, + uint64_t size, uint32_t base); + +/** + * @brief Disable an AST region. + * + * Disables an AST region. + * + * @func_req_id 10551345 + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA, AST_INSTANCE_R5_AND_DMA] + * + * @retval 0 For success + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_disable_region(uint8_t region, uint8_t instance_mask); + +/** + * @brief Disable an AST region. + * + * Disables an AST region. + * + * @func_req_id 10551345 + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] base base address of the AST instance + * + * @retval 0 For success + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_addr_disable_region(uint8_t region, uint32_t base); + +/** + * @brief Disable default AST region. + * + * Disables the default AST region. + * + * @func_req_id 10551345 + * + * @param[in] base base address of the AST instance + * + * @retval 0 For success + * @retval E_AST_NOT_SUPPORTED For SoCs where default AST region + * is not supported + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_addr_disable_default_region(uint32_t base); + +/** + * @brief Get mapping for an AST region. + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[out] region_map Pointer to tegra_ast_region_map structure to store + * region map + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA] + * + * @func_req_id 10551651 + * + * @retval 0 For success + * @retval E_AST_REGION_DISABLED If input AST region is disabled + * @retval E_AST_INVALID_INPUT_PARAMETERS For Null input region_map pointer + * @retval E_AST_REGION_STREAMID_DISABLED If region streamid is disabled + */ +error_t tegra_ast_get_region_mapping(uint8_t region, + struct tegra_ast_region_map *return_region_map, + uint8_t instance_mask); + +/** + * @brief Get mapping for an AST region. + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] base base address of the AST instance + * @param[out] region_map Pointer to tegra_ast_region_map structure to store + * region map + * + * @func_req_id 10551651 + * + * @retval 0 For success + * @retval E_AST_REGION_DISABLED If input AST region is disabled + * @retval E_AST_INVALID_INPUT_PARAMETERS For Null input region_map pointer + * @retval E_AST_REGION_STREAMID_DISABLED If region streamid is disabled + */ +error_t tegra_ast_addr_get_region_mapping(uint8_t region, + struct tegra_ast_region_map *return_region_map, + uint32_t base); + +/** + * @brief Get the StreamID used with an AST region. + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[out] streamID Variable to capture stream ID + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA] + * + * @func_req_id 10551687 + * + * @retval 0 For success + * @retval E_AST_REGION_DISABLED If input AST region is disabled + * @retval E_AST_REGION_STREAMID_DISABLED If region streamid is disabled + * @retval E_AST_INVALID_INPUT_PARAMETERS For Null input region_map pointer + * @retval E_AST_INVALID_PHY_REGION_REQUEST Request not applicable as the region + * is mapped with physical streamID + */ +error_t tegra_ast_get_region_stream_id(uint8_t region, uint8_t *streamID, + uint8_t instance_mask); + +/** + * @brief Get the StreamID used with an AST region. + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] base base address of the AST instance to be used + * @param[out] streamID Variable to capture stream ID + * + * @func_req_id 10551687 + * + * @retval 0 For success + * @retval E_AST_REGION_DISABLED If input AST region is disabled + * @retval E_AST_REGION_STREAMID_DISABLED If region streamid is disabled + * @retval E_AST_INVALID_INPUT_PARAMETERS For Null input region_map pointer + * @retval E_AST_INVALID_PHY_REGION_REQUEST Request not applicable as the region + * is mapped with physical streamID + */ +error_t tegra_ast_addr_get_region_stream_id(uint8_t region, uint8_t *streamID, + uint32_t base); + +/** + * @brief Add and enable a StreamID. + * + * @param[in] stream_id StreamID to add. StreamID for a VM is specified by + * hypervisor + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA, AST_INSTANCE_R5_AND_DMA] + * + * @func_req_id 10551702 + * + * @retval 0 For success + * @retval E_AST_INVALID_VMINDEX If streamID could not be set + */ +error_t tegra_ast_add_streamid(uint8_t stream_id, uint8_t instance_mask); + +/** + * @brief Add and enable a StreamID. + * + * @param[in] stream_id StreamID to add. StreamID for a VM is specified by + * hypervisor + * @param[in] base base address of the AST instance to be used + * + * @func_req_id 10551702 + * + * @retval 0 For success + * @retval E_AST_INVALID_VMINDEX If streamID could not be set + */ +error_t tegra_ast_addr_add_streamid(uint8_t stream_id, uint32_t base); + +/** + * @brief Check if AST is globally locked. + * + * It is not possible to change the Physical StreamID or define new + * regions with Physical StreamID if AST is globally locked. + * + * @func_req_id 10604979 + * + * @retval true if AST is globally locked + * @retval false if AST is not globally locked + */ +bool tegra_ast_is_global_locked(void); + +/** + * @brief Map pointer to IOVA in ast region. + * + * Returns IOVA address for pointer in the slave address space + * + * @param[in] map AST region mapping + * @param[in] pointer Input pointer in the slave address space + * + * @func_req_id 10683207 + * + * @retval IOVA_address If input slave address is valid and lies with the + * AST region map + * @retval IOVA_NULL Otherwise + */ +iova tegra_ast_map_pointer_to_iova(const struct tegra_ast_region_map *map, + const void *pointer); + +/** + * @brief Map IOVA to local pointer value in ast region. + * + * Returns pointer value in local address space corresponding to the input IOVA + * + * @param[in] map AST region mapping + * @param[in] iova 40-bit valid I/O virtual address + * + * @func_req_id 10684041 + * + * @retval Slave_address_pointer_value If input IOVA is valid and lies withing the + * AST region map + * @retval 0 Otherwise + */ +uint64_t tegra_ast_get_local_pointer_value(const struct tegra_ast_region_map *map, + const iova iova_addr); + +/** + * @brief Map slave address to IOVA in ast region. + * + * Returns IOVA corresponding to the local address in slave address space. + * + * @param[in] map AST region mapping + * @param[in] slave Input slave address + * + * @func_req_id 10683153 + * + * @retval IOVA If input slave address is valid and lies within the AST + * region map + * @retval IOVA_NULL Otherwise + */ +iova tegra_ast_map_slave_to_iova(const struct tegra_ast_region_map *map, + const uint64_t slave); + +/** + * @brief Map IOVA to slave address in ast region. + * + * Returns address in slave address space corresponding to the input IOVA + * + * @param[in] map AST region mapping + * @param[in] iova 40-bit valid I/O virtual address + * + * @func_req_id 10683234 + * + * @retval slave_address If input IOVA is valid and lies within the AST region + * map + * @retval 0 Otherwise + */ +uint64_t tegra_ast_map_iova_to_slave(const struct tegra_ast_region_map *map, + const iova iova_addr); + +/** + * @brief Set Default Stream ID + * Enables physical stream ID or adds an entry to the streamID control table for default access + * + * @param[in] stream_id StreamID value to be set as specified by the hypervisor + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA, AST_INSTANCE_R5_AND_DMA] + * @param[in] phy Bool variable to set input stream ID as physical streamID + * + * @func_req_id 13063249 + * + * @retval 0 For success + * @retval E_AST_GLOBALLY_LOCKED Physical stream ID could not be set as AST + * is globally locked + * @retval E_AST_INVALID_VMINDEX If streamID could not be set. + */ +error_t tegra_ast_set_default_stream_id(uint8_t stream_id, uint8_t instance_mask, + bool phy); + +/** + * @brief Set Default Stream ID + * Enables physical stream ID or adds an entry to the streamID control table for default access + * + * @param[in] stream_id StreamID value to be set as specified by the hypervisor + * @param[in] base base address of the AST instance to be used + * @param[in] phy Bool variable to set input stream ID as physical streamID + * + * @func_req_id 13063249 + * + * @retval 0 For success + * @retval E_AST_GLOBALLY_LOCKED Physical stream ID could not be set as AST + * is globally locked + * @retval E_AST_INVALID_VMINDEX If streamID could not be set. + */ +error_t tegra_ast_addr_set_default_stream_id(uint8_t stream_id, + uint32_t base, + bool phy); + +/** + * @brief Enable an AST region with physical streamID + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] master Base address in SoC address space + * @param[in] slave Base address in private address space + * @param[in] size Size of the region. Should be less than size + * of the private address space + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA, AST_INSTANCE_R5_AND_DMA] + * + * @pre + * - Region size must be programmed as power of 2 multiple of the align + * address. + * - Regions may not overlap. + * - Master and slave base addresses must be aligned to the region size. + * + * @func_req_id 10551222 + * + * @retval 0 For success + * @retval E_AST_GLOBALLY_LOCKED Region could not be enabled as AST + * is globally locked + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region index, + * instance_mask, master/slave address + * and size of the region. + */ +error_t tegra_ast_enable_phy_region(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint8_t instance_mask); + +/** + * @brief Enable an AST region with physical streamID + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] master Base address in SoC address space + * @param[in] slave Base address in private address space + * @param[in] size Size of the region. Should be less than size + * of the private address space + * @param[in] base Base address of the AST instance to be used + * + * @pre + * - Region size must be programmed as power of 2 multiple of the align + * address. + * - Regions may not overlap. + * - Master and slave base addresses must be aligned to the region size. + * + * @func_req_id 10551222 + * + * @retval 0 For success + * @retval E_AST_GLOBALLY_LOCKED Region could not be enabled as AST + * is globally locked + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region index, + * instance_mask, master/slave address + * and size of the region. + */ +error_t tegra_ast_addr_enable_phy_region(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint32_t base); + +/** + * @brief Enable an AST region with streamid pre-programmed in the + * input region + * This API shall be used to enable regions mapped with virtual + * streamID. + * + * For most firmwares, the streamID is pre-programmed in the region control + * register and cannot be accessed. In such cases, the client shall call + * tegra_ast_get_region_mapping() to get the region details. + * If the region is not enabled, the client shall call this function to enable + * the region with data obtained from tegra_ast_get_region_mapping(). + * As an example, + * err = tegra_ast_get_region_mapping(region, &return_region_map, + * AST_INSTANCE_R5); + * if (err != SUCCESS) { + * goto out; + * } + * if (!return_region_map->is_enabled && + * !return_region_map->is_physical) { + * err = tegra_ast_enable_region_index(region, + * return_region_map->master, + * return_region_map->slave, + * return_region_map->size, + * return_region_map->vmindex, + * AST_INSTANCE_R5) + * } + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] master Base address in SoC address space + * @param[in] slave Base address in private address space + * @param[in] size Size of the region. Should be less than size + * of the private address space + * to the client streamID + * @param[in] instance_mask AST instance mask [AST_INSTANCE_R5, + * AST_INSTANCE_DMA, AST_INSTANCE_R5_AND_DMA] + * master & slave base addresses + * @param[in] vmindex VMIndex value to be used for the region corresponding + * + * @pre + * - Region size must be programmed as power of 2 multiple of the align + * address. + * - Regions may not overlap. + * - Master and slave base addresses must be aligned to the region size. + * - Region streamid is pre-programmed in the AST registers + * + * @retval 0 For success + * @retval E_AST_INVALID_VMINDEX Out of range vmindex + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_enable_region_vmindex(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint8_t instance_mask, + uint8_t vmindex); + +/** + * @brief Enable an AST region with streamid pre-programmed in the + * input region + * This API shall be used to enable regions mapped with virtual + * streamID. + * + * For most firmwares, the streamID is pre-programmed in the region control + * register and cannot be accessed. In such cases, the client shall call + * tegra_ast_get_region_mapping() to get the region details. + * If the region is not enabled, the client shall call this function to enable + * the region with data obtained from tegra_ast_get_region_mapping(). + * As an example, + * err = tegra_ast_get_region_mapping(region, &return_region_map, + * AST_INSTANCE_R5); + * if (err != SUCCESS) { + * goto out; + * } + * if (!return_region_map->is_enabled && + * !return_region_map->is_physical) { + * err = tegra_ast_enable_region_index(region, + * return_region_map->master, + * return_region_map->slave, + * return_region_map->size, + * return_region_map->vmindex, + * AST_INSTANCE_R5) + * } + * + * @param[in] region Region number [0 - MAX_REGION_INDEX] + * @param[in] master Base address in SoC address space + * @param[in] slave Base address in private address space + * @param[in] size Size of the region. Should be less than size + * of the private address space + * @param[in] base Base address of the AST to be used + * @param[in] vmindex VMIndex value to be used for the region corresponding + * master & slave base addresses + * to the client streamID + * + * @pre + * - Region size must be programmed as power of 2 multiple of the align + * address. + * - Regions may not overlap. + * - Master and slave base addresses must be aligned to the region size. + * - Region streamid is pre-programmed in the AST registers + * + * @retval 0 For success + * @retval E_AST_INVALID_VMINDEX Out of range vmindex + * @retval E_AST_INVALID_INPUT_PARAMETERS For invalid region and instance_mask + */ +error_t tegra_ast_addr_enable_region_vmindex(uint8_t region, + iova master, + uint64_t slave, + uint64_t size, + uint32_t base, + uint8_t vmindex); + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif /* AST__TEGRA_AST_H */ diff --git a/spe-freertos-bsp/fsp/source/include/base/module-id.h b/spe-freertos-bsp/fsp/source/include/base/module-id.h new file mode 100644 index 0000000..51c771d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/base/module-id.h @@ -0,0 +1,107 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef BASE__MODULE_ID_H +#define BASE__MODULE_ID_H +#define FSP__BASE__MODULE_ID_H 1 + +#include + +/* + * Module IDs are chosen so that when they are combined with a + * subsystem's local errors, the resultant global value is a negative + * (as in less than 0) value. + */ + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#define MODULE_ID_RTOS 0UL +#define MODULE_ID_FDT 1UL +#define MODULE_ID_COMMON 2UL +#define MODULE_ID_ABORT 3UL +#define MODULE_ID_ASSERT 4UL +#define MODULE_ID_VIC 5UL +#define MODULE_ID_TKE 6UL +#define MODULE_ID_WDT 7UL +#define MODULE_ID_WATCHDOG 8UL +#define MODULE_ID_I2C 9UL +#define MODULE_ID_HSP 10UL +#define MODULE_ID_AST 11UL +#define MODULE_ID_LIC 12UL +#define MODULE_ID_TCU 13UL +#define MODULE_ID_SMATH 14UL +#define MODULE_ID_UART 15UL +#define MODULE_ID_GPCDMA 16UL +#define MODULE_ID_GPIO 17UL +#define MODULE_ID_SPI 18UL +#define MODULE_ID_CAR 19UL +#define MODULE_ID_COMB_UART 20UL +#define MODULE_ID_AODMIC 21UL +#define MODULE_ID_ADCC 22UL +#define MODULE_ID_SHA_NVRISCV 23UL +#define MODULE_ID_SCP 24UL +#define MODULE_ID_UTC 25UL + + +#define MODULE_ID_APPLICATION 64UL + +/* + * Error ID manipulation + * + * Note: These can't use the BIT manipulation macros because the compiler + * will complain about shifts being out of range when used as an initializer + * index in an array. + * + * Negation is equivalent to 2's compliment conversion: -(val) = ~(val) + 1 + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#define MODULE_ERROR_SIZE (24UL) +#define MODULE_ERROR_ID(_id_) (((uint32_t)(MODULE_ID_##_id_)) << MODULE_ERROR_SIZE) +#define MODULE_ERROR_VAL(_id_, _code_) (MODULE_ERROR_ID(_id_) | (uint32_t)(_code_)) + +#if (!defined(PROJECT_BAREMETAL)) +// RTOS requires error codes to be negative +// NOTE: Does LittleKernel need to be included here as well? +#define MODULE_ERROR(_id_, _code_) ((error_t)-(int32_t)MODULE_ERROR_VAL(_id_, _code_)) +#define MODULE_ERROR_CODE_MASK ((1UL << MODULE_ERROR_SIZE) - 1UL) +#define MODULE_ERROR_ID_MASK ((1UL << (32UL - MODULE_ERROR_SIZE)) - 1UL) +#define MODULE_ERROR_CODE(_err_) (((uint32_t)(-(_err_))) & MODULE_ERROR_CODE_MASK) +#define MODULE_ERROR_MODULE(_err_) ((((uint32_t)(-(_err_))) >> MODULE_ERROR_SIZE) & MODULE_ERROR_ID_MASK) +#else +// Error codes that do not have to be SafeRTOS compatible +#define MODULE_ERROR(_id_, _code_) ((error_t)MODULE_ERROR_VAL(_id_, _code_)) +#define MODULE_ERROR_CODE_MASK ((1UL << MODULE_ERROR_SIZE) - 1UL) +#define MODULE_ERROR_ID_MASK ((1UL << (32UL - MODULE_ERROR_SIZE)) - 1UL) +#define MODULE_ERROR_CODE(_err_) (((uint32_t)(_err_)) & MODULE_ERROR_CODE_MASK) +#define MODULE_ERROR_MODULE(_err_) ((((uint32_t)(_err_)) >> MODULE_ERROR_SIZE) & MODULE_ERROR_ID_MASK) +#endif + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* BASE__MODULE_ID_H */ diff --git a/spe-freertos-bsp/fsp/source/include/car/car-clk.h b/spe-freertos-bsp/fsp/source/include/car/car-clk.h new file mode 100644 index 0000000..a90914c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-clk.h @@ -0,0 +1,166 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_CLK_H +#define CAR__CAR_CLK_H +#define FSP__CAR__CAR_CLK_H 1 + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for error_t + +/* Module-specific FSP headers */ +#include // for frequency monitor structures... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_FMON_H, "Header file missing or invalid.") + +/** + * @file car/car-clk.h + * @brief Structures that are internal to the CAR driver + */ + +struct car_clk_inf; +/** + * @brief Structure defining clock enable/disable operations. + * + * @clk_is_enabled returns clock enable status + * @clk_enable function to enable clock. + * @clk_disable function to disable clock. + */ +struct car_clk_op_able { + bool (*clk_is_enabled)(const struct car_clk_inf *clk); + error_t (*clk_enable)(const struct car_clk_inf *clk); + error_t (*clk_disable)(const struct car_clk_inf *clk); +}; + +/** + * @brief Structure defining clock rate operations. + * + * @clk_hz_set function to set clock rate. + * @clk_hz_get function to get clock rate. + */ +struct car_clk_op_rate { + error_t (*clk_hz_set)(const struct car_clk_inf *clk, int64_t hz_out); + error_t (*clk_hz_get)(const struct car_clk_inf *clk, int64_t *hz_out); +}; + +/** + * @brief Structure defining clock div calc operations. + * + * @clk_div_calc_in function to calculate divisor set to reg. + * @clk_div_calc_out function to calculate divisor get from reg. + */ +struct car_clk_op_div { + uint32_t (*clk_div_calc_in) (int64_t hz_in, int64_t hz_out); + uint32_t (*clk_div_calc_out)(const struct car_clk_inf *clk); +}; + + +extern const struct car_clk_op_able car_clk_op_able_bit; +extern const struct car_clk_op_able car_clk_op_able_reg; +extern const struct car_clk_op_rate car_clk_op_rate_dflt; + +/** + * @brief Structure defining clock information + * + * @fmon frequency monitor + * @pclk parent clock + * @op_able functions to enable/disable the clock + * @op_rate functions to set/get clock rate + * @op_div functions to calculate device clock divisor + * @rate_min minimum rate allowed + * @rate_max maximum rate allowed + * @en_reg clock enable/disable register + * @en_msk clock enable/disable mask + * @div_reg clock divisor register + * @div_msk clock divisor mask + */ +struct car_clk_inf { + const struct car_fmon_inf *fmon; + const struct car_clk_inf *pclk; + const struct car_clk_op_able *op_able; + const struct car_clk_op_rate *op_rate; + const struct car_clk_op_div *op_div; + int64_t hz_min; + int64_t hz_max; + uint32_t en_reg; + uint32_t en_msk; + uint32_t div_reg; + uint32_t div_msk; +}; + +/** + * @brief Define a clock + * + * Fills the car_clk_inf ormation structure with the info + * associated with the clock. + */ +#define CLK_INF(_i, _oa, _er, _em, _dr, _dm, \ + _dv, _or, _hn, _hx, _pc, _fm) \ + [_i] = { \ + .op_able = _oa, \ + .en_reg = _er, \ + .en_msk = _em, \ + .div_reg = _dr, \ + .div_msk = _dm, \ + .op_div = _dv, \ + .op_rate = _or, \ + .hz_min = _hn, \ + .hz_max = _hx, \ + .pclk = _pc, \ + .fmon = _fm, \ + } +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__CAR_CLK_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-errors.h b/spe-freertos-bsp/fsp/source/include/car/car-errors.h new file mode 100644 index 0000000..d2be895 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-errors.h @@ -0,0 +1,116 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_ERRORS_H +#define CAR__CAR_ERRORS_H +#define FSP__CAR__CAR_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") + +/** + * @file car-errors.h + * @brief Error codes that are specific to CAR + */ + +/* + * @brief Macro definitions for errors from CAR layer + * + * @macro-title CAR error codes + * + * @E_CAR_NULL_PTR Error value returned if input pointer + * is NULL. + * @E_CAR_INVALID_PARAM Error value returned if input value is + * invalid. + * @E_CAR_INVALID_RESET_ID Error value returned if input reset ID + * is invalid. + * @E_CAR_INVALID_CLOCK_ID Error value returned if input clock ID + * is invalid. + * @E_CAR_INVALID_FMON_ID Error value returned if input frequency + * monitor ID is invalid. + * @E_CAR_PLL_NO_INIT Error value returned if PLL has not + * been initialized yet. + * @E_CAR_PLL_NO_LOCK Error value returned if PLL does not + * lock after being enabled. + * @E_CAR_CLOCK_OP_NOT_SUPPORTED Error value returned if the clock does + * not support the operation. + * @E_CAR_CLOCK_HZ_NOT_SUPPORTED Error value returned if the clock does + * not support the requested frequency. + * @E_CAR_FMON_HW_LOGIC Error value returned if the FMON register + * logic algorithm failed. + * @E_CAR_FMON_HW_TIMEOUT Error value returned if the FMON HW did not + * respond correctly within the allocated time. + * @E_CAR_FMON_FAULT Error value returned when a FMON fault is + * detected. + * @E_CAR_FMON_NO_DATA Error value returned when the FMON HW has no + * data to work with. This is typical when it + * first starts. + */ +#define E_CAR_NULL_PTR MODULE_ERROR(CAR, 1UL) +#define E_CAR_INVALID_PARAM MODULE_ERROR(CAR, 2UL) +#define E_CAR_INVALID_RESET_ID MODULE_ERROR(CAR, 3UL) +#define E_CAR_INVALID_CLOCK_ID MODULE_ERROR(CAR, 4UL) +#define E_CAR_INVALID_FMON_ID MODULE_ERROR(CAR, 5UL) +#define E_CAR_PLL_NO_INIT MODULE_ERROR(CAR, 6UL) +#define E_CAR_PLL_NO_LOCK MODULE_ERROR(CAR, 7UL) +#define E_CAR_CLOCK_OP_NOT_SUPPORTED MODULE_ERROR(CAR, 8UL) +#define E_CAR_CLOCK_HZ_NOT_SUPPORTED MODULE_ERROR(CAR, 9UL) +#define E_CAR_FMON_HW_LOGIC MODULE_ERROR(CAR, 10UL) +#define E_CAR_FMON_HW_TIMEOUT MODULE_ERROR(CAR, 11UL) +#define E_CAR_FMON_FAULT MODULE_ERROR(CAR, 12UL) +#define E_CAR_FMON_NO_DATA MODULE_ERROR(CAR, 13UL) +#define E_CAR_ERROR_N MODULE_ERROR(CAR, 14UL) /* must be the number of errors */ +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__CAR_ERRORS_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-fmon.h b/spe-freertos-bsp/fsp/source/include/car/car-fmon.h new file mode 100644 index 0000000..6257aed --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-fmon.h @@ -0,0 +1,219 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_FMON_H +#define CAR__CAR_FMON_H +#define FSP__CAR__CAR_FMON_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t + +/* Module-specific FSP headers */ +#include // for clock structures, ... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_CLK_H, "Header file missing or invalid.") + + +/** + * @file car/car-fmon.h + * @brief Structures that are internal to the CAR driver + */ + +#define CAR_FMON_RDWR_VERIFY_N (3) + + +/** + * @brief Structure defining frequency monitor (FMON) + * information + */ +struct car_fmon_count_inf { + uint8_t cnt_sel_min; + uint8_t cnt_sel_max; + uint8_t cnt_sel_0; + uint8_t cnt_sel_n; + uint8_t cnt_sel_min_i; + uint8_t cnt_sel_max_i; + uint8_t cnt_sel_0_i; + uint8_t cnt_ref_win_i; + uint8_t cnt_ref_win_dc_chk_i; +}; + +struct car_fmon_inf { + const struct car_fmon_count_inf *cnt; + const struct car_clk_inf *clk; + uint64_t clk_ref; + uint64_t clk_err; + uint32_t reg_thr_hi; + uint32_t reg_thr_hi_msk; + uint32_t reg_thr_lo; + uint32_t reg_thr_lo_msk; + uint32_t reg_ref_win_cnt; + uint32_t reg_ref_win_cnt_msk; + uint32_t reg_ref_win_dc_chk_cnt; + uint32_t reg_ref_win_dc_chk_cnt_msk; + uint32_t reg_flt_actn; + uint32_t reg_flt_actn_msk; + uint32_t reg_cfg; + uint32_t reg_cfg_msk_rprt; + uint32_t reg_cfg_msk_ref_en; + uint32_t reg_cfg_msk_cntr_en; + uint32_t reg_cfg_msk_en; + uint32_t reg_en_sts; + uint32_t reg_en_sts_msk; + uint32_t reg_flt_sts; + uint32_t reg_flt_sts_msk_clr; + uint32_t reg_flt_sts_msk_ro; + uint32_t reg_data_ctrl; + uint32_t reg_data_ctrl_msk_sel; + uint32_t reg_data_ctrl_msk_en; + uint32_t reg_data_sts_done; + uint32_t reg_data_sts_done_msk; + uint32_t reg_data_sts_sel; + uint32_t reg_data_sts_sel_msk; + uint32_t reg_data_val; + uint32_t reg_data_val_msk; + uint32_t reg_cntr_ctrl; + uint32_t reg_cntr_ctrl_msk_hld; + uint32_t reg_cntr_ctrl_msk_clr; +}; + + +/** + * @brief Read frequency monitor select counters. + * + * @param fmon Pointer to car_fmon_inf structure. + * @param cnts Pointer to write counter data to. + * There must be enough memory for all of the + * car_fmon_inf->cnt_sel_* counter data + 1. + * Optional: Set cnts to NULL to reset the + * counters without reading them (returns + * E_SUCCESS). + * @return E_SUCCESS + * E_CAR_NULL_PTR + * E_CAR_FMON_NO_DATA + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t car_fmon_counts(const struct car_fmon_inf *fmon, uint32_t *cnts); + +/** + * @brief Calculate the input clock frequency (the frequency + * that FMON is monitoring). + * + * @param fmon Pointer to car_fmon_inf structure. + * @param cnts Pointer to write select counter data to. + * There must be enough memory for all of the + * car_fmon_inf->cnt_sel_* counter data + 1. + * Optional: Set cnts to NULL to reset the + * counters without reading them (returns + * E_SUCCESS). + * @param hz Pointer to write the calculated frequency to. + * @return E_SUCCESS + * E_CAR_NULL_PTR + * E_CAR_FMON_NO_DATA + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t car_fmon_clk_hz_calc(const struct car_fmon_inf *fmon, uint32_t *cnts, uint64_t *hz); + +/** + * @brief Get frequency monitor (FMON) default hardware timeout. + * + * The function returns the amount of time in microseconds that + * should be allowed for the FMON hardware to process the + * programming. + * + * @param fmon Pointer to car_fmon_inf structure. + * @return Timeout in microseconds. + */ +uint64_t car_fmon_timeout_us(const struct car_fmon_inf *fmon); + +/** + * @brief Frequency Monitor (FMON) enabled?. + * + * @retval true/false + */ +bool car_fmon_is_enabled(const struct car_fmon_inf *fmon); + +/** + * @brief Read Frequency Monitor (FMON) enable status register + * (reg_en_sts). + * + * @param fmon Pointer to car_fmon_inf structure. + * @return FMON enable status register data. + */ +uint32_t car_fmon_enable_status(const struct car_fmon_inf *fmon); + +/** + * @brief Frequency Monitor (FMON) startup. + * + * @param fmon Pointer to car_fmon_inf structure. + * @return E_SUCCESS + * E_CAR_NULL_PTR + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t car_fmon_startup(const struct car_fmon_inf *fmon); + +/** + * @brief Frequency Monitor (FMON) shutdown. + * + * @param fmon Pointer to car_fmon_inf structure. + * @return E_SUCCESS + * E_CAR_NULL_PTR + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + * E_CAR_FMON_FAULT + */ +error_t car_fmon_shutdown(const struct car_fmon_inf *fmon); + +#endif /* CAR__CAR_FMON_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-hpll.h b/spe-freertos-bsp/fsp/source/include/car/car-hpll.h new file mode 100644 index 0000000..4ba626c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-hpll.h @@ -0,0 +1,121 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_HPLL_H +#define CAR__CAR_HPLL_H +#define FSP__CAR__CAR_HPLL_H 1 + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... + +/* Module-specific FSP headers */ +#include // for pll functions, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * @file car/car-hpll.h + * @brief Structures that are internal to the CAR driver + */ + +extern const struct car_pll_op car_pll_op_hpll; + +/** + * @brief Define HPLL information + * + * Fills the PLL configuration structure with the info + * associated with the PLL. + */ +#define HPLL_INF(_i, _spec, _cfg, _cfg_n, _sts, \ + _sel_r, _sel_m, _rst_r, _rst_m, _en_r, _en_m, _iddq_r, _iddq_m, \ + _mdiv_r, _mdiv_m, _ndiv_r, _ndiv_m, _pdiv_r, _pdiv_m, \ + _frac_r, _frac_m, _enfrac_r, _enfrac_m, _fracstep_r, _fracstep_m, \ + _iref_r, _iref_m, _lock_r, _lock_m, _lckdet_r, _lckdet_m, \ + _freqlock_m, _ss_cntl_r) \ + [_i] = { \ + .op = &car_pll_op_hpll, \ + .spec = _spec, \ + .cfgs = _cfg, \ + .cfgs_n = _cfg_n, \ + .sts = _sts, \ + .sel_reg = _sel_r, \ + .sel_msk = _sel_m, \ + .rst_reg = _rst_r, \ + .rst_msk = _rst_m, \ + .en_reg = _en_r, \ + .en_msk = _en_m, \ + .iddq_reg = _iddq_r, \ + .iddq_msk = _iddq_m, \ + .mdiv_reg = _mdiv_r, \ + .mdiv_msk = _mdiv_m, \ + .ndiv_reg = _ndiv_r, \ + .ndiv_msk = _ndiv_m, \ + .pdiv_reg = _pdiv_r, \ + .pdiv_msk = _pdiv_m, \ + .frac_reg = _frac_r, \ + .frac_msk = _frac_m, \ + .enfrac_reg = _enfrac_r, \ + .enfrac_msk = _enfrac_m, \ + .fracstep_reg = _fracstep_r, \ + .fracstep_msk = _fracstep_m, \ + .iref_reg = _iref_r, \ + .iref_msk = _iref_m, \ + .lock_reg = _lock_r, \ + .lock_msk = _lock_m, \ + .lckdet_reg = _lckdet_r, \ + .lckdet_msk = _lckdet_m, \ + .freqlock_msk = _freqlock_m, \ + .ss_cntl_reg = _ss_cntl_r, \ + } +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__CAR_HPLL_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-math.h b/spe-freertos-bsp/fsp/source/include/car/car-math.h new file mode 100644 index 0000000..f225995 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-math.h @@ -0,0 +1,97 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_MATH_H +#define CAR__CAR_MATH_H +#define FSP__CAR__CAR_MATH_H 1 + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + + +/** + * WAR: CAR_FALSE can be used with do { ... } while (CAR_FALSE) + * loops instead of while(0) or while(false), both of which seem + * to confuse coverity to report rule 14.4 violations (The + * condition expression "0" does not have an essentially boolean + * type). + */ +#define CAR_FALSE (0 == 1) +#define CAR_TRUE (!CAR_FALSE) + +/** + * CAR_RET_UNUSED is for ignoring function return values in a + * way that we can later simply grep for them. This is + * acceptable way of defining explicitly a function return value + * as uninteresting for MISRA-C Rule 17.7. + */ +#define CAR_RET_UNUSED(...) \ + do { \ + (void) __VA_ARGS__ ; \ + } while(CAR_FALSE) + +int64_t car_add_s64(int64_t a, int64_t b); +int64_t car_sub_s64(int64_t a, int64_t b); +int64_t car_mul_s64(int64_t a, int64_t b); +int64_t car_div_s64(int64_t a, int64_t b); +int64_t car_div64_round(int64_t n, int64_t d); +int64_t car_range_s64(int64_t x, int64_t x_min, int64_t x_max); +int32_t car_abs_s32(int32_t x); +int64_t car_abs_s64(int64_t x); +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__CAR_MATH_H */ + + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-pll.h b/spe-freertos-bsp/fsp/source/include/car/car-pll.h new file mode 100644 index 0000000..9f37e58 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-pll.h @@ -0,0 +1,238 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_PLL_H +#define CAR__CAR_PLL_H +#define FSP__CAR__CAR_PLL_H 1 + +/** + * @file car/car-fsi-priv.h + * @brief Structures that are internal to the CAR driver + */ + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") + +/** + * @file car/car-pll.h + * @brief Structures that are internal to the CAR driver + */ +#define CAR_PLL_LOCK_DELAY (50) + +#define CAR_PLL_FLG_USE_MID_VCO BIT(0) +#define CAR_PLL_FLG_ROUND_DOWN BIT(1) +#define CAR_PLL_FLG_FRAC_NDIV BIT(2) +#define CAR_PLL_FLG_HAS_DYNAMIC_RAMP BIT(3) + +#define CAR_PLL_STS_HZ_SET BIT(4) + +#define CAR_PLL_SEL_XTAL (0) +#define CAR_PLL_SEL_PLL (1) + +enum car_pll_type { + CAR_PLL_TYPE_ANALOG = 1, + CAR_PLL_TYPE_HPLL12 = 2, + CAR_PLL_TYPE_HPLL16 = 3, + CAR_PLL_TYPE_HPLL40 = 4, +}; + +struct car_pll_spec { + enum car_pll_type type; + uint32_t flags; + uint32_t lock_time; + uint32_t frac_width; + uint32_t min_n; + uint32_t max_n; + uint32_t min_m; + uint32_t max_m; + uint32_t min_p; + uint32_t max_p; + int64_t cf_min; + int64_t cf_max; + int64_t vco_min; + int64_t vco_max; + int64_t clkin_max; +}; + +struct car_pll_nmp { + uint32_t n; + uint32_t m; + uint32_t p; + int32_t frac; +}; + +/** + * @brief Structure defining PLL values for a specific + * frequency. + */ +struct car_pll_cfg { + int64_t hz_in; + int64_t hz_out; + uint32_t n; + uint32_t m; + uint32_t p; + bool en_sdm; + bool en_ssc; + int16_t sdm_din; + int16_t sdm_ssc_min; + int16_t sdm_ssc_max; + int16_t sdm_ssc_step; + uint16_t sscmax; + uint8_t sscinc; + uint8_t sscincintrv; +}; + +/** + * @brief Define PLL frequency + * + * Fills the PLL configuration structure with the info + * associated with the PLL. + */ +#define PLL_CFG(_i, _hz_in, _hz_out, _n, _m, _p, \ + _en_sdm, _sdm_din, _sdm_ssc_min, _sdm_ssc_max, _sdm_ssc_step, \ + _en_ssc, _sscmax, _sscinc, _sscincintrv) \ + [_i] = { \ + .hz_in = _hz_in, \ + .hz_out = _hz_out, \ + .n = _n, \ + .m = _m, \ + .p = _p, \ + .en_sdm = _en_sdm, \ + .en_ssc = _en_ssc, \ + .sdm_din = _sdm_din, \ + .sdm_ssc_min = _sdm_ssc_min, \ + .sdm_ssc_max = _sdm_ssc_max, \ + .sdm_ssc_step = _sdm_ssc_step, \ + .sscmax = _sscmax, \ + .sscinc = _sscinc, \ + .sscincintrv = _sscincintrv, \ + } + +struct car_pll_op; + +struct car_pll_inf { + const struct car_pll_op *op; + const struct car_pll_spec **spec; + const struct car_pll_cfg **cfgs; + uint32_t *cfgs_n; + uint32_t *sts; + uint32_t sel_reg; + uint32_t sel_msk; + uint32_t rst_reg; + uint32_t rst_msk; + uint32_t en_reg; + uint32_t en_msk; + uint32_t iddq_reg; + uint32_t iddq_msk; + uint32_t mdiv_reg; + uint32_t mdiv_msk; + uint32_t ndiv_reg; + uint32_t ndiv_msk; + uint32_t pdiv_reg; + uint32_t pdiv_msk; + uint32_t frac_reg; + uint32_t frac_msk; + uint32_t enfrac_reg; + uint32_t enfrac_msk; + uint32_t fracstep_reg; + uint32_t fracstep_msk; + uint32_t iref_reg; + uint32_t iref_msk; + uint32_t lock_reg; + uint32_t lock_msk; + uint32_t lckdet_reg; + uint32_t lckdet_msk; + uint32_t freqlock_msk; + uint32_t ss_cntl_reg; +}; + +/** + * @brief Structure defining PLL operations + * + */ +struct car_pll_op { + bool (*frac_allowed)(const struct car_pll_inf *pll); + bool (*pll_is_enabled)(const struct car_pll_inf *pll); + error_t (*pll_enable)(const struct car_pll_inf *pll); + error_t (*pll_disable)(const struct car_pll_inf *pll); + int64_t (*pll_hz_set)(const struct car_pll_inf *pll, int64_t hz_in, int64_t hz_out); + int64_t (*pll_hz_get)(const struct car_pll_inf *pll, int64_t hz_in); +}; + + +error_t car_pll_wait_lock_us(const struct car_pll_inf *pll, uint64_t t_us); +error_t car_pll_wait_lock(const struct car_pll_inf *pll); +int64_t car_pll_hz_calc(const struct car_pll_inf *pll, + struct car_pll_cfg *cfg, int64_t hz_in); +void car_pll_nmp_get(const struct car_pll_inf *pll, struct car_pll_cfg *cfg); +void car_pll_nmp_set(const struct car_pll_inf *pll, struct car_pll_cfg *cfg); +error_t car_pll_nmp_calc(const struct car_pll_spec *spec, struct car_pll_nmp *nmp, + int64_t hz_in, int64_t f_in, int32_t p_pref, uint32_t flags); +const struct car_pll_cfg *car_pll_cfg_get(const struct car_pll_inf *pll, + int64_t hz_in, int64_t hz_out); +error_t car_pll_cfg_calc(const struct car_pll_inf *pll, + int64_t hz_in, int64_t hz_out, int64_t hz_max, + struct car_pll_cfg *cfg, int32_t p_curr); +int64_t car_pll_hz_get(const struct car_pll_inf *pll, int64_t hz_in); +error_t car_pll_select(const struct car_pll_inf *pll, uint32_t sel); +bool car_pll_is_enabled(const struct car_pll_inf *pll); +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__CAR_PLL_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-reg.h b/spe-freertos-bsp/fsp/source/include/car/car-reg.h new file mode 100644 index 0000000..02f3ea5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-reg.h @@ -0,0 +1,126 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_REG_H +#define CAR__CAR_REG_H +#define FSP__CAR__CAR_REG_H 1 + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +/** + * @brief Read a CAR MMIO register. + * + * @param offset The register offset from the CAR MMIO base address. + * @return Value read from register. + */ +uint32_t car_reg_rd(uint32_t offset); + +/** + * @brief Write a value to a CAR MMIO register. + * + * @param offset The register offset from the CAR MMIO base + * address. + * @param data The value to write to the register. + * @return Void. + */ +void car_reg_wr(uint32_t offset, uint32_t data); + +/** + * @brief Read, modify, write to a CAR MMIO register. + * + * @param offset The register offset from the CAR MMIO base + * address. + * @param data The data in the mask field to write. + * @param mask The mask of the field(s) to modify and write. + * @return The value written to register. + */ +uint32_t car_reg_rdwr(uint32_t offset, uint32_t data, uint32_t mask); + +/** + * @brief Read a value from a CAR MMIO register field. + * + * The purpose of the function is to read the value from a + * register field regardless of the fields bit alignment with + * the register. + * For example: + * Register data = 0x12345678 + * Mask = 0x000FF000 + * Value returned = 0x00000045 + * + * @param offset The register offset from the CAR MMIO base + * address. + * @param mask The mask of the data field to read. + * @return The value read from register field shifted to bit + * zero. + */ +uint32_t car_reg_rd_val(uint32_t offset, uint32_t mask); + +/** + * @brief Write a value to a CAR MMIO register field. + * + * The purpose of the function is to write a value to a register + * field regardless of the fields bit alignment with the + * register. + * For example: + * Register data = 0x00000000 + * Mask = 0x000FF000 + * Value = 0x00000045 + * Register data = 0x00045000 + * + * @param offset The register offset from the CAR MMIO base + * address. + * @param mask The mask of the data field to write. + * @param val The value to write to the field. + * @return The register data written to the register. + */ +uint32_t car_reg_rdwr_val(uint32_t offset, uint32_t mask, uint32_t val); + +#endif /* CAR__CAR_REG_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-rst.h b/spe-freertos-bsp/fsp/source/include/car/car-rst.h new file mode 100644 index 0000000..008ffdc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-rst.h @@ -0,0 +1,131 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__CAR_RST_H +#define CAR__CAR_RST_H +#define FSP__CAR__CAR_RST_H 1 + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for error_t + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + +/** + * @file car/car-rst.h + * @brief Structures that are internal to the CAR driver + */ + +/** + * @brief Structure defining reset information + * + * @ops Reset interface operations. + * @label Reset signal name as defined by hardware. + * @flags Boolean details about the reset signal. + * @reg The reset's main register offset in CAR. + * @bit The bit position that controls the reset. + */ +struct car_rst_inf { + const struct car_rst_op *op; + uint32_t flags; + uint32_t reg; + uint32_t msk; +}; + +/** + * @brief Structure defining reset operations + * + * @rst_assert Function to assert the reset. + * @rst_deassert Function to deassert the reset. + */ +struct car_rst_op { + bool (*rst_is_asserted)(const struct car_rst_inf *rst); + error_t (*rst_assert)(const struct car_rst_inf *rst); + error_t (*rst_deassert)(const struct car_rst_inf *rst); +}; + +extern const struct car_rst_op car_rst_op_bit; +extern const struct car_rst_op car_rst_op_reg; + +/** + * @brief Define a bit controlled reset signal + * + * Fills the reset structure with the info associated with a bit + * controlled reset. + */ +#define CAR_RST_TYPE_B(_i, _f, _r, _m) \ + [_i] = { \ + .op = &car_rst_op_bit, \ + .flags = _f, \ + .reg = _r, \ + .msk = _m, \ + } + +/** + * @brief Define a register controlled reset signal + * + * Fills the reset structure with the info associated with a + * register controlled reset. + */ +#define CAR_RST_TYPE_R(_i, _f, _r, _m) \ + [_i] = { \ + .op = &car_rst_op_reg, \ + .flags = _f, \ + .reg = _r, \ + .msk = _m, \ + } +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__CAR_RST_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/car/car-sections.h b/spe-freertos-bsp/fsp/source/include/car/car-sections.h new file mode 100644 index 0000000..d23fe40 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/car/car-sections.h @@ -0,0 +1,82 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CAR__SECTIONS_CAR_H +#define CAR__SECTIONS_CAR_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +#define SECTION_NAME_CAR_TEXT .text.car +#define SECTION_NAME_CAR_RODATA .rodata.car +#define SECTION_NAME_CAR_DATA .data.car +#define SECTION_NAME_CAR_INIT_TEXT .text.init.car +#define SECTION_NAME_CAR_INIT_DATA .data.init.car + +#define SECTION_STR_CAR_TEXT STR(SECTION_NAME_CAR_TEXT) +#define SECTION_STR_CAR_RODATA STR(SECTION_NAME_CAR_RODATA) +#define SECTION_STR_CAR_DATA STR(SECTION_NAME_CAR_DATA) +#define SECTION_STR_CAR_INIT_TEXT STR(SECTION_NAME_CAR_INIT_TEXT) +#define SECTION_STR_CAR_INIT_DATA STR(SECTION_NAME_CAR_INIT_DATA) + +#define SECTION_CAR_TEXT SECTION(SECTION_STR_CAR_TEXT) +#define SECTION_CAR_RODATA SECTION(SECTION_STR_CAR_RODATA) +#define SECTION_CAR_DATA SECTION(SECTION_STR_CAR_DATA) +#define SECTION_CAR_INIT_TEXT SECTION(SECTION_STR_CAR_INIT_TEXT) +#define SECTION_CAR_INIT_DATA SECTION(SECTION_STR_CAR_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* CAR__SECTIONS_CAR_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/chipid/chip-id.h b/spe-freertos-bsp/fsp/source/include/chipid/chip-id.h new file mode 100644 index 0000000..4a23012 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/chipid/chip-id.h @@ -0,0 +1,223 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2019-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +#ifndef CHIPID__CHIP_ID_H +#define CHIPID__CHIP_ID_H +#define FSP__CHIPID__CHIP_ID_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/* Module-specific FSP headers */ + +/** + * @brief Defines for the Tegra Platform ID + * + * @macro-title Tegra Platform ID + * @TEGRA_PLATFORM_ID_T186 Platform ID for Tegra T186 + * @TEGRA_PLATFORM_ID_T194 Platform ID for Tegra T194 + * @TEGRA_PLATFORM_ID_T234 Platform ID for Tegra T234 + * @TEGRA_PLATFORM_ID_T239 Platform ID for Tegra T239 + * @TEGRA_PLATFORM_ID_T264 Platform ID for Tegra T264 + */ +#define TEGRA_PLATFORM_ID_T186 0x186 +#define TEGRA_PLATFORM_ID_T194 0x194 +#define TEGRA_PLATFORM_ID_T234 0x234 +#define TEGRA_PLATFORM_ID_T239 0x239 +#define TEGRA_PLATFORM_ID_T264 0x264 + +/** + * @brief Defines for the Tegra CHIP ID + * + * @macro-title Tegra SOC Name + * @TEGRA_SOC_NAME_T18X Chip ID for Tegra T18x + * @TEGRA_SOC_NAME_T19X Chip ID for Tegra T19x + * @TEGRA_SOC_NAME_T23X Chip ID for Tegra T23x + * @TEGRA_SOC_NAME_T26X Chip ID for Tegra T26x + */ +#define TEGRA_SOC_NAME_T18X 0x18 +#define TEGRA_SOC_NAME_T19X 0x19 +#define TEGRA_SOC_NAME_T23X 0x23 +#define TEGRA_SOC_NAME_T26X 0x26 + +/** + * @brief Defines for the Tegra Major Revision number + * + * @macro-title Tegra Major Revision + * @TEGRA_MAJOR_REVISION_A Tegra Chip Major Revision 'A' + * @TEGRA_MAJOR_REVISION_B Tegra Chip Major Revision 'B' + * @TEGRA_MAJOR_REVISION_C Tegra Chip Major Revision 'C' + * @TEGRA_MAJOR_REVISION_D Tegra Chip Major Revision 'D' + * @TEGRA_MAJOR_REVISION_E Tegra Chip Major Revision 'E' + * @TEGRA_MAJOR_REVISION_F Tegra Chip Major Revision 'F' + * @TEGRA_MAJOR_REVISION_G Tegra Chip Major Revision 'G' + * @TEGRA_MAJOR_REVISION_H Tegra Chip Major Revision 'H' + * @TEGRA_MAJOR_REVISION_I Tegra Chip Major Revision 'I' + */ +#define TEGRA_MAJOR_REVISION_A 0x1 +#define TEGRA_MAJOR_REVISION_B 0x2 +#define TEGRA_MAJOR_REVISION_C 0x3 +#define TEGRA_MAJOR_REVISION_D 0x4 +#define TEGRA_MAJOR_REVISION_E 0x5 +#define TEGRA_MAJOR_REVISION_F 0x6 +#define TEGRA_MAJOR_REVISION_G 0x7 +#define TEGRA_MAJOR_REVISION_H 0x8 +#define TEGRA_MAJOR_REVISION_I 0x9 + +/** + * @brief Defines for the Tegra Minor Revision number + * + * @macro-title Tegra Minor Revision + * @TEGRA_MINOR_REVISION_1 Tegra Chip Minor Revision number 1 + * @TEGRA_MINOR_REVISION_2 Tegra Chip Minor Revision number 2 + */ +#define TEGRA_MINOR_REVISION_1 0x1 +#define TEGRA_MINOR_REVISION_2 0x2 + +/** + * @brief Defines for the Tegra Sub Revision + * + * @macro-title Tegra Sub Revision + * @TEGRA_SUB_REVISION_P Tegra Chip Sub Revision 'P' + * @TEGRA_SUB_REVISION_Q Tegra Chip Sub Revision 'Q' + * @TEGRA_SUB_REVISION_R Tegra Chip Sub Revision 'R' + */ +#define TEGRA_SUB_REVISION_P 0x1 +#define TEGRA_SUB_REVISION_Q 0x2 +#define TEGRA_SUB_REVISION_R 0x3 +#define TEGRA_SUB_NONE 0x0 +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief Get the platforms id + * + * The api internally calls tegra_get_chipid and tegra_get_major_rev and returns + * the actual platoform ID. + + * Ex - for platform T239, + + * tegra_get_chipid returns - 0x23 + + * tegra_get_major_rev returns - 0x9 + + * tegra_get_platform returns - 0x239 + * + * @jama_func_req_id ? + * + * @retval 0x186 Tegra 186 platform + * @retval 0x194 Tegra 194 platform + * @retval 0x234 Tegra 234 platform + * @retval 0x239 Tegra 239 platform + * @retval 0x264 Tegra 264 platform + */ +uint16_t tegra_get_platform(void); + +/** + * @brief Get the Tegra chip family identifier + * + * @jama_func_req_id 8160164 + * + * @retval TEGRA_SOC_NAME_T18X Tegra chip family identifier for T18X chips + * @retval TEGRA_SOC_NAME_T19X Tegra chip family identifier for T19X chips + * @retval TEGRA_SOC_NAME_T26X Tegra chip family identifier for T26X chips + */ +uint8_t tegra_get_chipid(void); + +/** + * @brief Get the chip major revision number + * + * @jama_func_req_id 8160170 + * + * @retval TEGRA_MAJOR_REVISION_A Tegra chip major revision is A + * @retval TEGRA_MAJOR_REVISION_B Tegra chip major revision is B + */ +uint8_t tegra_get_major_rev(void); + +/** + * @brief Get the minor revision number + * + * @jama_func_req_id 8161055 + * + * @retval TEGRA_MINOR_REVISION_1 Tegra chip minor revision is 1 + * @retval TEGRA_MINOR_REVISION_2 Tegra chip minor revision is 2 + */ +uint8_t tegra_get_minor_rev(void); + +/** + * @brief Check if running on actual silicon + * + * @jama_func_req_id 8161334 + * + * @retval True If the API is called on Silicon + * @retval False If the API is called on non-silicon platform + */ +bool tegra_platform_is_silicon(void); + +/** + * @brief Check if running on fpga + * + * @jama_func_req_id 8161334 + * + * @retval True If the API is called on fpga + * @retval False If the API is called on silicon or simulation platform + */ +bool tegra_platform_is_fpga(void); + +/** + * @brief Check if running on vdk + * + * @jama_func_req_id 8161334 + * + * @retval True If the API is called on VDK + * @retval False If the API is called on silicon platform + */ +bool tegra_platform_is_vdk(void); + +/** + * @brief Get sub revision number + * + * @jama_func_req_id 8191178 + * + * @retval TEGRA_SUB_REVISION_P Tegra chip sub revision is 1 + * @retval TEGRA_SUB_REVISION_Q Tegra chip sub revision is 2 + * @retval TEGRA_SUB_REVISION_R Tegra chip sub revision is 3 + * @retval TEGRA_NO_SUB_REVISION Tegra chip with no sub revision + */ +uint8_t tegra_get_sub_rev(void); + +/** + * @brief Get tegra chip sku + * + * @jama_func_req_id 8247959 + * + * @retval >0 Tegra chip SKU ID + */ +uint8_t tegra_get_sku_id(void); + +/** + * @brief Read fuse register + * + * @param[in] offset The register offset from the FUSE base + * @param[out] val Value read from register. + * + * @retval true for read success else false + */ +bool tegra_fuse_control_read(uint32_t offset, uint32_t *val); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/chipid/sections-chip-id.h b/spe-freertos-bsp/fsp/source/include/chipid/sections-chip-id.h new file mode 100644 index 0000000..364a040 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/chipid/sections-chip-id.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef CHIPID__SECTIONS_CHIP_ID_H +#define CHIPID__SECTIONS_CHIP_ID_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_CHIPID_DATA SECTION_BUILDER(chipid, data) +#define SECTION_NAME_CHIPID_RODATA SECTION_BUILDER(chipid, rodata) +#define SECTION_NAME_CHIPID_TEXT SECTION_BUILDER(chipid, text) +#define SECTION_NAME_CHIPID_INIT_DATA SECTION_BUILDER(init.chipid, data) +#define SECTION_NAME_CHIPID_INIT_TEXT SECTION_BUILDER(init.chipid, text) + +#define SECTION_STR_CHIPID_RODATA STR(SECTION_NAME_CHIPID_RODATA) +#define SECTION_STR_CHIPID_DATA STR(SECTION_NAME_CHIPID_DATA) +#define SECTION_STR_CHIPID_INIT_DATA STR(SECTION_NAME_CHIPID_INIT_DATA) +#define SECTION_STR_CHIPID_TEXT STR(SECTION_NAME_CHIPID_TEXT) +#define SECTION_STR_CHIPID_INIT_TEXT STR(SECTION_NAME_CHIPID_INIT_TEXT) + +#define SECTION_CHIPID_RODATA SECTION(SECTION_STR_CHIPID_RODATA) +#define SECTION_CHIPID_DATA SECTION(SECTION_STR_CHIPID_DATA) +#define SECTION_CHIPID_INIT_DATA SECTION(SECTION_STR_CHIPID_INIT_DATA) +#define SECTION_CHIPID_TEXT SECTION(SECTION_STR_CHIPID_TEXT) +#define SECTION_CHIPID_INIT_TEXT SECTION(SECTION_STR_CHIPID_INIT_TEXT) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/clk/clk-tegra.h b/spe-freertos-bsp/fsp/source/include/clk/clk-tegra.h new file mode 100644 index 0000000..665e035 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/clk/clk-tegra.h @@ -0,0 +1,146 @@ +/* + * Copyright (c) 2014-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * This header defines a standard simple interface by which clocks can be + * manipulated. The intent is to provide the same API on all SoCs and clocks, + * even though the clock register layout may be quite different across those + * variations. It is quite likely that multiple implementations of this API + * will exist to cater for the SoC-to-SoC register differences. + */ + +#ifndef CLK__CLK_TEGRA_H +#define CLK__CLK_TEGRA_H +#define FSP__CLK__CLK_TEGRA_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * This is the handle or ID of a clock as used by the clock API. + * + * Each clock is identified by a pointer to a configuration structure so that + * only configuration data for the exact set of clocks that is referenced is + * included in the final binary. + * + * Each SoC supports a different set of clocks. The exact set of legal clock + * IDs is defined by the SoC-specific . +*/ +// IWYU pragma: no_forward_declare tegra_clk +struct tegra_clk; + +/* + * This is the handle or ID of a parent clock as used by the clock API. + * + * This handle is similar to that for struct tegra_clk. However, parent clocks + * cannot be enabled or disabled. They can only have their clock rates set, so + * that other clocks sourced by these clocks can have divisors set up correctly. + * + * Each SoC supports a different set of clocks. The exact set of legal clock + * IDs is defined by the SoC-specific . +*/ +// IWYU pragma: no_forward_declare tegra_parent_clk +struct tegra_parent_clk; + +/* + * This is the handle or ID of a clock as used by the clock API. + */ +// IWYU pragma: no_forward_declare tegra_rst +struct tegra_rst; + +/* + * Initialize the clock API. + * For example, this may read/calculate the rates of clocks that the API + * does not control, but uses as a parent for clocks that it does control. + * + * Returns 0 on success, other values on failure. + */ +int32_t tegra_clk_init(void); + +/* + * Enable or disable a clock. + * + * Returns 0 on success, other values on failure. + */ +int32_t tegra_clk_enable(const struct tegra_clk *clk); +int32_t tegra_clk_disable(const struct tegra_clk *clk); + +/* + * Check if a clock is enabled. + * + * Returns true if clock is enabled. + */ +bool tegra_clk_is_clk_enabled(const struct tegra_clk *clk); + +/* + * Assert or release a reset signal. + * + * Returns 0 on success, other values on failure. + */ +int32_t tegra_clk_reset_set(const struct tegra_rst *rst); +int32_t tegra_clk_reset_clear(const struct tegra_rst *rst); + +/* + * Check if a reset is deasserted. + * + * Returns true if reset is deasserted. + */ +bool tegra_reset_is_reset_deasserted(const struct tegra_rst *rst); + +/* + * Assert, delay, and release a reset signal. + * + * Returns 0 on success, other values on failure. + */ +int32_t tegra_clk_reset_pulse(const struct tegra_rst *rst, uint32_t delay_us); + +/* + * Sets the rate of a clock. + * + * Returns 0 on success, other values on failure. + */ +int32_t tegra_clk_set_rate(const struct tegra_clk *clk, uint32_t rate_hz); + +/* + * Sets the rate of a parent clock. + * + * Depending on the implementation, may not actually change the clock rate. + * + * Returns 0 on success, other values on failure. + */ +int32_t tegra_parent_clk_set_rate(struct tegra_parent_clk *clk, uint32_t rate_hz); +#endif diff --git a/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-errors.h b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-errors.h new file mode 100644 index 0000000..f74e6c9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-errors.h @@ -0,0 +1,71 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef COMB_UART__COMB_UART_ERRORS_H +#define COMB_UART__COMB_UART_ERRORS_H +#define FSP__COMB_UART__COMB_UART_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file comb-uart-errors.h + * @brief Error codes that are specific to the combined uart + */ + +#define E_COMB_UART_NULL_PTR MODULE_ERROR(COMB_UART, 0UL) +#define E_COMB_UART_INVALID_PARAM MODULE_ERROR(COMB_UART, 1UL) +#define E_COMB_UART_TIMEDOUT MODULE_ERROR(COMB_UART, 2UL) +#define E_COMB_UART_NO_TX MODULE_ERROR(COMB_UART, 3UL) + +#endif /* COMB_UART__COMB_UART_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-port.h b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-port.h new file mode 100644 index 0000000..0e9d62d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-port.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef COMB_UART__COMB_UART_PORT_H +#define COMB_UART__COMB_UART_PORT_H +#define FSP__COMB_UART__COMB_UART_PORT_H 1 + +/* Compiler headers */ +#include + +/** + * @brief returns the elapsed microseconds from a reference. + * + * @param[in] start value of time stamp counter at the start of the period of + * when the elapsed time is being computed. + * + * @retval the number of microseconds that have elapsed between when + * the start time was taken and this function called. + */ +uint64_t comb_uart_port_get_elapsed_usecs(const uint64_t start); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-priv.h b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-priv.h new file mode 100644 index 0000000..d476cd6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart-priv.h @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef COMB_UART__COMB_UART_PRIV_H +#define COMB_UART__COMB_UART_PRIV_H +#define FSP__COMB_UART__COMB_UART_PRIV_H 1 + +/** + * @file comb-uart/comb-uart-priv.h + * @brief Structures that are internal to the COMB_UART driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__COMB_UART__COMB_UART_H, "Header file missing or invalid.") + +/*Calculate SM base address from HSP base and SM number */ +#define HSP_SM_BASE(base, sm) ((uint32_t)(base) + (0x8000u * (uint32_t)(sm))) + +/** + * @brief combined uart context structure + * + * Structure that is used by the combined uart client driver to manage + * during run time. + * + * @tx_sm_reg TX mailbox register + * @rx_sm_reg RX mailbox register + * @supports_rx flag to indicate input support + */ +struct comb_uart_id { + const uint32_t tx_sm_reg; + const uint32_t rx_sm_reg; + const bool supports_rx; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart.h b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart.h new file mode 100644 index 0000000..86431f1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/comb-uart/comb-uart.h @@ -0,0 +1,193 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef COMB_UART__COMB_UART_H +#define COMB_UART__COMB_UART_H +#define FSP__COMB_UART__COMB_UART_H 1 + +/** + * @file comb-uart/comb-uart.h + * @brief functions for performing combined uart operations. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Declaration for comb_uart_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +struct comb_uart_id; + +/** + * @brief Output a single character to combined UART + * + * Writes a single character to the combined UART. It does not use + * any services outside of this function. It is intended for early + * boot debug when no services are available. + * + * @param[in] id combined uart context + * @param[in] ch character to be written + * + */ +void comb_uart_putc_now(const struct comb_uart_id *id, + const char ch); + +/** + * @brief output a string via the combined UART protocol. + * + * @pre comb_uart_init() has been called + * + * @param[in] id combined uart context + * @param[in] s string to output + * + * @retval E_SUCCESS indicates success + * @retval E_COMB_UART_NULL_PTR invalid id paramter passed + * @retval E_COMB_UART_TIMEDOUT server timed out + */ +void comb_uart_puts(const struct comb_uart_id *id, + const char *s); + +/** + * @brief output data via the combined UART protocol. + * + * @pre comb_uart_init() has been called + * + * @param[in] id combined uart context + * @param[in] d data buffer to output + * @param[in] len len of the data buffer + * + * @retval E_SUCCESS indicates success + * @retval E_COMB_UART_NULL_PTR invalid id paramter passed + * @retval E_COMB_UART_TIMEDOUT server timed out + */ +void comb_uart_send(const struct comb_uart_id *id, + const char *d, + const uint32_t len); + +/** + * @brief output a char via the combined UART protocol. + * + * @pre comb_uart_init() has been called + * + * @param[in] id combined uart context + * @param[in] ch character to output + * + * @retval E_SUCCESS indicates success + * @retval E_COMB_UART_NULL_PTR invalid id paramter passed + * @retval E_COMB_UART_TIMEDOUT server timed out + */ +error_t comb_uart_putc(const struct comb_uart_id *id, + const char ch); + +/** + * @brief tx flush operation via the combined UART protocol. + * + * @pre comb_uart_init() has been called + * + * @param[in] id combined uart context + * @param[in] wait flag to indicate wait until the tx buffer is flushed + * + * @retval E_SUCCESS indicates success + * @retval E_COMB_UART_NULL_PTR invalid id paramter passed + * @retval E_COMB_UART_TIMEDOUT server timed out + */ +error_t comb_uart_tx_flush(const struct comb_uart_id *id); + +/** + * @brief global initialization of the COMB_UART context. + * + * @pre None + * + * @param[in] id combined uart context + * + * @retval E_SUCCESS indicates success + * @retval E_COMB_UART_NULL_PTR invalid id paramter passed + * @retval E_COMB_UART_TIMEDOUT server timed out + */ +error_t comb_uart_init(const struct comb_uart_id *id); + +/** + * @brief Indicate if TX is ready for a character + * + * @pre None + * + * @param[in] id combined uart context + * + * @retval true a character can be sent at this + * time + * @retval false a character cannot be sent at this + * time + */ +bool comb_uart_is_tx_ready(const struct comb_uart_id *id); + +/** + * @brief Indicate if combined UART can accept another character + * + * @pre None + * + * @param[in] id combined uart context + * + * @retval true a character can be sent at this + * time + * @retval false a character cannot be sent at this + * time + */ +bool comb_uart_tx_ready(const struct comb_uart_id *id); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/comb-uart/sections-comb-uart.h b/spe-freertos-bsp/fsp/source/include/comb-uart/sections-comb-uart.h new file mode 100644 index 0000000..91ffd31 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/comb-uart/sections-comb-uart.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef COMB_UART__SECTIONS_COMB_UART_H +#define COMB_UART__SECTIONS_COMB_UART_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_COMB_UART_DATA SECTION_BUILDER(comb-uart, data) +#define SECTION_NAME_COMB_UART_RODATA SECTION_BUILDER(comb-uart, rodata) +#define SECTION_NAME_COMB_UART_TEXT SECTION_BUILDER(comb-uart, text) +#define SECTION_NAME_COMB_UART_INIT_DATA SECTION_BUILDER(init.comb-uart, data) +#define SECTION_NAME_COMB_UART_INIT_TEXT SECTION_BUILDER(init.comb-uart, text) + +#define SECTION_STR_COMB_UART_TEXT STR(SECTION_NAME_COMB_UART_TEXT) +#define SECTION_STR_COMB_UART_RODATA STR(SECTION_NAME_COMB_UART_RODATA) +#define SECTION_STR_COMB_UART_DATA STR(SECTION_NAME_COMB_UART_DATA) +#define SECTION_STR_COMB_UART_INIT_TEXT STR(SECTION_NAME_COMB_UART_INIT_TEXT) +#define SECTION_STR_COMB_UART_INIT_DATA STR(SECTION_NAME_COMB_UART_INIT_DATA) + +#define SECTION_COMB_UART_TEXT SECTION(SECTION_STR_COMB_UART_TEXT) +#define SECTION_COMB_UART_RODATA SECTION(SECTION_STR_COMB_UART_RODATA) +#define SECTION_COMB_UART_DATA SECTION(SECTION_STR_COMB_UART_DATA) +#define SECTION_COMB_UART_INIT_TEXT SECTION(SECTION_STR_COMB_UART_INIT_TEXT) +#define SECTION_COMB_UART_INIT_DATA SECTION(SECTION_STR_COMB_UART_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/cpu/mmio-access.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/cpu/mmio-access.h new file mode 100644 index 0000000..f90c042 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/cpu/mmio-access.h @@ -0,0 +1,188 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__MMIO_ACCESS_H +#define CPU__MMIO_ACCESS_H +#define FSP__CPU__MMIO_ACCESS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * @file mmio-access.h + * @brief functions that provide access to read and write the memory + * mapped hardware registers. + */ + +/** + * @brief Read a 32-bit value from a memory mapped register + * + * @jama_func_req_id 8314409 + * + * Provides an alias for 'readl' from . + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t ioread32(uintptr_t addr) +{ + return *(fsp_u32_to_vl_u32_ptr(addr)); +} + +/** + * @brief Read a 32-bit value from a memory mapped register address + * + * @jama_func_req_id 8314409 + * + * Provides an alias for 'readl_base_offset' from . + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t ioread32_offset(uintptr_t base, uint32_t offset) +{ + uint32_t data; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "ldr %0, [%1, %2]\n\t" + : "=r" (data) + : "r" (base), "Ir" (offset) + ); + + return data; +} + +/** + * @brief Write a 32-bit value to a memory mapped register + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel' from . + * + * This function will write a 32-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32(uintptr_t addr, uint32_t data) +{ + *(fsp_u32_to_vl_u32_ptr(addr))= data; +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel_base_offset' from . + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32_offset(uintptr_t base, uint32_t offset, uint32_t data) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "str %0, [%1, %2]\n\t" + : + : "r" (data), "r" (base), "Ir" (offset) + : "memory" + ); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel_base_regoffset' from . + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is register value + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32_regoffset(uintptr_t base, uint32_t offset, uint32_t data) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "str %0, [%1, %2]\n\t" + : + : "r" (data), "r" (base), "r" (offset) + : "memory" + ); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/cpu/sections-cache.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/cpu/sections-cache.h new file mode 100644 index 0000000..daf7b17 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/cpu/sections-cache.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef CPU__SECTIONS_CACHE_H +#define CPU__SECTIONS_CACHE_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_CACHE_TEXT SECTION_BUILDER(cache, text) +#define SECTION_NAME_CACHE_RODATA SECTION_BUILDER(cache, rodata) +#define SECTION_NAME_CACHE_DATA SECTION_BUILDER(cache, data) +#define SECTION_NAME_CACHE_INIT_TEXT SECTION_BUILDER(init.cache, text) +#define SECTION_NAME_CACHE_INIT_DATA SECTION_BUILDER(init.cache, data) + +#define SECTION_STR_CACHE_TEXT STR(SECTION_NAME_CACHE_TEXT) +#define SECTION_STR_CACHE_RODATA STR(SECTION_NAME_CACHE_RODATA) +#define SECTION_STR_CACHE_DATA STR(SECTION_NAME_CACHE_DATA) +#define SECTION_STR_CACHE_INIT_TEXT STR(SECTION_NAME_CACHE_INIT_TEXT) +#define SECTION_STR_CACHE_INIT_DATA STR(SECTION_NAME_CACHE_INIT_DATA) + +#define SECTION_CACHE_TEXT SECTION(SECTION_STR_CACHE_TEXT) +#define SECTION_CACHE_RODATA SECTION(SECTION_STR_CACHE_RODATA) +#define SECTION_CACHE_DATA SECTION(SECTION_STR_CACHE_DATA) +#define SECTION_CACHE_INIT_TEXT SECTION(SECTION_STR_CACHE_INIT_TEXT) +#define SECTION_CACHE_INIT_DATA SECTION(SECTION_STR_CACHE_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/reg-access/reg-access.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/reg-access/reg-access.h new file mode 100644 index 0000000..c497ad2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cortex-r5/reg-access/reg-access.h @@ -0,0 +1,161 @@ +/* + * Copyright (c) 2014-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef REG_ACCESS__REG_ACCESS_H +#define REG_ACCESS__REG_ACCESS_H +#define FSP__REG_ACCESS__REG_ACCESS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for ioread32, iowrite32, ... +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file reg-access.h + * @brief functions that provide access to read and write the memory + * mapped hardware registers. + */ + +/** + * @brief Read a 32-bit value from a memory mapped register + * + * @jama_func_req_id 8314409 + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t readl(uint32_t addr) +{ + return ioread32(addr); +} + +/** + * @brief Read a 32-bit value from a memory mapped register address + * + * @jama_func_req_id 8314409 + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t readl_base_offset(uint32_t base, uint32_t offset) +{ + return ioread32_offset(base, offset); +} + +/** + * @brief Write a 32-bit value to a memory mapped register + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] addr Address of the memory mapped register + */ +static inline void writel(uint32_t data, uint32_t addr) +{ + iowrite32(addr, data); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + */ +static inline void writel_base_offset(uint32_t data, uint32_t base, uint32_t offset) +{ + iowrite32_offset(base, offset, data); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is register value + */ +static inline void writel_base_regoffset(uint32_t data, uint32_t base, uint32_t offset) +{ + iowrite32_regoffset(base, offset, data); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-cache.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-cache.h new file mode 100644 index 0000000..2ac1684 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-cache.h @@ -0,0 +1,262 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_CACHE_H +#define CPU__ARMV7_CACHE_H +#define FSP__CPU__ARMV7_CACHE_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** + * @file armv7-cache.h + * @brief Assembly functions that implement the ARM V7 cache instructions + */ + +#define CACHE_LINE_SIZE 32UL +#define CACHE_LINE_MASK (~(CACHE_LINE_SIZE - 1UL)) + +/** + * @brief Invalidate branch predictor all + * + * Allows for the BPIALL instruction to be placed in C code. It will + * invalidate the entire state of the branch predictor. + * + * @return none + */ +static inline void +bpiall(void) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c5, 6\n\t" + : : "r" (0) : "memory" + ); +} + +/** + * @brief Invalidate branch predictor by VA + * + * Allows for the BPIMVA instruction to be placed in C code. It will + * invalidate the specified virtual address from the branch predictor. + * + * @param[in] addr Virtual address to be removed from the branch predictor. + * + * @return none + */ +static inline void +bpimva(uint32_t addr) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c5, 7\n\t" + : : "r" (addr) : "memory" + ); +} + +/** + * @brief Instruction cache line invalidate by VA + * + * Allows for the ICIMVAU instruction to be placed in C code. It will + * invalidate the cache line that contains the specified virtual address + * from the iCache. + * + * @param[in] addr Virtual address of the cache line in the iCache to + * be invalidated. + * + * @return none + */ +static inline void +icimvau(uint32_t addr) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c5, 1\n\t" + : : "r" (addr) : "memory" + ); +} + +/** + * @brief Instruction cache invalidate all + * + * Allows for the ICIALLU instruction to be placed in C code. It will + * invalidate the entire iCache. + * + * @return none + */ +static inline void +iciallu(void) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c5, 0\n\t" + : : "r" (0) : "memory" + ); +} + +/** + * @brief Data cache line clean by VA to PoC + * + * Allows for the DCCMVAC instruction to be placed in C code. It will + * clean the indicated cache line. That is, if the cache line is "dirty" + * it will be written back to DRAM but the data will remain in the dCache. + * + * The "clean" is done to the point of coherence in the cache hierarchy. + * + * @param[in] addr Virtual address of the cache line in the dCache to + * be invalidated. + * + * @return none + */ +static inline void +dccmvac(uint32_t addr) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c10, 1\n\t" + : : "r" (addr) : "memory" + ); +} + +/** + * @brief Data cache line clean by VA to PoU + * + * Allows for the DCCMVAU instruction to be placed in C code. It will + * clean the indicated cache line. That is, if the cache line is "dirty" + * it will be written back to DRAM but the data will remain in the dCache. + * + * The "clean" is done to the point of unification in the cache hierarchy. + * + * @param[in] addr Virtual address of the cache line in the dCache to + * be cleaned. + * + * @return none + */ +static inline void +dccmvau(uint32_t addr) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c11, 1\n\t" + : : "r" (addr) : "memory" + ); +} + +/** + * @brief Data cache line invalidate by VA to PoC + * + * Allows for the DCIMVAC instruction to be placed in C code. It will + * invalidate the indicated cache line. + * + * The invalidation is done to the point of coherence. + * + * @param[in] addr Virtual address of the cache line in the dCache to + * be invalidated. + * + * @return none + */ +static inline void +dcimvac(uint32_t addr) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c6, 1\n\t" + : : "r" (addr) : "memory" + ); +} + +/** + * @brief Data cache line clean and invaliate by VA to PoC + * + * Allows for the DCCIMVAC instruction to be placed in C code. It will first + * clean the indicated cache line (e.g. if the line is "dirty" it will be + * written out to DRAM) before having the cache line invalidated (e.g. removed) + * from the dCache. + * + * This operation is performed to the point of coherence. + * + * @param[in] addr Virtual address of the cache line in the dCache to be + * cleaned and then invalidated. + * + * @return none + */ +static inline void +dccimvac(uint32_t addr) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c14, 1\n\t" + : : "r" (addr) : "memory" + ); +} + +/** + * @brief Invalidate all data caches + * + * Allows for the DCIVALL instruction to be placed in C code. It will cause + * all data caches to be invalidated. + * + * @return none + */ +static inline void +dcivall(void) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c15, c5, 0\n\t" + : : "r" (0) : "memory" + ); +} + +/** + * @brief Data cache line clean by set/way + * + * Allows for the DCCSW instruction to be placed in C code. It will cause + * the cache line specified by the set_way parameter to be cleaned (e.g. if + * the cache line is dirty, it will be written to DRAM). + * + * @param[in] set_way + * @parblock + * This is the set and way in the cache that is to be cleaned. + * + * Bits 31:30 specify the way in the dCache + * + * Bits 13:5 specify the set in the dCache + * @endparblock + * + * @return none + */ +static inline void +dccsw(uint32_t set_way) +{ + __asm__ __volatile__( + "mcr p15, 0, %0, c7, c10, 2\n\t" + : : "r" (set_way) : "memory" + ); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-exception.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-exception.h new file mode 100644 index 0000000..7af121a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-exception.h @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2015-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_EXCEPTION_H +#define CPU__ARMV7_EXCEPTION_H +#define FSP__CPU__ARMV7_EXCEPTION_H 1 + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_20_10 \"Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx\") \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif +#define DATA_ABORT 0 +#define PREFETCH_ABORT 1 +#define UNDEFINED_INSTRUCTION 2 +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_20_10 MISRA_C_2012_Rule_2_5") +#endif + +#ifndef __ASSEMBLER__ + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +struct armv7_exception_frame { + uint32_t sp; + uint32_t lr; + uint32_t spsr; + uint32_t r0; + uint32_t r1; + uint32_t r2; + uint32_t r3; + uint32_t r4; + uint32_t r5; + uint32_t r6; + uint32_t r7; + uint32_t r8; + uint32_t r9; + uint32_t r10; + uint32_t r11; + uint32_t r12; + uint32_t pc; +}; + +void armv7_exception(uint32_t type, struct armv7_exception_frame *frame); + +typedef struct { + uint32_t type; + struct armv7_exception_frame *frame; + uint32_t dfar; + uint32_t dfsr; + uint32_t adfsr; + uint32_t ifar; + uint32_t ifsr; + uint32_t aifsr; +} armv7_exception_t; + + +void exception_hook(const armv7_exception_t * const exception); + +#endif /* !defined __ASSEMBLER__ */ + +#endif /* !defined CPU__ARMV7_EXCEPTION_H */ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-asm-static-hdr.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-asm-static-hdr.h new file mode 100644 index 0000000..5c80e7e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-asm-static-hdr.h @@ -0,0 +1,49 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * This file provides the interfaces for the SafeRTOS MPU functions for + * ARMv7 CPUs (notably the Cortex R5) + */ +#ifndef CPU__ARMV7_MPU_ASM_STATIC_HDR_H +#define CPU__ARMV7_MPU_ASM_STATIC_HDR_H +#define FSP__CPU__ARMV7_MPU_ASM_STATIC_HDR_H 1 + +/* + * Offsets in mpuParameters structure. These *must* match + * the structure layout. + */ +#define MPU_INDEX_OFFSET #8 // offset of index field +#define MPU_BASE_OFFSET #16 // offset of base field + +/* + * Length of the mpuParameters structure. It *must* match the + * structure layout. + */ +#define MPU_PARM_LENGTH #28 // number of bytes +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-regs.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-regs.h new file mode 100644 index 0000000..be37a7a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-regs.h @@ -0,0 +1,364 @@ +/* + * Copyright (c) 2015-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_MPU_REGS_H +#define CPU__ARMV7_MPU_REGS_H +#define FSP__CPU__ARMV7_MPU_REGS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_REGS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BUILT_INS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file armv7-mpu-regs.h + * @brief Functions that provide access to MPU specific registers. + */ + +/** + * @brief Read MPU Region Number Register + * + * Returns the contents of the MPU Region number register. This register + * selects the particular MPU region registers will be accessed. + * + * @pre None + * + * @return MPU Region Number Register + */ +static inline uint32_t +r5mpu_rd_rgnr(void) +{ + uint32_t rgnr; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mrc p15, 0, %0, c6, c2, 0\n\t" : "=r" (rgnr)); + + return rgnr; +} + +/** + * @brief Write MPU Region Number Register + * + * Writes the contents of the MPU Region Number Register. This register + * selects which MPU region registers will be accessed. + * + * @pre None + * + * @param[in] region Region number to be written into the MPU Region + * Number Register. + * + * @return None + */ +static inline void +r5mpu_wr_rgnr(uint32_t region) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mcr p15, 0, %0, c6, c2, 0\n\t" : : "r" (region)); +} + +/** + * @brief Read MPU Region Base Address Register + * + * Reads the contents of the MPU Region Base Address Register. This register + * must have been previously selected by writing to the MPU Region Number + * Register in order to select the correct region. + * + * @pre None + * + * @return Contents of the MPU Region Base Address Register + */ +static inline uint32_t +r5mpu_rd_bar(void) +{ + uint32_t bar; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mrc p15, 0, %0, c6, c1, 0\n\t" : "=r" (bar)); + + return bar; +} + +/** + * @brief Write MPU Region Base Address Register + * + * Writes the contents of the MPU Region Base Address Register. This register + * must have been previously selected by writing to the MPU Region Number + * Register in order to select the correct region. + * + * @pre None + * + * @param[in] bar Base Address that is to be written into the prevously + * selected MPU region. + * + * @return None + */ +static inline void +r5mpu_wr_bar(uint32_t bar) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mcr p15, 0, %0, c6, c1, 0\n\t" : : "r" (bar)); +} + +/** + * @brief Read MPU Region Size and Enable Register + * + * Reads the contents of the MPU Region Size and Enable Register. This register + * must have been previously selected by writing to the MPU Region Number + * Register in order to select the correct region. + * + * @pre None + * + * @return Contents of the MPU Region Size and Enable Register + */ +static inline uint32_t +r5mpu_rd_size(void) +{ + uint32_t size; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mrc p15, 0, %0, c6, c1, 2\n\t" : "=r" (size)); + + return size; +} + +/** + * @brief Write MPU Region Size and Enable Register + * + * Writes the contents of the MPU Region Size and Enable Register. This register + * must have been previously selected by writing to the MPU Region Number + * Register in order to select the correct region. + * + * @pre None + * + * @param[in] size Size and enable that is to be written into the prevously + * selected MPU region. + * + * @return None + */ +static inline void +r5mpu_wr_size(uint32_t size) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mcr p15, 0, %0, c6, c1, 2\n\t" : : "r" (size)); +} + +/** + * @brief Read MPU Region Access Control Register + * + * Reads the contents of the MPU Region Access Control Register. This register + * must have been previously selected by writing to the MPU Region Number + * Register in order to select the correct region. + * + * @pre None + * + * @return Contents of the MPU Region Access Control Register + */ +static inline uint32_t +r5mpu_rd_access(void) +{ + uint32_t access; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mrc p15, 0, %0, c6, c1, 4\n\t" : "=r" (access)); + + return access; +} + +/** + * @brief Write MPU Region Access Control Register + * + * Writes the contents of the MPU Region Access Control Register. This register + * must have been previously selected by writing to the MPU Region Number + * Register in order to select the correct region. + * + * @pre None + * + * @param[in] access Access Control that is to be written to the previously + * selected MPU region. + * + * @return None + */ +static inline void +r5mpu_wr_access(uint32_t access) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mcr p15, 0, %0, c6, c1, 4\n\t" : : "r" (access)); +} + +/** + * @brief Configures a specific MPU region + * + * Sets the indicated MPU region's registers: + * - MPU Region Base Address + * - MPU Region Size and Enable + * - MPU Region Access Control + * + * The values passed as arguments to this function must be according to + * the values specified in Section 4.3.21 of the ARM Cortex R5 Technical + * Reference Manual. + * + * @pre MPU region being configured must have been disabled prior to using + * this function. + * + * @param[in] region MPU region number to be configured + * @param[in] base base address of the region + * @param[in] size encoded size of the region + * @param[in] access access permissions for the region + * + * @return None + */ +static inline void +r5mpu_region_config(uint32_t region, + uint32_t base, + uint32_t size, + uint32_t access) +{ + r5mpu_wr_rgnr(region); + r5mpu_wr_bar(base); + r5mpu_wr_access(access); + r5mpu_wr_size(size); +} + +/** + * @brief Disable a specific MPU region + * + * This function will disable the indicated MPU region. To re-enable the + * region, r5MPU_region_config() must be called specifying all of the values. + * + * @pre None + * + * @param[in] region MPU region number to be disabled. + * + * @return None + */ +static inline void +r5mpu_region_disable(uint32_t region) +{ + r5mpu_wr_rgnr(region); + r5mpu_wr_size(0UL); +} + +/** + * @brief Enable the MPU + * + * This function will enable the MPU. The various MPU regions must have + * been setup prior to this function being called. + * + * @pre None + * + * @return None + */ +static inline void +r5mpu_enable(void) +{ + uint32_t sctlr; + + sctlr = rd_sctlr(); + sctlr = NV_FLD_SET_DRF_NUM(R5, SCTLR, BR, 0U, sctlr); + sctlr = NV_FLD_SET_DRF_NUM(R5, SCTLR, M, 1U, sctlr); + wr_sctlr(sctlr); +} + +/** + * @brief Disable the MPU + * + * This function will disable the MPU. This restores the MPU's default mapping. + * Careful attention must be paid to code layout so that execution can + * successfully continue after this call executes. + * + * @pre None + * + * @return None + */ +static inline void +r5mpu_disable(void) +{ + uint32_t sctlr; + + sctlr = rd_sctlr(); + sctlr = NV_FLD_SET_DRF_NUM(R5, SCTLR, M, 0U, sctlr); + wr_sctlr(sctlr); +} + +/** + * @brief Convert a size to an MPU encoding + * + * Convert a region size in bytes to the MPU's register encoding of the region + * size. The supplied number of bytes must have a single bit set, and be at + * least 32. The intention is for this function call to result in a compile- + * time constant where possible, hence its presence in the header file. + * + * @pre None + * + * @param[in] size_bytes The number of bytes to be covered by the region + * + * @return MPU encoded size value + */ +static inline uint32_t +r5mpu_size(uint32_t size_bytes) +{ + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + return 31UL - arm_builtin_clz(size_bytes - 1U); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-safertos-priv.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-safertos-priv.h new file mode 100644 index 0000000..d21f16c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-safertos-priv.h @@ -0,0 +1,228 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_MPU_SAFERTOS_PRIV_H +#define CPU__ARMV7_MPU_SAFERTOS_PRIV_H +#define FSP__CPU__ARMV7_MPU_SAFERTOS_PRIV_H 1 + +/* Compiler headers */ +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for xTCB, portTaskHandleType +#include // for mpuParameters_t, FSP__CPU__ARMV7... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file armv7-mpu-safertos-priv.h + * @brief Internal functions for managing the MPU under SafeRTOS + * + * This file provides the interfaces for the SafeRTOS MPU functions for + * ARMv7 CPUs (notably the Cortex R5) that are used internally by the + * MPU driver code and should not be used by application code. + */ + +/** + * @brief Restore a task's MPU regions + * + * This function restores the specified task's regions in that it + * programs the MPU as indicated by the array of region structures + * supplied. + * + * For performance reasons, this function is implemented in assembler + * and as a consequence any error checking should be performed prior + * to calling this function as it is not expected to do any validation + * checking. That is, it will take the information contained in the + * supplied regions array and just write the appropriate values into + * the MPU. + * + * @pre MPU must be enabled via r5mpu_init(). + * @pre The task's region array must be properly initialized by + * calling r5mpu_task_region_init(). + * + * @param[in] task_regions A pointer to an array of mpuParameter + * structures that contains exactly + * MPU_NTASK_REGIONS. + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +void armv7_task_mpu_restore(mpuParameters_t *task_regions); + +/** + * @brief Disable the per-task MPU regions + * + * This function disables the per-task MPU regions. The regions + * to be disabled are passed in as an argument. + * + * @pre MPU must be enabled via r5mpu_init(). + * + * @param[in] task_regions A point to an array of mpuParameter + * structures that contains exactly + * MPU_NTASK_REGIONS. + * + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +void armv7_task_mpu_disable(mpuParameters_t *task_regions); + +#if !defined(safertosapiSVC_API_PORT_MAJOR_VERSION) +/** + * @brief Application specific task switch handling + * + * This function is called by the context switch code in SafeRTOS. + * It will perform the necessary low level operations necessary to + * tear down the MPU mappings from the current task and set them up + * for the next task. + * + * @pre MPU must be enabled via r5mpu_init(). + * @pre The task's region arrays must be properly initialized by + * calling r5mpu_task_region_init(). + * + * @param[in] currentTask A valid task handle to the current task + * or NULL. + * @param[in] nextTask A valid task handle to the next task + * or NULL. + * + * @return None + */ +void vApplicationTaskSwitch(const xTCB *pxTCBOfTaskSwitchedOut, + const xTCB *pxTCBOfTaskSwitchedIn); +#endif + +/** + * @brief Return a pointer to a task's TCB + * + * This function will, given a task handle, return a pointer to that + * task's TCB structure. + * + * @pre Task represended by xCurrentTaskHandle must have been created. + * + * @param[in] xCurrentTaskHandle Task handle of the task whose TCB + * pointer is to be returned. The task + * handle is assumed to be valid as this + * function is called where the task handle + * is supplied from SafeRTOS. + * + * @return pointer to an xTCB structure for the given task. + */ +static inline xTCB * +vPortTaskHandleToTCB(const portTaskHandleType xCurrentTaskHandle) +{ + xTCB *pxTCB; + + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + pxTCB = (xTCB *)xCurrentTaskHandle; + + return pxTCB; +} + +/** + * @brief Return a pointer to a task's MPU regions + * + * This function will, given a task handle, return a pointer to that + * task's MPU parameter array. + * + * @pre Task represented by xCurrentTaskHandle must have been created. + * + * @param[in] xCurrentTaksHandle Task handle of the task whose MPU + * parameters are to be returned. The + * task handle is assumed to be valid + * as this function is called where the + * task handle is supplied from SafeRTOS. + * + * @return pointer to the task's array of mpuParameter_t structures. NULL + * if the task has no per-task MPU regions. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline mpuParameters_t * vPortTaskHandleToMPUPointer(const portTaskHandleType xCurrentTaskHandle) +{ + const xTCB *pxTCB; + + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + pxTCB = (const xTCB *)xCurrentTaskHandle; + + return (pxTCB == NULL) ? NULL : pxTCB->pxMPUParameters; +} + +/** + * @brief Return the task's System Mode Setting + * + * This function will, given a task handle, return the value of the + * the task's system mode setting. + * + * @pre None + * + * @param[in] xCurrentTaskHandle Task handle of the task for which its + * system mode setting value is to be + * returned. The task handle is assumed + * to be valid as this function is called + * from where the task handle has been + * supplied from SafeRTOS. + * + * @retval R5_PSR_MODE_SYSTEM when the task is privileged + * @retval R5_PSR_MODE_USER when the task is unprivileged + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline portUInt32Type uxPortTaskSystemModeSetting(const portTaskHandleType xCurrentTaskHandle) +{ + const xTCB *pxTCB; + + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + pxTCB = (const xTCB *)xCurrentTaskHandle; + + return pxTCB->ulSystemModeSetting; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-safertos.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-safertos.h new file mode 100644 index 0000000..4005496 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu-safertos.h @@ -0,0 +1,328 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * This file provides the interfaces for the SafeRTOS MPU functions for + * ARMv7 CPUs (notably the Cortex R5) + */ +#ifndef CPU__ARMV7_MPU_SAFERTOS_H +#define CPU__ARMV7_MPU_SAFERTOS_H +#define FSP__CPU__ARMV7_MPU_SAFERTOS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file armv7-mpu-safertos.h + * @brief Definitions and interfaces to use the MPU under SafeRTOS + * + * This file provides definitions, data structures and interfaces that + * are necessary for an application to use the MPU driver. + */ + +/** + * @brief Type for representing an MPU Region number + */ +typedef uint32_t r5mpu_region_num_t; + +/** + * @brief Type for representing MPU Check Access for a region + * + * The values R5MPU_CHECK_* values (below) can be logical OR'd together + * to create the desired access for a region. + */ +typedef uint8_t r5mpu_check_access_t; + +/** + * @brief No Privileged Access for a region. + */ +#define R5MPU_CHECK_PRIV_NONE ((r5mpu_check_access_t)0x00U) + +/** + * Privileged Read Access for a region. + */ +#define R5MPU_CHECK_PRIV_READ ((r5mpu_check_access_t)0x01U) + +/** + * @brief Privileged Write Access for a region. + */ +#define R5MPU_CHECK_PRIV_WRITE ((r5mpu_check_access_t)0x02U) + +/** + * @brief No Unprivileged Access for a region. + */ +#define R5MPU_CHECK_USER_NONE ((r5mpu_check_access_t)0x00U) + +/** + * @brief Unprivileged Read Access for a region. + */ +#define R5MPU_CHECK_USER_READ ((r5mpu_check_access_t)0x04U) + +/** + * @brief Unprivileged Write Access for a region. + */ +#define R5MPU_CHECK_USER_WRITE ((r5mpu_check_access_t)0x08U) + +/** + * @brief Privileged Read and Write Access for a region. + */ +#define R5MPU_CHECK_PRIV_RW (R5MPU_CHECK_PRIV_READ | R5MPU_CHECK_PRIV_WRITE) + +/** + * @brief Unprivileged Read and Write Access for a region. + */ +#define R5MPU_CHECK_USER_RW (R5MPU_CHECK_USER_READ | R5MPU_CHECK_USER_WRITE) + +/** + * @brief Type representing the flags in mpuParameters structure + */ +typedef uint8_t r5mpu_flags_t; + +/** + * @brief Region is valid + */ +#define R5MPU_FL_VALID ((r5mpu_flags_t)0x01U) + +/** + * @brief The size field in mpuParameters structure contains a size. + */ +#define R5MPU_FL_SIZE ((r5mpu_flags_t)0x02U) + +/** + * The size field in mpuParameters structure contains an ending address. + * During r5mpu_init() and r5mpu_task_region_init(), these fields will + * be converted to a size by subtracting the base field from the size + * field. + */ +#define R5MPU_FL_END ((r5mpu_flags_t)0x04U) + +/** + * Indicate that the structure has been initialized. + */ +#define R5MPU_FL_INIT ((r5mpu_flags_t)0x80U) + +/** + * @brief MPU parameters structure + * + * This structure contains the information that is necessary for + * initializing the MPU and managing per-task MPU regions. This + * structure is generally used in arrays of either MPU_NGLOBAL_REGIONS + * (for mpu_global_regions) or MPU_NTASK_REGIONS for the per-task + * MPU regions. + * @flags The flags that indicate the state of the structure. + * @permissions The permissions that will be used for validating if a + * range is allowed to access a region. + * @task_data per-task data that can be supplied. This is opaque to the + * MPU code. + * @index The MPU region number that the region corresponds to. + * @size The size of the region if R5MPU_FL_SIZE is set in flags. + * The end address of the region if R5MPU_FL_END is set in flags. + * @base The base address of the region. + * @access The access and memory type of the region. See armv7-mpu.h + * for the acceptable values in this field. + * @encoded_size The encoded size of the MPU region. It is of a form that + * is directly usable by the MPU hardware. This field will + * be filled in/overwritten by calls to r5mpu_init() or + * r5mpu_task_region_init(). + */ +typedef struct mpuParameters { + r5mpu_flags_t flags; // flags on how to interprete fields + r5mpu_check_access_t permissions; // access for checking permissions + uint8_t pad[2]; // padding to align next field + void *task_data; // per task data (opaque to MPU code) + r5mpu_region_num_t index; // region index + uint32_t size; // size (in bytes) of region + // the following fields must be kept in this order to allow for + // fast programming of the MPU during a context switch. They + // must also be at the end of the structure. + uint32_t base; // base address for region + uint32_t access; // access permissions + uint32_t encoded_size; // encoded size - direct set of MPU +} mpuParameters_t; + +/** + * @brief Global MPU regions + * + * The global MPU regions that are common across all tasks. It must + * be initialized (usually staticlly) prior to calling r5mpu_init(). + */ +extern mpuParameters_t mpu_global_regions[MPU_NGLOBAL_REGIONS]; + +/** + * @brief Initialize a Task's MPU region + * + * This function will initialize the supplied task's MPU region so that + * it is useable by the context switch and copy check code. + * + * @pre r5mpu_init must have already been called to set up the global + * regions. + * + * @param[in] task_regions A pointer to an array of mpuParameters structures + * that contains MPU_NTASK_REGIONS elements, that + * represent the MPU regions for a specific task + * + * @return None + */ +void r5mpu_task_region_init(mpuParameters_t *task_mpu_regions); + +/** + * @brief Initialize Global MPU state + * + * This function will initialize the MPU for use. It will perform the + * following operations: + * - finish initializing the global MPU regions contained in mpu_global_regions. + * - initialize all of the MPU regions in the hardware according to the + * contents of mpu_global_regions and disabling any per-task regions. + * - enabling the MPU hardware + * + * @pre mpu_global_regions must have at least one region defined that is + * not disabled. + * + * @return None + */ +void r5mpu_init(void); + +/** + * @brief Initialize an MPU region structure + * + * This function assumes that most of the structure has already been + * initialized (more than likely statically). This fills in any remaining + * fields in the data structure from the information already present. + * + * @pre If set_mpu is true, then the R5's MPU must be disabled. If set_mpu + * is false, then there is no requirement on the state of the R5's MPU. + * + * @param[in] region pointer to an mpuParameters structure + * @param[in] set_mpu boolean that indicates if the actual MPU region + * in the R5 should be set or if this is only used + * to initialize the mpuParameters structure. + * + * @return None + */ +void r5mpu_region_init(mpuParameters_t *const region, + bool set_mpu); + +/** + * @brief Return the number of MPU regions + * + * Returns the number of MPU regions that are supported by the R5 CPU. + * + * @return number of MPU regions supported by the R5 CPU. + */ +static inline uint32_t +r5mpu_region_count(void) +{ + uint32_t mpuir; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("mrc p15, 0, %0, c0, c0, 4\n\t" : "=r" (mpuir)); + + return NV_DRF_VAL(R5, MPUIR, DREGION, mpuir); +} + +/** + * @brief R5 MPU not initialized hook + * + * This is a default hook that can be overridden by the application + * to handle cases when one of the MPU functions is called when the + * MPU has not been initialized. + * + * @return None + */ +void r5mpu_not_initialized_hook(void); + +/** + * @brief R5 MPU re-initialization attempted + * + * This is a default hook that can be overridden by the application + * to handle cases when re-initialization of the MPU is attempted. + * + * @param[in] region pointer to region that was already initialized. + * NULL indicates that r5mpu_init was called again. + * + * @return None + */ +void r5mpu_reinitialize_hook(const mpuParameters_t * const region); + +/** + * @brief Application specific context switch callout + * + * This function will be called by the MPU context switch code to allow + * for the application to perform some specific work prior to the MPU + * switch occuring. + * + * @param [in] oldTaskData pointer to opaque data that is contained + * in the MPU data structure for the task being + * switched away from + * @param [in] newTaskData pointer to opaque data that is conteined + * in the MPU data structure for the task being + * switched to + * + * @return None + */ +void vApplicationTaskContextSwitchHook(const void *oldTaskData, + const void *newTaskData); + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu.h new file mode 100644 index 0000000..ad52054 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-mpu.h @@ -0,0 +1,258 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_MPU_H +#define CPU__ARMV7_MPU_H +#define FSP__CPU__ARMV7_MPU_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file armv7-mpu.h + * @brief Defines for the register layout of the MPU + */ + +/** + * @brief R5 Processor Modes + * + * @macro-title R5 Processor Modes + */ +#define R5_PSR_MODE_USER 0x10UL // user mode +#define R5_PSR_MODE_FIQ 0x11UL // processing an FIQ +#define R5_PSR_MODE_IRQ 0x12UL // processing an IRQ +#define R5_PSR_MODE_SUPER 0x13UL // supervisor mode +#define R5_PSR_MODE_ABORT 0x17UL // processing an abort +#define R5_PSR_MODE_UNDEF 0x1BUL // undefined exception +#define R5_PSR_MODE_SYSTEM 0x1FUL // system mode + +#define R5_PSR_MODE_MASK 0x1FUL // mask for extracting processor mode + +/** + * @brief CPSR register bit-masks + * + * @macro-title CPSR bit fields + */ +#define R5_CPSR_IRQ_SHIFT 7U +#define R5_CPSR_IRQ_MASK (1U << R5_CPSR_IRQ_SHIFT) + +#define R5_CPSR_FIQ_SHIFT 6U +#define R5_CPSR_FIQ_MASK (1U << R5_CPSR_FIQ_SHIFT) + +/** + * @brief MPU Region Memory Attributes + * + * MPU Region Memory Attributes + * + * See section 4.3.21 of the ARM Cortex R5 Technical Reference Manual for + * additional descriptions of these bits and what they do. + * + * The following bits define how the R5 will access a region of memory that + * has been described by an individual MPU region. + * + * These bits are used in the setting of an MPU region's access control + * register. + */ +#define R5_DRACR_TEX_SHIFT 3 +#define R5_DRACR_S_SHIFT 2 +#define R5_DRACR_C_SHIFT 1 +#define R5_DRACR_B_SHIFT 0 + +/** + * @brief Strongly ordered memory + */ +#define R5_DRACR_STRONGLY_ORDERED (0UL << R5_DRACR_TEX_SHIFT) + +/** + * @brief Shareable device memory + */ +#define R5_DRACR_SHAREABLE_DEV ((0UL << R5_DRACR_TEX_SHIFT) | \ + BIT(R5_DRACR_B_SHIFT)) + +/** + * @brief Device memory + */ +#define R5_DRACR_DEV (2UL << R5_DRACR_TEX_SHIFT) + +/** + * @brief Uncached Shareable memory + */ +#define R5_DRACR_NORMAL_UNCACHED_SHAREABLE (1UL << R5_DRACR_TEX_SHIFT) | \ + BIT(R5_DRACR_S_SHIFT) + +/** + * @brief Uncached memory + */ +#define R5_DRACR_NORMAL_UNCACHED (1UL << R5_DRACR_TEX_SHIFT) + +/** + * @brief Cached shareable memory + */ +#define R5_DRACR_NORMAL_CACHED_SHAREABLE ((1UL << R5_DRACR_TEX_SHIFT) | \ + BIT(R5_DRACR_S_SHIFT) | \ + BIT(R5_DRACR_C_SHIFT) | \ + BIT(R5_DRACR_B_SHIFT)) + +/** + * @brief Cached memory + */ +#define R5_DRACR_NORMAL_CACHED ((1UL << R5_DRACR_TEX_SHIFT) | \ + BIT(R5_DRACR_C_SHIFT) | \ + BIT(R5_DRACR_B_SHIFT)) + +/** + * @brief MPU Region Memory Access + * + * See section 4.3.21 of the ARM Cortex R5 Technical Reference Manual for + * additional descriptions of these bits and what they do. + * + * The following define the access permissions for a region of memory that + * has been described by an individual MPU region. + * + * These bits are used in the setting of an MPU region's access control + * register. + */ +/** + * @brief No exectute + */ +#define R5_DRACR_XN (1UL << 12) + +#define R5_DRACR_AP_SHIFT 8 +#define R5_DRACR_AP_MASK (7UL << R5_DRACR_AP_SHIFT) + +/** + * @brief No access allowed + */ +#define R5_DRACR_AP_NONE (0UL << R5_DRACR_AP_SHIFT) + +/** + * @brief Privileged Read/Write, No User access + */ +#define R5_DRACR_AP_PRIV_RW (1UL << R5_DRACR_AP_SHIFT) + +/** + * @brief User Read Only, Privileged Read/Write + */ +#define R5_DRACR_AP_USER_RO (2UL << R5_DRACR_AP_SHIFT) + +/** + * @brief User Read/Write, Privileged Read/Write + */ +#define R5_DRACR_AP_USER_RW (3UL << R5_DRACR_AP_SHIFT) + +/** + * @brief Privileged Read Only, No User access + */ +#define R5_DRACR_AP_PRIV_RO (5UL << R5_DRACR_AP_SHIFT) + +/** + * @brief Privileged Read Only, User Read Only + */ +#define R5_DRACR_AP_ALL_RO (6UL << R5_DRACR_AP_SHIFT) + +/* + * When debugging with DS5 and DStream, it is necessary to + * have the code reagions be writable since the debugger + * needs to insert breakpoint instructions into the code. + */ +#if defined(DS5_DEBUG_ENABLE) && (DS5_DEBUG_ENABLE == 1) +#define R5_DRACR_AP_USER_CODE R5_DRACR_AP_USER_RW +#define R5_DRACR_AP_PRIV_CODE R5_DRACR_AP_PRIV_RW +#else +/** + * @brief User Code Access - synonym for User Read Only + */ +#define R5_DRACR_AP_USER_CODE R5_DRACR_AP_USER_RO + +/** + * @brief Privileged Code Access - synonym for Privileged Read Only + */ +#define R5_DRACR_AP_PRIV_CODE R5_DRACR_AP_PRIV_RO +#endif + +/* + * Some synonyms for memory access + */ +#define R5_DRACR_AP_RW R5_DRACR_AP_USER_RW +#define R5_DRACR_AP_RO R5_DRACR_AP_USER_RO + +#define R5_MPUIR_0_DREGION_RANGE 15:8 +#define R5_MPUIR_0_DREGION_MSB MK_SHIFT_CONST(15) +#define R5_MPUIR_0_DREGION_LSB MK_SHIFT_CONST(8) + +#define R5_DRSR_0_RSIZE_RANGE 5:1 +#define R5_DRSR_0_RSIZE_MSB MK_SHIFT_CONST(5) +#define R5_DRSR_0_RSIZE_LSB MK_SHIFT_CONST(1) + +#define R5_DRSR_0_EN_RANGE 0:0 +#define R5_DRSR_0_EN_MSB MK_SHIFT_CONST(0) +#define R5_DRSR_0_EN_LSB MK_SHIFT_CONST(0) + +#define R5_SCTLR_0_BR_RANGE 17:17 +#define R5_SCTLR_0_BR_MSB MK_SHIFT_CONST(17) +#define R5_SCTLR_0_BR_LSB MK_SHIFT_CONST(17) + +#define R5_SCTLR_0_M_RANGE 0:0 +#define R5_SCTLR_0_M_MSB MK_SHIFT_CONST(0) +#define R5_SCTLR_0_M_LSB MK_SHIFT_CONST(0) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-pmu-regs.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-pmu-regs.h new file mode 100644 index 0000000..0b1c56c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-pmu-regs.h @@ -0,0 +1,694 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_PMU_REGS_H +#define CPU__ARMV7_PMU_REGS_H +#define FSP__CPU__ARMV7_PMU_REGS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__BUILT_INS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file armv7-pmu-regs.h + * @brief Functions that provide access to PMU specific registers. + */ + +/* + * R5 PMU events + */ +#define ARMV7_PMU_SW_INCR 0x00 +#define ARMV7_PMU_ICACHE_MISS 0x01 +#define ARMV7_PMU_DCACHE_MISS 0x03 +#define ARMV7_PMU_DCACHE_ACCESS 0x04 +#define ARMV7_PMU_DATA_READ_EXEC 0x06 +#define ARMV7_PMU_DATA_WRITE_EXEC 0x07 +#define ARMV7_PMU_INSTR_EXEC 0x08 +#define ARMV7_PMU_DUAL_ISSUE_EXEC 0x5E +#define ARMV7_PMU_EXCEPTION_TAKEN 0x09 +#define ARMV7_PMU_EXCEPTION_RETURN 0x0A +#define ARMV7_PMU_CONTEXT_ID_CHANGED 0x0B +#define ARMV7_PMU_PC_CHANGED 0x0C +#define ARMV7_PMU_BRANCH_IMMEDIATE 0x0D +#define ARMV7_PMU_PROC_RETURN 0x0E +#define ARMV7_PMU_UNALIGNED_ACCESS 0x0F +#define ARMV7_PMU_BRANCH_NOT_PREDICTED 0x10 +#define ARMV7_PMU_CYCLE_COUNT 0x11 +#define ARMV7_PMU_BRANCH_PREDICTION 0x12 +#define ARMV7_PMU_STALL_INST_BUFFER 0x40 +#define ARMV7_PMU_STALL_DATA_DEPEND 0x41 +#define ARMV7_PMU_DCACHE_WRITE_BACK 0x42 +#define ARMV7_PMU_EXT_MEM_REQ 0x43 +#define ARMV7_PMU_STALL_LSU_BUSY 0x44 +#define ARMV7_PMU_STORE_BUFF_DRAIN 0x45 +#define ARMV7_PMU_FIQ_DISABLED_CYCLES 0x46 +#define ARMV7_PMU_IRQ_DISABLED_CYCLES 0x47 +#define ARMV7_PMU_ETMEXTOUT0 0x48 +#define ARMV7_PMU_ETMEXTOUT1 0x49 +#define ARMV7_PMU_ICACHE_TAG_RAM_ERR 0x4A +#define ARMV7_PMU_ICACHE_DATA_RAM_ERR 0x4B +#define ARMV7_PMU_DCACHE_DIRTY_ERR 0x4C +#define ARMV7_PMU_DCACHE_DATA_RAM_ERR 0x4D +#define ARMV7_PMU_TCM_PREFETCH_ECC 0x4E +#define ARMV7_PMU_TCU_LDSTORE_ECC 0x4F +#define ARMV7_PMU_ST_BUFF_MERGE 0x50 +#define ARMV7_PMU_LSU_STALL_FULL_ST_BUFF 0x51 +#define ARMV7_PMU_LSU_STALL_FULL_ST_Q 0x52 +#define ARMV7_PMU_IDIV_EXEC 0x53 +#define ARMV7_PMU_IDIV_STALL 0x54 +#define ARMV7_PMU_PLD_LINEFILL 0x55 +#define ARMV7_PMU_PLD_LINEFILL_SHORTAGE 0x56 +#define ARMV7_PMU_NON_CACHE_AXI 0x57 +#define ARMV7_PMU_ICACHE_ACCESS 0x58 +#define ARMV7_PMU_ST_BUFF_TWO_SLOTS 0x59 +#define ARMV7_PMU_DUAL_ISSUE_A 0x5A +#define ARMV7_PMU_DUAL_ISSUE_B1_B2_F2_F2D 0x5B +#define ARMV7_PMU_DUAL_ISSUE_OTHER 0x5C +#define ARMV7_PMU_DOUBLE_FLOAT_INST 0x5D +#define ARMV7_PMU_DCACHE_DATA_ECC 0x60 +#define ARMV7_PMU_DACHE_TAG_ECC 0x61 +#define ARMV7_PMU_LIVELOCK 0x62 +#define ARMV7_PMU_ATCM_MULTI_BIT_ECC 0x64 +#define ARMV7_PMU_B0TCM_MULTI_BIT_ECC 0x65 +#define ARMV7_PMU_B1TCM_MULTI_BIT_ECC 0x66 +#define ARMV7_PMU_ATCM_SINGLE_BIT_ECC 0x67 +#define ARMV7_PMU_B0TCM_SINGLE_BIT_ECC 0x68 +#define ARMV7_PMU_B1TCM_SINGLE_BIT_ECC 0x69 +#define ARMV7_PMU_TCM_CORR_ECC_LD_ST 0x6A +#define ARMV7_PMU_TCM_CORR_ECC_PREFETCH 0x6B +#define ARMV7_PMU_TCM_FATAL_ECC_AXI 0x6C +#define ARMV7_PMU_TCM_CORR_ECC_AXI 0x6D +#define ARMV7_PMU_CORRECTABLE_EVENTS 0x6E +#define ARMV7_PMU_FATAL_EVENTS 0x6F +#define ARMV7_PMU_CORR_BUS_FAULTS 0x70 +#define ARMV7_PMU_FATAL_BUS_FAULTS 0x71 +#define ARMV7_PMU_DCACHE_ACCESSES 0x72 +#define ARMV7_PMU_DCACHE_INVALIDATE 0x73 +#define ARMV7_PMU_CYCLE_COUNT2 0xFF + +/***************************************************** + * Macros for accessing fields in the PMCR register + *****************************************************/ +/* + * Get the Implementer code from the PMCR + */ +#define ARMV7_PMCR_GET_IMP(pmcr) (EXTRACT(pmcr, 31, 24)) + +/* + * Get the ID code from the PMCR + */ +#define ARMV7_PMCR_GET_IDCODE(pmcr) (EXTRACT(pmcr, 23, 16)) + +/* + * Get the number of PMU counters implemented + */ +#define ARMV7_PMCR_GET_N(pmcr) (EXTRACT(pmcr, 15, 11)) + +#define ARMV7_PMCR_DP BIT(5) // disable PMCCNTR +#define ARMV7_PMCR_X BIT(4) // enable export of events to event bus +#define ARMV7_PMCR_D BIT(3) // count ever 64th processor cycle +#define ARMV7_PMCR_C BIT(2) // cycle counter reset +#define ARMV7_PMCR_P BIT(1) // event counter reset +#define ARMV7_PMCR_E BIT(0) // enable all counters + + +/***************************************************** + * Macros for accessing fields in the following registers + * PMCNTENSET + * PMCNTENCLR + * PMOVSR + * PMSWINC + * PMINTENSET + * PMINTENCLR + *****************************************************/ +#define ARMV7_PMCNT_C BIT(31) // cycle counter +#define ARMV7_PMCNT_P2 BIT(2) // counter 2 enable +#define ARMV7_PMCNT_P1 BIT(1) // counter 1 enable +#define ARMV7_PMCNT_P0 BIT(0) // counter 0 enable + + +/***************************************************** + * Macros for accessing fields in the PMSELR register + *****************************************************/ +#define ARMV7_PMSEL_GET(selr) (EXTRACT(selr, 4, 0)) +#define ARMV7_PMSEL_MASK MASK(4, 0) + + +/***************************************************** + * Macros for accessing fields in the PMXEVTYPER registers + *****************************************************/ +#define ARMV7_EVENT_SEL_GET(xevselr) (EXTRACT(xevselr, 7, 0)) +#define ARMV7_EVENT_SEL_SET(xevselr, sel) (INSERT(xevselr, 7, 0, sel) + + +/***************************************************** + * Macros for accessing fields in the PMUSERENR register + *****************************************************/ +#define ARMV7_USER_EN BIT(0) // enable PMU access from USER mode + +/** + * @brief Read Performance Monitor Control Register + * + * This function returns the current contents of the PMCR. + * + * Refer to section 6.3.1 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMCR + */ +static inline uint32_t +rd_PMCR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c12, 0\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Performance Monitor Control Register + * + * This function writes new contents to the PMCR. + * + * Refer to section 6.3.1 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written to the PMCR. + * + * @return none + */ +static inline void +wr_PMCR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c12, 0\n\t" : : "r" (reg)); +} + +/** + * @brief Read Count Enable Set Register + * + * This function returns the current contents of the PMCNTENSET register. + * + * Refer to section 6.3.2 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMCNTENSET register + */ +static inline uint32_t +rd_PMCNTENSET(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c12, 1\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Count Enable Set Register + * + * This function writes a value into the PMCNTENSET register. + * + * Refer to section 6.3.2 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMCNTENSET register + * + * @return none + */ +static inline void +wr_PMCNTENSET(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c12, 1\n\t" : : "r" (reg)); +} + +/** + * @brief Read Count Enable Clear Register + * + * This function reads the current value of the PMCNTENCLR register. + * + * Refer to section 6.3.3 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMCNTENCLR register + */ +static inline uint32_t +rd_PMCNTENCLR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c12, 2\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Count Enable Clear Register + * + * This function writes a value into the PMCNTENCLR register. + * + * Refer to section 6.3.3 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMCNTENSET register + * + * @return none + */ +static inline void +wr_PMCNTENCLR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c12, 2\n\t" : : "r" (reg)); +} + +/** + * @brief Read Overflow Flag Status Register + * + * This function reads the current value of the PMOVSR register. + * + * Refer to section 6.3.4 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMOVSR register + */ +static inline uint32_t +rd_PMOVSR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c12, 3\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Overflow Flag Status Register + * + * This function writes a value into the PMOVSR register. + * + * Refer to section 6.3.4 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMOVSR register + * + * @return none + */ +static inline void +wr_PMOVSR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c12, 3\n\t" : : "r" (reg)); +} + +/** + * @brief Write Software Increment Register + * + * This function writes a value into the PMSWINC register. + * + * Refer to section 6.3.5 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMSWINC register + * + * @return none + */ +static inline void +wr_PMSWINC(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c12, 4\n\t" : : "r" (reg)); +} + +/** + * @brief Read Performance Counter Selection Register + * + * This function reads the current value of the PMSELR register. + * + * Refer to section 6.3.6 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMSELR register + */ +static inline uint32_t +rd_PMSELR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c12, 5\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Performance Counter Selection Register + * + * This function writes a value into the PMSELR register. + * + * Refer to section 6.3.6 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMSELR register + * + * @return none + */ +static inline void +wr_PMSELR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c12, 5\n\t" : : "r" (reg)); +} + +/** + * @brief Read Cycle Count Register + * + * This function reads the current value of the PMCCNTR register. + * + * Refer to section 6.3.7 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMCCNTR register + */ +static inline uint32_t +rd_PMCCNTR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c13, 0\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Cycle Count Register + * + * This function writes a value into the PMCCNTR register. + * + * Refer to section 6.3.7 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMCCNTR register + * + * @return none + */ +static inline void +wr_PMCCNTR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c13, 0\n\t" : : "r" (reg)); +} + +/** + * @brief Read Event Type Selection Register + * + * This function reads the current value of the PMXEVTYPER register. + * + * Refer to section 6.3.8 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMXEVTYPER register + */ +static inline uint32_t +rd_PMXEVTYPER(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c13, 1\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Event Type Selection Register + * + * This function writes a value into the PMXEVTYPER register. + * + * Refer to section 6.3.8 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMXEVTYPER register + * + * @return none + */ +static inline void +wr_PMXEVTYPER(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c13, 1\n\t" : : "r" (reg)); +} + +/** + * @brief Read Event Count Register + * + * This function reads the current value of the PMXEVCNTR register. + * + * Refer to section 6.3.9 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMXEVCNTR register + */ +static inline uint32_t +rd_PMXEVCNTR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c13, 2\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Event Count Register + * + * This function writes a value into the PMXEVCNTR register. + * + * Refer to section 6.3.9 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMXEVCNTR register + * + * @return none + */ +static inline void +wr_PMXEVCNTR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c13, 2\n\t" : : "r" (reg)); +} + +/** + * @brief Read User Enable Register + * + * This function reads the current value of the PMUSERENR register. + * + * Refer to section 6.3.10 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMUSERENR register + */ +static inline uint32_t +rd_PMUSERENR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c14, 0\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write User Enable Register + * + * This function writes a value into the PMUSERENR register. + * + * Refer to section 6.3.10 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMUSERENR register + * + * @return none + */ +static inline void +wr_PMUSERENR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c14, 0\n\t" : : "r" (reg)); +} + +/** + * @brief Read Interrupt Enable Set Register + * + * This function reads the current value of the PMINTENSET register. + * + * Refer to section 6.3.11 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMINTENSET register + */ +static inline uint32_t +rd_PMINTENSET(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c14, 1\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Interrupt Enable Set Register + * + * This function writes a value into the PMINTENSET register. + * + * Refer to section 6.3.11 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMINTENSET register + * + * @return none + */ +static inline void +wr_PMINTENSET(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c14, 1\n\t" : : "r" (reg)); +} + +/** + * @brief Read Interrupt Enable Clear Register + * + * This function reads the current value of the PMINTENCLR register. + * + * Refer to section 6.3.12 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @return uint32_t value of the PMINTENCLR register + */ +static inline uint32_t +rd_PMINTENCLR(void) +{ + uint32_t reg; + + __asm__ __volatile__("mrc p15, 0, %0, c9, c14, 2\n\t" : "=r" (reg)); + + return reg; +} + +/** + * @brief Write Interrupt Enable Clear Register + * + * This function writes a value into the PMINTENCLR register. + * + * Refer to section 6.3.12 of the ARM Cortex R5 TRM (version 1.2) for details + * of this register. + * + * @param [in] reg value to be written into the PMINTENCLR register + * + * @return none + */ +static inline void +wr_PMINTENCLR(uint32_t reg) +{ + __asm__ __volatile__("mcr p15, 0, %0, c9, c14, 2\n\t" : : "r" (reg)); +} + +/** + * @brief Set up an event counter + * + * This function will set up an event counter so that it can count + * the specified event. + * + * @param [in] cntr_num number of the event counter to be set up + * @param [in] event ID of the event that is to be counted + * + * @return none + */ +static inline void +pmu_set_event_counter(uint32_t cntr_num, uint32_t event) +{ + wr_PMSELR(cntr_num); + wr_PMXEVTYPER(event); +} + +/** + * @brief Read an event counter + * + * This function will read the contents of the specified event counter. + * + * @param [in] cntr_num number of the event counter that is to be read + * + * @return uint32_t value contained in the indicated counter + */ +static inline uint32_t +pmu_read_counter(uint32_t cntr_num) +{ + wr_PMSELR(cntr_num); + + return rd_PMXEVCNTR(); +} + +/** + * @brief Clear an event counter + * + * This function will clear (set to 0) the specified event counter. + * + * @param [in] cntr_num number of the event counter that is to be + * cleared + * + * @return none + */ +static inline void +pmu_clear_counter(uint32_t cntr_num) +{ + wr_PMSELR(cntr_num); + wr_PMXEVCNTR(0); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-regs.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-regs.h new file mode 100644 index 0000000..cdd6edb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/armv7-regs.h @@ -0,0 +1,742 @@ +/* + * Copyright (c) 2017-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARMV7_REGS_H +#define CPU__ARMV7_REGS_H +#define FSP__CPU__ARMV7_REGS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +#include + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file armv7-regs.h + * @brief Assembly functions that provide access to control registers + */ + +/** + * @brief Read Current Program Status Register + * + * Reads the contents of the CPSR register + * + * @return contents of CPSR register + */ +static inline uint32_t +rd_cpsr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "mrs %0, cpsr\n\t" + : "=r" (val) + ); + + return val; +} + +static inline void +wr_cpsr(uint32_t new_cpsr) +{ + __asm__ __volatile__ ( + "msr cpsr_c, %0\n\t" + : /* no output */ + : "r"(new_cpsr) + ); +} + +/** + * @brief Read Coprocessor Access Control Register + * + * Reads the contents of the CPACR register. + * + * @return contents of CPACR register + */ +static inline uint32_t +rd_cpacr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c1, c0, 2\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Set the MPU Region Number Register + * + * Sets the MPU region number register so that a particular MPU region can + * be manipulated. + * + * @param[in] region Region number of the MPU region to provide access to + * + * @return none + */ +static inline void +set_mpu_region(uint32_t region) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mcr p15, 0, %0, c6, c2, 0\n\t" + : : "r" (region) + ); +} + +/** + * @brief Read the MPU Region Base Register + * + * Reads the contents of the MPU Region Base Register for the region number + * that had been previously set. + * + * @return contents of the MPU Region Base Register + */ +static inline uint32_t +rd_mpu_region_base(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c6, c1, 0\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the MPU Region Access Control Register + * + * Reads the contents of the MPU Region Access Control Register for the region + * number that had been previously set. + * + * @return contents of the MPU Region Access Control Register + */ +static inline uint32_t +rd_mpu_region_access(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c6, c1, 4\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the MPU Region Size and Enable Register + * + * Reads the contents of the MPU Region Size and Enable Register for the + * region number that had been previously set. + * + * @return contents of the MPU Region Size and Enable Register + */ +static inline uint32_t +rd_mpu_region_size(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c6, c1, 2\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the BTCM Region Register + * + * Reads the contents of the BTCM Region Register which indicates the base + * address and size of the BTCM. + * + * @return contents of the BTCM Regiion Register + */ +static inline uint32_t +rd_btcm_region(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c9, c1, 0\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the ATCM Region Register + * + * Reads the contents of the ATCM Region Register which indicates the base + * address and size of the ATCM. + * + * @return contents of the ATCM Regiion Register + */ +static inline uint32_t +rd_atcm_region(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c9, c1, 1\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the Slave Port Control Register + * + * Reads the contents of the Slave Port Control Register. + * + * @return contents of the Slave Port Control Register + */ +static inline uint32_t +rd_slave_port_control(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c11, c0, 0\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the Normal AXI Peripheral Interface Region Register + * + * Reads the contents of the normal AXI Peripheral Interface Region Register + * + * @return contents of the normal AXI Peripheral Interface Region Register + */ +static inline uint32_t +rd_normal_llpp(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c15, c0, 1\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read the Virtual AXI Peripheral Interface Region Register + * + * Reads the contents of the virtual AXI Peripheral Interface Region Register + * + * @return contents of the virtual AXI Peripheral Interface Region Register + */ +static inline uint32_t +rd_virtual_llpp(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c15, c0, 2\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read AHB Peripheral Interface Register + * + * Reads the contents of the AHB Peripheral Interface Register + * + * @return contents of the AHB Peripheral Interface Register + */ +static inline uint32_t +rd_ahb_pirr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c15, c0, 3\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read Data Fault Status Register + * + * Reads the contents of the DFSR which contains status information + * regarding the source of the last data abort. + * + * @return contents of the DFSR + */ +static inline uint32_t +rd_dfsr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c5, c0, 0\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read Data Fault Address Register + * + * Reads the contents of the DFAR which contains the address of the + * fault when a synchronous abort occurs. + * + * @return contents of the DFAR + */ +static inline uint32_t +rd_dfar(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c6, c0, 0\n\t" + : "=r" (val) + ); + + return val; +} + + +/** + * @brief Read Instruction Fault Status Register + * + * Reads the contents of the IFSR which contains status information + * regarding the source of the last prefetch abort. + * + * @return contents of the IFSR + */ +static inline uint32_t +rd_ifsr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c5, c0, 1\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read Instruction Fault Address Register + * + * Reads the contents of the IFAR which contains the address of the + * instruction that caused a prefetch abort. + * + * @return contents of the IFAR + */ +static inline uint32_t +rd_ifar(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c6, c0, 2\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read Auxilary Data Fault Status Register + * + * Reads the contents of the ADFSR which contains information about + * data parity, ECC and TCM errors. + * + * @return contents of the ADFSR + */ +static inline uint32_t +rd_adfsr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c5, c1, 0\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read Auxilary Instruction Fault Status Register + * + * Reads the contents of the AIFSR which contains information about + * instruction parity, ECC and TCM errors. + * + * @return contents of AIFSR + */ +static inline uint32_t +rd_aifsr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c5, c1, 1\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Read Cache Level ID Register + * + * Reads the contents of the CLIDR register which indicates which cache + * levels are implemented. + * + * @return contents of CLIDR + */ +static inline uint32_t +rd_clidr(void) +{ + uint32_t clidr; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 1, %0, c0, c0, 1\n\t" + : "=r" (clidr) + ); + + return clidr; +} + +/** + * @brief Read System Control Register + * + * Reads the contents of the SCTLR register which contains control and + * configuration information for: + * memory alignment, endianness, protection and fault behavior + * MPU and cache enables and cache replacement strategy + * interrupts and the behvior of interrupt latency + * location of exception vectors + * program flow prediction + * + * @return contents of SCTLR + */ +static inline uint32_t +rd_sctlr(void) +{ + uint32_t sctlr; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c1, c0, 0\n\t" + : "=r" (sctlr) + ); + + return sctlr; +} + +/** + * @brief Write System Control Register + * + * Writes the contents of the SCTLR register which contains control and + * configuration information for: + * memory alignment, endianness, protection and fault behavior + * MPU and cache enables and cache replacement strategy + * interrupts and the behvior of interrupt latency + * location of exception vectors + * program flow prediction + * + * @param[in] sctrl value to be written to SCTLR register + * + * @return none + */ +static inline void +wr_sctlr(uint32_t sctlr) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mcr p15, 0, %0, c1, c0, 0\n\t" + : : "r" (sctlr) + ); +} + +/** + * @brief Read Auxiliary Control Register + * + * Reads the contents of the ACTLR register which controls: + * branch prediction + * performance features + * error and parity logic + * + * @return contents of ACLTR + */ +static inline uint32_t +rd_actlr(void) +{ + uint32_t actlr; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c1, c0, 1\n\t" + : "=r" (actlr) + ); + + return actlr; +} + +/** + * @brief Write Auxiliary Control Register + * + * Writes the contents of the ACTLR register which controls: + * branch prediction + * performance features + * error and parity logic + * + * @param[in] actlr value to be written to ACTLR register + * + * @return none + */ +static inline void +wr_actlr(uint32_t actlr) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mcr p15, 0, %0, c1, c0, 1\n\t" + : : "r" (actlr) + ); +} + +/** + * @brief Read Secondary Auxiliary Control Register + * + * Reads the contents of the secondary ACTLR register which controls: + * branch prediction + * performance features + * error and parity logic + * + * @return contents of the secondary ACLTR + */ +static inline uint32_t +rd_secondary_actlr(void) +{ + uint32_t val; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 0, %0, c15, c0, 1\n\t" + : "=r" (val) + ); + + return val; +} + +/** + * @brief Write Secondary Auxiliary Control Register + * + * Writes the contents of the secondary ACTLR register which controls: + * branch prediction + * performance features + * error and parity logic + * + * @param[in] actlr value to be written to the secondary ACTLR register + * + * @return none + */ +static inline void +wr_secondary_actlr(uint32_t actlr) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mcr p15, 0, %0, c15, c0, 1\n\t" + : : "r" (actlr) + ); +} + +/** + * @brief Read Cache Size Selection Register + * + * Reads the contents of the CSSELR register which is used to select + * which level of the cache is to be interrogated. + * + * @return contents of the CSSELR + */ +static inline uint32_t +rd_csselr(void) +{ + uint32_t csselr; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 2, %0, c0, c0, 0\n\t" + : "=r" (csselr) + ); + + return csselr; +} + +/** + * @brief Write Cache Size Selection Register + * + * Writes the contents of the CSSELR register to allow for the different + * caches and cache levels to be interrogated. + * + * @param[in] csselr Level of cache to be interrogated + * + * @return none + */ +static inline void +wr_csselr(uint32_t csselr) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mcr p15, 2, %0, c0, c0, 0\n\t" + : : "r" (csselr) + ); +} + +/** + * @brief Read Cache Size ID Register + * + * Reads the contents of the CCSIDR register. Provides information about the + * size and behvior of the instruction or data cache. + * + * @return contents of the CCSIDR register + */ +static inline uint32_t +rd_ccsidr(void) +{ + uint32_t ccsidr; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__( + "mrc p15, 1, %0, c0, c0, 0\n\t" + : "=r" (ccsidr) + ); + + return ccsidr; +} + +#define R5_CPSR_IF_MASK (R5_CPSR_IRQ_MASK | R5_CPSR_FIQ_MASK) + +/** + * disable_interrupts() Disable interrupts without using OS + * + * Code coverage cannot use OS services because OS services + * are being instrumented. + */ +static inline uint32_t +disable_interrupts(void) +{ + uint32_t cur_cpsr; + + cur_cpsr = rd_cpsr(); + + wr_cpsr(cur_cpsr | R5_CPSR_IF_MASK); + + return cur_cpsr; +} + +/** + * restore_interrupts() Restore the interrupts to original mask + * @saved_mask value saved from previous disable_interrupts() call + * + * Restore interrupts is used instead of enable interrupts disable/restore + * may be called from within a OS provided critical section + * (with interrupts disabled) + */ +static inline void +restore_interrupts(uint32_t saved_mask) +{ + uint32_t new_cpsr; + + new_cpsr = rd_cpsr() & ~R5_CPSR_IF_MASK; + new_cpsr |= saved_mask & R5_CPSR_IF_MASK; + + wr_cpsr(new_cpsr); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/sections-armv7-mpu.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/sections-armv7-mpu.h new file mode 100644 index 0000000..a46f6d9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/sections-armv7-mpu.h @@ -0,0 +1,90 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef CPU__SECTIONS_ARMV7_MPU_H +#define CPU__SECTIONS_ARMV7_MPU_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_MPU_DATA SECTION_BUILDER(mpu, data) +#define SECTION_NAME_MPU_TEXT SECTION_BUILDER(mpu, text) +#define SECTION_NAME_MPU_INIT_DATA SECTION_BUILDER(init.mpu, data) +#define SECTION_NAME_MPU_INIT_TEXT SECTION_BUILDER(init.mpu, text) + +#define SECTION_STR_MPU_TEXT STR(SECTION_NAME_MPU_TEXT) +#define SECTION_STR_MPU_DATA STR(SECTION_NAME_MPU_DATA) +#define SECTION_STR_MPU_INIT_TEXT STR(SECTION_NAME_MPU_INIT_TEXT) +#define SECTION_STR_MPU_INIT_DATA STR(SECTION_NAME_MPU_INIT_DATA) + +#define SECTION_MPU_TEXT SECTION(SECTION_STR_MPU_TEXT) +#define SECTION_MPU_DATA SECTION(SECTION_STR_MPU_DATA) +#define SECTION_MPU_INIT_TEXT SECTION(SECTION_STR_MPU_INIT_TEXT) +#define SECTION_MPU_INIT_DATA SECTION(SECTION_STR_MPU_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/sections-exception.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/sections-exception.h new file mode 100644 index 0000000..b6fcbe1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/sections-exception.h @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef CPU__SECTIONS_EXCEPTION_H +#define CPU__SECTIONS_EXCEPTION_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_EXCEPTION_DATA SECTION_BUILDER(error.exception, data) +#define SECTION_NAME_EXCEPTION_TEXT SECTION_BUILDER(error.exception, text) + +#define SECTION_STR_EXCEPTION_TEXT STR(SECTION_NAME_EXCEPTION_TEXT) +#define SECTION_STR_EXCEPTION_DATA STR(SECTION_NAME_EXCEPTION_DATA) + +#define SECTION_EXCEPTION_TEXT SECTION(SECTION_STR_EXCEPTION_TEXT) +#define SECTION_EXCEPTION_DATA SECTION(SECTION_STR_EXCEPTION_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/smplock-types.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/smplock-types.h new file mode 100644 index 0000000..166e2ef --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/smplock-types.h @@ -0,0 +1,52 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__SMPLOCK_TYPES_H +#define CPU__SMPLOCK_TYPES_H +#define FSP__CPU__SMPLOCK_TYPES_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/** + * @brief Armv7 architecture specific smplock structure + */ +typedef struct { + /* + * FIXME: smplocks are not used currently for FSP ARMV7. To avoid the + * compiler errors resulting from empty struct declarations, just create + * a uint32_t member field. This can be changed when the real use case + * arises. + */ + uint32_t lock; +} arch_smplock_t; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/type-conversion.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/type-conversion.h new file mode 100644 index 0000000..12b6338 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv7/cpu/type-conversion.h @@ -0,0 +1,498 @@ +/* + * Copyright (c) 2018-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__TYPE_CONVERSION_H +#define CPU__TYPE_CONVERSION_H +#define FSP__CPU__TYPE_CONVERSION_H 1 + +/* Compiler headers */ +#include +#include // for NULL, size_t + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Table of abbreviations: + * These abbreviations are used in type conversions. The following letters, or combinations of + * letters, preceeded by an underscore, shall mean the following: + * _c : const + * _ch : char + * _fn : function + * _i32 : int32_t + * _li : long int + * _ptr : pointer + * _st : size_t + * _u8 : uint8_t + * _u32 : uint32_t + * _upt : uintptr_t + * _v : void + * _vl : volatile + * + */ + +/* + * Table of Contents (abbreviations decoded as per table above): + * fsp_c_v_ptr_to_c_ch_ptr + * fsp_c_ch_ptr_to_v_ptr + * fsp_c_v_ptr_to_v_ptr + * fsp_c_ch_ptr_to_ch_ptr + * fsp_i32_to_u32 + * fsp_li_to_st + * fsp_i32_to_st + * fsp_ch_to_u8 + * fsp_v_ptr_to_u8_ptr + * fsp_u8_ptr_to_v_ptr + * fsp_c_v_ptr_to_c_u8_ptr + * fsp_c_v_ptr_to_uptr + * fsp_c_v_ptr_to_u32 + * fsp_c_u32_ptr_to_u32 + * fsp_c_u32_ptr_to_u64 + * fsp_c_u8_ptr_to_u32 + * fsp_u32_to_u8_ptr + * fsp_u32_to_vl_u32_ptr + * fsp_v_fn_ptr_to_uptr + * + */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * Converts constant void pointer to constant char pointer. + * + * @param[in] ptr constant void pointer which will be coverted to constant char pointer. + * @param[out] ptr constant char pointer of constant void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline const char *fsp_c_v_ptr_to_c_ch_ptr(const void *ptr) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + return (const char *)ptr; +} + +/** + * Converts constant char pointer to void pointer. Discards const correctness. + * + * @param[in] input constant char pointer which will be coverted to void pointer. + * @param[out] output void pointer of constant char pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline void *fsp_c_ch_ptr_to_v_ptr(const char *input) +{ +CT_ASSERT(FSP_ALIGNOF(const char *) >= FSP_ALIGNOF(void *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const char *) == sizeof(void *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_ch_ptr_to_v_ptr { + const char *input; + void * output; + }; + union cast_fsp_c_ch_ptr_to_v_ptr t; + + t.input= input; + return t.output; +} + +/** + * Converts constant void pointer non-constant. Preserves 'const' for R-O APIs, + * and allows non-const for R-W APIs. + * + * @param[in] input constant void pointer which will be coverted to void pointer + * @param[out] output void pointer of constant void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline void *fsp_c_v_ptr_to_v_ptr(const void *input) +{ +CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(void *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const void *) == sizeof(void *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_v_ptr_to_v_ptr { + const void *input; + void * output; + }; + union cast_fsp_c_v_ptr_to_v_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts constant char pointer to char pointer + * + * @param[in] input constant char pointer which will be coverted to char pointer + * @param[out] output char pointer of constant char pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline char* fsp_c_ch_ptr_to_ch_ptr(const char *input) +{ +CT_ASSERT(FSP_ALIGNOF(const char *) >= FSP_ALIGNOF(char *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const char *) == sizeof(char *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_ch_ptr_to_ch_ptr { + const char *input; + char* output; + }; + union cast_fsp_c_ch_ptr_to_ch_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts signed int to unsigned int + * + * @param[in] val int32_t which will be coverted to unsigned integer. + * @param[out] u_val unsigned integer value of int32_t. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint32_t fsp_i32_to_u32(int32_t input) +{ + union cast_fsp_i32_to_u32 { + int32_t input; + uint32_t output; + }; + union cast_fsp_i32_to_u32 t; + + t.input = input; + return t.output; +} + +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx") +/** + * Converts signed long int to size_t + * + * @param[in] val long int which will be coverted to size_t. + * @param[out] u_val size_t value of int. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline size_t fsp_li_to_st(long int input) +{ + union cast_fsp_li_to_st { + long int input; + size_t output; + }; + union cast_fsp_li_to_st t; + + t.input = input; + return t.output; +} +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx") + +/** + * Converts signed int to size_t + * + * @param[in] val int which will be coverted to size_t. + * @param[out] u_val size_t value of int. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline size_t fsp_i32_to_st(int32_t input) +{ + union cast_fsp_i32_to_st { + int32_t input; + size_t output; + }; + union cast_fsp_i32_to_st t; + + t.input = input; + return t.output; +} + +/** + * Converts char to uint8_t + * + * @param[in] ch character which will be converted to unsigned character. + * @param[out] uchar unsigned char of given character. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint8_t fsp_ch_to_u8(char input) +{ +CT_ASSERT(FSP_ALIGNOF(char) >= FSP_ALIGNOF(uint8_t), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(char) == sizeof(uint8_t), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_ch_to_u8 { + char input; + uint8_t output; + }; + union cast_fsp_ch_to_u8 t; + + t.input = input; + return t.output; +} + +/** + * Converts void pointer to struct uint8_t pointer. + * + * @param[in] input void pointer which will be coverted to uint8_t pointer. + * @param[out] output uint8_t pointer of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint8_t *fsp_v_ptr_to_u8_ptr(void *input) +{ +CT_ASSERT(FSP_ALIGNOF(void *) >= FSP_ALIGNOF(uint8_t*), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(void *) == sizeof(uint8_t *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_v_ptr_to_u8_ptr { + void * input; + uint8_t *output; + }; + union cast_fsp_v_ptr_to_u8_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts uint8_t pointer to void pointer. + * + * @param[in] input uint8_t pointer which will be converted to void pointer. + * @param[out] output void pointer of uint8_t pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline void *fsp_u8_ptr_to_v_ptr(uint8_t *input) +{ + CT_ASSERT(FSP_ALIGNOF(void *) >= FSP_ALIGNOF(uint8_t *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(void *) == sizeof(uint8_t *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_u8_ptr_to_v_ptr { + uint8_t *input; + void *output; + }; + union cast_fsp_u8_ptr_to_v_ptr t; + + t.input = input; + return t.output; +} + + +/** + * Converts constant void pointer to struct constant uint8_t pointer. + * + * @param[in] input constant void pointer which will be coverted to constant uint8_t pointer. + * @param[out] output constant uint8_t pointer of constant void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline const uint8_t *fsp_c_v_ptr_to_c_u8_ptr(const void *input) +{ +CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(const uint8_t *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const void *) == sizeof(const uint8_t *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_v_ptr_to_c_u8_ptr { + const void * input; + const uint8_t *output; + }; + union cast_fsp_c_v_ptr_to_c_u8_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const void pointer to uintptr_t + * + * @param[in] addr void pointer which will be coverted to uintptr_t + * @param[out] value uintptr_t value of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uintptr_t fsp_c_v_ptr_to_uptr(const void *input) +{ + CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(uintptr_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(const void *) == sizeof(uintptr_t *), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_v_ptr_to_uptr { + const void *input; + uintptr_t output; + }; + union cast_fsp_c_v_ptr_to_uptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const void pointer to uint32_t + * + * @param[in] addr void pointer which will be coverted to uint32_t + * @param[out] value uint32_t value of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint32_t fsp_c_v_ptr_to_u32(const void *input) +{ + CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(uint32_t), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(const void *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_v_ptr_to_u32 { + const void *input; + uint32_t output; + }; + union cast_fsp_c_v_ptr_to_u32 t; + + t.input = input; + return t.output; +} + +/** + * Converts const uint32_t pointer to uint32_t + * + * @param[in] addr uint32_t pointer which will be coverted to uint32_t + * @param[out] value uint32_t value of uint32_t pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint32_t fsp_c_u32_ptr_to_u32(const uint32_t *input) +{ + CT_ASSERT(sizeof(const uint32_t *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_u32_ptr_to_u32 { + const uint32_t *input; + uint32_t output; + }; + union cast_fsp_c_u32_ptr_to_u32 t; + + t.input = input; + return t.output; +} + +/** + * Converts const uint8_t pointer to uint32_t + * + * @param[in] addr uint8_t pointer which will be coverted to uint32_t + * @param[out] value uint32_t value of uint8_t pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint32_t fsp_c_u8_ptr_to_u32(const uint8_t *input) +{ + CT_ASSERT(sizeof(const uint32_t *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_u8_ptr_to_u32 { + const uint8_t *input; + uint32_t output; + }; + union cast_fsp_c_u8_ptr_to_u32 t; + + t.input = input; + return t.output; +} + +/** + * Converts uint32_t to uint8_t pointer + * + * @param[in] uint32_t addr which will be converted to uint8_t pointer. + * @param[out] uint8_t pointer of uint32_t value. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint8_t *fsp_u32_to_u8_ptr(uint32_t input) +{ + CT_ASSERT(sizeof(uint32_t *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_u32_to_u8_ptr { + uint32_t input; + uint8_t *output; + }; + union cast_fsp_u32_to_u8_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const uint32_t pointer to uint64_t + * + * @param[in] addr uint32_t pointer which will be coverted to uint64_t + * @param[out] value uint64_t value of uint32_t pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint64_t fsp_c_u32_ptr_to_u64(const uint32_t *input) +{ + CT_ASSERT(sizeof(const uint32_t *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_u32_ptr_to_u64 { + const uint32_t *input; + uint64_t output; + }; + union cast_fsp_c_u32_ptr_to_u64 t; + + t.input = input; + return t.output; +} + +/** + * Converts uint32_t to volatile uint32_t pointer + * + * @param[in] addr unsigned integer which will be converted to volatile unsigned integer pointer. + * @param[out] value volatile unsigned integer pointer represented by unsigned integer addr + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline volatile uint32_t* fsp_u32_to_vl_u32_ptr(uint32_t input) +{ + CT_ASSERT(FSP_ALIGNOF(uint32_t) >= FSP_ALIGNOF(volatile uint32_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(uint32_t) == sizeof(volatile uint32_t *), "ASSERT due to incompatible data sizes."); + union cast_fsp_u32_to_vl_u32_ptr { + uint32_t input; + volatile uint32_t *output; + }; + union cast_fsp_u32_to_vl_u32_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts void (function pointer) to uintptr_t + * + * @param[in] fun_ptr pointer to function. + * @param[out] value uint32_t value of function pointer + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uintptr_t fsp_v_fn_ptr_to_uptr(void (*input)(void)) +{ + CT_ASSERT(FSP_ALIGNOF(void (*)(void)) >= FSP_ALIGNOF(uintptr_t), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(void (*)(void)) == sizeof(uintptr_t), "ASSERT due to incompatible data sizes."); + union cast_fsp_v_fn_ptr_to_uptr { + void (*input)(void); + uintptr_t output; + }; + union cast_fsp_v_fn_ptr_to_uptr t; + + t.input = input; + return t.output; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cortex-r52/cpu/mmio-access.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cortex-r52/cpu/mmio-access.h new file mode 100644 index 0000000..87f5d8b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cortex-r52/cpu/mmio-access.h @@ -0,0 +1,188 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__MMIO_ACCESS_H +#define CPU__MMIO_ACCESS_H +#define FSP__CPU__MMIO_ACCESS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * @file mmio-access.h + * @brief functions that provide access to read and write the memory + * mapped hardware registers. + */ + +/** + * @brief Read a 32-bit value from a memory mapped register + * + * @jama_func_req_id 8314409 + * + * Provides an alias for 'readl' from . + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t ioread32(uintptr_t addr) +{ + return *fsp_upt_to_vl_u32_ptr(addr); +} + +/** + * @brief Read a 32-bit value from a memory mapped register address + * + * @jama_func_req_id 8314409 + * + * Provides an alias for 'readl_base_offset' from . + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t ioread32_offset(uintptr_t base, uint32_t offset) +{ + uint32_t data; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "ldr %0, [%1, %2]\n\t" + : "=r" (data) + : "r" (base), "Ir" (offset) + ); + + return data; +} + +/** + * @brief Write a 32-bit value to a memory mapped register + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel' from . + * + * This function will write a 32-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32(uintptr_t addr, uint32_t data) +{ + *fsp_upt_to_vl_u32_ptr(addr) = data; +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel_base_offset' from . + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32_offset(uintptr_t base, uint32_t offset, uint32_t data) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "str %0, [%1, %2]\n\t" + : + : "r" (data), "r" (base), "Ir" (offset) + : "memory" + ); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel_base_regoffset' from . + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is register value + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32_regoffset(uintptr_t base, uint32_t offset, uint32_t data) +{ + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__ ( + "str %0, [%1, %2]\n\t" + : + : "r" (data), "r" (base), "r" (offset) + : "memory" + ); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cortex-r52/reg-access/reg-access.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cortex-r52/reg-access/reg-access.h new file mode 100644 index 0000000..0e5a283 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cortex-r52/reg-access/reg-access.h @@ -0,0 +1,161 @@ +/* + * Copyright (c) 2014-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef REG_ACCESS__REG_ACCESS_H +#define REG_ACCESS__REG_ACCESS_H +#define FSP__REG_ACCESS__REG_ACCESS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file reg-access.h + * @brief functions that provide access to read and write the memory + * mapped hardware registers. + */ + +/** + * @brief Read a 32-bit value from a memory mapped register + * + * @jama_func_req_id 8314409 + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t readl(uint32_t addr) +{ + return ioread32(addr); +} + +/** + * @brief Read a 32-bit value from a memory mapped register address + * + * @jama_func_req_id 8314409 + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t readl_base_offset(uint32_t base, uint32_t offset) +{ + return ioread32_offset(base, offset); +} + +/** + * @brief Write a 32-bit value to a memory mapped register + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] addr Address of the memory mapped register + */ +static inline void writel(uint32_t data, uint32_t addr) +{ + iowrite32(addr, data); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + */ +static inline void writel_base_offset(uint32_t data, uint32_t base, uint32_t offset) +{ + iowrite32_offset(base, offset, data); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is register value + */ +static inline void writel_base_regoffset(uint32_t data, uint32_t base, uint32_t offset) +{ + iowrite32_regoffset(base, offset, data); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cpu/smplock-types.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cpu/smplock-types.h new file mode 100644 index 0000000..68e0651 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cpu/smplock-types.h @@ -0,0 +1,52 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__SMPLOCK_TYPES_H +#define CPU__SMPLOCK_TYPES_H +#define FSP__CPU__SMPLOCK_TYPES_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/** + * @brief Armv8 architecture specific smplock structure + */ +typedef struct { + /* + * FIXME: To be implemented depending on the ARMv8 usage model. In the + * interim, to avoid the compilation errors resulting from empty struct + * declarations, just create a uint32_t member field. This can be changed + * depending on the usage model. + */ + uint32_t lock; +} arch_smplock_t; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cpu/type-conversion.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cpu/type-conversion.h new file mode 100644 index 0000000..0811e66 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/armv8/cpu/type-conversion.h @@ -0,0 +1,182 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__TYPE_CONVERSION_H +#define CPU__TYPE_CONVERSION_H +#define FSP__CPU__TYPE_CONVERSION_H 1 + +/* Compiler headers */ +#include +#include // for NULL, size_t + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Table of abbreviations: + * These abbreviations are used in type conversions. The following letters, or combinations of + * letters, preceeded by an underscore, shall mean the following: + * _c : const + * _ch : char + * _fn : function + * _i32 : int32_t + * _li : long int + * _ptr : pointer + * _st : size_t + * _u8 : uint8_t + * _u32 : uint32_t + * _upt : uintptr_t + * _v : void + * _vl : volatile + * + */ + +/* + * Table of Contents (abbreviations decoded as per table above): + * fsp_c_v_ptr_to_v_ptr + * fsp_c_v_ptr_to_uptr + * fsp_c_v_ptr_to_u32 + * fsp_upt_to_vl_u32_ptr + * + */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * Converts constant void pointer non-constant. Preserves 'const' for R-O APIs, + * and allows non-const for R-W APIs. + * + * @param[in] input constant void pointer which will be coverted to void pointer + * @param[out] output void pointer of constant void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline void *fsp_c_v_ptr_to_v_ptr(const void *input) +{ +CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(void *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const void *) == sizeof(void *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_v_ptr_to_v_ptr { + const void *input; + void * output; + }; + union cast_fsp_c_v_ptr_to_v_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const void pointer to uintptr_t + * + * @param[in] addr void pointer which will be coverted to uintptr_t + * @param[out] value uintptr_t value of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uintptr_t fsp_c_v_ptr_to_uptr(const void *input) +{ + CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(uintptr_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(const void *) == sizeof(uintptr_t *), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_v_ptr_to_uptr { + const void *input; + uintptr_t output; + }; + union cast_fsp_c_v_ptr_to_uptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const void pointer to uint32_t + * + * @param[in] addr void pointer which will be coverted to uint32_t + * @param[out] value uint32_t value of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint32_t fsp_c_v_ptr_to_u32(const void *input) +{ + CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(uint32_t), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(const void *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_v_ptr_to_u32 { + const void *input; + uint32_t output; + }; + union cast_fsp_c_v_ptr_to_u32 t; + + t.input = input; + return t.output; +} + +/** + * Converts uintptr_t to volatile uint32_t pointer + * + * @param[in] addr unsigned integer which will be converted to volatile unsigned integer pointer. + * @param[out] value volatile unsigned integer pointer represented by unsigned integer addr + */ +static inline volatile uint32_t* fsp_upt_to_vl_u32_ptr(uintptr_t input) +{ + CT_ASSERT(FSP_ALIGNOF(uintptr_t) >= FSP_ALIGNOF(volatile uint32_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(uintptr_t) == sizeof(volatile uint32_t *), "ASSERT due to incompatible data sizes."); + union cast_fsp_upt_to_vl_u32_ptr { + uintptr_t input; + volatile uint32_t *output; + }; + union cast_fsp_upt_to_vl_u32_ptr t; + + t.input = input; + return t.output; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/arm-vic.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/arm-vic.h new file mode 100644 index 0000000..6843cd1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/arm-vic.h @@ -0,0 +1,258 @@ +/* + * Copyright (c) 2014-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ARM_VIC_H +#define CPU__ARM_VIC_H +#define FSP__CPU__ARM_VIC_H 1 + +#ifndef __ASSEMBLER__ +/* Compiler headers */ +#include +#endif + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif + +/** Maximum number of VIC instances per ARM processor */ +#define MAX_ARM_VICS MK_U32_CONST(2) +/** Maximum number of interrupts supported per VIC instance */ +#define ARM_VIC_IRQ_COUNT MK_U32_CONST(32) +/** Maximum number of VIC interrupts supported by the R5 processor */ +#define MAX_ARM_VIC_IRQS (MAX_ARM_VICS * ARM_VIC_IRQ_COUNT) + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +#ifndef __ASSEMBLER__ +/** + * @struct arm_vic_context + * @brief Structure to save ARM VIC context + * @{ + */ +struct arm_vic_context { + /** Array to store handlers for the VIC interrupts */ + uint32_t vect_addr[ARM_VIC_IRQ_COUNT]; + /** Interrupt enable status of the VIC instance */ + uint32_t intenable; + /** Interrupt select status for the VIC instance */ + uint32_t intselect; +}; +/** @} */ + +INLINE_RFD(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +typedef void (*arm_vic_handler)(void); + +/** + * @brief Enable ARM VIC interrupt + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] irq IRQ offset per VIC instance [0 - (ARM_VIC_IRQ_COUNT - 1)] + */ +void arm_vic_enable(uint32_t vic_base, uint32_t irq); + +/** + * @brief Disable ARM VIC interrupt + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] irq IRQ offset per VIC instance [0 - (ARM_VIC_IRQ_COUNT - 1)] + */ +void arm_vic_disable(uint32_t vic_base, uint32_t irq); + +/** + * @brief Disable all VIC interrupts + * + * Disables all interrupts for the input VIC instance + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + */ +void arm_vic_disable_all(uint32_t vic_base); + +/** + * @brief Trigger VIC interrupt from SW + * + * Generates interrupt on the input VIC IRQ line without the knowledge of HW + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] irq IRQ offset per VIC instance [0 - (ARM_VIC_IRQ_COUNT - 1)] + */ +void arm_vic_gen_software_int(uint32_t vic_base, uint32_t irq); + + +/** + * @brief Clear VIC interrupt triggered from SW + * + * Clears interrupt on the input VIC IRQ line triggered from SW without the knowledge of HW + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] irq IRQ offset per VIC instance [0 - (ARM_VIC_IRQ_COUNT - 1)] + */ +void arm_vic_clear_software_int(uint32_t vic_base, uint32_t irq); + +/** + * @brief Register IRQ handler for the VIC interrupt. + * Maps input service routine to the VIC interrupt derived from VIC instance ID and IRQ offset + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] irq IRQ offset per VIC instance [0 - (ARM_VIC_IRQ_COUNT - 1)] + * @param isr_vect_addr Handler to service the interrupt + */ +void arm_vic_set_isr_vect_addr(uint32_t vic_base, uint32_t irq, void (*isr_vect_addr)(void)); + +/** + * @brief Read VIC IRQ enable status. + * Returns bit-mask value indicating enable status of VIC IRQs. + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @retval 32-bit value indicating IRQ enable status + */ +uint32_t arm_vic_read_irq_status(uint32_t vic_base); + +/** + * @brief Read VIC FIQ enable status. + * Returns bit-mask value indicating enable status of VIC FIQs. + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @retval 32-bit value indicating FIQ enable status + */ +uint32_t arm_vic_read_fiq_status(uint32_t vic_base); + +/** + * @brief Read raw IRQ enable status. + * Returns bit-mask value indicating raw enable status of VIC IRQs. + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @retval 32-bit value indicating raw IRQ enable status + */ +uint32_t arm_vic_read_raw_int_status(uint32_t vic_base); + +/** + * @brief Write to VIC interrupt select register + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @param[in] intselect 32-bit interrupt select mask value + */ +void arm_vic_write_intselect(uint32_t vic_base, uint32_t intselect); + +/** + * @brief Read VIC interrupt select register + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @retval 32-bit value indicating VIC interrupt select status + */ +uint32_t arm_vic_read_intselect(uint32_t vic_base); + +/** + * @brief Write to VIC interrupt enable register + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @param[in] intenable 32-bit interrupt enable mask value + */ +void arm_vic_write_intenable(uint32_t vic_base, uint32_t intenable); + +/** + * @brief Read VIC interrupt select register + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * + * @retval 32-bit value indicating VIC interrupt enable status + */ +uint32_t arm_vic_read_intenable(uint32_t vic_base); + +/** + * @brief Save VIC context + * Calling this function saves the VIC state in the input context structure. + * VIC state comprises of: + * + * - Interrupt enable status + * + * - Interrupt select status + * + * - Map table to save registered interrupt handlers for the VIC interrupts + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] ctx Pointer to context structure to save the VIC state + */ +void arm_vic_save_state(uint32_t vic_base, struct arm_vic_context *ctx); + +/** + * @brief Restore VIC context + * Calling this function restores the VIC state from the input context structure. + * VIC state comprises of: + * + * - Interrupt enable status + * + * - Interrupt select status + * + * - Map table to save registered interrupt handlers for the VIC interrupts + * + * @param[in] vic_base VIC instance ID [0 - (MAX_ARM_VICS - 1U)] + * @param[in] ctx Pointer to the context structure for restoring the VIC + * state + */ +void arm_vic_restore_state(uint32_t vic_base, const struct arm_vic_context *ctx); +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/barriers.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/barriers.h new file mode 100644 index 0000000..3cb1fd8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/barriers.h @@ -0,0 +1,107 @@ +/* + * Copyright (c) 2015-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__BARRIERS_H +#define CPU__BARRIERS_H +#define FSP__CPU__BARRIERS_H 1 + +/** + * @file barriers.h + * @brief Definitions for various synchronization barriers + */ + +/** + * @brief Cache Op Completed Barrier + * + * This function will stall the pipeline until the pending + * cache operations have completed. + * + * @return none + */ +static inline void barrier_cache_op_complete(void) +{ + __asm__ __volatile__("dsb sy\n\t" : : : "memory"); +} + +/** + * @brief Compiler Barrier + * + * This function will prevent the compiler from optimizing away + * the portion of code that the function appears in. + * + * @return none + */ +static inline void barrier_compiler(void) +{ + __asm__ __volatile__("" : : : "memory"); +} + +/** + * @brief Memory Order Barrier + * + * This function will ensure that memory operations that appear + * after this function (in time) will be commited to memory after + * memory operations that appear before this function (in time). + * + * @return none + */ +static inline void barrier_memory_order(void) +{ + __asm__ __volatile__("dmb sy\n\t" : : : "memory"); +} + +/** + * @brief Memory Complete Barrier + * + * This function will stall the pipeline such that all pending + * memory operations complete before the next instruction is + * executed. + * + * @return none + */ +static inline void barrier_memory_complete(void) +{ + __asm__ __volatile__("dsb sy\n\t" : : : "memory"); +} + +/** + * @brief Instruction Synchronization Barrier + * + * This function causes the pipeline to be flushed such that all + * instructions that follow are fetched from cache or memory. This + * ensures that the certain operations that affect the overall state + * of the processor are seen by instructions that follow this barrier. + * + * @return none + */ +static inline void barrier_instruction_synchronization(void) +{ + __asm__ __volatile__("isb sy\n\t" : : : "memory"); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/built-ins.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/built-ins.h new file mode 100644 index 0000000..9f3f7e8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/built-ins.h @@ -0,0 +1,73 @@ +/* + * Copyright (c) 2015-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__BUILT_INS_H +#define CPU__BUILT_INS_H +#define FSP__CPU__BUILT_INS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/** + * @file built-ins.h + * @brief Definitions for various ARM built in instructions + */ + +/** + * @brief Count Leading Zeros + * + * This function will return the number of leading zeros in + * a value. If the value is 0 it will return 32. + * + * @return a value between 0 and 32 indicating the number of + * leading zeros in the input value. + */ +static inline uint32_t +arm_builtin_clz(uint32_t value) +{ + uint32_t count; + + INLINE_RFD(MISRA, FP, Directive_4_3, "Approval: JIRA TID-1940, DR: SWE-FSP-065-SWSADR.docx"); + __asm__ __volatile__("clz %0, %1\n\t" + : "=r" (count) : "r" (value) ); + + return count; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/cache-l2.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/cache-l2.h new file mode 100644 index 0000000..a0af58a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/cache-l2.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) 2015-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__CACHE_L2_H +#define CPU__CACHE_L2_H +#define FSP__CPU__CACHE_L2_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Level 2 cache functions. Automatically called by the main cache functions + * at the appropriate time. + */ + +void cache_l2_disable(void); +void cache_l2_enable(void); +void cache_l2_invalidate(void *base, size_t length); +void cache_l2_clean(const void *base, size_t length); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/cache.h b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/cache.h new file mode 100644 index 0000000..bf45fe5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/arm/common/cpu/cache.h @@ -0,0 +1,226 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__CACHE_H +#define CPU__CACHE_H +#define FSP__CPU__CACHE_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** + * @file cache.h + * @brief Interfaces for performing Cache operations. + */ + + +/** + * @brief Disable all caches + * + * This function will disable the iCache and dCache. It will also ensure + * that any dirty lines in the dCache have been completely written to DRAM + * before this function returns. + * + * @func_req_id 8191502 + * + * @return none + * + */ +void cache_disable(void); + +/** + * @brief Enable all caches + * + * This function will enable the iCache and dCache. It will ensure that + * the contents of the caches are invalid (e.g. there is no data or instructions + * in the cache) before enabling the caches. + * + * @func_req_id 8191127 + * + * @return none + */ +void cache_enable(void); + +/** + * @brief Enable all caches with ECC enabled + * + * This function will enable the iCache and dCache with ECC enabled. It + * follows the Sequence Reference 8.5.5. of Cortex R5 TRM (Disabling or + * enabling error checking). + * + * @func_req_id 8345060 + * + * @return none + */ +void cache_enable_ecc(void); + +/** + * @brief Invalidate a region of iCache + * + * This function will cause the specified region in the iCache to be + * invalidated. That is, that data will no longer reside in the iCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base: Address of start of range to be invalidated + * @param[in] length: Number of bytes in the range to be invalidated + * + * @func_req_id 8345075 + * + * @return none + */ +void icache_invalidate(void * const base, const size_t length); + +/** + * @brief Invalidate the entire iCache + * + * This function will cause the entire icache contents to be invalidated. + * + * @func_req_id 8361851 + * + * @return none + */ +void icache_invalidate_all(void); + +/** + * @brief Clean a region of dCache + * + * This function will cause any "dirty" data in the dCache in the + * specified range to be written back to memory. The data may still + * reside in the dCache (e.g. it was not invalidated). + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be "cleaned" than was actually specified. + * + * @param[in] base: Address of start of range to be cleaned + * @param[in] length: Number of bytes in the range to be cleaned + * + * @func_req_id 8362199 + * + * @return none + */ +void dcache_clean(const void * const base, const size_t length); + +/** + * @brief Invalidate a region of dCache + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base: Address of start of range to be invalidated + * @param[in] length: Number of bytes in the range to be invalidated + * + * @func_req_id 8361983 + * + * @return none + */ +void dcache_invalidate(void *const base, const size_t length); + +/** + * @brief Clean entire dCache + * + * This function will cause all of the dirty lines in the dCache to be + * "cleaned". That is, any dirty lines in the dCache will be written + * back to DRAM. + * + * This will only clean the L1 dCache as the R5 only has L1 caches. + * + * @func_req_id 8362202 + * + * @return none + */ +void dcache_clean_all(void); + +/** + * @brief Invalidate entire dCache + * + * This function will cause the entire dCache to be invalidated + * + * @func_req_id 8362076 + * + * @return none + */ +void dcache_invalidate_all(void); + +/** + * @brief Invalidate a region of dCache + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base: Address of start of range to be invalidated + * @param[in] length: Number of bytes in the range to be invalidated + * + * @func_req_id 8191673 + * + * @return none + * + * @deprecated dcache_invalidate() should be used instead. + */ +void cache_invalidate(void * const base, size_t length); + +/** + * @brief Clean a region of dCache + * + * This function will cause any "dirty" data in the dCache in the + * specified range to be written back to memory. The data may still + * reside in the dCache (e.g. it was not invalidated). + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be "cleaned" than was actually specified. + * + * @param[in] base Address of start of range to be cleaned + * @param[in] length Number of bytes in the range to be cleaned + * + * @func_req_id 8191682 + * + * @return none + * + * @deprecated dcache_clean() should be used instead. + */ +void cache_clean(const void * const base, size_t length); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/asm-helpers.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/asm-helpers.h new file mode 100644 index 0000000..67bdff9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/asm-helpers.h @@ -0,0 +1,91 @@ +/** + * @file asm_helpers.h + * + * @brief Portable NVRISC-V assembly macros + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__ASM_HELPERS_H +#define CPU__ASM_HELPERS_H +#define FSP__CPU__ASM_HELPERS_H 1 + +/* + * @file asm-helpers.h + * Macros to improve the portability of assembly code accross NVRISC-V + * architectures and improve the writing of assembly functions. + */ + +/* + * @brief Macros to improve portability of assembly code + * + * @macro-title Portable Assembly Code + * + * @REGBYTES Describes how many bytes per register + * @SREG Instruction to store word from register + * @LREG Instruction to load word into register + * @ZREG Instruction to write zero into register + */ +#if (__riscv_xlen == 32U) +#define REGBYTES 4U +#define SREG sw +#define LREG lw +#else +#define REGBYTES 8U +#define SREG sd +#define LREG ld +#endif // (__riscv_xlen == 32) +#define ZREG(rd) mv rd, zero + +/** + * @brief Assembly function setup + * + * Set up an assembly function with a specified name. + * + * @param[in] name Name of the assembly function to set up + */ +.macro FUNC name + .global \name + \name : + .func \name, \name + .type \name, STT_FUNC +.endm + +/** + * @brief Assembly function teardown + * + * Tear down an assembly function with a specified name. + * + * @param[in] name Name of the assembly function to tear down + */ +.macro EFUNC name + .endfunc + .size \name, .-\name +.endm + +#endif /* CPU__ASM_HELPERS_H */ +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/barriers.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/barriers.h new file mode 100644 index 0000000..e0787bb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/barriers.h @@ -0,0 +1,116 @@ +/** + * @file barriers.h + * + * @brief NVRISC-V implementation of barrier unit + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__BARRIER_H +#define CPU__BARRIER_H +#define FSP__CPU__BARRIER_H 1 + +/** + * @file barriers.h + * @brief Definitions for various synchronization barriers + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for CT_ASSERT + +/* Late FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__FENCE_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief A general description of the function + * + * A more detailed description of the function + */ +static inline void barrier_cache_op_complete(void) +{ + riscv_lw_fence_rw(); +} + +/** + * @brief A general description of the function + * + * A more detailed description of the function + */ +static inline void barrier_compiler(void) {} + +/** + * @brief A general description of the function + * + * A more detailed description of the function + */ +static inline void barrier_memory_order(void) +{ + riscv_lw_fence_rw(); +} + +/** + * @brief A general description of the function + * + * A more detailed description of the function + */ +static inline void barrier_memory_complete(void) +{ + riscv_fence_rw(); +} + +/** + * @brief A general description of the function + * + * A more detailed description of the function + */ +static inline void barrier_instruction_synchronization(void) +{ + riscv_fence_instr(); +} + +#endif /* CPU__BARRIER_H */ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/cache.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/cache.h new file mode 100644 index 0000000..6d141e1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/cache.h @@ -0,0 +1,279 @@ +/** + * @file cache.h + * + * @brief Cache driver for NVRISC-V dev + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__CACHE_H +#define CPU__CACHE_H +#define FSP__CPU__CACHE_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Late FSP headers */ +#include // for UNUSED_NONCONST_PTR +#include // for BIT, EXTRACT, FSP__MISC__B... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for DRF macros +#include // for fsp_c_v_ptr_to_uptr, FSP... +#include // for CSR macros + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVMISC_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__CSR_H, "Header file missing or invalid.") + +/** + * @file cache.h + * @brief Interfaces for performing Cache operations. + */ + +/** + * @brief Cache line size + */ +#define RISCV_CACHE_LINE_SIZE 64UL + +/** + * @brief Type to specify the kind of address to use + */ +typedef enum +{ + RISCV_ADDR_TYPE_VA = 0, + RISCV_ADDR_TYPE_PA = 1, +} riscv_addr_type_t; + +/** + * @brief Disable all caches + * + * This function will disable the iCache and dCache. It will also ensure + * before this function returns. + * + * @note + * - M-mode only. + * - Should we have to do an explicit check or assert for M-mode. + * - Currently not implemented because there was no previous implementation in + * libnvriscv. + */ +static inline void +cache_disable(void) {} + +/** + * @brief Enable all caches + * + * This function will enable the iCache and dCache. It will ensure that + * the contents of the caches are invalid (e.g. there is no data or instructions + * in the cache) before enabling the caches. + * + * @note + * - M-mode only. + * - Should we have to do an explicit check or assert for M-mode. + * - Currently not implemented because there was no previous implementation in + * libnvriscv. + */ +static inline void +cache_enable(void) {} + +/** + * @brief Invalidate the entire iCache + * + * This function will cause the entire icache contents to be invalidated. + */ +static inline void +icache_invalidate_all(void) +{ + __asm__ volatile("fence.i"); +} + +/** + * @brief Invalidate a region of dCache + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base Address of start of range to be invalidated + * @param[in] length Number of bytes in the range to be invalidated + */ +static inline void +dcache_invalidate(const void * const base, const size_t length) +{ + uintptr_t start; + uintptr_t end; + + start = fsp_c_v_ptr_to_uptr(base); + end = start + ((uintptr_t)length); + + start = (start & DRF_SHIFTMASK64(NV_RISCV_CSR_XDCACHEOP_ADDR)) | + DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _ADDR_MODE, _VA) | + DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _MODE, _INV_LINE); + + for (;start < end; start += RISCV_CACHE_LINE_SIZE) + { + __asm__ volatile("csrrw x0, %0, %1" : :"i"(NV_RISCV_CSR_XDCACHEOP), "r"(start)); + } +} + +/** + * @brief Invalidate region of dCache using either PA or VA + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * The addresses to invalidate may be specified to be either a + * virtual address or a physical address. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base Address of start of range to be invalidated + * @param[in] length Number of bytes in the range to be invalidated + * @param[out] address_type Type of address being passed as argument + */ +static inline void +dcache_invalidate_address_type(const void * const base, const size_t length, riscv_addr_type_t address_type) +{ + uintptr_t start; + uintptr_t end; + + start = fsp_c_v_ptr_to_uptr(base); + end = start + ((uintptr_t)length); + + start = (start & DRF_SHIFTMASK64(NV_RISCV_CSR_XDCACHEOP_ADDR)) | + DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _MODE, _INV_LINE); + + // Set address mode depending address_type + if ( address_type == RISCV_ADDR_TYPE_VA) + { + start |= DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _ADDR_MODE, _VA); + } + else if ( address_type == RISCV_ADDR_TYPE_PA ) + { + start |= DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _ADDR_MODE, _PA); + } + else + { + // Do nothing. + } + + for (;start < end; start += RISCV_CACHE_LINE_SIZE) + { + __asm__ volatile("csrrw x0, %0, %1" : :"i"(NV_RISCV_CSR_XDCACHEOP), "r"(start)); + } +} + +/** + * @brief Invalidate entire dCache + * + * This function will cause the entire dCache to be invalidated + */ +static inline void +dcache_invalidate_all(void) +{ + __asm__ volatile("csrrw x0, %0, %1" : :"i"(NV_RISCV_CSR_XDCACHEOP), "r"(0)); +} + +/** + * @brief Invalidate a region of dCache + * + * This function will cause the specified region in the dCache to be + * invalidated. That is, that data will no longer reside in the dCache + * at the completion of this function. + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be invalidated than was actually specified. + * + * @param[in] base Address of start of range to be invalidated + * @param[in] length Number of bytes in the range to be invalidated + * + * @deprecated dcache_invalidate() should be used instead. + */ +static inline void +cache_invalidate(const void * const base, const size_t length) +{ + uintptr_t start; + uintptr_t end; + + start = fsp_c_v_ptr_to_uptr(base); + end = start + ((uintptr_t)length); + + start = (start & DRF_SHIFTMASK64(NV_RISCV_CSR_XDCACHEOP_ADDR)) | + DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _ADDR_MODE, _VA) | + DRF_DEF64(_RISCV_CSR, _XDCACHEOP, _MODE, _INV_LINE); + + for (;start < end; start += RISCV_CACHE_LINE_SIZE) + { + __asm__ volatile("csrrw x0, %0, %1" : :"i"(NV_RISCV_CSR_XDCACHEOP), "r"(start)); + } +} + +/** + * @brief Clean a region of dCache + * + * This function will cause any "dirty" data in the dCache in the + * specified range to be written back to memory. The data may still + * reside in the dCache (e.g. it was not invalidated). + * + * If the specified range does not align with integral numbers of + * cache lines, more data may be "cleaned" than was actually specified. + * + * @param[in] base Address of start of range to be cleaned + * @param[in] length Number of bytes in the range to be cleaned + * + * @deprecated dcache_clean() should be used instead. + */ +#define cache_clean(base, length) ({ }) + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif // FSP__CPU__CACHE_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/csr.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/csr.h new file mode 100644 index 0000000..841af30 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/csr.h @@ -0,0 +1,410 @@ +/** + * @file csr.h + * + * @brief NVRISC-V CSR Macros + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__CSR_H +#define CPU__CSR_H +#define FSP__CPU__CSR_H 1 + +/* + * @file csr.h + * Macros to improve usability of NVRISC-V Control Status Register(s) (CSR). + * Provides CSRs with no operating mode that will be translated to the + * appropriate operating mode at compile-time. Also provides wrappers for + * CSR assembly functions for ease of use. + */ + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_20_10 \"Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx\") \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif + +#if (__riscv_xlen == 32) +# include NVRISCV32_MANUAL_CSR +#else +# include NVRISCV64_MANUAL_CSR +# ifndef NV_RISCV_CSR_MARCHID_ARCH_RST +# define NV_RISCV_CSR_MARCHID_ARCH_RST ((NV_RISCV_CSR_MARCHID_MSB_RST << 63UL) | \ + (NV_RISCV_CSR_MARCHID_RS1_RST << 16UL) | \ + (NV_RISCV_CSR_MARCHID_CORE_MAJOR_RST << 12UL) | \ + (NV_RISCV_CSR_MARCHID_CORE_MINOR_RST << 8UL)) +# define NV_RISCV_CSR_MARCHID_ARCH_RST__SHIFTMASK 0xFFFFFFFFFFFFFF00ULL +# else +# define NV_RISCV_CSR_MARCHID_ARCH_RST__SHIFTMASK 0xFFFFFFFFFFFFFFFFULL +# endif +#endif // (__riscv_xlen == 32) + +/* + * @brief Translate CSRX into appropriate operating mode + * + * macro-title CSRX Operating Mode Translation + * + * Table of prefixes: + * NVRISCV_CONFIG_CPU_MODE + * Macro | 3 | 2 | 1 | 0 | + * NV_RISCV_CSRX | M |N/A| S |N/A| + * NV_RISCV_CSRU | M |N/A| |N/A| + * + * @NV_RISCV_CSRX1(_A) NV_RISCV_CSRX + _A + * @NV_RISCV_CSRX2(_A, _B) NV_RISCV_CSRX + _A + _B + * @NV_RISCV_CSRX3(_A, _B, _C) NV_RISCV_CSRX + _A + _B + _C + * @NV_RISCV_CSRU1(_A) NV_RISCV_CSRU + _A + * @NV_RISCV_CSRU2(_A, _B) NV_RISCV_CSRU + _A + _B + * @NV_RISCV_CSRU3(_A, _B, _C) NV_RISCV_CSRU + _A + _B + _C + */ +#ifndef NVRISCV_CONFIG_CPU_MODE +// If the kernel mode hasn't been defined, X versions default to M mode, and a warning is generated +# warning "NVRISCV_CONFIG_CPU_MODE undefined, NV_RISCV_CSR_X* macros defaulting to M mode" +# define NV_RISCV_CSRX1(_A) NV_RISCV_CSR_M ## _A +# define NV_RISCV_CSRX2(_A, _B) NV_RISCV_CSR_M ## _A ## M ## _B +# define NV_RISCV_CSRX3(_A, _B, _C) NV_RISCV_CSR_M ## _A ## M ## _B ## M ## _C +# define NV_RISCV_CSRU1(_A) NV_RISCV_CSR_M ## _A +# define NV_RISCV_CSRU2(_A, _B) NV_RISCV_CSR_M ## _A ## M ## _B +# define NV_RISCV_CSRU3(_A, _B, _C) NV_RISCV_CSR_M ## _A ## M ## _B ## M ## _C +#elif NVRISCV_CONFIG_CPU_MODE == 3 +// Machine mode +# define NV_RISCV_CSRX1(_A) NV_RISCV_CSR_M ## _A +# define NV_RISCV_CSRX2(_A, _B) NV_RISCV_CSR_M ## _A ## M ## _B +# define NV_RISCV_CSRX3(_A, _B, _C) NV_RISCV_CSR_M ## _A ## M ## _B ## M ## _C +# define NV_RISCV_CSRU1(_A) NV_RISCV_CSR_M ## _A +# define NV_RISCV_CSRU2(_A, _B) NV_RISCV_CSR_M ## _A ## M ## _B +# define NV_RISCV_CSRU3(_A, _B, _C) NV_RISCV_CSR_M ## _A ## M ## _B ## M ## _C +#elif NVRISCV_CONFIG_CPU_MODE == 2 +// Hypervisor mode +# error "Hypervisor mode unsupported" +#elif NVRISCV_CONFIG_CPU_MODE == 1 +// Supervisor mode +# define NV_RISCV_CSRX1(_A) NV_RISCV_CSR_S ## _A +# define NV_RISCV_CSRX2(_A, _B) NV_RISCV_CSR_S ## _A ## S ## _B +# define NV_RISCV_CSRX3(_A, _B, _C) NV_RISCV_CSR_S ## _A ## S ## _B ## S ## _C +# define NV_RISCV_CSRU1(_A) NV_RISCV_CSR_ ## _A +# define NV_RISCV_CSRU2(_A, _B) NV_RISCV_CSR_ ## _A ## _B +# define NV_RISCV_CSRU3(_A, _B, _C) NV_RISCV_CSR_ ## _A ## _B ## _C +#elif NVRISCV_CONFIG_CPU_MODE == 0 +// User mode +# error "User mode unsupported" +#endif + +// +// These got renamed from UACCESSATTR to MACCESSATTR. +// I believe they are otherwise completely identical. +// +// TODO VLAJA - rename to if NV_RISCV_CSR_MARCH_RST == 0 once manuals change +#ifdef NV_RISCV_CSR_MFETCHATTR +# define NV_RISCV_CSR_XACCESSATTR1(_A) NV_RISCV_CSR_MLDSTATTR ## _A +# define NV_RISCV_CSR_XACCESSATTR NV_RISCV_CSR_MLDSTATTR +#else +# define NV_RISCV_CSR_XACCESSATTR1(_A) NV_RISCV_CSR_UACCESSATTR ## _A +# define NV_RISCV_CSR_XACCESSATTR NV_RISCV_CSR_UACCESSATTR +#endif + +#define NV_RISCV_CSR_XACCESSATTR_WPR__SHIFT \ + NV_RISCV_CSR_XACCESSATTR1(_WPR__SHIFT) +#define NV_RISCV_CSR_XACCESSATTR_WPR__SHIFTMASK \ + NV_RISCV_CSR_XACCESSATTR1(_WPR__SHIFTMASK) +#define NV_RISCV_CSR_XACCESSATTR_COHERENT__SHIFTMASK \ + NV_RISCV_CSR_XACCESSATTR1(_COHERENT__SHIFTMASK) +#define NV_RISCV_CSR_XACCESSATTR_CACHEABLE__SHIFTMASK \ + NV_RISCV_CSR_XACCESSATTR1(_CACHEABLE__SHIFTMASK) + +// +// Unified CSRs from manuals +// +// We provide X letter which will automatically expand to M/S +// +#define NV_RISCV_CSR_XMPU_PAGE_SIZE NV_RISCV_CSR_MPU_PAGE_SIZE + +#define NV_RISCV_CSR_XCAUSE2 NV_RISCV_CSRX1(CAUSE2) +#define NV_RISCV_CSR_XTVEC NV_RISCV_CSRX1(TVEC) + +#define NV_RISCV_CSR_XCOUNTEREN NV_RISCV_CSRX1(COUNTEREN) +#define NV_RISCV_CSR_XCOUNTEREN_TM NV_RISCV_CSRX1(COUNTEREN_TM) +#define NV_RISCV_CSR_XCOUNTEREN_TM_XMSB NV_RISCV_CSRX1(COUNTEREN_TM_XMSB) +#define NV_RISCV_CSR_XCOUNTEREN_TM_XLSB NV_RISCV_CSRX1(COUNTEREN_TM_XLSB) +#define NV_RISCV_CSR_XCOUNTEREN_CY NV_RISCV_CSRX1(COUNTEREN_CY) +#define NV_RISCV_CSR_XCOUNTEREN_CY_XMSB NV_RISCV_CSRX1(COUNTEREN_CY_XMSB) +#define NV_RISCV_CSR_XCOUNTEREN_CY_XLSB NV_RISCV_CSRX1(COUNTEREN_CY_XLSB) +#define NV_RISCV_CSR_XCOUNTEREN_IR NV_RISCV_CSRX1(COUNTEREN_IR) +#define NV_RISCV_CSR_XCOUNTEREN_IR_XMSB NV_RISCV_CSRX1(COUNTEREN_IR_XMSB) +#define NV_RISCV_CSR_XCOUNTEREN_IR_XLSB NV_RISCV_CSRX1(COUNTEREN_IR_XLSB) + +#define NV_RISCV_CSR_XIE NV_RISCV_CSRX1(IE) +#define NV_RISCV_CSR_XIE_XMSB NV_RISCV_CSRX1(IE_XMSB) +#define NV_RISCV_CSR_XIE_XLSB NV_RISCV_CSRX1(IE_XLSB) +#define NV_RISCV_CSR_XIE_XEIE NV_RISCV_CSRX2(IE_, EIE) +#define NV_RISCV_CSR_XIE_XEIE_XMSB NV_RISCV_CSRX2(IE_, EIE_XMSB) +#define NV_RISCV_CSR_XIE_XEIE_XLSB NV_RISCV_CSRX2(IE_, EIE_XLSB) +#define NV_RISCV_CSR_XIE_XTIE NV_RISCV_CSRX2(IE_, TIE) +#define NV_RISCV_CSR_XIE_XTIE_XMSB NV_RISCV_CSRX2(IE_, TIE_XMSB) +#define NV_RISCV_CSR_XIE_XTIE_XLSB NV_RISCV_CSRX2(IE_, TIE_XLSB) +#define NV_RISCV_CSR_XIE_XSIE NV_RISCV_CSRX2(IE_, SIE) +#define NV_RISCV_CSR_XIE_XSIE_XMSB NV_RISCV_CSRX2(IE_, SIE_XMSB) +#define NV_RISCV_CSR_XIE_XSIE_XLSB NV_RISCV_CSRX2(IE_, SIE_XLSB) + +#define NV_RISCV_CSR_XMPUATTR NV_RISCV_CSRX1(MPUATTR) +#define NV_RISCV_CSR_XMPUIDX NV_RISCV_CSRX1(MPUIDX) +#define NV_RISCV_CSR_XMPUIDX2 NV_RISCV_CSRX1(MPUIDX2) +#define NV_RISCV_CSR_XMPUIDX2_IDX NV_RISCV_CSRX1(MPUIDX2_IDX) +#define NV_RISCV_CSR_XMPUIDX2_IDX_XMSB NV_RISCV_CSRX1(MPUIDX2_IDX_XMSB) +#define NV_RISCV_CSR_XMPUIDX2_IDX_XLSB NV_RISCV_CSRX1(MPUIDX2_IDX_XLSB) +#define NV_RISCV_CSR_XMPUIDX_INDEX NV_RISCV_CSRX1(MPUIDX_INDEX) +#define NV_RISCV_CSR_XMPUIDX_INDEX_XMSB NV_RISCV_CSRX1(MPUIDX_INDEX_XMSB) +#define NV_RISCV_CSR_XMPUIDX_INDEX_XLSB NV_RISCV_CSRX1(MPUIDX_INDEX_XLSB) +#define NV_RISCV_CSR_XMPUVA NV_RISCV_CSRX1(MPUVA) +#define NV_RISCV_CSR_XMPUPA NV_RISCV_CSRX1(MPUPA) +#define NV_RISCV_CSR_XMPUPA_BASE NV_RISCV_CSRX1(MPUPA_BASE) +#define NV_RISCV_CSR_XMPUPA_BASE_XMSB NV_RISCV_CSRX1(MPUPA_BASE_XMSB) +#define NV_RISCV_CSR_XMPUPA_BASE_XLSB NV_RISCV_CSRX1(MPUPA_BASE_XLSB) +#define NV_RISCV_CSR_XMPURNG NV_RISCV_CSRX1(MPURNG) +#define NV_RISCV_CSR_XMPURNG_RANGE NV_RISCV_CSRX1(MPURNG_RANGE) +#define NV_RISCV_CSR_XMPURNG_RANGE_XMSB NV_RISCV_CSRX1(MPURNG_RANGE_XMSB) +#define NV_RISCV_CSR_XMPURNG_RANGE_XLSB NV_RISCV_CSRX1(MPURNG_RANGE_XLSB) +#define NV_RISCV_CSR_XMPUATTR_WPR NV_RISCV_CSRX1(MPUATTR_WPR) +#define NV_RISCV_CSR_XMPUATTR_WPR_XMSB NV_RISCV_CSRX1(MPUATTR_WPR_XMSB) +#define NV_RISCV_CSR_XMPUATTR_WPR_XLSB NV_RISCV_CSRX1(MPUATTR_WPR_XLSB) +#define NV_RISCV_CSR_XMPUATTR_CACHEABLE NV_RISCV_CSRX1(MPUATTR_CACHEABLE) +#define NV_RISCV_CSR_XMPUATTR_CACHEABLE_XMSB NV_RISCV_CSRX1(MPUATTR_CACHEABLE_XMSB) +#define NV_RISCV_CSR_XMPUATTR_CACHEABLE_XLSB NV_RISCV_CSRX1(MPUATTR_CACHEABLE_XLSB) +#define NV_RISCV_CSR_XMPUATTR_COHERENT NV_RISCV_CSRX1(MPUATTR_COHERENT) +#define NV_RISCV_CSR_XMPUATTR_COHERENT_XMSB NV_RISCV_CSRX1(MPUATTR_COHERENT_XMSB) +#define NV_RISCV_CSR_XMPUATTR_COHERENT_XLSB NV_RISCV_CSRX1(MPUATTR_COHERENT_XLSB) +#define NV_RISCV_CSR_XMPUATTR_L2C_WR NV_RISCV_CSRX1(MPUATTR_L2C_WR) +#define NV_RISCV_CSR_XMPUATTR_L2C_WR_XMSB NV_RISCV_CSRX1(MPUATTR_L2C_WR_XMSB) +#define NV_RISCV_CSR_XMPUATTR_L2C_WR_XLSB NV_RISCV_CSRX1(MPUATTR_L2C_WR_XLSB) +#define NV_RISCV_CSR_XMPUATTR_L2C_RD NV_RISCV_CSRX1(MPUATTR_L2C_RD) +#define NV_RISCV_CSR_XMPUATTR_L2C_RD_XMSB NV_RISCV_CSRX1(MPUATTR_L2C_RD_XMSB) +#define NV_RISCV_CSR_XMPUATTR_L2C_RD_XLSB NV_RISCV_CSRX1(MPUATTR_L2C_RD_XLSB) +#define NV_RISCV_CSR_XMPUATTR_UR NV_RISCV_CSRX1(MPUATTR_UR) +#define NV_RISCV_CSR_XMPUATTR_UR_XMSB NV_RISCV_CSRX1(MPUATTR_UR_XMSB) +#define NV_RISCV_CSR_XMPUATTR_UR_XLSB NV_RISCV_CSRX1(MPUATTR_UR_XLSB) +#define NV_RISCV_CSR_XMPUATTR_XR NV_RISCV_CSRX2(MPUATTR_, R) +#define NV_RISCV_CSR_XMPUATTR_XR_XMSB NV_RISCV_CSRX2(MPUATTR_, R_XMSB) +#define NV_RISCV_CSR_XMPUATTR_XR_XLSB NV_RISCV_CSRX2(MPUATTR_, R_XLSB) +#define NV_RISCV_CSR_XMPUATTR_UW NV_RISCV_CSRX1(MPUATTR_UW) +#define NV_RISCV_CSR_XMPUATTR_UW_XMSB NV_RISCV_CSRX1(MPUATTR_UW_XMSB) +#define NV_RISCV_CSR_XMPUATTR_UW_XLSB NV_RISCV_CSRX1(MPUATTR_UW_XLSB) +#define NV_RISCV_CSR_XMPUATTR_XW NV_RISCV_CSRX2(MPUATTR_, W) +#define NV_RISCV_CSR_XMPUATTR_XW_XMSB NV_RISCV_CSRX2(MPUATTR_, W_XMSB) +#define NV_RISCV_CSR_XMPUATTR_XW_XLSB NV_RISCV_CSRX2(MPUATTR_, W_XLSB) +#define NV_RISCV_CSR_XMPUATTR_UX NV_RISCV_CSRX1(MPUATTR_UX) +#define NV_RISCV_CSR_XMPUATTR_UX_XMSB NV_RISCV_CSRX1(MPUATTR_UX_XMSB) +#define NV_RISCV_CSR_XMPUATTR_UX_XLSB NV_RISCV_CSRX1(MPUATTR_UX_XLSB) +#define NV_RISCV_CSR_XMPUATTR_XX NV_RISCV_CSRX2(MPUATTR_, X) +#define NV_RISCV_CSR_XMPUATTR_XX_XMSB NV_RISCV_CSRX2(MPUATTR_, X_XMSB) +#define NV_RISCV_CSR_XMPUATTR_XX_XLSB NV_RISCV_CSRX2(MPUATTR_, X_XLSB) +#define NV_RISCV_CSR_XMPUVA_VLD NV_RISCV_CSRX1(MPUVA_VLD) +#define NV_RISCV_CSR_XMPUVA_VLD_XMSB NV_RISCV_CSRX1(MPUVA_VLD_XMSB) +#define NV_RISCV_CSR_XMPUVA_VLD_XLSB NV_RISCV_CSRX1(MPUVA_VLD_XLSB) + +#define NV_RISCV_CSR_XSTATUS NV_RISCV_CSRX1(STATUS) +#define NV_RISCV_CSR_XSTATUS_XIE NV_RISCV_CSRX2(STATUS_, IE) +#define NV_RISCV_CSR_XSTATUS_XIE_XMSB NV_RISCV_CSRX2(STATUS_, IE_XMSB) +#define NV_RISCV_CSR_XSTATUS_XIE_XLSB NV_RISCV_CSRX2(STATUS_, IE_XLSB) +#define NV_RISCV_CSR_XSTATUS_XIE_ENABLE NV_RISCV_CSRX2(STATUS_, IE_ENABLE) +#define NV_RISCV_CSR_XSTATUS_XIE_XTIE NV_RISCV_CSRX3(STATUS_, IE_, TIE) +#define NV_RISCV_CSR_XSTATUS_XIE_XTIE_XMSB NV_RISCV_CSRX3(STATUS_, IE_, TIE_XMSB) +#define NV_RISCV_CSR_XSTATUS_XIE_XTIE_XLSB NV_RISCV_CSRX3(STATUS_, IE_, TIE_XLSB) +#define NV_RISCV_CSR_XSTATUS_XPP NV_RISCV_CSRX2(STATUS_, PP) +#define NV_RISCV_CSR_XSTATUS_XPP_XMSB NV_RISCV_CSRX2(STATUS_, PP_XMSB) +#define NV_RISCV_CSR_XSTATUS_XPP_XLSB NV_RISCV_CSRX2(STATUS_, PP_XLSB) +#define NV_RISCV_CSR_XSTATUS_FS NV_RISCV_CSRX1(STATUS_FS) +#define NV_RISCV_CSR_XSTATUS_FS_XMSB NV_RISCV_CSRX1(STATUS_FS_XMSB) +#define NV_RISCV_CSR_XSTATUS_FS_XLSB NV_RISCV_CSRX1(STATUS_FS_XLSB) +#define NV_RISCV_CSR_XSTATUS_FS_OFF NV_RISCV_CSRX1(STATUS_FS_OFF) +#define NV_RISCV_CSR_XSTATUS_FS_INITIAL NV_RISCV_CSRX1(STATUS_FS_INITIAL) +#define NV_RISCV_CSR_XSTATUS_FS_CLEAN NV_RISCV_CSRX1(STATUS_FS_CLEAN) +#define NV_RISCV_CSR_XSTATUS_FS_DIRTY NV_RISCV_CSRX1(STATUS_FS_DIRTY) + +#define NV_RISCV_CSR_XDCACHEOP NV_RISCV_CSRU1(DCACHEOP) +#define NV_RISCV_CSR_XDCACHEOP_ADDR NV_RISCV_CSRU1(DCACHEOP_ADDR) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_XMSB NV_RISCV_CSRU1(DCACHEOP_ADDR_XMSB) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_XLSB NV_RISCV_CSRU1(DCACHEOP_ADDR_XLSB) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_MODE NV_RISCV_CSRU1(DCACHEOP_ADDR_MODE) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_MODE_XMSB NV_RISCV_CSRU1(DCACHEOP_ADDR_MODE_XMSB) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_MODE_XLSB NV_RISCV_CSRU1(DCACHEOP_ADDR_MODE_XLSB) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_MODE_VA NV_RISCV_CSRU1(DCACHEOP_ADDR_MODE_VA) +#define NV_RISCV_CSR_XDCACHEOP_ADDR_MODE_PA NV_RISCV_CSRU1(DCACHEOP_ADDR_MODE_PA) +#define NV_RISCV_CSR_XDCACHEOP_MODE NV_RISCV_CSRU1(DCACHEOP_MODE) +#define NV_RISCV_CSR_XDCACHEOP_MODE_XMSB NV_RISCV_CSRU1(DCACHEOP_MODE_XMSB) +#define NV_RISCV_CSR_XDCACHEOP_MODE_XLSB NV_RISCV_CSRU1(DCACHEOP_MODE_XLSB) +#define NV_RISCV_CSR_XDCACHEOP_MODE_INV_LINE NV_RISCV_CSRU1(DCACHEOP_MODE_INV_LINE) +#define NV_RISCV_CSR_XFLUSH NV_RISCV_CSRU1(FLUSH) +#define NV_RISCV_CSR_XSYSOPEN NV_RISCV_CSRX1(SYSOPEN) +#define NV_RISCV_CSR_XMISCOPEN NV_RISCV_CSRX1(MISCOPEN) + +#define NV_RISCV_CSR_XCFG NV_RISCV_CSRX1(CFG) +#define NV_RISCV_CSR_XCFG_XPOSTIO NV_RISCV_CSRX2(CFG_, POSTIO) +#define NV_RISCV_CSR_XCFG_XPOSTIO_XMSB NV_RISCV_CSRX2(CFG_, POSTIO_XMSB) +#define NV_RISCV_CSR_XCFG_XPOSTIO_XLSB NV_RISCV_CSRX2(CFG_, POSTIO_XLSB) +#define NV_RISCV_CSR_XCFG_XPOSTIO_TRUE NV_RISCV_CSRX2(CFG_, POSTIO_TRUE) +#define NV_RISCV_CSR_XCFG_XPOSTIO_FALSE NV_RISCV_CSRX2(CFG_, POSTIO_FALSE) + +#define NV_RISCV_CSR_XRSP NV_RISCV_CSRX1(RSP) +#define NV_RISCV_CSR_XRSP_XRSEC NV_RISCV_CSRX2(RSP_, RSEC) +#define NV_RISCV_CSR_XRSP_XRSEC_XMSB NV_RISCV_CSRX2(RSP_, RSEC_XMSB) +#define NV_RISCV_CSR_XRSP_XRSEC_XLSB NV_RISCV_CSRX2(RSP_, RSEC_XLSB) +#define NV_RISCV_CSR_XRSP_XRSEC_INSEC NV_RISCV_CSRX2(RSP_, RSEC_INSEC) +#define NV_RISCV_CSR_XRSP_XRSEC_SEC NV_RISCV_CSRX2(RSP_, RSEC_SEC) + +#define NV_RISCV_CSR_XSPM NV_RISCV_CSRX1(SPM) +#define NV_RISCV_CSR_XSPM_XSECM NV_RISCV_CSRX2(SPM_, SECM) +#define NV_RISCV_CSR_XSPM_XSECM_XMSB NV_RISCV_CSRX2(SPM_, SECM_XMSB) +#define NV_RISCV_CSR_XSPM_XSECM_XLSB NV_RISCV_CSRX2(SPM_, SECM_XLSB) +#define NV_RISCV_CSR_XSPM_XSECM_INSEC NV_RISCV_CSRX2(SPM_, SECM_INSEC) +#define NV_RISCV_CSR_XSPM_XSECM_SEC NV_RISCV_CSRX2(SPM_, SECM_SEC) + +/** + * @brief CSR read + * + * Read from a CSR + * + * @param[in] csrnum CSR address + * + * @return value read from the CSR address + */ +#define csr_read(csrnum) ({ uint64_t _tmp; \ + __asm__ volatile ("csrr %0, %1" : "=r"(_tmp) : "i"(csrnum)); \ + _tmp; }) + +/** + * @brief CSR write + * + * Write to a CSR + * + * @param[in] csrnum CSR address + * @param[in] val value to write + */ +#define csr_write(csrnum, val) ({ \ + __asm__ volatile ("csrw %0, %1" ::"i"(csrnum), "r"(val)); }) + +/** + * @brief CSR set + * + * Using a mask set the bits of a CSR + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + */ +#define csr_set(csrnum, mask) ({ \ + __asm__ volatile ("csrs %0, %1" ::"i"(csrnum), "r"(mask)); }) + +/** + * @brief CSR clear + * + * Using a mask clear the bits of a CSR + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + */ +#define csr_clear(csrnum, mask) ({ \ + __asm__ volatile ("csrc %0, %1" ::"i"(csrnum), "r"(mask)); }) + +/** + * @brief CSR atomic read and clear + * + * Atomic CSR read and clear + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + * + * @return CSR value prior to clear + */ +#define csr_read_and_clear(csrnum, mask) ({ uint64_t _tmp; \ + __asm__ volatile ("csrrc %0, %1, %2" : "=r"(_tmp) :"i"(csrnum), "r"(mask)); \ + _tmp; }) + +/** + * @brief CSR atomic read and set + * + * Atomic CSR read and set + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + * + * @return CSR value prior to set + */ +#define csr_read_and_set(csrnum, mask) ({ uint64_t _tmp; \ + __asm__ volatile ("csrrs %0, %1, %2" : "=r"(_tmp) :"i"(csrnum), "r"(mask)); \ + _tmp; }) + +/** + * @brief CSR atomic read and clear immediate + * + * Atomic CSR read and clear, where the mask is a 5-bit + * immediate. + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + * + * @return CSR value prior to clear + */ +#define csr_read_and_clear_imm(csrnum, mask) ({ uint64_t _tmp; \ + __asm__ volatile ("csrrc %0, %1, %2" : "=r"(_tmp) :"i"(csrnum), "i"(mask)); \ + _tmp; }) + +/** + * @brief CSR atomic read and set immediate + * + * Atomic CSR read and set, where the mask is a 5-bit + * immediate. + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + * + * @return CSR value prior to set + */ +#define csr_read_and_set_imm(csrnum, mask) ({ uint64_t _tmp; \ + __asm__ volatile ("csrrs %0, %1, %2" : "=r"(_tmp) :"i"(csrnum), "i"(mask)); \ + _tmp; }) + +/** + * @brief CSR atomic read and write immediate + * + * Atomic CSR read and write, where the mask is a 5-bit + * immediate. + * + * @param[in] csrnum CSR address + * @param[in] mask bit mask + * + * @return CSR value prior to write + */ +#define csr_read_and_write_imm(csrnum, mask) ({ uint64_t _tmp; \ + __asm__ volatile ("csrrwi %0, %1, %2" : "=r"(_tmp) :"i"(csrnum), "i"(mask)); \ + _tmp; }) + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_20_10 MISRA_C_2012_Rule_2_5") +#endif + +#endif /* FSP__CPU__CSR_H */ +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/fence.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/fence.h new file mode 100644 index 0000000..c2b6683 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/fence.h @@ -0,0 +1,142 @@ +/** + * @file fence.h + * + * @brief NVRISC-V fence wrappers + * + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__FENCE_H +#define CPU__FENCE_H +#define FSP__CPU__FENCE_H 1 + +/* + * @file fence.h + * Lightweight fence, may not be coherent with rest of the system + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__CSR_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief lightweight io fence wrapper + */ +static inline void riscv_lw_fence_io(void) +{ + __asm__ volatile ("csrrw zero, %0, zero" : : "i"(NV_RISCV_CSR_LWFENCEIO)); +} + +/** + * @brief lightweight memory fence wrapper + */ +static inline void riscv_lw_fence_rw(void) +{ + __asm__ volatile ("csrrw zero, %0, zero" : : "i"(NV_RISCV_CSR_LWFENCEMEM)); +} + +/** + * @brief lightweight fence wrapper for io and memory + */ +static inline void riscv_lw_fence_rwio(void) +{ + __asm__ volatile ("csrrw zero, %0, zero" : : "i"(NV_RISCV_CSR_LWFENCEALL)); +} + +/** + * @brief heavy-weight io fence wrapper + */ +static inline void riscv_fence_io(void) +{ + __asm__ volatile ("fence io,io"); +} + +/** + * @brief heavy-weight memory fence wrapper + */ +static inline void riscv_fence_rw(void) +{ + __asm__ volatile ("fence rw,rw"); +} + +/** + * @brief heavy-weight fence wrapper for io and memory + */ +static inline void riscv_fence_rwio(void) +{ + __asm__ volatile ("fence iorw,iorw"); +} + +/** + * @brief heavy-weight supervisor fence wrapper + * + * Synchronize updates to in-memory management data structures + * with current execution. + * + * @param[in] asid ASID value + * @param[in] vaddr virtual address value + */ +static inline void riscv_sfence_vma(uint8_t asid, uint8_t vaddr) +{ + __asm__ volatile ("sfence.vma %0, %1" :: "r" (asid), "r" (vaddr)); +} + +/** + * @brief heavy-weight instruction fence + */ +static inline void riscv_fence_instr(void) +{ + __asm__ __volatile__("fence.i"); +} + +#endif /* FSP__CPU__FENCE_H */ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/sbi.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/sbi.h new file mode 100644 index 0000000..9adb950 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/common/cpu/sbi.h @@ -0,0 +1,330 @@ +/** + * @file sbi.h + * + * @brief NVRISC-V Software Binary Interface (SBI) + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__SBI_H +#define CPU__SBI_H +#define FSP__CPU__SBI_H 1 + +/* + * @file sbi.h + * NVRISC-V Software Binary Interface specification + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for STR + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +_Static_assert(FSP__MISC__MACROS_H, "Header file missing or invalid."); + +//! @brief Standardized SBI error codes. +typedef enum +{ + SBI_SUCCESS = 0, + SBI_ERR_FAILURE = -1, + SBI_ERR_NOT_SUPPORTED = -2, + SBI_ERR_INVALID_PARAM = -3, + SBI_ERR_DENIED = -4, + SBI_ERR_INVALID_ADDRESS = -5, + + SBI_ERROR_CODE__PADDING = -0x7FFFFFFFFFFFFFFFLL, // force to be signed 64bit type +} SBI_ERROR_CODE; + +_Static_assert(sizeof(SBI_ERROR_CODE) == sizeof(int64_t), "SBI_ERROR_CODE size must be 8 bytes."); + +//! @brief SBI extension IDs. +typedef enum +{ + /*! @brief Legacy set_timer extension + * + * void sbi_set_timer(uint64_t stime_value); + * + * @param[in] stime_value New mtimecmp value + */ + SBI_EXTENSION_SET_TIMER = 0x00, + + /*! @brief Legacy shutdown extension + * + * NORETURN void sbi_shutdown(void); + */ + SBI_EXTENSION_SHUTDOWN = 0x08, + + /*! @brief NVIDIA-specified extension. + * + * Function IDs are of the enum type SBI_NVIDIA_FUNCTION_ID. + */ + SBI_EXTENSION_NVIDIA = 0x090001EB, +} SBI_EXTENSION_ID; + +//! @brief NVIDIA-specific SBI functions. +typedef enum +{ + SBI_NVFUNC_FIRST = 0, + SBI_NVFUNC_PARTITION_SWITCH = 0, + SBI_NVFUNC_RELEASE_PRIV_LOCKDOWN = 1, + SBI_NVFUNC_TRACECTL_SET = 2, + SBI_NVFUNC_FBIF_TRANSCFG_SET = 3, + SBI_NVFUNC_FBIF_REGIONCFG_SET = 4, + SBI_NVFUNC_TFBIF_TRANSCFG_SET = 5, + SBI_NVFUNC_TFBIF_REGIONCFG_SET = 6, +} SBI_NVIDIA_FUNCTION_ID; + +//! @brief SBI return value structure. +typedef struct +{ + //! @brief Error code. + int64_t error; + //! @brief Return value from the SBI call (or 0 if a void type SBI call). + int64_t value; +} SBI_RETURN_VALUE; + +//------------------------------------------------------------------------------------------------- +#define SBICALL GCC_ATTR_ALWAYSINLINE static inline +#define CLOBBER_SBICALL "s0", "s1", "t0", "t1", "t2", "t3", "t4", "t5", "t6", "memory" +/* For some reason marking TP and GP as clobbers doesn't actually work, so we manually save them */ +#define SBICALL_BODY \ + "mv s0, gp\n" \ + "mv s1, tp\n" \ + "ecall\n" \ + "mv tp, s1\n" \ + "mv gp, s0\n" \ + +/** + * @brief SBI Call + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall0( int32_t extension, int32_t function ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + __asm__ volatile (SBICALL_BODY + : "+r"( a0_out ), "+r"( a1_out ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL, "a2", "a3", "a4", "a5"); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +/** + * @brief SBI Call with 1 Function Argument + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * @param[in] arg0 function argument + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall1( int32_t extension, int32_t function, uint64_t arg0 ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + register uint64_t a0 __asm__( "a0" ) = arg0; + __asm__ volatile (SBICALL_BODY + : "+r"( a0 ), "+r"( a1_out ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL, "a2", "a3", "a4", "a5"); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +/** + * @brief SBI Call with 2 Function Arguments + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * @param[in] arg0..arg1 function arguments + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall2( int32_t extension, int32_t function, uint64_t arg0, uint64_t arg1 ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + register uint64_t a1 __asm__( "a1" ) = arg1; + register uint64_t a0 __asm__( "a0" ) = arg0; + __asm__ volatile (SBICALL_BODY + : "+r"( a0 ), "+r"( a1 ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL, "a2", "a3", "a4", "a5"); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +/** + * @brief SBI Call with 3 Function Arguments + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * @param[in] arg0..arg2 function arguments + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall3( int32_t extension, int32_t function, uint64_t arg0, uint64_t arg1, uint64_t arg2 ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + register uint64_t a2 __asm__( "a2" ) = arg2; + register uint64_t a1 __asm__( "a1" ) = arg1; + register uint64_t a0 __asm__( "a0" ) = arg0; + __asm__ volatile (SBICALL_BODY + : "+r"( a0 ), "+r"( a1 ), "+r"( a2 ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL, "a3", "a4", "a5"); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +/** + * @brief SBI Call with 4 Function Arguments + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * @param[in] arg0..arg3 function arguments + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall4( int32_t extension, int32_t function, uint64_t arg0, uint64_t arg1, uint64_t arg2, uint64_t arg3 ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + register uint64_t a3 __asm__( "a3" ) = arg3; + register uint64_t a2 __asm__( "a2" ) = arg2; + register uint64_t a1 __asm__( "a1" ) = arg1; + register uint64_t a0 __asm__( "a0" ) = arg0; + __asm__ volatile (SBICALL_BODY + : "+r"( a0 ), "+r"( a1 ), "+r"( a2 ), "+r"( a3 ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL, "a4", "a5"); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +/** + * @brief SBI Call with 5 Function Arguments + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * @param[in] arg0..arg4 function arguments + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall5( int32_t extension, int32_t function, uint64_t arg0, uint64_t arg1, uint64_t arg2, uint64_t arg3, uint64_t arg4 ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + register uint64_t a4 __asm__( "a4" ) = arg4; + register uint64_t a3 __asm__( "a3" ) = arg3; + register uint64_t a2 __asm__( "a2" ) = arg2; + register uint64_t a1 __asm__( "a1" ) = arg1; + register uint64_t a0 __asm__( "a0" ) = arg0; + __asm__ volatile (SBICALL_BODY + : "+r"( a0 ), "+r"( a1 ), "+r"( a2 ), "+r"( a3 ), "+r"( a4 ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL, "a5"); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +/** + * @brief SBI Call with 6 Function Arguments + * + * @param[in] extension sbi extension id + * @param[in] function sbi function id + * @param[in] arg0..arg5 function arguments + * + * @return sbi return struct + */ +SBICALL SBI_RETURN_VALUE sbicall6( int32_t extension, int32_t function, uint64_t arg0, uint64_t arg1, uint64_t arg2, uint64_t arg3, uint64_t arg4, uint64_t arg5 ) +{ + register int64_t a0_out __asm__( "a0" ) = 0L; + register int64_t a1_out __asm__( "a1" ) = 0L; + + register int32_t a7 __asm__( "a7" ) = extension; + register int32_t a6 __asm__( "a6" ) = function; + register uint64_t a5 __asm__( "a5" ) = arg5; + register uint64_t a4 __asm__( "a4" ) = arg4; + register uint64_t a3 __asm__( "a3" ) = arg3; + register uint64_t a2 __asm__( "a2" ) = arg2; + register uint64_t a1 __asm__( "a1" ) = arg1; + register uint64_t a0 __asm__( "a0" ) = arg0; + __asm__ volatile (SBICALL_BODY + : "+r"( a0 ), "+r"( a1 ), "+r"( a2 ), "+r"( a3 ), "+r"( a4 ), "+r"( a5 ), "+r"( a6 ), "+r"( a7 ) + : + : "ra", CLOBBER_SBICALL); + + return (SBI_RETURN_VALUE) { .error = a0_out, .value = a1_out }; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif /* CPU__SBI_H */ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/devicemap.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/devicemap.h new file mode 100644 index 0000000..e1ef5af --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/devicemap.h @@ -0,0 +1,84 @@ +/** + * @file devicemap.h + * @brief Interfaces for the Peregrine Device Map. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__DEVICEMAP_H +#define CPU__DEVICEMAP_H +#define FSP__CPU__DEVICEMAP_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +// Clients must provide their own DRF headers. + +/* Module-specific FSP headers */ +#include // for local_read + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__CPU__IO_H) + + +/** + * @brief Checks access to a given device-map group. + * + * Checks whether the given operating mode (MMODE / SUBMMODE) has the + * requested access rights (READ / WRITE) to the specified device-map group. + * + * @param[in] mode The operating mode to check (e.g. MMODE). + * @param[in] group The target device-map group (e.g. SCP). + * @param[in] type The desired access type (e.g. READ). + * + * @retval true if access is permitted. + * @retval false if access is denied. + */ +#define DEVICEMAP_HAS_ACCESS(mode, group, type) ( \ + FLD_IDX_TEST_DRF(_PRGNLCL_RISCV, _DEVICEMAP_RISCV##mode, _##type, \ + NV_PRGNLCL_DEVICE_MAP_GROUP_##group, _ENABLE, \ + local_read(NV_PRGNLCL_RISCV_DEVICEMAP_RISCV##mode( \ + NV_PRGNLCL_DEVICE_MAP_GROUP_##group / \ + NV_PRGNLCL_RISCV_DEVICEMAP_RISCV##mode##_##type##__SIZE_1))) \ +) + +#endif // CPU__DEVICEMAP_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/iopmp.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/iopmp.h new file mode 100644 index 0000000..2fb2531 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/iopmp.h @@ -0,0 +1,116 @@ +/** + * @file iopmp.h + * @brief Interfaces for the Peregrine IO-PMP controls. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__IOPMP_H +#define CPU__IOPMP_H +#define FSP__CPU__IOPMP_H 1 + +/* Compiler headers */ +#include // for bool + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +// Clients must provide their own DRF headers + +/* Module-specific FSP headers */ +#include // for local_read + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__CPU__IO_H) + + +/** + * @brief Temporary work-around for typo in PRGNLCL manual (bug #3394780). + */ +#ifndef NV_PRGNLCL_RISCV_IOPMP_ERR_STAT_VALID_TRUE +#define NV_PRGNLCL_RISCV_IOPMP_ERR_STAT_VALID_TRUE \ + NV_PRGNLCL_RISCV_IOPMP_ERR_STAT_VALID_TURE +#endif + + +/** + * @brief Checks whether error-capture is enabled for a given IO-PMP master. + * + * @param[in] master The IO-PMP master to check (e.g. CPDMA). + * + * @retval true if error-capture is enabled. + * @retval false if error-capture is disabled. + * + * @note Does not support vectored masters (use the _IDX variant instead). + */ +#define IOPMP_IS_CAPTURE_ENABLED(master) ( \ + FLD_TEST_DRF(_PRGNLCL_RISCV, _IOPMP_ERR_CAPEN, _MASTER_##master, _ENABLE, \ + local_read(NV_PRGNLCL_RISCV_IOPMP_ERR_CAPEN)) \ +) + +/** + * @brief Checks whether error-capture is enabled for a vectored IO-PMP master. + * + * @param[in] master The vectored IO-PMP master to check (e.g. PMB). + * @param[in] index The index of the desired vector entry. + * + * @retval true if error-capture is enabled. + * @retval false if error-capture is disabled. + */ +#define IOPMP_IS_CAPTURE_ENABLED_IDX(master, index) ( \ + FLD_IDX_TEST_DRF(_PRGNLCL_RISCV, _IOPMP_ERR_CAPEN, _MASTER_##master, \ + (index), _ENABLE, local_read(NV_PRGNLCL_RISCV_IOPMP_ERR_CAPEN)) \ +) + + +/** + * @brief Checks whether an IO-PMP error is pending. + * + * @retval true if an error is pending. + * @retval false otherwise. + */ +static inline bool +iopmp_has_error(void) +{ + return FLD_TEST_DRF(_PRGNLCL_RISCV, _IOPMP_ERR_STAT, _VALID, _TRUE, + local_read(NV_PRGNLCL_RISCV_IOPMP_ERR_STAT)); +} + +#endif // CPU__IOPMP_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/peregrine.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/peregrine.h new file mode 100644 index 0000000..3cc8845 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/peregrine.h @@ -0,0 +1,128 @@ +/** + * @file peregrine.h + * + * @brief Engine-specific differences in Peregrine + * + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__PEREGRINE_H +#define CPU__PEREGRINE_H +#define FSP__CPU__PEREGRINE_H 1 + +/*! + * @file engine.h + * @brief This file hides header differences between different Peregrines. + */ + +// Register headers +#if (__riscv_xlen == 32) + #include NVRISCV32_MANUAL_LOCAL_IO +#else + #include NVRISCV64_MANUAL_LOCAL_IO +#endif // (__riscv_xlen == 32) + +#if defined(NVRISCV_IS_ENGINE_gsp) + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + #define FALCON_BASE NV_FALCON_GSP_BASE + #endif + #if NVRISCV_HAS_PRI + #define RISCV_BASE NV_FALCON2_GSP_BASE + #endif +#elif defined(NVRISCV_IS_ENGINE_pmu) + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + #define FALCON_BASE NV_FALCON_PWR_BASE + #endif + #if NVRISCV_HAS_PRI + #define RISCV_BASE NV_FALCON2_PWR_BASE + #endif +#elif defined(NVRISCV_IS_ENGINE_minion) + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + #define FALCON_BASE NV_FALCON_MINION_BASE + #endif + #if NVRISCV_HAS_PRI + #define NV_FALCON2_MINION_BASE 0xA06400 + #define RISCV_BASE NV_FALCON2_MINION_BASE + #endif +#elif defined(NVRISCV_IS_ENGINE_sec) + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + #define FALCON_BASE 0x840000 + #endif + #if NVRISCV_HAS_PRI + #define RISCV_BASE NV_FALCON2_SEC_BASE + #endif +#elif defined(NVRISCV_IS_ENGINE_fsp) + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + #define FALCON_BASE 0x8F0000 + #endif + #if NVRISCV_HAS_PRI + #define RISCV_BASE NV_FALCON2_FSP_BASE + #endif +#elif defined(NVRISCV_IS_ENGINE_nvdec) + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + // Use NVDEC0 base + #define FALCON_BASE NV_FALCON_NVDEC0_BASE + #endif + #if NVRISCV_HAS_PRI + // Use NVDEC0 base + #define RISCV_BASE NV_FALCON2_NVDEC0_BASE + #endif +#elif NVRISCV_IS_ENGINE_soe + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + #include + #define FALCON_BASE 0x840000 + #endif + #if NVRISCV_HAS_PRI + #define RISCV_BASE NV_FALCON2_SOE_BASE + #endif +#elif NVRISCV_IS_ENGINE_pxuc + #if (NVRISCV_HAS_PRI || NVRISCV_HAS_CSB_OVER_PRI) + #include + // TODO: restore to dev_riscv_pri.h when the FACLON2_*_BASE are restored + // bug 3575785 + #include + #define FALCON_BASE 0x828000 + #endif + #if NVRISCV_HAS_PRI + #define RISCV_BASE (FALCON_BASE + NV_PPXUC_FALCON2_BASE) + #endif +#endif + +#endif /* CPU__PEREGRINE_H */ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/riscv-mpu-safertos.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/riscv-mpu-safertos.h new file mode 100644 index 0000000..e9bcb8f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/riscv-mpu-safertos.h @@ -0,0 +1,73 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * This file provides the interfaces for the SafeRTOS MPU functions for + * ARMv7 CPUs (notably the Cortex R5) + */ +#ifndef CPU__RISCV_MPU_SAFERTOS_H +#define CPU__RISCV_MPU_SAFERTOS_H +#define FSP__CPU__RISCV_MPU_SAFERTOS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") + CT_ASSERT(FSP__CPU__RISCV_MPU_H, "Header file missing or invalid.") + +/** + * @file riscv-mpu-safertos.h + * @brief Definitions and interfaces to use the MPU under SafeRTOS + * + * This file provides definitions, data structures and interfaces that + * are necessary for an application to use the MPU driver. + */ + diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/riscv-mpu.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/riscv-mpu.h new file mode 100644 index 0000000..65c6077 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/cpu/riscv-mpu.h @@ -0,0 +1,337 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__RISCV_MPU_H +#define CPU__RISCV_MPU_H +#define FSP__CPU__RISCV_MPU_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include +// clients must provide their own DRF headers + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file riscv-mpu.h + * @brief Defines for the register layout of the MPU + */ + +// +// maximum number of entries provided by hardware. +// The actual number of entries available in S mode may be smaller +// +// + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief This is the number of HW MPU entries. + */ +#define NV_RISCV_CSR_MPU_ENTRY_COUNT (1U << DRF_SIZE(NV_RISCV_CSR_SMPUIDX_INDEX)) + +/** + * @brief This is the index of the last HW MPU entry. + */ +#define NV_RISCV_CSR_MPU_ENTRY_MAX (NV_RISCV_CSR_MPU_ENTRY_COUNT - 1U) + +/** + * @brief This is the page size which all to which all MPU Mappings' virtual address, + * physical address and size must be aligned. + */ +#define NV_RISCV_CSR_MPU_PAGE_SIZE (1ULL << DRF_SHIFT64(NV_RISCV_CSR_SMPUPA_BASE)) + +/** + * @brief This can be used to mask the lower bits of an address, which are an offset + * within the MPU page. + */ +#define NV_RISCV_CSR_MPU_PAGE_MASK ((uint64_t)NV_RISCV_CSR_MPU_PAGE_SIZE - 1ULL) + +/** + * @brief This can be used to mask the upper bits of an address, which constitute an + * MPU page. + */ +#define NV_RISCV_CSR_MPU_ADDRESS_MASK DRF_SHIFTMASK64(NV_RISCV_CSR_SMPUPA_BASE) + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief A handle to an MPU Entry. After being reserved by the MPU driver, the client + * can pass this handle into other MPU driver APIs to perform operations on this MPU entry. + */ +typedef uint32_t mpu_handle_t; + +/** + * @brief Context used by the MPU driver. The client should treat this as an opaque object + * and pass it into MPU driver APIs without directly touching its contents. + * + * ``mpu_entry_count``: The number of MPU entries owned by this S-mode partition. This is an + * internal field which should not be used by the client. + * + * ``mpu_reserved_bitmap``: Used by the driver to track the MPU Entry allocations. This is an + * internal field which should not be used by the client. + */ +typedef struct { + uint8_t mpu_entry_count; + bitmap_element_t mpu_reserved_bitmap[NV_RISCV_CSR_MPU_ENTRY_COUNT / BITMAP_ELEMENT_SIZE]; +} mpu_context_t; + +/** + * @brief Initializes the MPU driver. This function should be called before any other MPU + * driver APIs to initialize the MPU driver. Some MPU mappings may have been created before + * the driver initializes (eg: Bootloader), and this function will synchronize the driver's + * software state with the hardware state. + * + * This function should only be called once for each partition, and there should be only + * a single context for each partition. The caller should not allocate/use multiple contexts. + * + * @param[in] p_ctx A context struct which has been allocated by the caller. + * mpu_init will populate it and the caller will pass it into subsequent MPU driver calls. + * @return E_SUCCESS on success + * E_INVALID_PARAM if p_ctx is NULL + */ +error_t mpu_init(mpu_context_t *p_ctx); + +/** + * @brief Enables the MPU. This function should be called in use cases where the MPU hasn't + * already been enabled by the bootloader. + * + * @pre The client must call mpu_init and set up some MPU mappings for + * code/data prior to calling this. At the very least, the client should set up an identity + * mapping for the code region calling mpu_enable, to allow code to continue executing after + * the enablement. + * + * @return E_SUCCESS on success + */ +error_t mpu_enable(void); + +/** + * @brief Reserve an MPU entry. + * + * @pre The client must call mpu_init before calling this with the same mpu_context_t. + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] search_origin is the lowest MPU index that can be reserved. + * Valid range: 0 to NV_RISCV_CSR_MPU_ENTRY_MAX + * @param[out] p_reserved_handle is a pointer to an mpu_handle_t where the reserved MPU Entry will be stored. + * @return E_SUCCESS if allcation succeeds + * E_INVALID_PARAM if p_ctx or p_reserved_handle is NULL + * E_FAULT if there are no free entries remaining + * + */ +error_t mpu_reserve_entry(mpu_context_t *p_ctx, uint32_t search_origin, mpu_handle_t *p_reserved_handle); + +/** + * @brief Free an MPU entry. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry. + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle is a HW MPU entry. It has been previously reserved by mpu_reserve_entry. + * @return E_SUCCESS if freeing succeeds + * E_INVALID_PARAM if p_ctx is NULL or handle is not an mpu_handle_t which has been reserved + * via mpu_reserve_entry and not already freed with a call to mpu_free_entry. + * + */ +error_t mpu_free_entry(mpu_context_t *p_ctx, mpu_handle_t handle); + +/** + * @brief Program a mapping into an MPU entry. pa and va and rng contain a + * NV_RISCV_CSR_MPU_PAGE_SIZE-aligned value in bits 10-63. The lower bits contain WPRIs and Valid bits. + * See the register manual for details. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry. + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to write. It has been previously reserved by mpu_reserve_entry. + * @param[in] va is the virtual address of the mapping, written directly into NV_RISCV_CSR_SMPUVA. + * Valid range: Any value. Bits 10-63 are the NV_RISCV_CSR_MPU_PAGE_SIZE-aligned address and the rest of + * the bits are flags in NV_RISCV_CSR_SMPUVA. Typically a client will use the NV_RISCV_CSR_SMPUVA_VLD bit + * to enable the entry. + * @param[in] pa is the physical address of the mapping, written directly into NV_RISCV_CSR_SMPUPA. + * Valid range: Any value. Bits 10-63 are the NV_RISCV_CSR_MPU_PAGE_SIZE-aligned address and the rest of + * the bits are ignored by the hardware. + * @param[in] rng is the range (length) of the mapping in bytes. + * Valid range: Any value. Bits 10-63 are the NV_RISCV_CSR_MPU_PAGE_SIZE-aligned size and the rest of + * the bits are ignored by the hardware. + * @param[in] attr are the attribute flags of the mapping, written directly into NV_RISCV_CSR_SMPUATTR. + * Valid range: Any value. Should be a combination of the NV_RISCV_CSR_SMPUATTR_x flags. + * @return E_SUCCESS if writing succeeds + * E_INVALID_PARAM if p_ctx is NULL or handle is not a valid reserved handle + */ +error_t mpu_write_entry(const mpu_context_t *p_ctx, mpu_handle_t handle, uint64_t va, uint64_t pa, uint64_t rng, uint64_t attr); + +/** + * @brief Read a mapping from an MPU entry. Any of the pointer args may be set to NULL if the caller does not care about reading that value. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry. + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to read. It has been previously reserved by mpu_reserve_entry. + * @param[out] p_va is a pointer to a variable where the va value will be written. + * This value is ORd with the enable bit (NV_RISCV_CSR_SMPUVA_VLD) + * @param[out] p_pa is a pointer to a variable where the pa value will be written + * @param[out] p_rng is a pointer to a variable where the rng value will be written + * @param[out] p_attr is a pointer to a variable where the attr value will be written + * @return E_SUCCESS if reading succeeds + * E_INVALID_PARAM if p_ctx is NULL or handle is not a valid reserved handle + */ +error_t mpu_read_entry(const mpu_context_t *p_ctx, mpu_handle_t handle, uint64_t *p_va, uint64_t *p_pa, uint64_t *p_rng, uint64_t *p_attr); + +/** + * @brief Enable an MPU entry. The client does not need to call this if it has already + * called mpu_write_entry with the SMPUVA_VLD bit set. This API is mostly intended for + * re-enabling mappings which have been previously disabled via mpu_disable_entry. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry and written it with mpu_write_entry + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to enable. It has been previously reserved by mpu_reserve_entry + * and written by mpu_write_entry + * @return E_SUCCESS if enablement succeeds + * E_INVALID_PARAM if p_ctx is NULL or handle is not a valid reserved handle + */ +error_t mpu_enable_entry(const mpu_context_t *p_ctx, mpu_handle_t handle); + +/** + * @brief Disable an MPU entry. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry and written it with mpu_write_entry + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to disable. It has been previously reserved by mpu_reserve_entry, + * and enabled with mpu_write_entry or mpu_enable_entry + * @return E_SUCCESS if disablement succeeds + * E_INVALID_PARAM if p_ctx is NULL or handle is not a valid reserved handle + */ +error_t mpu_disable_entry(const mpu_context_t *p_ctx, mpu_handle_t handle); + +/** + * @brief Check whether the region mapped by an MPU entry has been accessed (read or executed) + * since the last time the Accessed bit was cleared. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to check + * @param[out] b_accessed a pointer where the function will store whether the entry was accessed: + * true if this region was read or executed since the last call to mpu_clear_accessed_bit + * false if this region was not read or executed since the last call to mpu_clear_accessed_bit + * @return E_SUCCESS if access check succeeded + * E_INVALID_PARAM if p_ctx or b_accessed is NULL or handle is not a valid reserved handle + */ +error_t mpu_is_accessed(const mpu_context_t *p_ctx, mpu_handle_t handle, bool *b_accessed); + +/** + * @brief Check whether the region mapped by an MPU entry has been written since the last time the + * Dirty bit was cleared. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to check + * @param[out] b_dirty a pointer where the function will store whether the entry is dirty: + * true if this region was written since the last call to mpu_clear_dirty_bit + * false if this region was written since the last call to mpu_clear_dirty_bit + * @return E_SUCCESS if dirty check succeeded + * E_INVALID_PARAM if p_ctx or b_dirty is NULL or handle is not a valid reserved handle + */ +error_t mpu_is_dirty(const mpu_context_t *p_ctx, mpu_handle_t handle, bool *b_dirty); + +/** + * @brief Clear the 'accessed' status of an MPU entry. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to clear + * @return E_SUCCESS if dirty check succeeded + * E_INVALID_PARAM if p_ctx is NULL or handle is not a valid reserved handle + */ +error_t mpu_clear_accessed_bit(const mpu_context_t *p_ctx, mpu_handle_t handle); + +/** + * @brief Clear the 'dirty' status of an MPU entry. + * + * @pre The client must have previously reserved this handle with mpu_reserve_entry + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] handle indicates which entry to clear + * @return E_SUCCESS if dirty check succeeded + * E_INVALID_PARAM if p_ctx is NULL or handle is not a valid reserved handle + */ +error_t mpu_clear_dirty_bit(const mpu_context_t *p_ctx, mpu_handle_t handle); + +/** + * @brief Translate a VA to a PA in software using the currently programmed MPU mappings. The translation + * is done by reading back the register values which have been programmed into the hardware. This may be + * an expensive operation. + * + * @pre The client must have previously reserved called mpu_init and created some entries. + * + * @param[in] p_ctx A context struct which has been allocated by the caller and initialized by mpu_init. + * @param[in] va is the virtual address to translate + * @param[out] p_pa is a pointer where the corresponding physical address will be stored + * @param[in] b_only_enabled if this is True, only the enabled MPU entries are searched, + * otherwise, all reserved entries are searched + * @return E_SUCCESS if dirty check succeeded + * E_INVALID_PARAM if p_ctx or p_pa is NULL or translation failed + */ +error_t mpu_va_to_pa(const mpu_context_t *p_ctx, uint64_t va, bool b_only_enabled, uint64_t *p_pa); + +#endif // CPU__RISCV_MPU_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/cpu_stdint.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/cpu_stdint.h new file mode 100644 index 0000000..56f4142 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/cpu_stdint.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__CPU_STDINT_H +#define CPU__CPU_STDINT_H +#define FSP__CPU__CPU_STDINT_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io.h new file mode 100644 index 0000000..9ae79ac --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io.h @@ -0,0 +1,62 @@ +/** + * @file io.h + * + * @brief MMIO access to RISC-V/Peregrine apertures + * + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__IO_H +#define CPU__IO_H +#define FSP__CPU__IO_H 1 + +/** + * @file io.h + * @brief Provides access to Peregrine MMIO registers. + */ + +#include +#include // for CT_ASSERT + +#if NVRISCV_HAS_PRI +#include +#endif + +#if NVRISCV_HAS_CSB_MMIO +#include +#elif NVRISCV_HAS_PRI && NVRISCV_HAS_CSB_OVER_PRI +uint32_t csb_read(uint32_t addr); +void csb_write(uint32_t addr, uint32_t val); +#endif + +#include + +#if NVRISCV_HAS_DIO_SE || NVRISCV_HAS_DIO_SNIC || NVRISCV_HAS_DIO_FBHUB +#include +#endif + +#endif // CPU__IO_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_csb.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_csb.h new file mode 100644 index 0000000..142c3d0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_csb.h @@ -0,0 +1,99 @@ +/** + * @file io_csb.h + * + * @brief RISC-V CSB access + * + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__IO_CSB_H +#define CPU__IO_CSB_H +#define FSP__CPU__IO_CSB_H 1 + +/** + * @file io_csb.h + * @brief Provides functions for accessing CSB aperture memory. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Late FSP headers */ +#include // for ioread32, iowrite32, ... + +/* NVRISCV conifgured headers */ +#if (__riscv_xlen == 32) +#include NVRISCV32_MANUAL_ADDRESS_MAP +#include NVRISCV32_MANUAL_LOCAL_IO +#else +#include NVRISCV64_MANUAL_ADDRESS_MAP +#include NVRISCV64_MANUAL_LOCAL_IO +#endif // (__riscv_xlen == 32) + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") + +/** + * @brief Read from a CSB register + * + * @param[in] addr address to read from within the aperture + * + * @return contents of the register + */ +static inline uint32_t csb_read(uint32_t addr) +{ + return ioread32_offset(NV_RISCV_AMAP_INTIO_START, addr); +} + +/** + * @brief Write to a CSB register + * + * @param[in] addr address to read from within the aperture + * @param[in] val value to write at the address + */ +static inline void csb_write(uint32_t addr, uint32_t val) +{ + iowrite32_offset(NV_RISCV_AMAP_INTIO_START, addr, val); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif // CPU__IO_CSB_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_dio.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_dio.h new file mode 100644 index 0000000..32ab9a5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_dio.h @@ -0,0 +1,78 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2023 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#ifndef CPU__IO_DIO_H +#define CPU__IO_DIO_H +#define FSP__CPU__IO_DIO_H 1 + +#include + +/* ============================================================================= + * Public APIs + * ========================================================================== */ +#ifdef UTF_UCODE_BUILD +extern uint32_t g_dio_max_wait; +#define DIO_MAX_WAIT_DEFAULT 1U +#endif + +typedef enum +{ + DIO_TYPE_INVALID = 0U, +#if NVRISCV_HAS_DIO_SE + DIO_TYPE_SE, +#endif // NVRISCV_HAS_DIO_SE +#if NVRISCV_HAS_DIO_SNIC + DIO_TYPE_SNIC, +#endif // NVRISCV_HAS_DIO_SNIC +#if NVRISCV_HAS_DIO_FBHUB + DIO_TYPE_FBHUB, +#endif // NVRISCV_HAS_DIO_FBHUB + DIO_TYPE_END +} DIO_TYPE; + +typedef struct +{ + DIO_TYPE dio_type; + uint8_t port_idx; +} DIO_PORT; + +typedef enum +{ + DIO_OPERATION_RD, + DIO_OPERATION_WR +} DIO_OPERATION; + + +/*! + * @brief Perform one DIO read or write operation. + * + * @param[in] port container with one of the supported DIO type + * @param[in] operation DIO_OPERATION_RD or DIO_OPERATION_WR + * @param[in] addr address + * @param[in/out] p_data read back data for DIO_OPERATION_RD, or data input + * for DIO_OPERATION_WR. + * + * @return E_SUCCESS if operation finished successfully. + * @return E_NOTSUPPORTED if the combination of the inputs is not supported. + * @return E_TIMEOUT if operation timeout. + * @return E_FAULT if error reported through DOC_CTRL register. + * @return E_INVALID_PARAM if error reported through DOC_CTRL register and DIO_ERR_INFO + * reports extra info. + */ +error_t +dio_read_write +( + DIO_PORT port, + DIO_OPERATION operation, + uint32_t addr, + uint32_t *p_data +); + +#endif // CPU__IO_DIO_H +/*** end of file ***/ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_local.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_local.h new file mode 100644 index 0000000..9e58e33 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_local.h @@ -0,0 +1,102 @@ +/** + * @file io_local.h + * + * @brief RISC-V LOCAL access + * + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__IO_LOCAL_H +#define CPU__IO_LOCAL_H +#define FSP__CPU__IO_LOCAL_H 1 + +/** + * @file io_local.h + * @brief Provides functions for accessing Local aperture memory. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include // for CT_ASSERT + +/* Late FSP headers */ +#include // for ioread32, iowrite32, ... + +#if (__riscv_xlen == 32) +#include NVRISCV32_MANUAL_ADDRESS_MAP +#include NVRISCV32_MANUAL_LOCAL_IO +#else +#include NVRISCV64_MANUAL_ADDRESS_MAP +#include NVRISCV64_MANUAL_LOCAL_IO +#endif // (__riscv_xlen == 32) + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__GCC_ATTRS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") + +/** + * @brief Read from a local register using local IO offset + * + * @param[in] addr address to read from within the aperture + * + * @return contents of the register + */ +GCC_ATTR_ALWAYSINLINE +static inline uint32_t local_read(uint32_t addr) +{ + return ioread32(addr); +} + +/** + * @brief Write to a local register using local IO offset + * + * @param[in] addr address to read from within the aperture + * @param[in] val value to write at the address + */ +GCC_ATTR_ALWAYSINLINE +static inline void local_write(uint32_t addr, uint32_t val) +{ + iowrite32(addr, val); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif // CPU__IO_LOCAL_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_pri.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_pri.h new file mode 100644 index 0000000..b7d09ac --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/io_pri.h @@ -0,0 +1,149 @@ +/** + * @file io_pri.h + * + * @brief RISC-V PRI access + * + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__IO_PRI_H +#define CPU__IO_PRI_H +#define FSP__CPU__IO_PRI_H 1 + +/** + * @file io_pri.h + * @brief Provides functions for accessing PRI aperture memory. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include // for CT_ASSERT + +/* Late FSP headers */ +#include +#include // for ioread32, iowrite32, ... + +/* NVRISCV conifgured headers */ +#include NVRISCV64_MANUAL_ADDRESS_MAP + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__GCC_ATTRS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__PEREGRINE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") + +/** + * @brief Read an arbitrary PRI register + * + * @param[in] addr address to read from within the aperture + * + * @return contents of the register + */ +GCC_ATTR_ALWAYSINLINE +static inline uint32_t pri_read(uint32_t addr) +{ + return ioread32_offset(NV_RISCV_AMAP_PRIV_START, addr); +} + +/** + * @brief Write to an arbitrary PRI register + * + * @param[in] addr address to read from within the aperture + * @param[in] val value to write at the address + */ +GCC_ATTR_ALWAYSINLINE +static inline void pri_write(uint32_t addr, uint32_t val) +{ + iowrite32_offset(NV_RISCV_AMAP_PRIV_START, addr, val); +} + +/** + * @brief Read from the Peregrine's Falcon block + * + * @param[in] addr address to read from within the aperture + * + * @return contents of the register + */ +GCC_ATTR_ALWAYSINLINE +static inline uint32_t falcon_read(uint32_t offset) +{ + return ioread32_offset(FALCON_BASE, offset); +} + +/** + * @brief Write to the Peregrine's Falcon block + * + * @param[in] addr address to read from within the aperture + * @param[in] val value to write at the address + */ +GCC_ATTR_ALWAYSINLINE +static inline void falcon_write(uint32_t offset, uint32_t val) +{ + iowrite32_offset(FALCON_BASE, offset, val); +} + +/** + * @brief Read from the Peregrine's RISC-V block + * + * @param[in] addr address to read from within the aperture + * + * @return contents of the register + */ +GCC_ATTR_ALWAYSINLINE +static inline uint32_t riscv_read(uint32_t offset) +{ + return ioread32_offset(RISCV_BASE, offset); +} + +/** + * @brief Write to the Peregrine's RISC-V block + * + * @param[in] addr address to read from within the aperture + * @param[in] val value to write at the address + */ +GCC_ATTR_ALWAYSINLINE +static inline void riscv_write(uint32_t offset, uint32_t val) +{ + iowrite32_offset(RISCV_BASE, offset, val); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif // CPU__IO_PRI_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/mmio-access.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/mmio-access.h new file mode 100644 index 0000000..19646e2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/mmio-access.h @@ -0,0 +1,203 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +#ifndef CPU__MMIO_ACCESS_H +#define CPU__MMIO_ACCESS_H +#define FSP__CPU__MMIO_ACCESS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-1579, DR: SWE-FSP-057-SWSADR.docx") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file reg-access-nvgpu.h + * @brief functions that provide access to read and write the memory + * mapped hardware registers. + */ + +/** + * @brief Read a 32-bit value from a memory mapped register + * + * @jama_func_req_id 8314409 + * + * Provides an alias for 'readl' from . + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t ioread32(uintptr_t addr) +{ + return *fsp_upt_to_vl_u32_ptr(addr); +} + +/** + * @brief Read a 32-bit value from a memory mapped register address + * + * @jama_func_req_id 8314409 + * + * Provides an alias for 'readl_base_offset' from . + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t ioread32_offset(uintptr_t base, uint32_t offset) +{ + return ioread32(base+offset); +} + +/** + * @brief Write a 32-bit value to a memory mapped register + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel' from . + * + * This function will write a 32-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32(uintptr_t addr, uint32_t data) +{ + *fsp_upt_to_vl_u32_ptr(addr) = data; +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * Provides an alias for 'writel_base_offset' from . + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite32_offset(uintptr_t base, uint32_t offset, uint32_t data) +{ + iowrite32(base+offset, data); +} + +/** + * @brief Read a 64-bit value from a memory mapped register + * + * @jama_func_req_id TBD + * + * This function will read a 64-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint64_t ioread64(uintptr_t addr) +{ + return *fsp_upt_to_vl_u64_ptr(addr); +} + +/** + * @brief Read a 64-bit value from a memory mapped register address + * + * @jama_func_req_id TBD + * + * This function will read a 64-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint64_t ioread64_offset(uintptr_t base, uint32_t offset) +{ + return ioread64(base+offset); +} + +/** + * @brief Write a 64-bit value to a memory mapped register + * + * @jama_func_req_id TBD + * + * This function will write a 64-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite64(uintptr_t addr, uint64_t data) +{ + *fsp_upt_to_vl_u64_ptr(addr) = data; +} + +/** + * @brief Write a 64-bit value to a memory mapped register address + * + * @jama_func_req_id TBD + * + * This function will write a 64-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + * @param[in] data value to be written to the memory mapped register + */ +static inline void iowrite64_offset(uintptr_t base, uint32_t offset, uint64_t data) +{ + iowrite64(base+offset, data); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-1579, DR: SWE-FSP-057-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/perfctr.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/perfctr.h new file mode 100644 index 0000000..118240a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/perfctr.h @@ -0,0 +1,78 @@ +/** + * @file perfctr.h + * + * @brief Wrappers for riscv performance counter CSRs. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#ifndef NVRISCV_PERFCTR_H +#define NVRISCV_PERFCTR_H +#include +#include + +/** + * @brief Atomically reads timer csr. + * @return Contents of time CSR. + * + * This register contains value of PTIMER (also available via PTIMER0/PTIMER1 + * localIO registers). + * + * \warning This function requires permissions to execute. + * Invalid instruction exception will be thrown if they're not granted. + * - For M mode - it can always execute + * - For S mode, mcounteren.tm must be set + * - For U mode, mcounteren.tm and scounteren.tm must be set + */ +#define rdtime() csr_read(NV_RISCV_CSR_HPMCOUNTER_TIME) + +/** + * @brief Atomically reads cycle counter csr. + * @return Number of cpu cycles from arbitrary moment in time (RISC-V start) + * + * \warning This function requires permissions to execute. + * Invalid instruction exception will be thrown if they're not granted. + * - For M mode - it can always execute + * - For S mode, mcounteren.cy must be set + * - For U mode, mcounteren.cy and scounteren.cy must be set + */ +#define rdcycle() csr_read(NV_RISCV_CSR_HPMCOUNTER_CYCLE) + +/** + * @brief Atomically reads instruction retired counter csr. + * @return Number of instructions retired from arbitrary moment in time (RISC-V start) + * + * \warning This function requires permissions to execute. + * Invalid instruction exception will be thrown if they're not granted. + * - For M mode - it can always execute + * - For S mode, mcounteren.ir must be set + * - For U mode, mcounteren.ir and scounteren.ir must be set + */ +#define rdinstret() csr_read(NV_RISCV_CSR_HPMCOUNTER_INSTRET) + +#endif // NVRISCV_PERFCTR_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/ptimer.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/ptimer.h new file mode 100644 index 0000000..9756cc7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/ptimer.h @@ -0,0 +1,59 @@ +/** + * @file ptimer.h + * + * @brief Chip-specific ptimer (main systick) read wrapper. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIBNVRISCV_PTIMER_H +#define LIBNVRISCV_PTIMER_H +#include +#include + +#if NVRISCV_HAS_BINARY_PTIMER +#define PTIMER_SHIFT 0 +#else // NVRISCV_HAS_BINARY_PTIMER +#define PTIMER_SHIFT 5 +#endif // NVRISCV_HAS_BINARY_PTIMER + +/*! + * \brief Read 64-bit PTIMER + * \return PTIMER value (1ns resolution) + * + * This function reads PTIMER, avoiding non-trivial reads from two 32-bit + * localIO registers (PTIMER0/PTIMER1). + * + * \warning mcounteren.tm (for S- and U-mode) and scounteren.tm (for U-mode) + * must be set or this function will cause invalid instruction exception. + */ +static inline uint64_t ptimer_read(void) +{ + return rdtime() << PTIMER_SHIFT; +} + +#endif // LIBNVRISCV_PTIMER_H diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/shutdown.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/shutdown.h new file mode 100644 index 0000000..5c86aac --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/shutdown.h @@ -0,0 +1,73 @@ +/** + * @file shutdown.h + * + * @brief NVRISC-V Shutdown API + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__SHUTDOWN_H +#define CPU__SHUTDOWN_H +#define FSP__CPU__SHUTDOWN_H 1 + +/* + * NVRISC-V Shutdown + * Functionality to halt or shutdown the NVRISC-V core. + */ + +#include + +/** + * @brief Panic, fatal + * + * Halt or shut down the NVRISC-V core. Depending on the configured + * operating mode the code will either directly modify the registers (M) + * or use the SBI interface to send a request to the Separation Kernel (S). + * In the scenario that a proper shutdown fails the function will + * resort to an infinite loop in place. + * + * For additional security, the function is required to not use any + * stack memory. + */ +void riscv_panic(void) GCC_ATTR_NORETURN; + +/** + * @brief Gentle shutdown + * + * Properly shut down the NVRISC-V core. Depending on the configured + * operating mode the code will either directly modify the registers (M) + * or use the SBI interface to send a request to the Separation Kernel (S). + * In the scenario that a proper shutdown fails the function will + * resort to an infinite loop in place. + * + * For additional security, the function is required to not use any + * stack memory in M-mode. + */ +void riscv_shutdown(void) GCC_ATTR_NORETURN; + +#endif /* CPU__SHUTDOWN_H */ +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/type-conversion.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/type-conversion.h new file mode 100644 index 0000000..f547d16 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/cpu/type-conversion.h @@ -0,0 +1,235 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef CPU__TYPE_CONVERSION_H +#define CPU__TYPE_CONVERSION_H +#define FSP__CPU__TYPE_CONVERSION_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Table of abbreviations: + * These abbreviations are used in type conversions. The following letters, or combinations of + * letters, preceeded by an underscore, shall mean the following: + * _c : const + * _ch : char + * _fn : function + * _i32 : int32_t + * _li : long int + * _ptr : pointer + * _st : size_t + * _u8 : uint8_t + * _u32 : uint32_t + * _u64 : uint64_t + * _upt : uintptr_t + * _v : void + * _vl : volatile + * + */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * Converts constant void pointer to constant char pointer. + * + * @param[in] ptr constant void pointer which will be coverted to constant char pointer. + * @param[out] ptr constant char pointer of constant void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline const char *fsp_c_v_ptr_to_c_ch_ptr(const void *ptr) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + return (const char *)ptr; +} + +/** + * Converts void pointer to char pointer. + * + * @param[in] ptr void pointer which will be coverted to char pointer. + * @param[out] ptr char pointer of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline char *fsp_v_ptr_to_ch_ptr(void *ptr) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_11_5, "Approval: Bug 200542277, DR: SWE-FSP-024-SWSADR.docx"); + return (char *)ptr; +} + +/** + * Converts uintptr_t to volatile uint32_t pointer + * + * @param[in] addr unsigned integer which will be converted to volatile unsigned integer pointer. + * @param[out] value volatile unsigned integer pointer represented by unsigned integer addr + */ +static inline volatile uint32_t* fsp_upt_to_vl_u32_ptr(uintptr_t input) +{ + CT_ASSERT(FSP_ALIGNOF(uintptr_t) >= FSP_ALIGNOF(volatile uint32_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(uintptr_t) == sizeof(volatile uint32_t *), "ASSERT due to incompatible data sizes."); + union cast_fsp_upt_to_vl_u32_ptr { + uintptr_t input; + volatile uint32_t *output; + }; + union cast_fsp_upt_to_vl_u32_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts uintptr_t to volatile uint64_t pointer + * + * @param[in] addr unsigned integer which will be converted to volatile unsigned integer pointer. + * @param[out] value volatile unsigned integer pointer represented by unsigned integer addr + */ +static inline volatile uint64_t* fsp_upt_to_vl_u64_ptr(uintptr_t input) +{ + CT_ASSERT(FSP_ALIGNOF(uintptr_t) >= FSP_ALIGNOF(volatile uint64_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(uintptr_t) == sizeof(volatile uint64_t *), "ASSERT due to incompatible data sizes."); + union cast_fsp_upt_to_vl_u64_ptr { + uintptr_t input; + volatile uint64_t *output; + }; + union cast_fsp_upt_to_vl_u64_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts void pointer to uintptr_t + * + * @param[in] addr void pointer which will be coverted to uintptr_t + * @param[out] value uintptr_t value of void pointer. + */ +static inline uintptr_t fsp_v_ptr_to_uptr(void *input) +{ + CT_ASSERT(FSP_ALIGNOF(void *) >= FSP_ALIGNOF(uintptr_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(void *) == sizeof(uintptr_t *), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_v_ptr_to_uptr { + void *input; + uintptr_t output; + }; + union cast_fsp_v_ptr_to_uptr t; + + t.input = input; + return t.output; +} + +/** + * Converts a constant void pointer to uintptr_t + * + * @param[in] addr const void pointer which will be coverted to uintptr_t + * @param[out] value uintptr_t value of void pointer. + */ +static inline uintptr_t fsp_c_v_ptr_to_uptr(const void *input) +{ + CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(uintptr_t *), "ASSERT due to data misalignment."); + CT_ASSERT(sizeof(const void *) == sizeof(uintptr_t *), "ASSERT due to incompatible pointer sizes."); + union cast_fsp_c_v_ptr_to_uptr { + const void *input; + uintptr_t output; + }; + union cast_fsp_c_v_ptr_to_uptr t; + + t.input = input; + return t.output; +} + +/** + * Converts void pointer to struct uint8_t pointer. + * + * @param[in] input void pointer which will be coverted to uint8_t pointer. + * @param[out] output uint8_t pointer of void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline uint8_t *fsp_v_ptr_to_u8_ptr(void *input) +{ +CT_ASSERT(FSP_ALIGNOF(void *) >= FSP_ALIGNOF(uint8_t*), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(void *) == sizeof(uint8_t *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_v_ptr_to_u8_ptr { + void * input; + uint8_t *output; + }; + union cast_fsp_v_ptr_to_u8_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts constant void pointer to struct constant uint8_t pointer. + * + * @param[in] input constant void pointer which will be coverted to constant uint8_t pointer. + * @param[out] output constant uint8_t pointer of constant void pointer. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_5_9, "Approval: Bug 3255774, DR: SWE-FSP-056-SWSADR.docx") +static inline const uint8_t *fsp_c_v_ptr_to_c_u8_ptr(const void *input) +{ +CT_ASSERT(FSP_ALIGNOF(const void *) >= FSP_ALIGNOF(const uint8_t *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const void *) == sizeof(const uint8_t *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_v_ptr_to_c_u8_ptr { + const void * input; + const uint8_t *output; + }; + union cast_fsp_c_v_ptr_to_c_u8_ptr t; + + t.input = input; + return t.output; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/reg-access/reg-access.h b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/reg-access/reg-access.h new file mode 100644 index 0000000..a7193ad --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/cpu/nvidia/riscv/nvriscv/reg-access/reg-access.h @@ -0,0 +1,149 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2014-2021 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ + +#ifndef REG_ACCESS__REG_ACCESS_H +#define REG_ACCESS__REG_ACCESS_H +#define FSP__REG_ACCESS__REG_ACCESS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for ioread32, iowrite32, ... +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__MMIO_ACCESS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__TYPE_CONVERSION_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file reg-access.h + * @brief functions that provide access to read and write the memory + * mapped hardware registers. + */ + +/** + * @brief Read a 32-bit value from a memory mapped register + * + * @jama_func_req_id 8314409 + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address parameter passed. + * + * @param[in] addr Address of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t readl(uint32_t addr) +{ + return ioread32(addr); +} + +/** + * @brief Read a 32-bit value from a memory mapped register address + * + * @jama_func_req_id 8314409 + * + * This function will read a 32-bit value from the memory mapped register + * specified by the address computed by the sum of the passed parameters + * base and offset. + * + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register + * + * @return contents of the register + */ +static inline uint32_t readl_base_offset(uint32_t base, uint32_t offset) +{ + return ioread32_offset(base, offset); +} + +/** + * @brief Write a 32-bit value to a memory mapped register + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * specified by the address parameter passed. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] addr Address of the memory mapped register + * + * @return none + */ +static inline void writel(uint32_t data, uint32_t addr) +{ + iowrite32(addr, data); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is immediate value + * + * @return none + */ +static inline void writel_base_offset(uint32_t data, uint32_t base, uint32_t offset) +{ + iowrite32_offset(base, offset, data); +} + +/** + * @brief Write a 32-bit value to a memory mapped register address + * + * @jama_func_req_id 8314412 + * + * This function will write a 32-bit value to the memory mapped register + * address computed by the sum of the passed parameters base and offset. + * + * @param[in] data value to be written to the memory mapped register + * @param[in] base Base address of the memory mapped register + * @param[in] offset offset of the memory mapped register; offset is register value + * + * @return none + */ +static inline void writel_base_regoffset(uint32_t data, uint32_t base, uint32_t offset) +{ + iowrite32_regoffset(base, offset, data); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/abort-codes.h b/spe-freertos-bsp/fsp/source/include/debug/abort-codes.h new file mode 100644 index 0000000..7d69980 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/abort-codes.h @@ -0,0 +1,83 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__ABORT_CODES_H +#define DEBUG__ABORT_CODES_H +#define FSP__DEBUG__ABORT_CODES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Abort codes are divided as follows: + * Bits Field Description + * 15-8 SUBSYSTEM Which subsystem generated the Abort + * 7-0 CODE Code which is specific to the sub-system + * + * The subsystems are free to define their own values for the CODE field. + * The values for the subsystem field are defined below along with various + * macros for constructing overall abort codes. + */ + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#define MODULE_ABORT_ID(_id_) (((uint32_t)(MODULE_ID_##_id_)) << 8UL) +#define ABORT_CODE(_id_, _code_) (MODULE_ABORT_ID(_id_) \ + | (EXTRACT((_code_), 7UL, 0UL, uint32_t))) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/abort-sys-codes.h b/spe-freertos-bsp/fsp/source/include/debug/abort-sys-codes.h new file mode 100644 index 0000000..933092f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/abort-sys-codes.h @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__ABORT_SYS_CODES_H +#define DEBUG__ABORT_SYS_CODES_H +#define FSP__DEBUG__ABORT_SYS_CODES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__DEBUG__ABORT_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define ABORT_RTOS ABORT_CODE(ABORT, 0UL) +#define ABORT_ASSERT ABORT_CODE(ABORT, 1UL) +#define ABORT_EXCEPTION ABORT_CODE(ABORT, 2UL) +#define ABORT_STACK ABORT_CODE(ABORT, 3UL) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/abort.h b/spe-freertos-bsp/fsp/source/include/debug/abort.h new file mode 100644 index 0000000..cfab267 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/abort.h @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__ABORT_H +#define DEBUG__ABORT_H +#define FSP__DEBUG__ABORT_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskHandle +#include // for NO_RETURN +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +void tegra_abort(const uint32_t reason, + const uint32_t arg) NO_RETURN; + +void +abort_full(const uint32_t reason, + error_t xErrorCode, + rtosTaskHandle xHandleOfTaskWithError, + const char *pcErrorString) NO_RETURN; + + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +#if defined(DEBUG_ABORTS) && (DEBUG_ABORTS==1) +#define ABORT(_reason_, _arg_) tegra_abort(_reason_, _arg_) +#else +#define ABORT(_reason_, _arg_) +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Hook function that will be called when an abort occurs + */ +void abort_hook(const uint32_t reason, + error_t xErrorCode, + rtosTaskHandle xHandleOfTaskWithError, + const char *pcErrorString); + +/* + * Hook function supplied to SafeRTOS when it has a fatal error + */ +void error_hook(rtosTaskHandle xHandleOfTaskWithError, + const char *pcErrorString, + error_t xErrorCode) NO_RETURN; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/assert.h b/spe-freertos-bsp/fsp/source/include/debug/assert.h new file mode 100644 index 0000000..eff87da --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/assert.h @@ -0,0 +1,90 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__ASSERT_H +#define DEBUG__ASSERT_H +#define FSP__DEBUG__ASSERT_H 1 + +/* Compiler headers */ +#include // for uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "debug/abort.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "debug/abort-sys-codes.h" +#include /* Immune from CT_ASSERT protection */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_SYS_CODES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +void fsp_assert(const bool assertion, + const char * const filename, + const uint32_t linenum) SECTION_ASSERT_TEXT; + +#if defined(DEBUG_ASSERTS) && (DEBUG_ASSERTS==1) +#define ASSERT(_b_) \ + { \ + static const char f[] USED SECTION_ASSERT_RODATA = __FILE__; \ + \ + fsp_assert(_b_, &f[0], __LINE__); \ + } +#else +#define ASSERT(_b_) if (!(_b_)) { tegra_abort(ABORT_ASSERT, 0U); } +#endif + +void assert_hook(const char * const filename, + const uint32_t linenum); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/debug-fmt.h b/spe-freertos-bsp/fsp/source/include/debug/debug-fmt.h new file mode 100644 index 0000000..7379202 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/debug-fmt.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) 2014-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__DEBUG_FMT_H +#define DEBUG__DEBUG_FMT_H +#define FSP__DEBUG__DEBUG_FMT_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +void dbg_puthex8(uint32_t n); +void dbg_putdec(uint32_t n); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/debug-print.h b/spe-freertos-bsp/fsp/source/include/debug/debug-print.h new file mode 100644 index 0000000..b6b81b7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/debug-print.h @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2014-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__DEBUG_PRINT_H +#define DEBUG__DEBUG_PRINT_H +#define FSP__DEBUG__DEBUG_PRINT_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +int32_t dbg_printf(const char *fmt, + ...); + +int32_t dbg_snprintf(char *str, + size_t size, + const char *format, + ...); + +int32_t dbg_vprintf(const char *fmt, + va_list ap); + + +int32_t dbg_vsnprintf(char *str, + size_t size, + const char *format, + va_list ap); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/debug-uart.h b/spe-freertos-bsp/fsp/source/include/debug/debug-uart.h new file mode 100644 index 0000000..520a610 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/debug-uart.h @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2014-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__DEBUG_UART_H +#define DEBUG__DEBUG_UART_H +#define FSP__DEBUG__DEBUG_UART_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t + +/* Module-specific FSP headers */ + +#define UART_MODE_STANDALONE 1U +#define UART_MODE_TCU 2U + +/** + * @brief simple debug uart operations structure + * + * Describes the minimal debug UART controller operations. + * + * @init callback to initialize the uart controller context. + * @putc callback to write a char to the UART controller tx fifo. + * @putd callback to write an amount of data to the UART controller tx fifo. + * @puts callback to write a string to the UART controller tx fifo. + * @flush callback to flush the uart controller tx fifo. + */ +struct dbg_uart_ops { + error_t (*init) (void *ctlr); + void (*putc) (void *ctlr, const char ch); + void (*putd) (void *ctlr, const char *d, uint32_t len); + void (*puts) (void *ctlr, const char *s); + void (*flush) (void *ctlr); + bool (*tx_ready) (void *ctlr); +}; + +void dbg_init_uart_ops(uint32_t uart_mode); +void dbg_init(void); +void dbg_putc(char c); +void dbg_putd(const char *d, uint32_t len); +void dbg_puts(const char *s); +void dbg_flush(void); +bool dbg_tx_ready(void); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/debug.h b/spe-freertos-bsp/fsp/source/include/debug/debug.h new file mode 100644 index 0000000..e92eb91 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/debug.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) 2014-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__DEBUG_H +#define DEBUG__DEBUG_H +#define FSP__DEBUG__DEBUG_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +void dbg_init(void); +void dbg_3rdparty_init(void); +void dbg_putc(char c); +void dbg_putd(const char *d, uint32_t len); +void dbg_puts(const char *s); +void dbg_puthex8(uint32_t n); +void dbg_putdec(uint32_t n); + +void dbg_flush(void); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/debug.h b/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/debug.h new file mode 100644 index 0000000..9a4350c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/debug.h @@ -0,0 +1,60 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__NVRISCV__DEBUG_H +#define DEBUG__NVRISCV__DEBUG_H +#define FSP__DEBUG__NVRISCV__DEBUG_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#define NVRISCV_DEBUG_BUFFER_MAGIC 0xF007BA11U + +typedef struct NVRISCV_DEBUG_BUFFER +{ + /* read offset updated by client RM */ + uint32_t readOffset; + + /* write offset updated by firmware RM */ + uint32_t writeOffset; + + /* buffer size configured by client RM */ + uint32_t bufferSize; + + /* magic number for header validation in nvwatch */ + uint32_t magic; +} NVRISCV_DEBUG_BUFFER; + +#endif // DEBUG__NVRISCV__DEBUG_H diff --git a/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/print.h b/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/print.h new file mode 100644 index 0000000..d4eda6d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/print.h @@ -0,0 +1,115 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__NVRISCV__PRINT_H +#define DEBUG__NVRISCV__PRINT_H +#define FSP__DEBUG__NVRISCV__PRINT_H 1 + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +// Logging levels for ucode + +// Level not to be used (used to check for disabled prints) +#define LEVEL_NONE 0 + +// Levels below are printed if level passed is <= level from configuration + +// +// Intened for messages that should be always printed. That may include +// bootup/shutdown (for every stage), fatal crash etc. +// +#define LEVEL_ALWAYS 1 +// Critical (unrecoverable errors) +#define LEVEL_CRIT 3 +// Ordinary errors, extra verbosity / information vs crit +#define LEVEL_ERROR 5 +// Logs that may help understanding what's going on (but doesn't happen too often) +#define LEVEL_INFO 7 +// Information useful for debugging +#define LEVEL_DEBUG 10 +// Most verbose messages should be here (for example incoming RPC's) +#define LEVEL_TRACE 15 + +#define NVRISCV_DEBUG_PRINT_ENABLED (NVRISCV_CONFIG_DEBUG_PRINT_LEVEL > LEVEL_NONE) + +#if NVRISCV_DEBUG_PRINT_ENABLED +int putchar(int c); +int puts(const char *pStr); +void putHex(unsigned count, unsigned long value); +GCC_ATTR_FORMAT_PRINTF(1, 2) int printf(const char *pFmt, ...); +#else +static inline int putchar(int c GCC_ATTR_UNUSED) { return 0; } +static inline int puts(const char *pStr GCC_ATTR_UNUSED) { return 0; } +static inline void putHex(unsigned count GCC_ATTR_UNUSED, + unsigned long value GCC_ATTR_UNUSED) { } + +GCC_ATTR_FORMAT_PRINTF(1, 2) +static inline int printf(const char *pFmt GCC_ATTR_UNUSED, ...) { return 0; } +#endif + +#define dbgPutchar(level, ch) do { if ((level) <= NVRISCV_CONFIG_DEBUG_PRINT_LEVEL) putchar(ch); } while(0) +#define dbgPuts(level, str) do { if ((level) <= NVRISCV_CONFIG_DEBUG_PRINT_LEVEL) puts(str); } while (0) +#define dbgPutHex(level, count, value) do { if ((level) <= NVRISCV_CONFIG_DEBUG_PRINT_LEVEL) putHex(count, value); } while (0) +#define dbgPrintf(level, fmt, ...) do { if ((level) <= NVRISCV_CONFIG_DEBUG_PRINT_LEVEL) printf((fmt), ##__VA_ARGS__); } while (0) + +// String wrapper for non-standard print functions, string arrays etc. +#define dbgStr(level, str) ((level) <= NVRISCV_CONFIG_DEBUG_PRINT_LEVEL ? str : "") + +#if NVRISCV_DEBUG_PRINT_ENABLED +bool printInit(void *pBuffer, uint16_t bufferSize, uint8_t queueNo, uint8_t swgenNo); +bool printInitEx(void *pBuffer, uint16_t bufferSize, uint32_t queueHeadPri, uint32_t queueTailPri, uint8_t swgenNo); +#else +static inline bool printInit(void *pBuffer GCC_ATTR_UNUSED, + uint16_t bufferSize GCC_ATTR_UNUSED, + uint8_t queueNo GCC_ATTR_UNUSED, + uint8_t swgenNo GCC_ATTR_UNUSED) +{ + return true; +} +static inline bool printInitEx(void *pBuffer GCC_ATTR_UNUSED, + uint16_t bufferSize GCC_ATTR_UNUSED, + uint32_t queueHeadPri GCC_ATTR_UNUSED, + uint32_t queueTailPri GCC_ATTR_UNUSED, + uint8_t swgenNo GCC_ATTR_UNUSED) +{ + return true; +} +#endif // NVRISCV_DEBUG_PRINT_ENABLED + +#endif // DEBUG__NVRISCV__PRINT_H diff --git a/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/vprintfmt.h b/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/vprintfmt.h new file mode 100644 index 0000000..985e6c1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/nvriscv/debug/vprintfmt.h @@ -0,0 +1,46 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__NVRISCV__VPRINTFMT_H +#define DEBUG__NVRISCV__VPRINTFMT_H +#define FSP__DEBUG__NVRISCV__VPRINTFMT_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +int vprintfmt(void (*putch)(int, void*), void *putdat, + const char* pFormat, va_list ap); + +#endif // DEBUG__NVRISCV__VPRINTFMT_H diff --git a/spe-freertos-bsp/fsp/source/include/debug/print.h b/spe-freertos-bsp/fsp/source/include/debug/print.h new file mode 100644 index 0000000..133452d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/print.h @@ -0,0 +1,77 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__PRINT_H +#define DEBUG__PRINT_H +#define FSP__DEBUG__PRINT_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#define PRINT_LEVEL_ALWAYS 0UL +#define PRINT_LEVEL_ERROR 1UL +#define PRINT_LEVEL_WARNING 2UL +#define PRINT_LEVEL_INFO 3UL +#define PRINT_LEVEL_DEBUG 4UL +#define PRINT_LEVEL_HIGHEST 5UL + +#if defined(USE_GCC) && (USE_GCC == 1) +void print_message(uint32_t level, + const char *format, + ...) + __attribute__ ((format (__printf__, 2, 3))); + +#else +void print_message(uint32_t level, + const char *format, + ...); +#endif + +void set_print_log_level(const uint32_t level); +uint32_t get_print_log_level(void); + +#define pr_warn(...) \ + print_message(PRINT_LEVEL_WARNING, __VA_ARGS__) + +#define pr_error(...) \ + print_message(PRINT_LEVEL_ERROR, __VA_ARGS__) + +#define pr_info(...) \ + print_message(PRINT_LEVEL_INFO, __VA_ARGS__) + +#define pr_debug(...) \ + print_message(PRINT_LEVEL_DEBUG, __VA_ARGS__) + +#endif /* DEBUG__PRINT_H */ diff --git a/spe-freertos-bsp/fsp/source/include/debug/printf-isr.h b/spe-freertos-bsp/fsp/source/include/debug/printf-isr.h new file mode 100644 index 0000000..7657132 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/printf-isr.h @@ -0,0 +1,67 @@ +/* + * Copyright (c) 2015-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__PRINTF_ISR_H +#define DEBUG__PRINTF_ISR_H +#define FSP__DEBUG__PRINTF_ISR_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * This header defines printf_isr(), which is a printf implementation that + * can be called from any context. It doesn't take locks or allocate memory. + * Therefore, it is safe to call from interrupt handlers, unlike printf(). + * + * Limitations: + * - Output is limited to PRINTF_ISR_BUFSIZE characters. If necessary, this + * may be increased, but you may have to increase the IRQ stack size too. + * - You may not use the following specificers in the format string: + * %a, %A, %S, %ls, or any other that uses multibyte character strings. + * - There is no thread safety with respect to other printf() calls. Therefore, + * it is possible that output from a printf() and a printf_isr() might be + * mixed together. + */ + +#define PRINTF_ISR_BUFSIZE 160 + +int32_t printf_isr(const char *fmt, ...) + __attribute__ ((format (__printf__, 1, 2))); + +int32_t vprintf_isr(const char *fmt, va_list ap) + __attribute__ ((format (__printf__, 1, 0))); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/sections-abort.h b/spe-freertos-bsp/fsp/source/include/debug/sections-abort.h new file mode 100644 index 0000000..7a277b1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/sections-abort.h @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__SECTIONS_ABORT_H +#define DEBUG__SECTIONS_ABORT_H +#define FSP__DEBUG__SECTIONS_ABORT_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_ABORT_DATA SECTION_BUILDER(error.abort, data) +#define SECTION_NAME_ABORT_RODATA SECTION_BUILDER(error.abort, rodata) +#define SECTION_NAME_ABORT_TEXT SECTION_BUILDER(error.abort, text) + +#define SECTION_STR_ABORT_TEXT STR(SECTION_NAME_ABORT_TEXT) +#define SECTION_STR_ABORT_DATA STR(SECTION_NAME_ABORT_DATA) +#define SECTION_STR_ABORT_RODATA STR(SECTION_NAME_ABORT_RODATA) + +#define SECTION_ABORT_TEXT SECTION(SECTION_STR_ABORT_TEXT) +#define SECTION_ABORT_DATA SECTION(SECTION_STR_ABORT_DATA) +#define SECTION_ABORT_RODATA SECTION(SECTION_STR_ABORT_RODATA) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/sections-assert.h b/spe-freertos-bsp/fsp/source/include/debug/sections-assert.h new file mode 100644 index 0000000..5dede51 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/sections-assert.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__SECTIONS_ASSERT_H +#define DEBUG__SECTIONS_ASSERT_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_ASSERT_DATA SECTION_BUILDER(assert, data) +#define SECTION_NAME_ASSERT_RODATA SECTION_BUILDER(assert, rodata) +#define SECTION_NAME_ASSERT_TEXT SECTION_BUILDER(assert, text) +#define SECTION_NAME_ASSERT_ERR_DATA SECTION_BUILDER(error.assert, data) +#define SECTION_NAME_ASSERT_ERR_TEXT SECTION_BUILDER(error.assert, text) + +#define SECTION_STR_ASSERT_TEXT STR(SECTION_NAME_ASSERT_TEXT) +#define SECTION_STR_ASSERT_RODATA STR(SECTION_NAME_ASSERT_RODATA) +#define SECTION_STR_ASSERT_DATA STR(SECTION_NAME_ASSERT_DATA) +#define SECTION_STR_ASSERT_ERR_TEXT STR(SECTION_NAME_ASSERT_ERR_TEXT) +#define SECTION_STR_ASSERT_ERR_DATA STR(SECTION_NAME_ASSERT_ERR_TEXT) + +#define SECTION_ASSERT_TEXT SECTION(SECTION_STR_ASSERT_TEXT) +#define SECTION_ASSERT_RODATA SECTION(SECTION_STR_ASSERT_RODATA) +#define SECTION_ASSERT_DATA SECTION(SECTION_STR_ASSERT_DATA) +#define SECTION_ASSERT_ERR_TEXT SECTION(SECTION_STR_ASSERT_ERR_TEXT) +#define SECTION_ASSERT_ERR_DATA SECTION(SECTION_STR_ASSERT_ERR_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/sections-debug.h b/spe-freertos-bsp/fsp/source/include/debug/sections-debug.h new file mode 100644 index 0000000..d64e0fa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/sections-debug.h @@ -0,0 +1,90 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DEBUG__SECTIONS_DEBUG_H +#define DEBUG__SECTIONS_DEBUG_H +#define FSP__DEBUG__SECTIONS_DEBUG_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_DEBUG_BSS SECTION_BUILDER(debug, bss) +#define SECTION_NAME_DEBUG_DATA SECTION_BUILDER(debug, data) +#define SECTION_NAME_DEBUG_RODATA SECTION_BUILDER(debug, rodata) +#define SECTION_NAME_DEBUG_TEXT SECTION_BUILDER(debug, text) + +#define SECTION_STR_DEBUG_TEXT STR(SECTION_NAME_DEBUG_TEXT) +#define SECTION_STR_DEBUG_RODATA STR(SECTION_NAME_DEBUG_RODATA) +#define SECTION_STR_DEBUG_DATA STR(SECTION_NAME_DEBUG_DATA) +#define SECTION_STR_DEBUG_BSS STR(SECTION_NAME_DEBUG_BSS) + +#define SECTION_DEBUG_TEXT SECTION(SECTION_STR_DEBUG_TEXT) +#define SECTION_DEBUG_RODATA SECTION(SECTION_STR_DEBUG_RODATA) +#define SECTION_DEBUG_DATA SECTION(SECTION_STR_DEBUG_DATA) +#define SECTION_DEBUG_BSS SECTION(SECTION_STR_DEBUG_BSS) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/debug/tegra-debug.h b/spe-freertos-bsp/fsp/source/include/debug/tegra-debug.h new file mode 100644 index 0000000..a14fd8e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/debug/tegra-debug.h @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef DEBUG__TEGRA_DEBUG_H +#define DEBUG__TEGRA_DEBUG_H +#define FSP__DEBUG__TEGRA_DEBUG_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include // START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define TEGRA_DEBUG_WAIT_BOOT BIT(0) + +#if defined(DEBUG_WAIT) && (DEBUG_WAIT==1) +#define DEBUG_WAIT_BOOT_FL TEGRA_DEBUG_WAIT_BOOT +#else +#define DEBUG_WAIT_BOOT_FL 0 +#endif + +void debugger_wait(const uint32_t wait) SECTION_DEBUG_TEXT; +void debugger_wait_bp(const uint32_t wait) NO_INLINE SECTION_DEBUG_TEXT; + +#if defined(DEBUG_WAIT) && (DEBUG_WAIT==1) +#define DEBUGGER_WAIT(_w_) debugger_wait(_w_) +#else +#define DEBUGGER_WAIT(_w_) +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/delay/delay.h b/spe-freertos-bsp/fsp/source/include/delay/delay.h new file mode 100644 index 0000000..4cbae5c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/delay/delay.h @@ -0,0 +1,49 @@ +/* + * Copyright (c) 2014-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DELAY__DELAY_H +#define DELAY__DELAY_H +#define FSP__DELAY__DELAY_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +void udelay(uint64_t delay_us); + +uint64_t get_time_ticks(void); +uint64_t get_time_delta_us(uint64_t ticks_start); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/error/common-errors.h b/spe-freertos-bsp/fsp/source/include/error/common-errors.h new file mode 100644 index 0000000..b96b1e7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/error/common-errors.h @@ -0,0 +1,99 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ERROR__COMMON_ERRORS_H + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +/* Module-specific FSP headers */ + +/* Header guard protection + * Had to be moved lower in the file to make use of the 'INLINE_RFD' macro */ +START_RFD_BLOCK(CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#define ERROR__COMMON_ERRORS_H +#define FSP__ERROR__COMMON_ERRORS_H 1 + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Common error codes + */ +#define E_SUCCESS (error_t)(0UL) +#define E_INVALID_PARAM MODULE_ERROR(COMMON, 1UL) +#define E_BUSY MODULE_ERROR(COMMON, 2UL) +#define E_NOTSUPPORTED MODULE_ERROR(COMMON, 3UL) +#define E_TIMEOUT MODULE_ERROR(COMMON, 4UL) +#define E_PERM MODULE_ERROR(COMMON, 5UL) +#define E_FAULT MODULE_ERROR(COMMON, 6UL) +#define E_DT_BUS_INFO_NOT_FOUND MODULE_ERROR(COMMON, 7UL) +#define E_NO_ACCESS MODULE_ERROR(COMMON, 8UL) +#define E_INVALID_STATE MODULE_ERROR(COMMON, 9UL) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") + +/* + * Common error-related typedef declarations + */ +#ifdef PROJECT_ERROR_T +typedef PROJECT_ERROR_T error_t; +// Sanity to confirm error_t can fit module error +// module error size should at least be less than error_t +CT_ASSERT((MODULE_ERROR_SIZE/8UL) < sizeof(error_t), "Incompatible error type for PROJECT_ERROR_T") +#else +typedef int32_t error_t; +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/error/error.h b/spe-freertos-bsp/fsp/source/include/error/error.h new file mode 100644 index 0000000..a1b0beb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/error/error.h @@ -0,0 +1,83 @@ +/* Copyright (c) 2018-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ERROR__ERROR_H +#define ERROR__ERROR_H +#define FSP__ERROR__ERROR_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "aodmic/aodmic-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "ast/ast-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "error/common-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "hsp/hsp-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "i2c/i2c-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "scp/scp-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "uart/uart-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "watchdog/watchdog-errors.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AODMIC__AODMIC_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AST__AST_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SCP__SCP_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__UART_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_ERRORS_H, "Header file missing or invalid.") + +#endif /* ERROR__ERROR_H */ diff --git a/spe-freertos-bsp/fsp/source/include/fbdma/fbdma.h b/spe-freertos-bsp/fsp/source/include/fbdma/fbdma.h new file mode 100644 index 0000000..d4d275c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/fbdma/fbdma.h @@ -0,0 +1,170 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#ifndef FBDMA__FBDMA_H +#define FBDMA__FBDMA_H +#define FSP__FBDMA__FBDMA_H 1 + +#include +#include +#include + +#if (!NVRISCV_HAS_FBDMA) || (!NVRISCV_FEATURE_DMA) +#error "This header cannot be used on an engine which does not support FBDMA." +#endif // (!NVRISCV_HAS_FBDMA) || (!NVRISCV_FEATURE_DMA) + +#if NVRISCV_HAS_FBIF +#include +/** + * @brief The highest allowed value for the dma_idx argument. + */ +#define DMA_MAX_DMAIDX (FBIF_NUM_APERTURES-1U) + +#elif NVRISCV_HAS_TFBIF +#include +/** + * @brief The highest allowed value for the dma_idx argument. + */ +#define DMA_MAX_DMAIDX (TFBIF_NUM_APERTURES-1U) + +#else +#error "No FBIF or TFBIF" +#endif + +/** + * @brief The minimum block size which FBDMA can transfer. All addresses + * and transfer sizes must be aligned to this. + */ +#define DMA_BLOCK_SIZE_MIN 0x4U + +/** + * @brief The maximum block size which FBDMA can transfer. The client can + * request a larger transfer than this but the driver will internally break it up + * into smaller transfers. + */ +#define DMA_BLOCK_SIZE_MAX 0x100U + +/** + * @brief DMA transfer between TCM PA and External memory. This is a synchronous transfer. + * The function will block until the transfer has completed. + * + * @param[in] tcm_pa The RISCV PA for the TCM buffer. Must be aligned to DMA_BLOCK_SIZE_MIN, + * but DMA_BLOCK_SIZE_MAX alignement is optimal. + * @param[in] aperture_offset The external address (GPU PA or GPU VA) in the aperture + * determined by dma_idx. The type of memory to access is determined by FBIF_APERTURE_CFG.memType + * (on engines with FBIF) or by TFBIF_APERTURE_CFG.swid (on engines with TFBIF). + * memutils_riscv_pa_to_target_offset can be used to translate a RISCV PA to a GPU PA/VA suitable for + * this argument. Must be aligned to DMA_BLOCK_SIZE_MIN, but DMA_BLOCK_SIZE_MAX alignement + * is optimal. + * @param[in] size_bytes The number of bytes to transfer. Must have a granularity of + * DMA_BLOCK_SIZE_MIN, but DMA_BLOCK_SIZE_MAX granularity is optimal. + * @param[in] dma_idx Aperture index to use (0 to DMA_MAX_DMAIDX) + * @param[in] b_read_ext Transfer direction. true: External->TCM. false: TCM->External + * + * @return E_SUCCESS on success + * E_INVALID_PARAM if tcm_pa is not within the range of the ITCM or DTCM or + * size_bytes, tcm_pa, or aperture_offset do not meet minimum alignment requirements. + * E_BUSY if there is a DMA NACK + * E_FAULT if there is a transfer error + * + * @pre The FBIF/TFBIF aperture referenced by dma_idx must have been configured by + * fbifConfigureAperture or tfbifConfigureAperture. If the aperture is configured + * to use a GPU VA, a context must be bound. + */ +error_t +fbdma_pa(uint64_t tcm_pa, + uint64_t aperture_offset, + uint64_t size_bytes, + uint8_t dma_idx, + bool b_read_ext +); + +/** + * @brief DMA transfer between TCM PA and External memory. This is an asynchronous transfer. + * this function does not wait for completion of DMA. It returns right away, allowing the + * client to call fbdma_pa_async again and queue up more requests. + * + * The client should call dmaWaitCompletion to ensure that all DMAs have completed. + * + * @param[in] tcm_pa The RISCV PA for the TCM buffer. Must be aligned to DMA_BLOCK_SIZE_MIN, + * but DMA_BLOCK_SIZE_MAX alignement is optimal. + * @param[in] aperture_offset The external address (GPU PA or GPU VA) in the aperture + * determined by dma_idx. The type of memory to access is determined by FBIF_APERTURE_CFG.memType + * (on engines with FBIF) or by TFBIF_APERTURE_CFG.swid (on engines with TFBIF). + * memutils_riscv_pa_to_target_offset can be used to translate a RISCV PA to a GPU PA/VA suitable for + * this argument. Must be aligned to DMA_BLOCK_SIZE_MIN, but DMA_BLOCK_SIZE_MAX alignement + * is optimal. + * @param[in] size_bytes The number of bytes to transfer. Must have a granularity of + * DMA_BLOCK_SIZE_MIN, but DMA_BLOCK_SIZE_MAX granularity is optimal. + * @param[in] dma_idx Aperture index to use (0-7). + * @param[in] b_read_ext Transfer direction. true: External->TCM. false: TCM->External. + * + * @return E_SUCCESS on success. + * E_INVALID_PARAM if tcm_pa is not within the range of the ITCM or DTCM or + * size_bytes, tcm_pa, or aperture_offset do not meet minimum alignment requirements. + * + * @pre The FBIF/TFBIF aperture referenced by dma_idx must have been configured by + * fbifConfigureAperture or tfbifConfigureAperture. If the aperture is configured + * to use a GPU VA, a context must be bound. + */ +error_t +fbdma_pa_async(uint64_t tcm_pa, + uint64_t aperture_offset, + uint64_t size_bytes, + uint8_t dma_idx, + bool b_read_ext +); + +/** + * @brief Wait for all DMA transfers to complete + * + * @return E_SUCCESS on success + * E_FAULT if DMA HW returned an error + * E_BUSY if DMA engine has returned a NACK + * + * @pre Should be called after fbdma_pa_async to ensure that DMAs have completed. + */ +error_t +fbdma_wait_completion(void); + +#if NVRISCV_FEATURE_SCP + +/** + * @brief DMA transfer from SCP to FB/Sysmem. This function uses the direct bypass + * shortcut path from SCP: SCP registers --> SCPDMA --> FBDMA --> FB/SYSMEM + * + * @param[in] aperture_offset The external address (GPU PA or GPU VA) in the aperture + * determined by dma_idx. This can be a GPU VA or GPU PA. Must be aligned + to SCP_REGISTER_SIZE. + * @param[in] size_bytes The number of bytes to DMA. This value must be a multiple of + SCP_REGISTER_SIZE and should generally match the size used to configure + the corresponding SCPDMA transfer. + * @param[in] dma_idx Aperture index to use (0 to DMA_MAX_dma_idx) + * + * @return E_SUCCESS on success + * E_INVALID_PARAM if size_bytes or aperture_offset do not meet + * minimum alignment requirements. + * E_BUSY if there is a DMA NACK + * E_FAULT if there is an error returned from the DMA hardware. + * + * @pre The FBIF/TFBIF aperture referenced by dma_idx must have been configured by + * fbifConfigureAperture or tfbifConfigureAperture. If the aperture is configured + * to use a GPU VA, a context must be bound. The caller must first call into the SCP + * driver to configure SCPDMA for the transfer. + */ +error_t +fbdma_scp_to_extmem( + uint64_t aperture_offset, + uint64_t size_bytes, + uint8_t dma_idx +); + +#endif // NVRISCV_FEATURE_SCP + +#endif // FBDMA__FBDMA_H diff --git a/spe-freertos-bsp/fsp/source/include/fbdma/fbif.h b/spe-freertos-bsp/fsp/source/include/fbdma/fbif.h new file mode 100644 index 0000000..2f1951a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/fbdma/fbif.h @@ -0,0 +1,128 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#ifndef FBDMA__FBIF_H +#define FBDMA__FBIF_H +#define FSP__FBDMA__FBIF_H 1 + +#include +#include +#include + +#ifndef NVRISCV_HAS_FBIF +#error "This header should only be used on engines which have a FBIF block." +#endif // NVRISCV_HAS_FBIF + +/** + * @brief The number of configurable FBIF apertures. + */ +#define FBIF_NUM_APERTURES 8U + +/** + * @brief Possible targets for external memory access. These enum values + * correspond to the TARGET field of the TRANSCFG register. + * + * @typedef-title fbif_transcfg_target_t + */ +typedef enum +{ + FBIF_TRANSCFG_TARGET_LOCAL_FB, + FBIF_TRANSCFG_TARGET_COHERENT_SYSTEM, + FBIF_TRANSCFG_TARGET_NONCOHERENT_SYSTEM, + FBIF_TRANSCFG_TARGET_COUNT +} fbif_transcfg_target_t; + +/** + * @brief L2 Cache eviction policies for external memory access. These enum + * values correspond to the L2C_WR and L2C_RD fields of the TRANSCFG register. + * + * @typedef-title fbif_transcfg_l2c_t + */ +typedef enum +{ + FBIF_TRANSCFG_L2C_L2_EVICT_FIRST, + FBIF_TRANSCFG_L2C_L2_EVICT_NORMAL, + FBIF_TRANSCFG_L2C_L2_EVICT_LAST, + FBIF_TRANSCFG_L2C_COUNT +} fbif_transcfg_l2c_t; + +/** + * @brief Configuration struct for an FBIF Aperture. The fields in this structure + * are used to configure the FBIF_TRANSCFG and FBIF_REGIONCFG registers of the + * FBIF, which determine how the FBDMA engine will access external memory. More + * details on these fields can be found in the FBIF Hardware documentation. + * + * ``aperture_idx``: The aperture to configure (0-7) + * + * ``target``: External memory target. Programmed into the TARGET field of the + * FBIF_TRANSCFG register corresponding to this aperture. + * + * ``b_target_va``: Programmed into the MEM_TYPE field of the FBIF_TRANSCFG register + * corresponding to this aperture. + * True : use virtual access opcode + * False : use physical access opcode, based on 'target' + * + * ``l2c_wr``: L2 Cache eviction class for write requests. Programmed into the L2C_WR + * field of the FBIF_TRANSCFG register corresponding to this aperture. + * + * ``l2c_rd``: L2 Cache eviction class for read requests. Programmed into the L2C_RD + * field of the FBIF_TRANSCFG register corresponding to this aperture. + * + * ``b_fbif_transcfg_wachk0_enable``: Perform Address Check 0 on writes. Programmed into + * the WACHK0 field of the FBIF_TRANSCFG register corresponding to this aperture. + * + * ``fbif_transcfg_wachk1_enable``: Perform Address Check 1 on writes. Programmed into + * the WACHK1 field of the FBIF_TRANSCFG register corresponding to this aperture. + * + * ``fbif_transcfg_rachk0_enable``: Perform Address Check 0 on reads. Programmed into + * the RACHK0 field of the FBIF_TRANSCFG register corresponding to this aperture. + * + * ``fbif_transcfg_rachk1_enable``: Perform Address Check 1 on reads. Programmed into + * the RACHK1 field of the FBIF_TRANSCFG register corresponding to this aperture. + * + * ``b_engine_id_flag_own``: Selects the value to program into the ENGINE_ID_FLAG + * field of the the FBIF_TRANSCFG register corresponding to this aperture. + * true : FBIF_TRANSCFG_ENGINE_ID_FLAG_OWN + * false : FBIF_TRANSCFG_ENGINE_ID_FLAG_BAR2_FN0 + * + * ``region_id``: Value to program into the FBIF_REGIONCFG register corresponding + * to this aperture. This is the WPR_ID (0-3) which will be used for accesses + * through this aperture. 0 = Insecure accesses. 1-3 = Used when accessing a WPR. + */ +typedef struct { + uint8_t aperture_idx; + fbif_transcfg_target_t target; + bool b_target_va; + fbif_transcfg_l2c_t l2c_wr; + fbif_transcfg_l2c_t l2c_rd; + bool b_fbif_transcfg_wachk0_enable; + bool b_fbif_transcfg_wachk1_enable; + bool b_fbif_transcfg_rachk0_enable; + bool b_fbif_transcfg_rachk1_enable; + bool b_engine_id_flag_own; + uint8_t region_id; +} fbif_aperture_cfg_t; + +/** + * @brief Configure some of the 8 DMA apertures in FBIF. + * A similar function (tfbif_configure_aperture) exists for TFBIF + * which is used on Tegra SOC engines. This function is not thread + * safe. The client must ensure that there is no chance of it being + * preempted by another task or ISR which may call a DMA function + * or touch the FBIF registers. + * + * @param[in] p_cfgs an array of fbif_aperture_cfg_t - one per aperture + * @param[in] num_cfgs is the size of cfgs (1-8) + * @return E_SUCCESS on success + * E_INVALID_PARAM if cfgs is not sane. + * Some of the cfgs may still be applied, even if this error is returned. + */ +error_t fbif_configure_aperture(const fbif_aperture_cfg_t *p_cfgs, uint8_t num_cfgs); + +#endif // FBDMA__FBIF_H diff --git a/spe-freertos-bsp/fsp/source/include/fbdma/memutils.h b/spe-freertos-bsp/fsp/source/include/fbdma/memutils.h new file mode 100644 index 0000000..9a0b909 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/fbdma/memutils.h @@ -0,0 +1,142 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#ifndef FBDMA__MEMUTILS_H +#define FBDMA__MEMUTILS_H +#define FSP__FBDMA__MEMUTILS_H 1 + +#include +#include + +#include + +#if NVRISCV_HAS_FBIF +#include +#endif // NVRISCV_HAS_FBIF + +/** + * @brief Memory targets supported by memutils_riscv_pa_to_target_offset() + * + * @typedef-title riscv_mem_target_t + */ +typedef enum +{ + RISCV_MEM_TARGET_IMEM, + RISCV_MEM_TARGET_DMEM, + RISCV_MEM_TARGET_FBGPA, + RISCV_MEM_TARGET_SYSGPA, +} riscv_mem_target_t; + + +#if NVRISCV_HAS_FBIF + +/** + * @brief Converts a RISCV PA to an FBIF target/offset pair. Target is one of + * the external memory types which Peregrine can access via FBIF (FB or SYSMEM) + * and offset is the offset within the physical address range of that memory type. + * + * @param[in] pa The RISCV PA to convert. + * + * @param[out] p_target The target aperture (e.g. COHERENT_SYSTEM) that the PA + * resides within. + * + * @param[out] p_offset The offset of the PA within the target aperture. + * + * @return E_SUCCESS if successful. + * E_INVALID_PARAM if PA is not within the range of a valid memory aperture (SYSMEM or FB). + */ +error_t memutils_riscv_pa_to_fbif_aperture(uintptr_t pa, fbif_transcfg_target_t *p_target, + uint64_t *p_offset); + +#endif // NVRISCV_HAS_FBIF + +/** + * @brief Converts a RISCV PA to a global target/offset pair. Target is one of + * the available memory types which Peregrine can access (IMEM, DMEM, FB, SYSMEM) + * and offset is the offset within the physical address range of that memory type. + * + * @param[in] pa The RISCV PA to convert. + * + * @param[out] p_target The memory target (e.g. SYSMEM) that the PA resides + * within (optional). + * + * @param[out] p_offset The offset of the PA within the memory target + * (optional). + * + * @return E_SUCCESS if successful. + * E_INVALID_PARAM if PA does not fall inside any of the supported memory targets. + */ +error_t memutils_riscv_pa_to_target_offset(uintptr_t pa, riscv_mem_target_t *p_target, + uint64_t *p_offset); + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Checks whether an address is contained within a memory region. + * + * @param[in] check_addr The address to check. + * @param[in] region_start The start address of the memory region. + * @param[in] region_end The end address of the memory region. + * + * @return true if the check address lies within the memory region. + * false otherwise. + * + * @note The byte at region_end is not included in the memory region. + */ +static inline bool +memutils_mem_addr_in_range +( + uintptr_t check_addr, + uintptr_t region_start, + uintptr_t region_end +) +{ + return ((check_addr >= region_start) && (check_addr < region_end)); +} + +/** + * @brief Checks whether two memory regions overlap. + * + * @param[in] first_base Base address of the first region. + * @param[in] first_size Size in bytes of the first region. + * @param[in] second_base Base address of the second region. + * @param[in] second_size Size in bytes of the second region. + * + * @return + * true if the memory regions overlap. + * false if the memory regions do not overlap. + * + * @note in case of overflow, this function returns false + */ +static inline bool +memutils_mem_has_overlap +( + uintptr_t first_base, + size_t first_size, + uintptr_t second_base, + size_t second_size +) +{ + bool ret; + + if (((UINT64_MAX - first_base) < first_size) || + ((UINT64_MAX - second_base) < second_size)) + { + ret = false; + } + else + { + ret = ((second_base < (first_base + first_size)) && + (first_base < (second_base + second_size))); + } + + return ret; +} + +#endif //FBDMA__MEMUTILS_H diff --git a/spe-freertos-bsp/fsp/source/include/fbdma/tfbif.h b/spe-freertos-bsp/fsp/source/include/fbdma/tfbif.h new file mode 100644 index 0000000..7e5b279 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/fbdma/tfbif.h @@ -0,0 +1,67 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021-2022 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#ifndef FBDMA__TFBIF_H +#define FBDMA__TFBIF_H +#define FSP__FBDMA__TFBIF_H 1 + +#include +#include +#include + +#ifndef NVRISCV_HAS_TFBIF +#error "This header should only be used on engines which have a TFBIF block." +#endif // NVRISCV_HAS_TFBIF + +/** + * @brief The number of configurable TFBIF apertures. + */ +#define TFBIF_NUM_APERTURES 8U + +/** + * @brief Configuration struct for a TFBIF Aperture. This is the Tegra equivilant of + * FBIF_APERTURE_CFGThe fields in this structure are used to configure the TFBIF_TRANSCFG + * and TFBIF_REGIONCFG registers of the TFBIF, which determine how the FBDMA engine + * will access external memory. More details on these fields can be found in + * the TFBIF Hardware documentation. + * + * ``aperture_idx``: The aperture to configure (0-7). Programmed into the ATT_SWID + * field of the TFBIF_TRANSCFG register corresponding to this aperture. + * + * ``swid``: The SWID value for this aperture. Programmed into the ATT_SWID field + * of the TFBIF_TRANSCFG register corresponding to this aperture. + * + * ``b_vpr``: The VPR to use for this aperture. Programmed into the ATT_SWID field + * of the TFBIF_TRANSCFG register corresponding to this aperture. + * + * ``aperture_id``: Aperture ID AKA GSC_ID. Programmed into the Tx_APERT_ID field + * of the TFBIF_REGIONCFG register corresponding to this aperture. + */ +typedef struct { + uint8_t aperture_idx; + uint8_t swid; + bool b_vpr; + uint8_t aperture_id; +} tfbif_aperture_cfg_t; + +/** + * @brief Configure some of the 8 DMA apertures in TFBIF. + * A similar function (fbifConfigureAperture) exists for FBIF + * Which is used on dGPU and Tegra iGPU engines. This function is not thread + * safe. The client must ensure that there is no chance of it being + * preempted by another Task or ISR which may call a DMA function + * or touch the TFBIF registers. + * + * @param[in] p_cfgs an array of tfbif_aperture_cfg_t - one per aperture + * @param[in] num_cfgs is the size of p_cfgs (1-8) + * @return E_SUCCESS on success + * E_INVALID_PARAM if p_cfgs is not sane + */ +error_t tfbif_configure_aperture(const tfbif_aperture_cfg_t *p_cfgs, uint8_t num_cfgs); +#endif // FBDMA__TFBIF_H diff --git a/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-errors.h b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-errors.h new file mode 100644 index 0000000..1882397 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-errors.h @@ -0,0 +1,90 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_ERRORS_H +#define GPCDMA__GPCDMA_ERRORS_H +#define FSP__GPCDMA__GPCDMA_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +// IWYU pragma: no_include "base/module-id.h" +#include // IWYU pragma: export +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file gpcdma-errors.h + * @brief Error codes that are specific to the gpcdma + */ + +#define E_GPCDMA_NULL_PTR MODULE_ERROR(GPCDMA, 0UL) +#define E_GPCDMA_INVALID_PARAM MODULE_ERROR(GPCDMA, 1UL) +#define E_GPCDMA_INVALID_XFER_DIR MODULE_ERROR(GPCDMA, 2UL) +#define E_GPCDMA_CHAN_BUSY MODULE_ERROR(GPCDMA, 3UL) +#define E_GPCDMA_NO_CALLBACK_ASYNC MODULE_ERROR(GPCDMA, 4UL) +#define E_GPCDMA_INVALID_XFER_SIZE MODULE_ERROR(GPCDMA, 5UL) +#define E_GPCDMA_INVALID_XFER_SIZE_IO MODULE_ERROR(GPCDMA, 6UL) +#define E_GPCDMA_UNALIGNED_SRC MODULE_ERROR(GPCDMA, 7UL) +#define E_GPCDMA_UNALIGNED_DST MODULE_ERROR(GPCDMA, 8UL) +#define E_GPCDMA_INVALID_FC_REQ_ID MODULE_ERROR(GPCDMA, 9UL) +#define E_GPCDMA_INVALID_ADDR_WRAP MODULE_ERROR(GPCDMA, 10UL) +#define E_GPCDMA_PORT_SYNC_TIMEOUT MODULE_ERROR(GPCDMA, 11UL) +#define E_GPCDMA_PORT_INIT_FAIL MODULE_ERROR(GPCDMA, 12UL) +#define E_GPCDMA_PORT_CHAN_SETUP_FAIL MODULE_ERROR(GPCDMA, 13UL) +#define E_GPCDMA_NOT_INITED MODULE_ERROR(GPCDMA, 14UL) +#define E_GPCDMA_CHAN_NOT_BUSY MODULE_ERROR(GPCDMA, 15UL) +#define E_GPCDMA_INVALID_XFER_MODE MODULE_ERROR(GPCDMA, 16UL) +#define E_GPCDMA_QUEUE_ALLOC_FAIL MODULE_ERROR(GPCDMA, 17UL) +#define E_GPCDMA_QUEUE_OP_FAIL MODULE_ERROR(GPCDMA, 18UL) +#define E_GPCDMA_CONT_MODE_OP_FAIL MODULE_ERROR(GPCDMA, 19UL) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* GPCDMA__GPCDMA_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-port.h b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-port.h new file mode 100644 index 0000000..5485471 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-port.h @@ -0,0 +1,215 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_PORT_H +#define GPCDMA__GPCDMA_PORT_H +#define FSP__GPCDMA__GPCDMA_PORT_H 1 + +/** + * @file gpcdma/gpcdma-port.h + * @brief APIs that the gpcdma controller driver depends on and needs to + * be implemented by the gpcdma port layer. + */ + +/* Compiler headers */ +#include // for bool +#include + // IWYU pragma: no_include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* LateFSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +// IWYU pragma: no_forward_declare gpcdma_id +struct gpcdma_id; + +/** + * @brief gpcdma channel setup hook + * + * @jama_func_req_id 17662895 + * + * This function is used to perform the port specific per-channel setup. + * + * @note called from function gpcdma_init() + + * @param[in] chan_sem DMA channel id + * + * @retval E_SUCESS on success + */ +error_t gpcdma_port_chan_setup(uint32_t chan_num); + +/** + * @brief gpcdma channel sync hook + * + * @jama_func_req_id 17663510 + * + * This function is used to block/wait until the synchronous + * transfer is finished. + * + * @pre the function gpcdma_init() has been called + * @note called from gpcdma_transfer() for synchronous transfers + * + * @param[in] chan_sem DMA channel id + * @param[in] timeout Timeout to wait before bailing out + * + * @retval E_SUCESS on success + * @retval E_GPCDMA_INVALID_PARAM invalid DMA channel id + * @retval E_GPCDMA_PORT_SYNC_TIMEOUT timed out for synchronous transfers + */ +error_t gpcdma_port_chan_sync(uint32_t chan_num, + uint32_t timeout); + +/** + * @brief gpcdma channel sync complete hook + * + * @jama_func_req_id 17671472 + * + * This function is used to notify/unblock the channel that is blocked on + * a synchronous transfer. + * + * @pre the function gpcdma_init() has been called + * @note called from gpcdma_chan_irq() for synchronous transfers + * + * @param[in] chan_num DMA channel id of the controller + * + * @retval E_SUCESS on success + * @retval E_GPCDMA_INVALID_PARAM invalid DMA channel id + */ +error_t gpcdma_port_chan_sync_end(uint32_t chan_num); + +/** + * @brief gpcdma port specific controller init hook + * + * @jama_func_req_id 17662889 + * + * @note called from function gpcdma_init() + * + * This function is used to perform some port specific init such + * as resetting the controller after the common init. + * + * @param[in] id dma controller context + * + * @retval E_SUCESS on success + * @retval E_GPCDMA_PORT_INIT_FAIL port specific init failed + */ +error_t gpcdma_port_init(struct gpcdma_id *id); + +/** + * @brief gpcdma port specific queue creation and init function + * + * @note Only used during continuous mode + * + * This function is used to create queue to store the list of the + * buffers (src and dst) in cyclic/continuous mode. + * + * @param[in] chan_num dma channel number + * @param[in] nelems number of elements to create queue for + * @param[in] el_size size of the elements + * + * @retval E_SUCESS on success + * @retval E_GPCDMA_INVALID_PARAM invalid parameters + * @retval E_GPCDMA_QUEUE_OP_FAIL queue creation failed + */ +error_t gpcdma_port_init_queue(uint32_t chan_num, uint32_t nelems, + uint32_t el_size); + +/** + * @brief gpcdma port specific queue delete/deinit function + * + * @note Only used during continuous mode + * + * This function is used to deinit or delete queue. + * + * @param[in] chan_num dma channel number + */ +void gpcdma_port_delete_queue(uint32_t chan_num); + +/** + * @brief gpcdma port specific get element function + * + * @note Only used during continuous mode + * + * This function is used to retrieve the element or descriptor from the queue. + * + * @param[in] chan_num dma channel number + * @param[out] ptr store de-queued element + * @param[in] timeout timeout to wait dequeuing element + * @param[in] from_isr indicates if API is being called from ISR + * + * @retval E_SUCESS on success + * @retval E_GPCDMA_INVALID_PARAM on invalid parameters + * @retval E_GPCDMA_QUEUE_OP_FAIL on failure to retrieve the descriptor. + */ +error_t gpcdma_port_get_desc(uint32_t chan_num, void *ptr, uint32_t timeout, + bool from_isr); + +/** + * @brief gpcdma port specific store element at the back function + * + * @note Only used during continuous mode + * + * This function is used to send or store the element or descriptor + * at the back of the queue. + * + * @param[in] chan_num dma channel number + * @param[in] ptr element to store + * @param[in] timeout timeout to wait dequeuing element + * @param[in] from_isr indicates if API is being called from ISR + * + * @retval E_SUCESS on success + * @retval E_GPCDMA_INVALID_PARAM on invalid parameters + * @retval E_GPCDMA_QUEUE_OP_FAIL on failure to retrieve the descriptor. + */ +error_t gpcdma_port_send_desc_to_back(uint32_t chan_num, void *ptr, + uint32_t timeout, bool from_isr); +#endif diff --git a/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-priv.h b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-priv.h new file mode 100644 index 0000000..6c33c2e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma-priv.h @@ -0,0 +1,161 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_PRIV_H +#define GPCDMA__GPCDMA_PRIV_H +#define FSP__GPCDMA__GPCDMA_PRIV_H 1 + +/** + * @file gpcdma/gpcdma-tegra-priv.h + * @brief Structures that are internal to the GPCDMA driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include +#include +#include // for smplock_t + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOCK__SMPLOCK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOCK__SMPLOCK_UP_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * Most of the AUXP GPCDMA controllers support 8 channels. Hence, + * setting number of DMA channels as 8. + */ +#define TEGRA_GPCDMA_NUM_CHANNELS 8 + +struct gpcdma_hw_handle; + +/** + * @brief GPCDMA channel context + * + * Structure that describes the configuration of a GPCDMA controller. + * + * @chan_base base address of the channel + * @id channel identifier ranging from 0 to 7 + * @irq channel irq + * @total_bytes total bytes transferred so far in this channel + * @words_to_xfer words to transfer + * @lock per channel smplock for SMP systems + * @callback callback to be executed for asynchronous transfers + * @cdata opaque data pointer for the callback function + * @synchronous indicates if the channel xfers are synchronous + * @continuous indicates if channel xfers are continuous + * @busy indicates if the channel is busy + */ +struct gpcdma_channel { + uint32_t chan_base; + uint32_t id; + uint32_t irq; + uint64_t total_bytes; + uint32_t words_to_xfer; + smplock_t *lock; + dma_callback *callback; + void *cdata; + bool synchronous; + bool continuous; + bool busy; +}; + +/** + * @brief GPCDMA controller configuration structure + * + * Structure that describes the configuration of a GPCDMA controller. + * + * @base_addr base address of the controller + * @irqs array of per channel irqs + * @hw_handle port specific hw handle + */ +struct gpcdma_conf { + uint32_t base_addr; + const uint32_t irqs[TEGRA_GPCDMA_NUM_CHANNELS]; + const struct gpcdma_hw_handle *hw_handle; +}; + +/** + * @brief GPCDMA controller context structure + * + * Structure that is used by the GPCDMA driver to manage the GPCDMA controller + * during run time. + * + * @conf GPCDMA controller instance configuration + * @channels array of pointers to GPCDMA controller per-channel context + * @inited GPCDMA controller initialization state + */ +struct gpcdma_id { + const struct gpcdma_conf conf; + struct gpcdma_channel *channels[TEGRA_GPCDMA_NUM_CHANNELS]; + bool inited; +}; + +/** + * @brief GPCDMA source and destination buffers used in cyclic mode + * + * Structure that is used by the driver during cyclic mode. It will store + * buffer descriptors equal to period length specified during transfers. + * + * @src_addr stores the source address + * @dst_addr stores the destination address + */ +struct gpcdma_buf_desc { + uint32_t src_addr; + uint32_t dst_addr; + uint32_t hi_src_addr; + uint32_t hi_dst_addr; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma.h b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma.h new file mode 100644 index 0000000..d89aeb1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpcdma/gpcdma.h @@ -0,0 +1,303 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef GPCDMA__GPCDMA_H +#define GPCDMA__GPCDMA_H +#define FSP__GPCDMA__GPCDMA_H 1 + +/** + * @file gpcdma/gpcdma-tegra.h + * @brief functions for performing DMA operations. + */ + +/* Compiler headers */ +#include +#include + // IWYU pragma: no_include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * The completion status of a DMA transfer. + * + * These values will be returned by DMA driver function which initiated DMA + * transfers. For asynchronous transfers, the value returned represents the + * status of submitting the request to the hardware. For synchronous + * transfers, the value returned represents the overall status of the + * transaction. + * + * For asynchronous transfers, these values will also be passed to the caller- + * supplied completion callback. + * + * Ret async Ret sync Async callback + * NOT_INITIATED: Y Y N + * EXECUTING: Y N N + * COMPLETE: N Y Y + * ABORTED: N N Y + * TIMEOUT: N Y N + */ +typedef uint32_t dma_status; + +#define DMA_STATUS_NOT_INITIATED 0x0UL +#define DMA_STATUS_EXECUTING 0x1UL +#define DMA_STATUS_COMPLETE 0x2UL +#define DMA_STATUS_ABORTED 0x3UL +#define DMA_STATUS_TIMEOUT 0x4UL + +/** + * @brief dma callback function + * + * The function is called whenever a DMA transfer has completed. + * + * @param[in] callback_param A copy of a value passed to the DMA driver function + * that initiated the transfer. Clients may used this + * to pass context to the DMA completion callback. + * @param[in ]status Status of the transfer. + * + *@ return None + */ +typedef void dma_callback(void *callback_param, dma_status status); + +/* Supported DMA transfer combinations */ +typedef uint32_t gpcdma_transfer_direction; + +#define GPCDMA_XFER_DIR_MEM_TO_IO 0x0UL +#define GPCDMA_XFER_DIR_IO_TO_MEM 0x1UL +#define GPCDMA_XFER_DIR_MEM_TO_MEM 0x2UL + +/* Supported IO bus widths for DMA transfers */ +typedef uint32_t gpcdma_bus_width; + +#define GPCDMA_IO_BUS_WIDTH_8 0x0UL +#define GPCDMA_IO_BUS_WIDTH_16 0x1UL +#define GPCDMA_IO_BUS_WIDTH_32 0x2UL +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * direction: A valid gpcdma_transfer_direction value. + * bus_width: IO buswidth. A valid gpcdma_bus_width value. + * burst_size: The number of words to transfer in each burst. Valid for + * both tx/rx transfers. + * src_addr: The source address to read from. + * src_addr_wrap: The number of word transfers to make before wrapping + * the src address. 0 represents no wrap. + * Legal values for io addr wrap are 2^n with n from + * 0 through 6. + * Legal values for mc addr wrap are 2^n with n from + * 5 through 11. + * dst_addr: The target address to write to. + * dst_addr_wrap: The number of word transfers to make before wrapping + * the mc address. 0 represents no wrap. + * Legal values for io addr wrap are 2^n with n from + * 0 through 6. + * Legal values for mc addr wrap are 2^n with n from + * 5 through 11. + * period_len: Used in continuous mode, callback will be called at + * every period_len byte transfers. It has to be word + * aligned and value must be in bytes. + * xfer_count: The number of bytes to be transferred. The value must + * be word aligned. If continuous mode is used, this value + * must be multiple of period_len parameter. + * timeout: Timeout for synchronous transfers. + * callback: A function to execute once the transfer is done. + * Callback is valid only for asynchronous transfers. + * callback_param: Data to be passed as context to the callback function. + * slave_req: HW specific slave request select value. Used for both + * rx/tx transfers. + * src_sid: Source stream id. + * dst_sid: Destination stream id. + * en_flow_ctrl: Use rx/tx slave request or not. + * synchronous: Execute a synchronous transfer or not. + * If true, wait till DMA transfer is done and return + * status. + * If false, return after starting DMA transfer and execute + * the provided callback upon transfer completion. + * continuous: Set the DMA continuous transfer mode. This option is + * mutually exclusive with synchronous option above. + */ +struct gpcdma_xfer { + gpcdma_transfer_direction direction; + gpcdma_bus_width bus_width; + uint32_t burst_size; + uint64_t src_addr; + uint32_t src_addr_wrap; + uint64_t dst_addr; + uint32_t dst_addr_wrap; + uint32_t period_len; + uint32_t xfer_count; + uint32_t timeout; + dma_callback *callback; + void *callback_param; + uint8_t slave_req; + uint8_t src_sid; + uint8_t dst_sid; + bool en_flow_ctrl; + bool synchronous; + bool continuous; +}; + +/* The identity of GPCDMA controller instance */ +// IWYU pragma: no_forward_declare gpcdma_id +struct gpcdma_id; + +/** + * @brief global initialization of the GPCDMA controller. + * + * @jama_func_req_id 17644910 + * + * @pre None + * + * @param[in] id DMA controller context + * + * @retval E_SUCCESS indicates success + * @retval E_GPCDMA_NULL_PTR invalid id paramter passed + * @retval E_GPCDMA_INVALID_PARAM invalid controller base address + * @retval E_GPCDMA_PORT_INIT_FAIL port specific init failed + * @retval E_GPCDMA_PORT_CHAN_SETUP_FAIL port specific channel setup failed + */ +error_t gpcdma_init(struct gpcdma_id *id); + +/** + * @brief Execute DMA transfer on the specified channel. + * + * @jama_func_req_id 17645012 + * + * For synchronous transfers, transfer status would be returned. + * For asynchronous transfers, provided callback would be executed upon + * transfer completion. + * + * @pre the function gpcdma_init() has been called + * + * @param[in] id DMA controller context + * @param[in] chan_num DMA channel id of the controller + * @param[in] xfer DMA transfer details + * + * @retval E_SUCCESS indicates success + * @retval E_GPCDMA_NULL_PTR invalid id paramter passed + * @retval E_GPCDMA_INVALID_PARAM invalid DMA channel id + * @retval E_GPCDMA_CHAN_BUSY DMA channel is busy + * @retval E_GPCDMA_INVALID_XFER_DIR invalid transfer direction + * @retval E_GPCDMA_NO_CALLBACK_ASYNC No callback provided for asynchrous + * transfer + * @retval E_GPCDMA_INVALID_XFER_SIZE invalid transfer size + * @retval E_GPCDMA_INVALID_XFER_SIZE_IO invalid transfer size for IO<->MEM + * @retval E_GPCDMA_UNALIGNED_SRC unaligned source address + * @retval E_GPCDMA_UNALIGNED_DST unaligned destination address + * @retval E_GPCDMA_INVALID_FC_REQ_ID invalid flow control slave request id + * @retval E_GPCDMA_INVALID_ADDR_WRAP invalid source/dest address wrap + * @retval E_GPCDMA_PORT_SYNC_TIMEOUT timed out for synchronous transfers + */ +error_t gpcdma_transfer(const struct gpcdma_id *id, + uint32_t chan_num, + struct gpcdma_xfer const *xfer); + +/** + * @brief get transferred size of the transfer in progress + * + * @jama_func_req_id 17649722 + * + * This function is used to fetch the number of bytes transferred + * successfully using DMA. + * + * @pre the function gpcdma_init() has been called + * + * @param[in] id DMA controller context + * @param[in] chan_num DMA channel id of the controller + * @param[out] xfer_count Total bytes transferred so far + * + * @retval E_SUCCESS indicates success + * @retval E_GPCDMA_NULL_PTR invalid id paramter passed + * @retval E_GPCDMA_INVALID_PARAM invalid DMA channel id + */ +error_t gpcdma_get_bytes_xferred(const struct gpcdma_id *id, + uint32_t chan_num, + uint64_t *xfer_count); + +/** + * @brief Abort the DMA transfer in progress. + * + * @jama_func_req_id 17649740 + * + * This function is used to abort the ongoing transfer on a dma channel. + * + * @pre the function gpcdma_init() has been called + * + * @param[in] id DMA controller context + * @param[in] chan_num DMA channel id of the controller + * + * @retval E_SUCCESS indicates success + * @retval E_GPCDMA_NULL_PTR invalid id paramter passed + * @retval E_GPCDMA_INVALID_PARAM invalid controller base address + */ +error_t gpcdma_abort(const struct gpcdma_id *id, + uint32_t chan_num); + +/** + * @brief GPCDMA channel irq handler. + * + * @jama_func_req_id 17656319 + * + * This function gets called whenever a DMA transfer is completed. + * + * @pre the function gpcdma_init() has been called + * + * @param[in] data pointer for GPCDMA channel context. + * + * @return None + */ +void gpcdma_chan_irq(void *data); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/gpcdma/sections-gpcdma.h b/spe-freertos-bsp/fsp/source/include/gpcdma/sections-gpcdma.h new file mode 100644 index 0000000..a6a2634 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpcdma/sections-gpcdma.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__SECTIONS_GPCDMA_H +#define GPCDMA__SECTIONS_GPCDMA_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_GPCDMA_DATA SECTION_BUILDER(gpcdma, data) +#define SECTION_NAME_GPCDMA_RODATA SECTION_BUILDER(gpcdma, rodata) +#define SECTION_NAME_GPCDMA_TEXT SECTION_BUILDER(gpcdma, text) +#define SECTION_NAME_GPCDMA_INIT_DATA SECTION_BUILDER(init.gpcdma, data) +#define SECTION_NAME_GPCDMA_INIT_TEXT SECTION_BUILDER(init.gpcdma, text) + +#define SECTION_STR_GPCDMA_TEXT STR(SECTION_NAME_GPCDMA_TEXT) +#define SECTION_STR_GPCDMA_RODATA STR(SECTION_NAME_GPCDMA_RODATA) +#define SECTION_STR_GPCDMA_DATA STR(SECTION_NAME_GPCDMA_DATA) +#define SECTION_STR_GPCDMA_INIT_TEXT STR(SECTION_NAME_GPCDMA_INIT_TEXT) +#define SECTION_STR_GPCDMA_INIT_DATA STR(SECTION_NAME_GPCDMA_INIT_DATA) + +#define SECTION_GPCDMA_TEXT SECTION(SECTION_STR_GPCDMA_TEXT) +#define SECTION_GPCDMA_RODATA SECTION(SECTION_STR_GPCDMA_RODATA) +#define SECTION_GPCDMA_DATA SECTION(SECTION_STR_GPCDMA_DATA) +#define SECTION_GPCDMA_INIT_TEXT SECTION(SECTION_STR_GPCDMA_INIT_TEXT) +#define SECTION_GPCDMA_INIT_DATA SECTION(SECTION_STR_GPCDMA_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/gpio/gpio-error.h b/spe-freertos-bsp/fsp/source/include/gpio/gpio-error.h new file mode 100644 index 0000000..4ccb47e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpio/gpio-error.h @@ -0,0 +1,76 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +#ifndef GPIO__GPIO_ERROR_H +#define GPIO__GPIO_ERROR_H +#define FSP__GPIO__GPIO_ERROR_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +// IWYU pragma: no_include "base/module-id.h" +#include // IWYU pragma: export +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** + * @defgroup GPIO_Errors GPIO error macros + * @brief Define GPIO specific error codes. + * @{ + */ +/** Error returned for invalid IRQ number */ +#define E_GPIO_INVALID_GPIO_IRQ MODULE_ERROR(GPIO, 1UL) +/** Error returned for invalid/NULL IRQ handler */ +#define E_GPIO_INVALID_IRQ_HANDLER MODULE_ERROR(GPIO, 2UL) +/** Error returned for invalid IRQ type */ +#define E_GPIO_INVALID_IRQ_TYPE MODULE_ERROR(GPIO, 3UL) +/** Error returned for invalid IRQ level */ +#define E_GPIO_INVALID_IRQ_LEVEL MODULE_ERROR(GPIO, 4UL) +/** Error returned for invalid GPIO number */ +#define E_GPIO_INVALID_GPIO MODULE_ERROR(GPIO, 5UL) +/** Error returned for invalid controller ID value */ +#define E_GPIO_INVALID_GPIO_CTRL_ID MODULE_ERROR(GPIO, 6UL) +/** Error returned for invalid/NULL controller data */ +#define E_GPIO_INVALID_CTRL_DATA MODULE_ERROR(GPIO, 7UL) +/** Error returned for NULL input parameters */ +#define E_GPIO_NULL_INPUT_PARAMETER MODULE_ERROR(GPIO, 8UL) +/** Error returned if the request is forbidden for the current state of the GPIO */ +#define E_GPIO_INVALID_CFQ_REQ MODULE_ERROR(GPIO, 9UL) +/** @} */ +#endif /* GPIO__GPIO_ERRORS_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/gpio/sections-gpio.h b/spe-freertos-bsp/fsp/source/include/gpio/sections-gpio.h new file mode 100644 index 0000000..5d02149 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpio/sections-gpio.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef GPIO__SECTIONS_GPIO_H +#define GPIO__SECTIONS_GPIO_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_GPIO_DATA SECTION_BUILDER(gpio, data) +#define SECTION_NAME_GPIO_RODATA SECTION_BUILDER(gpio, rodata) +#define SECTION_NAME_GPIO_TEXT SECTION_BUILDER(gpio, text) +#define SECTION_NAME_GPIO_INIT_DATA SECTION_BUILDER(init.gpio, data) +#define SECTION_NAME_GPIO_INIT_TEXT SECTION_BUILDER(init.gpio, text) + +#define SECTION_STR_GPIO_TEXT STR(SECTION_NAME_GPIO_TEXT) +#define SECTION_STR_GPIO_RODATA STR(SECTION_NAME_GPIO_RODATA) +#define SECTION_STR_GPIO_DATA STR(SECTION_NAME_GPIO_DATA) +#define SECTION_STR_GPIO_INIT_TEXT STR(SECTION_NAME_GPIO_INIT_TEXT) +#define SECTION_STR_GPIO_INIT_DATA STR(SECTION_NAME_GPIO_INIT_DATA) + +#define SECTION_GPIO_TEXT SECTION(SECTION_STR_GPIO_TEXT) +#define SECTION_GPIO_RODATA SECTION(SECTION_STR_GPIO_RODATA) +#define SECTION_GPIO_DATA SECTION(SECTION_STR_GPIO_DATA) +#define SECTION_GPIO_INIT_TEXT SECTION(SECTION_STR_GPIO_INIT_TEXT) +#define SECTION_GPIO_INIT_DATA SECTION(SECTION_STR_GPIO_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif + diff --git a/spe-freertos-bsp/fsp/source/include/gpio/tegra-gpio-priv.h b/spe-freertos-bsp/fsp/source/include/gpio/tegra-gpio-priv.h new file mode 100644 index 0000000..8297588 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpio/tegra-gpio-priv.h @@ -0,0 +1,105 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +#ifndef GPIO__TEGRA_GPIO_PRIV_H +#define GPIO__TEGRA_GPIO_PRIV_H +#define FSP__GPIO__TEGRA_GPIO_PRIV_H 1 + +/* Compiler headers */ +#include // for bool +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for MK_U32_CONSTANT + +/* Hardware headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif +/** + * Number of GPIO pins per port/bank + */ +#define GPIOS_PER_BANK MK_U32_CONST(8) + +/** + * @struct gpio_irq_handler + * @brief IRQ handler structure + * @{ + */ +struct gpio_irq_handler { + /** Pointer to the interrupt service routine */ + void (*handler)(void *hdata); + /** Data to be used by the interrupt handler */ + void *data; +}; +/** @} */ + +/** + * @struct tegra_gpio_id + * @brief Tegra GPIO structure + * @{ + */ +struct tegra_gpio_id { + /** Base address of GPIO controller */ + uint32_t base_addr; + /** Number of GPIO banks/ports supported by the GPIO chip */ + uint32_t bank_count; + /** Pointer to an array storing base address of the GPIO banks. */ + const uint32_t *bank_bases; + /** + * Pointer to any array storing irq number of all the GPIO + * sub-controllers (HW controllers) supported by this instance. + */ + uint32_t *irqs; + /** Number of irqs supported by this GPIO controller */ + uint32_t nirqs; + /** + * Pointer to array storing IRQ handlers mapped one-to-one + * with the gpio pins + */ + struct gpio_irq_handler *irq_handlers; + /** Offset of IRQ status register relative to the ENABLE_CONFIG register */ + uint32_t irq_status_offset; + /** Pointer to the array storing IRQ enable status per GPIO bank */ + uint8_t *bank_irq_status; + /** + * Boolean variable indicating GPIO interrupt handling mechanism. Set it + * to false, if the client does not need GPIO interrupts or chooses to + * use its own interrupt handling mechanism instead of registering to + * the common GPIO IRQ handler.*/ + bool isr_status; + /** Pointer to any array storing number of physical pins per bank */ + const uint8_t *num_pins; +}; +/** @} */ +#endif diff --git a/spe-freertos-bsp/fsp/source/include/gpio/tegra-gpio.h b/spe-freertos-bsp/fsp/source/include/gpio/tegra-gpio.h new file mode 100644 index 0000000..4a995b5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/gpio/tegra-gpio.h @@ -0,0 +1,541 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +#ifndef GPIO__TEGRA_GPIO_H +#define GPIO__TEGRA_GPIO_H +#define FSP__GPIO__TEGRA_GPIO_H 1 + +/* Compiler headers */ +#include // for bool +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module FSP headers */ +#include // for struct tegra_gpio_id + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built int32_to the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif + +#define MAX_GPIO_CONTROLLERS 2U + +// IWYU pragma: no_forward_declare tegra_gpio_id +struct tegra_gpio_id; + +/** + * Define data types for GPIO IRQ type and level + */ +typedef uint32_t tegra_gpio_irq_type; +typedef uint32_t tegra_gpio_irq_level; + +/** + * @defgroup IRQ_TYPES Define IRQ trigger types + * @brief Defines IRQ trigger types supported by the GPIO + * @{ + */ +/** Macro defining no trigger for GPIO IRQ */ +#define TEGRA_GPIO_IRQ_NONE ((tegra_gpio_irq_type)0UL) +/** Macro defining level trigger IRQ */ +#define TEGRA_GPIO_IRQ_LEVEL ((tegra_gpio_irq_type)1UL) +/** Macro defining single edge trigger IRQ type */ +#define TEGRA_GPIO_IRQ_SINGLE_EDGE ((tegra_gpio_irq_type)2UL) +/** Macro defining double edge trigger IRQ type */ +#define TEGRA_GPIO_IRQ_DOUBLE_EDGE ((tegra_gpio_irq_type)3UL) +/** @} */ + +/** + * @defgroup IRQ_LEVELS Define IRQ levels + * @brief Defines different IRQ levels supported by the GPIO + * @{ + */ +/** Macro defining low level IRQ trigger */ +#define TEGRA_GPIO_IRQ_LOW_LEVEL ((tegra_gpio_irq_level)0UL) +/** Macro defining falling edge IRQ trigger */ +#define TEGRA_GPIO_IRQ_FALLING_EDGE ((tegra_gpio_irq_level)0UL) +/** Macro defining high level IRQ trigger */ +#define TEGRA_GPIO_IRQ_HIGH_LEVEL ((tegra_gpio_irq_level)1UL) +/** Macro defining rising edge IRQ trigger */ +#define TEGRA_GPIO_IRQ_RISING_EDGE ((tegra_gpio_irq_level)1UL) +/** @} */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** + * @brief Construct a global GPIO ID. + * + * No error-range-checking is performed on the parameters or returned value. + * + * @param[in] ctrl_id The unique ID of the GPIO controller. + * @param[in] gpio The GPIO ID local to the controller. + * + * @retval global_gpio_id The global GPIO ID. + */ +static inline uint32_t gpio_global_id(uint8_t ctrl_id, + uint16_t gpio) +{ + return ((uint32_t)ctrl_id << 16) + (uint32_t)gpio; +} + +/** + * @brief Initialize the GPIO controller + * + * This function enables the interrupts for the GPIO controller + * populated through the soc data and maps them to the generic GPIO + * interrupt handler. + * + * @param[in] ids Array of pointer to the controller SoC data. + * @param[in] num_ctrls Number of GPIO controllers to be initialized + * + * @retval E_SUCCESS For Success + * @retval E_GPIO_INVALID_GPIO_IRQ For invalid IRQ number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data/Number + * of controllers exceeds the maximum limit + */ +error_t tegra_gpio_init(struct tegra_gpio_id **ids, uint32_t num_ctrls); + +/** + * @brief Disable the GPIO interrupts across SC7 entry/power + * gating the hardware. + * + * This function disables the interrupts for the GPIO controllers + * populated through the soc data. + * + * @pre GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] ctrl_id ID of the GPIO controller to be suspended. + * + * @retval E_SUCCESS For Success + * @retval E_GPIO_INVALID_GPIO_IRQ For invalid IRQ number + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_suspend(uint32_t ctrl_id); + +/** + * @brief Enable the GPIO interrupts across SC7 exit/un-power gating + * the hardware. + * + * This function disables the interrupts for the GPIO controller + * populated through the soc data. + * + * @pre GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] ctrl_id ID of the GPIO controller to be resumed. + * + * @retval E_SUCCESS For Success + * @retval E_GPIO_INVALID_GPIO_IRQ For invalid IRQ number + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_resume(uint32_t ctrl_id); + +/** + * @brief Configure a GPIO to be an input. + * + * @pre GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_direction_in(uint32_t gpio); + +/** + * @brief Configure a GPIO to be an output and set its initial output value. + * This is the raw value at the pin; the GPIO API performs no + * internal conversions to account for active-low signals, etc. + * + * @pre GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[in] value The value to drive on the GPIO. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Interrupt/Timestamping + * function enabled for the GPIO + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_direction_out(uint32_t gpio, + bool value); + +/** + * @brief Get direction of the GPIO + * + * Returns direction of GPIO as an integer value + * + * 0: GPIO configured for input mode + * + * 1: GPIO configured for output mode. + * + * @param[in] gpio Global GPIO number + * @param[out] gpio_dir An in/out parameter that captures direction of the GPIO + * + * @pre GPIO controller should have been initialized as part of tegra_gpio_init + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_get_direction(uint32_t gpio, + uint32_t *gpio_dir); + +/** + * @brief Retrieve the raw state of a GPIO. + * + * Returns raw value at the pin. + * + * False: Success, signal is low. + * + * True: Success, signal is high. + * + * The GPIO API performs no internal conversions to account + * for active-low signals, etc. + * + * @param[in] gpio Global GPIO number. + * @param[out] gpio_val An in/out parameter that captures the raw value + * at the pin + * + * @pre GPIO controller should have been initialized as part of tegra_gpio_init + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_get_value(uint32_t gpio, + bool *gpio_val); + +/** + * @brief Retrieve the state of an output GPIO. + * + * Returns raw value at the pin. + * + * False: Success, output signal is low. + * + * True: Success, output signal is high. + * + * The GPIO API performs no internal conversions to account + * for active-low signals, etc. + * + * @pre + * - GPIO must be configured as an output + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[out] gpio_val An in/out parameter that captures the raw value + * at the pin + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode not enabled on the GPIO + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_get_output_value(uint32_t gpio, + bool *gpio_val); + +/** + * @brief Retrieve the state of an input GPIO. + * + * Returns raw value at the pin + * + * False: Success, input signal is low. + * + * True: Success, input signal is high. + * + * The GPIO API performs no internal conversions to account + * for active-low signals, etc. + * + * @pre + * - GPIO must be configured as an input. + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[out] gpio_val An in/out parameter that captures the raw value + * at the pin + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_get_input_value(uint32_t gpio, + bool *gpio_val); + +/** + * @brief Set the output state for a GPIO. + * + * Sets raw value at the pin. + * + * Request to drive the GPIO can take one of the following values + * + * True: signal level high + * + * False: Signal level low. + * + * @pre + * - GPIO must be configured as an output. + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[in] value The value to drive on the GPIO. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode not enabled on the GPIO + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_set_value(uint32_t gpio, + bool value); + +/** + * @brief Set the debounce value for a GPIO. + * + * @pre + * - GPIO must be configured as an output + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[in] debounce_ms The value to program for debounce in milliseconds. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_set_debounce(uint32_t gpio, + uint32_t debounce_ms); + +/** + * @brief Set the irq type for a GPIO. + * + * @pre + * - GPIO must be configured as an input + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[in] type Indicates the type based on tegra_gpio_irq_type. + * @param[in] level Indicates the level based on tegra_gpio_irq_level. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_IRQ_LEVEL Invalid IRQ level + * @retval E_GPIO_INVALID_IRQ_TYPE Invalid IRQ type + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_set_irq_type(uint32_t gpio, + tegra_gpio_irq_type type, + tegra_gpio_irq_level level); + +/** + * @brief Enable the IRQ for a GPIO. + * + * @pre + * - GPIO must be configured as an input + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid IRQ number + * @retval E_GPIO_INAVLID_IRQ_HANDLER NULL GPIO IRQ handler + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_enable_irq(uint32_t gpio); + +/** + * @brief Enable the timestamping functionality for a GPIO. + * + * This API needs to be called for a GPIO that you are interested in + * monitoring using the HW timestamping engines such as GTE. + * + * @pre + * - GPIO must be configured as an input + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_enable_timestamp(uint32_t gpio); + +/** + * @brief Disable the timestamping functionality for a GPIO. + * + * @pre + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_disable_timestamp(uint32_t gpio); + +/** + * @brief Disable the IRQ for a GPIO. + * + * @pre + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid IRQ number + * @retval E_GPIO_INAVLID_IRQ_HANDLER NULL GPIO IRQ handler + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_disable_irq(uint32_t gpio); + +/** + * @brief Register an interrupt service routine for a GPIO. + * + * @pre + * - GPIO must be configured as an input + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * @param[in] handler Pointer to the service routine. + * @param[in] data opaque data pointer for the service routine. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid IRQ number + * @retval E_GPIO_INAVLID_IRQ_HANDLER NULL GPIO IRQ handler + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_set_irq_handler(uint32_t gpio, + void (*handler)(void *hdata), + void *data); + +/** + * @brief Unregister an interrupt service routine for a GPIO. + * + * @pre + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid IRQ number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_clear_irq_handler(uint32_t gpio); + +/** + * @brief Read IRQ status of a GPIO pin + * + * @pre + * - GPIO must be configured as an input + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO + * @param[out] irq_status An in/out parameter to save IRQ status of the GPIO + * pin. + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid IRQ number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_read_irq_status(uint32_t gpio, bool *irq_status); + +/** + * @brief Clear IRQ status of a GPIO pin + * + * @pre + * - GPIO must be configured as an input + * - GPIO controller should have been initialized as part of tegra_gpio_init + * + * @param[in] gpio Global GPIO number + * + * @retval E_SUCCESS Success + * @retval E_GPIO_INVALID_GPIO_CONT_ID Invalid controller ID + * @retval E_GPIO_INVALID_GPIO Invalid GPIO number + * @retval E_GPIO_INVALID_CFQ_REQ Output mode enabled on the GPIO + * @retval E_GPIO_INVALID_GPIO_IRQ Invalid IRQ number + * @retval E_GPIO_INVALID_CONT_DATA NULL pointer to controller data + */ +error_t tegra_gpio_clear_irq_status(uint32_t gpio); + +/** + * @brief GPIO interrupt handler. + * + * This function calls the interrupt handler corresponding to the + * GPIO pin as mapped by the client using tegra_gpio_set_irq_handler. + * + * @pre + * - GPIO controller should have been initialized as part of tegra_gpio_init. + * + * @param[in] data Pointer to the GPIO controller data + * + * @return None + */ +void tegra_gpio_irq_handler(void *data); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/hsp/hsp-errors.h b/spe-freertos-bsp/fsp/source/include/hsp/hsp-errors.h new file mode 100644 index 0000000..76459ad --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/hsp/hsp-errors.h @@ -0,0 +1,79 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HSP__HSP_ERRORS_H +#define HSP__HSP_ERRORS_H +#define FSP__HSP__HSP_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file hsp-errors.h + * @brief Error codes that are specific to the hsp + */ + +#define E_HSP_ERR_EMPTY_MBOX MODULE_ERROR(HSP, 0UL) +#define E_HSP_ERR_NULL_PTR MODULE_ERROR(HSP, 1UL) +#define E_HSP_ERR_NO_DB MODULE_ERROR(HSP, 2UL) +#define E_HSP_ERR_NO_MBOX MODULE_ERROR(HSP, 3UL) +#define E_HSP_ERR_NO_SHRD_SMPHR MODULE_ERROR(HSP, 4UL) +#define E_HSP_ERR_NO_INTR MODULE_ERROR(HSP, 5UL) +#define E_HSP_ERR_INVALID_CALLBACK MODULE_ERROR(HSP, 6UL) +INLINE_RFD(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#define E_HSP_ERR_INVALID_DATA MODULE_ERROR(HSP, 7UL) + +#endif /* HSP__HSP_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra-defs.h b/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra-defs.h new file mode 100644 index 0000000..1e4d590 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra-defs.h @@ -0,0 +1,164 @@ +/* + * Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HSP__HSP_TEGRA_DEFS_H +#define HSP__HSP_TEGRA_DEFS_H +#define FSP__HSP__HSP_TEGRA_DEFS_H 1 + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_TOP0_HSP_COMMON_SIZE +#include // for HSP_DBELL_0_ENABLE_0, HSP_DBELL_0... +#include // for HSP_INT_DIMENSIONING_0_nDB_SHIFT +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_0... +#include // for HSP_SHRD_SEM_0_SHRD_SMP_STA_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCk, END_RFD_BLOCK, INLINE_RFD + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/** + * @file hsp/hsp-tegra-defs.h + * @brief defines that are internal to the HSP driver + */ + +/** + * @brief HSP commmon instance size + * + * Defines the HSP instance size + */ +#define HSP_COMMON_SIZE ((uint32_t)(NV_ADDRESS_MAP_TOP0_HSP_COMMON_SIZE)) + +/** + * @brief HSP interrupt enable register offset + * + * Defines the HSP interrupt enable register offset + */ +#define HSP_INT_IE_OFFSET (HSP_INT_IE_1 - HSP_INT_IE_0) + +/** + * @brief HSP shared mailbox registers offset + * + * Defines the HSP shared mailbox registers offset + */ +#define HSP_SHRD_MBOX_OFFSET \ + ((uint32_t)HSP_SHRD_MBOX_MBOX_1_SHRD_MBOX_0 - (uint32_t)HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_0) + +#define HSP_SHRD_MBOX_FULL_IE_OFFSET \ + ((uint32_t)HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_FULL_INT_IE_0) + +#define HSP_SHRD_MBOX_EMPTY_IE_OFFSET \ + ((uint32_t)HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_FULL_INT_IE_0) + +/** + * @brief HSP shared mailbox TAG field bit mask + * + * Defines the bit mask for the HSP shared mailbox TAG field + */ +#define HSP_SHRD_MBOX_TAG_FIELD ((uint32_t)1 << HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_0_TAG_SHIFT) + +#define HSP_SHRD_MBOX_TAG_FULL (HSP_SHRD_MBOX_TAG_FIELD) +#define HSP_SHRD_MBOX_TAG_EMPTY 0U + +/** + * @brief HSP shared mailbox DATA field bit mask + * + * Defines the bit mask for the HSP shared mailbox DATA field + */ +#define HSP_SHRD_MBOX_DATA_FIELD (HSP_SHRD_MBOX_MBOX_0_SHRD_MBOX_0_DATA_FIELD) + +/** + * @brief HSP doorbell registers offset + * + * Defines the HSP doorbell registers offset + */ +#define HSP_DBELL_OFFSET (HSP_DBELL_1_TRIGGER_0 - HSP_DBELL_0_TRIGGER_0) + +/** + * @brief HSP dimensioning field + * + * Defines the bit mask to extract the specific HSP dimensioning field + * for a HSP instance + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#define HSP_INT_DIMENSIONING_FIELD(regval, field) \ + (((regval) >> HSP_INT_DIMENSIONING_0_ ## field ## _SHIFT) & \ + (((uint32_t)0xf << HSP_INT_DIMENSIONING_0_ ## field ## _SHIFT) >> \ + HSP_INT_DIMENSIONING_0_ ## field ## _SHIFT)) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") + +/** + * @brief shared semaphore status register offset + * + * Defines the HSP shared semaphore status register offset + */ +#define HSP_SHRD_SEM_STA (HSP_SHRD_SEM_0_SHRD_SMP_STA_0) + +/** + * @brief shared semaphore set register offset + * + * Defines the HSP shared semaphore set register offset + */ +#define HSP_SHRD_SEM_SET (HSP_SHRD_SEM_0_SHRD_SMP_STA_SET_0) + +/** + * @brief shared semaphore clear register offset + * + * Defines the HSP shared semaphore clear register offset + */ +#define HSP_SHRD_SEM_CLR (HSP_SHRD_SEM_0_SHRD_SMP_STA_CLR_0) + +/** + * @brief shared semaphore registers offset + * + * Defines the HSP shared semaphore registers offset + */ +#define HSP_SHRD_SEM_OFFSET \ + ((uint32_t)HSP_SHRD_SEM_1_SHRD_SMP_STA_0 - (uint32_t)HSP_SHRD_SEM_0_SHRD_SMP_STA_0) + +/** + * @brief HSP interrupt register mailbox full assert field + * + * Defines the mailbox full assert field for HSP interrupt register + */ +#define HSP_INT_IR_0_mbox_full_assert_FIELD \ + ((uint32_t)0xFFU << HSP_INT_IR_0_mbox_full_asserted_SHIFT) + +/** + * @brief invalid data pattern for HSP shared mailbox register + * + * Defines the invalid data pattern for the HSP shared mailbox register + * due to the HW bug 200395605. + */ +#if defined(HW_BUG_200395605) && (HW_BUG_200395605 == 1) + #define DEAD1001 MK_U32_CONST(0xdead1001) +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra-priv.h b/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra-priv.h new file mode 100644 index 0000000..38faf20 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra-priv.h @@ -0,0 +1,152 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HSP__HSP_TEGRA_PRIV_H +#define HSP__HSP_TEGRA_PRIV_H +#define FSP__HSP__HSP_TEGRA_PRIV_H 1 + +/** + * @file hsp/hsp-tegra-priv.h + * @brief Structures that are internal to the HSP driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief Maximum number of HSP shared mailboxes per instance + * + * Defines the maximum number of shared mailboxes that are available + * per instance. + */ +#define MAX_TEGRA_HSP_SM 8U + +/** + * @brief HSP configuration structure + * + * Structure that describes the configuration of a HSP instance. + * + * @base_addr base address of the HSP instance + * @host_id host identifier of the HSP instance + * @db_irq doorbell irq number, UINT32_MAX if none + * @sh_irq shared irq number, UINT32_MAX if none + * @si_index which shared IRQ is used, UINT8_MAX if none + */ +struct tegra_hsp_conf { + uint32_t base_addr; + uint32_t host; + uint32_t db_irq; + uint32_t sh_irq; + uint8_t si_index; +}; + +/** + * @brief HSP mailbox callback configuration structure + * + * Structure that describes the callback configuration of a shared + * mailbox irq. + * + * @wide 32-bit or 128-bit + * @callback callback for the mailbox irq + * @opaque opaque data pointer for the callback + */ +struct hsp_sm { + bool wide; + tegra_hsp_sm_callback callback; + void *opaque; +}; + +/** + * @brief HSP context ID structure + * + * Structure that is used by the HSP driver to manage the HSP instance + * during run time. + * + * @conf HSP configuration of an instance + * @db_callback callback function on doorbell signal + * @db_base doorbell base address + * @ss_base shared semaphore base address + * @sie_mask shared interrupt enable mask + * @sm shared mailbox callback configuration array + * @n_sm number of shared mailboxes + * @n_ss number of shared semaphores + * @n_as number of arbitrated semaphores + * @n_db doorbell count + * @n_si shared interrupt count + * @inited initialization status + * @inited suspend status across power gating states + */ +struct tegra_hsp_id { + struct tegra_hsp_conf const conf; + tegra_hsp_db_callback db_callback; + uint32_t db_base; + uint32_t ss_base; + uint32_t sie_mask; + struct hsp_sm sm[MAX_TEGRA_HSP_SM]; + uint8_t n_sm; + uint8_t n_ss; + uint8_t n_as; + uint8_t n_db; + uint8_t n_si; + bool inited; + bool suspended; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra.h b/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra.h new file mode 100644 index 0000000..5c91548 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/hsp/hsp-tegra.h @@ -0,0 +1,754 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HSP__HSP_TEGRA_H +#define HSP__HSP_TEGRA_H +#define FSP__HSP__HSP_TEGRA_H 1 + +/* Compiler headers */ +#include // for uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for FSP__OSPL__RTOS_PORT_H, rtosBool +#include // for error_t, FSP__ERROR__COMMON... + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file hsp-tegra.h + * @brief functions that provide access to various HSP registers. + */ + +/** @defgroup hsp HSP – Hardware Synchronization Primitives + * + * HSP is a simple hardware block for communication between CCPLEX and + * auxiliary processor. There are SoC-wide "top" HSP blocks and HSP + * blocks specific to their auxiliary processor (SCE, APE, RCE, SPE + * and BPMP). The Top1 and HSP blocks for auxiliary processors provide + * 5 shared interrupts (8 in Top1), 8 shared mailboxes and 4 shared + * semaphores. The Top0 HSP block also provide doorbells and + * arbitrated semaphores, but only 2 shared semaphores. + * + * Each hardware instance is represented by hardware interface + * descriptor with type struct tegra_hsp_id specifying the hardware + * resources (like base address and interrupt line number) specific to + * the hardware instance and its user. There can be multiple interface + * descriptors referring to the same hardware instance, for example, + * the mailboxes on AON HSP are used by multiple processors for the + * combined UART. + * + * The hardware interface descriptor has a configuration field represented + * by struct tegra_hsp_conf that is read-only. + * + * All driver methods are passed a pointer to the hardware interface + * descriptor as their first argument. + * + * If a driver method is provided an uninitialized hardware interface + * descriptor, invalid shared mailbox number or invalid shared + * semaphore number, the method is a no-op will not read or write to + * the hardware, unless otherwise specified. + * + * All argument pointers must be non-NULL unless otherwise specified. + * + * @par HSP Dimensioning + * + * Each HSP instance has a dimensioning register describing the HW + * layout of the device: + * - number of shared mailboxes + * - number of shared semaphores + * - number of arbitrated semaphores (no implementation in common driver) + * - number of doorbells + * - number of shared interrupts + * The address map of the HSP instances vary and the above information + * is used to calculate offsets to blocks inside the HSP address + * space. + * + * @par HSP Shared Interrupts + * + * One of the shared interrupts lines is connected directly to the + * interrupt controller of the auxiliary processor. The rest of the + * shared interrupt lines are connected to LIC (Legacy Interrupt + * Controller, intermediate interrupt controller that can deliver + * interrupts to either CCPLEX CPUs or any of the auxiliary CPUs. + * + * The shared interrupt can combine interrupts from multiple sources: + * shared mailboxes, doorbell and arbitrated semaphores. One interrupt + * line is exclusively owned by single entity (VM running on CCPLEX or + * auxiliary processor). + * + * @par HSP Shared Mailboxes + * + * The shared mailboxes are 32-bit wide registers with a very simple + * interrupt mechanism controlled by their most significant bit. + * Their simplest operating model is single writer/single reader. + * + * Each shared mailbox has the following resources: + * - A 32 bit register + * - Full and empty interrupts controlled by the value of the MSB. + * The MSB is interpreted as a Valid bit, so the full interrupt is + * the value of the MSB and the empty interrupt is the inverted + * value of the MSB. + * - Enable bits for full and empty interrupts + * + * @par HSP Shared Semaphores + * + * The shared semaphores are formed by three registers, each 32 bits wide: + * - A read-only register showing the current value of the semaphore + * - Two write-only registers to set and clear individual semaphore bits + * + * These semaphores can be used for synchronizing processors acting in + * a producer/consumer relationship, i.e. a pair of them can be used + * to implement either a two or four way handshake. Correct operation + * of the shared semaphores requires statically allocating an owner + * for each bit, as it is impossible to implement an atomic test and + * set (or similar operation) given the register interface. + * + * @{ + */ + +#define HSP_SM_TYPE_32 0UL +#define HSP_SM_TYPE_128 1UL +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Declaration for tegra_hsp_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +// IWYU pragma: no_forward_declare tegra_hsp_id +struct tegra_hsp_id; + +/** + * @brief HSP context saving structure + * + * Provides the context parameters to save and restore across power gating + * the hardware/SC7. Used in tegra_hsp_[suspend/resume](). + * + * @db_enable save the enable masters across power gating the HW + * @si_enable save the shared interrupt enable status + */ +struct tegra_hsp_suspend_ctx { + uint32_t db_enable; + uint32_t si_enable; +}; + +/** + * @brief HSP mailbox 128-bit descriptor + * + * Provides a data type for the 128-bit data for the wider mailboxes. + * + * @d0 data represeting 0-31 bits of the 128-bit data + * @d1 data represeting 32-63 bits of the 128-bit data + * @d2 data represeting 64-95 bits of the 128-bit data + * @d3 data represeting 96-127 bits of the 128-bit data + * @tag tag value to trigger the interrupt + */ +typedef struct { + uint32_t d0; + uint32_t d1; + uint32_t d2; + uint32_t d3; + uint32_t tag; +} hsp128_t; + +/** + * @brief HSP mailbox data field descriptor + * + * Provides a data type for the data field of the shared mailboxes. + * + * @data data field of the 128-bit mailbox + * @val data field of the 32 bit mailbox + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +typedef struct { + union { + hsp128_t data; + uint32_t val; + } sm; +} hsp_sm_data_t; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief HSP doorbell callback function + * + * This is used to define the callback function that can be + * supplied and is called when a doorbell irq occurs. + * + * @param[in] source id of the processor that raised the doorbell signal + * @param[in] higher_prio_task_woken required for task context switch + * + * @return none + */ +typedef void (*tegra_hsp_db_callback)(uint32_t source, + rtosBool *higher_prio_task_woken); + +/** + * @brief HSP mailbox callback function + * + * This is used to define the callback function that can be + * supplied and is called when a mailbox irq occurs. + * + * @param[in] data opaque data pointer for the callback + * @param[in] value pointer to the content of the shared mailbox + * + * @return none + */ +typedef void (*tegra_hsp_sm_callback)(void *data, + hsp_sm_data_t *value); + +/** + * @brief Initialize the HSP instance and setup doorbel callback + * + * @jama_func_req_id 12997720 + * + * This function initializes the HSP context for an instance, registers the + * callback for doorbell irq and enables the masters to raise the doorbell. + * + * @param[in] id HSP instance. + * @param[in] enabled_masters bit mask of the master ids that can raise the + * doorbell signal. valid masters are as follows: + * TEGRA_HSP_DB_MASTER_CCPLEX + * TEGRA_HSP_DB_MASTER_DPMU + * TEGRA_HSP_DB_MASTER_BPMP + * TEGRA_HSP_DB_MASTER_SPE + * TEGRA_HSP_DB_MASTER_SCE + * TEGRA_HSP_DB_MASTER_DMA + * TEGRA_HSP_DB_MASTER_TSECA + * TEGRA_HSP_DB_MASTER_TSECB + * TEGRA_HSP_DB_MASTER_JTAGM + * TEGRA_HSP_DB_MASTER_CSITE + * TEGRA_HSP_DB_MASTER_APE + * TEGRA_HSP_DB_MASTER_RCE + * TEGRA_HSP_DB_MASTER_NON_SECURE + * @param[in] callback callback that gets called from HSP DB irq handler. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_DB no doorbell support + * @retval E_HSP_ERR_INVALID_CALLBACK invalid doorbell callback + */ +error_t tegra_hsp_db_init(struct tegra_hsp_id *id, + uint32_t enabled_masters, + tegra_hsp_db_callback callback); + +/** + * @brief raise the doorbell signal for the target processor. + * + * @jama_func_req_id 10710297 + * + * This function raises the doorbell signal to the target processor. + * + * @pre the function tegra_hsp_db_init() has been called + * + * @param[in] id HSP instance. + * @param[in] target master ID of the target. valid targets are: + * TEGRA_HSP_DB_DPMU + * TEGRA_HSP_DB_CCPLEX + * TEGRA_HSP_DB_CCPLEX_TZ + * TEGRA_HSP_DB_BPMP + * TEGRA_HSP_DB_SPE + * TEGRA_HSP_DB_SCE + * TEGRA_HSP_DB_APE + * TEGRA_HSP_DB_RCE + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_DB no doorbell support + */ +error_t tegra_hsp_db_ring(const struct tegra_hsp_id *id, + uint32_t target); + +/** + * @brief enable the master ids that can raise doorbell signal + * + * @jama_func_req_id 10715379 + * + * This function enables the master ids that can raise a doorbell + * signal to the this target processor. + * + * @pre the function tegra_hsp_db_init() has been called + * + * @param[in] id HSP instance. + * @param[in] enabled_masters bit mask of the master ids that can raise the + * doorbell signal. Range: [0 - UINT16_MAX] + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_DB no doorbell support + */ +error_t tegra_hsp_db_enable_master(const struct tegra_hsp_id *id, + uint32_t enabled_masters); + +/** + * @brief disable the master ids that can raise doorbell signal + * + * @jama_func_req_id 10716165 + * + * This function disbles the master ids to prevent servicing doorbell + * signals from this. + * + * @pre the function tegra_hsp_db_init() has been called + * + * @param[in] id HSP instance. + * @param[in] disabled_masters bit mask of the master ids that are disabled from + * raising the doorbell signal. Range: [0- UNIT16_MAX]. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_DB no doorbell support + */ +error_t tegra_hsp_db_disable_master(const struct tegra_hsp_id *id, + uint32_t disabled_masters); + +/** + * @brief HSP doorbell irq handler. + * + * @jama_func_req_id 12999372 + * + * This function gets called whenever a remote processor has raised a doorbell + * signal for this master. + * + * @pre the function tegra_hsp_db_init() has been called + * + * @param[in] data pointer for HSP context. + * + * @return None + */ +void tegra_hsp_db_irq_handler(void *data); + +/** + * @brief HSP mailbox irq handler. + * + * @jama_func_req_id 12999352 + * + * This function gets called whenever a mailbox full/empty interrupt is + * triggered. + * + * @pre the function tegra_hsp_init() has been called + * + * @param[in] data pointer for HSP context. + * + * @return None + */ +void tegra_hsp_irq_handler(void *data); + +/** + * @brief save the HSP context across SC7 entry/power gating the hardware + * + * @jama_func_req_id 10707279 + * + * This function preserves the context such as the enabled doorbells and SIs + * across power gating the hardware(SC7). + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sctx A pointer to where the saved context can be stored. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + */ +error_t tegra_hsp_suspend(struct tegra_hsp_id *id, + struct tegra_hsp_suspend_ctx *sctx); + +/** + * @brief resume the HSP context across SC7 exit/unpower gating the hardware + * + * @jama_func_req_id 10707285 + * + * This function restores the context such as the enabled doorbells and SIs + * across power gating the hardware(SC7). + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sctx A pointer to where the saved context was previously stored. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + */ +error_t tegra_hsp_resume(struct tegra_hsp_id *id, + const struct tegra_hsp_suspend_ctx *sctx); + +/** + * @brief Initialize the HSP context + * + * @jama_func_req_id 10708482 + * + * This function initializes the HSP context for an instance, enables the + * HSP doorbell and shared mailbox interrupts. + * + * @param[in] id pointer to the HSP descriptor instance. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + */ +error_t tegra_hsp_init(struct tegra_hsp_id *id); + +/** + * @brief Enable HSP shared mailbox full interrupt. + * + * @jama_func_req_id 10709553 + * + * This function enables the HSP shared mailbox full interrupt. This function + * defaults to 32-bit shared mailbox types if the client has not explicitly + * called tegra_hsp_set_sm_type() to indicate the mailbox width. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] cb callback to be called on an IRQ. + * @param[in] data opaque data pointer for the callback. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_NO_INTR no HSP interrupt support + */ +error_t tegra_hsp_sm_full_enable(struct tegra_hsp_id *id, + uint32_t sm, + tegra_hsp_sm_callback cb, + void *data); + +/** + * @brief Disable HSP shared mailbox full interrupt. + * + * @jama_func_req_id 10709868 + * + * This function disables the HSP shared mailbox full interrupt. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_NO_INTR no HSP interrupt support + */ +error_t tegra_hsp_sm_full_disable(struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief Enable HSP shared mailbox empty interrupt. + * + * @jama_func_req_id 10709979 + * + * This function enables the HSP shared mailbox empty interrupt. This function + * defaults to 32-bit shared mailbox types if the client has not explicitly + * called tegra_hsp_set_sm_type() to indicate the mailbox width. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] cb callback to be called on an IRQ. + * @param[in] data opaque data pointer for the callback. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_NO_INTR no HSP interrupt support + */ +error_t tegra_hsp_sm_empty_enable(struct tegra_hsp_id *id, + uint32_t sm, + tegra_hsp_sm_callback cb, + void *data); + +/** + * @brief Disable HSP shared mailbox empty interrupt. + * + * @jama_func_req_id 10710072 + * + * This function disables the HSP shared mailbox empty interrupt. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_NO_INTR no HSP interrupt support + */ +error_t tegra_hsp_sm_empty_disable(struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief write to the HSP shared mailbox register with TAG bit + * + * @jama_func_req_id 10708650 + * + * This function writes the mailbox register with the specified value in + * the data field and sets the TAG bit. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] value value to be written to the data field. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_INVALID_DATA if 0xDEAD1001 is written due to HW bug 200395605 + */ +error_t tegra_hsp_sm_produce(const struct tegra_hsp_id *id, + uint32_t sm, + uint32_t value); + +/** + * @brief read the HSP shared mailbox by clearing the contents + * + * @jama_func_req_id 10708695 + * + * This function returns the data field of the shared mailbox register + * by clearing the contents of it. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] data pointer to where the mailbox data field is written to. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_EMPTY_MBOX mailbox tag field is empty + */ +error_t tegra_hsp_sm_consume(const struct tegra_hsp_id *id, + uint32_t sm, + uint32_t *data); + +/** + * @brief read the HSP shared mailbox without clearing it + * + * @jama_func_req_id 10709247 + * + * this function fetches the data field of the mailbox register + * without modifying its contents. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] data pointer to where the mailbox data field is written to. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_EMPTY_MBOX mailbox tag field is empty + */ +error_t tegra_hsp_sm_peek(const struct tegra_hsp_id *id, + uint32_t sm, + uint32_t *data); + +/** + * @brief clear contents of the shared mailbox register + * + * @jama_func_req_id 10709412 + * + * This function clears the contents of the shared mailbox register. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + */ +error_t tegra_hsp_sm_vacate(const struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief 128-bit shared mailbox irq handler + * + * @jama_func_req_id 10709412 + * + * This function serves as the 128-bit shared mailbox irq handler and is + * called from the main HSP irq handler. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * + * @return none + */ +void tegra_hsp_sm128_irq_handler(const struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief check if mailbox is empty or not + * + * @jama_func_req_id 10709223 + * + * This function indicates whether the mailbox is empty or not. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index to which data has to be written. + * Range: [0- MAX SM INDEX of the instance] + * + * @retval True indicates that the mailbox is empty + * @retval False indicates that the mailbox is not empty + */ +bool tegra_hsp_sm_is_empty(const struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief read the contents of the shared semaphore register + * + * @jama_func_req_id 10701256 + * + * This function returns the current value of the shared semaphore register. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared semaphore index to which data has to be written. + * Range: [0- MAX SS INDEX of the instance] + * @param[in] value A pointer to where the read value should be returned in. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_SHRD_SMPHR invalid shared semaphore index + */ +error_t tegra_hsp_ss_read(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t *value); + +/** + * @brief set specific bits in a shared semaphore register + * + * @jama_func_req_id 10701259 + * + * This function sets the bits specified by the data parameter in + * the shared semaphore. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared semaphore index to which data has to be written. + * Range: [0- MAX SS INDEX of the instance] + * @param[in] data Specify the bits to be set in the semaphore. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_SHRD_SMPHR invalid shared semaphore index + */ +error_t tegra_hsp_ss_set(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t data); + +/** + * @brief clear specific bits in a shared semaphore register + * + * @jama_func_req_id 10707267 + * + * This function clears the bits specified by the data parameter in + * the shared semaphore register. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared semaphore index to which data has to be written. + * Range: [0- MAX SS INDEX of the instance] + * @param[in] data Specify the bits to be cleared in the semaphore. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_SHRD_SMPHR invalid shared semaphore index + */ +error_t tegra_hsp_ss_clear(const struct tegra_hsp_id *id, + uint32_t index, + uint32_t data); + +/** + * @brief Return number of shared mailboxes supported by hardware. + * + * @jama_func_req_id 12999380 + * + * @param[in] id Pointer to hardware interface descriptor + * + * @return Number of shared mailboxes. + * + * @note An uninitialized @a id is accepted. + */ +uint32_t tegra_hsp_sm_count(const struct tegra_hsp_id *id); + +/** + * @brief Return number of shared semaphores supported by hardware. + * + * @jama_func_req_id 12999420 + * + * @param[in] id Pointer to hardware interface descriptor + * + * @return Number of shared semaphores. + * + * @note An uninitialized @a id is accepted. + */ +uint32_t tegra_hsp_ss_count(const struct tegra_hsp_id *id); + +/** + * @brief Return number of doorbells supported by hardware. + * + * @jama_func_req_id 12999432 + * + * @param[in] id Pointer to hardware interface descriptor + * + * @return Number of doorbells. + * + * @note An uninitialized @a id is accepted. + */ +uint32_t tegra_hsp_db_count(const struct tegra_hsp_id *id); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/hsp/sections-hsp.h b/spe-freertos-bsp/fsp/source/include/hsp/sections-hsp.h new file mode 100644 index 0000000..569d1e3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/hsp/sections-hsp.h @@ -0,0 +1,94 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HSP__SECTIONS_HSP_H +#define HSP__SECTIONS_HSP_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_HSP_DATA SECTION_BUILDER(hsp, data) +#define SECTION_NAME_HSP_RODATA SECTION_BUILDER(hsp, rodata) +#define SECTION_NAME_HSP_TEXT SECTION_BUILDER(hsp, text) +#define SECTION_NAME_HSP_INIT_DATA SECTION_BUILDER(init.hsp, data) +#define SECTION_NAME_HSP_INIT_TEXT SECTION_BUILDER(init.hsp, text) + +#define SECTION_STR_HSP_TEXT STR(SECTION_NAME_HSP_TEXT) +#define SECTION_STR_HSP_RODATA STR(SECTION_NAME_HSP_RODATA) +#define SECTION_STR_HSP_DATA STR(SECTION_NAME_HSP_DATA) +#define SECTION_STR_HSP_INIT_TEXT STR(SECTION_NAME_HSP_INIT_TEXT) +#define SECTION_STR_HSP_INIT_DATA STR(SECTION_NAME_HSP_INIT_DATA) + +#define SECTION_HSP_TEXT SECTION(SECTION_STR_HSP_TEXT) +#define SECTION_HSP_RODATA SECTION(SECTION_STR_HSP_RODATA) +#define SECTION_HSP_DATA SECTION(SECTION_STR_HSP_DATA) +#define SECTION_HSP_INIT_TEXT SECTION(SECTION_STR_HSP_INIT_TEXT) +#define SECTION_HSP_INIT_DATA SECTION(SECTION_STR_HSP_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c-async.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c-async.h new file mode 100644 index 0000000..90eb26d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c-async.h @@ -0,0 +1,110 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef I2C__I2C_ASYNC_H +#define I2C__I2C_ASYNC_H +#define FSP__I2C__I2C_ASYNC_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** @file i2c-async.h */ + +/** + * @brief Start the Asynchronous i2c transfer + * + * Start an i2c transfer and return the control to the caller. Once the i2c + * controller initiates the transfer, tegra_i2c_irq_handler() handles the rest + * of the transfer and calls the callback function provided as input to this API. + * The current i2c async transfers support only read or write. + * Multiple/Mixed reads and writes is not supported. + * Imp - i2c_start_async_xfer enables the clocks for the i2c xfer. It is FW's + * responsibility to call i2c_finish_async_xfer to disable the clocks. The unwanted + * power drawn if i2c_finish_async_xfer is not called is not in the scope of this API. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] msgs Pointer to I2C messages containing the list of + * message to be transferred. + * @param[in] num_msgs Number of messages in the msgs parameter. + * @param[in] client_data Pointer to client-specific data + * @param[in] async_cb Callback pointer to be called when xfer is completed. + * @retval E_SUCCESS I2C transfer initiated successfully. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 500 Bytes.
+ * T234 - allowed size of transfer is 65535 Bytes. + * @retval carry_return Returns error returned by appfw_mutex_acquire(). + * @retval E_INVALID_OPS Invalid i2c_hw_ops::start_async_xfer is assigned in + * tegra handle. + * @retval carry_return Returns error returned by + * i2c_hw_ops::start_async_xfer function. + * @retval carry_return Returns error returned by appfw_mutex_release(). + */ +error_t i2c_start_async_xfer(const struct i2c_handle *hi2c, + struct i2c_xfer_msg *msgs, uint32_t num_msgs, + void *client_data, i2c_async_callback async_cb); + +/** + * @brief Finish the Asynchronous i2c transfer + * + * FW calls this API to complete the transaction. In case the transfer returns error, + * the api handles error handling and disables the clocks. In case of successful + * transfers, only the clocks are disabled. + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] xfer_ret Return value from the i2c transfer. + * @retval E_SUCCESS I2C transfer completed successfully. + * @retval E_INVALID_OPS Invalid i2c_hw_ops::finish_async_xfer is assigned in + * tegra handle. + * @retval carry_return Returns error returned by + * i2c_hw_ops::finish_async_xfer function.. + * @retval carry_return Returns error returned by appfw_mutex_release(). + */ +error_t i2c_finish_async_xfer(const struct i2c_handle *hi2c, error_t xfer_ret); + +/** + * @brief Get the state of I2C transfer. + * + * Return I2C transfer status. Status variables defined at "I2C Xfer status". + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[out] state refer "I2C HW xfer status" macros for the return values. + * @param[out] msgs_xfered Number of msgs transferred. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval carry_return Returns error returned by tegra_i2c_get_xfer_state(). + * @retval E_SUCCESS Transfer status is successfully read. + */ +error_t i2c_get_xfer_state(const struct i2c_handle *hi2c, uint32_t *state, + uint32_t *msgs_xfered); +#endif diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c-config.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c-config.h new file mode 100644 index 0000000..7aea841 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c-config.h @@ -0,0 +1,166 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef I2C__I2C_CONFIG_H +#define I2C__I2C_CONFIG_H +#define FSP__I2C__I2C_CONFIG_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** @file i2c-config.h */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +/** + * @defgroup I2C_SUPPORTED_CLKS Clock rate macros + * @brief Defines for clock rates corresponding to i2c modes + * @{ + */ +/** Standard Mode */ +#define I2C_CLK_RATE_SM 100000U +/** Fast Mode */ +#define I2C_CLK_RATE_FM 400000U +/** Fast Mode + */ +#define I2C_CLK_RATE_FMPLUS 1000000U +/** High Speed Mode */ +#define I2C_CLK_RATE_HS 3400000U +/** @} */ + +// IWYU pragma: no_forward_declare i2c_xfer_msg +struct i2c_handle; +struct i2c_xfer_msg; +struct i2c_config_data; + +#ifdef I2C_ASYNC_XFER +/** + * Define callback function type for transfer completion. + */ +typedef void (*i2c_async_callback)(void *i2c_client_data, + error_t xfer_ret); +#endif +/** + * @struct i2c_config_data + * @brief I2C controller and bus configuration data. + * + * @{ + */ +struct i2c_config_data +{ +/** + * Controller clock rate in Hz.
+ * Valid range - <100000, 4294967295> + */ + uint32_t ctrl_clk_rate; +/** + * Bus clock rate in Hz.
+ * Standard Mode - 100000
+ * Fast Mode - 400000
+ * Fast Mode Plus - 1000000 + */ + uint32_t bus_clk_rate; +#ifdef CUSTOM_TIMING_PARAMS +/** + * Interface timing prod setting parameter in us.
+ * Valid ranges:
+ * Standard Mode - <4, 4294967295>
+ * Fast Mode - <0, 4294967295>
+ * Fast Mode Plus - <0, 4294967295> + */ + uint32_t thigh; +/** + * Interface timing prod setting parameter in us.
+ * Valid Ranges:
+ * Standard Mode - <4, 4294967295>
+ * Fast Mode - <0, 4294967295>
+ * Fast Mode Plus - <0, 4294967295> + */ + uint32_t tlow; +#endif +/** + * High speed master code.
+ * Valid range - <0, 4294967295> + */ + uint32_t hs_master_code; +}; +/** @} */ + +/** + * @struct i2c_handle + * @brief Contains all relevant data for an i2c controller. + * + * @{ + */ +struct i2c_handle +{ +/** ID of the controller. */ + uint32_t ctrl_id; +/** Function pointers for HW operations */ + struct i2c_hw_ops *hw_ops; +/** Configuration data specific to the HW */ + struct i2c_tegra_handle *hi2c_tegra; +/** State variable for pre-init sequence */ + bool pre_init_done; +/** + * State of controller
+ * Enabled - True
+ * Disabled - False + */ + bool enabled; +}; +/** @} */ + +/** + * @struct i2c_xfer_msg + * @brief I2C transfer message structure contains the message information - + * slave address, transfer flags, message data buffer and message length. + * + * @{ + */ +struct i2c_xfer_msg +{ +/** Slave address. It can be 7-bit or 10-bit address. */ + uint16_t dev_addr; +/** + * Transfer flags. Multiple transfer flags can be combined with OR + * operation. Check - SW Defined I2C Transfer flags section. + */ + uint16_t xfer_flags; +/** + * Length of the message.
+ * Valid range - <1, 512> + */ + uint16_t buf_len; +/** Pointer to read message buffer. */ + uint8_t *prbuf; +/** Pointer to write message buffer. */ + const uint8_t *pwbuf; +}; +/** @} */ + +#endif /* FSP_I2C_I2C_CONFIG_H */ diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c-errors.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c-errors.h new file mode 100644 index 0000000..2a63cbd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c-errors.h @@ -0,0 +1,112 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef I2C__I2C_ERRORS_H +#define I2C__I2C_ERRORS_H +#define FSP__I2C__I2C_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/** @file i2c-errors.h */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif + +/** + * @defgroup I2C_ERRORS Error IDs for I2C specific failures + * + * @brief Defines I2C unit specific errors. + * @{ + */ +/** Arbitration error happened during data transfer. */ +#define E_I2C_ARB_LOST MODULE_ERROR(I2C, 1UL) +/** Slave device has not acknowledged the transfer. */ +#define E_I2C_NACK MODULE_ERROR(I2C, 2UL) +/** IO error happened during I2C function execution. */ +#define E_I2C_IO MODULE_ERROR(I2C, 3UL) +/** HW specific operations are invalid. */ +#define E_I2C_INVALID_OPS MODULE_ERROR(I2C, 4UL) +/** RX Fifo underflow during a transaction. */ +#define E_I2C_RX_FIFO_UNDERFLOW MODULE_ERROR(I2C, 5UL) +/** TX Fifo overflow during a transaction. */ +#define E_I2C_TX_FIFO_OVERFLOW MODULE_ERROR(I2C, 6UL) +/** msg complete signal failed. */ +#define E_I2C_EVENT_SIGNAL_FAIL MODULE_ERROR(I2C, 7UL) +/** I2C SCL HW bus line is busy. */ +#define E_I2C_SCL_BUSY MODULE_ERROR(I2C, 8UL) +/** I2C SDA HW bus line is busy. */ +#define E_I2C_SDA_BUSY MODULE_ERROR(I2C, 9UL) +/** I2C HW bus line is busy. Transaction in progress. */ +#define E_I2C_BUS_BUSY MODULE_ERROR(I2C, 10UL) +/** Stale data present in FIFOs */ +#define E_I2C_FIFO_STATUS MODULE_ERROR(I2C, 11UL) +/** Stale interrupt from previous transfer */ +#define E_I2C_STALE_INT MODULE_ERROR(I2C, 12UL) +/** Transfer complete IRQ before actual data transfer */ +#define E_I2C_XFER_COMPLETE MODULE_ERROR(I2C, 13UL) +/** SW mismatch in data length and data buffer */ +#define E_I2C_RX_FIFO_ERROR MODULE_ERROR(I2C, 14UL) +/** @} */ + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c-hw-ops.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c-hw-ops.h new file mode 100644 index 0000000..de0948c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c-hw-ops.h @@ -0,0 +1,263 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef I2C__I2C_HW_OPS_H +#define I2C__I2C_HW_OPS_H +#define FSP__I2C__I2C_HW_OPS_H 1 + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON_ERRORS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for i2c_tegra_handle, FSP__I2C__I2C_TEGRA_H + +/** @file i2c-hw-ops.h */ +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** + * @defgroup I2C_HW_OPS_TYPEDEFS Typedefs for i2c hw functions. + * @{ + */ +#ifdef I2C_ASYNC_XFER +/** + * @brief Start async data transfer over the I2C bus. + * + * Function pointer to the function which implements the data transfer over the + * bus asynchronous. The data to be transfer is passed as a parameter to this + * function. + * + * @pre tegra_i2c_init() must be called before calling this function. Else, + * hwops structure is not initialized and api returns E_INVALID_OPS. + * + * @param[in] hi2c_tegra Pointer to the HW I2C handle which is returned from + * tegra_i2c_init(). + * @param[in] msgs Pointer to I2C messages containing the list of + * messages to be transferred. + * @param[in] num_msgs Number of messages in the msgs parameter. + * @param[in] client_data Client data to be passed for the callback function. + * @param[in] async_cb Callback function to be called when xfer is complete. + * @retval E_SUCCESS Data transfer on the bus is successfully completed. + * @retval E_INVALID_STATE Data transfer failed as bus is in suspended state. + * @retval carry_return Return value from appfw_clk_enable() in port layer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval E_I2C_IO IO error happened during data transfer. + */ +typedef error_t (*i2c_hw_start_async_xfer)(struct i2c_tegra_handle *hi2c, + struct i2c_xfer_msg *msgs, + uint32_t num_msgs, void *client_data, + i2c_async_callback async_cb); + +/** + * @brief Finish async data transfer over the I2C bus. + * + * Function pointer to the function which completes the data transfer over the + * bus. The return value provided by callback pointer is passed as input to + * current API. + * + * @pre tegra_i2c_init() must be called before calling this function. Else, + * hwops structure is not initialized and api returns E_INVALID_OPS. + + * i2c_hw_start_async_xfer should be called and the return value passed via the + * callback pointer should be passed as input to current API. + * + * @param[in] hi2c_tegra Pointer to the HW I2C handle which is returned from + * tegra_i2c_init(). + * @param[in] xfer_ret Return value provided by the async_cb callback + * function. + * @retval E_SUCCESS Data transfer on the bus is successfully completed. + * @retval E_INVALID_STATE Data transfer failed as bus is in suspended state. + * @retval carry_return Return value from appfw_clk_enable() in port layer. + * @retval carry_return Return value from appfw_clk_reset_pulse() in port layer. + * @retval carry_return Return value from appfw_configure_ctrl_clk_rate() in + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval E_I2C_IO IO error happened during data transfer. + */ +typedef error_t (*i2c_hw_finish_async_xfer)( + const struct i2c_tegra_handle *hi2c_tegra, + error_t xfer_ret); +#endif + +/** + * @typedef i2c_hw_xfer + * @brief Do data transfer over the I2C bus. + * + * Function pointer to the function which implements the data transfer over the + * bus. The data to be transfer is passed as a parameter to this function. + * + * @pre tegra_i2c_init() must be called before calling this function. Else, + * hwops structure is not initialized and api returns E_INVALID_OPS. + * + * @param[in] hi2c_tegra Pointer to the HW I2C handle which is returned from + * tegra_i2c_init(). + * @param[in] msgs Pointer to I2C messages containing the list of + * messages to be transferred. + * @param[in] num_msgs Number of messages in the msgs parameter. + * @param[in] timeout Maximum time to be allow to complete the transfer in + * microseconds. + * If data transfer is not completed in this stipulated + * time, data transfer is aborted and returned to the + * caller as E_TIMEOUT. If client can wait forever, 0 + * is to be passed. + * @retval E_SUCCESS Data transfer on the bus is successfully completed. + * @retval E_INVALID_STATE Data transfer failed as bus is in suspended state. + * @retval carry_return Return value from appfw_clk_enable() in port layer. + * @retval carry_return Return value from appfw_clk_reset_pulse() in port layer. + * @retval carry_return Return value from appfw_configure_ctrl_clk_rate() in + * port layer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 125 words. + * @retval E_TIMEOUT Possible reasons:
+ * * Data transfer is not completed in given time.
+ * * Flush FIFOs failed due to timeout.
+ * * Failed to load config register.
+ * Transfer is aborted. In this case, the function + * cleans the residuals FIFOs and gets ready for next + * transfer. + * @retval E_I2C_ARB_LOST Arbitration error happened during data transfer on + * bus and transfer aborted. + * @retval E_I2C_NACK Device has not acknowledged the transfer. + * @retval E_I2C_IO IO error happened during data transfer. + * @retval E_I2C_TX_FIFO_OVERFLOW HW Transfer fifo overflow during the transfer. + * @retval E_I2C_RX_FIFO_UNDERFLOW HW Receive fifo underflow during the transfer. + * @retval carry_return Return value from appfw_clk_disable() in port layer. + */ +typedef error_t (*i2c_hw_xfer)(struct i2c_tegra_handle *hi2c_tegra, + struct i2c_xfer_msg *msgs, + uint32_t num_msgs, uint32_t timeout); + +/** + * @typedef i2c_hw_suspend + * @brief Suspend the I2C bus and controller. + * + * Suspend the I2C bus and controller. After this call, no data transfer is + * possible on the bus until it is resumed by calling i2c_hw_resume(). + * + * @pre tegra_i2c_init() must be called before calling this function. Else, + * hwops structure is not initialized and api returns E_INVALID_OPS. + * + * @param[in] hi2c_tegra Pointer to HW I2C handle which is returned from + * tegra_i2c_init(). + * @retval E_SUCCESS Bus and controller are successfully suspended for + * any further transfers. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval E_INVALID_STATE Bus is already in the suspended state. + * @retval E_I2C_IO IO error happened during bus suspend. + */ +typedef error_t (*i2c_hw_suspend)(struct i2c_tegra_handle *hi2c_tegra); + +/** + * @typedef i2c_hw_resume + * @brief Resume the I2C bus and controller. + * + * Resume the I2C bus and controller. After this call, the bus is resumed for + * new data transfer which was suspended after call i2c_hw_suspend(). + * + * @pre The function tegra_i2c_init() must be called before this function. Else, + * hwops structure is not initialized and api returns E_INVALID_OPS. Also the + * function i2c_hw_suspend() must be called for the bus to be in suspended state. + * + * @param[in] hi2c_hw Pointer to I2C handle which is returned from + * tegra_i2c_init(). + * @retval E_SUCCESS Bus and controller are successfully resumed for + * further transfers. + * @retval E_INVALID_PARAM Invalid handle is passed to the function. + * @retval E_INVALID_STATE Bus is not in suspended state and trying to resume. + * @retval E_I2C_IO IO error happened during bus resume. + */ +typedef error_t (*i2c_hw_resume)(struct i2c_tegra_handle *hi2c_tegra); + +/** + * @typedef i2c_get_bus_status + * @brief Get the state of I2C bus HW. + * + * Return if the SCL, SDA or BUS is busy or not. + * + * @pre tegra_i2c_init() must be called before calling this function. Else, + * hwops structure is not initialized and api returns E_INVALID_OPS. + * + * @param[in] hi2c_tegra Pointer to HW I2C handle which is returned from + * tegra_i2c_init(). + * @param[out] status refer "I2C HW bus status" macros for the return values. + * @retval E_SUCCESS Bus HW status is successfully read. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T19x - allowed size of transfer is 500 bytes.
+ * T23x - allowed size of transfer is 65535 bytes. + * @retval E_INVALID_OPS Invalid resume hw_ops is assigned in tegra handle. + */ +typedef error_t (*i2c_get_bus_status)(const struct i2c_tegra_handle *hi2c_tegra, + uint32_t *state); +/** @} */ + +/** + * @struct i2c_hw_ops + * @brief Structure for hw specific functions. + * + * This structure contains the function pointers for HW specific functions. The + * functions are implemented in HW specific I2C driver and the APIs are exported + * via this structure. The client of this driver needs to use the HW ops for the + * required functionalities. + * + * @{ + */ +struct i2c_hw_ops +{ +/** Function pointer to do data transfer on I2C bus. */ + i2c_hw_xfer xfer; +#ifdef I2C_ASYNC_XFER +/** Function pointer to start data transfer asynchronously on I2C bus. */ + i2c_hw_start_async_xfer start_async_xfer; +/** Function pointer to stop data transfer asynchronously on I2C bus. */ + i2c_hw_finish_async_xfer finish_async_xfer; +#endif +/** + * Function pointer to suspend the controller and bus. The HW driver calls this + * function to suspend the controller and stop further transfers until it is + * resumed. + */ + i2c_hw_suspend suspend; +/** + * Function pointer to resume the controller and bus. The HW driver calls this + * function to resume the controller and start data transfers on the bus. + */ + i2c_hw_resume resume; + i2c_get_bus_status get_bus_state; +}; +/** @} */ + +#endif /* I2C__I2C_HW_OPS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c-tegra-async.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c-tegra-async.h new file mode 100644 index 0000000..d46e76a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c-tegra-async.h @@ -0,0 +1,131 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef I2C__I2C_TEGRA_ASYNC_H +#define I2C__I2C_TEGRA_ASYNC_H +#define FSP__I2C__I2C_TEGRA_ASYNC_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** @file i2c-tegra-async.h */ + +/* Internal functions between i2c-tegra.c and i2c-tegra-async.c */ +/** + * @addtogroup I2C_TEGRA_INTERNAL_APIS + * @{ + */ +/** + * @brief Enable clocks for the I2C controller. + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval E_INVALID_STATE Controller in suspended state. + * @retval carry_return Returns error returned by appfw_clk_enable() + */ +error_t tegra_i2c_acquire(const struct i2c_tegra_handle *hi2c_tegra); + +/** + * @brief Disable clocks for the I2C controller. + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval carry_return Return error returned by appfw_clk_disable() + */ +error_t tegra_i2c_release(const struct i2c_tegra_handle *hi2c_tegra); + +/** + * @brief Initialize the HW controller. + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval carry_return Return error returned by appfw_clk_reset_pulse() + * @retval carry_return Return error returned by tegra_i2c_clock_conf() + * @retval carry_return Return error returned by tegra_i2c_conf() + */ +error_t tegra_i2c_hw_init(const struct i2c_tegra_handle *hi2c_tegra); + +/** + * @brief Checks if the input msgs for transfer are valid. + * + * @param[in] msgs messages requested to be transferred. + * @param[in] num number of messages being transferred. + * @retval E_SUCCESS messages are valid for being transferred. + * @retval E_INVALID_PARAM Invalid message parameters + */ +error_t tegra_i2c_validate_msgs(const struct i2c_xfer_msg *msgs, uint32_t num); + +/** + * @brief Transfer a message on the i2c bus. + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] this current message being transferred. + * @param[in] next next message to be transferred. + * @retval 64_bit time for the message transfer to be initiated on the HW bus. + */ +uint64_t tegra_i2c_xfer_one_msg(struct i2c_tegra_handle *hi2c_tegra, + const struct i2c_xfer_msg *this, const struct i2c_xfer_msg *next); + +/** + * @brief Check that i2c controller is at expected state before xfer is attempted + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @retval E_SUCCESS HW is ready to start transfer. + * @retval E_I2C_FIFO_STATUS FIFOS not empty. + * @retval E_I2C_STALE_INT Pending interrupts from previous transfer. + */ +error_t tegra_i2c_check_state(const struct i2c_tegra_handle *hi2c_tegra); + +/** + * @brief Return i2c transfer state machine variable. + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[out] msgs_xfered number of messages transferred till now. + * @retval 32_bit_value status value as defined in I2C_XFER_STATUS + */ +uint32_t tegra_i2c_get_xfer_state(const struct i2c_tegra_handle *hi2c_tegra, + uint32_t *msgs_xfered); + +/** + * @brief Tegra implementation for i2c_start_async_xfer + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] msgs Pointer to I2C messages containing the list of + * message to be transferred. + * @param[in] num_msgs Number of messages in the msgs parameter. + * @param[in] client_data Pointer to client-specific data + * @param[in] async_xfer_cb Callback pointer to be called when xfer is completed. + * @retval E_SUCCESS I2C transfer initiated successfully. + * @retval carry_return Return error from tegra_i2c_acquire(). + * @retval carry_return Return error from tegra_i2c_check_state(). + * @retval carry_return Return error from tegra_i2c_validate_msgs(). + */ +error_t tegra_i2c_start_async_xfer(struct i2c_tegra_handle *hi2c_tegra, + struct i2c_xfer_msg *msgs, uint32_t num_msgs, + void *client_data, i2c_async_callback async_xfer_cb); + +/** + * @brief Tegra implementation for i2c_finish_async_xfer + * + * @param[in] hi2c_tegra i2c_tegra_handle corresponding to the controller. + * @param[in] xfer_ret Return value from the i2c transfer. + * @retval E_SUCCESS I2C transfer initiated successfully. + * @retval carry_return Return error from tegra_i2c_hw_init(). + * @retval carry_return Return error from tegra_i2c_release(). + */ +error_t tegra_i2c_finish_async_xfer(const struct i2c_tegra_handle *hi2c_tegra, + error_t xfer_ret); +/** @} */ + +#endif /* FSP_I2C_I2C_TEGRA_ASYNC_H */ diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c-tegra.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c-tegra.h new file mode 100644 index 0000000..f741815 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c-tegra.h @@ -0,0 +1,203 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef I2C__I2C_TEGRA_H +#define I2C__I2C_TEGRA_H +#define FSP__I2C__I2C_TEGRA_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/** @file i2c-tegra.h */ +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** + * @defgroup I2C_XFER_FLAGS Flags for I2C transfer + * @brief Defines for I2C transfer flags constants. + * + * @{ + */ +/** This flag tells that given transfer is read type i.e master reads data from slave. */ +#define I2C_XFER_FLAG_RD BIT(0) +/** This flag tells that slave address is 10-bit address. */ +#define I2C_XFER_FLAG_TEN BIT(1) +/** This flag tells that data transfer happens without repeat start. */ +#define I2C_XFER_FLAG_NOSTART BIT(2) +/** This flag tells that transfer will continue even if there no ACK from slave. */ +#define I2C_XFER_FLAG_IGNORE_NAK BIT(3) +/** @} */ + +#define I2C_PKT_XFER_MAX_BYTES 500U +#define I2C_FIFO_MAX_SIZE_W 128U +#define I2C_PACKET_HEADER_SIZE_W 3U +#define WORD_TO_BYTES 4U + +// IWYU pragma: no_forward_declare i2c_hw_ops +struct i2c_tegra_handle; +struct i2c_hw_ops; + +/** + * @struct i2c_tegra_handle + * @brief tegra specific controller data + * + * @{ + */ +struct i2c_tegra_handle +{ +/** Controller id */ + uint32_t ctrl_id; +/** HW specific data which is considered const throughout the unit. */ + const struct i2c_hw_handle *hi2c_hw; +/** Configurable parameters(Clock and HW timing). */ + const struct i2c_config_data *pi2c_config; +/** STate variable for pre-init sequence */ + bool pre_init_done; + + /* used at runtime */ +/** suspended state - True; Resumed - False */ + bool is_suspended; +/** initialized state - True; Uninitialized - False */ + bool is_initialized; + + /* transfer specific data */ +/** messages being transferred */ + struct i2c_xfer_msg *msgs; + uint32_t num_msgs; +/** bytes remaining to transfer */ + uint32_t bytes_to_xfer; +/** Status of the current transfer among -
+ * I2C_XFER_REQUESTED
+ * I2C_XFER_STARTED
+ * I2C_XFER_IN_PROGRESS
+ * I2C_XFER_COMPLETED + */ + uint32_t xfer_status; +/** return value from the irq handler */ + error_t isr_ret; +/** State variable to decide ending transfer */ + bool end_xfer; +/** message index for current message being transferred */ + uint32_t msg_index; +/** msg buffer index for read transfer */ + uint32_t rx_index; +/** msg buffer index for write transfer */ + uint32_t tx_index; +#ifdef I2C_ASYNC_XFER + bool is_async_xfer; + i2c_async_callback async_xfer_cb; + void *client_data; +#endif +}; +/** @} */ + +/** + * @brief Initialize Tegra I2C controller OS Resources. + * + * This function implements the Tegra I2C controller specific OS resources + * initialization. This function gets the configuration data from the static + * data in i2c-port.c. If config data is null, corresponding error is returned. + * Sets pre_init_done to true upon successful pre-init. + * + * @param[in] ctrl_id I2C Controller ID which need to be initialized. + * The client needs to get the controller ID of + * required I2C bus from i2c-tegra.c. + * @param[out] hi2c_tegra Pointer of tegra I2C handle structure where + * tegra specific parameters for an i2c controller + * are stored. + * @retval E_SUCCESS Initialization of controller is successful + * @retval E_INVALID_CONFIG Null configuration data in i2c-port.c. + * @retval E_INVALID_PARAM Input parameter is invalid. + */ +error_t tegra_i2c_pre_init(uint32_t ctrl_id, struct i2c_tegra_handle *hi2c_tegra); + +/** + * @brief Initialize Tegra I2C controller + * + * This function implements the Tegra I2C controller specific initialization. + * This function gets the configuration data from the static data in i2c-port.c + * If config data is null, corresponding error is returned. + * Calls tegra_i2c_pre_init internally if pre_init_done not true. + * + * @param[in] ctrl_id I2C Controller ID which need to be initialized. + * The client needs to get the controller ID of + * required I2C bus from i2c-tegra.c. + * @param[out] hi2c_tegra Pointer of tegra I2C handle structure where + * tegra specific parameters for an i2c controller + * are stored. + * @param[out] hw_ops Pointer to Pointer of structure of I2C HW + * operations. The HW specific controller driver + * needs to update this structure. I2C core will + * use these HW functions to access the bus and + * configure the controller. + * @retval E_SUCCESS Initialization of controller is successful + * @retval E_INVALID_CONFIG Null configuration data in i2c-port.c. + * @retval E_INVALID_PARAM Input parameter is invalid. + * @retval E_TIMEOUT Possible reasons:
+ * * Flush Fifos failed due to timeout.
+ * * Failed to load config register. + */ +error_t tegra_i2c_init(uint32_t ctrl_id, struct i2c_tegra_handle *hi2c_tegra, + struct i2c_hw_ops **hw_ops); + +/** + * @brief Interrupt handler for the I2C controller + * + * This function is used to implement the I2C interrupt handler. This function + * is called from the R5 ISR handler when I2C controller raises an interrupt. + * In case the FW uses threaded IRQs feature, THREADED_IRQS feature needs to + * defined. The FW needs to define the thread supposed to woken in case of the + * interrupt. + * The I2C controller raises the interrupt for the following reasons: + * + * - Space in Tx FIFO + * - Data available in Rx FIFO + * - Current Packet transfer completed. + * - All Packet transfer completed. + * - All Packets transfer Completed + * + * @param[in] ctrl_id Controller Id for which the interrupt is raised. This is + * provided when interrupt is setup. + */ +void tegra_i2c_irq_handler(uint32_t ctrl_id); + +#endif /* FSP_I2C_I2C_TEGRA_H */ diff --git a/spe-freertos-bsp/fsp/source/include/i2c/i2c.h b/spe-freertos-bsp/fsp/source/include/i2c/i2c.h new file mode 100644 index 0000000..7c3fdd5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/i2c.h @@ -0,0 +1,426 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef I2C__I2C_H +#define I2C__I2C_H +#define FSP__I2C__I2C_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* Config based headers */ +#ifdef CONFIG_I2C_ENABLE_PRINTS +#include +#endif + +/** @file i2c.h */ +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +#ifdef CONFIG_I2C_ENABLE_PRINTS +#define i2c_pr_error dbg_printf +#define i2c_pr_info dbg_printf +#ifdef CONFIG_I2C_ENABLE_DEBUG +#define i2c_pr_debug dbg_printf +#else +#define i2c_pr_debug(...) +#endif +#else +#define i2c_pr_debug(...) +#define i2c_pr_info(...) +#define i2c_pr_error(...) +#endif + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** + * @defgroup I2C_XFER_STATUS Macros for transfer status + * @brief Defines to interpret the xfer status return from i2c_get_xfer_state api. + * + * @{ + */ +/** I2C transfer API invoked. */ +#define I2C_XFER_REQUESTED BIT(0) +/** I2C transfer packet header written to FIFO. */ +#define I2C_XFER_STARTED BIT(1) +/** I2C transfer interrupt received and being processed. */ +#define I2C_XFER_IN_PROGRESS BIT(2) +/** I2C transfer completed. */ +#define I2C_XFER_COMPLETED BIT(3) +/** @} */ + +/** + * @defgroup I2C_HW_BUS_STATUS Macros for HW bus status + * @brief Defines to interpret the bus status return from i2c_get_bus_state api. + * + * @{ + */ +/** Bit representation for I2C SCL is busy. */ +#define I2C_SCL_BUSY BIT(0) +/** Bit representation for I2C SDA is busy. */ +#define I2C_SDA_BUSY BIT(1) +/** Bit representation for I2C BUS is busy. */ +#define I2C_BUS_BUSY BIT(2) +/** parse the return values from i2c_get_bus_state api and return true if SCL is high. */ +#define I2C_IS_SCL_HIGH(status) ((status & I2C_SCL_BUSY) != 0U) +/** parse the return values from i2c_get_bus_state api and return true if SDA is high. */ +#define I2C_IS_SDA_HIGH(status) ((status & I2C_SDA_BUSY) != 0U) +/** parse the return values from i2c_get_bus_state api and return true if bus is free to use. */ +#define I2C_IS_BUS_FREE(status) ((status & I2C_BUS_BUSY) != 0U) +/** @} */ + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** + * @brief Initialize OS resources for I2C controller. + * + * This function initializes the OS resources i2c driver requires. + * Sets pre_init_done to true upon successful pre-init. + * + * @param[in] ctrl_id Controller ID which need to be initialized. + * @param[out] hi2c Pointer to I2C handle structure where I2C + * handle is saved. + * @retval E_SUCCESS Initialization of controller successfully done. + * @retval E_INVALID_PARAM Input parameter is passed to the function. + * @retval E_INVALID_CONFIG Null configuration data in i2c-port.c. + **/ +error_t i2c_controller_pre_init(uint32_t ctrl_id, + struct i2c_handle *hi2c); + +/** + * @brief Initialize a controller with static configuration and controller ID. + * + * This function initializes the controller with static bus and controller + * configuration and controller ID. The list of controller IDs corresponding to + * the available HW controllers are given in soc-common/i2c-defs.h. + * Calls i2c_controller_pre_init internally if pre_init_done is not true. + * + * @param[in] ctrl_id Controller ID which need to be initialized. + * @param[out] hi2c Pointer to I2C handle structure where I2C + * handle is saved. + * @retval E_SUCCESS Initialization of controller successfully done. + * @retval E_INVALID_PARAM Input parameter is passed to the function. + * @retval E_I2C_INVALID_OPS HW specific operation is invalid. + * @retval E_INVALID_CONFIG Null configuration data in i2c-port.c. + * @retval E_TIMEOUT Possible reasons:
+ * * Flush FIFOs failed due to timeout.
+ * * Failed to load config register. + **/ +error_t i2c_controller_init(uint32_t ctrl_id, + struct i2c_handle *hi2c); + +/** + * @brief Write data into the register of slave device. + * + * Write the data into a register of slave device. If more than one byte is + * written then register address is automatically incremented. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] slave_address The slave device address to communicate with. This + * can be 7-bit or 10-bit. + * @param[in] reg_address The register address in the slave device. + * @param[in] flags Transfer flags. Multiple transfer flags can be ORed + * here. + * @param[in] pdata Pointer to data to written to the slave device. + * @param[in] num_data Number of bytes to be write. + * @param[in] timeout Maximum time to be allow to complete the transfer. + * Unit of timeout is in Microseconds.
+ * If data transfer is not completed in this time then + * data transfer is aborted and returned to the caller + * as E_TIMEOUT. If client can wait forever, 0 is to be + * passed. + * @retval E_SUCCESS Data write into the device is successfully + * completed. + * @retval E_TIMEOUT Data transfer is not completed in given time and the + * transfer is aborted. In this case, the function + * cleans the residual FIFOs and gets ready for the + * next transfer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 500 bytes.
+ * T234 - allowed size of transfer is 65535 bytes. + * @retval carry_return Return value from appfw_mutex_acquire() in port layer. + * @retval carry_return Return value from i2c_hw_ops::xfer + * @retval carry_return Return value from appfw_mutex_release() in port layer. + */ +error_t i2c_reg_write_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint8_t reg_address, uint16_t flags, uint8_t const *pdata, + uint16_t num_data, uint32_t timeout); + +/** + * @brief Read data from a register of slave device. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * Read data from the given register of slave device. If more than one byte is + * read then register address is automatically incremented. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] slave_address The slave device address to communicate with. This + * can be 7-bit or 10-bit. + * @param[in] reg_address The register address in the slave device. + * @param[in] flags Transfer flags. Multiple transfer flags can be ORed + * here. + * @param[in] pdata Pointer to data buffer where read data is to be + * stored. + * @param[in] num_data Number of bytes to be read. + * @param[in] timeout Maximum time to be allow to complete the transfer. + * Unit of timeout is in Microseconds.
+ * If data transfer is not completed in this time then + * data transfer is aborted and returned to the caller + * as E_TIMEOUT. If client can wait forever, 0 is to be + * passed. + * @retval E_SUCCESS Data read into the device is successfully + * completed. + * @retval E_TIMEOUT Data transfer is not completed in given time and the + * transfer is aborted. In this case, the function + * cleans the residual FIFOs and gets ready for the + * next transfer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 500 bytes.
+ * T234 - allowed size of transfer is 65535 bytes. + * @retval carry_return Return value from appfw_mutex_acquire() in port layer. + * @retval carry_return Return value from i2c_hw_ops::xfer. + * @retval carry_return Return value from appfw_mutex_release() in port layer. + */ +error_t i2c_reg_read_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint8_t reg_address, uint16_t flags, uint8_t *pdata, + uint16_t num_data, uint32_t timeout); + +/** + * @brief Send the data to I2C bus. + * + * This function sends the data onto the I2C bus to a slave device. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] slave_address The slave device address to communicate with. This + * can be 7-bit or 10-bit. + * @param[in] flags Transfer flags. Multiple transfer flags can be ORed + * here. + * @param[in] pdata Pointer to data buffer which need to be sent to the + * device. + * @param[in] num_data Number of bytes to be sent. + * @param[in] timeout Maximum time to be allow to complete the transfer. + * Unit of timeout is in Microseconds.
+ * If data transfer is not completed in this time then + * data transfer is aborted and returned to the caller + * as E_TIMEOUT. If client can wait forever, 0 is to be + * passed. + * @retval E_SUCCESS Sending of data to the bus is successful. + * @retval E_TIMEOUT Data transfer is not completed in given time and the + * transfer is aborted. In this case, the function + * cleans the residual FIFOs and gets ready for the + * next transfer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 500 bytes.
+ * T234 - allowed size of transfer is 65535 bytes. + * @retval carry_return Return value from appfw_mutex_acquire() in port layer. + * @retval carry_return Return value from i2c_hw_ops::xfer + * @retval carry_return Return value from appfw_mutex_release() in port layer. + */ +error_t i2c_send_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint16_t flags, const uint8_t *pdata, uint32_t num_data, + uint32_t timeout); + +/** + * @brief Receive data from I2C bus. + * + * This function reads the data on the I2C bus from a slave device. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] slave_address The slave device address to communicate with. This + * can be 7-bit or 10-bit. + * @param[in] flags Transfer flags. Multiple transfer flags can be ORed + * here. + * @param[in] pdata Pointer to data buffer where receive data is to be + * saved. + * @param[in] num_data Number of bytes to be receive. + * @param[in] timeout Maximum time to be allow to complete the transfer. + * Unit of timeout is in Microseconds.
+ * If data transfer is not completed in this time then + * data transfer is aborted and returned to the caller + * as E_TIMEOUT. If client can wait forever, 0 is to be + * passed. + * @retval E_SUCCESS Receiving of data to the bus is successfully + * completed. + * @retval E_TIMEOUT Data transfer is not completed in given time and the + * transfer is aborted. In this case, the function + * cleans the residual FIFOs and gets ready for the + * next transfer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 500 bytes.
+ * T234 - allowed size of transfer is 65535 bytes. + * @retval carry_return Return value from appfw_mutex_acquire() in port layer. + * @retval carry_return Return value from i2c_hw_ops::xfer. + * @retval carry_return Return value from appfw_mutex_release() in port layer. + */ +error_t i2c_receive_data(const struct i2c_handle *hi2c, uint16_t slave_address, + uint16_t flags, uint8_t *pdata, uint32_t num_data, + uint32_t timeout); + +/** + * @brief Data transfer(read or write or both) over the I2C bus with a slave + * device + * + * This function implements the data transfer, read or write or combination of + * both over the I2C bus with a slave device. Data for multiple byte transfer + * can be provided as an array of messages. The repeat-start of data transfer is + * used between transfers. If flag M_NO_START is provided then start will not be + * sent again. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[in] msgs Pointer to I2C messages containing the list of + * message to be transferred. + * @param[in] num_msgs Number of messages in the msgs parameter. + * @param[in] timeout Maximum time to be allow to complete the transfer. + * Unit of timeout is in Microseconds.
+ * If data transfer is not completed in this time then + * data transfer is aborted and returned to the caller + * as E_TIMEOUT. If client can wait forever, 0 is to be + * passed. + * @retval E_SUCCESS Data transfer to the bus is successfully completed. + * @retval E_TIMEOUT Data transfer is not completed in given time and the + * transfer is aborted. In this case, the function + * cleans the residual FIFOs and gets ready for the + * next transfer. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function.
+ * T194 - allowed size of transfer is 500 bytes.
+ * T234 - allowed size of transfer is 65535 bytes. + * @retval carry_return Return value from appfw_mutex_acquire() in port layer. + * @retval carry_return Return value from i2c_hw_ops::xfer. + * @retval carry_return Return value from appfw_mutex_release() in port layer. + */ +error_t i2c_do_transfer(const struct i2c_handle *hi2c, + struct i2c_xfer_msg *msgs, + uint32_t num_msgs, uint32_t timeout); + +/** + * @brief Suspend the I2C bus and controller. + * + * Suspend the I2C bus and controller. After this call, no data transfer is + * possible on the bus until it is resumed by calling i2c_resume(). + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @retval E_SUCCESS Bus and controller are successfully suspended for + * any further transfers. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval E_INVALID_OPS Invalid i2c_hw_ops::suspend is assigned in tegra handle. + * @retval E_INVALID_STATE Bus is already in the suspended state. + * @retval E_I2C_IO IO error happened during bus suspend. + */ +error_t i2c_suspend(const struct i2c_handle *hi2c); + +/** + * @brief Resume the I2C bus and controller. + * + * Resume the I2C bus and controller. After this call, the bus(which was + * suspended after call i2c_suspend) is resumed for new data transfers. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * Also the function i2c_suspend() must be called for the bus to be in suspended + * state. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @retval E_SUCCESS Bus and controller are successfully resumed for + * further transfers. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval E_INVALID_OPS Invalid i2c_hw_ops::resume is assigned in tegra handle. + * @retval E_INVALID_STATE Bus is not in suspended state and trying to resume. + * @retval E_I2C_IO IO error happened during bus resume. + */ +error_t i2c_resume(const struct i2c_handle *hi2c); + +/** + * @brief Get the state of I2C bus HW. + * + * Return if the SCL, SDA or BUS is busy or not. + * + * @pre The function i2c_controller_init() must be called before this function. + * Else, hi2c->hwops structure is not initialized and api returns + * E_INVALID_OPS. + * + * @param[in] hi2c Pointer to I2C handle which is returned from + * i2c_controller_init(). + * @param[out] state refer "I2C HW bus status" macros for the return values. + * @retval E_INVALID_PARAM Invalid parameter is passed to the function. + * @retval E_INVALID_OPS Invalid i2c_hw_ops::get_bus_state is assigned in tegra handle. + * @retval E_SUCCESS Bus HW status is successfully read. + */ +error_t i2c_get_bus_state(const struct i2c_handle *hi2c, uint32_t *state); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/i2c/sections-i2c.h b/spe-freertos-bsp/fsp/source/include/i2c/sections-i2c.h new file mode 100644 index 0000000..9e51a58 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/i2c/sections-i2c.h @@ -0,0 +1,86 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef I2C__SECTIONS_I2C_H +#define I2C__SECTIONS_I2C_H +#define FSP__I2C__SECTIONS_I2C_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_I2C_DATA SECTION_BUILDER(i2c, data) +#define SECTION_NAME_I2C_RODATA SECTION_BUILDER(i2c, rodata) +#define SECTION_NAME_I2C_TEXT SECTION_BUILDER(i2c, text) +#define SECTION_NAME_I2C_INIT_DATA SECTION_BUILDER(init.i2c, data) +#define SECTION_NAME_I2C_INIT_TEXT SECTION_BUILDER(init.i2c, text) + +#define SECTION_STR_I2C_RODATA STR(SECTION_NAME_I2C_RODATA) +#define SECTION_STR_I2C_DATA STR(SECTION_NAME_I2C_DATA) +#define SECTION_STR_I2C_INIT_DATA STR(SECTION_NAME_I2C_INIT_DATA) +#define SECTION_STR_I2C_TEXT STR(SECTION_NAME_I2C_TEXT) +#define SECTION_STR_I2C_INIT_TEXT STR(SECTION_NAME_I2C_INIT_TEXT) + +#define SECTION_I2C_RODATA SECTION(SECTION_STR_I2C_RODATA) +#define SECTION_I2C_DATA SECTION(SECTION_STR_I2C_DATA) +#define SECTION_I2C_INIT_DATA SECTION(SECTION_STR_I2C_INIT_DATA) +#define SECTION_I2C_TEXT SECTION(SECTION_STR_I2C_TEXT) +#define SECTION_I2C_INIT_TEXT SECTION(SECTION_STR_I2C_INIT_TEXT) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/irq/safe-irqs.h b/spe-freertos-bsp/fsp/source/include/irq/safe-irqs.h new file mode 100644 index 0000000..8f17859 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/irq/safe-irqs.h @@ -0,0 +1,225 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef IRQ__SAFE_IRQS_H +#define IRQ__SAFE_IRQS_H +#define FSP__IRQ__SAFE_IRQS_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for irq_context + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +/** Pointer to irq callback function **/ +typedef void (*irq_callback_fn)(void *context); + +/** + * @brief Enable an interrupt + * + * This function enables a device interrupt using IRQ vector number. + * The IRQ vector number maps to the tegra interrupt number already known + * to the client. + * + * @pre + * - Basic initialization of vectored interrupt controller has been done with ISRs + * mapped to the respective valid interrupt sources. + * + * @param[in] vector IRQ number for the device interrupt + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * + * @retval E_SUCCESS For success. + * @retval E_VIC_INVALID_VECTOR Invalid input vector ID + */ +error_t irq_safe_enable(const uint32_t vector); + +/** + * @brief Disable an interrupt + * + * This function disables a device interrupt using IRQ vector number. + * The IRQ vector number maps to tegra interrupt number already known + * to the client + * + * @pre + * - Basic initialization of vectored interrupt controller has been done with ISRs + * mapped to the respective valid interrupt sources. + * + * @param[in] vector IRQ number for the device interrupt + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * + * @retval E_SUCCESS For success. + * @retval E_VIC_INVALID_VECTOR Invalid input vector ID + */ +error_t irq_safe_disable(const uint32_t vector); + +/** + * @brief Set IRQ handler for a device interrupt + * + * This function registers an ISR for a device's IRQ number. + * + * @param[in] irq SW IRQ number for the device's interrupt + * @param[in] routine Function pointer to the ISR + * @param[in] data Pointer to the input arguments required by the ISR + * + * @pre + * - Interrupts are set using dynamic configuration + * + * @retval E_SUCCESS For success. + * @retval E_VIC_INVALID_INPUT_PARAMETER Invalid software IRQ number + * @retval E_VIC_NULL_INPUT_PARAMETER NULL pointer to the ISR + */ +error_t irq_safe_set_handler(uint32_t irq, + irq_callback_fn routine, + void *data); + +/** + * @brief Call interrupt handler for the device interrupt + * + * This function calls the registered interrupt handler for + * the device interrupt using software IRQ number. + * + * @param[in] irq Software IRQ number. + * + * @pre + * - Interrupts are set using dynamic configuration + * + */ +void irq_handler(uint32_t irq); + +/** + * @brief Get CPU interrupt status + * + * This function reads the IRQ disable bit in the CPSR to check + * if CPU is in interrupt mode. + * + * @retval true if CPU is in interrupt mode. + * @retval false for all other CPU modes. + * + */ +bool in_interrupt(void); + +/** + * @brief Get CPU critical interrupt status + * + * This function checks whether CPU is operating in FIQ mode or not. + * + * @retval true if CPU is in FIQ mode + * @retval false for all other modes + * + */ +bool in_critical(void); + +/** + * @brief enter critical section + * + * This function enters critical section by disabling the interrupts. + * + * @return None + */ +void enter_critical(void); + +/** + * @brief exit critical section + * + * This function exits critical section by re-enabling the interrupts. + * + * @return None + */ +void exit_critical(void); + +/** + * @brief Save interrupt context + * + * This function saves the VIC interrupt context comprising of 32-bit + * interrupt enable mask, 32-bit interrupt priority mask and interrupt handlers. + * + * @param[in] vic VIC instance number [0 - MAX_VIC_INSTANCE_ID] + * @param[in] ctx Pointer to the irq_context structure pre-declared by the user + * for saving the interrupt context of input VIC instance + * + * @retval E_SUCCESS For success. + * @retval E_VIC_INVALID_VIC_INSTANCE Invalid VIC instance ID + * @retval E_VIC_NULL_INPUT_PARAMETER NULL irq_context pointer + */ +error_t irq_state_safe_save(const uint32_t vic, + irq_context *ctx); + +/** + * @brief Restore interrupt context + * + * This function restores the VIC interrupt context comprising of 32-bit + * interrupt enable mask, 32-bit interrupt priority mask and interrupt handlers. + * + * @param[in] vic VIC instance number [0 - MAX_VIC_INSTANCE_ID] + * @param[in] ctx Pointer to the irq_context structure with interrupt context + * data for the input VIC instance saved by call to + * save_irq_state(). + * Data stored in the input irq_context structure is written + * back to the VIC registers restoring the context. + * + * @retval E_SUCCESS For success. + * @retval E_VIC_INVALID_VIC_INSTANCE Invalid VIC instance ID + * @retval E_VIC_NULL_INPUT_PARAMETER NULL irq_context pointer + */ +error_t irq_state_safe_restore(const uint32_t vic, + const irq_context *const ctx); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/irq/tegra-lic-priv.h b/spe-freertos-bsp/fsp/source/include/irq/tegra-lic-priv.h new file mode 100644 index 0000000..3f6ebb7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/irq/tegra-lic-priv.h @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2016-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef IRQ__TEGRA_LIC_PRIV_H +#define IRQ__TEGRA_LIC_PRIV_H +#define FSP__IRQ__TEGRA_LIC_PRIV_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* Mapping of numbers to LIC IRQs */ +struct tegra_lic_bitslice { + uint8_t bit; + uint8_t slice; +}; + +struct tegra_lic_id { + uint8_t base_channel; + uint8_t num_channels; + uint8_t num_slices; + uint16_t local_irq; + uint16_t lic_irq_base; + uint16_t lic_map_size; + const struct tegra_lic_bitslice *lic_map; +}; + +#define TEGRA_LIC_BITSLICE(lic) \ + { \ + .bit = (NV_ADDRESS_MAP_ ## lic ## _INTR_ID) % 32, \ + .slice = (NV_ADDRESS_MAP_ ## lic ## _INTR_ID) / 32, \ + } + +#endif /* FSP_IRQ_TEGRA_LIC_PRIV_H */ diff --git a/spe-freertos-bsp/fsp/source/include/irq/tegra-lic.h b/spe-freertos-bsp/fsp/source/include/irq/tegra-lic.h new file mode 100644 index 0000000..f703feb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/irq/tegra-lic.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2015-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef IRQ__TEGRA_LIC_H +#define IRQ__TEGRA_LIC_H +#define FSP__IRQ__TEGRA_LIC_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +// IWYU pragma: no_forward_declare tegra_lic_id +struct tegra_lic_id; + +void tegra_lic_init(const struct tegra_lic_id *id); +void tegra_lic_enable(const struct tegra_lic_id *id, uint32_t irq); +void tegra_lic_disable(const struct tegra_lic_id *id, uint32_t irq); + +#endif /* FSP_IRQ_TEGRA_LIC_H */ diff --git a/spe-freertos-bsp/fsp/source/include/lib/sections-stack-guard.h b/spe-freertos-bsp/fsp/source/include/lib/sections-stack-guard.h new file mode 100644 index 0000000..f70aa10 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lib/sections-stack-guard.h @@ -0,0 +1,93 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIB__SECTIONS_STACK_GUARD_H +#define LIB__SECTIONS_STACK_GUARD_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_STACKGUARD_DATA SECTION_BUILDER(stackguard, data) +#define SECTION_NAME_STACKGUARD_RODATA SECTION_BUILDER(stackguard, rodata) +#define SECTION_NAME_STACKGUARD_TEXT SECTION_BUILDER(stackguard, text) +#define SECTION_NAME_STACKGUARD_INIT_DATA SECTION_BUILDER(init.stackguard, data) +#define SECTION_NAME_STACKGUARD_INIT_TEXT SECTION_BUILDER(init.stackguard, text) + +#define SECTION_STR_STACKGUARD_TEXT STR(SECTION_NAME_STACKGUARD_TEXT) +#define SECTION_STR_STACKGUARD_RODATA STR(SECTION_NAME_STACKGUARD_RODATA) +#define SECTION_STR_STACKGUARD_DATA STR(SECTION_NAME_STACKGUARD_DATA) +#define SECTION_STR_STACKGUARD_INIT_TEXT STR(SECTION_NAME_STACKGUARD_INIT_TEXT) +#define SECTION_STR_STACKGUARD_INIT_DATA STR(SECTION_NAME_STACKGUARD_INIT_DATA) + +#define SECTION_STACKGUARD_TEXT SECTION(SECTION_STR_STACKGUARD_TEXT) +#define SECTION_STACKGUARD_RODATA SECTION(SECTION_STR_STACKGUARD_RODATA) +#define SECTION_STACKGUARD_DATA SECTION(SECTION_STR_STACKGUARD_DATA) +#define SECTION_STACKGUARD_INIT_TEXT SECTION(SECTION_STR_STACKGUARD_INIT_TEXT) +#define SECTION_STACKGUARD_INIT_DATA SECTION(SECTION_STR_STACKGUARD_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/lib/stack-guard.h b/spe-freertos-bsp/fsp/source/include/lib/stack-guard.h new file mode 100644 index 0000000..d8915b7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lib/stack-guard.h @@ -0,0 +1,67 @@ +/* Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIB__STACK_GUARD_H +#define LIB__STACK_GUARD_H +#define FSP__LIB__STACK_GUARD_H 1 + +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") +/** + * @file stack-guard.h + * @brief Definition of stack guard as required by compiler + */ + +/** + * @brief Initialize Stack Guard Variable + * + * This function will initialize the stack guard variable with the + * supplied value. This allows the application a means to initialize + * the stack check variable with a (hopefully) randomized value. + */ +void stack_chk_init(uintptr_t check_value); + +/** + * @brief Stack Check Failure + * + * Called when the guard value on the stack has been overwritten. + * This function should only be called by compiler generated code. No + * application code should call this function. + * + * @return Does not return + */ +INLINE_RFD(MISRA, DEVIATE, Rule_21_2, "Approval: JIRA TID-1063, DR: SWE-FSP-053-SWSADR.docx") +void __stack_chk_fail(void); + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/libc-lite/libc.h b/spe-freertos-bsp/fsp/source/include/libc-lite/libc.h new file mode 100644 index 0000000..85bf458 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/libc-lite/libc.h @@ -0,0 +1,129 @@ +/** +* @file libc.h +* +* @brief Exposes a handful of libc-lite utility functions used by other +* modules. +* +* Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* * Neither the name of NVIDIA CORPORATION nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef LIBC__LIBC_H +#define LIBC__LIBC_H +#define FSP__LIBC__LIBC_H 1 + +#include +#include +#include +#include + +#include +#include + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_21_2, "Approval: Jira TID-1970, DR: SWE-FSP-066-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-067-SWSADR.docx") + +/** + * @brief libc memcpy + * + * Freestanding version of memcpy for RISCV units. + * Copies n characters from the object pointer to by src + * into the object pointed to by dst. + * + * @param[out] dst destination pointer + * @param[in] src source pointer + * @param[in] n number of bytes to copy + * + * @return resulting destination pointer + */ +void *memcpy(void *dst, const void *src, size_t n); + +/** + * @brief libc memcmp + * + * Freestanding version of memcpy for RISCV units. + * Compares the first n characters of the object pointed to + * by s1 to the first n characters of the object pointer to + * by s2. + * + * @param[in] s1 first pointer + * @param[in] s2 second pointer + * @param[in] n number of bytes to compare + * + * @return zero if both memories are equal, otherwise unequal + */ +int memcmp(const void *s1, const void *s2, size_t n); + +/** + * @brief libc memset + * + * Freestanding version of memset for RISCV units. + * Copies the value of c (converted into an unsigned char) + * into each of the first n characters of the object pointer to by s. + * + * @param[out] s pointer to memory to set + * @param[in] c character to set + * @param[in] n number of words to set + * + * @return pointer to memory set (s) + */ +void *memset(void *s, int c, size_t n); + +/** + * @brief libc isprint + * + * Freestanding version of isprint for RISCV units. + * Tests for any printing character including space (' '). + * + * @param[in] c character to print + * + * @return zero if the character is print-able + * + * NOTES: + * - MISRA RULE 10.3 fix - explicit conversion of characters + */ +__attribute__( ( always_inline ) ) static inline int isprint(int c) +{ + int is_p = 0; + + if ((c >= (int)(' ')) && (c <= (int)('~'))) + { + is_p = 1; + } + + return is_p; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_21_2, "Approval: Jira TID-1970, DR: SWE-FSP-066-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-067-SWSADR.docx") + +#endif // LIBNVRISCV_LIBC_H diff --git a/spe-freertos-bsp/fsp/source/include/lic/lic-errors.h b/spe-freertos-bsp/fsp/source/include/lic/lic-errors.h new file mode 100644 index 0000000..9ae3abc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lic/lic-errors.h @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIC__LIC_ERRORS_H +#define LIC__LIC_ERRORS_H +#define FSP__LIC__LIC_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file lic-errors.h + * @brief Error codes that are specific to the lic + */ + +#define E_LIC_NULL_PTR MODULE_ERROR(LIC, 0UL) +#define E_LIC_NO_CHANS MODULE_ERROR(LIC, 1UL) +#define E_LIC_NO_IRQ MODULE_ERROR(LIC, 2UL) +#define E_LIC_NO_MAP MODULE_ERROR(LIC, 3UL) +#define E_LIC_INVALID_PARAM MODULE_ERROR(LIC, 4UL) +#define E_LIC_INVALID_IRQ MODULE_ERROR(LIC, 5UL) + +#endif /* LIC__LIC_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/lic/lic-tegra-priv.h b/spe-freertos-bsp/fsp/source/include/lic/lic-tegra-priv.h new file mode 100644 index 0000000..5ebd3f2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lic/lic-tegra-priv.h @@ -0,0 +1,132 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIC__LIC_TEGRA_PRIV_H +#define LIC__LIC_TEGRA_PRIV_H +#define FSP__LIC__LIC_TEGRA_PRIV_H 1 + +/** + * @file lic/lic-tegra-priv.h + * @brief Structures that are internal to the LIC driver + */ + +/* Compiler headers */ +#include // for bool +#include // for uint8_t, uint32_t, uint16_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ +#include // for FSP__LIC__LIC_TEGRA_H, lic_irq_t + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__LIC__LIC_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file lic/lic-tegra-priv.h + * @brief Structures that are internal to the LIC driver + */ + +/** + * @brief LIC irq handler context + * + * Structure that describes the parameter to the LIC irq handler. + * + * @id pointer to LIC context id structure + * @chan channel that triggered the irq + * @irqs_set irqs enabled on this channel + * @is_vfiq if the channel is FIQ/IRQ + */ +typedef struct { + struct tegra_lic_id *id; + uint8_t chan; + uint32_t irqs_set; + bool is_vfiq; +} lic_irq_context_t; + + +/** + * @brief LIC configuration structure + * + * Structure that describes the configuration of the LIC. + * + * @base_chan base channel for the current R5 cluster + * @num_chans number of LIC channels supported + * @num_slices number of slices supported per channel + * @local_irq_base base VIC interrupt number for the LIC interrupt lines + * @lic_irq_base start of the LIC interrupts for the cluster + */ +struct tegra_lic_conf { + uint8_t base_chan; + uint8_t num_chans; + uint8_t num_slices; + uint16_t local_irq_base; + uint16_t lic_irq_base; +}; + +/** + * @brief LIC context ID structure + * + * Structure that is used by the LIC driver to manage the LIC state + * during run time. + * + * @conf LIC configuration for the R5 cluster + * @lic_map pointer to the LIC irq mapping for the cluster + * @irq_contexts Pointer to the irq contexts for the LIC interrupts to + * R5 throught the local VIC + * @lic_map_size size of the LIC irq map for the cluster + * @num_lic_irq_lines Number of irq lines for LIC to the local VIC + */ +struct tegra_lic_id { + const struct tegra_lic_conf conf; + const lic_irq_t *lic_map; + lic_irq_context_t **irq_contexts; + uint32_t lic_map_size; + const uint32_t num_lic_irq_lines; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/lic/lic-tegra.h b/spe-freertos-bsp/fsp/source/include/lic/lic-tegra.h new file mode 100644 index 0000000..cefb052 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lic/lic-tegra.h @@ -0,0 +1,206 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIC__LIC_TEGRA_H +#define LIC__LIC_TEGRA_H +#define FSP__LIC__LIC_TEGRA_H 1 + +/* Compiler headers */ +#include // for uint32_t +#include // for NULL + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... +#include // for irq_callback_fn +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") + CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * @file lic-tegra.h + * @brief functions that provide access to various LIC registers. + */ + +/** + * @brief Maximum number of slices per LIC channel + * + * Defines the maximum number of slices that are available per channel. + */ +#define LIC_MAX_SLICES 11 + +/** + * @brief Define a LIC interrupt + * + * Fills the LIC irq structure with the info associated with a LIC interrupt. + */ +#define TEGRA_LIC_INTERRUPT(_local_irq, _irq) \ + { \ + .local_irq = (uint8_t)(_local_irq), \ + .bit = (uint8_t)(CONCAT(NV_ADDRESS_MAP_, CONCAT(_irq, _INTR_ID)) & 31U), \ + .slice = (uint8_t)(CONCAT(NV_ADDRESS_MAP_, CONCAT(_irq, _INTR_ID)) >> 5U), \ + .routine = NULL, \ + .cb_data = NULL, \ + } + +/** + * @brief Define a LIC interrupt with handler + * + * Fills the LIC irq structure with the info associated with a LIC interrupt. + * This also fills the handler to support static mapping. + */ +#define TEGRA_LIC_INTERRUPT_H(_local_irq, _irq, _isr, _isr_data) \ + { \ + .local_irq = (uint8_t)(_local_irq), \ + .bit = (uint8_t)(CONCAT(NV_ADDRESS_MAP_, CONCAT(_irq, _INTR_ID)) & 31U), \ + .slice = (uint8_t)(CONCAT(NV_ADDRESS_MAP_, CONCAT(_irq, _INTR_ID)) >> 5U), \ + .routine = _isr, \ + .cb_data = _isr_data, \ + } + +/* + * Declaration for tegra_lic_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +// IWYU pragma: no_forward_declare tegra_lic_id +struct tegra_lic_id; + +/** + * @brief LIC irq info + * + * Structure that describes the info associated with a LIC irq. + * + * @local_irq VIC irq number corresponding to the LIC channel + * @bit bit for the irq to be set in the respective slice + * @slice slice corresponding to the irq with in the LIC channel + * @routine handler corresponding to the irq + * @cb_data opaque pointer to irq handler data + */ +typedef struct { + uint8_t local_irq; + uint8_t bit; + uint8_t slice; + irq_callback_fn routine; + void *cb_data; +} lic_irq_t; + +/** + * @brief LIC mailbox irq handler. + * + * This function gets called whenever an interrupt is asserted on one of the + * LIC lines connected to local VIC. + * + * @pre the function tegra_lic_init() has been called + * + * @param[in] data opaque pointer for LIC context. + * + * @return None + */ +void tegra_lic_irq_handler(void *data); + +/** + * @brief Enable LIC interrupt + * + * This function enables the LIC interrupt for an irq that is not directly + * connected to the local VIC. + * + * @pre the function tegra_lic_init() has been called + * + * @param[in] id LIC instance. + * @param[in] irq irq to be enabled. + * + * @retval E_SUCCESS indicates success + * @retval E_LIC_NULL_PTR invalid id paramter passed + * @retval E_LIC_NO_INTR no LIC interrupt support + */ +error_t tegra_lic_irq_enable(const struct tegra_lic_id *id, + uint32_t irq); + +/** + * @brief Disable LIC interrupt + * + * This function enables the LIC interrupt for an irq that is not directly + * connected to the local VIC. + * + * @pre the function tegra_lic_init() has been called + * + * @param[in] id LIC instance. + * @param[in] irq irq to be enabled. + * + * @retval E_SUCCESS indicates success + * @retval E_LIC_NULL_PTR invalid id paramter passed + * @retval E_LIC_NO_INTR no LIC interrupt support + */ +error_t tegra_lic_irq_disable(const struct tegra_lic_id *id, + uint32_t irq); +/** + * @brief Initialize the LIC context + * + * This function initializes the LIC context for an instance, enables the + * LIC interrupts. + * + * @param[in] id pointer to the LIC descriptor instance. + * @param[in] lic_map pointer to the LIC irq mapping for the cluster + * @param[in] lic_map_size size of the LIC irq map for the cluster + * + * @retval E_SUCCESS indicates success + * @retval E_LIC_NULL_PTR invalid id paramter passed + * @retval E_LIC_NO_CHANS no LIC channels supported + * @retval E_LIC_NO_MAP no LIC map provided + * @retval E_LIC_NO_IRQ no LIC irqs supported + * @retval E_LIC_INVALID_PARAM invalid id fields + */ +error_t tegra_lic_init(struct tegra_lic_id *id, + const lic_irq_t *lic_map, + const uint32_t lic_map_size); + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/lic/sections-lic.h b/spe-freertos-bsp/fsp/source/include/lic/sections-lic.h new file mode 100644 index 0000000..0573b10 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lic/sections-lic.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LIC__SECTIONS_LIC_H +#define LIC__SECTIONS_LIC_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") + CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_LIC_DATA SECTION_BUILDER(lic, data) +#define SECTION_NAME_LIC_RODATA SECTION_BUILDER(lic, rodata) +#define SECTION_NAME_LIC_TEXT SECTION_BUILDER(lic, text) +#define SECTION_NAME_LIC_INIT_DATA SECTION_BUILDER(init.lic, data) +#define SECTION_NAME_LIC_INIT_TEXT SECTION_BUILDER(init.lic, text) + +#define SECTION_STR_LIC_TEXT STR(SECTION_NAME_LIC_TEXT) +#define SECTION_STR_LIC_RODATA STR(SECTION_NAME_LIC_RODATA) +#define SECTION_STR_LIC_DATA STR(SECTION_NAME_LIC_DATA) +#define SECTION_STR_LIC_INIT_TEXT STR(SECTION_NAME_LIC_INIT_TEXT) +#define SECTION_STR_LIC_INIT_DATA STR(SECTION_NAME_LIC_INIT_DATA) + +#define SECTION_LIC_TEXT SECTION(SECTION_STR_LIC_TEXT) +#define SECTION_LIC_RODATA SECTION(SECTION_STR_LIC_RODATA) +#define SECTION_LIC_DATA SECTION(SECTION_STR_LIC_DATA) +#define SECTION_LIC_INIT_TEXT SECTION(SECTION_STR_LIC_INIT_TEXT) +#define SECTION_LIC_INIT_DATA SECTION(SECTION_STR_LIC_INIT_DATA) + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/lock/smplock-smp.h b/spe-freertos-bsp/fsp/source/include/lock/smplock-smp.h new file mode 100644 index 0000000..5d37d91 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lock/smplock-smp.h @@ -0,0 +1,119 @@ +/* +* Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved. +* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef LOCK__SMPLOCK_SMP_H +#define LOCK__SMPLOCK_SMP_H +#define FSP__LOCK__SMPLOCK_SMP_H 1 + +/** + * @file lock/fsp-smplock.h + * @brief functions for smplock locking primitive. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/** + * @brief FSP smplock structure + * + * Structure that encapsulates and abstracts the architecture specific + * smplock. + * + * @slock architecture specific smplock + */ +typedef struct { + arch_smplock_t slock; +} smplock_t; + +/** + * @brief initialization of the smplock. + * + * @param[in] lock pointer to the FSP smplock + * + * @return None + */ +void smp_lock_init(smplock_t *lock); + +/** + * @brief save the interrupts and acquire the lock. + * + * This function disables interrupts locally and provide the smplock on SMP. + * + * @param[in] lock pointer to the FSP smplock + * @param[in] flags flags to save the irq status + * + * @return None + */ +void smp_lock_irqsave(smplock_t *lock, + uint32_t *flags); + +/** + * @brief restore the interrupts and release the lock. + * + * This function restores the interrupts to the state when the lock was + * acquired and releases the lock. + * + * @param[in] lock pointer to the FSP smplock + * @param[in] flags flags to restore the irq status + * + * @return None + */ +void smp_unlock_irqrestore(smplock_t *lock, + uint32_t *flags); + +/** + * @brief acquire the lock without any interaction with interrupts. + * + * This function only acquires the smplock and does not interact with the + * interrupts in anyway. + * + * @param[in] lock pointer to the FSP smplock + * + * @return None + */ +void smp_lock(smplock_t *lock); + +/** + * @brief release the lock without any interaction with interrupts. + * + * This function only releases the smplock and does not interact with the + * interrupts in anyway. + * + * @param[in] lock pointer to the FSP smplock + * + * @return None + */ +void smp_unlock(smplock_t *lock); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/lock/smplock-up.h b/spe-freertos-bsp/fsp/source/include/lock/smplock-up.h new file mode 100644 index 0000000..9663ea2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lock/smplock-up.h @@ -0,0 +1,178 @@ +/* +* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef LOCK__SMPLOCK_UP_H +#define LOCK__SMPLOCK_UP_H +#define FSP__LOCK__SMPLOCK_UP_H 1 + +/** + * @file lock/fsp-smplock.h + * @brief functions for smplock locking primitive. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for arch_smplock_t +#include // for UNUSED, FSP__MISC__ATTR... +#include // for END_RFD_BLOCK, START_RF... + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CPU__SMPLOCK_TYPES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * @brief FSP smplock structure + * + * Structure that encapsulates and abstracts the architecture specific + * smplock. + * + * @slock architecture specific smplock + */ +typedef struct { + arch_smplock_t slock; +} smplock_t; + +/** + * @brief initialization of the smplock. + * + * This function is a NOP for UP systems. + * + * @param[in] lock pointer to the FSP smplock + * + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline void smp_lock_init(smplock_t *lock) +{ + UNUSED(lock); +} + +/** + * @brief save the interrupts and acquire the lock. + * + * This function is a NOP for UP systems. + * + * @param[in] lock pointer to the FSP smplock + * @param[in] flags flags to save the irq status + * + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline void smp_lock_irqsave(smplock_t *lock, uint32_t *flags) +{ + UNUSED(lock); + UNUSED(flags); + + /** + * NOTE: Ideally this function should disable the irq , save the + * irq state wihtout doing any locking. However, these wrappers + * are primarily added just to add SMP support for the FSP drivers. + * For UP systems, the expectation currently is that these result + * in a NOP. Should that change, this needs to be modified. + */ +} + +/** + * @brief restore the interrupts and release the lock. + * + * This function is a NOP for UP systems. + * + * @param[in] lock pointer to the FSP smplock + * @param[in] flags flags to restore the irq status + * + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline void smp_unlock_irqrestore(smplock_t *lock, uint32_t *flags) +{ + UNUSED(lock); + UNUSED(flags); + + /** + * NOTE: Ideally this function should restore the irq from the + * saved irq state wihtout doing any locking. However, these wrappers + * are primarily added just to add SMP support for the FSP drivers. + * For UP systems, the expectation currently is that these result + * in a NOP. Should that change, this needs to be modified. + */ +} + +/** + * @brief acquire the lock without any interaction with interrupts. + * + * This function is a NOP for UP systems. + * + * @param[in] lock pointer to the FSP smplock + * + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline void smp_lock(smplock_t *lock) +{ + UNUSED(lock); +} + +/** + * @brief release the lock without any interaction with interrupts. + * + * This function only releases the smplock and does not interact with the + * interrupts in anyway. + * + * @param[in] lock pointer to the FSP smplock + * + * @return None + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +static inline void smp_unlock(smplock_t *lock) +{ + UNUSED(lock); +} + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/lock/smplock.h b/spe-freertos-bsp/fsp/source/include/lock/smplock.h new file mode 100644 index 0000000..014b1b9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/lock/smplock.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef LOCK__SMPLOCK_H +#define LOCK__SMPLOCK_H +#define FSP__LOCK__SMPLOCK_H 1 + +/** + * @file lock/smplock.h + * @brief functions for smplock locking primitive. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_INLINE_RFD, END_INLINE_RFD + +/* Module-specific FSP headers */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#include +#if (defined(CONFIG_SMP) && defined(NCPU) && (NCPU > 1)) +#include + CT_ASSERT(FSP__LOCK__SMPLOCK_SMP_H, "Header file missing or invalid.") +#else +#include + CT_ASSERT(FSP__LOCK__SMPLOCK_UP_H, "Header file missing or invalid.") +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/logger/logger-data.h b/spe-freertos-bsp/fsp/source/include/logger/logger-data.h new file mode 100644 index 0000000..831e7e2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/logger/logger-data.h @@ -0,0 +1,175 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef LOGGER__LOGGER_DATA_H +#define LOGGER__LOGGER_DATA_H +#define FSP__LOGGER__LOGGER_DATA_H 1 + +/* Compiler headers */ +#include +#include /* Immune from CT_ASSERT protection */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Note: This value can only be increased by changing several other + * macros. Notably _GET_NTH_ARG, COUNT_ARGS, SET_ARGS_ and + * SET_EACH_ARG. + */ +#define MAX_LOG_ARGS 8 + +#if (LOG_ARG_WIDTH == 32) +typedef uint32_t log_arg_t; +#else +#if (LOG_ARG_WIDTH == 64) +typedef uint64_t log_arg_t; +#else +#error "Unsupported value for LOG_ARG_WIDTH" +#endif +#endif + +typedef log_arg_t log_args_t[MAX_LOG_ARGS]; + +#if (LOG_TOKEN_WIDTH == 32) +typedef uint32_t log_token_t; +#else +#if (LOG_TOKEN_WIDTH == 64) +typedef uint64_t log_token_t; +#else +#error "Unsupported value for LOG_TOKEN_WIDTH" +#endif +#endif + +/* + * Logging Levels + * + * Allows for enabling/disabling different trace points based upon + * which levels are enabled. + */ +#define LOG_LEVEL_ALWAYS BIT(31) +#define LOG_LEVEL_PERF BIT(30) +#define LOG_LEVEL_ERROR BIT(29) +#define LOG_LEVEL_CRIT BIT(28) +#define LOG_LEVEL_WARN BIT(27) +#define LOG_LEVEL_IRQ BIT(26) +#define LOG_LEVEL_BOOT BIT(25) +#define LOG_LEVEL_INFO BIT(17) +#define LOG_LEVEL_DEBUG BIT(16) + +#define PRINT_LEVEL_ALWAYS BIT(15) +#define PRINT_LEVEL_PERF BIT(14) +#define PRINT_LEVEL_ERROR BIT(13) +#define PRINT_LEVEL_CRIT BIT(12) +#define PRINT_LEVEL_WARN BIT(11) +#define PRINT_LEVEL_IRQ BIT(10) +#define PRINT_LEVEL_BOOT BIT(9) +#define PRINT_LEVEL_INFO BIT(1) +#define PRINT_LEVEL_DEBUG BIT(0) + +#define LOG_LEVEL_ALL MASK32(31, 16) +#define PRINT_LEVEL_ALL MASK32(15, 0) + +/* + * Flags that indicate some general attributes about the log entry. + */ +#define LOG_FL_ERROR BIT(31) // error +#define LOG_FL_START BIT(30) // start of an operation +#define LOG_FL_END BIT(29) // end of an operation +#define LOG_FL_PERF BIT(28) // perf related log entry +#define LOG_FL_PRINT BIT(27) // print vs log entry +#define LOG_FL_NONE (0U) // no flags + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/* + * Log Meta-data structure + */ +typedef struct log_metadata_s { + uint32_t id; + uint32_t flags; + uint32_t level; + uint32_t n_args; + const char *id_name; + const char *file; + uint32_t line_no; + const char *fmt_string; + uint32_t num_fixed_strings; +#if (MAX_FIXED_STRINGS > 0) + const char *fixed_strings[MAX_FIXED_STRINGS]; +#endif +} log_metadata_t; + +/* + * Individual Log Entry + * + * The delta time recorded in each log entry is the time from the previous + * log entry. The first log entry in a block of log entries will have + * a delta time of 0 (it is referencing the absolute time of the block). + */ +typedef struct log_entry_s { + uint32_t delta_time; // time from previous log entry + uint16_t n_bytes; // number of bytes in the log entry + uint8_t n_fixed_args; // number of fixed arguments that + // preceed the regular arguments + // that will be interpreted by the + // fixed strings in the meta-data. + uint8_t fixed_flags; // mapping of fixed argument(s) to + // fixed strings in the meta-data. + log_token_t token; // token that maps to trace_info_t + // Any supplied arguments to the log entry will follow +} log_entry_t; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/logger/logger-headers.h b/spe-freertos-bsp/fsp/source/include/logger/logger-headers.h new file mode 100644 index 0000000..88e8bbb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/logger/logger-headers.h @@ -0,0 +1,81 @@ +/* + * Copyright (c) 2018-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef LOGGER__LOGGER_HEADERS_H +#define LOGGER__LOGGER_HEADERS_H +#define FSP__LOGGER__LOGGER_HEADERS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ + +/* + * Log block header that is written to DRAM, the indicated number of + * log entries immediately follows the header. + */ +typedef struct log_block_hdr_s { + uint64_t start_time; // time at start of block + uint16_t n_entries; // number of log entries in block + uint16_t reserved_1; // reserved field + uint32_t reserved_2; // reserved field + uint8_t pad[48]; // get block header to be 64 bytes +} log_block_hdr_t; + +/* + * Header for the overall log in memory. + * + * In this particular implementation, the log buffer is a circular + * buffer that is managed by head and tail offsets (from the start + * of the buffer...assuming that the header is at the start of the + * buffer). + * + * Each field in the header is aligned to the start of a cache line + * (if the two endpoints have different cache line sizes, then the + * value chosen should be the larger of the two) to prevent potential + * corruption of the non-updated offset (e.g. if both head and tail + * offsets were in the same cache line, updating one of them could + * result in the other being overwitten with a stale value when the + * cacheline is written back to DRAM). + */ +typedef struct log_header_s { + uint32_t block_size; + uint8_t header_align[LOG_CACHE_LINE_SIZE - sizeof(uint32_t)]; + uint32_t head_offset; + uint8_t tail_align[LOG_CACHE_LINE_SIZE - sizeof(uint32_t)]; + uint32_t tail_offset; + uint8_t pad[LOG_CACHE_LINE_SIZE - sizeof(uint32_t)]; +} log_header_t; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/logger/logger-private.h b/spe-freertos-bsp/fsp/source/include/logger/logger-private.h new file mode 100644 index 0000000..0217d97 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/logger/logger-private.h @@ -0,0 +1,104 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef LOGGER__LOGGER_PRIVATE_H +#define LOGGER__LOGGER_PRIVATE_H +#define FSP__LOGGER__LOGGER_PRIVATE_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include /* Immune from CT_ASSERT protection */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_DATA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Internal definitions that are only used by the logging + * system itself. Should not be visible outside of that. + */ +typedef uint32_t log_buff_state_t; + +#define LEB_STATE_EMPTY 0 // buffer is empty +#define LEB_STATE_PARTIAL 1 // buffer has some log entries +#define LEB_STATE_FULL 2 // buffer is full +#define LEB_STATE_TOCOPY 3 // buffer is to be copied +#define LEB_STATE_COPYING 4 // buffer is actively being copied + +/* + * Internal log buffer + */ +typedef struct log_buff { + uint64_t start_time; // time of first entry in buffer + uint64_t last_time; // time of last entry in buffer + uint32_t next; // next available byte in buffer + uint32_t remaining; // remaining bytes in buffer + log_buff_state_t state; // state of the buffer + uint32_t pad; // to align next field + uint8_t buffer[LOG_BUFFER_SIZE]; +} log_buff_t; + +typedef void (*log_hook_t)(const log_metadata_t * const token, + const uint32_t n_args, + log_args_t args); + +extern log_hook_t log_print_hook; +extern void *log_log_area; +extern log_buff_t *log_cur_buff; +extern log_buff_t log_buffers[NUM_LOG_BUFFERS]; +extern uint32_t cur_buff_num; + +void log_buffer_push(log_buff_t * const buff); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/logger/logger.h b/spe-freertos-bsp/fsp/source/include/logger/logger.h new file mode 100644 index 0000000..96634b6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/logger/logger.h @@ -0,0 +1,251 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef LOGGER__LOGGER_H +#define LOGGER__LOGGER_H +#define FSP__LOGGER__LOGGER_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for USED +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for LOG_ENABLE +#include /* Immune from CT_ASSERT protection */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__LOGGER__LOGGER_DATA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#define MODULE_LOG_ID(_id_) (MODULE_ID_##_id_) + +#define LOG_ID(_major_, _minor_, _seq_) \ + ((INSERT(0U, 30, 16, (MODULE_LOG_ID(_major_)))) \ + | (INSERT(0U, 15, 8, _minor_)) \ + | (INSERT(0U, 7, 0, _seq_))) + +void log_entry(const log_metadata_t * const token, + const uint8_t n_args, + log_args_t args); + +extern uint32_t log_level; + +#define LOG_GET_NTH_ARG(_1_, _2_, _3_, _4_, _5_, _6_, _7_, _8_, _arg_, ...) \ + _arg_ + +#define LOG_COUNT_ARGS(...) \ + LOG_GET_NTH_ARG(__VA_ARGS__, 8, 7, 6, 5, 4, 3, 2, 1, 0,) + +#define LOG_XFIRST(_X_, ...) _X_ +#define LOG_FIRST(...) LOG_XFIRST(##__VA_ARGS__) +#define LOG_REST(_X_, ...) __VA_ARGS__ + +#define LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + (_args_)[(_n_)] = (log_arg_t)_arg_; + +#define LOG_SET_ARGS_0(_args_, _n_, ...) +#define LOG_SET_ARGS_1(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) +#define LOG_SET_ARGS_2(_args_, _n_,_arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_1(_args_, (_n_) + 1, __VA_ARGS__) +#define LOG_SET_ARGS_3(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_2(_args_, (_n_) + 1, __VA_ARGS__) +#define LOG_SET_ARGS_4(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_3(_args_, (_n_) + 1, __VA_ARGS__) +#define LOG_SET_ARGS_5(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_4(_args_, (_n_) + 1, __VA_ARGS__) +#define LOG_SET_ARGS_6(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_5(_args_, (_n_) + 1, __VA_ARGS__) +#define LOG_SET_ARGS_7(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_6(_args_, (_n_) + 1, __VA_ARGS__) +#define LOG_SET_ARGS_8(_args_, _n_, _arg_, ...) \ + LOG_SET_NTH_ARG(_args_, _n_, _arg_) \ + LOG_SET_ARGS_7(_args_, (_n_) + 1, __VA_ARGS__) + +#define LOG_SET_EACH_ARG(_args_, ...) \ + LOG_GET_NTH_ARG(__VA_ARGS__, \ + LOG_SET_ARGS_8, LOG_SET_ARGS_7, LOG_SET_ARGS_6, LOG_SET_ARGS_5,\ + LOG_SET_ARGS_4, LOG_SET_ARGS_3, LOG_SET_ARGS_2, LOG_SET_ARGS_1,\ + LOG_SET_ARGS_0,) (_args_, 0, __VA_ARGS__,) + +/* + * This version of the XLOGX macro does not provide the ability to + * set "fixed strings" as none of the other macros would fill them + * in or have the run-time ability to set the appropriate values. + */ +#define XLOGX(_level_, _id_, _id_str_, _flags_, _fmt_, ...) \ + { \ + static const char SECTION_LOG_METADATA_STRINGS xxlog_id_str[] = _id_str_;\ + static const char SECTION_LOG_METADATA_STRINGS xxlog_f_name[] = __FILE__;\ + static const char SECTION_LOG_METADATA_STRINGS xxlog_fmt_str[] = _fmt_; \ + static const log_metadata_t xxlog_metadata USED SECTION_LOG_METADATA_DATA = {\ + .id = _id_, \ + .flags = _flags_, \ + .level = _level_, \ + .n_args = LOG_COUNT_ARGS(__VA_ARGS__), \ + .id_name = &xxlog_id_str[0], \ + .file = &xxlog_f_name[0], \ + .line_no = __LINE__, \ + .fmt_string = &xxlog_fmt_str[0], \ + .num_fixed_strings = 0UL, \ + }; \ + log_args_t xxlog_log_args; \ + if (((_level_ & (LOG_LEVEL_ALWAYS | PRINT_LEVEL_ALWAYS)) != 0UL) \ + || ((_level_ & log_level) != 0UL)) { \ + LOG_SET_EACH_ARG(xxlog_log_args, __VA_ARGS__); \ + log_entry(&xxlog_metadata, LOG_COUNT_ARGS(__VA_ARGS__), \ + &xxlog_log_args[0]); \ + } \ + } + +#define LOGX(_level_, _id_, _id_str_, _flags_, ...) \ + XLOGX(_level_, _id_, _id_str_, _flags_, "", __VA_ARGS__); + +#define XLOG(_level_, _id_, _id_str_, _flags_, ...) \ + if ((LOG_ENABLE==1) && (_level_##_ENABLE==1)) { \ + LOGX(_level_, _id_, _id_str_, _flags_, __VA_ARGS__); \ + } + +#define LOG(_level_, _id_, _flags_, ...) \ + if (LOG_ENABLE==1) { \ + LOGX(_level_, _id_, #_id_, _flags_, __VA_ARGS__); \ + } + +#define LOG_ERROR_ALWAYS(_id_, ...) \ + LOG(LOG_LEVEL_ERROR, _id_, LOG_FL_ERROR, __VA_ARGS__); + +#define LOG_ALWAYS(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_ALWAYS, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_PERF(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_PERF, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_ERROR(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_ERROR, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_CRIT(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_CRIT, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_WARN(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_WARN, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_INFO(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_INFO, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_IRQ(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_IRQ, _id_, #_id_, _flags_, __VA_ARGS__) + +#define LOG_BOOT(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_BOOT, _id_, #_id_,_flags_, __VA_ARGS__) + +#define LOG_DEBUG(_id_, _flags_, ...) \ + XLOG(LOG_LEVEL_DEBUG, _id_, #_id_, _flags_, __VA_ARGS__) + +#define XPRINTX(_level_, _fmt_, ...) \ + XLOGX(_level_, DCE_LOG_PRINT, "", LOG_FL_PRINT, _fmt_, __VA_ARGS__); + +#define XPRINT(_level_, _fmt_, ...) \ + if ((PRINT_ENABLE==1) && (_level_##_ENABLE==1)) { \ + XPRINTX(_level_, _fmt_, __VA_ARGS__); \ + } + +#define LOGGING_PRINT(_level_, _fmt_, ...) \ + if (PRINT_ENABLE==1) { \ + XPRINTX(_level_, _fmt_, __VA_ARGS__); \ + } + +#define print(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_ALWAYS, _fmt_, __VA_ARGS__); + +#define PRINT_ALWAYS(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_ALWAYS, _fmt_, __VA_ARGS__); + +#define PRINT_PERF(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_PERF, _fmt_, __VA_ARGS__); + +#define PRINT_ERROR(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_ERROR, _fmt_, __VA_ARGS__); + +#define PRINT_CRIT(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_CRIT, _fmt_, __VA_ARGS__); + +#define PRINT_WARN(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_WARN, _fmt_, __VA_ARGS__); + +#define PRINT_INFO(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_INFO, _fmt_, __VA_ARGS__); + +#define PRINT_IRQ(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_IRQ, _fmt_, __VA_ARGS__); + +#define PRINT_BOOT(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_BOOT, _fmt_, __VA_ARGS__); + +#define PRINT_DEBUG(_fmt_, ...) \ + XPRINT(PRINT_LEVEL_DEBUG, _fmt_, __VA_ARGS__); + +void log_set_level_mask(const uint32_t mask); +uint32_t log_get_level_mask(void); + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/logger/sections-logger.h b/spe-freertos-bsp/fsp/source/include/logger/sections-logger.h new file mode 100644 index 0000000..2ea1277 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/logger/sections-logger.h @@ -0,0 +1,104 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef LOGGER__SECTIONS_LOGGER_H +#define LOGGER__SECTIONS_LOGGER_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_LOG_BSS SECTION_BUILDER(log, bss) +#define SECTION_NAME_LOG_DATA SECTION_BUILDER(log, data) +#define SECTION_NAME_LOG_TEXT SECTION_BUILDER(log, text) +#define SECTION_NAME_LOG_ADMIN_TEXT SECTION_BUILDER(admin.log, text) +#define SECTION_NAME_LOG_INIT_DATA SECTION_BUILDER(init.log, data) +#define SECTION_NAME_LOG_INIT_TEXT SECTION_BUILDER(init.log, text) +#define SECTION_NAME_LOG_METADATA_DATA SECTION_BUILDER(metadata.data, data) +#define SECTION_NAME_LOG_METADATA_STRINGS SECTION_BUILDER(metadata.strings, data) + + +#define SECTION_STR_LOG_TEXT STR(SECTION_NAME_LOG_TEXT) +#define SECTION_STR_LOG_DATA STR(SECTION_NAME_LOG_DATA) +#define SECTION_STR_LOG_BSS STR(SECTION_NAME_LOG_BSS) +#define SECTION_STR_LOG_INIT_TEXT STR(SECTION_NAME_LOG_INIT_TEXT) +#define SECTION_STR_LOG_INIT_DATA STR(SECTION_NAME_LOG_INIT_DATA) +#define SECTION_STR_LOG_ADMIN_TEXT STR(SECTION_NAME_LOG_ADMIN_TEXT) +#define SECTION_STR_LOG_METADATA_STRINGS STR(SECTION_NAME_LOG_METADATA_STRINGS) +#define SECTION_STR_LOG_METADATA_DATA STR(SECTION_NAME_LOG_METADATA_DATA) + +#define SECTION_LOG_TEXT SECTION(SECTION_STR_LOG_TEXT) +#define SECTION_LOG_DATA SECTION(SECTION_STR_LOG_DATA) +#define SECTION_LOG_BSS SECTION(SECTION_STR_LOG_BSS) +#define SECTION_LOG_INIT_TEXT SECTION(SECTION_STR_LOG_INIT_TEXT) +#define SECTION_LOG_INIT_DATA SECTION(SECTION_STR_LOG_INIT_DATA) +#define SECTION_LOG_ADMIN_TEXT SECTION(SECTION_STR_LOG_ADMIN_TEXT) +#define SECTION_LOG_METADATA_STRINGS SECTION(SECTION_STR_LOG_METADATA_STRINGS) +#define SECTION_LOG_METADATA_DATA SECTION(SECTION_STR_LOG_METADATA_DATA) + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/misc/attributes.h b/spe-freertos-bsp/fsp/source/include/misc/attributes.h new file mode 100644 index 0000000..1661c3b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/attributes.h @@ -0,0 +1,115 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef MISC__ATTRIBUTES_H +#define MISC__ATTRIBUTES_H +#define FSP__MISC__ATTRIBUTES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#ifndef __ASSEMBLER__ + +#define NO_RETURN __attribute__ ((noreturn)) +#define NAKED __attribute__ ((naked)) + +#ifdef LONG_CALLS +#define LONG_CALL __attribute__ ((__long_call__)) +#else +#define LONG_CALL +#endif + +#define NO_INLINE __attribute__ ((noinline)) +#define SECTION(_s_) __attribute__ ((section(_s_))) +#define ALIAS(_s_) __attribute__ ((alias(STR(_s_)))) +#define USED __attribute__ ((used)) +#define WEAK __attribute__ ((weak)) +#define ALIGN(_v_) __attribute__ ((aligned(_v_))) + +#ifndef USE_C11 +#define C99_Alignof(_x_) ((~sizeof(_x_))+1) +#define FSP_ALIGNOF C99_Alignof +#else +INLINE_RFD(MISRA, DEVIATE, Rule_1_4, "Approval: JIRA TID-1311, DR: SWE-FSP-061-SWSADR.docx") +#define FSP_ALIGNOF _Alignof +#endif + +#define UNUSED(x) ((void)x) + +/* + * Use UNUSED_NONCONST_PTR to declare deliberate design intent NOT to use const + * even though the contents of the data pointed to is not modified. + * + * MISRA flags non-const pointers when the data is untouched even though + * the data may be modified in future code updates or it is semantically changing. + * + * Please don't overuse. Prefer const data instead. + * It usually leads to a cleaner design and more efficient workflow. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_13, "Approval: Bug 2687886, DR: SWE-FSP-017-SWSADR.docx") +inline static void UNUSED_NONCONST_PTR(void* whitelist_this) +{ + /* + * This is likely to be flagged with MISRA Directive 8.13 violation. + * It should be white-listed using static code scanning tools. + */ + + UNUSED(whitelist_this); +} + +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/misc/bitops.h b/spe-freertos-bsp/fsp/source/include/misc/bitops.h new file mode 100644 index 0000000..0c8ddbd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/bitops.h @@ -0,0 +1,637 @@ +/* + * Copyright (c) 2016-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef MISC__BITOPS_H +#define MISC__BITOPS_H +#define FSP__MISC__BITOPS_H 1 + +#ifndef __ASSEMBLER__ +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file bitops.h + * @brief functions and macros that provide bit manipulation support. + */ + +/** + * @brief define a bit mask for the 16-bit value + * + * @jama_func_req_id 8218676 + * + * This macro will set a bit represented by the bit-index in a half word. + * + * @param[in] _b_ 16-bit immediate value + * + * @result 16-bit value with the input bit-index set to 1. + */ +#define BIT16(_b_) ((uint16_t)(((uint16_t)1U) << (_b_))) + +/** + * @brief define a bit mask for the 16-bit value + * + * @jama_func_req_id 8218676 + * + * This macro will set a bit represented by the bit-index in a half word. + * + * @param[in] _b_ 16-bit variable + * + * @result 16-bit value with the input bit-index set to 1. + */ +static inline uint16_t BIT16_FN(uint16_t varbit) +{ + uint16_t retval = 0U; + if(varbit < 16U) { + INLINE_RFD(CERTC, FP, INT31_C, "Approval: JIRA TID-616, DR: SWE-FSP-050-SWSADR.docx"); + retval = (uint16_t)((uint16_t)1U << varbit); + } + return retval; +} + +/** + * @brief create bit mask of a specific field in a 16-bit value + * + * @jama_func_req_id 8245844 + * + * This macro will create the bit mask of a field specified by msb and lsb + * indices in a 16-bit value. + * + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * + * @result bit mask of the field specified by msb and lsb indices. + */ +#define MASK16(_msb_, _lsb_) \ + (((uint16_t)(BIT16(_msb_) - (uint16_t)1U) | BIT16(_msb_)) & \ + ((uint16_t)~(BIT16(_lsb_) - (uint16_t)1U))) + +/** + * @brief Extract a field specified by start and end bit in a 16-bit value + * + * @jama_func_req_id 8220128 + * + * This macro will extract the bit-field specified by msb and lsb + * indices in a 16-bit value. + * + * @param[in] _x_ 16-bit value + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * @param[in] _type_ return data type + * + * @result field specified by [msb, lsb] casted to return data type + */ +#define EXTRACT16(_x_, _msb_, _lsb_, _type_) \ + ((_type_)((_type_)((_x_) & MASK16(_msb_, _lsb_)) >> (_lsb_))) + +/** + * @brief Write to a specific field in a 16-bit value + * + * @jama_func_req_id 8245826 + * + * This macro will write to a bit-field specified by msb and lsb + * indices in a 16-bit value. + * + * @param[in] _x_ 16-bit value + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * @param[in] _value_ value to be written to the specific field + * + * @result 16-bit value with the modified field specified by msb and lsb indices + */ +#define INSERT16(_x_, _msb_, _lsb_, _value_) \ + ((((uint16_t)_x_) & ((uint16_t)~MASK16(_msb_, _lsb_))) \ + | ((((uint16_t)_value_) << _lsb_) & MASK16(_msb_, _lsb_))) + +/** + * @brief define a bit mask for the 32-bit value + * + * @jama_func_req_id 8218670 + * + * This macro will set a bit represented by the bit-index in a word. + * + * @param[in] _b_ 32-bit immediate value + * + * @result 32-bit value with the input bit-index set to 1. + */ +#define BIT32(_b_) ((uint32_t)(((uint32_t)1U) << (_b_))) + +/** + * @brief define a bit mask for the 32-bit value + * + * @jama_func_req_id 8218670 + * + * This macro will set a bit represented by the bit-index in a word. + * + * @param[in] _b_ 32-bit variable + * + * @result 32-bit value with the input bit-index set to 1. + */ +static inline uint32_t BIT32_FN(uint32_t varbit) +{ + uint32_t retval = 0U; + if(varbit < 32U) { + retval = (uint32_t)((uint32_t)1U << varbit); + } + return retval; +} + +/** + * @brief create bit mask of a specific field in a 32-bit value + * + * @jama_func_req_id 8245850 + * + * This macro will create the bit mask of a field specified by msb and lsb + * indices in a 32-bit value. + * + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * + * @result bit mask of the field specified by msb and lsb indices. + */ +#define MASK32(_msb_, _lsb_) \ + (((uint32_t)(BIT32(_msb_) - (uint32_t)1U) | BIT32(_msb_)) & ((uint32_t)~(BIT32(_lsb_) - (uint32_t)1U))) + +/** + * @brief Extract a field specified by start and end bit in a 32-bit value + * + * @jama_func_req_id 8220131 + * + * This macro will extract the bit-field specified by msb and lsb + * indices in a 32-bit value. + * + * @param[in] _x_ 32-bit value + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * @param[in] _type_ return data type + * + * @result field specified by [msb, lsb] casted to return data type + */ +#define EXTRACT32(_x_, _msb_, _lsb_, _type_) \ + ((_type_)((_type_)((_x_) & MASK32(_msb_, _lsb_)) >> (_lsb_))) + +/** + * @brief Write to a specific field in a 32-bit value + * + * @jama_func_req_id 8245829 + * + * This macro will write to a bit-field specified by msb and lsb + * indices in a 32-bit value. + * + * @param[in] _x_ 32-bit value + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * @param[in] _value_ value to be written to the specific field + * + * @result 32-bit value with the modified field specified by msb and lsb indices + */ +#define INSERT32(_x_, _msb_, _lsb_, _value_) \ + ((((uint32_t)_x_) & ((uint32_t)~MASK32(_msb_, _lsb_))) \ + | ((((uint32_t)_value_) << _lsb_) & MASK32(_msb_, _lsb_))) + +/* + * Aliases for 32-bit operations + */ +#define BIT(_x_) BIT32(_x_) +#define MASK(_msb_, _lsb_) MASK32(_msb_, _lsb_) +#define EXTRACT(_x_, _msb_, _lsb_, _type_) EXTRACT32(_x_, _msb_, _lsb_, _type_) +#define INSERT(_x_, _msb_, _lsb_, _value_) INSERT32(_x_, _msb_, _lsb_, _value_) + +/** + * @brief define a bit mask for the 64-bit value + * + * @jama_func_req_id 8218694 + * + * This macro will set a bit represented by the bit-index in a 64-bit value. + * + * @param[in] _b_ 64-bit immediate value + * + * @result 64-bit value with the input bit-index set to 1. + */ +#define BIT64(_b_) ((uint64_t)(((uint64_t)1U) << (_b_))) + +/** + * @brief define a bit mask for the 64-bit value + * + * @jama_func_req_id 8218694 + * + * This macro will set a bit represented by the bit-index in a 64-bit value. + * + * @param[in] _b_ 64-bit variable + * + * @result 64-bit value with the input bit-index set to 1. + */ +static inline uint64_t BIT64_FN(uint64_t varbit) +{ + uint64_t retval = 0U; + if(varbit < 64U) { + retval = (uint64_t)((uint64_t)1U << varbit); + } + return retval; +} + +/** + * @brief create bit mask of a specific field in a 64-bit value + * + * @jama_func_req_id 8245856 + * + * This macro will create the bit mask of a field specified by msb and lsb + * indices in a 64-bit value. + * + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * + * @result bit mask of the field specified by msb and lsb indices. + */ +#define MASK64(_msb_, _lsb_) \ + (((uint64_t)(BIT64(_msb_) - (uint64_t)1U) | BIT64(_msb_)) & ((uint64_t)~(BIT64(_lsb_) - (uint64_t)1U))) + +/** + * @brief Extract a field specified by start and end bit in a 64-bit value + * + * @jama_func_req_id 8221487 + * + * This macro will extract the bit-field specified by msb and lsb + * indices in a 64-bit value. + * + * @param[in] _x_ 64-bit value + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * @param[in] _type_ return data type + * + * @result field specified by [msb, lsb] casted to return data type + */ +#define EXTRACT64(_x_, _msb_, _lsb_, _type_) \ + ((_type_)((_type_)((_x_) & MASK64(_msb_, _lsb_)) >> (_lsb_))) + +/** + * @brief Write to a specific field in a 64-bit value + * + * @jama_func_req_id 8245835 + * + * This macro will write to a bit-field specified by msb and lsb + * indices in a 64-bit value. + * + * @param[in] _x_ 64-bit value + * @param[in] _msb_ msb index + * @param[in] _lsb_ lsb index + * @param[in] _value_ value to be written to the specific field + * + * @result 64-bit value with the modified field specified by msb and lsb indices + */ +#define INSERT64(_x_, _msb_, _lsb_, _value_) \ + ((((uint64_t)_x_) & ((uint64_t)~MASK64(_msb_, _lsb_))) \ + | ((((uint64_t)_value_) << _lsb_) & MASK64(_msb_, _lsb_))) + +/** + * @brief Pack a 64-bit value from upper & lower 32-bit values + * + * @jama_func_req_id 8218523 + * + * This macro creates the 64-bit value resulting from the MSW(upper 32-bit) + * and LSW(lower 32-bit) values. + * + * @param[in] _h_ upper 32-bit value + * @param[in] _l_ lower 32-bit value + * + * @result - 64-bit value resulting from the MSW and LSW + */ +#define PACK64(_l_, _h_) ((((uint64_t)(_h_)) << 32) | (_l_)) + +/** + * @brief Fetch the Most Significant Word from 64-bit value + * + * @jama_func_req_id 8218616 + * + * This macro will fetch the Most significant word (lower 32-bits) + * from a 64-bit value. + * + * @param[in] _x_ 64-bit value + * + * @result Most significant word (upper 32-bits) + */ +#define HI32(_x_) ((uint32_t)(((_x_) >> 32U) & 0xFFFFFFFFU)) + +/** + * @brief Fetch the Least Significant Word from 64-bit value + * + * @jama_func_req_id 8218625 + * + * This macro will fetch the Most significant word (upper 32-bits) + * from a 64-bit value. + * + * @param[in] _x_ 64-bit value + * + * @result Least significant word (lower 32-bits) + */ +#define LOW32(_x_) ((uint32_t)((_x_) & 0xFFFFFFFFU)) + +/*! + * @brief Utility functions to set/clear/test a bit in a bitmap. + * The bitmap is an array, allowing it to support more than 64 bits. + */ + +/*! + * @brief The type used for each element of a bitmap. + * Note: Ideally we would use uintptr_t here to match the word size of this architecture. + * However, This requires us to do + * #define BITMAP_ELEMENT_SIZE (sizeof(bitmap_element_t) * 8U) + * And this causes a CERT-C ARR39-C. Because of this, we have to fix it at 64 bits. + */ +typedef uint64_t bitmap_element_t; + +/*! + * @brief Number of bits per array element of _mpuEnableBitmap. + */ +#define BITMAP_ELEMENT_SIZE 64U + +/*! + * @brief Utility functions to set/clear/test a bit in a bitmap + * + * @param bm the bitmap in which to set/clear/test a bit + * @param index the index of the bit to set/clear/test + * + * @note It is up to the caller to ensure that index is within the bounds of bm. + * bm must be at least the size of index / BITMAP_ELEMENT_SIZE. + */ + +/** + * @brief set a bit in a bitmap + * + * @jama_func_req_id TODO + * + * This function will set a bit at position index in a bitmap spanning an array. + * + * @param bm the bitmap in which to set a bit + * @param index the index of the bit to set + */ +static inline void bitmap_set_bit(bitmap_element_t bm[], uint32_t bm_size, uint32_t index) +{ + if ((index / BITMAP_ELEMENT_SIZE) < bm_size) + { + bm[index / BITMAP_ELEMENT_SIZE] |= + (bitmap_element_t)((bitmap_element_t)1U << (index % BITMAP_ELEMENT_SIZE)); + } +} + +/** + * @brief clear a bit in a bitmap + * + * @jama_func_req_id TODO + * + * This function will clear a bit at position index in a bitmap spanning an array. + * + * @param bm the bitmap in which to clear a bit + * @param index the index of the bit to clear + */ +static inline void bitmap_clear_bit(bitmap_element_t bm[], uint32_t bm_size, uint32_t index) +{ + if ((index / BITMAP_ELEMENT_SIZE) < bm_size) + { + bm[index / BITMAP_ELEMENT_SIZE] &= + (bitmap_element_t)(~((bitmap_element_t)1U << (index % BITMAP_ELEMENT_SIZE))); + } +} + +/** + * @brief test a bit in a bitmap + * + * @jama_func_req_id TODO + * + * This function will test a bit at position index in a bitmap spanning an array. + * + * @param bm the bitmap in which to test a bit + * @param index the index of the bit to test + * + * @result True if the bit is set, False otherwise + */ +static inline bool bitmap_test_bit(const bitmap_element_t bm[], uint32_t bm_size, uint32_t index) +{ + bool ret = false; + if ((index / BITMAP_ELEMENT_SIZE) < bm_size) + { + ret = (((bm[index / BITMAP_ELEMENT_SIZE] >> (index % BITMAP_ELEMENT_SIZE)) & 1U) == 1U); + } + + return ret; +} + +#if __GNUC__ > 0 +#define HAS_BUILTIN_CTZ 1 +#else + #if __has_builtin(__builtin_ctz) + #define HAS_BUILTIN_CTZ 1 + #else + #define HAS_BUILTIN_CTZ 0 + #endif +#endif + +/** + * @brief Compute the set bit index from the least significant bit + * + * @jama_func_req_id 8218484 + * + * This function will fetch the bit index of the set bit from the LSB. In + * other words, counts the number of trailing zeroes. + * + * @param[in] value 32-bit value + * + * @return number of trailing zeroes or index of the bit set from LSB + */ +static inline uint32_t bit_number(uint32_t value) +{ +#if HAS_BUILTIN_CTZ == 1 + int32_t ret; + uint32_t n = 0; + INLINE_RFD(MISRA, DEVIATE, Directive_4_6, "Approval: Bug 200543266, DR: SWE-FSP-003-SWSADR.docx") + ret = (int32_t)__builtin_ctz((unsigned int)value); + if (ret > 0) { + n = (uint32_t)ret; + } + + return n; +#else + + uint32_t lsb_only = value & ~(value - 1U); + uint32_t n = 0; + + if (lsb_only == 0U) + n += 32U; + if ((lsb_only & 0xffff0000U) != 0U) + n += 16U; + if ((lsb_only & 0xff00ff00U) != 0U) + n += 8U; + if ((lsb_only & 0xf0f0f0f0U) != 0U) + n += 4U; + if ((lsb_only & 0xccccccccU) != 0U) + n += 2U; + if ((lsb_only & 0xaaaaaaaaU) != 0U) + n += 1U; + + return n; +#endif +} + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") +static inline uint32_t next_bit( + uint32_t firstbit, + uint32_t nbits, + const uint32_t words[], + uint32_t invert) +{ + uint32_t word; + uint32_t lsb_only; + uint32_t fbit = firstbit; + uint32_t ret; + + for (;;) { + if (fbit >= nbits) { + ret = nbits; + goto out; + } + + word = words[fbit / 32U] ^ invert; + + /* Mask before firstbit */ + word &= (uint32_t)(~((1UL << (fbit % 32UL)) - 1UL)); + + if (word != 0U) { + break; + } + + fbit = (fbit + 32U) & ~31U; + } + + lsb_only = word & ~(word - 1U); + + fbit = (fbit & ~31U) + bit_number(lsb_only); + + if (fbit >= nbits) { + ret = nbits; + INLINE_RFD(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx"); + goto out; + } + + ret = fbit; + +out: + return ret; +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_15_1, "Approval: Bug 3176459, DR: SWE-FSP-028-SWSADR.docx", + MISRA, DEVIATE, Rule_15_4, "Approval: Bug 200532006, DR: SWE-FSP-029-SWSADR.docx") + +static inline uint32_t next_one( + uint32_t firstbit, + uint32_t nbits, + const uint32_t words[]) +{ + return next_bit(firstbit, nbits, words, 0U); +} + +static inline uint32_t next_zero( + uint32_t firstbit, + uint32_t nbits, + const uint32_t words[]) +{ + return next_bit(firstbit, nbits, words, ~0U); +} + +/** + * @brief create a 64-bit value from MSW & LSW + * + * @jama_func_req_id 8218523 + * + * This function creates the 64-bit value resulting from the MSW(upper 32-bit) + * and LSW(lower 32-bit) values. + * + * @param[in] hi32 upper 32-bit value + * @param[in] lo32 lower 32-bit value + * + * @result - 64-bit value resulting from the MSW and LSW + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx") +static inline uint64_t hilo_to_64( + uint32_t hi32, + uint32_t lo32) +{ +#if defined(__BYTE_ORDER__) + union { + struct { +#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__ + uint32_t lo32, hi32; +#else + uint32_t hi32, lo32; +#endif + } value32; + uint64_t value64; + } value = { .value32 = { .hi32 = hi32, .lo32 = lo32 }}; + + return value.value64; +#else + return ((uint64_t)hi32 << 32) | lo32; +#endif +} +END_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx") + +#endif + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + CERTC, DEVIATE, DCL37_C, "Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx") +#endif /* MISC__BITOPS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/misc/ct-assert.h b/spe-freertos-bsp/fsp/source/include/misc/ct-assert.h new file mode 100644 index 0000000..9897609 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/ct-assert.h @@ -0,0 +1,70 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef MISC__CT_ASSERT_H +#define MISC__CT_ASSERT_H + +/* + * Compile time assertion check + * + * If the asserted condition fails, it will result in a compilation error + * due to the fact that a boolean condition that is false will be 0 which + * results in a division by 0 (as seen by the compiler). + */ +#ifndef __ASSEMBLER__ + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_20_10 \"Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx\") \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif +#define DO_CT_CONCAT(_x_, _y_) _x_##_y_ +#define CT_CONCAT(_a_, _b_) DO_CT_CONCAT(_a_, _b_) +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) MISRA_C_2012_Rule_20_10") +#endif + +#ifdef USE_C11 +#define CT_ASSERT(_cond_, _msg_) _Static_assert(_cond_, _msg_); +#else +#define CT_ASSERT(_cond_, _msg_) \ + enum { CT_CONCAT(ASSERT_LINE_, __COUNTER__) = 1/(int)(!!(_cond_)) }; +#endif // USE_C11 + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) MISRA_C_2012_Rule_2_5") +#endif +#else + +#define CT_ASSERT(_cond_, _msg_) + +#endif // __ASSEMBLER__ + +#define HEADER_CHECK(x) CT_ASSERT(x, "Header file missing or invalid.") + +#endif // MISC__CT_ASSERT_H diff --git a/spe-freertos-bsp/fsp/source/include/misc/gcc_attrs.h b/spe-freertos-bsp/fsp/source/include/misc/gcc_attrs.h new file mode 100644 index 0000000..8b831cb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/gcc_attrs.h @@ -0,0 +1,91 @@ +/** + * @file gcc_attrs.h + * + * @brief GCC attribute macros + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef MISC__GCC_ATTRS_H +#define MISC__GCC_ATTRS_H +#define FSP__MISC__GCC_ATTRS_H 1 + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif + +/* + * GCC Attributes + * Defines macros for GCC attributes + */ + +/* + * Common attributes + */ +#define GCC_ATTR_ALIGNED(X) __attribute__((aligned((X)))) +#define GCC_ATTR_SECTION(X) __attribute__((section((X)))) +#define GCC_ATTR_UNUSED __attribute__((unused)) +#define GCC_ATTR_USED __attribute__((used)) +#define GCC_ATTR_VISIBILITY_HIDDEN __attribute__((visibility("hidden"))) +#define GCC_ATTR_VISIBILITY_INTERNAL __attribute__((visibility("internal"))) +#define GCC_ATTR_VISIBILITY_PROTECTED __attribute__((visibility("protected"))) +#define GCC_ATTR_WEAK __attribute__((weak)) + +/* + * Function only attributes + */ +#define GCC_ATTR_ALWAYSINLINE __attribute__((always_inline)) +#define GCC_ATTR_FORMAT_ARG(Idx) __attribute__((format_arg((Idx)))) +#define GCC_ATTR_FORMAT_PRINTF(Idx, firstToCheck) __attribute__((format(printf, (Idx), (firstToCheck)))) +#define GCC_ATTR_NAKED __attribute__((naked)) +#define GCC_ATTR_NOINLINE __attribute__((noinline)) +#define GCC_ATTR_NONNULL(...) __attribute__((nonnull(__VA_ARGS__))) +#define GCC_ATTR_NONNULL_ALL __attribute__((nonnull)) +#define GCC_ATTR_NORETURN __attribute__((noreturn)) +#define GCC_ATTR_PURE __attribute__((pure)) +#define GCC_ATTR_WARN_UNUSED __attribute__((warn_unused_result)) +#define GCC_ATTR_NO_SSP __attribute__((__optimize__("no-stack-protector"))) + +/* + * Variable only attributes + */ +#define GCC_ATTR_CLEANUP(cleanupFcn) __attribute__((cleanup((cleanupFcn)))) +#define GCC_ATTR_PACKED __attribute__((packed)) + +/* + * Misc attributes + */ +#define GCC_ATTR_FALLTHROUGH __attribute__((fallthrough)) + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_20_10 MISRA_C_2012_Rule_2_5") +#endif + +#endif /* MISC__GCC_ATTRS_H */ +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/include/misc/gcc_builtins.h b/spe-freertos-bsp/fsp/source/include/misc/gcc_builtins.h new file mode 100644 index 0000000..94331e3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/gcc_builtins.h @@ -0,0 +1,56 @@ +/** + * @file gcc_builtins.h + * + * @brief GCC builtin macros + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS`` AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef MISC__GCC_BUILTINS_H +#define MISC__GCC_BUILTINS_H +#define FSP__MISC__GCC_BUILTINS_H 1 + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif + +/* + * GCC Builtins + * Defines macros for GCC builtin functions + */ + +#define NVRV_BUILTIN_OFFSETOF(type, member) __builtin_offsetof(type, member) +#define NVRV_BUILTIN_UNREACHABLE __builtin_unreachable + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_20_10 MISRA_C_2012_Rule_2_5") +#endif + +#endif /* MISC__GCC_BUILTINS_H */ +/** end of file **/ diff --git a/spe-freertos-bsp/fsp/source/include/misc/generate-asm-hdr.h b/spe-freertos-bsp/fsp/source/include/misc/generate-asm-hdr.h new file mode 100644 index 0000000..4d3fe68 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/generate-asm-hdr.h @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * This file provides the interfaces for the SafeRTOS MPU functions for + * ARMv7 CPUs (notably the Cortex R5) + */ +#ifndef MISC__GENERATE_ASM_HDR_H +#define MISC__GENERATE_ASM_HDR_H +#define FSP__MISC__GENERATE_ASM_HDR_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** + * @file generate-asm-hdr.h + * @brief Generate C/asm data structure member offset defines. + * + * This file provides macros for generating data structure member + * offset defines that are used in both C source and assembly for + * the purpose of maintaining the offsets of the members. + */ + +#define ASM_DEFINE(_s_, _v_) \ + __asm__ __volatile__ ("##define " #_s_ " %0 \n" : : "i" (_v_)) + +#define ASM_OFFSET(_sym_, _struct_, _member_) \ + ASM_DEFINE(_sym_, offsetof(_struct_, _member_)) + +#define ASM_SIZEOF(_sym_, _struct_) \ + ASM_DEFINE(_sym_, sizeof(_struct_)) + +#endif /* MISC__GENERATE_ASM_HDR_H */ diff --git a/spe-freertos-bsp/fsp/source/include/misc/linker-symbols.h b/spe-freertos-bsp/fsp/source/include/misc/linker-symbols.h new file mode 100644 index 0000000..02e63f6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/linker-symbols.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) 2018-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef MISC__LINKER_SYMBOLS_H +#define MISC__LINKER_SYMBOLS_H +#define FSP__MISC__LINKER_SYMBOLS_H 1 + +#include + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#if (!defined(USE_GCC) || (USE_GCC==0)) +#define LINKER_SYM(_prefix_, _name_, _postfix_) \ + _prefix_##$$##_name_##$$##_postfix_ +#else +#define LINKER_SYM(_prefix_, _name_, _postfix_) \ + _prefix_##_##_name_##_##_postfix_ +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx") + +#define LOAD_SYM_BASE(_name_) LINKER_SYM(Load, _name_, Base) +#define LOAD_SYM_LIMIT(_name_) LINKER_SYM(Load, _name_, Limit) +#define IMAGE_SYM_BASE(_name_) LINKER_SYM(Image, _name_, Base) +#define IMAGE_SYM_LIMIT(_name_) LINKER_SYM(Image, _name_, Limit) +#define IMAGE_SYM_LENGTH(_name_) LINKER_SYM(Image, _name_, Length) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/misc/macros.h b/spe-freertos-bsp/fsp/source/include/misc/macros.h new file mode 100644 index 0000000..d43181d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/macros.h @@ -0,0 +1,356 @@ +/* + * Copyright (c) 2014-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef MISC__MACROS_H +#define MISC__MACROS_H +#define FSP__MISC__MACROS_H 1 + +#ifndef __ASSEMBLER__ +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#endif + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\") \ + (deviate MISRA_C_2012_Rule_20_10 \"Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx\") \ + (deviate CERT_DCL37_C \"Approval: Bug 2731179, DR: SWE-FSP-036-SWSADR.docx\")") +#endif +/* + * Create wrappers for Coverity MISRA/CERTC _Pragma + * inline block deviation records. Feature is enabled in makefile with + * FSP_COVERITY=1, or by passing FSP_COVERITY=1 on the command line to + * the makefile. + */ +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) + #define MISRA_Pragma(_p_) _Pragma(_p_) + #define TO_MISRA_Pragma(_a_) MISRA_Pragma(STR(_a_)) + #define MISRA_START_DEVIATE(_r_, _d_) (CONCAT(deviate MISRA_C_2012_,_r_ _d_)) + #define CERTC_START_DEVIATE(_r_, _d_) (CONCAT(deviate CERT_,_r_ _d_)) + #define MISRA_START_FP(_r_, _d_) (CONCAT(false_positive MISRA_C_2012_,_r_ _d_)) + #define CERTC_START_FP(_r_, _d_) (CONCAT(false_positive CERT_,_r_ _d_)) + #define MISRA_END_DEVIATE(_r_, _d_) CONCAT(MISRA_C_2012_,_r_) + #define CERTC_END_DEVIATE(_r_, _d_) CONCAT(CERT_,_r_) + + #define INLINE_RFD_SELECTOR(_c1_, _t1_, _r1_, _d1_, \ + _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, \ + _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, \ + _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_, \ + _c8_, _t8_, _r8_, _d8_, \ + FUNC, ...) FUNC + #define INLINE_RFD_CHOOSER(...) \ + INLINE_RFD_SELECTOR(__VA_ARGS__, INLINE_RFDx8,,,, \ + INLINE_RFDx7,,,, \ + INLINE_RFDx6,,,, \ + INLINE_RFDx5,,,, \ + INLINE_RFDx4,,,, \ + INLINE_RFDx3,,,, \ + INLINE_RFDx2,,,, \ + INLINE_RFDx1, ) + #define START_RFD_BLOCK_CHOOSER(...) \ + INLINE_RFD_SELECTOR(__VA_ARGS__, START_RFD_BLOCKx8,,,, \ + START_RFD_BLOCKx7,,,, \ + START_RFD_BLOCKx6,,,, \ + START_RFD_BLOCKx5,,,, \ + START_RFD_BLOCKx4,,,, \ + START_RFD_BLOCKx3,,,, \ + START_RFD_BLOCKx2,,,, \ + START_RFD_BLOCKx1, ) + #define END_RFD_BLOCK_CHOOSER(...) \ + INLINE_RFD_SELECTOR(__VA_ARGS__, END_RFD_BLOCKx8,,,, \ + END_RFD_BLOCKx7,,,, \ + END_RFD_BLOCKx6,,,, \ + END_RFD_BLOCKx5,,,, \ + END_RFD_BLOCKx4,,,, \ + END_RFD_BLOCKx3,,,, \ + END_RFD_BLOCKx2,,,, \ + END_RFD_BLOCKx1, ) + #define INLINE_RFD(...) INLINE_RFD_CHOOSER(__VA_ARGS__)(__VA_ARGS__) + #define START_RFD_BLOCK(...) START_RFD_BLOCK_CHOOSER(__VA_ARGS__)(__VA_ARGS__) + #define END_RFD_BLOCK(...) END_RFD_BLOCK_CHOOSER(__VA_ARGS__)(__VA_ARGS__) + + +// Input: +// _c_: Class: MISRA, CERTC +// _t_: Types: DEVIATE, FP +// _r_: Rule: (e.g.) Rule_1_2, Directive_4_9, etc. +// _d_: Description: Text description including BUG number and RFD document name + #define INLINE_RFDx1(_c1_, _t1_, _r1_, _d1_) \ + TO_MISRA_Pragma(coverity compliance \ + _c1_##_START_##_t1_(_r1_,_d1_)) + #define INLINE_RFDx2(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_)) + #define INLINE_RFDx3(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_)) + #define INLINE_RFDx4(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_)) + #define INLINE_RFDx5(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_)) + #define INLINE_RFDx6(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_) \ + _c6_##_START_##_t6_(_r6_,_d6_)) + #define INLINE_RFDx7(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_) \ + _c6_##_START_##_t6_(_r6_,_d6_) \ + _c7_##_START_##_t7_(_r7_,_d7_)) + #define INLINE_RFDx8(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_, _c8_, _t8_, _r8_, _d8_) \ + TO_MISRA_Pragma(coverity compliance _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_) \ + _c6_##_START_##_t6_(_r6_,_d6_) \ + _c7_##_START_##_t7_(_r7_,_d7_) \ + _c8_##_START_##_t8_(_r8_,_d8_)) + #define START_RFD_BLOCKx1(_c1_, _t1_, _r1_, _d1_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_)) + #define START_RFD_BLOCKx2(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_)) + #define START_RFD_BLOCKx3(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_)) + #define START_RFD_BLOCKx4(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_)) + #define START_RFD_BLOCKx5(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_)) + #define START_RFD_BLOCKx6(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_) \ + _c6_##_START_##_t6_(_r6_,_d6_)) + #define START_RFD_BLOCKx7(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_) \ + _c6_##_START_##_t6_(_r6_,_d6_) \ + _c7_##_START_##_t7_(_r7_,_d7_)) + #define START_RFD_BLOCKx8(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_, _c8_, _t8_, _r8_, _d8_) \ + TO_MISRA_Pragma(coverity compliance block(include) \ + _c1_##_START_##_t1_(_r1_,_d1_) \ + _c2_##_START_##_t2_(_r2_,_d2_) \ + _c3_##_START_##_t3_(_r3_,_d3_) \ + _c4_##_START_##_t4_(_r4_,_d4_) \ + _c5_##_START_##_t5_(_r5_,_d5_) \ + _c6_##_START_##_t6_(_r6_,_d6_) \ + _c7_##_START_##_t7_(_r7_,_d7_) \ + _c8_##_START_##_t8_(_r8_,_d8_)) + #define END_RFD_BLOCKx1(_c1_, _t1_, _r1_, _d1_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_)) + #define END_RFD_BLOCKx2(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_)) + #define END_RFD_BLOCKx3(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_) \ + _c3_##_END_##_t3_(_r3_,_d3_)) + #define END_RFD_BLOCKx4(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_) \ + _c3_##_END_##_t3_(_r3_,_d3_) \ + _c4_##_END_##_t4_(_r4_,_d4_)) + #define END_RFD_BLOCKx5(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_) \ + _c3_##_END_##_t3_(_r3_,_d3_) \ + _c4_##_END_##_t4_(_r4_,_d4_) \ + _c5_##_END_##_t5_(_r5_,_d5_)) + #define END_RFD_BLOCKx6(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_) \ + _c3_##_END_##_t3_(_r3_,_d3_) \ + _c4_##_END_##_t4_(_r4_,_d4_) \ + _c5_##_END_##_t5_(_r5_,_d5_) \ + _c6_##_END_##_t6_(_r6_,_d6_)) + #define END_RFD_BLOCKx7(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_) \ + _c3_##_END_##_t3_(_r3_,_d3_) \ + _c4_##_END_##_t4_(_r4_,_d4_) \ + _c5_##_END_##_t5_(_r5_,_d5_) \ + _c6_##_END_##_t6_(_r6_,_d6_) \ + _c7_##_END_##_t7_(_r7_,_d7_)) + #define END_RFD_BLOCKx8(_c1_, _t1_, _r1_, _d1_, _c2_, _t2_, _r2_, _d2_, \ + _c3_, _t3_, _r3_, _d3_, _c4_, _t4_, _r4_, _d4_, \ + _c5_, _t5_, _r5_, _d5_, _c6_, _t6_, _r6_, _d6_, \ + _c7_, _t7_, _r7_, _d7_, _c8_, _t8_, _r8_, _d8_) \ + TO_MISRA_Pragma(coverity compliance end_block(include) \ + _c1_##_END_##_t1_(_r1_,_d1_) \ + _c2_##_END_##_t2_(_r2_,_d2_) \ + _c3_##_END_##_t3_(_r3_,_d3_) \ + _c4_##_END_##_t4_(_r4_,_d4_) \ + _c5_##_END_##_t5_(_r5_,_d5_) \ + _c6_##_END_##_t6_(_r6_,_d6_) \ + _c7_##_END_##_t7_(_r7_,_d7_) \ + _c8_##_END_##_t8_(_r8_,_d8_)) +#else + #define INLINE_RFD(...) + #define START_RFD_BLOCK(...) + #define END_RFD_BLOCK(...) +#endif + +#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0])) +#define ARRAY_SSIZE(x) (int)(sizeof(x) / sizeof((x)[0])) + +#define SIZE_K(KB) (1024U * (KB)) +#define SIZE_M(MB) SIZE_K(1024U * (MB)) + +#define DIV_ROUND_UP(x, y) (((x) + (y) - 1U) / (y)) + +#define min(a, b) (((a) < (b)) ? (a) : (b)) + +#define max(a, b) (((a) > (b)) ? (a) : (b)) + +#define CONTAINER_OF(_ptr, _type, _field) \ + (_type *)((char *)_ptr - offsetof(_type, _field)) + +#ifndef U64_C +#define U64_C(x) UINT64_C(x) +#endif + +#ifndef U32_C +#define U32_C(x) UINT32_C(x) +#endif + +#ifndef U16_C +#define U16_C(x) UINT16_C(x) +#endif + +#ifndef U8_C +#define U8_C(x) UINT8_C(x) +#endif + +/* String concatenation */ +#define TO_STR(_s_) #_s_ +#define STR(_string_) TO_STR(_string_) + +#define DO_CONCAT(_x_, _y_) _x_##_y_ +#define CONCAT(_a_, _b_) DO_CONCAT(_a_, _b_) + +/* compiler specific section name for modules */ +#if defined(USE_GCC_SECTIONS) && (USE_GCC_SECTIONS == 1) +#define SECTION_BUILDER(_name_, _type_) ._name_._type_ +#else +#define SECTION_BUILDER(_name_, _type_) ._type_._name_ +#endif + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_2_5 MISRA_C_2012_Rule_20_10 CERT_DCL37_C") +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/misc/math_secure.h b/spe-freertos-bsp/fsp/source/include/misc/math_secure.h new file mode 100644 index 0000000..591bcf1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/math_secure.h @@ -0,0 +1,383 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef MISC__MATH_SECURE_H +#define MISC__MATH_SECURE_H +#define FSP__MISC__MATH_SECURE_H 1 + +/* Compiler headers */ +#include // for uint32_t, uint64_t, UINT32_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for tegra_abort, FSP__DEBUG__ABORT_H +#include // for ABORT_ASSERT, FSP__DEBUG__ABORT_S... +#include // for UNUSED, FSP__MISC__ATTRIBUTES_H + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_SYS_CODES_H, "Header file missing or invalid.") + +/** + * @file fsp-math-secure.h + * @brief functions that provide secure arithmetic operations on unsigned + * types to ensure protection from wrapping. + */ + +/** + * Note: This minimalistic library is only useful for detecting and protecting + * against overflow and not for a specific maxmum value. + */ + +/** + * @brief overflow action modes + * + * @macro-title Overflow Action Modes + */ +#define OVERFLOW_ACTION_0 0U +#define OVERFLOW_ACTION_MAX 1U +#define OVERFLOW_ACTION_VAL 2U +#define OVERFLOW_ACTION_ABORT 3U +#define OVERFLOW_ACTION_MODES 4U + +/** + * @brief error codes for overflow + * + * @macro-title Error Codes for Unsigned 32-bit Overflow + */ +#define E_UNSIGNED_OVERFLOW MODULE_ERROR_VAL(SMATH, 0UL) + +typedef uint32_t overflow_action_t; +typedef uint64_t overflow_action64_t; + +/** + * @brief overflow action function + * + * This is used to define the overflow action function that can be + * is called when a user specifies an overflow action mode. + * + * @param[in] val value that resulted in an overflow + * + * @return 32-bit unsigned value + */ +typedef uint32_t (overflow_action)(uint32_t val); +typedef uint64_t (overflow_action64)(uint64_t val); + +/** + * @brief returns 0 when an overflow occurs + * + * This is used to return 0 when an overflow occurs. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return zero + */ +static inline uint32_t action_overflow_0(uint32_t val) +{ + UNUSED(val); + + return 0U; +} + +/** + * @brief returns the max value when an overflow occurs + * + * This is used to return the max uint32_t value when an overflow occurs. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return uint32_t max value + */ +static inline uint32_t action_overflow_max(uint32_t val) +{ + UNUSED(val); + + return UINT32_MAX; +} + +/** + * @brief returns the overflown value when an overflow occurs + * + * This is used to return the actual resulting value after the overflow. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return overflown value + */ +static inline uint32_t action_overflow_val(uint32_t val) +{ + return val; +} + +/** + * @brief abort when an overflow occurs + * + * This is used to abort the execution when an overflow is detected + * and abort is specified as the resultant action of that. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return none + */ +static inline uint32_t action_overflow_abort(uint32_t val) +{ + UNUSED(val); + + tegra_abort(ABORT_ASSERT, E_UNSIGNED_OVERFLOW); + + return 0U; +} + +static overflow_action *const overflow_actions[OVERFLOW_ACTION_MODES] = { + [OVERFLOW_ACTION_0] = &action_overflow_0, + [OVERFLOW_ACTION_MAX] = &action_overflow_max, + [OVERFLOW_ACTION_VAL] = &action_overflow_val, + [OVERFLOW_ACTION_ABORT] = &action_overflow_abort, +}; + +/** + * @brief returns 0 when an overflow occurs + * + * This is used to return 0 when an overflow occurs. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return zero + */ +static inline uint64_t action_overflow64_0(uint64_t val) +{ + UNUSED(val); + + return 0U; +} + +/** + * @brief returns the max value when an overflow occurs + * + * This is used to return the max uint64_t value when an overflow occurs. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return uint64_t max value + */ +static inline uint64_t action_overflow64_max(uint64_t val) +{ + UNUSED(val); + + return UINT64_MAX; +} + +/** + * @brief returns the overflown value when an overflow occurs + * + * This is used to return the actual resulting value after the overflow. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return overflown value + */ +static inline uint64_t action_overflow64_val(uint64_t val) +{ + return val; +} + +/** + * @brief abort when an overflow occurs + * + * This is used to abort the execution when an overflow is detected + * and abort is specified as the resultant action of that. + * + * @param[in] val resulting value of an operation that caused the wrap/overflow + * + * @return none + */ +static inline uint64_t action_overflow64_abort(uint64_t val) +{ + UNUSED(val); + + tegra_abort(ABORT_ASSERT, E_UNSIGNED_OVERFLOW); + + return 0U; +} + +static overflow_action64 *const overflow_actions64[OVERFLOW_ACTION_MODES] = { + [OVERFLOW_ACTION_0] = &action_overflow64_0, + [OVERFLOW_ACTION_MAX] = &action_overflow64_max, + [OVERFLOW_ACTION_VAL] = &action_overflow64_val, + [OVERFLOW_ACTION_ABORT] = &action_overflow64_abort, +}; + +/** + * @brief securely cast an unsigned 32-bit to unsigned 8-bit + * + * This is used to securely cast an unsigned 32-bit number to 8-bit + * number by taking care of wrapping. + * + * @param[in] a unsigned 32-bit number + * + * @return unsigned 8-bit number + */ +static inline uint8_t scast_u32_to_u8(uint32_t a) +{ + return (a > (uint32_t)UINT8_MAX) ? 0U : (uint8_t)a; +} + +/** + * @brief securely cast an unsigned 64-bit to unsigned 64-bit + * + * This is used to securely cast an unsigned 64-bit number to 32-bit + * number by taking care of wrapping. + * + * @param[in] a unsigned 64-bit number + * + * @return unsigned 32-bit number + */ +static inline uint32_t scast_u64_to_u32(uint64_t a) +{ + return (a > (uint64_t)UINT32_MAX) ? 0U : (uint32_t)a; +} + +/** + * @brief secure addition of unsigned 32-bit numbers + * + * This is used to add unsigned 32 bit numbers by taking care of + * wrapping using postcondition test solution. + * + * @param[in] a operand1 + * @param[in] b operand2 + * + * @return sum of the 2 params passed or 0 if wrapped + */ +static inline uint32_t sadd_u32(uint32_t a, uint32_t b, overflow_action_t action) +{ + uint32_t sum = a + b; + + return (sum >= a) ? sum : overflow_actions[action](sum); +} + +/** + * @brief secure substraction of unsigned 32-bits + * + * This is used to substract unsigned 32 bit numbers by taking care + * of wrapping. + * + * @param[in] a operand1 + * @param[in] b operand2 + * + * @return diff of the 2 params passed or 0 if wrapped + */ +static inline uint32_t ssub_u32(uint32_t a, uint32_t b, overflow_action_t action) +{ + return (a > b) ? (a - b) : overflow_actions[action](a - b); +} + +/** + * @brief secure multiplication of unsigned 32-bits + * + * This is used to multiply unsigned 32 bit numbers by taking care + * of wrapping. + * + * @param[in] a operand1 + * @param[in] b operand2 + * + * @return product of the 2 params passed or 0 if wrapped + */ +static inline uint32_t smul_u32(uint32_t a, uint32_t b, overflow_action_t action) +{ + uint32_t res = 0U; + + if ((a == 0U) || (b == 0U)) { + goto out; + } + + res = (a < (UINT32_MAX / b)) ? (a * b) : overflow_actions[action](a * b); + +out: + return res; +} + +/** + * @brief secure addition of unsigned 64-bit numbers + * + * This is used to add unsigned 64 bit numbers by taking care of + * wrapping using postcondition test solution. + * + * @param[in] a operand1 + * @param[in] b operand2 + * + * @return sum of the 2 params passed or 0 if wrapped + */ +static inline uint64_t sadd_u64(uint64_t a, uint64_t b, overflow_action64_t action) +{ + uint64_t sum = a + b; + + return (sum >= a) ? sum : overflow_actions[action](sum); +} + +/** + * @brief secure substraction of unsigned 64-bits + * + * This is used to substract unsigned 64 bit numbers by taking care + * of wrapping. + * + * @param[in] a operand1 + * @param[in] b operand2 + * + * @return diff of the 2 params passed or 0 if wrapped + */ +static inline uint64_t ssub_u64(uint64_t a, uint64_t b, overflow_action64_t action) +{ + return (a > b) ? (a - b) : overflow_actions[action](a - b); +} + +/** + * @brief secure multiplication of unsigned 64-bits + * + * This is used to multiply unsigned 64 bit numbers by taking care + * of wrapping. + * + * @param[in] a operand1 + * @param[in] b operand2 + * + * @return product of the 2 params passed or 0 if wrapped + */ +static inline uint64_t smul_u64(uint64_t a, uint64_t b, overflow_action64_t action) +{ + uint64_t res = 0U; + + if ((a == 0U) || (b == 0U)) { + goto out; + } + + res = (a < (UINT64_MAX / b)) ? (a * b) : overflow_actions[action](a * b); + +out: + return res; +} + +#endif /* FSP__MISC__MATH_SECURE_H */ diff --git a/spe-freertos-bsp/fsp/source/include/misc/nvmisc_drf.h b/spe-freertos-bsp/fsp/source/include/misc/nvmisc_drf.h new file mode 100644 index 0000000..17ec096 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/nvmisc_drf.h @@ -0,0 +1,189 @@ +/* + * Copyright 2020-21 NVIDIA Corporation. All Rights Reserved. + * + * NVIDIA Corporation and its licensors retain all intellectual property and + * proprietary rights in and to this software and related documentation. Any + * use, reproduction, disclosure or distribution of this software and related + * documentation without an express license agreement from NVIDIA Corporation + * is strictly prohibited. + */ + +/* + * NOTE: Intended for use with NVGPU-style manuals. Not garunteed to work + * with other manual styles. + */ + +#ifndef MISC__NVRM_DRF_H +#define MISC__NVRM_DRF_H +#define FSP__MISC__NVMISC_DRF_H 1 + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_20_10 \"Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx\") \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif + +#include + +/////////////////////////////////////////////////////////////////////////////// +// +// Bit Macros +// +/////////////////////////////////////////////////////////////////////////////// +#define LOWESTBIT(x) ((x) & (((x) - 1U) ^ (x))) + +// Index of the 'on' bit (assuming that there is only one). +// Even if multiple bits are 'on', result is in range of 0-31. +// +// Use an inline function here. Using a macro causes +// issues with code coverage since we cannot always hit the 5 +// conditionals in the macro implmentation. +static inline uint8_t BIT_IDX_32(uint32_t n) +{ + return ((((n) & 0xFFFF0000U) != 0U) ? 0x10U: 0U) | + ((((n) & 0xFF00FF00U) != 0U) ? 0x08U: 0U) | + ((((n) & 0xF0F0F0F0U) != 0U) ? 0x04U: 0U) | + ((((n) & 0xCCCCCCCCU) != 0U) ? 0x02U: 0U) | + ((((n) & 0xAAAAAAAAU) != 0U) ? 0x01U: 0U); +} + + +// Index of the 'on' bit (assuming that there is only one). +// Even if multiple bits are 'on', result is in range of 0-63. +static inline uint8_t BIT_IDX_64(uint64_t n) +{ + return ((((n) & 0xFFFFFFFF00000000ULL) != 0U) ? 0x20U: 0U) | + ((((n) & 0xFFFF0000FFFF0000ULL) != 0U) ? 0x10U: 0U) | + ((((n) & 0xFF00FF00FF00FF00ULL) != 0U) ? 0x08U: 0U) | + ((((n) & 0xF0F0F0F0F0F0F0F0ULL) != 0U) ? 0x04U: 0U) | + ((((n) & 0xCCCCCCCCCCCCCCCCULL) != 0U) ? 0x02U: 0U) | + ((((n) & 0xAAAAAAAAAAAAAAAAULL) != 0U) ? 0x01U: 0U); +} + +/////////////////////////////////////////////////////////////////////////////// +// +// Alignment Macros +// +/////////////////////////////////////////////////////////////////////////////// +#ifndef NV_ALIGN_DOWN +#define NV_ALIGN_DOWN(v, gran) ((v) & ~((gran) - 1U)) +#endif + +#ifndef NV_ALIGN_UP +#define NV_ALIGN_UP(v, gran) (((v) + ((gran) - 1U)) & ~((gran) - 1U)) +#endif + +#ifndef NV_ALIGN_DOWN64 +#define NV_ALIGN_DOWN64(v, gran) ((v) & ~(((uint64_t)gran) - 1U)) +#endif + +#ifndef NV_ALIGN_UP64 +#define NV_ALIGN_UP64(v, gran) (((v) + ((gran) - 1U)) & ~(((uint64_t)gran) - 1U)) +#endif + +#ifndef NV_IS_ALIGNED +#define NV_IS_ALIGNED(v, gran) (0U == ((v) & ((gran) - 1U))) +#endif + +#ifndef NV_IS_ALIGNED64 +#define NV_IS_ALIGNED64(v, gran) (0U == ((v) & (((uint64_t)gran) - 1U))) +#endif + +/////////////////////////////////////////////////////////////////////////////// +// +// Register Field Access +// +/////////////////////////////////////////////////////////////////////////////// + +#define DRF_HIBIT(x) (x ## _XMSB) +#define DRF_LOBIT(x) (x ## _XLSB) + +#define DRF_EXTENT(drf) (drf ## _XMSB) +#define DRF_BASE(drf) (drf ## _XLSB) + +#define DEVICE_EXTENT(drf) (drf ## _XMSB) +#define DEVICE_BASE(drf) (drf ## _XLSB) + +#define DRF_IDX_EXTENT(drf,i) (drf ## _XMSB(i)) +#define DRF_IDX_BASE(drf,i) (drf ## _XLSB(i)) + +#define DRF_SIZE(drf) ((drf ## _XMSB) - (drf ## _XLSB) + 1U) + +/////////////////////////////////////////////////////////////////////////////// +// +// Register Field Shifting and Masking +// +/////////////////////////////////////////////////////////////////////////////// +#define DRF_SHIFT(drf) ((drf ## _XLSB) % 32U) +#define DRF_SHIFT64(drf) ((drf ## _XLSB) % 64U) +#define DRF_IDX_SHIFT(drf,i) ((drf ## _XLSB(i)) % 32U) +#define DRF_IDX_SHIFT64(drf,i) ((drf ## _XLSB(i)) % 64U) + +#define DRF_MASK(drf) (0xFFFFFFFFU >> (31U - ((drf ## _XMSB) % 32U) + ((drf ## _XLSB) % 32U))) +#define DRF_MASK64(drf) (0xFFFFFFFFFFFFFFFFUL >> (63UL - ((drf ## _XMSB) % 64UL) + ((drf ## _XLSB) % 64UL))) +#define DRF_IDX_MASK(drf,i) (0xFFFFFFFFU >> (31U - ((drf ## _XMSB(i)) % 32U) + ((drf ## _XLSB(i)) % 32U))) +#define DRF_IDX_MASK64(drf,i) (0xFFFFFFFFFFFFFFFFUL >> (63UL - ((drf ## _XMSB(i)) % 64UL) + ((drf ## _XLSB(i)) % 64UL))) + +#define DRF_SHIFTMASK(drf) ((uint32_t)(0xFFFFFFFFU >> (31U - ((drf ## _XMSB) % 32U) + ((drf ## _XLSB) % 32U))) << ((drf ## _XLSB) % 32U)) +#define DRF_SHIFTMASK64(drf) ((uint64_t)(0xFFFFFFFFFFFFFFFFUL >> (63UL - ((drf ## _XMSB) % 64UL) + ((drf ## _XLSB) % 64UL))) << ((drf ## _XLSB) % 64U)) + +#define DRF_IDX_SHIFTMASK(drf,i) ((uint32_t)(0xFFFFFFFFU >> (31U - ((drf ## _XMSB(i)) % 32U) + ((drf ## _XLSB(i)) % 32U))) << ((drf ## _XLSB(i)) % 32U)) +#define DRF_IDX_SHIFTMASK64(drf,i) ((uint64_t)(0xFFFFFFFFFFFFFFFFUL >> (63UL - ((drf ## _XMSB(i)) % 64UL) + ((drf ## _XLSB(i)) % 64UL))) << ((drf ## _XLSB(i)) % 64U)) + + +/////////////////////////////////////////////////////////////////////////////// +// +// Register Field Reading and Definition +// +/////////////////////////////////////////////////////////////////////////////// +#define DRF_DEF(d,r,f,c) (((uint32_t)(NV ## d ## r ## f ## c)) << DRF_SHIFT(NV ## d ## r ## f)) +#define DRF_DEF64(d,r,f,c) (((uint64_t)(NV ## d ## r ## f ## c)) << DRF_SHIFT64(NV ## d ## r ## f)) +#define DRF_IDX_DEF(d,r,f,i,c) (((uint32_t)(NV ## d ## r ## f ## c) << DRF_IDX_SHIFT(NV ## d ## r ## f,i)) +#define DRF_IDX_DEF64(d,r,f,i,c) (((uint64_t)(NV ## d ## r ## f ## c)) << DRF_IDX_SHIFT64(NV ## d ## r ## f,i)) + +#define DRF_NUM(d,r,f,n) ((((uint32_t)(n)) & DRF_MASK(NV ## d ## r ## f)) << DRF_SHIFT(NV ## d ## r ## f)) +#define DRF_NUM64(d,r,f,n) ((((uint64_t)(n)) & DRF_MASK64(NV ## d ## r ## f)) << DRF_SHIFT64(NV ## d ## r ## f)) +#define DRF_IDX_NUM(d,r,f,i,n) ((((uint32_t)(n)) & DRF_IDX_MASK(NV ## d ## r ## f,i)) << DRF_IDX_SHIFT(NV ## d ## r ## f,i)) +#define DRF_IDX_NUM64(d,r,f,i,n) ((((uint64_t)(n)) & DRF_IDX_MASK64(NV ## d ## r ## f,i)) << DRF_IDX_SHIFT64(NV ## d ## r ## f,i)) + +#define DRF_VAL(d,r,f,v) (((v) >> DRF_SHIFT(NV ## d ## r ## f)) & DRF_MASK(NV ## d ## r ## f)) +#define DRF_VAL64(d,r,f,v) ((((uint64_t)(v)) >> DRF_SHIFT64(NV ## d ## r ## f)) & DRF_MASK64(NV ## d ## r ## f)) +#define DRF_IDX_VAL(d,r,f,i,v) (((v) >> DRF_IDX_SHIFT(NV ## d ## r ## f,i)) & DRF_IDX_MASK(NV ## d ## r ## f,i)) +#define DRF_IDX_VAL64(d,r,f,i,v) ((((uint64_t)(v)) >> DRF_IDX_SHIFT64(NV ## d ## r ## f,i)) & DRF_IDX_MASK64(NV ## d ## r ## f,i)) + +/////////////////////////////////////////////////////////////////////////////// +// +// Register Field Modification +// +/////////////////////////////////////////////////////////////////////////////// +#define FLD_SET_DRF_NUM(d,r,f,n,v) (((v) & ~DRF_SHIFTMASK(NV ## d ## r ## f)) | DRF_NUM(d,r,f,n)) +#define FLD_SET_DRF_NUM64(d,r,f,n,v) ((((uint64_t)(v)) & ~DRF_SHIFTMASK64(NV ## d ## r ## f)) | DRF_NUM64(d,r,f,n)) +#define FLD_IDX_SET_DRF_NUM(d,r,f,i,n,v) (((v) & ~DRF_IDX_SHIFTMASK(NV ## d ## r ## f,i)) | DRF_IDX_NUM(d,r,f,i,n)) +#define FLD_IDX_SET_DRF_NUM64(d,r,f,i,n,v) ((((uint64_t)(v)) & ~DRF_IDX_SHIFTMASK64(NV ## d ## r ## f,i)) | DRF_IDX_NUM64(d,r,f,i,n)) + +#define FLD_SET_DRF(d,r,f,c,v) (((v) & ~DRF_SHIFTMASK(NV ## d ## r ## f)) | DRF_DEF(d,r,f,c)) +#define FLD_SET_DRF64(d,r,f,c,v) ((((uint64_t)(v)) & ~DRF_SHIFTMASK64(NV ## d ## r ## f)) | DRF_DEF64(d,r,f,c)) +#define FLD_IDX_SET_DRF(d,r,f,i,c,v) (((v) & ~DRF_IDX_SHIFTMASK(NV ## d ## r ## f,i)) | DRF_IDX_DEF(d,r,f,i,c)) +#define FLD_IDX_SET_DRF64(d,r,f,i,c,v) ((((uint64_t)(v)) & ~DRF_IDX_SHIFTMASK64(NV ## d ## r ## f,i)) | DRF_IDX_DEF64(d,r,f,i,c)) + +#define RESETVAL(d,r) (NV ## d ## r ## _RESET_VAL) + +/////////////////////////////////////////////////////////////////////////////// +// +// Register Field Test +// +/////////////////////////////////////////////////////////////////////////////// +#define FLD_TEST_DRF(d,r,f,c,v) (DRF_VAL(d,r,f,(v)) == (NV ## d ## r ## f ## c)) +#define FLD_TEST_DRF64(d,r,f,c,v) (DRF_VAL64(d,r,f,(v)) == (NV ## d ## r ## f ## c)) +#define FLD_IDX_TEST_DRF(d,r,f,i,c,v) (DRF_IDX_VAL(d,r,f,i,(v)) == ((uint32_t)(NV ## d ## r ## f ## c))) +#define FLD_IDX_TEST_DRF64(d,r,f,i,c,v) (DRF_IDX_VAL64(d,r,f,i,(v)) == ((uint64_t)(NV ## d ## r ## f ## c))) + +#define FLD_TEST_DRF_NUM(d,r,f,n,v) ((DRF_VAL(d,r,f,(v)) == (n))) +#define FLD_TEST_DRF_NUM64(d,r,f,n,v) (DRF_VAL64(d,r,f,(v)) == (n)) + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_20_10 MISRA_C_2012_Rule_2_5") +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/misc/nvmisc_macros.h b/spe-freertos-bsp/fsp/source/include/misc/nvmisc_macros.h new file mode 100644 index 0000000..d3d24ca --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/nvmisc_macros.h @@ -0,0 +1,76 @@ +/* + * Copyright (c) 1993-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA Corporation and its licensors retain all intellectual property and + * proprietary rights in and to this software and related documentation. Any + * use, reproduction, disclosure or distribution of this software and related + * documentation without an express license agreement from NVIDIA Corporation + * is strictly prohibited. + */ + +#ifndef MISC__NVMISC_MACROS_H +#define MISC__NVMISC_MACROS_H +#define FSP__MISC__NVMISC_MACROS_H 1 + +#ifdef __cplusplus +extern "C" { +#endif //__cplusplus + +/* These macros are taken from desktop driver branch file + * $P4PATH/sw/dev/gpu_drv/$BRANCH/sdk/nvidia/inc/nvmisc.h + * This is to handle difference between DRF macros + * between Mobile and Desktop + */ + +// nvmisc_macros.h can't access nvmisc.h in the Mobile tree... but in some places both are used. +#if !defined(__NV_MISC_H) && !defined(NV_MISC_H) + +#define DEVICE_BASE(d) (0 ? d) // what's up with this name? totally non-parallel to the macros below +#define DEVICE_EXTENT(d) (1 ? d) // what's up with this name? totally non-parallel to the macros below + +#ifdef NV_USE_FIELD_RANGE_DEFS // These macros are added to remove MISRA C rule 14.3 violations +// Components which have defined HIGH_FIELD/LOW_FIELD can use below DRF macros +#define DRF_BASE(drf) (drf##_LOW_FIELD) +#define DRF_EXTENT(drf) (drf##_HIGH_FIELD) +#define DRF_SHIFT(drf) ((drf##_LOW_FIELD) % 32U) +#define DRF_MASK(drf) (0xFFFFFFFFU >> (31U - ((drf##_HIGH_FIELD) % 32U) + ((drf##_LOW_FIELD) % 32U))) + +#else // For components which have not defined HIGH_FIELD/LOW_FIELD + +// the first bit occupied by the field in a HW value (e.g., register) +#define DRF_BASE(drf) (NV_FALSE ? drf) + +// the last bit occupied by the field in a HW value +#define DRF_EXTENT(drf) (NV_TRUE ? drf) + +// the bit shift amount for accessing the field +#define DRF_SHIFT(drf) (((NvU32)DRF_BASE(drf)) % 32U) + +// bitmask for the value (unshifted) +#define DRF_MASK(drf) (0xFFFFFFFFU >> (31U - (((NvU32)DRF_EXTENT(drf)) % 32U) + (((NvU32)DRF_BASE(drf)) % 32U))) +#endif + +// bitmask for the value (shifted for HW value) +#define DRF_SHIFTMASK(drf) (DRF_MASK(drf) << (DRF_SHIFT(drf))) + +// size of the field (in bits) +#define DRF_SIZE(drf) (DRF_EXTENT(drf) - DRF_BASE(drf) + 1U) + +// constant value for HW, e.g., reg |= DRF_DEF(A06F, _GP_ENTRY1, _LEVEL, _SUBROUTINE); +#define DRF_DEF(d,r,f,c) (((NvU32)(NV ## d ## r ## f ## c)) << (DRF_SHIFT(NV ## d ## r ## f))) + +// numeric value for HW, e.g., reg |= DRF_NUM(A06F, _GP_ENTRY1, _LENGTH, numWords); +// Note: n should be unsigned 32-bit integer +#define DRF_NUM(d,r,f,n) ((((NvU32)(n)) & (DRF_MASK(NV ## d ## r ## f))) << (DRF_SHIFT(NV ## d ## r ## f))) + +// numeric value from HW value, e.g., unsigned int numWords = DRF_VAL(A06F, _GP_ENTRY1, _LENGTH, reg); +// Note: v should be unsigned 32-bit integer +#define DRF_VAL(d,r,f,v) (((v) >> DRF_SHIFT(NV ## d ## r ## f)) & DRF_MASK(NV ## d ## r ## f)) + +#endif + +#ifdef __cplusplus +} +#endif //__cplusplus + +#endif //FSP_MISC_NVMISC_MACROS_H diff --git a/spe-freertos-bsp/fsp/source/include/misc/nvrm_drf.h b/spe-freertos-bsp/fsp/source/include/misc/nvrm_drf.h new file mode 100644 index 0000000..439d765 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/misc/nvrm_drf.h @@ -0,0 +1,174 @@ +/* + * Copyright 2007-2020 NVIDIA Corporation. All Rights Reserved. + * + * NVIDIA Corporation and its licensors retain all intellectual property and + * proprietary rights in and to this software and related documentation. Any + * use, reproduction, disclosure or distribution of this software and related + * documentation without an express license agreement from NVIDIA Corporation + * is strictly prohibited. + */ + +#ifndef MISC__NVRM_DRF_H +#define MISC__NVRM_DRF_H +#define FSP__MISC__NVRM_DRF_H 1 + +/** + * @defgroup nvrm_drf RM DRF Macros + * + * @ingroup nvddk_rm + * + * The following suite of macros are used for generating values to write into + * hardware registers, or for extracting fields from read registers. The + * hardware headers have a RANGE define for each field in the register in the + * form of x:y, 'x' being the high bit, 'y' the lower. Through a clever use + * of the C ternary operator, x:y may be passed into the macros below to + * geneate masks, shift values, etc. + * + * There are two basic flavors of DRF macros, the first is used to define + * a new register value from 0, the other is modifiying a field given a + * register value. An example of the first: + * + * reg = NV_DRF_DEF( HW, REGISTER0, FIELD0, VALUE0 ) + * | NV_DRF_DEF( HW, REGISTER0, FIELD3, VALUE2 ); + * + * To modify 'reg' from the previous example: + * + * reg = NV_FLD_SET_DRF_DEF( HW, REGISTER0, FIELD2, VALUE1, reg ); + * + * To pass in numeric values instead of defined values from the header: + * + * reg = NV_DRF_NUM( HW, REGISTER3, FIELD2, 1024 ); + * + * To read a value from a register: + * + * val = NV_DRF_VAL( HW, REGISTER3, FIELD2, reg ); + * + * Some registers have non-zero reset values which may be extracted from the + * hardware headers via NV_RESETVAL. + */ + +/* + * The NV_FIELD_* macros are helper macros for the public NV_DRF_* macros. + */ +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance block(include) \ + (deviate MISRA_C_2012_Rule_20_10 \"Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx\") \ + (deviate MISRA_C_2012_Rule_2_5 \"Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx\")") +#endif +#define NV_FIELD_LOWBIT(x) (x##_LSB) +#define NV_FIELD_HIGHBIT(x) (x##_MSB) +#define NV_FIELD_SIZE(x) (NV_FIELD_HIGHBIT(x)-NV_FIELD_LOWBIT(x)+1) +#define NV_FIELD_SHIFT(x) (x##_LSB %32U) +#define NV_FIELD_MASK(x) (0xFFFFFFFFUL>>(31U-(x##_MSB %32U)+(x##_LSB %32U))) +#define NV_FIELD_BITS(val, x) (((val) & NV_FIELD_MASK(x))<>(31U-(msb %32U)+(lsb %32U))) +#define NV_DYN_FIELD_BITS(val, msb, lsb) (((val) & NV_DYN_FIELD_MASK(msb, lsb))<>(63UL-(x##_MSB %64UL)+(x##_LSB %64UL))) + + +/** NV_DRF_DEF - define a new register value. + + @ingroup nvrm_drf + + @param d register domain (hardware block) + @param r register name + @param f register field + @param c defined value for the field + */ +#define NV_DRF_DEF(d,r,f,c) \ + ((d##_##r##_0_##f##_##c) << NV_FIELD_SHIFT(d##_##r##_0_##f)) + +/** NV_DRF_NUM - define a new register value. + + @ingroup nvrm_drf + + @param d register domain (hardware block) + @param r register name + @param f register field + @param n numeric value for the field + */ +#define NV_DRF_NUM(d,r,f,n) \ + ((uint32_t)((n)& NV_FIELD_MASK(d##_##r##_0_##f)) << \ + NV_FIELD_SHIFT(d##_##r##_0_##f)) + +/** NV_DRF_VAL - read a field from a register. + + @ingroup nvrm_drf + + @param d register domain (hardware block) + @param r register name + @param f register field + @param v register value + */ +#define NV_DRF_VAL(d,r,f,v) \ + (((v)>> NV_FIELD_SHIFT(d##_##r##_0_##f)) & \ + NV_FIELD_MASK(d##_##r##_0_##f)) + +/** NV_FLD_SET_DRF_NUM - modify a register field. + + @ingroup nvrm_drf + + @param d register domain (hardware block) + @param r register name + @param f register field + @param n numeric field value + @param v register value + */ +#define NV_FLD_SET_DRF_NUM(d,r,f,n,v) \ + (((v) & ~NV_FIELD_SHIFTMASK(d##_##r##_0_##f)) | NV_DRF_NUM(d,r,f,n)) + +/** NV_FLD_SET_DRF_DEF - modify a register field. + + @ingroup nvrm_drf + + @param d register domain (hardware block) + @param r register name + @param f register field + @param c defined field value + @param v register value + */ +#define NV_FLD_SET_DRF_DEF(d,r,f,c,v) \ + (((v) & ~NV_FIELD_SHIFTMASK(d##_##r##_0_##f)) | \ + NV_DRF_DEF(d,r,f,c)) + +/** NV_RESETVAL - get the reset value for a register. + + @ingroup nvrm_drf + + @param d register domain (hardware block) + @param r register name + */ +#define NV_RESETVAL(d,r) (d##_##r##_0_RESET_VAL) + + +/** NV_DRF64_NUM - define a new 64-bit register value. + + @ingroup nvrm_drf + + @param d register domain + @param r register name + @param f register field + @param n numeric value for the field + */ +#define NV_DRF64_NUM(d,r,f,n) \ + (((n)& NV_FIELD64_MASK(d##_##r##_0_##f)) << \ + NV_FIELD64_SHIFT(d##_##r##_0_##f)) + +#if (defined(FSP_COVERITY) && (FSP_COVERITY==1)) +_Pragma("coverity compliance end_block(include) \ + MISRA_C_2012_Rule_20_10 MISRA_C_2012_Rule_2_5") +#endif + +#endif // FSP_MISC_NVRM_DRF_H diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/arm/armv7/cortex-r5/ospl/rtos-port-asm.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/arm/armv7/cortex-r5/ospl/rtos-port-asm.h new file mode 100644 index 0000000..827c65f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/arm/armv7/cortex-r5/ospl/rtos-port-asm.h @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#ifndef OSPL__RTOS_PORT_ASM_H +#define OSPL__RTOS_PORT_ASM_H +#define FSP__OSPL__RTOS_PORT_ASM_H + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#ifdef __ASSEMBLER__ + +.macro rtosIRQ_ENTRY + push { R0-R3, IP, LR } +.endm + +.macro rtosIRQ_EXIT + b irq_end +.endm + +#endif /* #ifdef __ASSEMBLER__ */ +#endif /* #ifndef OSPL__RTOS_PORT_ASM_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/arm/armv7/cortex-r5/ospl/rtos-port.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/arm/armv7/cortex-r5/ospl/rtos-port.h new file mode 100644 index 0000000..6c234d5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/arm/armv7/cortex-r5/ospl/rtos-port.h @@ -0,0 +1,260 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSPL__RTOS_PORT_H +#define OSPL__RTOS_PORT_H +#define FSP__OSPL__RTOS_PORT_H 1 + +/* Compiler headers */ +#include // for uint32_t, int32_t, int16_t + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for configTICK_RATE_HZ, config... +#include // IWYU pragma: export + // IWYU pragma: no_include "FreeRTOS.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "portmacro.h" + // for UBaseType_t, portBASE_TYPE, portSTACK_TYPE +#include // IWYU pragma: export + // IWYU pragma: no_include "projdefs.h" + // for TaskFunction_t +#include // IWYU pragma: export + // IWYU pragma: no_include "portable.h" + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__CONFIG__FREERTOSCONFIG_H, "Header file missing or invalid.") + +/* + * Port specific types and data structures needed by nvosRTOS.h + * + * This file should not be included directly from any other file. + */ + +/** + * @brief Make sure that the sizes of types defined by FreeRTOS are what they + * are expected to be. + */ +CT_ASSERT(sizeof(char) == sizeof(portCHAR), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(float) == sizeof(portFLOAT), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(double) == sizeof(portDOUBLE), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(long) == sizeof(portLONG), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(short) == sizeof(portSHORT), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portSTACK_TYPE), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(long) == sizeof(portBASE_TYPE), "ASSERT due to data type mismatch.") + +/** + * @brief Provide wrapper type definitions for RTOS values to avoid exposing the + * FreeRTOS types directly. + * + * @typedef-title OSA variable type space + */ +typedef portBASE_TYPE rtosError; +typedef void *rtosTaskHandle; +typedef void *rtosEventGroupHandle; +typedef StaticEventGroup_t rtosEventGroup; +typedef void *rtosQueueHandle; +typedef void *rtosTimerHandle; +typedef void *rtosTimerLocalStorageObject; +typedef uint32_t portUInt32Type; +typedef uint8_t portUInt8Type; +typedef UBaseType_t rtosUCount; +typedef portSTACK_TYPE rtosTick; +typedef portBASE_TYPE rtosBool; +typedef portBASE_TYPE rtosTimerIDType; +typedef void *rtosMutexHandle; +typedef void *rtosSemaphoreHandle; +typedef void *rtosEventPollHandle; +typedef UBaseType_t rtosTaskNotifyBits; +typedef UBaseType_t rtosEventPollValue; +typedef portBASE_TYPE rtosTaskNotifyAction; +typedef UBaseType_t rtosTaskNotifyValue; +typedef UBaseType_t rtosPriority; +typedef UBaseType_t rtosInterruptState; +typedef UBaseType_t rtosMutexState; +typedef unsigned long rtosEventBits; +typedef portSTACK_TYPE rtosHz; +typedef UBaseType_t rtosPrivilegeLevel; +typedef UBaseType_t rtosUBaseType_t; +typedef portBASE_TYPE rtosPortBaseType; +typedef void * portTaskHandleType; +typedef StaticSemaphore_t rtosSemaphoreBuffer; +typedef StaticQueue_t rtosQueueBuffer; +typedef StaticEventGroup_t rtosEventGroupBuffer; +typedef StaticTask_t rtosTaskBuffer; +typedef StackType_t rtosStackType; + +/** + * @brief Provide wrapper definition for pointer to RTOS task function. + */ +typedef TaskFunction_t rtosTaskFunction; + + +/** + * @brief Provide wrapper definition for pointer to RTOS timer callback function + * which gets invoked when a timer expires. + */ +typedef void (*rtosTimerCallbackFunction)(void * pvParameters); + +/** + * @brief Structure supplied to rtosTaskCreate() + * + * @pvTaskCode Pointer to task entry function + * @pcTaskName Task descriptive name + * @pxTCB Pointer to task control block + * @pcStackBuffer Pointer to task stack buffer + * @uxStackDepthBytes Size of task stack buffer in bytes. The minimum + * allowable size for the stack buffer is portdependent. + * @pvParameters Pointer to task parameters + * @uxPriority Priority of task. + * Valid range is [0 - (configMAX_PRIORITIES - 1]) + * @pvObject Pointer to user defined data associated with this task. + * @xUsingFPU Bool to indicate use of FPU + * @uxPrivilegeLevel Task Privilege level + */ +typedef struct { + rtosTaskFunction pvTaskCode; + char *pcTaskName; + void *pxTCB; + void *pcStackBuffer; + rtosUCount uxStackDepthBytes; + void *pvParameters; + rtosPriority uxPriority; + void *pvObject; + rtosBool xUsingFPU; + rtosPrivilegeLevel uxPrivilegeLevel; +} rtosTaskParameters; + +/** + * @brief Structure supplied to rtosTaskInitializeScheduler() + * + * @ulCPUClockHz Speed of the system clock + * @ulTickRateHz Desired frequency of kernel tick + * @uxAdditionalStackCheckMarginBytes Lower limit on number of bytes that + * should be left in the stack post context + * switch. Can be set greater than or equal + * to 0 + * @pcIdleTaskStackBuffer Pointer to the lowest address of task + * buffer to hold idle task + * @uxIdleTaskStackSizeBytes Number of bytes in the stack buffer to be + * kept for idle task. Should be greater + * than 0 + * @xIdleTaskUsingFPU Bool variable to indicate use of FPU by + * idle task + * @uxIdleTaskPrivilegeLevel Idle task privilege level + * [RTOS_SYSTEM_MODE, RTOS_USER_MODE] + * @pvIdleTaskTLSObject Idle task timer local storage object + * @uxTimerTaskPriority Priority of timer service. + * Valid range is [0 - (configMAX_PRIORITIES - 1)] + * @uxTimerTaskStackSize Number of bytes in stack buffer to be kept + * for timer task. Should be greater than 0 + * @pcTimerTaskStackBuffer Pointer to the timer task stack buffer. + * @uxTimerCommandQueueLength Timer command queue length. Should be + * greater than 0. + * @uxTimerCommandQueueBufferSize Timer command queue buffer size. + * Size of the buffer should be at + * least enough to accomodate the entire + * command queue + * @pcTimerCommandQueueBuffer Pointer to timer command queue buffer + */ +typedef struct { + rtosHz ulCPUClockHz; + rtosHz ulTickRateHz; + rtosUCount uxAdditionalStackCheckMarginBytes; + void *pcIdleTaskStackBuffer; + rtosUCount uxIdleTaskStackSizeBytes; + rtosBool xIdleTaskUsingFPU; + rtosPrivilegeLevel uxIdleTaskPrivilegeLevel; + void *pvIdleTaskTLSObject; + rtosPriority uxTimerTaskPriority; + rtosUCount uxTimerTaskStackSize; + void *pcTimerTaskStackBuffer; + rtosUCount uxTimerCommandQueueLength; + rtosUCount uxTimerCommandQueueBufferSize; + void *pcTimerCommandQueueBuffer; +} rtosSchedParameters; + +/** + * @brief Structure supplied to rtosTimerCreate() + * + * @pcTimerName Descriptive name of the timer + * @xTimerPeriodInTicks Timer period in ticks. Should be greater than 0 + * @xIsPeriodic Bool variable to indicate if timer is periodic + * @xTimerID Timer ID + * @pxNewTimer Pointer to timer control block + * @pxCallbackFunction Timer callback function + * @pxTimerInstance Timer instance to which the timer belongs + * @pvObject Pointer to user defined data associated with this timer. + */ +typedef struct { + const char *pcTimerName; + rtosTick xTimerPeriodInTicks; + rtosBool xIsPeriodic; + rtosTimerIDType xTimerID; + void *pxNewTimer; + rtosTimerCallbackFunction pxCallbackFunction; + void *pxTimerInstance; + void *pvObject; +} rtosTimerInitParametersType; + +/** + * @brief Provide wrapper definitions for general architecture specific values + * + * @macro-title RTOS general architecture values + * + * @rtosMAX_DELAY Defines maximum delay supported by rtos + * @rtosSTACK_IN_USE Defines state value indicating stack is in use + * @rtosSTACK_NOT_IN_USE Defines state value indicating stack is not in use + * @rtosTICK_COUNT_BITS Defines number of bits used to represent tick + * count + * @rtosTICK_RATE_HZ Defines frequency of the underlying RTOS scheduler + * tick + * @rtosTICK_RATE_MS Defines number of ticks per millisecond. + */ +#define rtosMAX_DELAY portMAX_DELAY +#define rtosSTACK_IN_USE portSTACK_IN_USE +#define rtosSTACK_NOT_IN_USE portSTACK_NOT_IN_USE +#define rtosTICK_COUNT_BITS portTICK_COUNT_NUM_BITS +#define rtosTICK_RATE_HZ configTICK_RATE_HZ +#define rtosTICK_RATE_MS portTICK_PERIOD_MS + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-errors.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-errors.h new file mode 100644 index 0000000..51e2da3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-errors.h @@ -0,0 +1,328 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_ERRORS_H +#define OSA__OSA_ERRORS_H +#define FSP__OSA__OSA_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // for errSUPPLIED_BUFFER_TOO_SMALL, errBAD_OR_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief Mapping of FreeRTOS return codes to generic rtos error codes. + * + * @macro-title Public error codes from OSA layer + * + * @E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Error value returned if + * supplied buffer is too small + * to create a kernel object + * @E_RTOS_INVALID_PRIORITY Error value returned for + * invalid task priority + * @E_RTOS_QUEUE_FULL Error value returned if queue + * is full and cannot accept a + * new request + * @E_RTOS_NULL_PARAMETER_SUPPLIED Error value returned if null is + * supplied as an input parameter + * @E_RTOS_INVALID_QUEUE_LENGTH Error value returned if + * requested queue length + * is invalid + * @E_RTOS_INVALID_TASK_CODE_POINTER Error value returned for + * invalid input task code pointer + * @E_RTOS_SCHEDULER_IS_SUSPENDED Error value returned if request + * could not be processed because + * the scheduler was suspended + * @E_RTOS_INVALID_TASK_HANDLE Error value returned for + * invalid input task handle + * @E_RTOS_DID_NOT_YIELD Error value returned if task + * did not yield for a yield + * request + * @E_RTOS_TASK_ALREADY_SUSPENDED Error value returned if request + * to suspend a task could not be + * processed because the task + * was already suspended. + * @E_RTOS_TASK_WAS_NOT_SUSPENDED Error value returned if request + * to resume a task + * could not be processed because + * the task was not suspended. + * @E_RTOS_SCHEDULER_ALREADY_RUNNING Error value returned if request + * to start a scheduler could not + * be processed because + * scheduler was already running + * @E_RTOS_INVALID_QUEUE_HANDLE Error value returned for + * invalid input queue handle + * @E_RTOS_INVALID_SEMAPHORE_HANDLE Error value returned for + * invalid input semaphore handle + * @E_RTOS_INVALID_MUTEX_HANDLE Error value returned for + * invalid input mutex handle + * @E_RTOS_ERRONEOUS_UNBLOCK Error value returned for + * erroneous request to + * unblock a task + * @E_RTOS_QUEUE_EMPTY Error value returned if request + * to pick a task from the queue + * could not be processed because + * queue was empty + * @E_RTOS_SEMAPHORE_ALREADY_TAKEN Error value returned if request + * to acquire a semaphore could + * not be processed because + * semaphore was already taken + * @E_RTOS_MUTEX_ALREADY_TAKEN Error value returned if + * request to acquire a mutex + * could not be processed because + * mutex was already taken + * @E_RTOS_INVALID_TICK_VALUE Error value returned for + * invalid input tick value + * @E_RTOS_INVALID_TASK_SELECTED Error value returned for + * invalid task selection + * @E_RTOS_TASK_STACK_OVERFLOW Error value returned when task + * stack overflows + * @E_RTOS_SCHEDULER_WAS_NOT_SUSPENDED Error value returned if request + * to resume scheduler could not + * be processed because + * scheduler was already running. + * @E_RTOS_INVALID_BUFFER_SIZE Error value returned for + * invalid input buffer size + * @E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION Error value returned for + * invalid tick rate + * @E_RTOS_ERROR_IN_VECTOR_TABLE Error value returned for error + * in vector table + * @E_RTOS_INVALID_MPU_REGION_CONFIGURATION Error value returned for + * invalid MPU region + * configuration + * @E_RTOS_INVALID_MMU_REGION_CONFIGURATION Error value returned for + * invalid MMU region + * configuration + * @E_RTOS_TASK_STACK_ALREADY_IN_USE Error value returned if task + * stack supplied to initialize a + * scheduler is already in use + * @E_RTOS_NO_MPU_IN_DEVICE Error value returned if MPU + * does not exist in the device + * @E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE Error value returned if a task + * is expected to run in + * privileged mode but currently + * running in unprivileged mode + * @E_RTOS_RTS_CALCULATION_ERROR Error value returned on + * detection of rts calculation + * error + * @E_RTOS_INVALID_PERCENTAGE_HANDLE Error value returned for + * invalid percentage handle + * @E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT Error value returned for + * invalid initial semaphore count + * @E_RTOS_ROM_INTEGRITY_CHECK_FAILED Error value returned for ROM + * integrity check failures + * @E_RTOS_IN_PROGRESS Error value returned if request + * is already in progress + * @E_RTOS_INVALID_PARAMETERS Error value returned if + * invalid value is set for + * input parameter + * @E_RTOS_SPURIOUS_INTERRUPT Error value returned for + * spurious interrupts + * @E_RTOS_SPURIOUS_FAST_INTERRUPT Error value returned for + spurious fast interrupts + * @E_RTOS_RAM_INTEGRITY_CHECK_FAILED Error value returned for RAM + * integrity check failure + * @E_RTOS_INVALID_TIMER_HANDLE Error value returned for + * invalid timer handle + * @E_RTOS_INVALID_TIMER_TASK_INSTANCE Error value returned for + * invalid input timer task + * instance + * @E_RTOS_TIMER_ALREADY_IN_USE Error value returned if request + * to create a new timer could not + * be processed because the + * supplied timer handle was + * already in use. + * @E_RTOS_NOTIFICATION_NOT_RECEIVED Error value returned if + * notification is + * not received until timeout + * @E_RTOS_NOTIFICATION_ALREADY_PENDING Error value returned if a new + * request to wait for + * notification arises while the + * task is still waiting for + * notification + * @E_RTOS_TASK_WAS_ALSO_ON_EVENT_LIST Error value returned if the + * task is already part of the + * event list + * @E_RTOS_QUEUE_ALREADY_IN_USE Error value returned if request + * to create a new queue could not + * be processed because input + * queue handle was already in use + * @E_RTOS_EVENT_GROUP_ALREADY_IN_USE Error value returned if request + * to create a new event group + * could not be processed because + * input event group handle was + * already in use + * @E_RTOS_INVALID_EVENT_GROUP_HANDLE Error value returned for + * invalid input event group + * handle + * @E_RTOS_EVENT_GROUP_BITS_NOT_SET Error value returned if event + * group bits could not be set + * @E_RTOS_EVENT_GROUP_DELETED Error value returned if event + * group request could not be + * processed as referred object + * is deleted + * @E_RTOS_MUTEX_NOT_OWNED_BY_CALLER Error value returned if mutex + * request could not be processed + * as mutex is not owned by + * the caller + * @E_RTOS_MUTEX_CORRUPTED Error value returned if mutex + * got corrupted + * @E_RTOS_NEXT_UNBLOCK_TIME_EXPIRED Error value returned if next + * unblock time for the referred + * task expired + * @E_RTOS_WOKEN_UP_AFTER_NEXT_UNBLOCK_TIME Error value returned if task + * got unblocked after next + * unblock time + * @E_RTOS_TICKLESS_MODE_NOT_SUPPORTED Error value returned if + * tickless mode is not supported + * @E_RTOS_SCHEDULER_IS_NOT_RUNNING Error value returned if the request + * could not be processed because + * scheduler is not running + * @E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE Error value returned if + * request to create a new event + * poll object could not be + * processed as event poll object + * handle was already in use + * @E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED Error value returned if no + * more target objects can be + * registered with the referred + * event poll object + * @E_RTOS_INVALID_EVENT_POLL_OPERATION Error value returned for + * invalid event poll operation + * @E_RTOS_INVALID_EVENT_POLL_HANDLE Error value returned for + * invalid event poll handle + * @E_RTOS_INVALID_EVENT_POLL_EVENTS Error value returned for + * invalid event poll events for + * the target object + * @E_RTOS_NO_TASKS_CREATED Error value returned if + * request to start a scheduler + * could not be processed as no + * tasks are created + * @E_RTOS_INVALID_ALIGNMENT Error returned for invalid byte + * alignment + * @E_RTOS_EVENT_POLL_NO_EVENTS_OCCURRED Error returned if no event has + * occurred while waiting for + * events registered with event + * poll object + * @E_RTOS_INVALID_DATA_RANGE Error value returned for + * invalid data range + * @E_RTOS_NO_TICK_SETUP_HOOK_DEFINED Error value returned if no hook + * has been defined to setup ticks + */ +#define E_RTOS_SUPPLIED_BUFFER_TOO_SMALL errSUPPLIED_BUFFER_TOO_SMALL +#define E_RTOS_INVALID_PRIORITY errINVALID_PRIORITY +#define E_RTOS_QUEUE_FULL errQUEUE_FULL +#define E_RTOS_INVALID_ALIGNMENT errINVALID_ALIGNMENT +#define E_RTOS_NULL_PARAMETER_SUPPLIED errNULL_PARAMETER_SUPPLIED +#define E_RTOS_INVALID_QUEUE_LENGTH errINVALID_QUEUE_LENGTH +#define E_RTOS_INVALID_TASK_CODE_POINTER errINVALID_TASK_CODE_POINTER +#define E_RTOS_SCHEDULER_IS_SUSPENDED errSCHEDULER_IS_SUSPENDED +#define E_RTOS_INVALID_TASK_HANDLE errINVALID_TASK_HANDLE +#define E_RTOS_DID_NOT_YIELD errDID_NOT_YIELD +#define E_RTOS_TASK_ALREADY_SUSPENDED errTASK_ALREADY_SUSPENDED +#define E_RTOS_TASK_WAS_NOT_SUSPENDED errTASK_WAS_NOT_SUSPENDED +#define E_RTOS_NO_TASKS_CREATED errNO_TASKS_CREATED +#define E_RTOS_SCHEDULER_ALREADY_RUNNING errSCHEDULER_ALREADY_RUNNING +#define E_RTOS_INVALID_QUEUE_HANDLE errINVALID_QUEUE_HANDLE +#define E_RTOS_INVALID_SEMAPHORE_HANDLE errINVALID_SEMAPHORE_HANDLE +#define E_RTOS_INVALID_MUTEX_HANDLE errINVALID_MUTEX_HANDLE +#define E_RTOS_ERRONEOUS_UNBLOCK errERRONEOUS_UNBLOCK +#define E_RTOS_QUEUE_EMPTY errQUEUE_EMPTY +#define E_RTOS_SEMAPHORE_ALREADY_TAKEN errSEMAPHORE_ALREADY_TAKEN +#define E_RTOS_MUTEX_ALREADY_TAKEN errMUTEX_ALREADY_TAKEN +#define E_RTOS_INVALID_TICK_VALUE errINVALID_TICK_VALUE +#define E_RTOS_INVALID_TASK_SELECTED errINVALID_TASK_SELECTED +#define E_RTOS_TASK_STACK_OVERFLOW errTASK_STACK_OVERFLOW +#define E_RTOS_SCHEDULER_WAS_NOT_SUSPENDED errSCHEDULER_WAS_NOT_SUSPENDED +#define E_RTOS_INVALID_BUFFER_SIZE errINVALID_BUFFER_SIZE +#define E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION errBAD_OR_NO_TICK_RATE_CONFIGURATION +#define E_RTOS_ERROR_IN_VECTOR_TABLE errERROR_IN_VECTOR_TABLE +#define E_RTOS_INVALID_MPU_REGION_CONFIGURATION errINVALID_MPU_REGION_CONFIGURATION +#define E_RTOS_INVALID_MMU_REGION_CONFIGURATION errINVALID_MMU_REGION_CONFIGURATION +#define E_RTOS_TASK_STACK_ALREADY_IN_USE errTASK_STACK_ALREADY_IN_USE +#define E_RTOS_NO_MPU_IN_DEVICE errNO_MPU_IN_DEVICE +#define E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE errEXECUTING_IN_UNPRIVILEGED_MODE +#define E_RTOS_RTS_CALCULATION_ERROR errRTS_CALCULATION_ERROR +#define E_RTOS_INVALID_PERCENTAGE_HANDLE errINVALID_PERCENTAGE_HANDLE +#define E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT errINVALID_INITIAL_SEMAPHORE_COUNT +#define E_RTOS_ROM_INTEGRITY_CHECK_FAILED errROM_INTEGRITY_CHECK_FAILED +#define E_RTOS_IN_PROGRESS errIN_PROGRESS +#define E_RTOS_INVALID_PARAMETERS errINVALID_PARAMETERS +#define E_RTOS_SPURIOUS_INTERRUPT errSPURIOUS_INTERRUPT +#define E_RTOS_SPURIOUS_FAST_INTERRUPT errSPURIOUS_FAST_INTERRUPT +#define E_RTOS_RAM_INTEGRITY_CHECK_FAILED errRAM_INTEGRITY_CHECK_FAILED +#define E_RTOS_INVALID_TIMER_HANDLE errINVALID_TIMER_HANDLE +#define E_RTOS_INVALID_TIMER_TASK_INSTANCE errINVALID_TIMER_TASK_INSTANCE +#define E_RTOS_TIMER_ALREADY_IN_USE errTIMER_ALREADY_IN_USE +#define E_RTOS_NOTIFICATION_NOT_RECEIVED errNOTIFICATION_NOT_RECEIVED +#define E_RTOS_NOTIFICATION_ALREADY_PENDING errNOTIFICATION_ALREADY_PENDING +#define E_RTOS_TASK_WAS_ALSO_ON_EVENT_LIST errTASK_WAS_ALSO_ON_EVENT_LIST +#define E_RTOS_QUEUE_ALREADY_IN_USE errQUEUE_ALREADY_IN_USE +#define E_RTOS_EVENT_GROUP_ALREADY_IN_USE errEVENT_GROUP_ALREADY_IN_USE +#define E_RTOS_INVALID_EVENT_GROUP_HANDLE errINVALID_EVENT_GROUP_HANDLE +#define E_RTOS_EVENT_GROUP_BITS_NOT_SET errEVENT_GROUP_BITS_NOT_SET +#define E_RTOS_EVENT_GROUP_DELETED errEVENT_GROUP_DELETED +#define E_RTOS_MUTEX_NOT_OWNED_BY_CALLER errMUTEX_NOT_OWNED_BY_CALLER +#define E_RTOS_MUTEX_CORRUPTED errMUTEX_CORRUPTED +#define E_RTOS_NEXT_UNBLOCK_TIME_EXPIRED errNEXT_UNBLOCK_TIME_EXPIRED +#define E_RTOS_WOKEN_UP_AFTER_NEXT_UNBLOCK_TIME errWOKEN_UP_AFTER_NEXT_UNBLOCK_TIME +#define E_RTOS_TICKLESS_MODE_NOT_SUPPORTED errTICKLESS_MODE_NOT_SUPPORTED +#define E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE errEVENT_POLL_OBJECT_ALREADY_IN_USE +#define E_RTOS_SCHEDULER_IS_NOT_RUNNING errSCHEDULER_IS_NOT_RUNNING +#define E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED errEVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED +#define E_RTOS_INVALID_EVENT_POLL_OPERATION err INVALID_EVENT_POLL_OPERATION +#define E_RTOS_INVALID_EVENT_POLL_HANDLE errINVALID_EVENT_POLL_HANDLE +#define E_RTOS_INVALID_EVENT_POLL_EVENTS errINVALID_EVENT_POLL_EVENTS +#define E_RTOS_EVENT_POLL_NO_EVENTS_OCCURRED errEVENT_POLL_NO_EVENTS_OCCURRED +#define E_RTOS_INVALID_DATA_RANGE errINVALID_DATA_RANGE +#define E_RTOS_NO_TICK_SETUP_HOOK_DEFINED errNO_TICK_SETUP_HOOK_DEFINED +#define E_RTOS_COULD_NOT_ALLOCATE_REQUIRED_MEMORY errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY +#define E_RTOS_QUEUE_BLOCKED errQUEUE_BLOCKED +#define E_RTOS_QUEUE_YIELD errQUEUE_YIELD + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-event-group.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-event-group.h new file mode 100644 index 0000000..970c189 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-event-group.h @@ -0,0 +1,347 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_EVENT_GROUP_H +#define OSA__OSA_EVENT_GROUP_H +#define FSP__OSA__OSA_EVENT_GROUP_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosEventGroupHandle, rtosEventBits, rto... +#include // for rtosPASS +#include // IWYU pragma: export + // IWYU pragma: no_include "event_groups.h" + // for xEventGroupClearBitsFromISR, xEvent... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief Create an event group + * + * This function is a wrapper for xEventGroupCreate() in FreeRTOS to create an + * event group object. + * It uses static or non-static API depending on the buffer provided by the + * application writer. + * It updates pointer to the event group handle to point to the newly + * created event group + * + * @pre + * - A variable of type rtosEventGroup, r/w accessible to RTOS kernel at all + * times has been declared to handle the event group object + * + * - Called from a non-interrupt context + * + * @param[in] pxEventGroup Pointer to the pre-declared event group variable + * of type rtosEventGroup + * @param[out] pxEventGroupHandle Pointer to the event group handle + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosEventGroupCreate(rtosEventGroup *pxEventGroup, + rtosEventGroupHandle *pxEventGroupHandle) +{ + *pxEventGroupHandle = (pxEventGroup == NULL) ? + xEventGroupCreate() : + xEventGroupCreateStatic(pxEventGroup); + return rtosPASS; +} + +/** + * @brief Delete an event group + * + * This function is a wrapper for xEventGroupDelete() in FreeRTOS to delete an + * event group object. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * - Scheduler has been started. + * + * @param[in] xHandle Event group handle + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosEventGroupDelete(rtosEventGroupHandle xHandle) +{ + vEventGroupDelete(xHandle); + return rtosPASS; +} + +/** + * @brief Get event group bits. + * + * This function is a wrapper for xEventGroupGetBits() in FreeRTOS to + * read the status of event group bits. + * It updates the pointer to event group bits with latest bit-mask of + * set fields in the event group. + * + * @pre + * - An event group object has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] pxEventBitsSet Pointer to event group bits + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosEventGroupGetBits(rtosEventGroupHandle xHandle, + rtosEventBits *pxEventBitsSet) +{ + *pxEventBitsSet = xEventGroupGetBits(xHandle); + return rtosPASS; +} + +/** + * @brief Get event group bits from ISR. + * + * This function is a wrapper for xEventGroupGetBitsFromISR() in FreeRTOS to + * read the status of event group bits from an ISR + * It updates the pointer to event group bits with latest bit-mask of set fields + * within the event group in an ISR context. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] pxEventBitsSet Pointer to event group bits + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosEventGroupGetBitsFromISR(rtosEventGroupHandle xHandle, + rtosEventBits *pxEventBitsSet) +{ + *pxEventBitsSet = xEventGroupGetBitsFromISR(xHandle); + return rtosPASS; +} + +/** + * Set event group bits + * + * This function is a wrapper for xEventGroupSetBits() in FreeRTOS to set one + * or more bits to '1' in an event group + * Sets required fields within the event group based on bit-mask sent as an + * argument. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToSet Bit mask to set required fields in the event group + * Size of rtosEventBits type is platform dependent. + * For ARM Cortex-R5, it is 32-bits. Since most + * significant byte is used for control purposes, valid + * bit-mask range is 0 - 23 bits. + * + * @retval The value of the event group + */ +static inline rtosError +rtosEventGroupSetBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToSet) +{ + return xEventGroupSetBits(xHandle, xBitsToSet); +} + +/** + * Set event group bits from ISR + * + * This function is a wrapper for xEventGroupSetBitsFromISR() in FreeRTOS to + * set one or more event group bits to '1' in an interrupt-context. + * Sets required fields within the event group based on bit-mask sent as an + * argument. + * It sets the value at pbHigherPriorityTaskWoken if calling this function + * unblocks a task of priority higher than currently running task indicating + * that a context switch is needed before exiting the ISR + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToSet Bit-mask to set required fields in the + * event group. Valid bit-mask range for + * ARM Cortex-R5 processor is 0 - 23 bits. + * @param[out] pbHigherPriorityTaskWoken Pointer to rtosbool variable + * + * @retval rtosPASS on success + * @retval rtosFAIL on failure + */ +static inline rtosError +rtosEventGroupSetBitsFromISR(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToSet, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xEventGroupSetBitsFromISR(xHandle, + xBitsToSet, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Clear required event group bits + * + * This function is a wrapper for xEventGroupClearBits() in FreeRTOS to clear + * one or more bits in an event group + * Clears required fields within the event group based on bit-mask sent as an + * argument. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToClear Bit-mask to clear required fields. + * Valid bit mask range for ARM Cortex-R5 processor is + * 0 - 23 bits. + * + * @retval The value of the event group before the specified bits were cleared + */ +static inline rtosError +rtosEventGroupClearBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToClear) +{ + return xEventGroupClearBits(xHandle, + xBitsToClear); +} + +/** + * @brief Clear required event group bits from ISR + * + * This function is a wrapper for xEventGroupClearBitsFromISR() in FreeRTOS to + * clear one or more event group bits in an interrupt context. + * Clears required fields within the event group based on bit-mask sent as an + * argument. + * It sets value at pbHigherPriorityTaskWoken if calling this function unblocks + * a higher priority task than current task indicating a context switch is + * needed before exiting from ISR + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToClear Bit-mask to clear required fields in + * the event group. Valid bit-mask range + * for ARM Cortex-R5 processor is 0 - 23 + * bits + * @param[out] pbHigherPriorityTaskWoken Pointer to rtosbool variable + * + * @retval rtosPASS on success + * @retval rtosFAIL on failure + */ +static inline rtosError +rtosEventGroupClearBitsFromISR(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToClear, + rtosBool *pbHigherPriorityTaskWoken) +{ + (void)pbHigherPriorityTaskWoken; + return xEventGroupClearBitsFromISR(xHandle, + xBitsToClear); +} + +/** + * @brief Wait for one or more bits to set within an event group until timeout + * + * This function is a wrapper for xEventGroupWaitBits() in FreeRTOS to wait until + * given pattern of event group bits is set + * Calling task blocks on waiting for required bit fields to be set as long as wait + * condition is met until timeout + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * @param[in] xHandle Event group handle + * @param[in] xBitstoWaitFor Bit-mask to check for required fields. Valid range + * of bit-mask on ARM Cortex-R5 processor is + * 0 - 23 bits + * @param[in] xClearOnExit Set this bool variable to clear all the bit fields + * before exiting wait + * @param[in] xWaitforAllBits Set this bool variable if all the required bit + * fields should be set to exit from wait + * @param[in] pxEventBitsSet Pointer to event group bits. Before exiting from + * wait, value at this address is updated with the + * status of event group bits + * @param[in] xTicksToWait Timeout in ticks for which the calling task should + * be held in blocked state waiting for the pattern + * condition to be set. A value of zero prevents the + * task from entering the blocked state. + * + * @retval The value of the event group at the time either the bits being waited + * for became set, or the block time expired. + */ +static inline rtosError +rtosEventGroupWaitBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToWaitFor, + const rtosBool xClearOnExit, + const rtosBool xWaitForAllBits, + rtosEventBits *pxEventBitsSet, + rtosTick xTicksToWait) +{ + (void)pxEventBitsSet; + return xEventGroupWaitBits(xHandle, + xBitsToWaitFor, + (portBASE_TYPE)xClearOnExit, + (portBASE_TYPE)xWaitForAllBits, + xTicksToWait); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-mutex.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-mutex.h new file mode 100644 index 0000000..96e4ec5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-mutex.h @@ -0,0 +1,159 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_MUTEX_H +#define OSA__OSA_MUTEX_H +#define FSP__OSA__OSA_MUTEX_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosMutexHandle, FSP__OSPL__RTOS_PORT_H +#include // for rtosPASS +#include // for xSemaphoreCreateMutex, xSemaphoreGiveRec... + +/** + * @brief Computes the size needed for rtosMutexCreate. + * + * @macro-title Get size of mutex object + * + * @retval NumberOfBytes Size of mutex object in bytes + */ +#define rtosMutexSize() (1) + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief Create a mutex lock + * + * This function is a wrapper for xMutexCreate() in FreeRTOS to create + * a mutex object. + * It uses static or non-static API depending on the buffer provided by the + * application writer. + * It updates pointer to the handle sent as an argument + * with newly created mutex + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a mutex object + * + * - Called from a non-interrupt context + * + * @param[in] pcMutexBuffer Pointer to the memory location at which mutex + * will be created. Size of the mutex buffer + * is rtosMutexSize() + * Mutex buffer shall be 4-byte aligned + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosMutexCreate(void *pcMutexBuffer, + rtosMutexHandle *pxMutex) +{ + *pxMutex = (pcMutexBuffer == NULL) ? + xSemaphoreCreateMutex() : + xSemaphoreCreateMutexStatic(pcMutexBuffer); + + return rtosPASS; +} + +/** + * @brief Acquire a mutex + * + * This function is a wrapper for xMutexTake() in FreeRTOS to acquire a mutex + * + * @pre + * - A mutex has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xMutex Mutex handle + * @param[in] xBlocktime Timeout in ticks to wait until mutex is acquired. + * A value of zero prevents the calling task from + * entering the Blocked state. + * + * @retval rtosPASS on success + * @retval rtosFAIL on failure + */ +static inline rtosError +rtosMutexAcquire(rtosMutexHandle xMutex, + rtosTick xBlockTime) +{ + return xSemaphoreTakeRecursive(xMutex, + xBlockTime); +} + +/** + * @brief Release acquired mutex + * + * This function is a wrapper for xMutexGive() in FreeRTOS to release + * an acquired mutex. + * + * @pre + * - A mutex has been created with a valid handle + * + * - Referred mutex was previously acquired. + * + * - Scheduler has been started + * + * - Called in a non-interrupt context + * + * @param[in] xMutex Mutex handle + * + * @retval rtosPASS on success + * @retval rtosFAIL on failure + */ +static inline rtosError +rtosMutexRelease(rtosMutexHandle xMutex) +{ + return xSemaphoreGiveRecursive(xMutex); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-queue.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-queue.h new file mode 100644 index 0000000..a1ee1b5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-queue.h @@ -0,0 +1,530 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_QUEUE_H +#define OSA__OSA_QUEUE_H +#define FSP__OSA__OSA_QUEUE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosError, rtosQueueHandle, rtosTick +#include // for rtosPASS +#include // IWYU pragma: export + // IWYU pragma: no_include "queue.h" + // for uxQueueMessagesWaiting, uxQueueSpacesAva... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief rtosQueueSize() computes the size needed for rtosQueueCreate. + * + * @_n_ max number of elements in queue + * @_s_ size of a queue element + * + * @macro-title Get number of bytes required for the queue. + * + * @retval NumberOfBytes Size of queue in bytes + */ +#define rtosQueueSize(_n_, _s_) (((_n_) * (_s_)) + sizeof(rtosQueueBuffer)) + +/** + * @brief Create a task queue + * + * This function is a wrapper for xQueueCreate() in FreeRTOS. + * It uses static or non-static API depending on the buffer provided by the + * application writer. + * It updates the pointer to the queue handle to point + * to the newly created queue + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a queue object. + * + * - Called from a non-interrupt context + * + * @param[in] pcQueueMemory Pointer to memory at which queue object + * will be created. Queue buffer should be 4-byte + * aligned. + * @param[in] uxBufferLength Buffer length to handle tasks. Should be equal to + * rtosQueueSize(_n_, _s_) + * @param[in] uxQueueLength Maximum number of items the queue can hold + * @param[out] pxQueue Pointer to queue handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosQueueCreate(void *pcQueueMemory, + rtosUCount uxBufferLength, + rtosUCount uxQueueLength, + rtosUCount uxItemSize, + rtosQueueHandle *pxQueue) +{ + *pxQueue = (pcQueueMemory == NULL) ? + xQueueCreate(uxQueueLength, + uxItemSize) : + xQueueCreateStatic(uxQueueLength, + uxItemSize, + (portUInt8Type *)pcQueueMemory + sizeof (rtosQueueBuffer), + (rtosQueueBuffer *)pcQueueMemory); + + return rtosPASS; +} + +/** + * @brief Delete a task queue + * + * This function is a wrapper for vQueueDelete() in FreeRTOS. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a queue object. + * + * - Called from a non-interrupt context + * + * @param[in] pcQueueMemory Pointer to memory at which queue object + * will be created. Queue buffer should be 4-byte + * aligned. + * @param[in] uxBufferLength Buffer length to handle tasks. Should be equal to + * rtosQueueSize(_n_, _s_) + * @param[in] uxQueueLength Maximum number of items the queue can hold + * @param[out] pxQueue Pointer to queue handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosQueueDelete(rtosQueueHandle *pxQueue) +{ + vQueueDelete((QueueHandle_t) pxQueue); + return rtosPASS; +} + +/** + * @brief Add an item at the end of a queue + * + * This function is a wrapper for xQueueSend() in FreeRTOS. + * Sends a item in the queue in First In First Out (FIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvItemToQueue Pointer to the item + * @param[in] xTicksToWait Timeout in ticks to wait until the + * item gets added. A value of 0 prevents the task + * from entering blocked state. + * + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + */ +static inline rtosError +rtosQueueSend(rtosQueueHandle rtosQueue, + const void * const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSend(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Add an item at the front of a queue + * + * This function is a wrapper for xQueueSendToFront() in FreeRTOS. + * Sends an item in the queue in Last In First Out (LIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[in] xTicksToWait Timeout in ticks to wait until + * item gets added. A value of 0 prevents the task from + * entering blocked state + * + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + */ +static inline rtosError +rtosQueueSendToFront(rtosQueueHandle rtosQueue, + const void * const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSendToFront(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Pick an item from the queue + * + * This is a wrapper for xQueueReceive() in FreeRTOS + * It always picks item from the beginning of a queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvBuffer Pointer to the buffer to copy the item. Length of + * buffer should be at least equal to the item size. + * @param[in] xTicksToWait Timeout in ticks to wait until item is picked. + * A value of 0 prevents the task from entering + * blocked state + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosQueueReceive(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosTick xTicksToWait) +{ + return xQueueReceive(rtosQueue, + pvBuffer, + xTicksToWait); +} + +/** + * @brief Peek an item from queue + * + * This function is a wrapper for xQueuePeek() in FreeRTOS + * It picks an item without removing it from the queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at least equal to the + * queue item size. + * @param[in] xTicksToWait Timeout in ticks to wait until item is picked. + * A value of 0 prevents the task from entering the + * blocked state + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosQueuePeek(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosTick xTicksToWait) +{ + return xQueuePeek(rtosQueue, + pvBuffer, + xTicksToWait); +} + +/** + * @brief Get number of waiting messages in the queue. + * + * This function is a wrapper for xQueueMessagesWaiting() in FreeRTOS. + * It updates value at pointer to a count variable sent as an argument + * with latest number of pending items in the queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] xQueue Queue handle + * @param[out] puxMessagesWaiting Pointer to a count variable + * + * @retval The number of messages available in the queue. + */ +static inline rtosError +rtosQueueMessageWaiting(rtosQueueHandle rtosQueue, + rtosUCount *puxMessagesWaiting) +{ + (void)puxMessagesWaiting; + return uxQueueMessagesWaiting(rtosQueue); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendFromISR() in FreeRTOS. + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + */ +static inline rtosError +rtosQueueSendFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueSendFromISR(rtosQueue, + pvItemToQueue, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendToBackFromISR() in FreeRTOS. + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + */ +static inline rtosError +rtosQueueSendToBackFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueSendToBackFromISR(rtosQueue, + pvItemToQueue, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendToBack() in FreeRTOS. + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + */ +static inline rtosError +rtosQueueSendToBack(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSendToBack(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Add an item at the front of a queue from ISR + * + * This function is a wrapper for xQueueSendToFrontFromISR() in FreeRTOS. + * Adds an item to the queue from interrupt context in Last In First Out (LIFO) + * order. + * It sets value at pointer to a bool variable sent as an argument if adding + * item to the queue unblocks a higher/equal priority task than the current + * active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + */ +static inline rtosError +rtosQueueSendToFrontFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueSendToFrontFromISR(rtosQueue, + pvItemToQueue, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Pick an item from the queue in interrupt context + * + * This function is a wrapper for xQueueReceiveFromISR() in FreeRTOS + * Picks item from the beginning of a queue in an interrupt context + * and sets value at pointer to a bool variable sent as an argument if calling + * this function unblocks a higher priority task than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at + * least equal to the item size. + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosQueueReceiveFromISR(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueReceiveFromISR(rtosQueue, + pvBuffer, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Pick an item from the queue in interrupt context + * + * This function is a wrapper for xQueueIsQueueFullFromISR() in FreeRTOS + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at + * least equal to the item size. + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosQueueIsQueueFullFromISR(rtosQueueHandle rtosQueue) +{ + return xQueueIsQueueFullFromISR(rtosQueue); +} + +/** + * @brief Pick an item from the queue in interrupt context + * + * This function is a wrapper for uxQueueSpacesAvailable() in FreeRTOS + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at + * least equal to the item size. + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval The number of spaces available in the queue. + */ +static inline rtosError +rtosQueueSpacesAvailable(rtosQueueHandle rtosQueue) +{ + return uxQueueSpacesAvailable(rtosQueue); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-semaphore.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-semaphore.h new file mode 100644 index 0000000..763510c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-semaphore.h @@ -0,0 +1,305 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_SEMAPHORE_H +#define OSA__OSA_SEMAPHORE_H +#define FSP__OSA__OSA_SEMAPHORE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-sepcific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosError, rtosSemaphoreHandle, rtosBool +#include // for rtosPASS +#include // IWYU pragma: export + // IWYU pragma: no_include "semphr.h" + // for vSemaphoreDelete, xSemaphoreCreateBinary + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief rtosSemaphoreSize() computes the size needed for rtosSemaphoreCreate. + * + * @macro-title Get size of semaphore object + * + * @retval NumberOfBytes Size of semaphore object in bytes + */ +#define rtosSemaphoreSize() 4 + +/** + * @brief Create a binary semaphore. + * + * This function is a wrapper for xSemaphoreCreateBinary() in FreeRTOS + * to create a binary semaphore object. + * It uses static or non-static API depending on the buffer provided by the + * application writer. + * It updates the handle sent as an argument to point to the newly + * created semaphore + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a semaphore object. + * + * - Called from a non-interrupt context + * + * @param[in] pcSemaphoreMemory Pointer to the memory location at which + * semaphore object will be created. + * Clients shall use rtosSemaphoreSize() to get + * the size of this pre-allocated memory. + * Memory buffer shall be 4-byte aligned. + * @param[out] xpSemaphore Pointer to the semaphore handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosSemaphoreCreateBinary(void *pcSemaphoreMemory, + rtosSemaphoreHandle *xpSemaphore) +{ + *xpSemaphore = (pcSemaphoreMemory == NULL) ? + xSemaphoreCreateBinary() : + xSemaphoreCreateBinaryStatic(pcSemaphoreMemory); + return rtosPASS; +} + +/** + * @brief Create a counting semaphore + * + * This function is a wrapper for xSemaphoreCreateCounting() in FreeRTOS + * to create a counting semaphore object. + * It updates the handle sent as an argument to point to the newly + * created semaphore. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a semaphore object. + * + * - Called from a non-interrupt context + * + * @param[in] uxMaxCount Max limit of semaphore count. + * Should be set greater than 0 + * @param[in] uxInitialCount Min/Initial count of semaphore count. + * Should be set less than uxMaxCount + * @param[in] pcSemaphoreMemory Pointer to the memory location at which + * semaphore object will be created. + * Clients shall use rtosSemaphoreSize() to get + * the size of this pre-allocated memory. + * Memory buffer shall be 4-byte aligned. + * @param[out] xpSemaphore Pointer to the semaphore handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosSemaphoreCreateCounting(void *pcSemaphoreMemory, + rtosUCount uxMaxCount, + rtosUCount uxInitialCount, + rtosSemaphoreHandle *xpSemaphore) +{ + *xpSemaphore = (pcSemaphoreMemory == NULL) ? + xSemaphoreCreateCounting(uxMaxCount, + uxInitialCount) : + xSemaphoreCreateCountingStatic(uxMaxCount, + uxInitialCount, + pcSemaphoreMemory); + return rtosPASS; +} + +/** + * @brief Release a semaphore + * + * This function is a wrapper for xSemaphoreGive() in FreeRTOS to + * release an acquired semaphore. + * + * @pre + * - A semaphore has been created with a valid handle referring to it + * + * - Referred Semaphore was previously acquired + * + * - Called from a non-interrupt context. + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * + * @retval rtosPASS on success + * @retval rtosFAIL on failure + */ +static inline rtosError +rtosSemaphoreRelease(rtosSemaphoreHandle xSemaphore) +{ + return xSemaphoreGive(xSemaphore); +} + +/** + * @brief Release a semaphore from ISR + * + * This function is a wrapper for xSemaphoreGiveFromISR() in FreeRTOS to + * release an acquired semaphore in interrupt context. + * It sets value at pointer to rtos bool variable sent + * as an argument if calling this API unblocks a task of priority equal + * to/higher than currently running task. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Referred semaphore was previously acquired + * + * - Called from an interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] pbHigherPriorityTaskWoken Pointer to a boolean variable + * + * @retval rtosPASS On success + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + */ +static inline rtosError +rtosSemaphoreReleaseFromISR(rtosSemaphoreHandle xSemaphore, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xSemaphoreGiveFromISR(xSemaphore, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Acquire a semaphore + * + * This function is a wrapper for xSemaphoreTake() in FreeRTOS to + * acquire a semaphore. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[in] xTicksToWait Timeout in ticks to wait until semaphore is acquired. + * A value of zero prevents the calling task from + * entering the Blocked state waiting for semaphore. + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosSemaphoreAcquire(rtosSemaphoreHandle xSemaphore, + rtosTick xTicksToWait) +{ + return xSemaphoreTake(xSemaphore, xTicksToWait); +} + +/** + * @brief Acquire semaphore from ISR + * + * This function is a wrapper for xSemaphoreTakeFromISR() in FreeRTOS to + * acquire a semaphore in interrupt context. + * It sets value at pointer to rtos bool variable sent as an argument + * if calling this API unblocks a task of priority equal to/higher than + * currently running task. + * + * @pre + * - A semaphore has been created with a valid handle referring to it + * + * - Called from an interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] pbHigherPriorityTaskWoken Pointer to boolean variable + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosSemaphoreAcquireFromISR(rtosSemaphoreHandle xSemaphore, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xSemaphoreTakeFromISR(xSemaphore, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Delete Semaphore + * + * This function is a wrapper for vSemaphoreDelete() in FreeRTOS. + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * @param[in] xSemaphore Semaphore handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosSemaphoreDelete(rtosSemaphoreHandle xSemaphore) +{ + vSemaphoreDelete(xSemaphore); + return rtosPASS; +} + +/** + * @brief Get semaphore count depth + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * + * @param[in] xSemaphore Semaphore handle + * @param[out] puxCountDepth Pointer to rtos count variable + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosSemaphoreGetCountDepth(rtosSemaphoreHandle xSemaphore, + rtosUCount *puxCountDepth) +{ + *puxCountDepth = uxSemaphoreGetCount(xSemaphore); + return rtosPASS; +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-task.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-task.h new file mode 100644 index 0000000..a7f8102 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-task.h @@ -0,0 +1,631 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TASK_H +#define OSA__OSA_TASK_H +#define FSP__OSA__OSA_TASK_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosBool, rtosTaskHandle, rtosTick, rtos... +#include +#include // IWYU pragma: export + // IWYU pragma: no_include "task.h" + // for vTaskStartScheduler, uxTaskPriorityGet + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +#define rtosIDLE_PRIORITY tskIDLE_PRIORITY +#define rtosTaskScheduler_Suspended taskSCHEDULER_SUSPENDED +#define rtosTaskScheduler_Not_Started taskSCHEDULER_NOT_STARTED +#define rtosTaskScheduler_Running taskSCHEDULER_RUNNING + +/** + * @brief Initialize task scheduler + * + * This function is a wrapper for xTaskInitializeScheduler() in FreeRTOS to + * initialize a task scheduler. + * It configures scheduler private data and passes application specific data + * to the FreeRTOS scheduler by translating structures and types used by NVIDIA + * code to those used by FreeRTOS. + * + * @pre + * - A task has been created with a valid handle referring to it. + * + * - Scheduler init parameters have been set. + * + * - Called from a non-interrupt context + * + * @param[in] pxSchedInitParameters Pointer to rtosSchedParameters structure + * containing scheduler private data required for + * initialization. + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskInitializeScheduler(const rtosSchedParameters *const pxSchedInitParameters) +{ + (void) pxSchedInitParameters; + vTaskStartScheduler(); + return rtosPASS; +} + +/** + * @brief Create a task + * + * This function is a wrapper for xTaskCreate() in FreeRTOS to create a new + * task and place it in ready state. It provides a translation of structures + * and types used by NVIDIA code to those used by FreeRTOS. + * It uses static or non-static API depending on the buffer provided by the + * application writer. + * It updates the pointer to task handle using task init structure sent as + * an argument to refer to the newly created task. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * initialized for the task control block. + * + * - Task init parameters have been initialized + * + * - Called from a non-interrupt context + * + * @param[in] pxTaskParameters Pointer to a rtosTaskParameters structure that + * contains the parameters used to create a task + * @param[out] pxCreatedTask Pointer to task handle + * + * @retval rtosPASS success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to handle/task + * init structure + * @retval E_RTOS_INVALID_PRIORITY Task priority above stated + * maximum + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Memory pointed by stack + * buffer already in use. + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Pointer to task code + * parameter is NULL + * @retval E_RTOS_INVALID_BYTE_ALIGMENT Stack buffer not aligned + * @retval E_RTOS_INVALID_MPU_REGION_CONFIGURATION Improper size/alignment + * of mpu region + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold task + * @retval E_RTOS_INVALID_BUFFER_SIZE Buffer size not a power of 2 + */ +static inline rtosError +rtosTaskCreate(const rtosTaskParameters * const pxTaskParameters, + rtosTaskHandle *pxCreatedTask) +{ + + if (pxTaskParameters->pxTCB == NULL) + return xTaskCreate (pxTaskParameters->pvTaskCode, + pxTaskParameters->pcTaskName, + pxTaskParameters->uxStackDepthBytes, + pxTaskParameters->pvParameters, + pxTaskParameters->uxPriority, + (struct tskTaskControlBlock ** const) pxCreatedTask); + else { + *pxCreatedTask = (rtosTaskHandle *)xTaskCreateStatic ( + pxTaskParameters->pvTaskCode, + pxTaskParameters->pcTaskName, + pxTaskParameters->uxStackDepthBytes, + pxTaskParameters->pvParameters, + pxTaskParameters->uxPriority, + pxTaskParameters->pcStackBuffer, + pxTaskParameters->pxTCB); + + return rtosPASS; + } +} + +/** + * @brief Delete a task + * + * This function is a wrapper for xTaskDelete() in FreeRTOS to delete a task. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * - Scheduler is in running state if the request is to delete the calling task + * + * @param[in] pxTaskToDelete Input task handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskDelete(rtosTaskHandle pxTaskToDelete) +{ + vTaskDelete(pxTaskToDelete); + return rtosPASS; +} + +/** + * @brief Delay a task for required time + * + * This function is a wrapper for xTaskDelay() in FreeRTOS. + * Places active task in blocked state for fixed number of cycles. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * + * @param[in] xTicksToDelay Time in ticks to delay the task. A value of 0 + * will cause the task to yield instead of entering the + * blocked state + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskDelay(rtosTick xTicksToDelay) +{ + vTaskDelay(xTicksToDelay); + return rtosPASS; +} + +/** + * @brief Delay a task until specified time. + * + * This function is a wrapper for xTaskDelayUntil() in FreeRTOS. + * It delays active task for a fixed period and wakes it + * up again at tick(previous wake time + Delay time). + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxPreviousWakeTime Pointer to variable of type rtosTick + * having previous wake time. Must be initialized + * with current time before first use. Updated + * automatically by this call thereafter. + * @param[in] xTimeIncrement Time for which task must be delayed + * (Cycle time period) + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskDelayUntil(rtosTick *pxPreviousWakeTime, + rtosTick xTimeIncrement) +{ + vTaskDelayUntil(pxPreviousWakeTime, xTimeIncrement); + return rtosPASS; +} + +/** + * @brief Get priority of task + * + * This function is a wrapper for xTaskPriorityGet() in FreeRTOS. + * It updates value at pointer to variable of type + * rtosPriority sent as an argument with latest priority of input task + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * @param[in] pxTask Input task handle + * @param[in] puxPriority Pointer to a variable holding task priority + * + * @retval The priority of xTask + */ +static inline rtosError +rtosTaskPriorityGet(rtosTaskHandle pxTask, + rtosPriority *puxPriority) +{ + return uxTaskPriorityGet(pxTask); +} + +/** + * @brief Set priority of a task + * + * This function is a wrapper for xTaskPrioritySet() in FreeRTOS to + * change the priority of a task. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxTask Input task handle + * @param[in] uxNewPriority Input task priority. Maximum priority + * is (configMAX_PRIORITIES - 1) + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskPrioritySet(rtosTaskHandle pxTask, + rtosPriority uxNewPriority) +{ + vTaskPrioritySet(pxTask, uxNewPriority); + return rtosPASS; +} + +/** + * @brief Suspend a task + * + * This function is a wrapper for xTaskSuspend() in FreeRTOS. + * Places active task in suspended state + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxTaskToSuspend Input task handle. Value of NULL + * suspends the calling task + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskSuspend(rtosTaskHandle pxTaskToSuspend) +{ + vTaskSuspend(pxTaskToSuspend); + return rtosPASS; +} + +/** + * @brief Resume a suspended task + * + * This function is a wrapper for xTaskResume() in FreeRTOS. + * Resumes a suspended task and puts it ready state. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * - The task being referred was suspended. + * + * @param[in] pxTaskToResume Input task handle + * + * @retval rtosPASS On success + */ +static inline rtosError +rtosTaskResume(rtosTaskHandle pxTaskToResume) +{ + vTaskResume(pxTaskToResume); + return rtosPASS; +} + +/** + * @brief Get handle of current task + * + * This function is a wrapper for xTaskGetCurrentTaskHandle() in FreeRTOS. + * It returns handle of current task. + * No input arguments needed. + * + * @pre + * - Scheduler has been initialized and started + * + * - Called from a non-interrupt context + * + * @retval xHandle Handle of the current task + */ +static inline rtosTaskHandle +rtosTaskGetCurrentTaskHandle(void) +{ + return xTaskGetCurrentTaskHandle(); +} + +/** + * @brief Start a task scheduler + * + * This function is a wrapper for xTaskStartScheduler() in FreeRTOS. + * It starts scheduler if a set of preconditions are met. + * This can be ignored by passing input argument xUserKernelConfigurationChecks + * as rtosFALSE in which case scheduler will start regardless of the state. + * + * @pre + * - Scheduler has been initialized + * + * - A task has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context + * + * - Called with CPU in privileged mode + * + * @param[in] xUserKernelConfigurationChecks Bool variable to be set for + * checking the pre-conditions before + * starting the scheduler. + * + * @retval rtsoPASS On success + */ +static inline rtosError +rtosTaskStartScheduler(rtosBool xUserKernelConfigurationChecks) +{ + vTaskStartScheduler(); + return rtosPASS; +} + +/** + * @brief Suspend a scheduler + * + * This function is a wrapper for xTaskSuspendScheduler() in FreeRTOS + * It suspends scheduler irrespective of current state. + * No input arguments needed and returns none. + * + * @pre + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskSuspendScheduler(void) +{ + vTaskSuspendAll(); +} + +/** + * @brief Resume suspended scheduler + * + * This function is a wrapper for xTaskResumeScheduler() in FreeRTOS. + * Transitions the suspended scheduler into active state. + * No input arguments needed. + * + * @pre + * - Scheduler has been started and currently in a suspended state + * + * - Called from a non-interrupt context + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosBool +rtosTaskResumeScheduler(void) +{ + return (rtosBool)xTaskResumeAll(); +} + +/** + * @brief Get ticks count + * + * This function is a wrapper for xTaskGetTickCount() in FreeRTOS. + * It returns ticks count since the scheduler was started. + * No input arguments needed. + * + * @pre + * - Called from a non-interrupt context. + * + * @retval xTicks Number of ticks passed since scheduler was started. + */ +static inline rtosTick +rtosTaskGetTickCount(void) +{ + return xTaskGetTickCount(); +} + +/** + * @brief Get ticks count from ISR + * + * This function is a wrapper for xTaskGetTickCountFromISR() in FreeRTOS. + * Returns ticks count in an interrupt context since the scheduler was started. + * No input arguments needed. + * + * @pre + * - Called from an interrupt context + * + * @retval xTicks Number of ticks passed since scheduler was started. + */ +static inline rtosTick +rtosTaskGetTickCountFromISR(void) +{ + return xTaskGetTickCountFromISR(); +} + +/** + * @brief Request task yield. + * + * This function is a wrapper for taskYIELD() in FreeRTOS. + * It enables yield to a task of equal/higher priority + * than current task. No input arguments needed and returns none. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskYield(void) +{ + taskYIELD(); +} + +/** + * @brief Request task yield from ISR + * + * This function is a wrapper for taskYIELD_FROM_ISR() in FreeRTOS. + * It enables yield in an interrupt context to a task of + * equal/higher priority than current task. Returns none. + * Does nothing if input argument is rtosFALSE. + * + * @pre + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xSwitchRequired Bool variable to indicate need for switch + */ +static inline void +rtosTaskYieldFromISR(rtosPortBaseType xSwitchRequired) +{ + portYIELD_FROM_ISR(xSwitchRequired); +} + +/** + * @brief Enter critical section + * + * This function is a wrapper for taskENTER_CRITICAL() in FreeRTOS. + * Enables a task to enter critical section. + * No input arguments needed and returns none. + * + * @pre + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskEnterCritical(void) +{ + taskENTER_CRITICAL(); +} + +/** + * @brief Exit critical section + * + * This function is a wrapper for taskEXIT_CRITICAL() in FreeRTOS. + * Enables a task to exit from critical section. + * No input arguments needed and returns none. + * + * @pre + * - RTOS state must already be in critical section + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskExitCritical(void) +{ + taskEXIT_CRITICAL(); +} + + +/** + * @brief Disable interrupts + * + * This function is a wrapper for taskDISABLE_INTERRUPTS() in FreeRTOS. + * Disable all maskable interrupts + * No input arguments needed and returns none. + * + * @pre + * - RTOS state must already be in critical section + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskDisableInterrupts(void) +{ + taskDISABLE_INTERRUPTS(); +} + +/** + * @brief Enable interrupts + * + * This function is a wrapper for taskENABLE_INTERRUPTS() in FreeRTOS. + * Enable all maskable interrupts + * No input arguments needed and returns none. + * + * @pre + * - RTOS state must already be in critical section + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskEnableInterrupts(void) +{ + taskENABLE_INTERRUPTS(); +} + +/** + * @brief Retrieve scheduler status + * + * This function is a wrapper for xTaskIsSchedulerStarted() in FreeRTOS. + * Checks and returns true if there has been a successful call to + * rtosTaskStartScheduler() + * No input arguments + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @retval rtosTRUE Scheduler has been started + * @retval rtosFALSE Otherwise + */ +static inline rtosBool +rtosTaskIsSchedulerStarted(void) +{ + return (rtosBool)xTaskGetSchedulerState(); +} + +/** + * @brief Generate system tick + * + * This function is a wrapper for FreeRTOS_Tick_Handler() in FreeRTOS. + * It is used to generate system tick and should be called from the + * system tick handler. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * No input arguments needed and returns none. + */ +static inline void rtosSystemTickHandler(void) +{ + FreeRTOS_Tick_Handler(); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-timer.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-timer.h new file mode 100644 index 0000000..f4f20fc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-timer.h @@ -0,0 +1,333 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TIMER_H +#define OSA__OSA_TIMER_H +#define FSP__OSA__OSA_TIMER_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosError, rtosTimerHandle, rtosTic +#include // for rtosPASS +#include // IWYU pragma: export + // IWYU pragma: no_include "timers.h" + // for pvTimerGetTimerID, xTimerIsTimerActive + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief Create a timer. + * + * This function is a wrapper for xTimerCreate() in FreeRTOS. + * It updates the handle sent as + * an argument to point to the newly created timer + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle timer control block and instance parameters + * + * - Called from a non-interrupt context + * + * @param[in] pxTimerParameters Pointer to timer init parameter + * structure (rtosTimerInitParametersType) + * @param[out] pxTimerHandle Pointer to timer handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to timer init + * parameter/Timer handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid timer init parameters + * @retval E_RTOS_INVALID_TIMER_TASK_INSTANCE Invalid timer task instance + * @retval E_RTOS_TIMER_ALREADY_IN_USE Input Timer handle is valid + * and must be deleted before + * creating a new timer + */ +rtosError +rtosTimerCreate(const rtosTimerInitParametersType *const pxTimerParameters, + rtosTimerHandle *pxTimerHandle); + +/** + * @brief Start a timer + * + * This function is a wrapper for xTimerStart() in FreeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending the start command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerStart(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerStart(xTimer, xBlockTime); +} + +/** + * @brief Stop a timer + * + * This function is a wrapper for xTimerStop() in FreeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending stop command to the timer + * + * @pre + * - Referred timer has been started + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerStop(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerStop(xTimer, xBlockTime); +} + +/** + * @brief Change timer period + * + * This function is a wrapper for xTimerChangePeriod() in FreeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending change period command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * @param[in] xNewPeriodInTicks New timer period in ticks. Should be + * greater than 0. + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerChangePeriod(rtosTimerHandle xTimer, + rtosTick xNewPeriodInTicks, + rtosTick xBlockTime) +{ + return xTimerChangePeriod(xTimer, xNewPeriodInTicks, xBlockTime); +} + +/** + * @brief Delete a timer + * + * This function is a wrapper for xTimerDelete() in FreeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending delete command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerDelete(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerDelete(xTimer, xBlockTime); +} + +// ISR friendly commands of the timer commands + +/** + * @brief Start a timer from ISR + * + * This function is a wrapper for xTimerStartFromISR() in FreeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function + * unblocks the timer service whose priority is equal to/higher than + * the current task + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerStartFromISR(rtosTimerHandle xTimer, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTimerStartFromISR(xTimer, pxHigherPriorityTaskWoken); +} + +/** + * @brief Stop a timer from ISR + * + * This function is a wrapper for xTimerStopFromISR() in FreeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function unblocks + * the timer service whose priority is equal to/higher than the current task + * + * @pre + * - Referred timer has been started + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerStopFromISR(rtosTimerHandle xTimer, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTimerStopFromISR(xTimer, pxHigherPriorityTaskWoken); +} + +/** + * @brief Change timer period from ISR + * + * This function is a wrapper for xTimerChangePeriodFromISR() in FreeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function unblocks + * the timer service whose priority is equal to/higher than the current task + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xNewPeriodInTicks New timer period in ticks. Should be + * greater than 0. + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS On success + * @retval rtosFAIL On failure + */ +static inline rtosError +rtosTimerChangePeriodFromISR(rtosTimerHandle xTimer, + rtosTick xNewPeriodInTicks, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTimerChangePeriodFromISR(xTimer, xNewPeriodInTicks, + pxHigherPriorityTaskWoken); +} + +/** + * @brief Check if timer is active + * + * This function is a wrapper for xTimerIsTimerActive() in FreeRTOS. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * + * @retval rtosTRUE if timer is active or exists in the + * overflow timer list + * @retval rtosFALSE Timer not present in the active timer + */ +static inline rtosError +rtosTimerIsTimerActive(rtosTimerHandle xTimer) +{ + return xTimerIsTimerActive(xTimer); +} + +/** + * @brief Get timer ID + * + * This function is a wrapper for xTimerGetTimerID() in FreeRTOS. + * It updates value at pxTimerID with ID of the requested timer + * configured by the host application while creating it. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxTimerID Pointer to timer ID + * + * @retval rtosPASS For valid timers + */ +static inline rtosError +rtosTimerGetTimerID(rtosTimerHandle xTimer, rtosTimerIDType *pxTimerID) +{ + pvTimerGetTimerID(xTimer); + return rtosPASS; +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-values.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-values.h new file mode 100644 index 0000000..e20fb5d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/osa-values.h @@ -0,0 +1,113 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_VALUES_H +#define OSA__OSA_VALUES_H +#define FSP__OSA__OSA_VALUES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for pdFALSE, pdTRUE, pdFAIL, pdPASS + +/** + * @brief Mapping of FreeRTOS values to rtos value space + * + * @macro-title RTOS boolean values published by OSA layer + * + * @rtosTRUE Defines true state of a boolean variable + * @rtosFALSE Defines false state of a boolean variable + * @rtosPASS Defines return value indicating success + * @rtosFAIL Defines return value indicating failure + */ +#define rtosTRUE ((rtosBool)pdTRUE) +#define rtosFALSE ((rtosBool)pdFALSE) +#define rtosPASS pdPASS +#define rtosFAIL pdFAIL + +/** + * @brief Mapping of FreeRTOS kernel version values to rtos value space + * + * @macro-title Kernel version values published by OSA layer. + * + * @rtosKERNEL_MAJOR_VERSION Defines kernel major version number + * @rtosKERNEL_MINOR_VERSION Defines kernel minor version number + */ +#define rtosKERNEL_VERSION_NUMBER tskKERNEL_VERSION_NUMBER +#define rtosKERNEL_MAJOR_VERSION tskKERNEL_VERSION_MAJOR +#define rtosKERNEL_MINOR_VERSION tskKERNEL_VERSION_MINOR +#define rtosKERNEL_MINOR_BUILD tskKERNEL_VERSION_BUILD + +/** + * @brief Mapping of FreeRTOS event group values to rtos value space + * + * @macro-title Event group values published by OSA layer + * + * @rtosEVENTGRP_CLEAR_EVENTS_ON_EXIT Defines bit-mask mapped to eventgroup + * control flag set to clear event group + * bits on exit + * @rtosEVENTGRP_WAIT_FOR_ALL_BITS Defines bit-mask mapped to eventgroup + * control flag, set to wait until all the + * requested event group bits are set. + */ +#define rtosEVENTGRP_CLEAR_EVENTS_ON_EXIT eventCLEAR_EVENTS_ON_EXIT_BIT +#define rtosEVENTGRP_WAIT_FOR_ALL_BITS eventWAIT_FOR_ALL_BITS +#define rtosEVENTGRP_UNBLOCKED_DUE_TO_BIT_SET eventUNBLOCKED_DUE_TO_BIT_SET +#define rtosEVENTGRP_BITS_CONTROL_BYTES eventEVENT_BITS_CONTROL_BYTES + +/** + * @brief Mapping of FreeRTOS mutex values to rtos value space + * + * @macro-title Mutex state values published by OSA layer + * + * @rtosMUTEX_AVAILABLE Defines state of a mutex object indicating lock is + * available + * @rtosMUTEX_TAKEN Defines state of a mutex object indicating lock is + * acquired + */ +#define rtosMUTEX_TAKEN pdTRUE +#define rtosMUTEX_AVAILABLE pdFALSE + +/** + * @brief Mapping of FreeRTOS semaphore values to rtos value space + * + * @macro-title Semaphore value published by OSA layer + * + * @rtosSEMA_GIVE_NOBLOCK Defines macro to be used for setting semaphore block + * time as 0. + */ +#define rtosSEMA_GIVE_NOBLOCK semGIVE_BLOCK_TIME + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/sections-osa.h b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/sections-osa.h new file mode 100644 index 0000000..3f28b19 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/freertosv10/osa/sections-osa.h @@ -0,0 +1,88 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef OSA__SECTIONS_OSA_H +#define OSA__SECTIONS_OSA_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION, FSP__MISC__ATTRIBUTES_H +#include // for SECTION_BUILDER, STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_OSA_DATA SECTION_BUILDER(osa, data) +#define SECTION_NAME_OSA_RODATA SECTION_BUILDER(osa, rodata) +#define SECTION_NAME_OSA_TEXT SECTION_BUILDER(osa, text) +#define SECTION_NAME_OSA_CREATE_TEXT SECTION_BUILDER(create.osa, text) +#define SECTION_NAME_OSA_INIT_DATA SECTION_BUILDER(init.osa, data) +#define SECTION_NAME_OSA_INIT_TEXT SECTION_BUILDER(init.osa, text) + +#define SECTION_STR_OSA_TEXT STR(SECTION_NAME_OSA_TEXT) +#define SECTION_STR_OSA_RODATA STR(SECTION_NAME_OSA_RODATA) +#define SECTION_STR_OSA_DATA STR(SECTION_NAME_OSA_DATA) +#define SECTION_STR_OSA_INIT_TEXT STR(SECTION_NAME_OSA_INIT_TEXT) +#define SECTION_STR_OSA_INIT_DATA STR(SECTION_NAME_OSA_INIT_DATA) +#define SECTION_STR_OSA_CREATE_TEXT STR(SECTION_NAME_OSA_CREATE_TEXT) + +#define SECTION_OSA_TEXT SECTION(SECTION_STR_OSA_TEXT) +#define SECTION_OSA_RODATA SECTION(SECTION_STR_OSA_RODATA) +#define SECTION_OSA_DATA SECTION(SECTION_STR_OSA_DATA) +#define SECTION_OSA_INIT_TEXT SECTION(SECTION_STR_OSA_INIT_TEXT) +#define SECTION_OSA_INIT_DATA SECTION(SECTION_STR_OSA_INIT_DATA) +#define SECTION_OSA_CREATE_TEXT SECTION(SECTION_STR_OSA_CREATE_TEXT) + +#endif + diff --git a/spe-freertos-bsp/fsp/source/include/osa/littlekernel/arm/armv8/cortex-r52/ospl/rtos-port.h b/spe-freertos-bsp/fsp/source/include/osa/littlekernel/arm/armv8/cortex-r52/ospl/rtos-port.h new file mode 100644 index 0000000..db4609a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/littlekernel/arm/armv8/cortex-r52/ospl/rtos-port.h @@ -0,0 +1,90 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSPL__RTOS_PORT_H +#define OSPL__RTOS_PORT_H +#define FSP__OSPL__RTOS_PORT_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* + * Port specific types and data structures needed by nvosRTOS.h + * + * This file should not be included directly from any other file. + */ + +/* Declarations from */ +typedef unsigned long portBaseType; + +/* Declarations from */ +typedef portBaseType rtosBool; + +/* Declarations from */ +#define pdTRUE ( ( portBaseType ) 1 ) +#define pdFALSE ( ( portBaseType ) 0 ) + +/** + * @brief Provide wrapper type definitions for RTOS values to avoid exposing the + * SafeRTOS types directly. + * + * @typedef-title OSA variable type space + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +typedef portBaseType rtosBool; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/littlekernel/osa/osa-task.h b/spe-freertos-bsp/fsp/source/include/osa/littlekernel/osa/osa-task.h new file mode 100644 index 0000000..d780e4a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/littlekernel/osa/osa-task.h @@ -0,0 +1,118 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TASK_H +#define OSA__OSA_TASK_H +#define FSP__OSA__OSA_TASK_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosBool, rtosTaskHandle, rtosTick, rtos... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + + +typedef void *rtosTaskHandle; + +void enter_critical_section(void); +void exit_critical_section(void); + +#define rtosTaskEnterCritical() enter_critical_section() +#define rtosTaskExitCritical() exit_critical_section() + +/** + * @brief Request task yield from ISR + * + * This function is a wrapper for taskYIELD_FROM_ISR() in SafeRTOS. + * It enables yield in an interrupt context to a task of + * equal/higher priority than current task. Returns none. + * Does nothing if input argument is rtosFALSE. + * + * @pre + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @func_req_id 8219153 + * + * @param[in] xSwitchRequired Bool variable to indicate need for switch + */ +static inline void +rtosTaskYieldFromISR(rtosBool xSwitchRequired) +{ + UNUSED( xSwitchRequired ); +} + +/** + * @brief Generate system tick + * + * This function is a wrapper for vTaskProcessSystemTickFromISR() in Little Kernel. + * It is used to generate system tick and should be called from the + * system tick handler. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * No input arguments needed and returns none. + */ +static inline void rtosSystemTickHandler(void) +{ +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/littlekernel/osa/osa-values.h b/spe-freertos-bsp/fsp/source/include/osa/littlekernel/osa/osa-values.h new file mode 100644 index 0000000..cbcb73f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/littlekernel/osa/osa-values.h @@ -0,0 +1,64 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_VALUES_H +#define OSA__OSA_VALUES_H +#define FSP__OSA__OSA_VALUES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for rtosMutexHandle, FSP__OSPL__RTOS_PORT_H + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/** + * @brief Mapping of SafeRTOS values to rtos value space + * + * @macro-title RTOS boolean values published by OSA layer + * + * @rtosTRUE Defines true state of a boolean variable + * @rtosFALSE Defines false state of a boolean variable + * @rtosPASS Defines return value indicating success + * @rtosFAIL Defines return value indicating failure + */ +#define rtosTRUE ((rtosBool)pdTRUE) +#define rtosFALSE ((rtosBool)pdFALSE) +#define rtosPASS pdPASS +#define rtosFAIL pdFAIL + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-errors.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-errors.h new file mode 100644 index 0000000..5fad891 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-errors.h @@ -0,0 +1,63 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef OSA__RTOS_ERRORS_H +#define OSA__RTOS_ERRORS_H +#define FSP__OSA__RTOS_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-errors.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__OSA_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-event-group.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-event-group.h new file mode 100644 index 0000000..5b6178b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-event-group.h @@ -0,0 +1,64 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_EVENT_GROUP_H +#define OSA__RTOS_EVENT_GROUP_H +#define FSP__OSA__RTOS_EVENT_GROUP_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-event-group.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__OSA_EVENT_GROUP_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-event-poll.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-event-poll.h new file mode 100644 index 0000000..79f270c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-event-poll.h @@ -0,0 +1,58 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_EVENT_POLL_H +#define OSA__RTOS_EVENT_POLL_H +#define FSP__OSA__RTOS_EVENT_POLL_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-event-poll.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__OSA_EVENT_POLL_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-mutex.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-mutex.h new file mode 100644 index 0000000..52c3d2a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-mutex.h @@ -0,0 +1,58 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_MUTEX_H +#define OSA__RTOS_MUTEX_H +#define FSP__OSA__RTOS_MUTEX_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-mutex.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__OSA_MUTEX_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-priv.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-priv.h new file mode 100644 index 0000000..8ce8607 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-priv.h @@ -0,0 +1,40 @@ +/* Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_PRIV_H +#define OSA__RTOS_PRIV_H +#define FSP__OSA__RTOS_PRIV_H 1 + +/* + * Copy parameter value from one variable type to another + * provided the parameter names are identical in both the variable + * types + */ +#define SETFIELD(_d_, _s_, _f_) (_d_)->_f_ = (_s_)->_f_ +#define SETFIELD_t(_d_, _st_, _s_, _f_) (_d_)->_f_ = (_st_)(_s_)->_f_ + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-queue.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-queue.h new file mode 100644 index 0000000..1b03372 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-queue.h @@ -0,0 +1,58 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_QUEUE_H +#define OSA__RTOS_QUEUE_H +#define FSP__OSA__RTOS_QUEUE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-queue.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__OSA_QUEUE_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-semaphore.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-semaphore.h new file mode 100644 index 0000000..cbb1880 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-semaphore.h @@ -0,0 +1,58 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_SEMAPHORE_H +#define OSA__RTOS_SEMAPHORE_H +#define FSP__OSA__RTOS_SEMAPHORE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-semaphore.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__OSA_SEMAPHORE_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-task.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-task.h new file mode 100644 index 0000000..7c91000 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-task.h @@ -0,0 +1,63 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_TASK_H +#define OSA__RTOS_TASK_H +#define FSP__OSA__RTOS_TASK_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // For START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-task.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__OSA_TASK_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-timer.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-timer.h new file mode 100644 index 0000000..1f91315 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-timer.h @@ -0,0 +1,59 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_TIMER_H +#define OSA__RTOS_TIMER_H +#define FSP__OSA__RTOS_TIMER_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-timer.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +CT_ASSERT(FSP__OSA__OSA_TIMER_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos-values.h b/spe-freertos-bsp/fsp/source/include/osa/rtos-values.h new file mode 100644 index 0000000..6d80182 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos-values.h @@ -0,0 +1,66 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_VALUES_H +#define OSA__RTOS_VALUES_H +#define FSP__OSA__RTOS_VALUES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/osa-values.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__OSA_VALUES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/rtos.h b/spe-freertos-bsp/fsp/source/include/osa/rtos.h new file mode 100644 index 0000000..8591a62 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/rtos.h @@ -0,0 +1,82 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__RTOS_H +#define OSA__RTOS_H +#define FSP__OSA__RTOS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-values.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-errors.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-task.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-timer.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-queue.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-semaphore.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-mutex.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-event-group.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "osa/rtos-event-poll.h" + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_TIMER_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_QUEUE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_SEMAPHORE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_MUTEX_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_EVENT_GROUP_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_EVENT_POLL_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/arm/armv7/cortex-r5/ospl/rtos-port-asm.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/arm/armv7/cortex-r5/ospl/rtos-port-asm.h new file mode 100644 index 0000000..4af972b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/arm/armv7/cortex-r5/ospl/rtos-port-asm.h @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2021-2022 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#ifndef OSPL__RTOS_PORT_ASM_H +#define OSPL__RTOS_PORT_ASM_H +#define FSP__OSPL__RTOS_PORT_ASM_H + +/* Compiler headers */ +#if defined(SAFERTOS_MINOR) && (SAFERTOS_MINOR>=2) +#include +#else +#include +#endif + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#ifdef __ASSEMBLER__ + +.macro rtosIRQ_ENTRY + safertosIRQ_ENTRY + push { R4-R11 } +.endm + +.macro rtosIRQ_EXIT + pop { R4-R11 } + safertosIRQ_EXIT +.endm + +#endif /* #ifdef __ASSEMBLER__ */ +#endif /* #ifndef OSPL__RTOS_PORT_ASM_H */ diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/arm/armv7/cortex-r5/ospl/rtos-port.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/arm/armv7/cortex-r5/ospl/rtos-port.h new file mode 100644 index 0000000..23804d9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/arm/armv7/cortex-r5/ospl/rtos-port.h @@ -0,0 +1,349 @@ +/* Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSPL__RTOS_PORT_H +#define OSPL__RTOS_PORT_H +#define FSP__OSPL__RTOS_PORT_H 1 + +/* Compiler headers */ +#include // for uint32_t, int32_t, int16_t + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for configTICK_RATE_HZ, config... +#include // IWYU pragma: export + // IWYU pragma: no_include "portmacro.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "projdefs.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "portable.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "apiWrapper.h" +#include // IWYU pragma: export + // IWYU pragma: no_include "portfeatures.h" +#include // for eventBitsType, eventGroupType +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CONFIG__SAFERTOSCONFIG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_H, "Header file missing or invalid.") + +/* + * Port specific types and data structures needed by nvosRTOS.h + * + * This file should not be included directly from any other file. + */ + +/** + * @brief Make sure that the sizes of types defined by SafeRTOS are what they + * are expected to be. + */ +CT_ASSERT(sizeof(uint64_t) == sizeof(portUInt64Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int64_t) == sizeof(portInt64Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portUInt32Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int32_t) == sizeof(portInt32Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portUnsignedBaseType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int32_t) == sizeof(portBaseType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint16_t) == sizeof(portUInt16Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int16_t) == sizeof(portInt16Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint8_t) == sizeof(portUInt8Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int8_t) == sizeof(portInt8Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(char) == sizeof(portCharType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portStackType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portTickType), "ASSERT due to data type mismatch.") + +/** + * @brief Provide wrapper type definitions for RTOS values to avoid exposing the + * SafeRTOS types directly. + * + * @typedef-title OSA variable type space + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +typedef portBaseType rtosError; +typedef void *rtosTaskHandle; +typedef void *rtosEventGroupHandle; +typedef eventGroupType rtosEventGroup; +typedef void *rtosQueueHandle; +typedef void *rtosTimerHandle; +typedef void *rtosTimerLocalStorageObject; +typedef portUnsignedBaseType rtosUCount; +typedef portTickType rtosTick; +typedef portBaseType rtosBool; +typedef portBaseType rtosTimerIDType; +typedef void *rtosMutexHandle; +typedef void *rtosSemaphoreHandle; +typedef void *rtosEventPollHandle; +typedef portUnsignedBaseType rtosTaskNotifyBits; +typedef portUnsignedBaseType rtosEventPollValue; +typedef portBaseType rtosTaskNotifyAction; +typedef portUnsignedBaseType rtosTaskNotifyValue; +typedef portUnsignedBaseType rtosPriority; +typedef portUnsignedBaseType rtosInterruptState; +typedef portUnsignedBaseType rtosMutexState; +typedef eventBitsType rtosEventBits; +typedef portUInt32Type rtosHz; +typedef portUnsignedBaseType rtosPrivilegeLevel; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Sizes of objects that need to be statically allocated but whose + * contents are not visible to the application. + * + * @macro-title Macro definitions for size of kernel objects + * + * @rtosQUEUE_OVERHEAD_BYTES Defines size in bytes needed to + * create a queue + * @rtosSEMAPHORE_OVERHEAD_BYTES Defines size in bytes needed to + * create a semaphore object + * @rtosMUTEX_OVERHEAD_BYTES Defines size in bytes needed to + * create a mutex object + * @rtosEVENT_GROUP_OVERHEAD_BYTES Defines size in bytes needed to + * create an event group object + * @rtosTCB_OVERHEAD_BYTES Defines size in bytes needed for + * task control block + * @rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES Defines size in bytes needed for + * timer control block + * @rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES Defines size in bytes needed for + * timer instance parameters + * @rtosEVENT_POLL_OVERHEAD_BYTES Defines size in bytes needed to + * create an event poll object + */ +#define rtosQUEUE_OVERHEAD_BYTES portQUEUE_OVERHEAD_BYTES +#define rtosSEMAPHORE_OVERHEAD_BYTES portQUEUE_OVERHEAD_BYTES +#define rtosMUTEX_OVERHEAD_BYTES portQUEUE_OVERHEAD_BYTES +#define rtosEVENT_GROUP_OVERHEAD_BYTES sizeof(eventGroupType) +#define rtosTCB_OVERHEAD_BYTES sizeof(xTCB) +#define rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES sizeof(timerControlBlockType) +#define rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES \ + sizeof(struct timerInstanceParameters) +#define rtosEVENT_POLL_OVERHEAD_BYTES(uxMaximumRegisteredObjectEvents) \ + eventpollGET_REQUIRED_CREATE_BUFFER_SIZE(uxMaximumRegisteredObjectEvents) + +/** + * @brief Provide wrapper definition for pointer to RTOS task function. + */ +typedef pdTASK_CODE rtosTaskFunction; + +/** + * @brief Provide a wrapper data type to encapsulate MPU related information + */ +typedef mpuParameters_t rtosMPURegionConfig; + +/** + * @brief Provide wrapper definition for pointer to RTOS timer callback function + * which gets invoked when a timer expires. + */ +typedef void (*rtosTimerCallbackFunction)(void * pvParameters); + +/** + * @brief Structure supplied to rtosTaskCreate() + * + * @pvTaskCode Pointer to task entry function + * @pcTaskName Task descriptive name + * @pxTCB Pointer to task control block + * @pcStackBuffer Pointer to task stack buffer + * @uxStackDepthBytes Size of task stack buffer in bytes. The minimum + * allowable size for the stack buffer is portdependent. + * @pvParameters Pointer to task parameters + * @uxPriority Priority of task. + * Valid range is [0 - (configMAX_PRIORITIES - 1]) + * @pvObject Pointer to user defined data associated with this task. + * @xUsingFPU Bool to indicate use of FPU + * @uxPrivilegeLevel Task Privilege level + * @pxMPUParameters Pointer to task MPU parameters + */ +typedef struct { + rtosTaskFunction pvTaskCode; + const char *pcTaskName; + void *pxTCB; + void *pcStackBuffer; + rtosUCount uxStackDepthBytes; + void *pvParameters; + rtosPriority uxPriority; + void *pvObject; + rtosBool xUsingFPU; + rtosPrivilegeLevel uxPrivilegeLevel; + rtosMPURegionConfig *pxMPUParameters; +} rtosTaskParameters; + +/** + * @brief Structure supplied to rtosTaskInitializeScheduler() + * + * @ulCPUClockHz Speed of the system clock + * @ulTickRateHz Desired frequency of kernel tick + * @uxAdditionalStackCheckMarginBytes Lower limit on number of bytes that + * should be left in the stack post context + * switch. Can be set greater than or equal + * to 0 + * @pcIdleTaskStackBuffer Pointer to the lowest address of task + * buffer to hold idle task + * @uxIdleTaskStackSizeBytes Number of bytes in the stack buffer to be + * kept for idle task. Should be greater + * than 0 + * @xIdleTaskUsingFPU Bool variable to indicate use of FPU by + * idle task + * @uxIdleTaskPrivilegeLevel Idle task privilege level + * [RTOS_SYSTEM_MODE, RTOS_USER_MODE] + * @pxIdleTaskMPUParameters Pointer to idle task MPU parameter + * structure + * @pvIdleTaskTLSObject Idle task timer local storage object + * @uxTimerTaskPriority Priority of timer service. + * Valid range is [0 - (configMAX_PRIORITIES - 1)] + * @uxTimerTaskStackSize Number of bytes in stack buffer to be kept + * for timer task. Should be greater than 0 + * @pcTimerTaskStackBuffer Pointer to the timer task stack buffer. + * @uxTimerCommandQueueLength Timer command queue length. Should be + * greater than 0. + * @uxTimerCommandQueueBufferSize Timer command queue buffer size. + * Size of the buffer should be at + * least enough to accomodate the entire + * command queue + * @pcTimerCommandQueueBuffer Pointer to timer command queue buffer + * @pxTimerTaskMPUParameters Pointer to timer task MPU parameters + */ +typedef struct { + rtosHz ulCPUClockHz; + rtosHz ulTickRateHz; + rtosUCount uxAdditionalStackCheckMarginBytes; + void *pcIdleTaskStackBuffer; + rtosUCount uxIdleTaskStackSizeBytes; + rtosBool xIdleTaskUsingFPU; + rtosPrivilegeLevel uxIdleTaskPrivilegeLevel; + rtosMPURegionConfig *pxIdleTaskMPUParameters; + void *pvIdleTaskTLSObject; + rtosPriority uxTimerTaskPriority; + rtosUCount uxTimerTaskStackSize; + void *pcTimerTaskStackBuffer; + rtosUCount uxTimerCommandQueueLength; + rtosUCount uxTimerCommandQueueBufferSize; + void *pcTimerCommandQueueBuffer; + rtosMPURegionConfig *pxTimerTaskMPUParameters; +} rtosSchedParameters; + +/** + * @brief Structure supplied to rtosTimerCreate() + * + * @pcTimerName Descriptive name of the timer + * @xTimerPeriodInTicks Timer period in ticks. Should be greater than 0 + * @xIsPeriodic Bool variable to indicate if timer is periodic + * @xTimerID Timer ID + * @pxNewTimer Pointer to timer control block + * @pxCallbackFunction Timer callback function + * @pxTimerInstance Timer instance to which the timer belongs + * @pvObject Pointer to user defined data associated with this timer. + */ +typedef struct { + const char *pcTimerName; + rtosTick xTimerPeriodInTicks; + rtosBool xIsPeriodic; + rtosTimerIDType xTimerID; + void *pxNewTimer; + rtosTimerCallbackFunction pxCallbackFunction; + void *pxTimerInstance; + void *pvObject; +} rtosTimerInitParametersType; + +/** + * @brief Wrapper structure for RTOS object-events + */ +#define rtosEventPollObjectEventsType eventPollObjectEventsType + +/** + * @brief Provide wrapper definitions for general architecture specific values + * + * @macro-title RTOS general architecture values + * + * @rtosMAX_DELAY Defines maximum delay supported by rtos + * @rtosMAX_LIST_ITEM_VALUE Defines maximum list items supported by rtos + * @rtosWORD_ALIGNMENT Defines alignment value set for queue buffer + * @rtosWORD_ALIGNMENT_MASK Defines alignment mask corresponding to alignment + * value set for queue buffer + * @rtosSTACK_ALIGNMENT Defines alignment value set for stack buffer + * @rtosSTACK_ALIGNMENT_MASK Defines alignment mask corresponding to alignment + * value set for stack buffer + * @rtosCONTEXT_SIZE_NO_FPU Defines context size in bytes without FPU + * @rtosCONTEXT_SIZE_WITH_FPU Defines context size in bytes with FPU in use + * @rtosSTACK_IN_USE Defines state value indicating stack is in use + * @rtosSTACK_NOT_IN_USE Defines state value indicating stack is not in use + * @rtosTICK_COUNT_BITS Defines number of bits used to represent tick + * count + * @rtosTICK_RATE_HZ Defines frequency of the underlying RTOS scheduler + * tick + * @rtosTICK_RATE_MS Defines number of ticks per millisecond. + */ +#define rtosMAX_DELAY portMAX_DELAY +#define rtosMAX_LIST_ITEM_VALUE portMAX_LIST_ITEM_VALUE +#define rtosWORD_ALIGNMENT portWORD_ALIGNMENT +#define rtosWORD_ALIGNMENT_MASK portWORD_ALIGNMENT_MASK +#define rtosSTACK_ALIGNMENT portSTACK_ALIGNMENT +#define rtosSTACK_ALIGNMENT_MASK portSTACK_ALIGNMENT_MASK +#define rtosCONTEXT_SIZE_NO_FPU portCONTEXT_SIZE_BYTES_NO_FPU +#define rtosCONTEXT_SIZE_WITH_FPU portCONTEXT_SIZE_BYTES_WITH_FPU +#define rtosSTACK_IN_USE portSTACK_IN_USE +#define rtosSTACK_NOT_IN_USE portSTACK_NOT_IN_USE +#define rtosTICK_COUNT_BITS portTICK_COUNT_NUM_BITS +#define rtosTICK_RATE_HZ configTICK_RATE_HZ +#define rtosTICK_RATE_MS configTICK_RATE_MS + +extern portUInt32Type xHookGetRTSCounter(void); + +/** + * @brief Provide macro definitions for ARM state values. + * + * @macro-title ARMV7 specific values + * + * @RTOS_SYSTEM_MODE Defines value indicating ARM system mode operation + * @RTOS_USER_MODE Defines value indicating ARM user mode operation + */ +#define RTOS_SYSTEM_MODE portPRIVILEGED_TASK +#define RTOS_USER_MODE portUNPRIVILEGED_TASK + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/nvidia/riscv/nvriscv/ospl/rtos-port.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/nvidia/riscv/nvriscv/ospl/rtos-port.h new file mode 100644 index 0000000..1e2d96b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/nvidia/riscv/nvriscv/ospl/rtos-port.h @@ -0,0 +1,322 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSPL__RTOS_PORT_H +#define OSPL__RTOS_PORT_H +#define FSP__OSPL__RTOS_PORT_H 1 + +/* Compiler headers */ +#include // for uint32_t, int32_t, int16_t +#include // for configTICK_RATE_HZ, config... +#include // for portUnsignedBaseType, port... +#include // for pdTASK_CODE +//RRC #include // IWYU pragma: keep +#include // IWYU pragma: keep +#include // for eventBitsType, eventGroupType + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__CONFIG__SAFERTOSCONFIG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_H) + +/* + * Port specific types and data structures needed by nvosRTOS.h + * + * This file should not be included directly from any other file. + */ + +/** + * @brief Make sure that the sizes of types defined by SafeRTOS are what they + * are expected to be. + */ +CT_ASSERT(sizeof(uint64_t) == sizeof(portUInt64Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int64_t) == sizeof(portInt64Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portUInt32Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int32_t) == sizeof(portInt32Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portUnsignedBaseType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int32_t) == sizeof(portBaseType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint16_t) == sizeof(portUInt16Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int16_t) == sizeof(portInt16Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint8_t) == sizeof(portUInt8Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int8_t) == sizeof(portInt8Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(char) == sizeof(portCharType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portStackType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portTickType), "ASSERT due to data type mismatch.") + +/** + * @brief Provide wrapper type definitions for RTOS values to avoid exposing the + * SafeRTOS types directly. + * + * @typedef-title OSA variable type space + */ +typedef portBaseType rtosError; +typedef void *rtosTaskHandle; +typedef void *rtosEventGroupHandle; +typedef eventGroupType rtosEventGroup; +typedef void *rtosQueueHandle; +typedef void *rtosTimerHandle; +typedef void *rtosTimerLocalStorageObject; +typedef portUnsignedBaseType rtosUCount; +typedef portTickType rtosTick; +typedef portBaseType rtosBool; +typedef portBaseType rtosTimerIDType; +typedef void *rtosMutexHandle; +typedef void *rtosSemaphoreHandle; +typedef void *rtosEventPollHandle; +typedef portUnsignedBaseType rtosTaskNotifyBits; +typedef portUnsignedBaseType rtosEventPollValue; +typedef portBaseType rtosTaskNotifyAction; +typedef portUnsignedBaseType rtosTaskNotifyValue; +typedef portUnsignedBaseType rtosPriority; +typedef portUnsignedBaseType rtosInterruptState; +typedef portUnsignedBaseType rtosMutexState; +typedef eventBitsType rtosEventBits; +typedef portUInt32Type rtosHz; +typedef portUnsignedBaseType rtosPrivilegeLevel; + +/** + * @brief Sizes of objects that need to be statically allocated but whose + * contents are not visible to the application. + * + * @macro-title Macro definitions for size of kernel objects + * + * @rtosQUEUE_OVERHEAD_BYTES Defines size in bytes needed to + * create a queue + * @rtosSEMAPHORE_OVERHEAD_BYTES Defines size in bytes needed to + * create a semaphore object + * @rtosMUTEX_OVERHEAD_BYTES Defines size in bytes needed to + * create a mutex object + * @rtosEVENT_GROUP_OVERHEAD_BYTES Defines size in bytes needed to + * create an event group object + * @rtosTCB_OVERHEAD_BYTES Defines size in bytes needed for + * task control block + * @rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES Defines size in bytes needed for + * timer control block + * @rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES Defines size in bytes needed for + * timer instance parameters + * @rtosEVENT_POLL_OVERHEAD_BYTES Defines size in bytes needed to + * create an event poll object + */ +#define rtosQUEUE_OVERHEAD_BYTES portQUEUE_OVERHEAD_BYTES +#define rtosSEMAPHORE_OVERHEAD_BYTES portQUEUE_OVERHEAD_BYTES +#define rtosMUTEX_OVERHEAD_BYTES portQUEUE_OVERHEAD_BYTES +#define rtosEVENT_GROUP_OVERHEAD_BYTES sizeof(eventGroupType) +#define rtosTCB_OVERHEAD_BYTES sizeof(xTCB) +#define rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES sizeof(timerControlBlockType) +#define rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES \ + sizeof(struct timerInstanceParameters) +#define rtosEVENT_POLL_OVERHEAD_BYTES(uxMaximumRegisteredObjectEvents) \ + eventpollGET_REQUIRED_CREATE_BUFFER_SIZE(uxMaximumRegisteredObjectEvents) + +/** + * @brief Provide wrapper definition for pointer to RTOS task function. + */ +typedef pdTASK_CODE rtosTaskFunction; + +/** + * @brief Provide a wrapper data type to encapsulate MPU related information + */ +typedef mpuParameters_t rtosMPURegionConfig; + +/** + * @brief Provide wrapper definition for pointer to RTOS timer callback function + * which gets invoked when a timer expires. + */ +typedef void (*rtosTimerCallbackFunction)(void * pvParameters); + +/** + * @brief Structure supplied to rtosTaskCreate() + * + * @pvTaskCode Pointer to task entry function + * @pcTaskName Task descriptive name + * @pxTCB Pointer to task control block + * @pcStackBuffer Pointer to task stack buffer + * @uxStackDepthBytes Size of task stack buffer in bytes + * @pvParameters Pointer to task parameters + * @uxPriority Priority of task + * @pvObject Pointer to C++ object that tracks this structure. + * @xUsingFPU Bool to indicate use of FPU + * @uxPrivilegeLevel Task Privilege level + * @pxMPUParameters Pointer to task MPU parameters + */ +typedef struct { + rtosTaskFunction pvTaskCode; + const char *pcTaskName; + void *pxTCB; + void *pcStackBuffer; + rtosUCount uxStackDepthBytes; + void *pvParameters; + rtosPriority uxPriority; + void *pvObject; + rtosBool xUsingFPU; + rtosPrivilegeLevel uxPrivilegeLevel; + rtosMPURegionConfig *pxMPUParameters; +} rtosTaskParameters; + +/** + * @brief Structure supplied to rtosTaskInitializeScheduler() + * + * @ulCPUClockHz Speed of the system clock + * @ulTickRateHz Desired frequency of kernel tick + * @uxAdditionalStackCheckMarginBytes Lower limit on number of bytes that + * should be left in the stack post context + * switch + * @pcIdleTaskStackBuffer Pointer to the lowest address of task + * buffer to hold idle task + * @uxIdleTaskStackSizeBytes Number of bytes in the stack buffer to be + * kept for idle task + * @xIdleTaskUsingFPU Bool variable to indicate use of FPU by + * idle task + * @uxIdleTaskPrivilegeLevel Idle task privilege level + * @pxIdleTaskMPUParameters Pointer to idle task MPU parameter + * structure + * @pvIdleTaskTLSObject Idle task timer local storage object + * @uxTimerTaskPriority Priority of timer service + * @uxTimerTaskStackSize Number of bytes in stack buffer to be kept + * for timer task + * @pcTimerTaskStackBuffer Pointer to the timer task stack buffer + * @uxTimerCommandQueueLength Timer command queue length + * @uxTimerCommandQueueBufferSize Timer command queue buffer size for handling + * timer tasks + * @pcTimerCommandQueueBuffer Pointer to timer command queue buffer + * @pxTimerTaskMPUParameters Pointer to timer task MPU parameters + */ +typedef struct { + rtosHz ulCPUClockHz; + rtosHz ulTickRateHz; + rtosUCount uxAdditionalStackCheckMarginBytes; + void *pcIdleTaskStackBuffer; + rtosUCount uxIdleTaskStackSizeBytes; + rtosBool xIdleTaskUsingFPU; + rtosPrivilegeLevel uxIdleTaskPrivilegeLevel; + rtosMPURegionConfig *pxIdleTaskMPUParameters; + void *pvIdleTaskTLSObject; + rtosPriority uxTimerTaskPriority; + rtosUCount uxTimerTaskStackSize; + void *pcTimerTaskStackBuffer; + rtosUCount uxTimerCommandQueueLength; + rtosUCount uxTimerCommandQueueBufferSize; + void *pcTimerCommandQueueBuffer; + rtosMPURegionConfig *pxTimerTaskMPUParameters; +} rtosSchedParameters; + +/** + * @brief Structure supplied to rtosTimerCreate() + * + * @pcTimerName Descriptive name of the timer + * @xTimerPeriodInTicks Timer period in ticks + * @xIsPeriodic Bool variable to indicate if timer is periodic + * @xTimerID Timer ID + * @pxNewTimer Pointer to timer control block + * @pxCallbackFunction Timer callback function + * @pxTimerInstance Timer instance to which the timer belongs + * @pvObject Pointer to C++ object that tracks this structure. + */ +typedef struct { + const char *pcTimerName; + rtosTick xTimerPeriodInTicks; + rtosBool xIsPeriodic; + rtosTimerIDType xTimerID; + void *pxNewTimer; + rtosTimerCallbackFunction pxCallbackFunction; + void *pxTimerInstance; + void *pvObject; +} rtosTimerInitParametersType; + +/** + * @brief Wrapper structure for RTOS object-events + */ +#define rtosEventPollObjectEventsType eventPollObjectEventsType + +/** + * @brief Provide wrapper definitions for general architecture specific values + * + * @macro-title RTOS general architecture values + * + * @rtosMAX_DELAY Defines maximum delay supported by rtos + * @rtosMAX_LIST_ITEM_VALUE Defines maximum list items supported by rtos + * @rtosWORD_ALIGNMENT Defines alignment value set for queue buffer + * @rtosWORD_ALIGNMENT_MASK Defines alignment mask corresponding to alignment + * value set for queue buffer + * @rtosSTACK_ALIGNMENT Defines alignment value set for stack buffer + * @rtosSTACK_ALIGNMENT_MASK Defines alignment mask corresponding to alignment + * value set for stack buffer + * @rtosCONTEXT_SIZE_NO_FPU Defines context size in bytes without FPU + * @rtosCONTEXT_SIZE_WITH_FPU Defines context size in bytes with FPU in use + * @rtosSTACK_IN_USE Defines state value indicating stack is in use + * @rtosSTACK_NOT_IN_USE Defines state value indicating stack is not in use + * @rtosTICK_COUNT_BITS Defines number of bits used to represent tick + * count + * @rtosTICK_RATE_HZ Defines frequency of the underlying RTOS scheduler + * tick + * @rtosTICK_RATE_MS Defines number of ticks per millisecond. + */ +#define rtosMAX_DELAY portMAX_DELAY +#define rtosMAX_LIST_ITEM_VALUE portMAX_LIST_ITEM_VALUE +#define rtosWORD_ALIGNMENT portWORD_ALIGNMENT +#define rtosWORD_ALIGNMENT_MASK portWORD_ALIGNMENT_MASK +#define rtosSTACK_ALIGNMENT portSTACK_ALIGNMENT +#define rtosSTACK_ALIGNMENT_MASK portSTACK_ALIGNMENT_MASK +#define rtosCONTEXT_SIZE_NO_FPU portCONTEXT_SIZE_BYTES_NO_FPU +#define rtosCONTEXT_SIZE_WITH_FPU portCONTEXT_SIZE_BYTES_WITH_FPU +#define rtosSTACK_IN_USE portSTACK_IN_USE +#define rtosSTACK_NOT_IN_USE portSTACK_NOT_IN_USE +#define rtosTICK_COUNT_BITS portTICK_COUNT_NUM_BITS +#define rtosTICK_RATE_HZ configTICK_RATE_HZ +#define rtosTICK_RATE_MS configTICK_RATE_MS + +extern portUInt32Type xHookGetRTSCounter(void); + +/** + * @brief Provide macro definitions for ARM state values. + * + * @macro-title ARMV7 specific values + * + * @RTOS_SYSTEM_MODE Defines value indicating ARM system mode operation + * @RTOS_USER_MODE Defines value indicating ARM user mode operation + */ +#define RTOS_SYSTEM_MODE portPRIVILEGED_TASK +#define RTOS_USER_MODE portUNPRIVILEGED_TASK + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-errors.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-errors.h new file mode 100644 index 0000000..97bf706 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-errors.h @@ -0,0 +1,342 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_ERRORS_H +#define OSA__OSA_ERRORS_H +#define FSP__OSA__OSA_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for FSP__BASE__MODULE_ID_H, MODULE_ERROR_MODULE +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ +#include // for errSUPPLIED_BUFFER_TOO_SMALL, errBAD_OR_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/* + * Ensure that the native SafeRTOS error code map can map into the global + * error code space with no other manipulation. + */ +CT_ASSERT(MODULE_ERROR_MODULE(errSUPPLIED_BUFFER_TOO_SMALL) == MODULE_ID_RTOS, "SafeRTOS error codes collide with FSP error codes.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Mapping of SafeRTOS return codes to generic rtos error codes. + * + * @macro-title Public error codes from OSA layer + * + * @E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Error value returned if + * supplied buffer is too small + * to create a kernel object + * @E_RTOS_INVALID_PRIORITY Error value returned for + * invalid task priority + * @E_RTOS_QUEUE_FULL Error value returned if queue + * is full and cannot accept a + * new request + * @E_RTOS_NULL_PARAMETER_SUPPLIED Error value returned if null is + * supplied as an input parameter + * @E_RTOS_INVALID_QUEUE_LENGTH Error value returned if + * requested queue length + * is invalid + * @E_RTOS_INVALID_TASK_CODE_POINTER Error value returned for + * invalid input task code pointer + * @E_RTOS_SCHEDULER_IS_SUSPENDED Error value returned if request + * could not be processed because + * the scheduler was suspended + * @E_RTOS_INVALID_TASK_HANDLE Error value returned for + * invalid input task handle + * @E_RTOS_DID_NOT_YIELD Error value returned if task + * did not yield for a yield + * request + * @E_RTOS_TASK_ALREADY_SUSPENDED Error value returned if request + * to suspend a task could not be + * processed because the task + * was already suspended. + * @E_RTOS_TASK_WAS_NOT_SUSPENDED Error value returned if request + * to resume a task + * could not be processed because + * the task was not suspended. + * @E_RTOS_SCHEDULER_ALREADY_RUNNING Error value returned if request + * to start a scheduler could not + * be processed because + * scheduler was already running + * @E_RTOS_INVALID_QUEUE_HANDLE Error value returned for + * invalid input queue handle + * @E_RTOS_INVALID_SEMAPHORE_HANDLE Error value returned for + * invalid input semaphore handle + * @E_RTOS_INVALID_MUTEX_HANDLE Error value returned for + * invalid input mutex handle + * @E_RTOS_ERRONEOUS_UNBLOCK Error value returned for + * erroneous request to + * unblock a task + * @E_RTOS_QUEUE_EMPTY Error value returned if request + * to pick a task from the queue + * could not be processed because + * queue was empty + * @E_RTOS_SEMAPHORE_ALREADY_TAKEN Error value returned if request + * to acquire a semaphore could + * not be processed because + * semaphore was already taken + * @E_RTOS_MUTEX_ALREADY_TAKEN Error value returned if + * request to acquire a mutex + * could not be processed because + * mutex was already taken + * @E_RTOS_INVALID_TICK_VALUE Error value returned for + * invalid input tick value + * @E_RTOS_INVALID_TASK_SELECTED Error value returned for + * invalid task selection + * @E_RTOS_TASK_STACK_OVERFLOW Error value returned when task + * stack overflows + * @E_RTOS_SCHEDULER_WAS_NOT_SUSPENDED Error value returned if request + * to resume scheduler could not + * be processed because + * scheduler was already running. + * @E_RTOS_INVALID_BUFFER_SIZE Error value returned for + * invalid input buffer size + * @E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION Error value returned for + * invalid tick rate + * @E_RTOS_ERROR_IN_VECTOR_TABLE Error value returned for error + * in vector table + * @E_RTOS_INVALID_MPU_REGION_CONFIGURATION Error value returned for + * invalid MPU region + * configuration + * @E_RTOS_INVALID_MMU_REGION_CONFIGURATION Error value returned for + * invalid MMU region + * configuration + * @E_RTOS_TASK_STACK_ALREADY_IN_USE Error value returned if task + * stack supplied to initialize a + * scheduler is already in use + * @E_RTOS_NO_MPU_IN_DEVICE Error value returned if MPU + * does not exist in the device + * @E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE Error value returned if a task + * is expected to run in + * privileged mode but currently + * running in unprivileged mode + * @E_RTOS_RTS_CALCULATION_ERROR Error value returned on + * detection of rts calculation + * error + * @E_RTOS_INVALID_PERCENTAGE_HANDLE Error value returned for + * invalid percentage handle + * @E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT Error value returned for + * invalid initial semaphore count + * @E_RTOS_ROM_INTEGRITY_CHECK_FAILED Error value returned for ROM + * integrity check failures + * @E_RTOS_IN_PROGRESS Error value returned if request + * is already in progress + * @E_RTOS_INVALID_PARAMETERS Error value returned if + * invalid value is set for + * input parameter + * @E_RTOS_SPURIOUS_INTERRUPT Error value returned for + * spurious interrupts + * @E_RTOS_SPURIOUS_FAST_INTERRUPT Error value returned for + spurious fast interrupts + * @E_RTOS_RAM_INTEGRITY_CHECK_FAILED Error value returned for RAM + * integrity check failure + * @E_RTOS_INVALID_TIMER_HANDLE Error value returned for + * invalid timer handle + * @E_RTOS_INVALID_TIMER_TASK_INSTANCE Error value returned for + * invalid input timer task + * instance + * @E_RTOS_TIMER_ALREADY_IN_USE Error value returned if request + * to create a new timer could not + * be processed because the + * supplied timer handle was + * already in use. + * @E_RTOS_NOTIFICATION_NOT_RECEIVED Error value returned if + * notification is + * not received until timeout + * @E_RTOS_NOTIFICATION_ALREADY_PENDING Error value returned if a new + * request to wait for + * notification arises while the + * task is still waiting for + * notification + * @E_RTOS_TASK_WAS_ALSO_ON_EVENT_LIST Error value returned if the + * task is already part of the + * event list + * @E_RTOS_QUEUE_ALREADY_IN_USE Error value returned if request + * to create a new queue could not + * be processed because input + * queue handle was already in use + * @E_RTOS_EVENT_GROUP_ALREADY_IN_USE Error value returned if request + * to create a new event group + * could not be processed because + * input event group handle was + * already in use + * @E_RTOS_INVALID_EVENT_GROUP_HANDLE Error value returned for + * invalid input event group + * handle + * @E_RTOS_EVENT_GROUP_BITS_NOT_SET Error value returned if event + * group bits could not be set + * @E_RTOS_EVENT_GROUP_DELETED Error value returned if event + * group request could not be + * processed as referred object + * is deleted + * @E_RTOS_MUTEX_NOT_OWNED_BY_CALLER Error value returned if mutex + * request could not be processed + * as mutex is not owned by + * the caller + * @E_RTOS_MUTEX_CORRUPTED Error value returned if mutex + * got corrupted + * @E_RTOS_NEXT_UNBLOCK_TIME_EXPIRED Error value returned if next + * unblock time for the referred + * task expired + * @E_RTOS_WOKEN_UP_AFTER_NEXT_UNBLOCK_TIME Error value returned if task + * got unblocked after next + * unblock time + * @E_RTOS_TICKLESS_MODE_NOT_SUPPORTED Error value returned if + * tickless mode is not supported + * @E_RTOS_SCHEDULER_IS_NOT_RUNNING Error value returned if the request + * could not be processed because + * scheduler is not running + * @E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE Error value returned if + * request to create a new event + * poll object could not be + * processed as event poll object + * handle was already in use + * @E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED Error value returned if no + * more target objects can be + * registered with the referred + * event poll object + * @E_RTOS_INVALID_EVENT_POLL_OPERATION Error value returned for + * invalid event poll operation + * @E_RTOS_INVALID_EVENT_POLL_HANDLE Error value returned for + * invalid event poll handle + * @E_RTOS_INVALID_EVENT_POLL_EVENTS Error value returned for + * invalid event poll events for + * the target object + * @E_RTOS_NO_TASKS_CREATED Error value returned if + * request to start a scheduler + * could not be processed as no + * tasks are created + * @E_RTOS_INVALID_ALIGNMENT Error returned for invalid byte + * alignment + * @E_RTOS_EVENT_POLL_NO_EVENTS_OCCURRED Error returned if no event has + * occurred while waiting for + * events registered with event + * poll object + * @E_RTOS_INVALID_DATA_RANGE Error value returned for + * invalid data range + * @E_RTOS_NO_TICK_SETUP_HOOK_DEFINED Error value returned if no hook + * has been defined to setup ticks + */ +#define E_RTOS_SUPPLIED_BUFFER_TOO_SMALL errSUPPLIED_BUFFER_TOO_SMALL +#define E_RTOS_INVALID_PRIORITY errINVALID_PRIORITY +#define E_RTOS_QUEUE_FULL errQUEUE_FULL +#define E_RTOS_INVALID_ALIGNMENT errINVALID_ALIGNMENT +#define E_RTOS_NULL_PARAMETER_SUPPLIED errNULL_PARAMETER_SUPPLIED +#define E_RTOS_INVALID_QUEUE_LENGTH errINVALID_QUEUE_LENGTH +#define E_RTOS_INVALID_TASK_CODE_POINTER errINVALID_TASK_CODE_POINTER +#define E_RTOS_SCHEDULER_IS_SUSPENDED errSCHEDULER_IS_SUSPENDED +#define E_RTOS_INVALID_TASK_HANDLE errINVALID_TASK_HANDLE +#define E_RTOS_DID_NOT_YIELD errDID_NOT_YIELD +#define E_RTOS_TASK_ALREADY_SUSPENDED errTASK_ALREADY_SUSPENDED +#define E_RTOS_TASK_WAS_NOT_SUSPENDED errTASK_WAS_NOT_SUSPENDED +#define E_RTOS_NO_TASKS_CREATED errNO_TASKS_CREATED +#define E_RTOS_SCHEDULER_ALREADY_RUNNING errSCHEDULER_ALREADY_RUNNING +#define E_RTOS_INVALID_QUEUE_HANDLE errINVALID_QUEUE_HANDLE +#define E_RTOS_INVALID_SEMAPHORE_HANDLE errINVALID_SEMAPHORE_HANDLE +#define E_RTOS_INVALID_MUTEX_HANDLE errINVALID_MUTEX_HANDLE +#define E_RTOS_ERRONEOUS_UNBLOCK errERRONEOUS_UNBLOCK +#define E_RTOS_QUEUE_EMPTY errQUEUE_EMPTY +#define E_RTOS_SEMAPHORE_ALREADY_TAKEN errSEMAPHORE_ALREADY_TAKEN +#define E_RTOS_SEMAPHORE_ALREADY_GIVEN errSEMAPHORE_ALREADY_GIVEN +#define E_RTOS_MUTEX_ALREADY_TAKEN errMUTEX_ALREADY_TAKEN +#define E_RTOS_INVALID_TICK_VALUE errINVALID_TICK_VALUE +#define E_RTOS_INVALID_TASK_SELECTED errINVALID_TASK_SELECTED +#define E_RTOS_TASK_STACK_OVERFLOW errTASK_STACK_OVERFLOW +#define E_RTOS_SCHEDULER_WAS_NOT_SUSPENDED errSCHEDULER_WAS_NOT_SUSPENDED +#define E_RTOS_INVALID_BUFFER_SIZE errINVALID_BUFFER_SIZE +#define E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION errBAD_OR_NO_TICK_RATE_CONFIGURATION +#define E_RTOS_ERROR_IN_VECTOR_TABLE errERROR_IN_VECTOR_TABLE +#define E_RTOS_INVALID_MPU_REGION_CONFIGURATION errINVALID_MPU_REGION_CONFIGURATION +#define E_RTOS_INVALID_MMU_REGION_CONFIGURATION errINVALID_MMU_REGION_CONFIGURATION +#define E_RTOS_TASK_STACK_ALREADY_IN_USE errTASK_STACK_ALREADY_IN_USE +#define E_RTOS_NO_MPU_IN_DEVICE errNO_MPU_IN_DEVICE +#define E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE errEXECUTING_IN_UNPRIVILEGED_MODE +#define E_RTOS_RTS_CALCULATION_ERROR errRTS_CALCULATION_ERROR +#define E_RTOS_INVALID_PERCENTAGE_HANDLE errINVALID_PERCENTAGE_HANDLE +#define E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT errINVALID_INITIAL_SEMAPHORE_COUNT +#define E_RTOS_ROM_INTEGRITY_CHECK_FAILED errROM_INTEGRITY_CHECK_FAILED +#define E_RTOS_IN_PROGRESS errIN_PROGRESS +#define E_RTOS_INVALID_PARAMETERS errINVALID_PARAMETERS +#define E_RTOS_SPURIOUS_INTERRUPT errSPURIOUS_INTERRUPT +#define E_RTOS_SPURIOUS_FAST_INTERRUPT errSPURIOUS_FAST_INTERRUPT +#define E_RTOS_RAM_INTEGRITY_CHECK_FAILED errRAM_INTEGRITY_CHECK_FAILED +#define E_RTOS_INVALID_TIMER_HANDLE errINVALID_TIMER_HANDLE +#define E_RTOS_INVALID_TIMER_TASK_INSTANCE errINVALID_TIMER_TASK_INSTANCE +#define E_RTOS_TIMER_ALREADY_IN_USE errTIMER_ALREADY_IN_USE +#define E_RTOS_NOTIFICATION_NOT_RECEIVED errNOTIFICATION_NOT_RECEIVED +#define E_RTOS_NOTIFICATION_ALREADY_PENDING errNOTIFICATION_ALREADY_PENDING +#define E_RTOS_TASK_WAS_ALSO_ON_EVENT_LIST errTASK_WAS_ALSO_ON_EVENT_LIST +#define E_RTOS_QUEUE_ALREADY_IN_USE errQUEUE_ALREADY_IN_USE +#define E_RTOS_EVENT_GROUP_ALREADY_IN_USE errEVENT_GROUP_ALREADY_IN_USE +#define E_RTOS_INVALID_EVENT_GROUP_HANDLE errINVALID_EVENT_GROUP_HANDLE +#define E_RTOS_EVENT_GROUP_BITS_NOT_SET errEVENT_GROUP_BITS_NOT_SET +#define E_RTOS_EVENT_GROUP_DELETED errEVENT_GROUP_DELETED +#define E_RTOS_MUTEX_NOT_OWNED_BY_CALLER errMUTEX_NOT_OWNED_BY_CALLER +#define E_RTOS_MUTEX_CORRUPTED errMUTEX_CORRUPTED +#define E_RTOS_NEXT_UNBLOCK_TIME_EXPIRED errNEXT_UNBLOCK_TIME_EXPIRED +#define E_RTOS_WOKEN_UP_AFTER_NEXT_UNBLOCK_TIME errWOKEN_UP_AFTER_NEXT_UNBLOCK_TIME +#define E_RTOS_TICKLESS_MODE_NOT_SUPPORTED errTICKLESS_MODE_NOT_SUPPORTED +#define E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE errEVENT_POLL_OBJECT_ALREADY_IN_USE +#define E_RTOS_SCHEDULER_IS_NOT_RUNNING errSCHEDULER_IS_NOT_RUNNING +#define E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED errEVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED +#define E_RTOS_INVALID_EVENT_POLL_OPERATION err INVALID_EVENT_POLL_OPERATION +#define E_RTOS_INVALID_EVENT_POLL_HANDLE errINVALID_EVENT_POLL_HANDLE +#define E_RTOS_INVALID_EVENT_POLL_EVENTS errINVALID_EVENT_POLL_EVENTS +#define E_RTOS_EVENT_POLL_NO_EVENTS_OCCURRED errEVENT_POLL_NO_EVENTS_OCCURRED +#define E_RTOS_INVALID_DATA_RANGE errINVALID_DATA_RANGE +#define E_RTOS_NO_TICK_SETUP_HOOK_DEFINED errNO_TICK_SETUP_HOOK_DEFINED + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-event-group.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-event-group.h new file mode 100644 index 0000000..f6158f7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-event-group.h @@ -0,0 +1,390 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_EVENT_GROUP_H +#define OSA__OSA_EVENT_GROUP_H +#define FSP__OSA__OSA_EVENT_GROUP_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosEventGroupHandle, rtosEventBits, rto... +#include // IWYU pragma: export + // IWYU pragma: no_include "eventgroups.h" + // for xEventGroupClearBitsFromISR, xEvent... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief Create an event group + * + * This function is a wrapper for xEventGroupCreate() in SafeRTOS to create an + * event group object. + * It updates pointer to the event group handle to point to the newly + * created event group + * + * @pre + * - A variable of type rtosEventGroup, r/w accessible to RTOS kernel at all + * times has been declared to handle the event group object + * + * - Called from a non-interrupt context + * + * @param[in] pxEventGroup Pointer to the pre-declared event group variable + * of type rtosEventGroup + * @param[out] pxEventGroupHandle Pointer to the event group handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null Input parameter + * @retval E_RTOS_EVENT_GROUP_ALREADY_IN_USE Event handle supplied is valid and + * must be deleted before creating a + * new group + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosEventGroupCreate(rtosEventGroup *pxEventGroup, + rtosEventGroupHandle *pxEventGroupHandle) +{ + return xEventGroupCreate(pxEventGroup, + pxEventGroupHandle); +} + +/** + * @brief Delete an event group + * + * This function is a wrapper for xEventGroupDelete() in SafeRTOS to delete an + * event group object. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * - Scheduler has been started. + * + * @param[in] xHandle Event group handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + */ +static inline rtosError +rtosEventGroupDelete(rtosEventGroupHandle xHandle) +{ + return xEventGroupDelete(xHandle); +} + +/** + * @brief Get event group bits. + * + * This function is a wrapper for xEventGroupGetBits() in SafeRTOS to + * read the status of event group bits. + * It updates the pointer to event group bits with latest bit-mask of + * set fields in the event group. + * + * @pre + * - An event group object has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] pxEventBitsSet Pointer to event group bits + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosEventGroupGetBits(rtosEventGroupHandle xHandle, + rtosEventBits *pxEventBitsSet) +{ + return xEventGroupGetBits(xHandle, + pxEventBitsSet); +} + +/** + * @brief Get event group bits from ISR. + * + * This function is a wrapper for xEventGroupGetBitsFromISR() in SafeRTOS to + * read the status of event group bits from an ISR + * It updates the pointer to event group bits with latest bit-mask of set fields + * within the event group in an ISR context. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] pxEventBitsSet Pointer to event group bits + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosEventGroupGetBitsFromISR(rtosEventGroupHandle xHandle, + rtosEventBits *pxEventBitsSet) +{ + return xEventGroupGetBitsFromISR(xHandle, + pxEventBitsSet); +} + +/** + * Set event group bits + * + * This function is a wrapper for xEventGroupSetBits() in SafeRTOS to set one + * or more bits to '1' in an event group + * Sets required fields within the event group based on bit-mask sent as an + * argument. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToSet Bit mask to set required fields in the event group + * Size of rtosEventBits type is platform dependent. + * For ARM Cortex-R5, it is 32-bits. Since most + * significant byte is used for control purposes, valid + * bit-mask range is 0 - 23 bits. + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + */ +static inline rtosError +rtosEventGroupSetBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToSet) +{ + return xEventGroupSetBits(xHandle, + xBitsToSet); +} + +/** + * Set event group bits from ISR + * + * This function is a wrapper for xEventGroupSetBitsFromISR() in SafeRTOS to + * set one or more event group bits to '1' in an interrupt-context. + * Sets required fields within the event group based on bit-mask sent as an + * argument. + * It sets the value at pbHigherPriorityTaskWoken if calling this function + * unblocks a task of priority higher than currently running task indicating + * that a context switch is needed before exiting the ISR + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToSet Bit-mask to set required fields in the + * event group. Valid bit-mask range for + * ARM Cortex-R5 processor is 0 - 23 bits. + * @param[out] pbHigherPriorityTaskWoken Pointer to rtosbool variable + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * @retval E_RTOS_QUEUE_FULL Queue associated with event group + * object is full and cannot accept + * incoming event group request + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosEventGroupSetBitsFromISR(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToSet, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xEventGroupSetBitsFromISR(xHandle, + xBitsToSet, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Clear required event group bits + * + * This function is a wrapper for xEventGroupClearBits() in SafeRTOS to clear + * one or more bits in an event group + * Clears required fields within the event group based on bit-mask sent as an + * argument. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToClear Bit-mask to clear required fields. + * Valid bit mask range for ARM Cortex-R5 processor is + * 0 - 23 bits. + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * + */ +static inline rtosError +rtosEventGroupClearBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToClear) +{ + return xEventGroupClearBits(xHandle, + xBitsToClear); +} + +/** + * @brief Clear required event group bits from ISR + * + * This function is a wrapper for xEventGroupClearBitsFromISR() in SafeRTOS to + * clear one or more event group bits in an interrupt context. + * Clears required fields within the event group based on bit-mask sent as an + * argument. + * It sets value at pbHigherPriorityTaskWoken if calling this function unblocks + * a higher priority task than current task indicating a context switch is + * needed before exiting from ISR + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToClear Bit-mask to clear required fields in + * the event group. Valid bit-mask range + * for ARM Cortex-R5 processor is 0 - 23 + * bits + * @param[out] pbHigherPriorityTaskWoken Pointer to rtosbool variable + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * @retval E_RTOS_QUEUE_FULL Queue associated with event group + * object is full and cannot accept + * incoming event group request + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosEventGroupClearBitsFromISR(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToClear, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xEventGroupClearBitsFromISR(xHandle, + xBitsToClear, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Wait for one or more bits to set within an event group until timeout + * + * This function is a wrapper for xEventGroupWaitBits() in SafeRTOS to wait until + * given pattern of event group bits is set + * Calling task blocks on waiting for required bit fields to be set as long as wait + * condition is met until timeout + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * @param[in] xHandle Event group handle + * @param[in] xBitstoWaitFor Bit-mask to check for required fields. Valid range + * of bit-mask on ARM Cortex-R5 processor is + * 0 - 23 bits + * @param[in] xClearOnExit Set this bool variable to clear all the bit fields + * before exiting wait + * @param[in] xWaitforAllBits Set this bool variable if all the required bit + * fields should be set to exit from wait + * @param[in] pxEventBitsSet Pointer to event group bits. Before exiting from + * wait, value at this address is updated with the + * status of event group bits + * @param[in] xTicksToWait Timeout in ticks for which the calling task should + * be held in blocked state waiting for the pattern + * condition to be set. A value of zero prevents the + * task from entering the blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null parameter for event group + * handle + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_EVENT_GROUP_DELETED Event group deleted + * @retval E_RTOS_EVENT_GROUP_BITS_NOT_SET Required event group bits not set + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosEventGroupWaitBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToWaitFor, + const rtosBool xClearOnExit, + const rtosBool xWaitForAllBits, + rtosEventBits *pxEventBitsSet, + rtosTick xTicksToWait) +{ + return xEventGroupWaitBits(xHandle, + xBitsToWaitFor, + (portBaseType)xClearOnExit, + (portBaseType)xWaitForAllBits, + pxEventBitsSet, + xTicksToWait); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-event-poll.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-event-poll.h new file mode 100644 index 0000000..ee00b24 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-event-poll.h @@ -0,0 +1,310 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_EVENT_POLL_H +#define OSA__OSA_EVENT_POLL_H +#define FSP__OSA__OSA_EVENT_POLL_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosEventPollHandle, rtosUCount, rtosEve... +#include // IWYU pragma: keep + // for xQUEUE +#include // IWYU pragma: export + // IWYU pragma: no_include "eventpoll.h" + // for eventPollObjectEventsType + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief Computes the size needed for rtosEventPollCreate + * + * @macro-title Get size of event poll object + * + * @param[in] uxMaximumRegisteredObjectEvents Maximum number of object events supported with the event poll object + * + * @retval NumberOfBytes Size of event poll object in bytes. + */ +#define rtosEventPollSize(uxMaximumRegisteredObjectEvents)\ + rtosEVENT_POLL_OVERHEAD_BYTES(uxMaximumRegisteredObjectEvents) + +/** + * @brief Create an event poll object + * + * This function is a wrapper for xEventPollCreate() in SafeRTOS to create + * an event poll object + * It updates pointer to the event poll handle to point to the newly + * created event group + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle an event poll object. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] pcEventPollMemoryBuffer Pointer to the memory at which + * event poll object will be created + * @param[in] uxBufferLengthInBytes Buffer length to handle event poll + * group. It should be equal to + * rtosEventPollSize() + * @param[in] uxMaximumRegisteredObjectEvents Limit on the number of targets + * that can register to the event + * poll group. Should be greater than 0. + * @param[in] xOwnerTaskHandle Handle of task creating/owning the + * event group. + * @param[out] pxEventPollHandle Pointer to the event poll handle + * + * @retval rtosPASS on success + * @retval E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE Input event poll buffer already in + * use. + * @retval E_RTOS_INVALID_DATA_RANGE Invalid input memory address + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null parameter supplied for + * Event poll handle/Task handle + * /Memory buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer not word aligned + * @retval E_RTOS_INVALID_PARAMETERS Invalid input parameter to + * set maximum number of + * registered objects. + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid input task handle + */ +static inline rtosError +rtosEventPollCreate(void *pcEventPollMemoryBuffer, + rtosUCount uxBufferLengthInBytes, + rtosUCount uxMaximumRegisteredObjectEvents, + rtosTaskHandle xOwnerTaskHandle, + rtosEventPollHandle * pxEventPollHandle) +{ + return xEventPollCreate((portInt8Type *)pcEventPollMemoryBuffer, + uxBufferLengthInBytes, uxMaximumRegisteredObjectEvents, + xOwnerTaskHandle, pxEventPollHandle); +} + +/** + * @brief Register a target object event to the event poll object + * + * This function is a wrapper for xEventPollAddObjectEvents() in SafeRTOS + * It registers target object along with the specified events to the + * event poll group referenced using handle sent as an argument. + * + * @pre + * - An event poll object has been created with a valid handle referring to it + * + * - An RTOS kernel object has been created with a valid handle referring to it + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to the event poll group + * @param[in] pvTargetObjectHandle Handle referring to the target object. + * @param[in] uxEvents Events to register with poll group concerning + * target object + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION Input target object is + * already registered with + * event poll object. + * @retval E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED No more target objects + * can be registered with + * event poll object + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll + * object handle/ + * target object handle + * @retval E_RTOS_INVALID_EVENT_POLL_EVENTS Attempt to set invalid + * events for the target + * object + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + */ +static inline rtosError +rtosEventPollAddObjectEvents(rtosEventPollHandle xEventPollHandle, + void *pvTargetObjectHandle, + rtosEventPollValue uxEvents) +{ + return xEventPollAddObjectEvents(xEventPollHandle, pvTargetObjectHandle, uxEvents); +} + +/** + * @brief Modify object-events of a target object within event poll group + * + * This function is a wrapper for xEventPollModifyObjectEvents() in SafeRTOS. + * It modifies object-events concerning a target object registered with + * event poll group referred using handle sent as an argument. + * + * @pre + * - Target object associated with referred object event has been registered + * with an event poll object + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to the event poll group + * @param[in] pvTargetObjectHandle Handle referring to the target object. + * @param[in] uxEvents Event poll value to be set for the target + * object registered with poll group. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION Input target object not + * registered with referred event + * poll object. + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll object + * handle/Target object handle + * @retval E_RTOS_INVALID_EVENT_POLL_EVENTS Attempt to set invalid events + * for the target object + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + */ +static inline rtosError +rtosEventPollModifyObjectEvents(rtosEventPollHandle xEventPollHandle, + const void *pvTargetObjectHandle, + rtosEventPollValue uxEvents) +{ + return xEventPollModifyObjectEvents(xEventPollHandle, pvTargetObjectHandle, + uxEvents); +} + +/** + * @brief Unregister target object along with associated events from event poll + * object + * + * This is a wrapper function for xEventPollRemoveObjectEvents() in SafeRTOS. + * It unregisters target-object along with its events from the event poll object + * + * @pre + * - Referred target object has been registered with the input event poll object. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to the event poll group + * @param[in] pvTargetObjectHandle Handle referring to the target object. + * + * @retval rtosTRUE on success + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running. Request + * cannot be processed. + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll object/ + * Target object handle + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION Input target object not registered + * with referred event poll object. + */ +static inline rtosError +rtosEventPollRemoveObjectEvents(rtosEventPollHandle xEventPollHandle, + const void *pvTargetObjectHandle) +{ + return xEventPollRemoveObjectEvents(xEventPollHandle, pvTargetObjectHandle); +} + + +/** + * @brief Wait for an event registered with event poll object + * + * This function is a wrapper for xEventPollWait() in SafeRTOS. + * Object-events invoked by the event poll object referenced + * using supplied handle are copied to the input object-events array. + * If none of the registered object-events have occurred, this function blocks + * the calling task waiting for an object-event until timeout. + * + * @pre + * - Referred target object events have been registered with input event poll + * object. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to event poll object + * @param[in] uxObjectEventsArraySize Size of input array to store object-event. + * Should be at least equal to + * uxMaximumRegisteredObjectEvents defined + * during event poll object creation + * @param[in] xTicksToWait Timeout in ticks to wait until an event occurs. + * @param[out] puxNumberOfObjectEvents Pointer to a count variable to store + * number of object-events that occurred + * @param[out] axObjectEvents[] Array to store info of object-events that + * occurred. Length of this array should be at least + * equal to uxMaximumRegisteredObjectEvents defined + * during event poll object creation + * + * @retval rtosPASS on success. + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running. Request + * cannot be processed. + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll object + * handle/target object handle/array + * to store object-events/pointer to + * store number of object-events + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION No object-event registered with + * referred event poll object. + * @retval E_RTOS_INVALID_PARAMETERS Zero size set for axObjectEvents + * array + * @retval E_RTOS_INVALID_DATA_RANGE Invalid length of the axObjectEvents + * array. + * @retval E_RTOS_EVENT_GROUP_DELETED Event group corresponding to the object + * events deleted + * @retval E_RTOS_NO_EVENT_OCCURRED No event occurred before the timeout + */ +static inline rtosError +rtosEventPollWait(rtosEventPollHandle xEventPollHandle, + rtosEventPollObjectEventsType axObjectEvents[], + rtosUCount uxObjectEventsArraySize, + rtosUCount * puxNumberOfObjectEvents, + rtosTick xTicksToWait ) +{ + return xEventPollWait(xEventPollHandle, + (eventPollObjectEventsType *)axObjectEvents, + uxObjectEventsArraySize, puxNumberOfObjectEvents, + xTicksToWait); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-mutex.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-mutex.h new file mode 100644 index 0000000..73398aa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-mutex.h @@ -0,0 +1,197 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_MUTEX_H +#define OSA__OSA_MUTEX_H +#define FSP__OSA__OSA_MUTEX_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosMutexHandle, FSP__OSPL__RTOS_PORT_H +#include // IWYU pragma: keep + // for xQUEUE +#include // IWYU pragma: export + // IWYU pragma: no_include "mutex.h" + // for xMutexGetState + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief Computes the size needed for rtosMutexCreate. + * + * + * @retval NumberOfBytes Size of mutex object in bytes + */ +#define rtosMutexSize() rtosMUTEX_OVERHEAD_BYTES + +/** + * @brief Create a mutex lock + * + * This function is a wrapper for xMutexCreate() in SafeRTOS to create + * a mutex object. + * It updates pointer to the handle sent as an argument + * with newly created mutex + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a mutex object + * + * - Called from a non-interrupt context + * + * @param[in] pcMutexBuffer Pointer to the memory location at which mutex + * will be created. Size of the mutex buffer + * is rtosMutexSize() + * Mutex buffer shall be 4-byte aligned + * @param[in] pxMutex Mutex handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue object referring to a + * mutex already associated with + * the input memory buffer + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL supplied for input parameters + * @retval E_RTOS_INVALID_DATA_RANGE Data could not be written in the input buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer is not word aligned + */ +static inline rtosError +rtosMutexCreate(void *pcMutexBuffer, + rtosMutexHandle *pxMutex) +{ + return xMutexCreate((portInt8Type *)pcMutexBuffer, + pxMutex); +} + +/** + * @brief Acquire a mutex + * + * This function is a wrapper for xMutexTake() in SafeRTOS to acquire a mutex + * + * @pre + * - A mutex has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xMutex Mutex handle + * @param[in] xBlockTime Timeout in ticks to wait until mutex is acquired. + * A value of zero prevents the calling task from + * entering the Blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_MUTEX_HANDLE Invalid mutex handle + * @retval E_RTOS_MUTEX_ALREADY_TAKEN Mutex already acquired + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosMutexAcquire(rtosMutexHandle xMutex, + rtosTick xBlockTime) +{ + return xMutexTake(xMutex, + xBlockTime); +} + +/** + * @brief Release acquired mutex + * + * This function is a wrapper for xMutexGive() in SafeRTOS to release + * an acquired mutex. + * + * @pre + * - A mutex has been created with a valid handle + * + * - Referred mutex was previously acquired. + * + * - Scheduler has been started + * + * - Called in a non-interrupt context + * + * @param[in] xMutex Mutex handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_MUTEX_HANDLE Invalid handle + * @retval E_RTOS_MUTEX_NOT_OWNED_BY_CALLER Mutex not owned by the caller + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_MUTEX_CORRUPTED Corrupt mutex + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosMutexRelease(rtosMutexHandle xMutex) +{ + return xMutexGive(xMutex); +} + +/** + * @brief Get mutex state + * + * This function is a wrapper for xMutexGetState() in SafeRTOS to query whether + * a mutex is available or not. + * It updates pointer to type rtosMutexState with current state of mutex lock. + * Mutex State can take two values: rtosMUTEX_TAKEN & rtosMUTEX_AVAILABLE + * + * @pre + * - A mutex has been created with a valid handle referring to it + * + * @param[in] xMutex Mutex handle + * @param[out] puxMutexState Pointer to variable of type rtosMutexState + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_MUTEX_HANDLE Invalid mutex handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null mutex handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosMutexGetState(rtosMutexHandle xMutex, + rtosMutexState *puxMutexState) +{ + return xMutexGetState(xMutex, + puxMutexState); +} +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-queue.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-queue.h new file mode 100644 index 0000000..a1d243f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-queue.h @@ -0,0 +1,511 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_QUEUE_H +#define OSA__OSA_QUEUE_H +#define FSP__OSA__OSA_QUEUE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for UNUSED + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosFALSE + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosQueueHandle, rtosTick, rtosUCoun +#include // IWYU pragma: export + // IWYU pragma: no_include "queue.h" + // for xQueueReceiveFromISR, xQueueSendFro... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief rtosQueueSize() computes the size needed for rtosQueueCreate. + * + * @_n_ max number of elements in queue + * @_s_ size of a queue element + * + * @macro-title Get number of bytes required for the queue. + * + * @func_req_id 8321837 + * + * @retval NumberOfBytes Size of queue in bytes + */ +#define rtosQueueSize(_n_, _s_) (((_n_) * (_s_)) + rtosQUEUE_OVERHEAD_BYTES) + +/** + * @brief Create a task queue + * + * This function is a wrapper for xQueueCreate() in SafeRTOS. + * It updates the pointer to the queue handle to point + * to the newly created queue + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a queue object. + * + * - Called from a non-interrupt context + * + * @param[in] pcQueueMemory Pointer to memory at which queue object + * will be created. Queue buffer should be 4-byte + * aligned. + * @param[in] uxBufferLength Buffer length to handle tasks. Should be equal to + * rtosQueueSize(_n_, _s_) + * @param[in] uxQueueLength Maximum number of items the queue can hold + * @param[in] uxItemSize Size of the item to be stored in the queue + * @param[out] pxQueue Pointer to queue handle + * + * @retval rtosPASS on success + * @retval E_RTOS_QUEUE_ALREADY_IN_USE Queue at input memory location already in use + * @retval E_RTOS_INVALID_ALIGNMENT Memory not word aligned + * @retval E_RTOS_INVALID_QUEUE_LENGTH Invalid queue length + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid buffer size + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to queue memory/handle + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the input + * buffer + */ +static inline rtosError +rtosQueueCreate(void *pcQueueMemory, + rtosUCount uxBufferLength, + rtosUCount uxQueueLength, + rtosUCount uxItemSize, + rtosQueueHandle *pxQueue) +{ + return xQueueCreate((portInt8Type *)pcQueueMemory, + uxBufferLength, + uxQueueLength, + uxItemSize, + pxQueue); +} + +/* + * @brief: Delete queue + * + * This function does not exist in SafeRTOS, will return rtosPASS. + * + * @param[in] pxQueue Pointer to queue handle + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosQueueDelete(rtosQueueHandle *pxQueue) +{ + UNUSED(pxQueue); + return rtosPASS; +} + +/** + * @brief Add an item at the end of a queue + * + * This function is a wrapper for xQueueSend() in SafeRTOS. + * Sends a item in the queue in First In First Out (FIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to the item + * @param[in] xTicksToWait Timeout in ticks to wait until the + * item gets added. A value of 0 prevents the task + * from entering blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueSend(rtosQueueHandle rtosQueue, + const void * const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSend(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Add an item at the end of a queue + * + * This function is a wrapper for xQueueSend() in SafeRTOS. + * Sends an item in the queue in First In First Out (FIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to the item + * @param[in] xTicksToWait Timeout in ticks to wait until the + * item gets added. A value of 0 prevents the task + * from entering blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueSendToBack(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSend(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Add an item at the front of a queue + * + * This function is a wrapper for xQueueSendToFront() in SafeRTOS. + * Sends an item in the queue in Last In First Out (LIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[in] xTicksToWait Timeout in ticks to wait until + * item gets added. A value of 0 prevents the task from + * entering blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueSendToFront(rtosQueueHandle rtosQueue, + const void * const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSendToFront(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Pick an item from the queue + * + * This is a wrapper for xQueueReceive() in SafeRTOS + * It always picks item from the beginning of a queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvBuffer Pointer to the buffer to copy the item. Length of + * buffer should be at least equal to the item size. + * @param[in] xTicksToWait Timeout in ticks to wait until item is picked. + * A value of 0 prevents the task from entering + * blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null buffer passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_QUEUE_EMPTY Empty queue + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueReceive(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosTick xTicksToWait) +{ + return xQueueReceive(rtosQueue, + pvBuffer, + xTicksToWait); +} + +/** + * @brief Peek an item from queue + * + * This function is a wrapper for xQueuePeek() in SafeRTOS + * It picks an item without removing it from the queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at least equal to the + * queue item size. + * @param[in] xTicksToWait Timeout in ticks to wait until item is picked. + * A value of 0 prevents the task from entering the + * blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null buffer passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_QUEUE_EMPTY Empty queue + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueuePeek(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosTick xTicksToWait) +{ + return xQueuePeek(rtosQueue, + pvBuffer, + xTicksToWait); +} + +/** + * @brief Get number of waiting messages in the queue. + * + * This function is a wrapper for xQueueMessagesWaiting() in SafeRTOS. + * It updates value at pointer to a count variable sent as an argument + * with latest number of pending items in the queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[out] puxMessagesWaiting Pointer to a count variable + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to count variable passed + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the + * output parameter + */ +static inline rtosError +rtosQueueMessageWaiting(rtosQueueHandle rtosQueue, + rtosUCount *puxMessagesWaiting) +{ + return xQueueMessagesWaiting(rtosQueue, + puxMessagesWaiting); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendFromISR() in SafeRTOS. + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item/context variable passed + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueSendFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueSendFromISR(rtosQueue, + pvItemToQueue, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendFromISR(). + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item/context variable passed + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueSendToBackFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueSendFromISR(rtosQueue, + pvItemToQueue, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Add an item at the front of a queue from ISR + * + * This function is a wrapper for xQueueSendToFrontFromISR() in SafeRTOS. + * Adds an item to the queue from interrupt context in Last In First Out (LIFO) + * order. + * It sets value at pointer to a bool variable sent as an argument if adding + * item to the queue unblocks a higher/equal priority task than the current + * active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item/context variable passed + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueSendToFrontFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueSendToFrontFromISR(rtosQueue, + pvItemToQueue, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Pick an item from the queue in interrupt context + * + * This function is a wrapper for xQueueReceiveFromISR() in SafeRTOS + * Picks item from the beginning of a queue in an interrupt context + * and sets value at pointer to a bool variable sent as an argument if calling + * this function unblocks a higher priority task than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at + * least equal to the item size. + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null buffer/context variable passed + * @retval E_RTOS_QUEUE_EMPTY Empty queue + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueReceiveFromISR(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xQueueReceiveFromISR(rtosQueue, + pvBuffer, + pbHigherPriorityTaskWoken); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-semaphore.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-semaphore.h new file mode 100644 index 0000000..b5ecd22 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-semaphore.h @@ -0,0 +1,319 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_SEMAPHORE_H +#define OSA__OSA_SEMAPHORE_H +#define FSP__OSA__OSA_SEMAPHORE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-sepcific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosSemaphoreHandle, rtosUCount, rtosBool +#include // IWYU pragma: keep + // for xQueueHandle, xQueueReceive, xQueueSend,. +#include // IWYU pragma: export + // IWYU pragma: no_include "semaphore.h" + // for xSemaphoreGetCountDepth, xSemaphore... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/** + * @brief rtosSemaphoreSize() computes the size needed for rtosSemaphoreCreate. + * + * @retval NumberOfBytes Size of semaphore object in bytes + */ +#define rtosSemaphoreSize() rtosSEMAPHORE_OVERHEAD_BYTES + +/** + * @brief Create a binary semaphore. + * + * This function is a wrapper for xSemaphoreCreateBinary() in SafeRTOS + * to create a binary semaphore object. + * It updates the handle sent as an argument to point to the newly + * created semaphore + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a semaphore object. + * + * - Called from a non-interrupt context + * + * @param[in] pcSemaphoreMemory Pointer to the memory location at which + * semaphore object will be created. + * Clients shall use rtosSemaphoreSize() to get + * the size of this pre-allocated memory. + * Memory buffer shall be 4-byte aligned. + * @param[out] xpSemaphore Pointer to the semaphore handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue object referring to a + * semaphore already associated with + * the input memory buffer + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL supplied for input parameters + * @retval E_RTOS_INVALID_DATA_RANGE Data could not be written in the input buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer is not word aligned + */ +static inline rtosError +rtosSemaphoreCreateBinary(void *pcSemaphoreMemory, + rtosSemaphoreHandle *xpSemaphore) +{ + return xSemaphoreCreateBinary((portInt8Type *)pcSemaphoreMemory, + xpSemaphore); +} + +/** + * @brief Create a counting semaphore + * + * This function is a wrapper for xSemaphoreCreateCounting() in SafeRTOS + * to create a counting semaphore object. + * It updates the handle sent as an argument to point to the newly + * created semaphore. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a semaphore object. + * + * - Called from a non-interrupt context + * + * @param[in] uxMaxCount Max limit of semaphore count. + * Should be set greater than 0 + * @param[in] uxInitialCount Min/Initial count of semaphore count. + * Should be set less than uxMaxCount + * @param[in] pcSemaphoreMemory Pointer to the memory location at which + * semaphore object will be created. + * Clients shall use rtosSemaphoreSize() to get + * the size of this pre-allocated memory. + * Memory buffer shall be 4-byte aligned. + * @param[out] xpSemaphore Pointer to the semaphore handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT Invalid semaphore initial + * count + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue object referring to a + * semaphore already associated with + * the input memory buffer + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL supplied for input parameters + * @retval E_RTOS_INVALID_DATA_RANGE Data could not be written in the input buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer is not word aligned + */ +static inline rtosError +rtosSemaphoreCreateCounting(void *pcSemaphoreMemory, + rtosUCount uxMaxCount, + rtosUCount uxInitialCount, + rtosSemaphoreHandle *xpSemaphore) +{ + return xSemaphoreCreateCounting(uxMaxCount, + uxInitialCount, + (portInt8Type *)pcSemaphoreMemory, + xpSemaphore); +} + +/** + * @brief Release a semaphore + * + * This function is a wrapper for xSemaphoreGive() in SafeRTOS to + * release an acquired semaphore. + * + * @pre + * - A semaphore has been created with a valid handle referring to it + * + * - Referred Semaphore was previously acquired + * + * - Called from a non-interrupt context. + * + * - Scheduler has been started. + * + * @func_req_id 8218883 + * + * @param[in] xSemaphore Semaphore handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_SEMAPHORE_ALREADY_GIVEN Semaphore already released + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + */ +static inline rtosError +rtosSemaphoreRelease(rtosSemaphoreHandle xSemaphore) +{ + return xSemaphoreGive(xSemaphore); +} + +/** + * @brief Release a semaphore from ISR + * + * This function is a wrapper for xSemaphoreGiveFromISR() in SafeRTOS to + * release an acquired semaphore in interrupt context. + * It sets value at pointer to rtos bool variable sent + * as an argument if calling this API unblocks a task of priority equal + * to/higher than currently running task. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Referred semaphore was previously acquired + * + * - Called from an interrupt context + * + * - Scheduler has been started. + * + * @func_req_id 8218883 + * + * @param[in] xSemaphore Semaphore handle + * @param[out] pbHigherPriorityTaskWoken Pointer to a boolean variable + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid handle + * @retval E_RTOS_SEMAPHORE_ALREADY_GIVEN Semaphore released already + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + */ +static inline rtosError +rtosSemaphoreReleaseFromISR(rtosSemaphoreHandle xSemaphore, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xSemaphoreGiveFromISR(xSemaphore, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Acquire a semaphore + * + * This function is a wrapper for xSemaphoreTake() in SafeRTOS to + * acquire a semaphore. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[in] xTicksToWait Timeout in ticks to wait until semaphore is acquired. + * A value of zero prevents the calling task from + * entering the Blocked state waiting for semaphore. + * + * @retval rtosPASS on success + * @retval E_RTOS_SEMAPHORE_ALREADY_TAKEN Semaphore already taken + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosSemaphoreAcquire(rtosSemaphoreHandle xSemaphore, + rtosTick xTicksToWait) +{ + return xSemaphoreTake(xSemaphore, xTicksToWait); +} + +/** + * @brief Acquire semaphore from ISR + * + * This function is a wrapper for xSemaphoreTakeFromISR() in SafeRTOS to + * acquire a semaphore in interrupt context. + * It sets value at pointer to RTOS bool variable sent as an argument + * if calling this API unblocks a task of priority equal to/higher than + * currently running task. + * + * @pre + * - A semaphore has been created with a valid handle referring to it + * + * - Called from an interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] pbHigherPriorityTaskWoken Pointer to boolean variable + * + * @retval rtosPASS on success + * @retval E_RTOS_SEMAPHORE_ALREADY_TAKEN Semaphore already taken + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing to the output parameter + */ +static inline rtosError +rtosSemaphoreAcquireFromISR(rtosSemaphoreHandle xSemaphore, + rtosBool *pbHigherPriorityTaskWoken) +{ + return xSemaphoreTakeFromISR(xSemaphore, + pbHigherPriorityTaskWoken); +} + +/** + * @brief Get semaphore count depth + * + * This function is a wrapper for xSemaphoreGetCountDepth() in SafeRTOS. + * It sets value at pointer to RTOS count variable with current semaphore count. + * This represents the number of times that rtosSemaphoreAcquire()/ + * rtosSemaphoreAcquireFromISR() can be successfully called before the next call + * to rtosSemaphoreRelease()/rtosSemaphoreReleaseFromISR() is made. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] puxCountDepth Pointer to RTOS count variable + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing to the output parameter + */ +static inline rtosError +rtosSemaphoreGetCountDepth(rtosSemaphoreHandle xSemaphore, + rtosUCount *puxCountDepth) +{ + return xSemaphoreGetCountDepth(xSemaphore, puxCountDepth); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-task.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-task.h new file mode 100644 index 0000000..857d881 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-task.h @@ -0,0 +1,859 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TASK_H +#define OSA__OSA_TASK_H +#define FSP__OSA__OSA_TASK_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosBool, rtosTaskHandle, rtosTick, rtos... +#include // IWYU pragma: export + // IWYU pragma: no_include "task.h" + // for xTaskGetTickCountFromISR, xTaskIsSc... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief rtosTCBSize() computes size of task TCB needed for rtosTaskCreate. + * + * @retval NumberOfBytes Size of TCB in bytes + */ +INLINE_RFD(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#define rtosTCBSize() rtosTCB_OVERHEAD_BYTES + +/** + * @brief Initialize task scheduler + * + * This function is a wrapper for xTaskInitializeScheduler() in SafeRTOS to + * initialize a task scheduler. + * It configures scheduler private data and passes application specific data + * to the SafeRTOS scheduler by translating structures and types used by NVIDIA + * code to those used by SafeRTOS. + * + * @pre + * - A task has been created with a valid handle referring to it. + * + * - Scheduler init parameters have been set. + * + * - Called from a non-interrupt context + * + * @param[in] pxSchedInitParameters Pointer to rtosSchedParameters structure + * containing scheduler private data required for + * initialization. + * + * @retval rtosPASS on success + * @retval E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE Processor in unprivileged mode + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null init parameters + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue exists at the + * input timer buffer provided as + * part of scheduler parameters + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer not word aligned + * @retval E_RTOS_INVALID_QUEUE_LENGTH Invalid timer queue length + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid buffer size to + * accommodate the timer or timer + * task + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the + * input buffer + * @retval E_RTOS_INVALID_PRIORITY Timer task priority above stated + * maximum + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to the timer + * task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Timer task stackbuffer already + * in use. + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold the timer task + */ +rtosError +rtosTaskInitializeScheduler(const rtosSchedParameters *const pxSchedInitParameters); + +/** + * @brief Create a task + * + * This function is a wrapper for xTaskCreate() in SafeRTOS to create a new + * task and place it in ready state. It provides a translation of structures + * and types used by NVIDIA code to those used by SafeRTOS. + * It updates the pointer to task handle using task init structure sent as + * an argument to refer to the newly created task. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * initialized for the task control block. + * + * - Task init parameters have been initialized + * + * - Called from a non-interrupt context + * + * @param[in] pxTaskParameters Pointer to a rtosTaskParameters structure that + * contains the parameters used to create a task + * @param[out] pxCreatedTask Pointer to task handle + * + * @retval rtosPASS success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to handle/task + * init structure + * @retval E_RTOS_INVALID_PRIORITY Task priority above stated + * maximum + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Memory pointed by stack + * buffer already in use. + * @retval E_RTOS_INVALID_ALIGMENT Stack buffer not word aligned + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold the task + * @retval E_RTOS_INVALID_BUFFER_SIZE Buffer size not a power of 2 + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the + * input buffer + */ +rtosError +rtosTaskCreate(const rtosTaskParameters * const pxTaskParameters, + rtosTaskHandle *pxCreatedTask); + +/** + * @brief Delete a task + * + * This function is a wrapper for xTaskDelete() in SafeRTOS to delete a task. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * - Scheduler is in running state if the request is to delete the calling task + * + * @param[in] pxTaskToDelete Input task handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + */ +static inline rtosError +rtosTaskDelete(rtosTaskHandle pxTaskToDelete) +{ + return xTaskDelete(pxTaskToDelete); +} + +/** + * @brief Delay a task for required time + * + * This function is a wrapper for xTaskDelay() in SafeRTOS. + * Places active task in blocked state for fixed number of cycles. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] xTicksToDelay Time in ticks to delay the task. A value of 0 + * will cause the task to yield instead of entering the + * blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + */ +static inline rtosError +rtosTaskDelay(rtosTick xTicksToDelay) +{ + return xTaskDelay(xTicksToDelay); +} + +/** + * @brief Delay a task until specified time. + * + * This function is a wrapper for xTaskDelayUntil() in SafeRTOS. + * It delays active task for a fixed period and wakes it + * up again at tick(previous wake time + Delay time). + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxPreviousWakeTime Pointer to variable of type rtosTick + * having previous wake time. Must be initialized + * with current time before first use. Updated + * automatically by this call thereafter. + * @param[in] xTimeIncrement Time for which task must be delayed + * (Cycle time period) + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null passed for previous wake time + * @retval E_RTOS_DID_NOT_YIELD Context Yield did not happen + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTaskDelayUntil(rtosTick *pxPreviousWakeTime, + rtosTick xTimeIncrement) +{ + return xTaskDelayUntil(pxPreviousWakeTime, xTimeIncrement); +} + +/** + * @brief Get priority of task + * + * This function is a wrapper for xTaskPriorityGet() in SafeRTOS. + * It updates value at pointer to variable of type + * rtosPriority sent as an argument with latest priority of input task + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * @param[in] pxTask Input task handle + * @param[in] puxPriority Pointer to a variable holding task priority + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL task handle/pointer + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTaskPriorityGet(rtosTaskHandle pxTask, + rtosPriority *puxPriority) +{ + return xTaskPriorityGet(pxTask, puxPriority); +} + +/** + * @brief Set priority of a task + * + * This function is a wrapper for xTaskPrioritySet() in SafeRTOS to + * change the priority of a task. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxTask Input task handle + * @param[in] uxNewPriority Input task priority. Maximum priority + * is (configMAX_PRIORITIES - 1) + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_PRIORITY Invalid task priority + */ +static inline rtosError +rtosTaskPrioritySet(rtosTaskHandle pxTask, + rtosPriority uxNewPriority) +{ + return xTaskPrioritySet(pxTask, uxNewPriority); +} + +/** + * @brief Suspend a task + * + * This function is a wrapper for xTaskSuspend() in SafeRTOS. + * Places active task in suspended state + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxTaskToSuspend Input task handle. Value of NULL + * suspends the calling task + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_SUSPENDED Scheduler suspended + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid handle + * @retval E_RTOS_TASK_ALREADY_SUSPENDED Task already suspended + */ +static inline rtosError +rtosTaskSuspend(rtosTaskHandle pxTaskToSuspend) +{ + return xTaskSuspend(pxTaskToSuspend); +} + +/** + * @brief Resume a suspended task + * + * This function is a wrapper for xTaskResume() in SafeRTOS. + * Resumes a suspended task and puts it ready state. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * - The task being referred was suspended. + * + * @param[in] pxTaskToResume Input task handle + * + * @retval rtosPASS on success + * @retval E_RTOS_TASK_WAS_NOT_SUSPENDED Task was not suspended + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null task handle + */ +static inline rtosError +rtosTaskResume(rtosTaskHandle pxTaskToResume) +{ + return xTaskResume(pxTaskToResume); +} + +/** + * @brief Get handle of current task + * + * This function is a wrapper for xTaskGetCurrentTaskHandle() in SafeRTOS. + * It returns handle of current task. + * No input arguments needed. + * + * @pre + * - Scheduler has been initialized and started + * + * - Called from a non-interrupt context + * + * @retval xHandle Handle of the current task + */ +static inline rtosTaskHandle +rtosTaskGetCurrentTaskHandle(void) +{ + return xTaskGetCurrentTaskHandle(); +} + +/** + * @brief Start a task scheduler + * + * This function is a wrapper for xTaskStartScheduler() in SafeRTOS. + * It starts scheduler if a set of preconditions are met. + * This can be ignored by passing input argument xUserKernelConfigurationChecks + * as rtosFALSE in which case scheduler will start regardless of the state. + * + * @pre + * - Scheduler has been initialized + * + * - A task has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context + * + * - Called with CPU in privileged mode + * + * @param[in] xUserKernelConfigurationChecks Bool variable to be set for + * checking the pre-conditions before + * starting the scheduler. + * + * @retval rtsoPASS on success + * @retval E_RTOS_NO_TASKS_CREATED No tasks created + * @retval E_RTOS_SCHEDULER_ALREADY_RUNNING Scheduler is already running + * @retval E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION Clock/tick rate parameter + * invalid/null + * @retval E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE Processor in unprivileged + * mode + * @retval E_RTOS_INVALID_ALIGNMENT System stack address + * misaligned + * @retval E_RTOS_INVALID_BUFFER_SIZE Size of the system stack is + * insufficient + * @retval E_RTOS_INVALID_PRIORITY Invalid priority for the idle task + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Memory pointed by stack + * buffer already in use. + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold the idle task + * input buffer + */ +static inline rtosError +rtosTaskStartScheduler(rtosBool xUserKernelConfigurationChecks) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + return (rtosError)xTaskStartScheduler((portBaseType)xUserKernelConfigurationChecks); +} + +/** + * @brief Suspend a scheduler + * + * This function is a wrapper for xTaskSuspendScheduler() in SafeRTOS + * It suspends scheduler irrespective of current state. + * Has no input arguments and returns none. + * + * @pre + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskSuspendScheduler(void) +{ + vTaskSuspendScheduler(); +} + +/** + * @brief Resume suspended scheduler + * + * This function is a wrapper for xTaskResumeScheduler() in SafeRTOS. + * Transitions the suspended scheduler into active state. + * No input arguments needed. + * + * @pre + * - Scheduler has been started and currently in a suspended state + * + * - Called from a non-interrupt context + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_NOT_SUSPENDED Scheduler not suspended. + */ +static inline rtosError +rtosTaskResumeScheduler(void) +{ + return xTaskResumeScheduler(); +} + +/** + * @brief Get ticks count + * + * This function is a wrapper for xTaskGetTickCount() in SafeRTOS. + * It returns ticks count since the scheduler was started. + * No input arguments needed. + * + * @pre + * - Called from a non-interrupt context. + * + * @retval xTicks Number of ticks passed since scheduler was started. + */ +static inline rtosTick +rtosTaskGetTickCount(void) +{ + return xTaskGetTickCount(); +} + +/** + * @brief Get ticks count from ISR + * + * This function is a wrapper for xTaskGetTickCountFromISR() in SafeRTOS. + * Returns ticks count in an interrupt context since the scheduler was started. + * No input arguments needed. + * + * @pre + * - Called from an interrupt context + * + * @retval xTicks Number of ticks passed since scheduler was started. + */ +static inline rtosTick +rtosTaskGetTickCountFromISR(void) +{ + return xTaskGetTickCountFromISR(); +} + +/** + * @brief Request task yield. + * + * This function is a wrapper for taskYIELD() in SafeRTOS. + * It enables yield to a task of equal/higher priority + * than current task. Has no input arguments and returns none. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskYield(void) +{ + taskYIELD(); +} + +/** + * @brief Request task yield from ISR + * + * This function is a wrapper for taskYIELD_FROM_ISR() in SafeRTOS. + * It enables yield in an interrupt context to a task of + * equal/higher priority than current task. Returns none. + * Does nothing if input argument is rtosFALSE. + * + * @pre + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xSwitchRequired Bool variable to indicate need for switch + */ +static inline void +rtosTaskYieldFromISR(rtosBool xSwitchRequired) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + taskYIELD_FROM_ISR(xSwitchRequired); +} + +/** + * @brief Enter critical section + * + * This function is a wrapper for taskENTER_CRITICAL() in SafeRTOS. + * Enables a task to enter critical section. + * Has no input arguments and returns none. + * + * @pre + * - Called from a non-interrupt context + */ +static inline void +rtosTaskEnterCritical(void) +{ + taskENTER_CRITICAL(); +} + +/** + * @brief Exit critical section + * + * This function is a wrapper for taskEXIT_CRITICAL() in SafeRTOS. + * Enables a task to exit from critical section. + * No input arguments needed and returns none. + * + * @pre + * - RTOS state must already be in critical section + * + * - Called from a non-interrupt context + */ +static inline void +rtosTaskExitCritical(void) +{ + taskEXIT_CRITICAL(); +} + +/** + * @brief Mask required interrupts from ISR + * + * This function is a wrapper for taskSET_INTERRUPT_MASK_FROM_ISR() in SafeRTOS. + * Sets the interrupt mask to mask all interrupts at the + * configSYSTEM_INTERRUPT_PRIORITY or lower. This prevents any interrupts that + * call a system API function from interrupting the current interrupt handler + * It has significance only if interrupt nesting is supported on port. + * Input arguments none. + * + * @pre + * - Called only in interrupt context + * + * @func_req_id 8219165 + * + * @retval uxOriginalInterruptState Original interrupt mask. + */ +static inline rtosInterruptState +rtosTaskSetInterruptMaskFromISR(void) +{ + return taskSET_INTERRUPT_MASK_FROM_ISR(); +} + +/** + * @brief Unmask required interrupts from ISR + * + * This function is wrapper for taskCLEAR_INTERRUPT_MASK_FROM_ISR() in SafeRTOS. + * It clears interrupt mask set using rtosTaskSetInterruptMaskFromISR + * and retrieves the original mask based on input argument. Returns none. + * + * @pre + * - Called only in interrupt context + * + * @param[in] uxOriginalInterruptState Original interrupt mask + */ +static inline void +rtosTaskClearInterruptMaskFromISR(rtosInterruptState uxOriginalInterruptState) +{ + taskCLEAR_INTERRUPT_MASK_FROM_ISR(uxOriginalInterruptState); +} + +/** + * @brief Retrieve scheduler status + * + * This function is a wrapper for xTaskIsSchedulerStarted() in SafeRTOS. + * Checks and returns true if there has been a successful call to + * rtosTaskStartScheduler() + * No input arguments + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @retval rtosTRUE Scheduler has been started + * @retval rtosFALSE Otherwise + */ +static inline rtosBool +rtosTaskIsSchedulerStarted(void) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + return (rtosBool)xTaskIsSchedulerStarted(); +} + +/** + * @brief Retrieve scheduler status from ISR + * + * This function is a wrapper for xTaskIsSchedulerStartedFromISR() in SafeRTOS + * Checks and returns true if there has been a successful call to + * rtosTaskStartScheduler() + * No input arguments + * + * @pre + * - Called from an interrupt context + * + * @retval rtosTRUE Scheduler has been started + * @retval rtosFALSE Otherwise + */ +static inline rtosBool +rtosTaskIsSchedulerStartedFromISR(void) +{ + INLINE_RFD(MISRA, DEVIATE, Rule_10_5, "Approval: Bug 200532009, DR: SWE-FSP-020-SWSADR.docx"); + return (rtosBool)xTaskIsSchedulerStartedFromISR(); +} + +/** + * @brief Wait for notification from a calling task with timeout + * + * This function is a wrapper for xTaskNotifyWait() in SafeRTOS + * Each task has a notification value which is initialized to 0 when it is + * created. + * It blocks the calling task for notification from another task. + * + * @pre + * - A task has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] uxBitsToClearOnEntry Bitmask to clear bits in the receiving + * task notification value on entering wait. + * Length of the bitmask is 32 bits + * @param[in] uxBitsToClearOnExit Bitmask to clear bits in the receiving + * task notification value before exiting wait + * Length of the bitmask is 32 bits + * @param[in] xTicksToWait Timeout in ticks to wait for notification + * @param[out] puxNotificationValue Pointer to receiving task notification + * value. Value at this pointer is updated + * with calling task notification value as it + * was before clearing the bits using + * uxBitsToClearOnExit. + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended. + * @retval E_RTOS_NOTIFICATION_NOT_RECEIVED No notification has been received + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output + * parameter + */ +static inline rtosError +rtosTaskNotifyWait(rtosTaskNotifyBits uxBitsToClearOnEntry, + rtosTaskNotifyBits uxBitsToClearOnExit, + rtosTaskNotifyValue *puxNotificationValue, + rtosTick xTicksToWait) +{ + return xTaskNotifyWait(uxBitsToClearOnEntry, + uxBitsToClearOnExit, + puxNotificationValue, + xTicksToWait); +} + +/** + * @brief Send notification to waiting task. + * + * This function is wrapper for rtosTaskNotifySend() in SafeRTOS. + * Each task has a notification value which is initialized to 0 when it is + * created. + * The function sends notification to a waiting task and updates the receiving + * task's notification as per the set criteria and value sent as an argument. + * + * Each task can take one of the following notification states: + * + * - rtosNotification_NOT_WAITING - Not waiting for any notification from other + * task + * + * - rtosNotification_WAITING - Task is waiting for some notification + * + * - rtosNotification_NOTIFIED - Task has sent a notification. + * + * Receiving task notification value can be updated using following criteria: + * + * - rtosNotification_NO_ACTION Do not update task notification value + * + * - rtosNotification_SET_BITS Set task notification value by ORing with uxValue + * + * - rtosNotification_INCREMENT Increment the task notification value + * + * - rtosNotification_SET_VALUE_WITH_OVERWRITE Copy uxValue to notification + * value even if the previous value + * has not been read by the task. + * + * - rtosNotification_SET_VALUE_WITHOUT_OVERWRITE Set the receiving task's + * notification value only if + * there is no notification + * pending. + * + * @pre + * - Scheduler has been started. + * + * - Another task is waiting for some notification. + * + * - Called from a non-interrupt context. + * + * @param[in] xTaskToNotify Handle of waiting task + * @param[in] uxValue Notification value to be updated for receiving task + * @param[in] xAction Receiving task notification update criteria + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null receiving task handle + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid notification value/action + * @retval E_RTOS_NOTIFICATION_ALREADY_PENDING Notification pending + */ +static inline rtosError +rtosTaskNotifySend(rtosTaskHandle xTaskToNotify, + rtosTaskNotifyAction xAction, + rtosTaskNotifyValue uxValue) +{ + return xTaskNotifySend(xTaskToNotify, + xAction, + uxValue); +} + +/** + * @brief Send notification to waiting task from ISR. + * + * This function is a wrapper for rtosTaskNotifySendFromISR() in SafeRTOS. + * Each task has a notification value which is initialized to 0 when it is + * created. + * It sends notification to a waiting task and updates + * receiving task's notification as per the set criteria and value sent as an + * argument. + * + * Each task can take one of the following notification states: + * + * - rtosNotification_NOT_WAITING - Not waiting for any notification from other + * task + * + * - rtosNotification_WAITING - Task is waiting for some notification + * + * - rtosNotification_NOTIFIED - Task has sent a notification. + * + * Receiving task notification value can be updated using following criteria: + * + * - rtosNotification_NO_ACTION Do not update task notification value + * + * - rtosNotification_SET_BITS Set task notification value as per uxValue + * + * - rtosNotification_INCREMENT Increment the task notification value + * + * - rtosNotification_SET_VALUE_WITH_OVERWRITE Update task notification value + * even if the previous + * notification is pending. + * + * - rtosNotification_SET_VALUE_WITHOUT_OVERWRITE Set the task's notification + * only if there is no pending + * notification + * + * @pre + * - Scheduler has been started. + * + * - Another task is waiting for some notification. + * + * - Called from an interrupt context. + * + * @param[in] xTaskToNotify Handle of waiting task + * @param[in] uxValue Notification value to be updated + * for receiving task + * @param[in] xAction Notification update criteria + * @param[in] pxHigherPriorityTaskWoken An in/out parameter that is set if + * calling this function wakes an higher or + * equal priority task + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null receiving task handle + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid notification value/action + * @retval E_RTOS_NOTIFICATION_ALREADY_PENDING Notification pending + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output + * parameter + */ +static inline rtosError +rtosTaskNotifySendFromISR(rtosTaskHandle xTaskToNotify, + rtosTaskNotifyAction xAction, + rtosTaskNotifyValue uxValue, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTaskNotifySendFromISR(xTaskToNotify, + xAction, + uxValue, + pxHigherPriorityTaskWoken); +} + +/** + * @brief Generate system tick + * + * This function is a wrapper for vTaskProcessSystemTickFromISR() in SafeRTOS. + * It is used to generate system tick and should be called from the + * system tick handler. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * Has no input arguments and returns none. + */ +static inline void rtosSystemTickHandler(void) +{ + vTaskProcessSystemTickFromISR(); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-timer.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-timer.h new file mode 100644 index 0000000..26e2de6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-timer.h @@ -0,0 +1,419 @@ +/* Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TIMER_H +#define OSA__OSA_TIMER_H +#define FSP__OSA__OSA_TIMER_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosTimerHandle, rtosTick, rtosBool, FSP... +#include // IWYU pragma: keep + // for xQueueHandle +#include // IWYU pragma: export + // IWYU pragma: no_include "timers.h" + // for xTimerChangePeriodFromISR, xTimerSt... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Computes the size of pre-allocated memory required for timer control + * block + * + * @retval NumberOfBytes Size of Timer control block + */ +#define rtosTimerCBSize() rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES + +/** + * @brief Computes the size of pre-allocated memory required for timer parameter + * structure supplied as an input to rtosTimerCreate. + * + * @retval NumberOfBytes Size of timer instance parameters structure + */ +#define rtosTimerInstanceParametersSize() \ + rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief Create a timer. + * + * This function is a wrapper for xTimerCreate() in SafeRTOS. + * It updates the handle sent as + * an argument to point to the newly created timer + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle timer control block and instance parameters + * + * - Called from a non-interrupt context + * + * @param[in] pxTimerParameters Pointer to timer init parameter + * structure (rtosTimerInitParametersType) + * @param[out] pxTimerHandle Pointer to timer handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to timer init + * parameter/Timer handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid timer init parameters + * @retval E_RTOS_INVALID_TIMER_TASK_INSTANCE Invalid timer task instance + * @retval E_RTOS_TIMER_ALREADY_IN_USE Input Timer init parameter + * already has a timer instance associated + * with it. + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the memory buffer + */ +rtosError +rtosTimerCreate(const rtosTimerInitParametersType *const pxTimerParameters, + rtosTimerHandle *pxTimerHandle); + +/** + * @brief Start a timer + * + * This function is a wrapper for xTimerStart() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending the start command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + */ +static inline rtosError +rtosTimerStart(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerStart(xTimer, xBlockTime); +} + +/** + * @brief Stop a timer + * + * This function is a wrapper for xTimerStop() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending stop command to the timer + * + * @pre + * - Referred timer has been started + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosTimerStop(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerStop(xTimer, xBlockTime); +} + +/** + * @brief Change timer period + * + * This function is a wrapper for xTimerChangePeriod() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending change period command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * @param[in] xNewPeriodInTicks New timer period in ticks. Should be + * greater than 0. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosTimerChangePeriod(rtosTimerHandle xTimer, + rtosTick xNewPeriodInTicks, + rtosTick xBlockTime) +{ + return xTimerChangePeriod(xTimer, xNewPeriodInTicks, xBlockTime); +} + +/** + * @brief Delete a timer + * + * This function is a wrapper for xTimerDelete() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending delete command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosTimerDelete(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerDelete(xTimer, xBlockTime); +} + +// ISR friendly commands of the timer commands + +/** + * @brief Start a timer from ISR + * + * This function is a wrapper for xTimerStartFromISR() in SafeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function + * unblocks the timer service whose priority is equal to/higher than + * the current task + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerStartFromISR(rtosTimerHandle xTimer, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTimerStartFromISR(xTimer, pxHigherPriorityTaskWoken); +} + +/** + * @brief Stop a timer from ISR + * + * This function is a wrapper for xTimerStopFromISR() in SafeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function unblocks + * the timer service whose priority is equal to/higher than the current task + * + * @pre + * - Referred timer has been started + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerStopFromISR(rtosTimerHandle xTimer, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTimerStopFromISR(xTimer, pxHigherPriorityTaskWoken); +} + +/** + * @brief Change timer period from ISR + * + * This function is a wrapper for xTimerChangePeriodFromISR() in SafeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function unblocks + * the timer service whose priority is equal to/higher than the current task + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xNewPeriodInTicks New timer period in ticks. Should be + * greater than 0. + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerChangePeriodFromISR(rtosTimerHandle xTimer, + rtosTick xNewPeriodInTicks, + rtosBool *pxHigherPriorityTaskWoken) +{ + return xTimerChangePeriodFromISR(xTimer, xNewPeriodInTicks, + pxHigherPriorityTaskWoken); +} + +/** + * @brief Check if timer is active + * + * This function is a wrapper for xTimerIsTimerActive() in SafeRTOS. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * + * @retval rtosTRUE if timer is active or exists in the + * overflow timer list + * @retval rtosFALSE Timer not present in the active timer + * list + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + */ +static inline rtosError +rtosTimerIsTimerActive(rtosTimerHandle xTimer) +{ + return xTimerIsTimerActive(xTimer); +} + +/** + * @brief Get timer ID + * + * This function is a wrapper for xTimerGetTimerID() in SafeRTOS. + * It updates value at pxTimerID with ID of the requested timer + * configured by the host application while creating it. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxTimerID Pointer to timer ID + * + * @retval rtosPASS for valid timers + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer referring to timer ID + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerGetTimerID(rtosTimerHandle xTimer, rtosTimerIDType *pxTimerID) +{ + return xTimerGetTimerID(xTimer, pxTimerID); +} + +/** + * @brief Get timer local storage object + * + * This function is a wrapper for xTimerTLSObjectGet() in SafeRTOS. + * On success, this function returns pointer to timer local storage + * object defined in timer init parameters. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a timer callback function + * + * @param[in] xTimer Timer handle + * + * @retval NULL for failure + * @retval TimerLSO Pointer to timer local storage object on success + */ +static inline rtosTimerLocalStorageObject +rtosTimerTLSObjectGet(rtosTimerHandle xTimer) +{ + return pvTimerTLSObjectGet(xTimer); +} +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-values.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-values.h new file mode 100644 index 0000000..3ab8b2a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/osa-values.h @@ -0,0 +1,190 @@ +/* Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_VALUES_H +#define OSA__OSA_VALUES_H +#define FSP__OSA__OSA_VALUES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for rtosMutexHandle, FSP__OSPL__RTOS_PORT_H +#include // for evgrpCLEAR_EVENTS_ON_EXIT_BIT, evgrpWAIT_FO... + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/** + * @brief Mapping of SafeRTOS values to rtos value space + * + * @macro-title RTOS boolean values published by OSA layer + * + * @rtosTRUE Defines true state of a boolean variable + * @rtosFALSE Defines false state of a boolean variable + * @rtosPASS Defines return value indicating success + * @rtosFAIL Defines return value indicating failure + */ +#define rtosTRUE ((rtosBool)pdTRUE) +#define rtosFALSE ((rtosBool)pdFALSE) +#define rtosPASS pdPASS +#define rtosFAIL pdFAIL + +/** + * @brief Mapping of SafeRTOS kernel version values to rtos value space + * + * @macro-title Kernel version values published by OSA layer. + * + * @rtosKERNEL_MAJOR_VERSION Defines kernel major version number + * @rtosKERNEL_MINOR_VERSION Defines kernel minor version number + */ +#define rtosKERNEL_MAJOR_VERSION pdKERNEL_MAJOR_VERSION +#define rtosKERNEL_MINOR_VERSION pdKERNEL_MINOR_VERSION + +/** + * @brief Mapping of SafeRTOS event group values to rtos value space + * + * @macro-title Event group values published by OSA layer + * + * @rtosEVENTGRP_CLEAR_EVENTS_ON_EXIT Defines bit-mask mapped to eventgroup + * control flag set to clear event group + * bits on exit + * @rtosEVENTGRP_WAIT_FOR_ALL_BITS Defines bit-mask mapped to eventgroup + * control flag, set to wait until all the + * requested event group bits are set. + */ +#define rtosEVENTGRP_CLEAR_EVENTS_ON_EXIT evgrpCLEAR_EVENTS_ON_EXIT_BIT +#define rtosEVENTGRP_WAIT_FOR_ALL_BITS evgrpWAIT_FOR_ALL_BITS + +/** + * @brief Mapping of SafeRTOS mutex values to rtos value space + * + * @macro-title Mutex state values published by OSA layer + * + * @rtosMUTEX_AVAILABLE Defines state of a mutex object indicating lock is + * available + * @rtosMUTEX_TAKEN Defines state of a mutex object indicating lock is + * acquired + */ +#define rtosMUTEX_TAKEN mutexTAKEN +#define rtosMUTEX_AVAILABLE mutexAVAILABLE + +/** + * @brief Mapping of SafeRTOS semaphore values to rtos value space + * + * @macro-title Semaphore value published by OSA layer + * + * @rtosSEMA_GIVE_NOBLOCK Defines macro to be used for setting semaphore block + * time as 0. + */ +#define rtosSEMA_GIVE_NOBLOCK semSEM_GIVE_BLOCK_TIME + +/** + * @brief Mapping of SafeRTOS task values to rtos value space + * + * @macro-title Task notification values published by OSA layer + * + * @rtosNotification_NO_ACTION Sending task shall use this + * macro if no update is needed + * to the receiving task + * notification value + * @rtosNotification_SET_BITS Sending task shall use this + * macro to update notification + * value of receiving task by + * ORing it with the sent value + * of the receiving task + * @rtosNotification_INCREMENT Sending task shall use this + * macro to increment notification + * value of the receiving task + * @rtosNotification_SET_VALUE_WITH_OVERWRITE Sending task shall use this + * macro to set notification value + * of the receiving task with + * overwrite even if the previous + * notification is pending + * @rtosNotification_SET_VALUE_WITHOUT_OVERWRITE Sending task shall use this + * macro to set notification value + * of the receiving task only if + * there is no previous + * notification pending + * @rtosNotification_NOT_WAITING Defines state of a task + * indicating it's not waiting + * for any notification + * @rtosNotification_WAITING Defines state of a task + * indicating it's waiting + * for a notification + * @rtosNotification_NOTIFIED Defines state of a task + * indicating it has sent the + * notification + * @rtosIDLE_PRIORITY Defines priority of an idle task + */ +#define rtosNotification_NO_ACTION taskNOTIFICATION_NO_ACTION +#define rtosNotification_SET_BITS taskNOTIFICATION_SET_BITS +#define rtosNotification_INCREMENT taskNOTIFICATION_INCREMENT +#define rtosNotification_SET_VALUE_WITH_OVERWRITE taskNOTIFICATION_SET_VALUE_WITH_OVERWRITE +#define rtosNotification_SET_VALUE_WITHOUT_OVERWRITE taskNOTIFICATION_SET_VALUE_WITHOUT_OVERWRITE +#define rtosNotification_NOT_WAITING taskNOTIFICATION_NOT_WAITING +#define rtosNotification_WAITING taskNOTIFICATION_WAITING +#define rtosNotification_NOTIFIED taskNOTIFICATION_NOTIFIED +#define rtosIDLE_PRIORITY taskIDLE_PRIORITY + +/** + * @brief Mapping of SafeRTOS event poll values to rtos value space + * + * @macro-title Event poll values published by OSA layer + * + * @rtoseventpollQUEUE_MESSAGE_WAITING Defines event for a queue object + * indicating the queue contains at + * least one message waiting to be + * received. + * @rtoseventpollQUEUE_SPACE_AVAILABLE Defines event for a queue object + * indicating the queue has space for + * at least one message to be sent + * @rtoseventpollSEMAPHORE_AVAILABLE Defines event for a semaphore object + * indicating it is available + * @rtoseventpollMUTEX_AVAILABLE Defines event for a mutex object + * indicating it is available + * @rtoseventpollTASK_NOTIFICATION_RECEIVED Defines event for a task indicating + * it has received a notification + * @rtoseventpollEVENT_GROUP_BITS_SET Defines event for an eventgroup + * object indicating requested + * eventgroup bits are set. + */ +#define rtosEventPollQUEUE_MESSAGE_WAITING eventpollQUEUE_MESSAGE_WAITING +#define rtosEventPollQUEUE_SPACE_AVAILABLE eventpollQUEUE_SPACE_AVAILABLE +#define rtosEventPollSEMAPHORE_AVAILABLE eventpollSEMAPHORE_AVAILABLE +#define rtosEventPollMUTEX_AVAILABLE eventpollMUTEX_AVAILABLE +#define rtosEventPollTASK_NOTIFICATION_RECEIVED eventpollTASK_NOTIFICATION_RECEIVED +#define rtosEventPollEVENT_GROUP_BITS_SET eventpollEVENT_GROUP_BITS_SET +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/sections-osa.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/sections-osa.h new file mode 100644 index 0000000..958656a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv8/osa/sections-osa.h @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef OSA__SECTIONS_OSA_H +#define OSA__SECTIONS_OSA_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_OSA_DATA SECTION_BUILDER(osa, data) +#define SECTION_NAME_OSA_RODATA SECTION_BUILDER(osa, rodata) +#define SECTION_NAME_OSA_TEXT SECTION_BUILDER(osa, text) +#define SECTION_NAME_OSA_CREATE_TEXT SECTION_BUILDER(create.osa, text) +#define SECTION_NAME_OSA_INIT_DATA SECTION_BUILDER(init.osa, data) +#define SECTION_NAME_OSA_INIT_TEXT SECTION_BUILDER(init.osa, text) + +#define SECTION_STR_OSA_TEXT STR(SECTION_NAME_OSA_TEXT) +#define SECTION_STR_OSA_RODATA STR(SECTION_NAME_OSA_RODATA) +#define SECTION_STR_OSA_DATA STR(SECTION_NAME_OSA_DATA) +#define SECTION_STR_OSA_INIT_TEXT STR(SECTION_NAME_OSA_INIT_TEXT) +#define SECTION_STR_OSA_INIT_DATA STR(SECTION_NAME_OSA_INIT_DATA) +#define SECTION_STR_OSA_CREATE_TEXT STR(SECTION_NAME_OSA_CREATE_TEXT) + +#define SECTION_OSA_TEXT SECTION(SECTION_STR_OSA_TEXT) +#define SECTION_OSA_RODATA SECTION(SECTION_STR_OSA_RODATA) +#define SECTION_OSA_DATA SECTION(SECTION_STR_OSA_DATA) +#define SECTION_OSA_INIT_TEXT SECTION(SECTION_STR_OSA_INIT_TEXT) +#define SECTION_OSA_INIT_DATA SECTION(SECTION_STR_OSA_INIT_DATA) +#define SECTION_OSA_CREATE_TEXT SECTION(SECTION_STR_OSA_CREATE_TEXT) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif + diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/arm/armv7/cortex-r5/ospl/rtos-port-asm.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/arm/armv7/cortex-r5/ospl/rtos-port-asm.h new file mode 100644 index 0000000..8d22bb9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/arm/armv7/cortex-r5/ospl/rtos-port-asm.h @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2021-2023 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#ifndef OSPL__RTOS_PORT_ASM_H +#define OSPL__RTOS_PORT_ASM_H + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#ifdef __ASSEMBLER__ + +.macro rtosIRQ_ENTRY + safertosIRQ_ENTRY + push { R4-R11 } +.endm + +.macro rtosIRQ_EXIT + pop { R4-R11 } + safertosIRQ_EXIT +.endm + +#endif /* #ifdef __ASSEMBLER__ */ + +#endif /* #ifndef OSPL__RTOS_PORT_ASM_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/arm/armv7/cortex-r5/ospl/rtos-port.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/arm/armv7/cortex-r5/ospl/rtos-port.h new file mode 100644 index 0000000..649aea3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/arm/armv7/cortex-r5/ospl/rtos-port.h @@ -0,0 +1,310 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSPL__RTOS_PORT_H +#define OSPL__RTOS_PORT_H +#define FSP__OSPL__RTOS_PORT_H 1 + +/* Compiler headers */ +#include // for uint32_t, int32_t, int16_t + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for configTICK_RATE_HZ, config... + // IWYU pragma: no_include "portmacro.h" +#include // for safertosapiQUEUE_OVERHEAD_BYTES +#include // for eventBitsType, eventGroupType +#include // for evtMplxObjectEventsType +#include // for mpuParameters_t + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__CPU__ARMV7_MPU_SAFERTOS_H, "Header file missing or invalid.") + +/* + * Port specific types and data structures needed by nvosRTOS.h + * + * This file should not be included directly from any other file. + */ + +/** + * @brief Make sure that the sizes of types defined by SafeRTOS are what they + * are expected to be. + */ +CT_ASSERT(sizeof(int16_t) == sizeof(portInt16Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint8_t) == sizeof(portUInt8Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(int8_t) == sizeof(portInt8Type), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(char) == sizeof(portCharType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portStackType), "ASSERT due to data type mismatch.") +CT_ASSERT(sizeof(uint32_t) == sizeof(portTickType), "ASSERT due to data type mismatch.") +#endif + +/** @defgroup RTOS_TYPES RTOS data types + * @{ + */ +/** + * @brief Provide wrapper type definitions for RTOS values to avoid exposing the + * SafeRTOS types directly. + */ +typedef portBaseType rtosError; +typedef void *rtosTaskHandle; +typedef void *rtosEventGroupHandle; +typedef eventGroupType rtosEventGroup; +typedef void *rtosQueueHandle; +typedef void *rtosTimerHandle; +typedef void *rtosTimerLocalStorageObject; +typedef portUnsignedBaseType rtosUCount; +typedef portTickType rtosTick; +typedef portBaseType rtosBool; +typedef portBaseType rtosTimerIDType; +typedef void *rtosMutexHandle; +typedef void *rtosSemaphoreHandle; +typedef void *rtosEventPollHandle; +typedef portUnsignedBaseType rtosTaskNotifyBits; +typedef portUnsignedBaseType rtosEventPollValue; +typedef portBaseType rtosTaskNotifyAction; +typedef portUnsignedBaseType rtosTaskNotifyValue; +typedef portUnsignedBaseType rtosPriority; +typedef portUnsignedBaseType rtosInterruptState; +typedef portUnsignedBaseType rtosMutexState; +typedef eventBitsType rtosEventBits; +typedef portUInt32Type rtosHz; +typedef portUnsignedBaseType rtosPrivilegeLevel; +typedef portUnsignedBaseType rtosUInt32Type; +/** @} */ + +/** + * @defgroup RTOS_OBJECT_SIZE + * Sizes of objects that need to be statically allocated but + * whose contents are not visible to the application. + */ +/** @{ */ +/** Defines size in bytes needed to create a queue */ +#define rtosQUEUE_OVERHEAD_BYTES safertosapiQUEUE_OVERHEAD_BYTES +/** Defines size in bytes needed to create a semaphore object */ +#define rtosSEMAPHORE_OVERHEAD_BYTES safertosapiQUEUE_OVERHEAD_BYTES +/** Defines size in bytes needed to create a mutex object */ +#define rtosMUTEX_OVERHEAD_BYTES safertosapiQUEUE_OVERHEAD_BYTES +/** Defines size in bytes needed to create an event group object */ +#define rtosEVENT_GROUP_OVERHEAD_BYTES sizeof(eventGroupType) +/** Defines size in bytes needed for task control block */ +#define rtosTCB_OVERHEAD_BYTES sizeof(xTCB) +/** Defines size in bytes needed for timer control block */ +#define rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES sizeof(timerControlBlockType) +/** Defines size in bytes needed for timer instance parameters */ +#define rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES \ + sizeof(struct timerInstanceParameters) +/** Defines size in bytes needed to create an event poll object */ +#define rtosEVENT_POLL_OVERHEAD_BYTES(uxMaximumRegisteredObjectEvents) \ + evtmplxGET_REQUIRED_CREATE_BUFFER_SIZE(uxMaximumRegisteredObjectEvents) +/** @} */ + +/** + * @brief Provide wrapper definition for pointer to RTOS task function. + */ +typedef pdTASK_CODE rtosTaskFunction; + +/** + * @brief Provide a wrapper data type to encapsulate MPU related information + */ +typedef mpuParameters_t rtosMPURegionConfig; + +/** + * @brief Provide wrapper definition for pointer to RTOS timer callback function + * which gets invoked when a timer expires. + */ +typedef void (*rtosTimerCallbackFunction)(void * pvParameters); + +/** + * @struct rtosTaskParameters + * @brief Structure with RTOS task parameters + * @{ + */ +typedef struct { + /** Pointer to task entry function */ + rtosTaskFunction pvTaskCode; + /** Task descriptive name */ + const char *pcTaskName; + /** Pointer to task control block */ + void *pxTCB; + /** Pointer to task stack buffer */ + void *pcStackBuffer; + /** Size of task stack buffer in bytes. The minimum allowable size for the stack buffer is portdependent */ + rtosUCount uxStackDepthBytes; + /** Pointer to task parameters */ + void *pvParameters; + /** Priority of task. Valid range is [0 - (configMAX_PRIORITIES - 1]) */ + rtosPriority uxPriority; + /** Pointer to user defined data associated with this task */ + void *pvObject; + /** Bool to indicate use of FPU */ + rtosBool xUsingFPU; + /** Task Privilege level */ + rtosPrivilegeLevel uxPrivilegeLevel; + /** Pointer to task MPU parameters */ + rtosMPURegionConfig *pxMPUParameters; +} rtosTaskParameters; +/** @} */ + +/** + * @struct rtosSchedParameters + * @brief Structure supplied to rtosTaskInitializeScheduler() + * @{ + */ +typedef struct { + /** Speed of the system clock */ + rtosHz ulCPUClockHz; + /** Desired frequency of kernel tick */ + rtosHz ulTickRateHz; + /** Lower limit on number of bytes that should be left in the stack post context switch. Can be set greater than or equal to 0 */ + rtosUCount uxAdditionalStackCheckMarginBytes; + /** Pointer to the lowest address of task buffer to hold idle task*/ +#if defined(SAFERTOS_VARIANT_SVC) && (SAFERTOS_VARIANT_SVC == 1) + /** Base address for SVC stack */ + void *pcSVCStackBaseAddress; +#endif + /** Pointer to the lowest address of task buffer to hold idle task */ + void *pcIdleTaskStackBuffer; + /** Number of bytes in the stack buffer to be kept for idle task. Should be greater than 0 */ + rtosUCount uxIdleTaskStackSizeBytes; + /** Bool variable to indicate use of FPU by idle task */ + rtosBool xIdleTaskUsingFPU; + /** Idle task privilege level [RTOS_SYSTEM_MODE, RTOS_USER_MODE] */ + rtosPrivilegeLevel uxIdleTaskPrivilegeLevel; + /** Pointer to idle task MPU parameter structure*/ + rtosMPURegionConfig *pxIdleTaskMPUParameters; + /** Idle task timer local storage object */ + void *pvIdleTaskTLSObject; + /** Priority of timer service. Valid range is [0 - (configMAX_PRIORITIES - 1)]*/ + rtosPriority uxTimerTaskPriority; + /** Number of bytes in stack buffer to be kept for timer task. Should be greater than 0 */ + rtosUCount uxTimerTaskStackSize; + /** Pointer to the timer task stack buffer */ + void *pcTimerTaskStackBuffer; + /** Timer command queue length. Should be greater than 0 */ + rtosUCount uxTimerCommandQueueLength; + /** Timer command queue buffer size. Size of the buffer should be at least enough to accommodate the entire command queue */ + rtosUCount uxTimerCommandQueueBufferSize; + /** Pointer to timer command queue buffer */ + void *pcTimerCommandQueueBuffer; + /** Pointer to timer task MPU parameters */ + rtosMPURegionConfig *pxTimerTaskMPUParameters; +} rtosSchedParameters; +/** @} */ + +/** + * @struct rtosTimerInitParametersType + * @brief Structure supplied to rtosTimerCreate() + * @{ + */ +typedef struct { + /** Descriptive name of the timer */ + const char *pcTimerName; + /** Timer period in ticks. Should be greater than 0 */ + rtosTick xTimerPeriodInTicks; + /** Bool variable to indicate if timer is periodic */ + rtosBool xIsPeriodic; + /** Timer ID */ + rtosTimerIDType xTimerID; + /** Pointer to timer control block */ + void *pxNewTimer; + /** Timer callback function */ + rtosTimerCallbackFunction pxCallbackFunction; + /** Timer instance to which the timer belongs */ + void *pxTimerInstance; + /** Pointer to user defined data associated with this timer */ + void *pvObject; + /** Task handle to notify about timer expiry */ + rtosTaskHandle xTaskToNotify; +} rtosTimerInitParametersType; +/** @} */ + +/** + * @brief Wrapper structure for RTOS object-events + */ +#define rtosEventPollObjectEventsType evtMplxObjectEventsType + +/** + * @defgroup RTOS_ARCH_VALUES Provide wrapper definitions for general architecture specific values + * @{ + */ +/** Defines maximum delay supported by rtos */ +#define rtosMAX_DELAY safertosapiMAX_DELAY +/** Defines maximum list items supported by rtos */ +#define rtosMAX_LIST_ITEM_VALUE portMAX_LIST_ITEM_VALUE +/** Defines alignment value set for queue buffer */ +#define rtosWORD_ALIGNMENT safertosapiWORD_ALIGNMENT +/** Defines alignment mask corresponding to alignment value set for queue buffer */ +#define rtosWORD_ALIGNMENT_MASK portWORD_ALIGNMENT_MASK +/** Defines alignment value set for stack buffer */ +#define rtosSTACK_ALIGNMENT safertosapiSTACK_ALIGNMENT +/** Defines alignment mask corresponding to alignment value set for stack buffer */ +#define rtosSTACK_ALIGNMENT_MASK portSTACK_ALIGNMENT_MASK +/** Defines context size in bytes without FPU */ +#define rtosCONTEXT_SIZE_NO_FPU portCONTEXT_SIZE_BYTES_NO_FPU +/** Defines context size in bytes with FPU in use */ +#define rtosCONTEXT_SIZE_WITH_FPU portCONTEXT_SIZE_BYTES_WITH_FPU +/** Defines state value indicating stack is in use */ +#define rtosSTACK_IN_USE portSTACK_IN_USE +/** Defines state value indicating stack is not in use */ +#define rtosSTACK_NOT_IN_USE portSTACK_NOT_IN_USE +/** Defines state value indicating stack is not in use */ +#define rtosTICK_COUNT_BITS portTICK_COUNT_NUM_BITS +/** Defines frequency of the underlying RTOS scheduler tick */ +#define rtosTICK_RATE_HZ configTICK_RATE_HZ +/** Defines number of ticks per millisecond */ +#define rtosTICK_RATE_MS configTICK_RATE_MS +/** @} */ +extern portUInt32Type xHookGetRTSCounter(void); + +/** + * @defgroup RTOS_OP_MODES Macro definitions for ARM state values. + * @} + */ +/** Defines value indicating ARM system mode operation */ +#define RTOS_SYSTEM_MODE safertosapiPRIVILEGED_TASK +/** Defines value indicating ARM system mode operation */ +#define RTOS_USER_MODE safertosapiUNPRIVILEGED_TASK +#if defined(safertosapiSVC_API_PORT_RC_VERSION) +/** Use SVC variant of SafeRTOS */ +#define RTOS_PORT_RC_VERSION safertosapiSVC_API_PORT_RC_VERSION +#endif +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-errors.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-errors.h new file mode 100644 index 0000000..aeeba58 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-errors.h @@ -0,0 +1,205 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_ERRORS_H +#define OSA__OSA_ERRORS_H +#define FSP__OSA__OSA_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for FSP__BASE__MODULE_ID_H, MODULE_ERROR_MODULE + +/* Module-specific FSP headers */ +#include // for errSUPPLIED_BUFFER_TOO_SMALL, errBAD_OR_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") + +/* + * Ensure that the native SafeRTOS error code map can map into the global + * error code space with no other manipulation. + */ +CT_ASSERT(MODULE_ERROR_MODULE(errSUPPLIED_BUFFER_TOO_SMALL) == MODULE_ID_RTOS, "SafeRTOS error codes collide with FSP error codes.") +/** + * @defgroup RTOS_ERROR RTOS error codes + * @{ + */ +/** Error value returned if supplied buffer is too small to create a kernel object */ +#define E_RTOS_SUPPLIED_BUFFER_TOO_SMALL errSUPPLIED_BUFFER_TOO_SMALL +/** Error value returned for invalid task priority */ +#define E_RTOS_INVALID_PRIORITY errINVALID_PRIORITY +/** Error value returned if queue is full and cannot accept a new request */ +#define E_RTOS_QUEUE_FULL errQUEUE_FULL +/** Error returned for invalid byte alignment */ +#define E_RTOS_INVALID_ALIGNMENT errINVALID_ALIGNMENT +/** Error value returned if null is supplied as an input parameter*/ +#define E_RTOS_NULL_PARAMETER_SUPPLIED errNULL_PARAMETER_SUPPLIED +/** Error value returned if requested queue length is invalid */ +#define E_RTOS_INVALID_QUEUE_LENGTH errINVALID_QUEUE_LENGTH +/** Error value returned for invalid input task code pointer */ +#define E_RTOS_INVALID_TASK_CODE_POINTER errINVALID_TASK_CODE_POINTER +/** Error value returned if request could not be processed because the scheduler was suspended */ +#define E_RTOS_SCHEDULER_IS_SUSPENDED errSCHEDULER_IS_SUSPENDED +/** Error value returned for invalid input task handle */ +#define E_RTOS_INVALID_TASK_HANDLE errINVALID_TASK_HANDLE +/** Error value returned if task did not yield for a yield request */ +#define E_RTOS_DID_NOT_YIELD errDID_NOT_YIELD +/** Error value returned if request to suspend a task could not be processed because the task was already suspended */ +#define E_RTOS_TASK_ALREADY_SUSPENDED errTASK_ALREADY_SUSPENDED +/** Error value returned if request to resume a task could not be processed because the task was not suspended */ +#define E_RTOS_TASK_WAS_NOT_SUSPENDED errTASK_WAS_NOT_SUSPENDED +/** Error value returned if request to start a scheduler could not be processed as no tasks are created */ +#define E_RTOS_NO_TASKS_CREATED errNO_TASKS_CREATED +/** Error value returned if request to start a scheduler could not be processed because scheduler was already running */ +#define E_RTOS_SCHEDULER_ALREADY_RUNNING errSCHEDULER_ALREADY_RUNNING +/** Error value returned for invalid input queue handle*/ +#define E_RTOS_INVALID_QUEUE_HANDLE errINVALID_QUEUE_HANDLE +/** Error value returned for invalid input semaphore handle*/ +#define E_RTOS_INVALID_SEMAPHORE_HANDLE errINVALID_SEMAPHORE_HANDLE +/** Error value returned for invalid input mutex handle*/ +#define E_RTOS_INVALID_MUTEX_HANDLE errINVALID_MUTEX_HANDLE +/** Error value returned for erroneous request to unblock a task */ +#define E_RTOS_ERRONEOUS_UNBLOCK errERRONEOUS_UNBLOCK +/** Error value returned if request to pick a task from the queue could not be processed because queue was empty */ +#define E_RTOS_QUEUE_EMPTY errQUEUE_EMPTY +/** Error value returned if request to acquire a semaphore could not be processed because semaphore was already taken*/ +#define E_RTOS_SEMAPHORE_ALREADY_TAKEN errSEMAPHORE_ALREADY_TAKEN +/** Error value returned if request to release a semaphore could not be processed because semaphore was already given*/ +#define E_RTOS_SEMAPHORE_ALREADY_GIVEN errSEMAPHORE_ALREADY_GIVEN +/** Error value returned if request to acquire a mutex could not be processed because it was already taken*/ +#define E_RTOS_MUTEX_ALREADY_TAKEN errMUTEX_ALREADY_TAKEN +/** Error value returned for invalid input tick value */ +#define E_RTOS_INVALID_TICK_VALUE errINVALID_TICK_VALUE +/** Error value returned for invalid task selection */ +#define E_RTOS_INVALID_TASK_SELECTED errINVALID_TASK_SELECTED +/** Error value returned when task stack overflows */ +#define E_RTOS_TASK_STACK_OVERFLOW errTASK_STACK_OVERFLOW +/** Error value returned if request to resume scheduler could not be processed because scheduler was already running */ +#define E_RTOS_SCHEDULER_WAS_NOT_SUSPENDED errSCHEDULER_WAS_NOT_SUSPENDED +/** Error value returned for invalid input buffer size */ +#define E_RTOS_INVALID_BUFFER_SIZE errINVALID_BUFFER_SIZE +/** Error value returned for invalid tick rate*/ +#define E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION errBAD_OR_NO_TICK_RATE_CONFIGURATION +/** Error value returned for error in the vector table */ +#define E_RTOS_ERROR_IN_VECTOR_TABLE errERROR_IN_VECTOR_TABLE +/** Error value returned for invalid MPU configuration */ +#define E_RTOS_INVALID_MPU_REGION_CONFIGURATION errINVALID_MPU_REGION_CONFIGURATION +/** Error value returned for invalid MMU configuration */ +#define E_RTOS_INVALID_MMU_REGION_CONFIGURATION errINVALID_MMU_REGION_CONFIGURATION +/** Error value returned if task stack supplied to initialize a scheduler is already in use */ +#define E_RTOS_TASK_STACK_ALREADY_IN_USE errTASK_STACK_ALREADY_IN_USE +/** Error value returned if MPU does not exist in the device*/ +#define E_RTOS_NO_MPU_IN_DEVICE errNO_MPU_IN_DEVICE +/** Error value returned if a task is expected to run in privileged mode but currently running in unprivileged mode */ +#define E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE errEXECUTING_IN_UNPRIVILEGED_MODE +/** Error value returned on detection of RTS calculation error */ +#define E_RTOS_RTS_CALCULATION_ERROR errRTS_CALCULATION_ERROR +/** Error value returned for invalid percentage handle */ +#define E_RTOS_INVALID_PERCENTAGE_HANDLE errINVALID_PERCENTAGE_HANDLE +/** Error value returned for invalid initial semaphore count */ +#define E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT errINVALID_INITIAL_SEMAPHORE_COUNT +/** Error value returned for ROM integrity check failures*/ +#define E_RTOS_ROM_INTEGRITY_CHECK_FAILED errROM_INTEGRITY_CHECK_FAILED +/** Error value returned if request is already in progress*/ +#define E_RTOS_IN_PROGRESS errIN_PROGRESS +/** Error value returned for invalid input parameters */ +#define E_RTOS_INVALID_PARAMETERS errINVALID_PARAMETERS +/** Error value returned for spurious interrupt */ +#define E_RTOS_SPURIOUS_INTERRUPT errSPURIOUS_INTERRUPT +/** Error value returned for spurious fast interrupt */ +#define E_RTOS_SPURIOUS_FAST_INTERRUPT errSPURIOUS_FAST_INTERRUPT +/** Error value returned for RAM integrity check failures */ +#define E_RTOS_RAM_INTEGRITY_CHECK_FAILED errRAM_INTEGRITY_CHECK_FAILED +/** Error value returned for invalid input timer handle */ +#define E_RTOS_INVALID_TIMER_HANDLE errINVALID_TIMER_HANDLE +/** Error value returned for invalid timer task instance */ +#define E_RTOS_INVALID_TIMER_TASK_INSTANCE errINVALID_TIMER_TASK_INSTANCE +/** Error value returned if request to create a new timer could not be processed because the supplied timer handle was already in use */ +#define E_RTOS_TIMER_ALREADY_IN_USE errTIMER_ALREADY_IN_USE +/** Error value returned if notification is not received until timeout */ +#define E_RTOS_NOTIFICATION_NOT_RECEIVED errNOTIFICATION_NOT_RECEIVED +/** Error value returned if a new request to wait for notification arises while the task is still waiting for notification */ +#define E_RTOS_NOTIFICATION_ALREADY_PENDING errNOTIFICATION_ALREADY_PENDING +/** Error value returned if the task is already part of the event list */ +#define E_RTOS_TASK_WAS_ALSO_ON_EVENT_LIST errTASK_WAS_ALSO_ON_EVENT_LIST +/** Error value returned if request to create a new queue could not be processed because input queue handle was already in use */ +#define E_RTOS_QUEUE_ALREADY_IN_USE errQUEUE_ALREADY_IN_USE +/** Error value returned if request to create a new event group could not be processed because input event group handle was already in use */ +#define E_RTOS_EVENT_GROUP_ALREADY_IN_USE errEVENT_GROUP_ALREADY_IN_USE +/** Error value returned for invalid input event group handle*/ +#define E_RTOS_INVALID_EVENT_GROUP_HANDLE errINVALID_EVENT_GROUP_HANDLE +/** Error value returned if event group bits could not be set */ +#define E_RTOS_EVENT_GROUP_BITS_NOT_SET errEVENT_GROUP_BITS_NOT_SET +/** Error value returned if event group request could not be processed as referred object is deleted */ +#define E_RTOS_EVENT_GROUP_DELETED errEVENT_GROUP_DELETED +/** Error value returned if mutex request could not be processed as mutex is not owned by the caller */ +#define E_RTOS_MUTEX_NOT_OWNED_BY_CALLER errMUTEX_NOT_OWNED_BY_CALLER +/** Error value returned if mutex got corrupted */ +#define E_RTOS_MUTEX_CORRUPTED errMUTEX_CORRUPTED +/** Error value returned if next unblock time for the referred task expired */ +#define E_RTOS_NEXT_UNBLOCK_TIME_EXPIRED errNEXT_UNBLOCK_TIME_EXPIRED +/** Error value returned if task got unblocked after next unblock time */ +#define E_RTOS_WOKEN_UP_AFTER_NEXT_UNBLOCK_TIME errWOKEN_UP_AFTER_NEXT_UNBLOCK_TIME +/**Error value returned if tickless mode is not supported */ +#define E_RTOS_TICKLESS_MODE_NOT_SUPPORTED errTICKLESS_MODE_NOT_SUPPORTED +/** Error value returned if request to create a new event poll object could not be processed as event poll object handle was already in use */ +#define E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE errEVT_MPLX_OBJECT_ALREADY_IN_USE +/** Error value returned if the request could not be processed because scheduler is not running */ +#define E_RTOS_SCHEDULER_IS_NOT_RUNNING errSCHEDULER_IS_NOT_RUNNING +/** Error value returned if no more target objects can be registered with the referred event poll object */ +#define E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED errEVT_MPLX_OBJECT_EVENTS_LIMIT_REACHED +/** Error value returned for invalid event poll operation */ +#define E_RTOS_INVALID_EVENT_POLL_OPERATION errINVALID_EVT_MPLX_OPERATION +/** Error value returned for invalid event poll handle */ +#define E_RTOS_INVALID_EVENT_POLL_HANDLE errINVALID_EVT_MPLX_HANDLE +/** Error value returned for invalid event poll events for the target object */ +#define E_RTOS_INVALID_EVENT_POLL_EVENTS errINVALID_EVT_MPLX_EVENTS +/** Error returned if no event has occurred while waiting for events registered with event poll object */ +#define E_RTOS_EVENT_POLL_NO_EVENTS_OCCURRED errEVT_MPLX_NO_EVENTS_OCCURRED +/** Error value returned for invalid data range */ +#define E_RTOS_INVALID_DATA_RANGE errINVALID_DATA_RANGE +/** Error value returned if no hook has been defined to setup ticks*/ +#define E_RTOS_NO_TICK_SETUP_HOOK_DEFINED errNO_TICK_SETUP_HOOK_DEFINED +/** @} */ +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-event-group.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-event-group.h new file mode 100644 index 0000000..3a8d179 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-event-group.h @@ -0,0 +1,387 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_EVENT_GROUP_H +#define OSA__OSA_EVENT_GROUP_H +#define FSP__OSA__OSA_EVENT_GROUP_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for UNUSED + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosEventGroupHandle, rtosEventBits, rto... +#include // IWYU pragma: export + // IWYU pragma: no_include "eventGroupsAPI.h" + // for xEventGroupClearBitsFromISR, xEvent... + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif + +/** + * @brief Create an event group + * + * This function is a wrapper for xEventGroupCreate() in SafeRTOS to create an + * event group object. + * It updates pointer to the event group handle to point to the newly + * created event group + * + * @pre + * - A variable of type rtosEventGroup, r/w accessible to RTOS kernel at all + * times has been declared to handle the event group object + * + * - Called from a non-interrupt context + * + * @param[in] pxEventGroup Pointer to the pre-declared event group variable + * of type rtosEventGroup + * @param[out] pxEventGroupHandle Pointer to the event group handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null Input parameter + * @retval E_RTOS_EVENT_GROUP_ALREADY_IN_USE Event handle supplied is valid and + * must be deleted before creating a + * new group + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosEventGroupCreate(rtosEventGroup *pxEventGroup, + rtosEventGroupHandle *pxEventGroupHandle) +{ + return xEventGroupCreate(pxEventGroup, + pxEventGroupHandle); +} + +/** + * @brief Delete an event group + * + * This function is a wrapper for xEventGroupDelete() in SafeRTOS to delete an + * event group object. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * - Scheduler has been started. + * + * @param[in] xHandle Event group handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + */ +static inline rtosError +rtosEventGroupDelete(rtosEventGroupHandle xHandle) +{ + return xEventGroupDelete(xHandle); +} + +/** + * @brief Get event group bits. + * + * This function is a wrapper for xEventGroupGetBits() in SafeRTOS to + * read the status of event group bits. + * It updates the pointer to event group bits with latest bitmask of + * set fields in the event group. + * + * @pre + * - An event group object has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] pxEventBitsSet Pointer to event group bits + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosEventGroupGetBits(rtosEventGroupHandle xHandle, + rtosEventBits *pxEventBitsSet) +{ + return xEventGroupGetBits(xHandle, + pxEventBitsSet); +} + +/** + * @brief Get event group bits from ISR. + * + * This function is a wrapper for xEventGroupGetBitsFromISR() in SafeRTOS to + * read the status of event group bits from an ISR + * It updates the pointer to event group bits with latest bitmask of set fields + * within the event group in an ISR context. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] pxEventBitsSet Pointer to event group bits + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosEventGroupGetBitsFromISR(rtosEventGroupHandle xHandle, + rtosEventBits *pxEventBitsSet) +{ + return xEventGroupGetBitsFromISR(xHandle, + pxEventBitsSet); +} + +/** + * Set event group bits + * + * This function is a wrapper for xEventGroupSetBits() in SafeRTOS to set one + * or more bits to '1' in an event group + * Sets required fields within the event group based on bitmask sent as an + * argument. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToSet Bit mask to set required fields in the event group + * Size of rtosEventBits type is platform dependent. + * For ARM Cortex-R5, it is 32-bits. Since most + * significant byte is used for control purposes, valid + * bitmask range is 0 - 23 bits. + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + */ +static inline rtosError +rtosEventGroupSetBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToSet) +{ + return xEventGroupSetBits(xHandle, + xBitsToSet); +} + +/** + * Set event group bits from ISR + * + * This function is a wrapper for xEventGroupSetBitsFromISR() in SafeRTOS to + * set one or more event group bits to '1' in an interrupt-context. + * Sets required fields within the event group based on bitmask sent as an + * argument. + * It sets the value at pbHigherPriorityTaskWoken if calling this function + * unblocks a task of priority higher than currently running task indicating + * that a context switch is needed before exiting the ISR + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToSet Bitmask to set required fields in the + * event group. Valid bitmask range for + * ARM Cortex-R5 processor is 0 - 23 bits. + * @param[out] pbHigherPriorityTaskWoken Pointer to rtosbool variable + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * @retval E_RTOS_QUEUE_FULL Queue associated with event group + * object is full and cannot accept + * incoming event group request + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosEventGroupSetBitsFromISR(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToSet, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xEventGroupSetBitsFromISR(xHandle, + xBitsToSet); +} + +/** + * @brief Clear required event group bits + * + * This function is a wrapper for xEventGroupClearBits() in SafeRTOS to clear + * one or more bits in an event group + * Clears required fields within the event group based on bitmask sent as an + * argument. + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToClear Bitmask to clear required fields. + * Valid bit mask range for ARM Cortex-R5 processor is + * 0 - 23 bits. + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * + */ +static inline rtosError +rtosEventGroupClearBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToClear) +{ + return xEventGroupClearBits(xHandle, + xBitsToClear); +} + +/** + * @brief Clear required event group bits from ISR + * + * This function is a wrapper for xEventGroupClearBitsFromISR() in SafeRTOS to + * clear one or more event group bits in an interrupt context. + * Clears required fields within the event group based on bitmask sent as an + * argument. + * It sets value at pbHigherPriorityTaskWoken if calling this function unblocks + * a higher priority task than current task indicating a context switch is + * needed before exiting from ISR + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from an interrupt context. + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToClear Bitmask to clear required fields in + * the event group. Valid bitmask range + * for ARM Cortex-R5 processor is 0 - 23 + * bits + * @param[out] pbHigherPriorityTaskWoken Pointer to rtosbool variable + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null input parameter + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * @retval E_RTOS_QUEUE_FULL Queue associated with event group + * object is full and cannot accept + * incoming event group request + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosEventGroupClearBitsFromISR(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToClear, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xEventGroupClearBitsFromISR(xHandle, + xBitsToClear); +} + +/** + * @brief Wait for one or more bits to set within an event group until timeout + * + * This function is a wrapper for xEventGroupWaitBits() in SafeRTOS to wait until + * given pattern of event group bits is set + * Calling task blocks on waiting for required bit fields to be set as long as wait + * condition is met until timeout + * + * @pre + * - An event group object has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * @param[in] xHandle Event group handle + * @param[in] xBitsToWaitFor Bitmask to check for required fields. Valid range + * of bitmask on ARM Cortex-R5 processor is + * 0 - 23 bits + * @param[in] xClearOnExit Set this bool variable to clear all the bit fields + * before exiting wait + * @param[in] xWaitForAllBits Set this bool variable if all the required bit + * fields should be set to exit from wait + * @param[in] pxEventBitsSet Pointer to event group bits. Before exiting from + * wait, value at this address is updated with the + * status of event group bits + * @param[in] xTicksToWait Timeout in ticks for which the calling task should + * be held in blocked state waiting for the pattern + * condition to be set. A value of zero prevents the + * task from entering the blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_EVENT_GROUP_HANDLE Invalid event group handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid parameters + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null parameter for event group + * handle + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_EVENT_GROUP_DELETED Event group deleted + * @retval E_RTOS_EVENT_GROUP_BITS_NOT_SET Required event group bits not set + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosEventGroupWaitBits(rtosEventGroupHandle xHandle, + const rtosEventBits xBitsToWaitFor, + const rtosBool xClearOnExit, + const rtosBool xWaitForAllBits, + rtosEventBits *pxEventBitsSet, + rtosTick xTicksToWait) +{ + return xEventGroupWaitBits(xHandle, + xBitsToWaitFor, + (portBaseType)xClearOnExit, + (portBaseType)xWaitForAllBits, + pxEventBitsSet, + xTicksToWait); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-event-poll.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-event-poll.h new file mode 100644 index 0000000..34aaa74 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-event-poll.h @@ -0,0 +1,315 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_EVENT_POLL_H +#define OSA__OSA_EVENT_POLL_H +#define FSP__OSA__OSA_EVENT_POLL_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosEventPollHandle, rtosUCount, rtosEve... +#include // IWYU pragma: keep + // for xQUEUE +#include // IWYU pragma: export + // IWYU pragma: no_include "evtmplxAPI.h" + // for eventPollObjectEventsType + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif + +/** + * @brief Computes the size needed for rtosEventPollCreate + * + * @param[in] uxMaximumRegisteredObjectEvents Maximum number of object events + * supported with the event poll + * object + * + * @retval NumberOfBytes Size of event poll object in bytes. + */ +#define rtosEventPollSize(uxMaximumRegisteredObjectEvents)\ + rtosEVENT_POLL_OVERHEAD_BYTES(uxMaximumRegisteredObjectEvents) + +/** + * @brief Create an event poll object + * + * This function is a wrapper for xEventPollCreate() in SafeRTOS to create + * an event poll object + * It updates pointer to the event poll handle to point to the newly + * created event group + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle an event poll object. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] pcEventPollMemoryBuffer Pointer to the memory at which + * event poll object will be created + * @param[in] uxBufferLengthInBytes Buffer length to handle event poll + * group. It should be equal to + * rtosEventPollSize() + * @param[in] uxMaximumRegisteredObjectEvents Limit on the number of targets + * that can register to the event + * poll group. Should be equal to + * uxMaximumRegisteredObjectEvents used + * while creating memory for the event + * poll object + * @param[in] xOwnerTaskHandle Handle of task creating/owning the + * event group. + * @param[out] pxEventPollHandle Pointer to the event poll handle + * + * @retval rtosPASS on success + * @retval E_RTOS_EVENT_POLL_OBJECT_ALREADY_IN_USE Input event poll buffer + * already in use + * @retval E_RTOS_INVALID_DATA_RANGE Invalid input memory address + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null parameter supplied for + * Event poll handle/Task handle + * /Memory buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer not word aligned + * @retval E_RTOS_INVALID_PARAMETERS Invalid input parameter to + * set maximum number of + * registered objects. + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid input task handle + */ +static inline rtosError +rtosEventPollCreate(void *pcEventPollMemoryBuffer, + rtosUCount uxBufferLengthInBytes, + rtosUCount uxMaximumRegisteredObjectEvents, + rtosTaskHandle xOwnerTaskHandle, + rtosEventPollHandle * pxEventPollHandle) +{ + return xEvtMplxCreate((portInt8Type *)pcEventPollMemoryBuffer, + uxBufferLengthInBytes, uxMaximumRegisteredObjectEvents, + xOwnerTaskHandle, pxEventPollHandle); +} + +/** + * @brief Register a target object event to the event poll object + * + * This function is a wrapper for xEventPollAddObjectEvents() in SafeRTOS + * It registers target object along with the specified events to the + * event poll group referenced using handle sent as an argument. + * + * @pre + * - An event poll object has been created with a valid handle referring to it + * + * - An RTOS kernel object has been created with a valid handle referring to it + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to the event poll group + * @param[in] pvTargetObjectHandle Handle referring to the target object. + * @param[in] uxEvents Events to register with poll group concerning + * target object + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION Input target object is + * already registered with + * event poll object. + * @retval E_RTOS_EVENT_POLL_OBJECT_EVENTS_LIMIT_REACHED No more target objects + * can be registered with + * event poll object + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll + * object handle/ + * target object handle + * @retval E_RTOS_INVALID_EVENT_POLL_EVENTS Attempt to set invalid + * events for the target + * object + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + */ +static inline rtosError +rtosEventPollAddObjectEvents(rtosEventPollHandle xEventPollHandle, + void *pvTargetObjectHandle, + rtosEventPollValue uxEvents) +{ + return xEvtMplxAddObjectEvents(xEventPollHandle, pvTargetObjectHandle, uxEvents); +} + +/** + * @brief Modify object-events of a target object within event poll group + * + * This function is a wrapper for xEventPollModifyObjectEvents() in SafeRTOS. + * It modifies object-events concerning a target object registered with + * event poll group referred using handle sent as an argument. + * + * @pre + * - Target object associated with referred object event has been registered + * with an event poll object + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to the event poll group + * @param[in] pvTargetObjectHandle Handle referring to the target object. + * @param[in] uxEvents Event poll value to be set for the target + * object registered with poll group. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION Input target object not + * registered with referred event + * poll object. + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll object + * handle/Target object handle + * @retval E_RTOS_INVALID_EVENT_POLL_EVENTS Attempt to set invalid events + * for the target object + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + */ +static inline rtosError +rtosEventPollModifyObjectEvents(rtosEventPollHandle xEventPollHandle, + const void *pvTargetObjectHandle, + rtosEventPollValue uxEvents) +{ + return xEvtMplxModifyObjectEvents(xEventPollHandle, pvTargetObjectHandle, + uxEvents); +} + +/** + * @brief Unregister target object along with associated events from event poll + * object + * + * This is a wrapper function for xEventPollRemoveObjectEvents() in SafeRTOS. + * It unregisters target-object along with its events from the event poll object + * + * @pre + * - Referred target object has been registered with the input event poll object. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to the event poll group + * @param[in] pvTargetObjectHandle Handle referring to the target object. + * + * @retval rtosTRUE on success + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running. Request + * cannot be processed. + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll object/ + * Target object handle + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION Input target object not registered + * with referred event poll object. + */ +static inline rtosError +rtosEventPollRemoveObjectEvents(rtosEventPollHandle xEventPollHandle, + const void *pvTargetObjectHandle) +{ + return xEvtMplxRemoveObjectEvents(xEventPollHandle, pvTargetObjectHandle); +} + + +/** + * @brief Wait for an event registered with event poll object + * + * This function is a wrapper for xEventPollWait() in SafeRTOS. + * Object-events invoked by the event poll object referenced + * using supplied handle are copied to the input object-events array. + * If none of the registered object-events have occurred, this function blocks + * the calling task waiting for an object-event until timeout. + * + * @pre + * - Referred target object events have been registered with input event poll + * object. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xEventPollHandle Handle referring to event poll object + * @param[in] uxObjectEventsArraySize Size of input array to store object-event. + * Should be at least equal to + * uxMaximumRegisteredObjectEvents defined + * during event poll object creation + * @param[in] xTicksToWait Timeout in ticks to wait until an event occurs. + * @param[out] puxNumberOfObjectEvents Pointer to a count variable to store + * number of object-events that occurred + * @param[out] axObjectEvents[] Array to store info of object-events that + * occurred. Length of this array should be at least + * equal to uxMaximumRegisteredObjectEvents defined + * during event poll object creation + * + * @retval rtosPASS on success. + * @retval E_RTOS_SCHEDULER_IS_NOT_RUNNING Scheduler is not running. Request + * cannot be processed. + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null set for event poll object + * handle/target object handle/array + * to store object-events/pointer to + * store number of object-events + * @retval E_RTOS_INVALID_EVENT_POLL_HANDLE Invalid event poll handle + * @retval E_RTOS_INVALID_EVENT_POLL_OPERATION No object-event registered with + * referred event poll object. + * @retval E_RTOS_INVALID_PARAMETERS Zero size set for axObjectEvents + * array + * @retval E_RTOS_INVALID_DATA_RANGE Invalid length of the axObjectEvents + * array. + * @retval E_RTOS_EVENT_GROUP_DELETED Event group corresponding to the object + * events deleted + * @retval E_RTOS_NO_EVENT_OCCURRED No event occurred before the timeout + */ +static inline rtosError +rtosEventPollWait(rtosEventPollHandle xEventPollHandle, + rtosEventPollObjectEventsType axObjectEvents[], + rtosUCount uxObjectEventsArraySize, + rtosUCount * puxNumberOfObjectEvents, + rtosTick xTicksToWait ) +{ + return xEvtMplxWait(xEventPollHandle, + (evtMplxObjectEventsType *)axObjectEvents, + uxObjectEventsArraySize, puxNumberOfObjectEvents, + xTicksToWait); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-mutex.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-mutex.h new file mode 100644 index 0000000..467bdbd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-mutex.h @@ -0,0 +1,197 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_MUTEX_H +#define OSA__OSA_MUTEX_H +#define FSP__OSA__OSA_MUTEX_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosMutexHandle, FSP__OSPL__RTOS_PORT_H +#include // IWYU pragma: keep + // for xQUEUE +#include // IWYU pragma: export + // IWYU pragma: no_include "mutex.h" + // for xMutexGetState + + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif +/** + * @brief Computes the size needed for rtosMutexCreate. + * + * @retval NumberOfBytes Size of mutex object in bytes + */ +#define rtosMutexSize() rtosMUTEX_OVERHEAD_BYTES + +/** + * @brief Create a mutex lock + * + * This function is a wrapper for xMutexCreate() in SafeRTOS to create + * a mutex object. + * It updates pointer to the handle sent as an argument + * with newly created mutex + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a mutex object + * + * - Called from a non-interrupt context + * + * @param[in] pcMutexBuffer Pointer to the memory location at which mutex + * will be created. Size of the mutex buffer + * is rtosMutexSize() + * Mutex buffer shall be 4-byte aligned + * @param[in] pxMutex Mutex handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue object referring to a + * mutex already associated with + * the input memory buffer + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL supplied for input parameters + * @retval E_RTOS_INVALID_DATA_RANGE Data could not be written in the input buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer is not word aligned + */ +static inline rtosError +rtosMutexCreate(void *pcMutexBuffer, + rtosMutexHandle *pxMutex) +{ + return xMutexCreate((portInt8Type *)pcMutexBuffer, + pxMutex); +} + +/** + * @brief Acquire a mutex + * + * This function is a wrapper for xMutexTake() in SafeRTOS to acquire a mutex + * + * @pre + * - A mutex has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] xMutex Mutex handle + * @param[in] xBlockTime Timeout in ticks to wait until mutex is acquired. + * A value of zero prevents the calling task from + * entering the Blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_MUTEX_HANDLE Invalid mutex handle + * @retval E_RTOS_MUTEX_ALREADY_TAKEN Mutex already acquired + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosMutexAcquire(rtosMutexHandle xMutex, + rtosTick xBlockTime) +{ + return xMutexTake(xMutex, + xBlockTime); +} + +/** + * @brief Release acquired mutex + * + * This function is a wrapper for xMutexGive() in SafeRTOS to release + * an acquired mutex. + * + * @pre + * - A mutex has been created with a valid handle + * + * - Referred mutex was previously acquired. + * + * - Scheduler has been started + * + * - Called in a non-interrupt context + * + * @param[in] xMutex Mutex handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_MUTEX_HANDLE Invalid handle + * @retval E_RTOS_MUTEX_NOT_OWNED_BY_CALLER Mutex not owned by the caller + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_MUTEX_CORRUPTED Corrupt mutex + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosMutexRelease(rtosMutexHandle xMutex) +{ + return xMutexGive(xMutex); +} + +/** + * @brief Get mutex state + * + * This function is a wrapper for xMutexGetState() in SafeRTOS to query whether + * a mutex is available or not. + * It updates pointer to type rtosMutexState with current state of mutex lock. + * Mutex State can take two values: rtosMUTEX_TAKEN & rtosMUTEX_AVAILABLE + * + * @pre + * - A mutex has been created with a valid handle referring to it + * + * @param[in] xMutex Mutex handle + * @param[out] puxMutexState Pointer to variable of type rtosMutexState + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_MUTEX_HANDLE Invalid mutex handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null mutex handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosMutexGetState(rtosMutexHandle xMutex, + rtosMutexState *puxMutexState) +{ + return xMutexGetState(xMutex, + puxMutexState); +} +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-queue.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-queue.h new file mode 100644 index 0000000..12b440a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-queue.h @@ -0,0 +1,510 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_QUEUE_H +#define OSA__OSA_QUEUE_H +#define FSP__OSA__OSA_QUEUE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // for UNUSED + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosFALSE + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosQueueHandle, rtosTick, rtosUCoun +#include // for vTaskProcessSystemTickFromISR, xTaskIsSc... +#include // for portInt8Type +#include // IWYU pragma: export + // IWYU pragma: no_include "queueAPI.h" + // IWYU pragma: no_include "apiWrapper.h" + // for xQueueReceiveFromISR, xQueueSendFro... + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif +/** + * @brief rtosQueueSize() computes the size needed for rtosQueueCreate. + * + * _n_ max number of elements in queue + * + * _s_ size of a queue element + * + * @retval NumberOfBytes Size of queue in bytes + */ +#define rtosQueueSize(_n_, _s_) (((_n_) * (_s_)) + rtosQUEUE_OVERHEAD_BYTES) + +/** + * @brief Create a task queue + * + * This function is a wrapper for xQueueCreate() in SafeRTOS. + * It updates the pointer to the queue handle to point + * to the newly created queue + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a queue object. + * + * - Called from a non-interrupt context + * + * @param[in] pcQueueMemory Pointer to memory at which queue object + * will be created. Queue buffer should be 4-byte + * aligned. + * @param[in] uxBufferLength Buffer length to handle tasks. Should be equal to + * rtosQueueSize(_n_, _s_) + * @param[in] uxQueueLength Maximum number of items the queue can hold + * @param[in] uxItemSize Size of the item to be stored in the queue + * @param[out] pxQueue Pointer to queue handle + * + * @retval rtosPASS on success + * @retval E_RTOS_QUEUE_ALREADY_IN_USE Queue at input memory location already in use + * @retval E_RTOS_INVALID_ALIGNMENT Memory not word aligned + * @retval E_RTOS_INVALID_QUEUE_LENGTH Invalid queue length + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid buffer size + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to queue memory/handle + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the input + * buffer + */ +static inline rtosError +rtosQueueCreate(void *pcQueueMemory, + rtosUCount uxBufferLength, + rtosUCount uxQueueLength, + rtosUCount uxItemSize, + rtosQueueHandle *pxQueue) +{ + return xQueueCreate((portInt8Type *)pcQueueMemory, + uxBufferLength, + uxQueueLength, + uxItemSize, + pxQueue); +} + +/** + * @brief: Delete queue + * + * This function does not exist in SafeRTOS, will return rtosPASS. + * + * @param[in] pxQueue Pointer to queue handle + * + * @retval rtosPASS on success + */ +static inline rtosError +rtosQueueDelete(rtosQueueHandle *pxQueue) +{ + UNUSED(pxQueue); + return rtosPASS; +} + +/** + * @brief Add an item at the end of a queue + * + * This function is a wrapper for xQueueSend() in SafeRTOS. + * Sends a item in the queue in First In First Out (FIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to the item + * @param[in] xTicksToWait Timeout in ticks to wait until the + * item gets added. A value of 0 prevents the task + * from entering blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueSend(rtosQueueHandle rtosQueue, + const void * const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSend(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Add an item at the end of a queue + * + * This function is a wrapper for xQueueSend() in SafeRTOS. + * Sends an item in the queue in First In First Out (FIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to the item + * @param[in] xTicksToWait Timeout in ticks to wait until the + * item gets added. A value of 0 prevents the task + * from entering blocked state. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueSendToBack(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSend(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Add an item at the front of a queue + * + * This function is a wrapper for xQueueSendToFront() in SafeRTOS. + * Sends an item in the queue in Last In First Out (LIFO) order. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[in] xTicksToWait Timeout in ticks to wait until + * item gets added. A value of 0 prevents the task from + * entering blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Queue is full and item cannot be added + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueSendToFront(rtosQueueHandle rtosQueue, + const void * const pvItemToQueue, + rtosTick xTicksToWait) +{ + return xQueueSendToFront(rtosQueue, + pvItemToQueue, + xTicksToWait); +} + +/** + * @brief Pick an item from the queue + * + * This is a wrapper for xQueueReceive() in SafeRTOS + * It always picks item from the beginning of a queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvBuffer Pointer to the buffer to copy the item. Length of + * buffer should be at least equal to the item size. + * @param[in] xTicksToWait Timeout in ticks to wait until item is picked. + * A value of 0 prevents the task from entering + * blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null buffer passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_QUEUE_EMPTY Empty queue + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueueReceive(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosTick xTicksToWait) +{ + return xQueueReceive(rtosQueue, + pvBuffer, + xTicksToWait); +} + +/** + * @brief Peek an item from queue + * + * This function is a wrapper for xQueuePeek() in SafeRTOS + * It picks an item without removing it from the queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at least equal to the + * queue item size. + * @param[in] xTicksToWait Timeout in ticks to wait until item is picked. + * A value of 0 prevents the task from entering the + * blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null buffer passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_QUEUE_EMPTY Empty queue + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosQueuePeek(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosTick xTicksToWait) +{ + return xQueuePeek(rtosQueue, + pvBuffer, + xTicksToWait); +} + +/** + * @brief Get number of waiting messages in the queue. + * + * This function is a wrapper for xQueueMessagesWaiting() in SafeRTOS. + * It updates value at pointer to a count variable sent as an argument + * with latest number of pending items in the queue. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[out] puxMessagesWaiting Pointer to a count variable + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to count variable passed + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the + * output parameter + */ +static inline rtosError +rtosQueueMessageWaiting(rtosQueueHandle rtosQueue, + rtosUCount *puxMessagesWaiting) +{ + return xQueueMessagesWaiting(rtosQueue, + puxMessagesWaiting); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendFromISR() in SafeRTOS. + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item/context variable passed + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueSendFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xQueueSendFromISR(rtosQueue, + pvItemToQueue); +} + +/** + * @brief Add an item at the end of a queue from ISR + * + * This function is a wrapper for xQueueSendFromISR(). + * Adds an item to the queue from interrupt context in First In First Out (FIFO) + * It sets value at pointer to a bool variable sent as an + * argument if adding item to the queue unblocks a higher/equal priority task + * than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item/context variable passed + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueSendToBackFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xQueueSendFromISR(rtosQueue, pvItemToQueue); +} + +/** + * @brief Add an item at the front of a queue from ISR + * + * This function is a wrapper for xQueueSendToFrontFromISR() in SafeRTOS. + * Adds an item to the queue from interrupt context in Last In First Out (LIFO) + * order. + * It sets value at pointer to a bool variable sent as an argument if adding + * item to the queue unblocks a higher/equal priority task than the current + * active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvItemToQueue Pointer to item + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null item/context variable passed + * @retval E_RTOS_QUEUE_FULL Queue full and item cannot be added + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueSendToFrontFromISR(rtosQueueHandle rtosQueue, + const void *const pvItemToQueue, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xQueueSendToFrontFromISR(rtosQueue, + pvItemToQueue); +} + +/** + * @brief Pick an item from the queue in interrupt context + * + * This function is a wrapper for xQueueReceiveFromISR() in SafeRTOS + * Picks item from the beginning of a queue in an interrupt context + * and sets value at pointer to a bool variable sent as an argument if calling + * this function unblocks a higher priority task than the current active task. + * + * @pre + * - A queue has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] rtosQueue Queue handle + * @param[in] pvBuffer Pointer to a buffer to copy the item. + * Length of the buffer should be at + * least equal to the item size. + * @param[out] pbHigherPriorityTaskWoken Pointer to a bool variable + * indicating current context. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_QUEUE_HANDLE Invalid handle passed + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null buffer/context variable passed + * @retval E_RTOS_QUEUE_EMPTY Empty queue + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the output + * parameter + */ +static inline rtosError +rtosQueueReceiveFromISR(rtosQueueHandle rtosQueue, + void *const pvBuffer, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xQueueReceiveFromISR(rtosQueue, + pvBuffer); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-semaphore.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-semaphore.h new file mode 100644 index 0000000..77c9905 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-semaphore.h @@ -0,0 +1,318 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_SEMAPHORE_H +#define OSA__OSA_SEMAPHORE_H +#define FSP__OSA__OSA_SEMAPHORE_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-sepcific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosSemaphoreHandle, rtosUCount, rtosBool +#include // IWYU pragma: keep + // for xQueueHandle, xQueueReceive, xQueueSend,. +#include // IWYU pragma: export + // IWYU pragma: no_include "semaphore.h" + // for xSemaphoreGetCountDepth, xSemaphore... + + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif +/** + * @brief rtosSemaphoreSize() computes the size needed for rtosSemaphoreCreate. + * + * @retval NumberOfBytes Size of semaphore object in bytes + */ +#define rtosSemaphoreSize() rtosSEMAPHORE_OVERHEAD_BYTES + +/** + * @brief Create a binary semaphore. + * + * This function is a wrapper for xSemaphoreCreateBinary() in SafeRTOS + * to create a binary semaphore object. + * It updates the handle sent as an argument to point to the newly + * created semaphore + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a semaphore object. + * + * - Called from a non-interrupt context + * + * @param[in] pcSemaphoreMemory Pointer to the memory location at which + * semaphore object will be created. + * Clients shall use rtosSemaphoreSize() to get + * the size of this pre-allocated memory. + * Memory buffer shall be 4-byte aligned. + * @param[out] xpSemaphore Pointer to the semaphore handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue object referring to a + * semaphore already associated with + * the input memory buffer + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL supplied for input parameters + * @retval E_RTOS_INVALID_DATA_RANGE Data could not be written in the input buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer is not word aligned + */ +static inline rtosError +rtosSemaphoreCreateBinary(void *pcSemaphoreMemory, + rtosSemaphoreHandle *xpSemaphore) +{ + return xSemaphoreCreateBinary((portInt8Type *)pcSemaphoreMemory, + xpSemaphore); +} + +/** + * @brief Create a counting semaphore + * + * This function is a wrapper for xSemaphoreCreateCounting() in SafeRTOS + * to create a counting semaphore object. + * It updates the handle sent as an argument to point to the newly + * created semaphore. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle a semaphore object. + * + * - Called from a non-interrupt context + * + * @param[in] uxMaxCount Max limit of semaphore count. + * Should be set greater than 0 + * @param[in] uxInitialCount Min/Initial count of semaphore count. + * Should be set less than uxMaxCount + * @param[in] pcSemaphoreMemory Pointer to the memory location at which + * semaphore object will be created. + * Clients shall use rtosSemaphoreSize() to get + * the size of this pre-allocated memory. + * Memory buffer shall be 4-byte aligned. + * @param[out] xpSemaphore Pointer to the semaphore handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid input buffer size + * @retval E_RTOS_INVALID_INITIAL_SEMAPHORE_COUNT Invalid semaphore initial + * count + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue object referring to a + * semaphore already associated with + * the input memory buffer + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL supplied for input parameters + * @retval E_RTOS_INVALID_DATA_RANGE Data could not be written in the input buffer + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer is not word aligned + */ +static inline rtosError +rtosSemaphoreCreateCounting(void *pcSemaphoreMemory, + rtosUCount uxMaxCount, + rtosUCount uxInitialCount, + rtosSemaphoreHandle *xpSemaphore) +{ + return xSemaphoreCreateCounting(uxMaxCount, + uxInitialCount, + (portInt8Type *)pcSemaphoreMemory, + xpSemaphore); +} + +/** + * @brief Release a semaphore + * + * This function is a wrapper for xSemaphoreGive() in SafeRTOS to + * release an acquired semaphore. + * + * @pre + * - A semaphore has been created with a valid handle referring to it + * + * - Referred Semaphore was previously acquired + * + * - Called from a non-interrupt context. + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_SEMAPHORE_ALREADY_GIVEN Semaphore already released + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosSemaphoreRelease(rtosSemaphoreHandle xSemaphore) +{ + return xSemaphoreGive(xSemaphore); +} + +/** + * @brief Release a semaphore from ISR + * + * This function is a wrapper for xSemaphoreGiveFromISR() in SafeRTOS to + * release an acquired semaphore in interrupt context. + * It sets value at pointer to RTOS bool variable sent + * as an argument if calling this API unblocks a task of priority equal + * to/higher than currently running task. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Referred semaphore was previously acquired + * + * - Called from an interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] pbHigherPriorityTaskWoken Pointer to a boolean variable + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid handle + * @retval E_RTOS_SEMAPHORE_ALREADY_GIVEN Semaphore released already + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing to the output parameter + */ +static inline rtosError +rtosSemaphoreReleaseFromISR(rtosSemaphoreHandle xSemaphore, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xSemaphoreGiveFromISR(xSemaphore); +} + +/** + * @brief Acquire a semaphore + * + * This function is a wrapper for xSemaphoreTake() in SafeRTOS to + * acquire a semaphore. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[in] xTicksToWait Timeout in ticks to wait until semaphore is acquired. + * A value of zero prevents the calling task from + * entering the Blocked state waiting for semaphore. + * + * @retval rtosPASS on success + * @retval E_RTOS_SEMAPHORE_ALREADY_TAKEN Semaphore already taken + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error unblocking the owner task + */ +static inline rtosError +rtosSemaphoreAcquire(rtosSemaphoreHandle xSemaphore, + rtosTick xTicksToWait) +{ + return xSemaphoreTake(xSemaphore, xTicksToWait); +} + +/** + * @brief Acquire semaphore from ISR + * + * This function is a wrapper for xSemaphoreTakeFromISR() in SafeRTOS to + * acquire a semaphore in interrupt context. + * It sets value at pointer to RTOS bool variable sent as an argument + * if calling this API unblocks a task of priority equal to/higher than + * currently running task. + * + * @pre + * - A semaphore has been created with a valid handle referring to it + * + * - Called from an interrupt context + * + * - Scheduler has been started. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] pbHigherPriorityTaskWoken Pointer to boolean variable + * + * @retval rtosPASS on success + * @retval E_RTOS_SEMAPHORE_ALREADY_TAKEN Semaphore already taken + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing to the output parameter + */ +static inline rtosError +rtosSemaphoreAcquireFromISR(rtosSemaphoreHandle xSemaphore, + rtosBool *pbHigherPriorityTaskWoken) +{ + UNUSED(pbHigherPriorityTaskWoken); + return xSemaphoreTakeFromISR(xSemaphore); +} + +/** + * @brief Get semaphore count depth + * + * This function is a wrapper for xSemaphoreGetCountDepth() in SafeRTOS. + * It sets value at pointer to RTOS count variable with current semaphore count. + * This represents the number of times that rtosSemaphoreAcquire()/ + * rtosSemaphoreAcquireFromISR() can be successfully called before the next call + * to rtosSemaphoreRelease()/rtosSemaphoreReleaseFromISR() is made. + * + * @pre + * - A semaphore has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xSemaphore Semaphore handle + * @param[out] puxCountDepth Pointer to RTOS count variable + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_SEMAPHORE_HANDLE Invalid semaphore handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null semaphore handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing to the output parameter + */ +static inline rtosError +rtosSemaphoreGetCountDepth(rtosSemaphoreHandle xSemaphore, + rtosUCount *puxCountDepth) +{ + return xSemaphoreGetCountDepth(xSemaphore, puxCountDepth); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-task.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-task.h new file mode 100644 index 0000000..ff2a9b5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-task.h @@ -0,0 +1,846 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TASK_H +#define OSA__OSA_TASK_H +#define FSP__OSA__OSA_TASK_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for UNUSED + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosBool, rtosTaskHandle, rtosTick, rtos... + + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif +/** + * @brief rtosTCBSize() computes size of task TCB needed for rtosTaskCreate. + * + * @retval NumberOfBytes Size of TCB in bytes + */ +#define rtosTCBSize() rtosTCB_OVERHEAD_BYTES + +/** + * @brief Initialize task scheduler + * + * This function is a wrapper for xTaskInitializeScheduler() in SafeRTOS to + * initialize a task scheduler. + * It configures scheduler private data and passes application specific data + * to the SafeRTOS scheduler by translating structures and types used by NVIDIA + * code to those used by SafeRTOS. + * + * @pre + * - A task has been created with a valid handle referring to it. + * + * - Scheduler init parameters have been set. + * + * - Called from a non-interrupt context + * + * @param[in] pxSchedInitParameters Pointer to rtosSchedParameters structure + * containing scheduler private data required for + * initialization. + * + * @retval rtosPASS on success + * @retval E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE Processor in unprivileged mode + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null init parameters + * @retval E_RTOS_QUEUE_ALREADY_IN_USE A valid queue exists at the + * input timer buffer provided as + * part of scheduler parameters + * @retval E_RTOS_INVALID_ALIGNMENT Input buffer not word aligned + * @retval E_RTOS_INVALID_QUEUE_LENGTH Invalid timer queue length + * @retval E_RTOS_INVALID_BUFFER_SIZE Invalid buffer size to + * accommodate the timer or timer + * task + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the + * input buffer + * @retval E_RTOS_INVALID_PRIORITY Timer task priority above stated + * maximum + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to the timer + * task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Timer task stackbuffer already + * in use. + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold the timer task + */ +rtosError +rtosTaskInitializeScheduler(const rtosSchedParameters *const pxSchedInitParameters); + +/** + * @brief Create a task + * + * This function is a wrapper for xTaskCreate() in SafeRTOS to create a new + * task and place it in ready state. It provides a translation of structures + * and types used by NVIDIA code to those used by SafeRTOS. + * It updates the pointer to task handle using task init structure sent as + * an argument to refer to the newly created task. + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * initialized for the task control block. + * + * - Task init parameters have been initialized + * + * - Called from a non-interrupt context + * + * @param[in] pxTaskParameters Pointer to a rtosTaskParameters structure that + * contains the parameters used to create a task + * @param[out] pxCreatedTask Pointer to task handle + * + * @retval rtosPASS success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to handle/task + * init structure + * @retval E_RTOS_INVALID_PRIORITY Task priority above stated + * maximum + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Memory pointed by stack + * buffer already in use. + * @retval E_RTOS_INVALID_ALIGNMENT Stack buffer not word aligned + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold the task + * @retval E_RTOS_INVALID_BUFFER_SIZE Buffer size not a power of 2 + * @retval E_RTOS_INVALID_DATA_RANGE Error while copying data to the + * input buffer + */ +rtosError +rtosTaskCreate(const rtosTaskParameters * const pxTaskParameters, + rtosTaskHandle *pxCreatedTask); + +/** + * @brief Delete a task + * + * This function is a wrapper for xTaskDelete() in SafeRTOS to delete a task. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * - Scheduler is in running state if the request is to delete the calling task + * + * @param[in] pxTaskToDelete Input task handle + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + */ +static inline rtosError +rtosTaskDelete(rtosTaskHandle pxTaskToDelete) +{ + return xTaskDelete(pxTaskToDelete); +} + +/** + * @brief Delay a task for required time + * + * This function is a wrapper for xTaskDelay() in SafeRTOS. + * Places active task in blocked state for fixed number of cycles. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] xTicksToDelay Time in ticks to delay the task. A value of 0 + * will cause the task to yield instead of entering the + * blocked state + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + */ +static inline rtosError +rtosTaskDelay(rtosTick xTicksToDelay) +{ + return xTaskDelay(xTicksToDelay); +} + +/** + * @brief Delay a task until specified time. + * + * This function is a wrapper for xTaskDelayUntil() in SafeRTOS. + * It delays active task for a fixed period and wakes it + * up again at tick(previous wake time + Delay time). + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxPreviousWakeTime Pointer to variable of type rtosTick + * having previous wake time. Must be initialized + * with current time before first use. Updated + * automatically by this call thereafter. + * @param[in] xTimeIncrement Time for which task must be delayed + * (Cycle time period) + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null passed for previous wake time + * @retval E_RTOS_DID_NOT_YIELD Context Yield did not happen + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTaskDelayUntil(rtosTick *pxPreviousWakeTime, + rtosTick xTimeIncrement) +{ + return xTaskDelayUntil(pxPreviousWakeTime, xTimeIncrement); +} + +/** + * @brief Get priority of task + * + * This function is a wrapper for xTaskPriorityGet() in SafeRTOS. + * It updates value at pointer to variable of type + * rtosPriority sent as an argument with latest priority of input task + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Called from a non-interrupt context + * + * @param[in] pxTask Input task handle + * @param[in] puxPriority Pointer to a variable holding task priority + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED NULL task handle/pointer + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTaskPriorityGet(rtosTaskHandle pxTask, + rtosPriority *puxPriority) +{ + return xTaskPriorityGet(pxTask, puxPriority); +} + +/** + * @brief Set priority of a task + * + * This function is a wrapper for xTaskPrioritySet() in SafeRTOS to + * change the priority of a task. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxTask Input task handle + * @param[in] uxNewPriority Input task priority. Maximum priority + * is (configMAX_PRIORITIES - 1) + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_PRIORITY Invalid task priority + */ +static inline rtosError +rtosTaskPrioritySet(rtosTaskHandle pxTask, + rtosPriority uxNewPriority) +{ + return xTaskPrioritySet(pxTask, uxNewPriority); +} + +/** + * @brief Suspend a task + * + * This function is a wrapper for xTaskSuspend() in SafeRTOS. + * Places active task in suspended state + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * @param[in] pxTaskToSuspend Input task handle. Value of NULL + * suspends the calling task + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_SUSPENDED Scheduler suspended + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid handle + * @retval E_RTOS_TASK_ALREADY_SUSPENDED Task already suspended + */ +static inline rtosError +rtosTaskSuspend(rtosTaskHandle pxTaskToSuspend) +{ + return xTaskSuspend(pxTaskToSuspend); +} + +/** + * @brief Resume a suspended task + * + * This function is a wrapper for xTaskResume() in SafeRTOS. + * Resumes a suspended task and puts it ready state. + * + * @pre + * - A task has been created with a valid handle referring to it + * + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + * - The task being referred was suspended. + * + * @param[in] pxTaskToResume Input task handle + * + * @retval rtosPASS on success + * @retval E_RTOS_TASK_WAS_NOT_SUSPENDED Task was not suspended + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null task handle + */ +static inline rtosError +rtosTaskResume(rtosTaskHandle pxTaskToResume) +{ + return xTaskResume(pxTaskToResume); +} + +/** + * @brief Get handle of current task + * + * This function is a wrapper for xTaskGetCurrentTaskHandle() in SafeRTOS. + * It returns handle of current task. + * No input arguments needed. + * + * @pre + * - Scheduler has been initialized and started + * + * - Called from a non-interrupt context + * + * @retval xHandle Handle of the current task + */ +static inline rtosTaskHandle +rtosTaskGetCurrentTaskHandle(void) +{ + return xTaskGetCurrentTaskHandle(); +} + +/** + * @brief Start a task scheduler + * + * This function is a wrapper for xTaskStartScheduler() in SafeRTOS. + * It starts scheduler if a set of preconditions are met. + * This can be ignored by passing input argument xUserKernelConfigurationChecks + * as rtosFALSE in which case scheduler will start regardless of the state. + * + * @pre + * - Scheduler has been initialized + * + * - A task has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context + * + * - Called with CPU in privileged mode + * + * @param[in] xUserKernelConfigurationChecks Bool variable to be set for + * checking the pre-conditions before + * starting the scheduler. + * + * @retval rtsoPASS on success + * @retval E_RTOS_NO_TASKS_CREATED No tasks created + * @retval E_RTOS_SCHEDULER_ALREADY_RUNNING Scheduler is already running + * @retval E_RTOS_BAD_OR_NO_TICK_RATE_CONFIGURATION Clock/tick rate parameter + * invalid/null + * @retval E_RTOS_EXECUTING_IN_UNPRIVILEGED_MODE Processor in unprivileged + * mode + * @retval E_RTOS_INVALID_ALIGNMENT System stack address + * misaligned + * @retval E_RTOS_INVALID_BUFFER_SIZE Size of the system stack is + * insufficient + * @retval E_RTOS_INVALID_PRIORITY Invalid priority for the idle task + * @retval E_RTOS_INVALID_TASK_CODE_POINTER Invalid pointer to task code + * @retval E_RTOS_TASK_STACK_ALREADY_IN_USE Memory pointed by stack + * buffer already in use. + * @retval E_RTOS_SUPPLIED_BUFFER_TOO_SMALL Supplied buffer not + * sufficient to hold the idle task + * input buffer + */ +static inline rtosError +rtosTaskStartScheduler(rtosBool xUserKernelConfigurationChecks) +{ + UNUSED(xUserKernelConfigurationChecks); + return (rtosError)xTaskStartScheduler(); +} + +/** + * @brief Suspend a scheduler + * + * This function is a wrapper for xTaskSuspendScheduler() in SafeRTOS + * It suspends scheduler irrespective of current state. + * Has no input arguments and returns none. + * + * @pre + * - Scheduler has been initialized and started. + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskSuspendScheduler(void) +{ + vTaskSuspendScheduler(); +} + +/** + * @brief Resume suspended scheduler + * + * This function is a wrapper for xTaskResumeScheduler() in SafeRTOS. + * Transitions the suspended scheduler into active state. + * No input arguments needed. + * + * @pre + * - Scheduler has been started and currently in a suspended state + * + * - Called from a non-interrupt context + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_NOT_SUSPENDED Scheduler not suspended. + */ +static inline rtosError +rtosTaskResumeScheduler(void) +{ + return xTaskResumeScheduler(); +} + +/** + * @brief Get ticks count + * + * This function is a wrapper for xTaskGetTickCount() in SafeRTOS. + * It returns ticks count since the scheduler was started. + * No input arguments needed. + * + * @pre + * - Called from a non-interrupt context. + * + * @retval xTicks Number of ticks passed since scheduler was started. + */ +static inline rtosTick +rtosTaskGetTickCount(void) +{ + return xTaskGetTickCount(); +} + +/** + * @brief Get ticks count from ISR + * + * This function is a wrapper for xTaskGetTickCountFromISR() in SafeRTOS. + * Returns ticks count in an interrupt context since the scheduler was started. + * No input arguments needed. + * + * @pre + * - Called from an interrupt context + * + * @retval xTicks Number of ticks passed since scheduler was started. + */ +static inline rtosTick +rtosTaskGetTickCountFromISR(void) +{ + return xTaskGetTickCountFromISR(); +} + +/** + * @brief Request task yield. + * + * This function is a wrapper for taskYIELD() in SafeRTOS. + * It enables yield to a task of equal/higher priority + * than current task. Has no input arguments and returns none. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + */ +static inline void +rtosTaskYield(void) +{ + safertosapiYIELD(); +} + +/** + * @brief Request task yield from ISR + * + * This function is a wrapper for taskYIELD_FROM_ISR() in SafeRTOS. + * It enables yield in an interrupt context to a task of + * equal/higher priority than current task. Returns none. + * Does nothing if input argument is rtosFALSE. + * + * @pre + * - Scheduler has been started. + * + * - Called from an interrupt context + * + * @param[in] xSwitchRequired Bool variable to indicate need for switch + */ +static inline void +rtosTaskYieldFromISR(rtosBool xSwitchRequired) +{ + UNUSED(xSwitchRequired); + safertosapiYIELD_FROM_ISR(); +} + +/** + * @brief Enter critical section + * + * This function is a wrapper for taskENTER_CRITICAL() in SafeRTOS. + * Enables a task to enter critical section. + * Has no input arguments and returns none. + * + * @pre + * - Called from a non-interrupt context + */ +static inline void +rtosTaskEnterCritical(void) +{ + safertosapiENTER_CRITICAL(); +} + +/** + * @brief Exit critical section + * + * This function is a wrapper for taskEXIT_CRITICAL() in SafeRTOS. + * Enables a task to exit from critical section. + * Has no input arguments and returns none. + * + * @pre + * - RTOS state must already be in critical section + * + * - Called from a non-interrupt context + */ +static inline void +rtosTaskExitCritical(void) +{ + safertosapiEXIT_CRITICAL(); +} + +/** + * @brief Mask required interrupts from ISR + * + * This function is a wrapper for taskSET_INTERRUPT_MASK_FROM_ISR() in SafeRTOS. + * Sets the interrupt mask to mask all interrupts at the + * configSYSTEM_INTERRUPT_PRIORITY or lower. This prevents any interrupts that + * call a system API function from interrupting the current interrupt handler + * It has significance only if interrupt nesting is supported on port. + * Input arguments none. + * + * @pre + * - Called only in interrupt context + * + * @retval uxOriginalInterruptState Original interrupt mask. + */ +static inline rtosInterruptState +rtosTaskSetInterruptMaskFromISR(void) +{ + return safertosapiSET_INTERRUPT_MASK_FROM_ISR(); +} + +/** + * @brief Unmask required interrupts from ISR + * + * This function is wrapper for taskCLEAR_INTERRUPT_MASK_FROM_ISR() in SafeRTOS. + * It clears interrupt mask set using rtosTaskSetInterruptMaskFromISR + * and retrieves the original mask based on input argument. Returns none. + * + * @pre + * - Called only in interrupt context + * + * @param[in] uxOriginalInterruptState Original interrupt mask + */ +static inline void +rtosTaskClearInterruptMaskFromISR(rtosInterruptState uxOriginalInterruptState) +{ + safertosapiCLEAR_INTERRUPT_MASK_FROM_ISR(uxOriginalInterruptState); +} + +/** + * @brief Retrieve scheduler status + * + * This function is a wrapper for xTaskIsSchedulerStarted() in SafeRTOS. + * Checks and returns true if there has been a successful call to + * rtosTaskStartScheduler() + * No input arguments + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * @retval rtosTRUE Scheduler has been started + * @retval rtosFALSE Otherwise + */ +static inline rtosBool +rtosTaskIsSchedulerStarted(void) +{ + return (rtosBool)xTaskIsSchedulerStarted(); +} + +/** + * @brief Retrieve scheduler status from ISR + * + * This function is a wrapper for xTaskIsSchedulerStartedFromISR() in SafeRTOS + * Checks and returns true if there has been a successful call to + * rtosTaskStartScheduler() + * No input arguments + * + * @pre + * - Called from an interrupt context + * + * @retval rtosTRUE Scheduler has been started + * @retval rtosFALSE Otherwise + */ +static inline rtosBool +rtosTaskIsSchedulerStartedFromISR(void) +{ + return (rtosBool)xTaskIsSchedulerStartedFromISRKrnl(); +} + +/** + * @brief Wait for notification from a calling task with timeout + * + * This function is a wrapper for xTaskNotifyWait() in SafeRTOS + * Each task has a notification value which is initialized to 0 when it is + * created. + * It blocks the calling task for notification from another task. + * + * @pre + * - A task has been created with a valid handle referring to it. + * + * - Scheduler has been started + * + * - Called from a non-interrupt context + * + * @param[in] uxBitsToClearOnEntry Bitmask to clear bits in the receiving + * task notification value on entering wait. + * Length of the bitmask is 32 bits + * @param[in] uxBitsToClearOnExit Bitmask to clear bits in the receiving + * task notification value before exiting wait + * Length of the bitmask is 32 bits + * @param[in] xTicksToWait Timeout in ticks to wait for notification + * @param[out] puxNotificationValue Pointer to receiving task notification + * value. Value at this pointer is updated + * with calling task notification value as it + * was before clearing the bits using + * uxBitsToClearOnExit. + * + * @retval rtosPASS on success + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended. + * @retval E_RTOS_NOTIFICATION_NOT_RECEIVED No notification has been received + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output + * parameter + */ +static inline rtosError +rtosTaskNotifyWait(rtosTaskNotifyBits uxBitsToClearOnEntry, + rtosTaskNotifyBits uxBitsToClearOnExit, + rtosTaskNotifyValue *puxNotificationValue, + rtosTick xTicksToWait) +{ + return xTaskNotifyWait(uxBitsToClearOnEntry, + uxBitsToClearOnExit, + puxNotificationValue, + xTicksToWait); +} + +/** + * @brief Send notification to waiting task. + * + * This function is wrapper for rtosTaskNotifySend() in SafeRTOS. + * Each task has a notification value which is initialized to 0 when it is + * created. + * The function sends notification to a waiting task and updates the receiving + * task's notification as per the set criteria and value sent as an argument. + * + * Each task can take one of the following notification states: + * + * - rtosNotification_NOT_WAITING - Not waiting for any notification from other + * task + * + * - rtosNotification_WAITING - Task is waiting for some notification + * + * - rtosNotification_NOTIFIED - Task has sent a notification. + * + * Receiving task notification value can be updated using following criteria: + * + * - rtosNotification_NO_ACTION Do not update task notification value + * + * - rtosNotification_SET_BITS Set task notification value by ORing with uxValue + * + * - rtosNotification_INCREMENT Increment the task notification value + * + * - rtosNotification_SET_VALUE_WITH_OVERWRITE Copy uxValue to notification + * value even if the previous value + * has not been read by the task. + * + * - rtosNotification_SET_VALUE_WITHOUT_OVERWRITE Set the receiving task's + * notification value only if + * there is no notification + * pending. + * + * @pre + * - Scheduler has been started. + * + * - Another task is waiting for some notification. + * + * - Called from a non-interrupt context. + * + * @param[in] xTaskToNotify Handle of waiting task + * @param[in] uxValue Notification value to be updated for receiving task + * @param[in] xAction Receiving task notification update criteria + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null receiving task handle + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid notification value/action + * @retval E_RTOS_NOTIFICATION_ALREADY_PENDING Notification pending + */ +static inline rtosError +rtosTaskNotifySend(rtosTaskHandle xTaskToNotify, + rtosTaskNotifyAction xAction, + rtosTaskNotifyValue uxValue) +{ + return xTaskNotifySend(xTaskToNotify, + xAction, + uxValue); +} + +/** + * @brief Send notification to waiting task from ISR. + * + * This function is a wrapper for rtosTaskNotifySendFromISR() in SafeRTOS. + * Each task has a notification value which is initialized to 0 when it is + * created. + * It sends notification to a waiting task and updates + * receiving task's notification as per the set criteria and value sent as an + * argument. + * + * Each task can take one of the following notification states: + * + * - rtosNotification_NOT_WAITING - Not waiting for any notification from other + * task + * + * - rtosNotification_WAITING - Task is waiting for some notification + * + * - rtosNotification_NOTIFIED - Task has sent a notification. + * + * Receiving task notification value can be updated using following criteria: + * + * - rtosNotification_NO_ACTION Do not update task notification value + * + * - rtosNotification_SET_BITS Set task notification value as per uxValue + * + * - rtosNotification_INCREMENT Increment the task notification value + * + * - rtosNotification_SET_VALUE_WITH_OVERWRITE Update task notification value + * even if the previous + * notification is pending. + * + * - rtosNotification_SET_VALUE_WITHOUT_OVERWRITE Set the task's notification + * only if there is no pending + * notification + * + * @pre + * - Scheduler has been started. + * + * - Another task is waiting for some notification. + * + * - Called from an interrupt context. + * + * @param[in] xTaskToNotify Handle of waiting task + * @param[in] uxValue Notification value to be updated + * for receiving task + * @param[in] xAction Notification update criteria + * @param[in] pxHigherPriorityTaskWoken An in/out parameter that is set if + * calling this function wakes an higher or + * equal priority task + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null receiving task handle + * @retval E_RTOS_INVALID_TASK_HANDLE Invalid task handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid notification value/action + * @retval E_RTOS_NOTIFICATION_ALREADY_PENDING Notification pending + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output + * parameter + */ +static inline rtosError +rtosTaskNotifySendFromISR(rtosTaskHandle xTaskToNotify, + rtosTaskNotifyAction xAction, + rtosTaskNotifyValue uxValue, + rtosBool *pxHigherPriorityTaskWoken) +{ + UNUSED(pxHigherPriorityTaskWoken); + return xTaskNotifySendFromISR(xTaskToNotify, + xAction, + uxValue); +} + +/** + * @brief Generate system tick + * + * This function is a wrapper for vTaskProcessSystemTickFromISR() in SafeRTOS. + * It is used to generate system tick and should be called from the + * system tick handler. + * + * @pre + * - Scheduler has been started. + * + * - Called from a non-interrupt context + * + * Has no input arguments and returns none. + */ +static inline void rtosSystemTickHandler(void) +{ + vTaskProcessSystemTickFromISR(); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-timer.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-timer.h new file mode 100644 index 0000000..3659478 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-timer.h @@ -0,0 +1,413 @@ +/* Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_TIMER_H +#define OSA__OSA_TIMER_H +#define FSP__OSA__OSA_TIMER_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "ospl/rtos-port.h" + // for rtosTimerHandle, rtosTick, rtosBool, FSP... +#include // IWYU pragma: keep + // for xQueueHandle +#include // IWYU pragma: export + // IWYU pragma: no_include "timersAPI.h" + // for xTimerChangePeriodFromISR, xTimerSt... + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSPL__RTOS_PORT_H, "Header file missing or invalid.") +#endif + +/** + * @brief Computes the size of pre-allocated memory required for timer control + * block + * + * @retval NumberOfBytes Size of Timer control block + */ +#define rtosTimerCBSize() rtosTIMER_CONTROL_BLOCK_OVERHEAD_BYTES + +/** + * @brief Computes the size of pre-allocated memory required for timer parameter + * structure supplied as an input to rtosTimerCreate. + * + * @retval NumberOfBytes Size of timer instance parameters structure + */ +#define rtosTimerInstanceParametersSize() \ + rtosTIMER_INSTANCE_PARAMETER_OVERHEAD_BYTES + +/** + * @brief Create a timer. + * + * This function is a wrapper for xTimerCreate() in SafeRTOS. + * It updates the handle sent as + * an argument to point to the newly created timer + * + * @pre + * - A valid buffer, r/w accessible to the RTOS kernel at all times has been + * pre-allocated to handle timer control block and instance parameters + * + * - Called from a non-interrupt context + * + * @param[in] pxTimerParameters Pointer to timer init parameter + * structure (rtosTimerInitParametersType) + * @param[out] pxTimerHandle Pointer to timer handle + * + * @retval rtosPASS on success + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer to timer init + * parameter/Timer handle + * @retval E_RTOS_INVALID_PARAMETERS Invalid timer init parameters + * @retval E_RTOS_INVALID_TIMER_TASK_INSTANCE Invalid timer task instance + * @retval E_RTOS_TIMER_ALREADY_IN_USE Input Timer init parameter + * already has a timer instance associated + * with it. + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the memory buffer + */ +rtosError +rtosTimerCreate(const rtosTimerInitParametersType *const pxTimerParameters, + rtosTimerHandle *pxTimerHandle); + +/** + * @brief Start a timer + * + * This function is a wrapper for xTimerStart() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending the start command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler is suspended + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + */ +static inline rtosError +rtosTimerStart(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerStart(xTimer, xBlockTime); +} + +/** + * @brief Stop a timer + * + * This function is a wrapper for xTimerStop() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending stop command to the timer + * + * @pre + * - Referred timer has been started + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosTimerStop(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerStop(xTimer, xBlockTime); +} + +/** + * @brief Change timer period + * + * This function is a wrapper for xTimerChangePeriod() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending change period command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * @param[in] xNewPeriodInTicks New timer period in ticks. Should be + * greater than 0. + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosTimerChangePeriod(rtosTimerHandle xTimer, + rtosTick xNewPeriodInTicks, + rtosTick xBlockTime) +{ + return xTimerChangePeriod(xTimer, xNewPeriodInTicks, xBlockTime); +} + +/** + * @brief Delete a timer + * + * This function is a wrapper for xTimerDelete() in SafeRTOS. + * Calling task is held in blocked state for block time before successfully + * sending delete command to the timer + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xBlockTime Block time in ticks + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_SCHEDULER_IS_SUSPENDED Scheduler suspended + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_ERRONEOUS_UNBLOCK Error while unblocking the owner task + */ +static inline rtosError +rtosTimerDelete(rtosTimerHandle xTimer, + rtosTick xBlockTime) +{ + return xTimerDelete(xTimer, xBlockTime); +} + +// ISR friendly commands of the timer commands + +/** + * @brief Start a timer from ISR + * + * This function is a wrapper for xTimerStartFromISR() in SafeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function + * unblocks the timer service whose priority is equal to/higher than + * the current task + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerStartFromISR(rtosTimerHandle xTimer, + rtosBool *pxHigherPriorityTaskWoken) +{ + UNUSED(pxHigherPriorityTaskWoken); + return xTimerStartFromISR(xTimer); +} + +/** + * @brief Stop a timer from ISR + * + * This function is a wrapper for xTimerStopFromISR() in SafeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function unblocks + * the timer service whose priority is equal to/higher than the current task + * + * @pre + * - Referred timer has been started + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerStopFromISR(rtosTimerHandle xTimer, + rtosBool *pxHigherPriorityTaskWoken) +{ + UNUSED(pxHigherPriorityTaskWoken); + return xTimerStopFromISR(xTimer); +} + +/** + * @brief Change timer period from ISR + * + * This function is a wrapper for xTimerChangePeriodFromISR() in SafeRTOS. + * It sets value at pxHigherPriorityTaskWoken if calling this function unblocks + * the timer service whose priority is equal to/higher than the current task + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Scheduler has been started. + * + * - Called from an interrupt context. + * + * @param[in] xTimer Timer handle + * @param[in] xNewPeriodInTicks New timer period in ticks. Should be + * greater than 0. + * @param[out] pxHigherPriorityTaskWoken Pointer to rtosBool variable + * to indicate current context + * + * @retval rtosPASS on success + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null timer handle passed + * @retval E_RTOS_QUEUE_FULL Timer command queue is full and + * cannot accept new requests + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerChangePeriodFromISR(rtosTimerHandle xTimer, + rtosTick xNewPeriodInTicks, + rtosBool *pxHigherPriorityTaskWoken) +{ + UNUSED(pxHigherPriorityTaskWoken); + return xTimerChangePeriodFromISR(xTimer, xNewPeriodInTicks); +} + +/** + * @brief Check if timer is active + * + * This function is a wrapper for xTimerIsTimerActive() in SafeRTOS. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * + * @retval rtosTRUE if timer is active or exists in the + * overflow timer list + * @retval rtosFALSE Timer not present in the active timer + * list + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + */ +static inline rtosError +rtosTimerIsTimerActive(rtosTimerHandle xTimer) +{ + return xTimerIsTimerActive(xTimer); +} + +/** + * @brief Get timer ID + * + * This function is a wrapper for xTimerGetTimerID() in SafeRTOS. + * It updates value at pxTimerID with ID of the requested timer + * configured by the host application while creating it. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a non-interrupt context. + * + * @param[in] xTimer Timer handle + * @param[out] pxTimerID Pointer to timer ID + * + * @retval rtosPASS for valid timers + * @retval E_RTOS_INVALID_TIMER_HANDLE Invalid timer handle + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null pointer referring to timer ID + * @retval E_RTOS_INVALID_DATA_RANGE Error writing data to the output parameter + */ +static inline rtosError +rtosTimerGetTimerID(rtosTimerHandle xTimer, rtosTimerIDType *pxTimerID) +{ + return xTimerGetTimerID(xTimer, pxTimerID); +} + +/** + * @brief Get timer local storage object + * + * This function is a wrapper for xTimerTLSObjectGet() in SafeRTOS. + * On success, this function returns pointer to timer local storage + * object defined in timer init parameters. + * + * @pre + * - A timer has been created with a valid handle referring to it. + * + * - Called from a timer callback function + * + * @param[in] xTimer Timer handle + * + * @retval NULL for failure + * @retval TimerLSO Pointer to timer local storage object on success + */ +static inline rtosTimerLocalStorageObject +rtosTimerTLSObjectGet(rtosTimerHandle xTimer) +{ + return pvTimerTLSObjectGet(xTimer); +} +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-values.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-values.h new file mode 100644 index 0000000..d60d9d1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/osa-values.h @@ -0,0 +1,140 @@ +/* Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef OSA__OSA_VALUES_H +#define OSA__OSA_VALUES_H +#define FSP__OSA__OSA_VALUES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // for rtosMutexHandle, FSP__OSPL__RTOS_PORT_H +#include // for evgrpCLEAR_EVENTS_ON_EXIT_BIT, evgrpWAIT_FO... +#include // for taskNOTIFICATION_NO_ACTION +#include // for semSEM_GIVE_BLOCK_TIME +#include // for evtmplxQUEUE_MESSAGE_WAITING, ... +#include // for pdTRUE, pdFALSE + +/** + * @defgroup RTOS_VALUES Mapping of SafeRTOS values to RTOS value space + * @{ + */ +/** Defines true state of a Boolean variable */ +#define rtosTRUE ((rtosBool)pdTRUE) +/** Defines false state of a Boolean variable */ +#define rtosFALSE ((rtosBool)pdFALSE) +/** Defines return value indicating success */ +#define rtosPASS pdPASS +/** Defines return value indicating failure */ +#define rtosFAIL pdFAIL +/** @} */ + +/** + * @defgroup RTOS_KERNEL_VERSION Mapping of SafeRTOS kernel version values to RTOS value space + * @{ + */ +/** Defines kernel major version number */ +#define rtosKERNEL_MAJOR_VERSION pdKERNEL_MAJOR_VERSION +/** Defines kernel minor version number */ +#define rtosKERNEL_MINOR_VERSION pdKERNEL_MINOR_VERSION +/** @} */ + +/** + * @defgroup RTOS_EVENT_GROUP_VALUES Mapping of SafeRTOS event group values to RTOS value space + * @{ + */ +/** Defines bitmask mapped to eventgroup control flag set to clear event group bits on exit */ +#define rtosEVENTGRP_CLEAR_EVENTS_ON_EXIT evgrpCLEAR_EVENTS_ON_EXIT_BIT +/** Defines bitmask mapped to eventgroup control flag, set to wait until all the requested event group bits are set*/ +#define rtosEVENTGRP_WAIT_FOR_ALL_BITS evgrpWAIT_FOR_ALL_BITS +/** @} */ + +/** + * @defgroup RTOS_MUTEX_VALUES Mapping of SafeRTOS mutex values to RTOS value space + * @{ + */ +/** Defines state of a mutex object indicating lock is available */ +#define rtosMUTEX_TAKEN mutexTAKEN +/** Defines state of a mutex object indicating lock is acquired */ +#define rtosMUTEX_AVAILABLE mutexAVAILABLE +/** @} */ + +/** + * Defines macro to be used for setting semaphore block time as 0. + */ +#define rtosSEMA_GIVE_NOBLOCK semSEM_GIVE_BLOCK_TIME + +/** + * @defgroup RTOS_TASK_VALUES Mapping of SafeRTOS task values to RTOS value space + * @{ + */ +/** Sending task shall use this macro if no update is needed to the receiving task notification value */ +#define rtosNotification_NO_ACTION taskNOTIFICATION_NO_ACTION +/** Sending task shall use this macro to update notification value of receiving task by ORing it with the sent value of the receiving task */ +#define rtosNotification_SET_BITS taskNOTIFICATION_SET_BITS +/** Sending task shall use this macro to increment notification value of the receiving task */ +#define rtosNotification_INCREMENT taskNOTIFICATION_INCREMENT +/** Sending task shall use this macro to set notification value of the receiving task with overwrite even if the previous notification is pending +*/ +#define rtosNotification_SET_VALUE_WITH_OVERWRITE taskNOTIFICATION_SET_VALUE_WITH_OVERWRITE +/** Sending task shall use this macro to set notification value of the receiving task only if there is no previous notification pending */ +#define rtosNotification_SET_VALUE_WITHOUT_OVERWRITE taskNOTIFICATION_SET_VALUE_WITHOUT_OVERWRITE +/** Defines state of a task indicating it's not waiting for any notification*/ +#define rtosNotification_NOT_WAITING taskNOTIFICATION_NOT_WAITING +/** Defines state of a task indicating it's waiting for a notification */ +#define rtosNotification_WAITING taskNOTIFICATION_WAITING +/** Defines state of a task indicating it has sent the notification */ +#define rtosNotification_NOTIFIED taskNOTIFICATION_NOTIFIED +/** Defines priority of an idle task */ +#define rtosIDLE_PRIORITY taskIDLE_PRIORITY +/** @} */ + +/** + * @defgroup RTOS_EVENTPOLL_VALUES Mapping of SafeRTOS event poll values to RTOS value space + * @{ + */ +/** Defines event for a queue object indicating the queue contains at least one message waiting to be received */ +#define rtosEventPollQUEUE_MESSAGE_WAITING evtmplxQUEUE_MESSAGE_WAITING +/** Defines event for a queue object indicating the queue has space for at least one message to be sent*/ +#define rtosEventPollQUEUE_SPACE_AVAILABLE evtmplxQUEUE_SPACE_AVAILABLE +/** Defines event for a semaphore object indicating it is available*/ +#define rtosEventPollSEMAPHORE_AVAILABLE evtmplxSEMAPHORE_AVAILABLE +/** Defines event for a mutex object indicating it is available*/ +#define rtosEventPollMUTEX_AVAILABLE evtmplxMUTEX_AVAILABLE +/** Defines event for a task indicating it has received a notification */ +#define rtosEventPollTASK_NOTIFICATION_RECEIVED evtmplxTASK_NOTIFICATION_RECEIVED +/** Defines event for an eventgroup object indicating requested eventgroup bits are set*/ +#define rtosEventPollEVENT_GROUP_BITS_SET evtmplxEVENT_GROUP_BITS_SET +/** @} */ + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/sections-osa.h b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/sections-osa.h new file mode 100644 index 0000000..ade0011 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/osa/safertosv9/osa/sections-osa.h @@ -0,0 +1,90 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef OSA__SECTIONS_OSA_H +#define OSA__SECTIONS_OSA_H +#define FSP__OSA__SECTIONS_OSA_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_OSA_DATA SECTION_BUILDER(osa, data) +#define SECTION_NAME_OSA_RODATA SECTION_BUILDER(osa, rodata) +#define SECTION_NAME_OSA_TEXT SECTION_BUILDER(osa, text) +#define SECTION_NAME_OSA_CREATE_TEXT SECTION_BUILDER(create.osa, text) +#define SECTION_NAME_OSA_INIT_DATA SECTION_BUILDER(init.osa, data) +#define SECTION_NAME_OSA_INIT_TEXT SECTION_BUILDER(init.osa, text) + +#define SECTION_STR_OSA_TEXT STR(SECTION_NAME_OSA_TEXT) +#define SECTION_STR_OSA_RODATA STR(SECTION_NAME_OSA_RODATA) +#define SECTION_STR_OSA_DATA STR(SECTION_NAME_OSA_DATA) +#define SECTION_STR_OSA_INIT_TEXT STR(SECTION_NAME_OSA_INIT_TEXT) +#define SECTION_STR_OSA_INIT_DATA STR(SECTION_NAME_OSA_INIT_DATA) +#define SECTION_STR_OSA_CREATE_TEXT STR(SECTION_NAME_OSA_CREATE_TEXT) + +#define SECTION_OSA_TEXT SECTION(SECTION_STR_OSA_TEXT) +#define SECTION_OSA_RODATA SECTION(SECTION_STR_OSA_RODATA) +#define SECTION_OSA_DATA SECTION(SECTION_STR_OSA_DATA) +#define SECTION_OSA_INIT_TEXT SECTION(SECTION_STR_OSA_INIT_TEXT) +#define SECTION_OSA_INIT_DATA SECTION(SECTION_STR_OSA_INIT_DATA) +#define SECTION_OSA_CREATE_TEXT SECTION(SECTION_STR_OSA_CREATE_TEXT) + +#endif + diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp-errors.h b/spe-freertos-bsp/fsp/source/include/scp/scp-errors.h new file mode 100644 index 0000000..974d2dd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp-errors.h @@ -0,0 +1,117 @@ +/** + * @file scp-errors.h + * + * @brief Error codes specific to the SCP module. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_ERRORS_H +#define SCP__SCP_ERRORS_H +#define FSP__SCP__SCP_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for MODULE_ERROR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__BASE__MODULE_ID_H) + + +/** + * @brief Error codes specific to the SCP module. + * + * @macro-title SCP error codes. + * + * @E_SCP_INSUFFICIENT_RESOURCES The caller is operating in secure mode but + * access to secret-index zero is blocked. + * @E_SCP_INVALID_ADDRESS A passed buffer is misaligned, or two + * buffers overlap (when not permitted). + * @E_SCP_INVALID_BASE A passed buffer resides in an unsupported + * memory region. + * @E_SCP_INVALID_DMA_SPECIFIER The caller has requested an operation that + * requires a shortcut transfer but the + * shortcut-DMA path has not been configured. + * @E_SCP_INVALID_FLAGS The passed combination of flags is invalid. + * @E_SCP_INVALID_INDEX A passed index value falls outside of its + * supported range. + * @E_SCP_INVALID_LOCK_STATE SCP lockdown is misconfigured. + * @E_SCP_INVALID_OBJECT A passed compound argument is invalid. + * @E_SCP_INVALID_OBJECT_BUFFER A passed compound argument contains an + * invalid buffer element. + * @E_SCP_INVALID_OPERATION The caller has requested an unrecognized + * operation, or is attempting to perform a + * recognized operation incorrectly. + * @E_SCP_INVALID_POINTER A passed address is zero/NULL (when not + * permitted). + * @E_SCP_INVALID_REQUEST The caller has made a request that cannot be + * serviced by the driver. + * @E_SCP_NOT_READY The SCP driver has not been initialized. + * @E_SCP_OUT_OF_RANGE A passed buffer is of invalid size. + * @E_SCP_FEATURE_NOT_ENABLED The requested operation requires the use of + * a feature that has not been enabled. + * @E_SCP_GENERIC An unexpected error occurred. + * @E_SCP_NOTHING_TO_DO The caller has requested an operation that + * has no effect. + */ +#define E_SCP_INSUFFICIENT_RESOURCES MODULE_ERROR(SCP, 0UL) +#define E_SCP_INVALID_ADDRESS MODULE_ERROR(SCP, 1UL) +#define E_SCP_INVALID_BASE MODULE_ERROR(SCP, 2UL) +#define E_SCP_INVALID_DMA_SPECIFIER MODULE_ERROR(SCP, 3UL) +#define E_SCP_INVALID_FLAGS MODULE_ERROR(SCP, 4UL) +#define E_SCP_INVALID_INDEX MODULE_ERROR(SCP, 5UL) +#define E_SCP_INVALID_LOCK_STATE MODULE_ERROR(SCP, 6UL) +#define E_SCP_INVALID_OBJECT MODULE_ERROR(SCP, 7UL) +#define E_SCP_INVALID_OBJECT_BUFFER MODULE_ERROR(SCP, 8UL) +#define E_SCP_INVALID_OPERATION MODULE_ERROR(SCP, 9UL) +#define E_SCP_INVALID_POINTER MODULE_ERROR(SCP, 10UL) +#define E_SCP_INVALID_REQUEST MODULE_ERROR(SCP, 11UL) +#define E_SCP_NOT_READY MODULE_ERROR(SCP, 12UL) +#define E_SCP_OUT_OF_RANGE MODULE_ERROR(SCP, 13UL) +#define E_SCP_FEATURE_NOT_ENABLED MODULE_ERROR(SCP, 14UL) +#define E_SCP_GENERIC MODULE_ERROR(SCP, 15UL) +#define E_SCP_NOTHING_TO_DO MODULE_ERROR(SCP, 16UL) + +#endif /* SCP__SCP_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp.h b/spe-freertos-bsp/fsp/source/include/scp/scp.h new file mode 100644 index 0000000..1f42849 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp.h @@ -0,0 +1,84 @@ +/** + * @file scp.h + * + * @brief Interfaces for the Security Co-Processor (SCP). + * + * @details This is the top-level header file for the libFSP SCP + * driver, which provides access to all supported SCP + * functionality. For more information, please refer to the driver + * documentation at https://confluence.nvidia.com/x/9y6gJQ. + * + * @note Client applications should include only this top-level file + * and should not directly include any other SCP headers. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_H +#define SCP__SCP_H +#define FSP__SCP__SCP_H 1 + +#if !NVRISCV_FEATURE_SCP +#error "This header cannot be used because the SCP driver is disabled." +#endif // !NVRISCV_FEATURE_SCP + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include +#include +#include +#include +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__SCP__SCP_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) +HEADER_CHECK(FSP__SCP__SCP_CRYPT_H) +HEADER_CHECK(FSP__SCP__SCP_DIRECT_H) +HEADER_CHECK(FSP__SCP__SCP_GENERAL_H) +HEADER_CHECK(FSP__SCP__SCP_RAND_H) + +#endif // SCP__SCP_H diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp_common.h b/spe-freertos-bsp/fsp/source/include/scp/scp_common.h new file mode 100644 index 0000000..cf57751 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp_common.h @@ -0,0 +1,83 @@ +/** + * @file scp_common.h + * @brief Common SCP types and constants. + * + * @details Contains all symbols not otherwise belonging to any specific + * subcomponent of the SCP driver. + * + * @note Client applications should include scp.h instead of this file. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_COMMON_H +#define SCP__SCP_COMMON_H +#define FSP__SCP__SCP_COMMON_H 1 + + +/** + * @brief The minimum required alignment for SCP buffers. + * + * The minimum required alignment for input and output buffers passed to + * SCP interfaces, in bytes. Note that this alignment only applies to buffer + * arguments and not to other interface parameters. + */ +#define SCP_BUFFER_ALIGNMENT 16U + + +/** + * @brief A collection of enumerated values for referring to specific SCP GPRs. + */ +typedef enum scp_register_index_t +{ + // Long-form versions to match naming scheme. + + SCP_REGISTER_INDEX_0 = 0, + SCP_REGISTER_INDEX_1, + SCP_REGISTER_INDEX_2, + SCP_REGISTER_INDEX_3, + SCP_REGISTER_INDEX_4, + SCP_REGISTER_INDEX_5, + SCP_REGISTER_INDEX_6, + SCP_REGISTER_INDEX_7, + SCP_REGISTER_INDEX_COUNT, + + // Short-form versions for brevity. + + SCP_R0 = 0, + SCP_R1, + SCP_R2, + SCP_R3, + SCP_R4, + SCP_R5, + SCP_R6, + SCP_R7, + SCP_RCOUNT, + +} scp_register_index_t; + +#endif // SCP__SCP_COMMON_H diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp_crypt.h b/spe-freertos-bsp/fsp/source/include/scp/scp_crypt.h new file mode 100644 index 0000000..b96a5a9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp_crypt.h @@ -0,0 +1,907 @@ +/** + * @file scp_crypt.h + * @brief Cryptographic SCP features. + * + * @note Client applications should include scp.h instead of this file. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_CRYPT_H +#define SCP__SCP_CRYPT_H +#define FSP__SCP__SCP_CRYPT_H 1 + +/* Compiler headers */ +#include // for bool +#include // for size_t +#include // for uint8_t, uintptr_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t + +/* Module-specific FSP headers */ +#include // for scp_register_index_t + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) + + +/** + * @brief Constructs a new key-descriptor with automatic storage duration. + * + * When a descriptor returned by this macro is passed to scp_Encrypt(), + * scp_Decrypt(), or scp_Cmac(), it instructs the callee to use the first + * SCP_KEY_SIZE bytes from key_pa as the encryption key for the requested + * operation. + * + * Note that the contents of key_pa are never copied or modified and must remain + * valid for the lifetime of the returned key-descriptor. + * + * @param[in] key_pa The physical address of the input buffer containing the + * desired raw key. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least SCP_KEY_SIZE bytes. Supports IMEM and + * DMEM locations only. + * + * @return A pointer to the new key-descriptor. + */ +#define SCP_KEY_RAW_BUFFER(key_pa) ( \ + (const scp_key_desc_t *)&(scp_key_desc_t) \ + { \ + .key_type = SCP_KEY_TYPE_RAW_BUFFER, \ + .raw_buffer_pa = (uintptr_t)(key_pa), \ + } \ +) + +/** + * @brief Constructs a new key-descriptor with automatic storage duration. + * + * When a descriptor returned by this macro is passed to scp_Encrypt(), + * scp_Decrypt(), or scp_Cmac(), it instructs the callee to use the data located + * in the register specified by reg_index as the encryption key for the + * requested operation. This mode is intended to support keys pulled in from + * KMEM. + * + * Note that the contents of the register will be cleared following use of the + * returned key-descriptor in an encryption, decryption, or CMAC operation. + * Additionally, the register's access-control list must permit keying of its + * contents in secure contexts, or full access in insecure contexts. + * + * @param[in] reg_index The index of the SCP register containing the desired + * raw key. Must be a valid scp_register_index_t value. + * + * @return A pointer to the new key-descriptor. + */ +#define SCP_KEY_RAW_REGISTER(reg_index) ( \ + (const scp_key_desc_t *)&(scp_key_desc_t) \ + { \ + .key_type = SCP_KEY_TYPE_RAW_REGISTER, \ + .raw_register_index = (reg_index), \ + } \ +) + +/** + * @brief Constructs a new key-descriptor with automatic storage duration. + * + * When a descriptor returned by this macro is passed to scp_Encrypt(), + * scp_Decrypt(), or scp_Cmac(), it instructs the callee to perform AES-ECB + * encryption on the first SCP_BLOCK_SIZE bytes from salt_pa, using the + * hardware-secret indicated by secret_index as the key. The result of this + * procedure is then used as the encryption key for the requested encryption, + * decryption, or CMAC operation. + * + * Note that the contents of salt_pa are never copied or modified and must + * remain valid for the lifetime of the returned key-descriptor. Additionally, + * the hardware-secret referred to by secret_index must have an access-control + * list that permits keying of its contents for the current operating context + * (secure or insecure). + * + * @param[in] secret_index The index of the hardware-secret to be used in the + * key-derivation process. Must be a positive integer + * less than SCP_SECRET_COUNT. + * + * @param[in] salt_pa The physical address of the input buffer containing + * the salt value to be used in the key-derivation + * process. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least SCP_BLOCK_SIZE bytes. Supports + * IMEM and DMEM locations only. + * + * @return A pointer to the new key-descriptor. + */ +#define SCP_KEY_DERIVED_ECB(secret_index, salt_pa) ( \ + (const scp_key_desc_t *)&(scp_key_desc_t) \ + { \ + .key_type = SCP_KEY_TYPE_DERIVED_ECB, \ + .ecb_secret_index = (secret_index), \ + .ecb_salt_pa = (uintptr_t)(salt_pa), \ + } \ +) + +/** + * @brief Constructs a new key-descriptor with automatic storage duration. + * + * When a descriptor returned by this macro is passed to scp_Encrypt(), + * scp_Decrypt(), or scp_Cmac(), it instructs the callee to perform AES-CBC + * encryption on the first SCP_BLOCK_SIZE bytes from salt_pa, using the + * hardware-secret indicated by secret_index as the key and the first + * SCP_BLOCK_SIZE bytes from iv_pa as the initialization vector. The result of + * this procedure is then used as the encryption key for the requested + * encryption, decryption, or CMAC operation. + * + * Note that the contents of salt_pa and iv_pa are never copied or modified and + * must remain valid for the lifetime of the returned key-descriptor. + * Additionally, the hardware-secret referred to by secret_index must have an + * access-control list that permits keying of its contents for the current + * operating context (secure or insecure). + * + * @param[in] secret_index The index of the hardware-secret to be used in the + * key-derivation process. Must be a positive integer + * less than SCP_SECRET_COUNT. + * + * @param[in] salt_pa The physical address of the input buffer containing + * the salt value to be used in the key-derivation + * process. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least SCP_BLOCK_SIZE bytes. Supports + * IMEM and DMEM locations only. + * + * @param[in] iv_pa The physical address of the input buffer containing + * the initialization vector to be used in the key- + * derivation process. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least + * SCP_BLOCK_SIZE bytes. Supports IMEM and DMEM + * locations only. + * + * @return A pointer to the new key-descriptor. + */ +#define SCP_KEY_DERIVED_CBC(secret_index, salt_pa, iv_pa) ( \ + (const scp_key_desc_t *)&(scp_key_desc_t) \ + { \ + .key_type = SCP_KEY_TYPE_DERIVED_CBC, \ + .cbc_secret_index = (secret_index), \ + .cbc_salt_pa = (uintptr_t)(salt_pa), \ + .cbc_iv_pa = (uintptr_t)(iv_pa), \ + } \ +) + +/** + * @brief Constructs a new key-descriptor with automatic storage duration. + * + * When a descriptor returned by this macro is passed to scpEncrypt(), + * scpDecrypt(), or scpCmac(), it instructs the callee to compute the CMAC of + * the first size bytes from message_pa, using the hardware-secret indicated by + * secret_index as the key. The result of this procedure is then used as the + * encryption key for the requested encryption, decryption, or CMAC operation. + * + * Per NIST SP 800-108, it is assumed that message_pa contains the requisite + * counter, label, context, and length values in the form of a pre-concatenated + * bit string. In the event that this string is not a multiple of SCP_BLOCK_SIZE + * bytes in length, it is further assumed that the application has applied + * padding per the CMAC specification (i.e. by appending 0b10...0) and has + * signalled this padding by setting b_padded to true. + * + * Note that the contents of message_pa are never copied or modified and must + * remain valid for the lifetime of the returned key-descriptor. Additionally, + * the hardware-secret referred to by secret_index must have an access-control + * list that permits keying of its contents for the current operating context + * (secure or insecure). + * + * @param[in] secret_index The index of the hardware-secret to be used in the + * key-derivation process. Must be a positive integer + * less than SCP_SECRET_COUNT. + * + * @param[in] message_pa The physical address of the input buffer containing + * the message to be used in the key-derivation + * process. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least size bytes. Supports IMEM and + * DMEM locations only. + * + * @param[in] size The number of bytes to process from message_pa. Must + * be a nonzero multiple of SCP_BLOCK_SIZE. + * + * @param[in] b_padded A boolean value indicating whether the source + * message contains padding. + * + * @return A pointer to the new key-descriptor. + */ +#define SCP_KEY_DERIVED_CMAC(secret_index, message_pa, size, b_padded) ( \ + (const scp_key_desc_t *)&(scp_key_desc_t) \ + { \ + .key_type = SCP_KEY_TYPE_DERIVED_CMAC, \ + .cmac_secret_index = (secret_index), \ + .cmac_message_pa = (uintptr_t)(message_pa), \ + .cmac_size = (size), \ + .cmac_padded = (b_padded), \ + } \ +) + +/** + * @brief The cryptographic block size. + * + * The size, in bytes, of a single block of data in the context of + * cryptographic operations. + */ +#define SCP_BLOCK_SIZE 16U + +/** + * @brief The cryptographic key size. + * + * The size, in bytes, of an encryption key in the context of cryptographic + * operations. + */ +#define SCP_KEY_SIZE 16U + +/** + * @brief The number of hardware secrets supported by the SCP unit. + */ +#define SCP_SECRET_COUNT 64U + + +/** + * @brief A collection of supported block-cipher modes. + */ +typedef enum scp_cipher_mode_t +{ + SCP_CIPHER_MODE_ECB, + SCP_CIPHER_MODE_CBC, + SCP_CIPHER_MODE_CTR, +} scp_cipher_mode_t; + +/** + * @brief A collection of supported operating modes for CMAC computations. + */ +typedef enum scp_cmac_mode_t +{ + SCP_CMAC_MODE_COMPLETE, + SCP_CMAC_MODE_PADDED, + SCP_CMAC_MODE_PARTIAL, +} scp_cmac_mode_t; + +/** + * @brief A structure for describing cryptographic keys. + * + * A structure for communicating key information to applicable cryptographic + * interfaces. Should always be constructed using the provided SCP_KEY_* helper + * macros. + * + * @key_type The type of key expressed by this key-descriptor. + * + * @raw_buffer_pa The physical address of the source buffer containing + * the key (when key_type is SCP_KEY_TYPE_RAW_BUFFER). + * + * @raw_register_index The index of the source register containing the key + * (when key_type is SCP_KEY_TYPE_RAW_REGISTER). + * + * @ecb_secret_index The hardware secret to be used in the key-derivation + * process (when key_type is SCP_KEY_TYPE_DERIVED_ECB). + * + * @ecb_salt_pa The physical address of the salt value to derive from + * (when key_type is SCP_KEY_TYPE_DERIVED_ECB). + * + * @cbc_secret_index The hardware secret to be used in the key-derivation + * process (when key_type is SCP_KEY_TYPE_DERIVED_CBC). + * + * @cbc_salt_pa The physical address of the salt value to derive from + * (when key_type is SCP_KEY_TYPE_DERIVED_CBC). + * + * @cbc_iv_pa The physical address of the initialization vector for + * CBC (when key_type is SCP_KEY_TYPE_DERIVED_CBC). + * + * @cmac_secret_index The hardware secret to be used in the key-derivation + * process (when key_type is SCP_KEY_TYPE_DERIVED_CMAC). + * + * @cmac_message_pa The physical address of the message to derive from + * (when key_type is SCP_KEY_TYPE_DERIVED_CMAC). + * + * @cmac_size The size of the message to derive from (when key_type is + * SCP_KEY_TYPE_DERIVED_CMAC). + * + * @cmac_padded Whether the input message contains padding (when + * key_type is SCP_KEY_TYPE_DERIVED_CMAC). + */ +typedef struct scp_key_desc_t +{ + /** + * @brief A collection of supported key types. + * + * See the corresponding SCP_KEY_* helper macros for more information + * regarding the different supported key types. + */ + enum scp_key_type_t + { + SCP_KEY_TYPE_RAW_BUFFER, + SCP_KEY_TYPE_RAW_REGISTER, + + SCP_KEY_TYPE_DERIVED_ECB, + SCP_KEY_TYPE_DERIVED_CBC, + SCP_KEY_TYPE_DERIVED_CMAC, + } key_type; + + // Type-specific key information. + union + { + // Information for RAW_BUFFER-type keys. + struct + { + uintptr_t raw_buffer_pa; + }; + + // Information for RAW_REGISTER-type keys. + struct + { + scp_register_index_t raw_register_index; + }; + + // Information for DERIVED_ECB-type keys. + struct + { + uint8_t ecb_secret_index; + uintptr_t ecb_salt_pa; + }; + + // Information for DERIVED_CBC-type keys. + struct + { + uint8_t cbc_secret_index; + uintptr_t cbc_salt_pa; + uintptr_t cbc_iv_pa; + }; + + // Information for DERIVED_CMAC-type keys. + struct + { + uint8_t cmac_secret_index; + uintptr_t cmac_message_pa; + size_t cmac_size; + bool cmac_padded; + }; + }; +} scp_key_desc_t; + + +/** + * @brief Encrypts an arbitary buffer of data using an AES-128 block cipher. + * + * Encrypts the first size bytes of data from source_pa using the key described + * by p_key_desc and writes the result to dest_pa. Uses an AES-128 block cipher + * operating in the mode indicated by cipher_mode as the encryption algorithm. + * If applicable, SCP_BLOCK_SIZE bytes from context_pa are used as the initial + * contextual input to the cipher. + * + * Should p_key_desc describe a derived key, the scp_Encrypt() function will + * perform the indicated key-derivation operation automatically. See the + * relevant SCP_KEY_* macros for details. + * + * Note that it is permissible for source_pa and dest_pa to reference the same + * memory location (i.e. to facilitate encrypting data in-place). However, the + * use of buffers that only partially overlap is prohibited and will result in + * an error. + * + * In the event that dest_pa refers to an external memory location, the + * application must ensure that it has first called scp_Configure_Shortcut() (or + * used the SCP_EXTERNAL_DEST() helper macro) to configure the shortcut-DMA + * path accordingly. + * + * @param[in] p_key_desc A pointer to the key-descriptor to be used for the + * encryption operation. Applications should acquire + * this parameter through one of the provided + * SCP_KEY_* macros. + * + * @param[in] cipher_mode The block-cipher mode of operation to use. See the + * documentation for scp_cipher_mode_t for a list of + * supported values. + * + * @param[in] source_pa The physical address of the input buffer to be + * encrypted. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least size bytes. Supports IMEM and + * DMEM locations only. + * + * @param[out] dest_pa The physical address of the output buffer to which + * the encrypted data is to be written. Must be + * aligned to SCP_BUFFER_ALIGNMENT and have at least + * size bytes of capacity. Permitted to overlap with + * source_pa only if exactly equal. Supports IMEM, + * DMEM, and external locations. + * + * @param[in] size The number of bytes to process from source_pa. Must + * be a nonzero multiple of SCP_BLOCK_SIZE. + * + * @param[in] context_pa The physical address of the input buffer containing + * the initialization vector (CBC) or initial counter + * value with nonce (CTR) to be used for the + * encryption operation. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least + * SCP_BLOCK_SIZE bytes. Required to be zero (NULL) + * for ECB mode. Supports IMEM and DMEM locations + * only. + * + * @retval E_SUCCESS if data was encrypted successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_OBJECT if p_key_desc does not point to a valid + * key-descriptor. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if p_key_desc was constructed with a + * zero (NULL) or incorrectly-aligned + * address, or a pointer to an unsupported + * memory location (e.g. EMEM), or a buffer + * that overflows the memory region in + * which it resides, or a buffer of invalid + * size. + * + * @retval E_SCP_INVALID_INDEX if p_key_desc was constructed with an + * invalid register or hardware-secret + * index, or references secret-index zero. + * + * @retval E_PERM if p_key_desc was constructed with a + * hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_SCP_INVALID_POINTER if one or more of p_key_desc, source_pa, + * or dest_pa is zero/NULL, or context_pa + * is zero (NULL) and cipher_mode is not + * SCP_CIPHER_MODE_ECB. + * + * @retval E_SCP_INVALID_ADDRESS if one or more of source_pa, dest_pa, or + * context_pa is incorrectly aligned, or + * the buffers referenced by source_pa and + * dest_pa overlap without being equal. + * + * @retval E_SCP_INVALID_BASE if one or more of source_pa, dest_pa, or + * context_pa points to an unsupported + * memory region (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_BLOCK_SIZE. + * + * @retval E_SCP_INVALID_OPERATION if cipher_mode is not a valid + * scp_cipher_mode_t value, or cipher_mode + * is SCP_CIPHER_MODE_ECB and context_pa is + * nonzero (non-NULL). + * + * @retval E_SCP_FEATURE_NOT_ENABLED if dest_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if dest_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if one or more of the buffers referenced + * by source_pa, dest_pa, or context_pa + * overflows the memory region in which it + * resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Encrypt(const scp_key_desc_t * p_key_desc, + scp_cipher_mode_t cipher_mode, + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa); + +/** + * @brief Decrypts an arbitary buffer of data using an AES-128 block cipher. + * + * Decrypts the first size bytes of data from source_pa using the key described + * by p_key_desc and writes the result to dest_pa. Uses an AES-128 block cipher + * operating in the mode indicated by cipher_mode as the decryption algorithm. + * If applicable, SCP_BLOCK_SIZE bytes from context_pa are used as the initial + * contextual input to the cipher. + * + * Should p_key_desc describe a derived key, the scp_Decrypt() function will + * perform the indicated key-derivation operation automatically. See the + * relevant SCP_KEY_* macros for details. + * + * Note that it is permissible for source_pa and dest_pa to reference the same + * memory location (i.e. to facilitate decrypting data in-place). However, the + * use of buffers that only partially overlap is prohibited and will result in + * an error. + * + * In the event that dest_pa refers to an external memory location, the + * application must ensure that it has first called scp_Configure_Shortcut() (or + * used the SCP_EXTERNAL_DEST() helper macro) to configure the shortcut-DMA + * path accordingly. + * + * @param[in] p_key_desc A pointer to the key-descriptor to be used for the + * decryption operation. Applications should acquire + * this parameter through one of the provided + * SCP_KEY_* macros. + * + * @param[in] cipher_mode The block-cipher mode of operation to use. See the + * documentation for scp_cipher_mode_t for a list of + * supported values. + * + * @param[in] source_pa The physical address of the input buffer to be + * decrypted. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least size bytes. Supports IMEM and + * DMEM locations only. + * + * @param[out] dest_pa The physical address of the output buffer to which + * the decrypted data is to be written. Must be + * aligned to SCP_BUFFER_ALIGNMENT and have at least + * size bytes of capacity. Permitted to overlap with + * source_pa only if exactly equal. Supports IMEM, + * DMEM, and external locations. + * + * @param[in] size The number of bytes to process from source_pa. Must + * be a nonzero multiple of SCP_BLOCK_SIZE. + * + * @param[in] context_pa The physical address of the input buffer containing + * the initialization vector (CBC) or initial counter + * value with nonce (CTR) to be used for the + * decryption operation. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least + * SCP_BLOCK_SIZE bytes. Required to be zero (NULL) + * for ECB mode. Supports IMEM and DMEM locations + * only. + * + * @retval E_SUCCESS if data was decrypted successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_OBJECT if p_key_desc does not point to a valid + * key-descriptor. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if p_key_desc was constructed with a + * zero (NULL) or incorrectly-aligned + * address, or a pointer to an unsupported + * memory location (e.g. EMEM), or a buffer + * that overflows the memory region in + * which it resides, or a buffer of invalid + * size. + * + * @retval E_SCP_INVALID_INDEX if p_key_desc was constructed with an + * invalid register or hardware-secret + * index, or references secret-index zero. + * + * @retval E_PERM if p_key_desc was constructed with a + * hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_SCP_INVALID_POINTER if one or more of p_key_desc, source_pa, + * or dest_pa is zero/NULL, or context_pa + * is zero (NULL) and cipher_mode is not + * SCP_CIPHER_MODE_ECB. + * + * @retval E_SCP_INVALID_ADDRESS if one or more of source_pa, dest_pa, or + * context_pa is incorrectly aligned, or + * the buffers referenced by source_pa and + * dest_pa overlap without being equal. + * + * @retval E_SCP_INVALID_BASE if one or more of source_pa, dest_pa, or + * context_pa points to an unsupported + * memory region (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_BLOCK_SIZE. + * + * @retval E_SCP_INVALID_OPERATION if cipher_mode is not a valid + * scp_cipher_mode_t value, or cipher_mode + * is SCP_CIPHER_MODE_ECB and context_pa is + * nonzero (non-NULL). + * + * @retval E_SCP_FEATURE_NOT_ENABLED if dest_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if dest_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if one or more of the buffers referenced + * by source_pa, dest_pa, or context_pa + * overflows the memory region in which it + * resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Decrypt(const scp_key_desc_t * p_key_desc, + scp_cipher_mode_t cipher_mode, + uintptr_t source_pa, + uintptr_t dest_pa, + size_t size, + uintptr_t context_pa); + +/** + * @brief Computes the Davies-Meyer hash of an arbitrary buffer of data. + * + * Computes the Davies-Meyer hash of the first size bytes of data from source_pa + * and writes the result to dest_pa. Uses SCP_BLOCK_SIZE bytes from init_pa as + * the initial hash value. + * + * Note that it is permissible for dest_pa and init_pa to alias to the same + * memory location. + * + * In the event that dest_pa refers to an external memory location, the + * application must ensure that it has first called scp_Configure_Shortcut() (or + * used the SCP_EXTERNAL_DEST() helper macro) to configure the shortcut-DMA + * path accordingly. + * + * @param[in] source_pa The physical address of the input buffer whose hash + * will be computed. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least size bytes. + * Supports IMEM and DMEM locations only. + * + * @param[in] size The number of bytes to process from source_pa. Must be + * a nonzero multiple of SCP_KEY_SIZE. + * + * @param[out] dest_pa The physical address of the output buffer to which the + * computed hash value is to be written. Must be aligned + * to SCP_BUFFER_ALIGNMENT and have at least + * SCP_BLOCK_SIZE bytes of capacity. Supports IMEM, DMEM, + * and external locations. + * + * @param[in] init_pa The physical address of the input buffer containing the + * initial hash value H0 to be used in the computation. + * Must be aligned to SCP_BUFFER_ALIGNMENT and contain at + * least SCP_BLOCK_SIZE bytes. Permitted to alias to + * dest_pa. Supports IMEM and DMEM locations only. + * + * @retval E_SUCCESS if hash was computed successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retcal E_SCP_INVALID_POINTER if one or more of source_pa, dest_pa, or + * init_pa is zero/NULL. + * + * @retval E_SCP_INVALID_ADDRESS if one or more of source_pa, dest_pa, or + * init_pa is incorrectly aligned. + * + * @retval E_SCP_INVALID_BASE if one or more of source_pa, dest_pa, or + * init_pa points to an unsupported memory + * location (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_KEY_SIZE. + * + * @retval E_SCP_FEATURE_NOT_ENABLED if dest_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if dest_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if one or more of the buffers referenced + * by source_pa, dest_pa, or init_pa + * overflows the memory region in which it + * resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Dmhash(uintptr_t source_pa, + size_t size, + uintptr_t dest_pa, + uintptr_t init_pa); + +/** + * @brief Computes the CMAC of an arbitrary buffer of data. + * + * Computes the CMAC of the first size bytes of data from source_pa using the + * key described by p_key_desc and writes the result to dest_pa. Uses an AES-128 + * block cipher for the operation. If provided, SCP_BLOCK_SIZE bytes from + * context_pa are used as the initial contextual input (IV) for the computation. + * + * When cmac_mode is SCP_CMAC_MODE_PARTIAL, scp_Cmac() skips the final step of + * the CMAC computation, thus allowing the result to be chained into a future + * call via context_pa. The full CMAC result can then be obtained by passing + * SCP_CMAC_MODE_COMPLETE, as is done for singular, unchained calls. + * + * Notice that it is the application's responsibility to pad the source message + * if needed (by appending 0b10...0 per the CMAC specification) and to signal + * that padding has occurred by setting cmac_mode to SCP_CMAC_MODE_PADDED in + * place of SCP_CMAC_MODE_COMPLETE. + * + * Should p_key_desc describe a derived key, the scp_Cmac() function will + * perform the indicated key-derivation operation automatically. See the + * relevant SCP_KEY_* macros for details. + * + * Note that it is permissible for dest_pa and context_pa to reference the same + * memory location (e.g. for easy chaining of partial computations - see + * above). + * + * In the event that dest_pa refers to an external memory location, the + * application must ensure that it has first called scp_Configure_Shortcut() (or + * used the SCP_EXTERNAL_DEST() helper macro) to configure the shortcut-DMA + * path accordingly. + * + * @param[in] p_key_desc A pointer to the key-descriptor to be used for the + * CMAC computation. Applications should acquire this + * parameter through one of the provided SCP_KEY_* + * macros. + * + * @param[in] cmac_mode The CMAC mode of operation to use. See the + * documentation for scp_cmac_mode_t for a list of + * supported values. + * + * @param[in] source_pa The physical address of the input buffer for which + * the CMAC will be computed. Must be aligned to + * SCP_BUFFER_ALIGNMENT and contain at least size + * bytes. Supports IMEM and DMEM locations only. + * + * @param[in] size The number of bytes to process from source_pa. Must + * be a nonzero multiple of SCP_BLOCK_SIZE. + * + * @param[out] dest_pa The physical address of the output buffer to which + * the computed CMAC value is to be written. Must be + * aligned to SCP_BUFFER_ALIGNMENT and have at least + * SCP_BLOCK_SIZE bytes of capacity. Supports IMEM, + * DMEM, and external locations. + * + * @param[in] context_pa The physical address of the input buffer containing + * the result of a prior partial CMAC computation, if + * applicable. Must be aligned to SCP_BUFFER_ALIGNMENT + * and contain at least SCP_BLOCK_SIZE bytes. Should + * be zero (NULL) or should point to an all-zero + * buffer if not continuing a prior computation. + * Permitted to alias to dest_pa. Supports IMEM and + * DMEM locations only. + * + * @retval E_SUCCESS if CMAC was computed successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_OBJECT if p_key_desc does not point to a valid + * key-descriptor. + * + * @retval E_SCP_INVALID_OBJECT_BUFFER if p_key_desc was constructed with a + * zero (NULL) or incorrectly-aligned + * address, or a pointer to an unsupported + * memory location (e.g. EMEM), or a buffer + * that overflows the memory region in + * which it resides, or a buffer of invalid + * size. + * + * @retval E_SCP_INVALID_INDEX if p_key_desc was constructed with an + * invalid register or hardware-secret + * index, or references secret-index zero. + * + * @retval E_PERM if p_key_desc was constructed with a + * hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_SCP_INVALID_POINTER if one or more of p_key_desc, source_pa, + * or dest_pa is zero/NULL. + * + * @retval E_SCP_INVALID_ADDRESS if one or more of source_pa, dest_pa, or + * context_pa is incorrectly aligned, or + * the buffers referenced by source_pa and + * context_pa overlap. + * + * @retval E_SCP_INVALID_BASE if one or more of source_pa, dest_pa, or + * context_pa points to an unsupported + * memory region (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_BLOCK_SIZE. + * + * @retval E_SCP_INVALID_OPERATION if cmac_mode is not a valid + * scp_cmac_mode_t value. + * + * @retval E_SCP_FEATURE_NOT_ENABLED if dest_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if dest_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if one or more of the buffers referenced + * by source_pa, dest_pa, or context_pa + * overflows the memory region in which it + * resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Cmac(const scp_key_desc_t * p_key_desc, + scp_cmac_mode_t cmac_mode, + uintptr_t source_pa, + size_t size, + uintptr_t dest_pa, + uintptr_t context_pa); + +#endif // SCP__SCP_CRYPT_H diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp_direct.h b/spe-freertos-bsp/fsp/source/include/scp/scp_direct.h new file mode 100644 index 0000000..a97107f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp_direct.h @@ -0,0 +1,674 @@ +/** + * @file scp_direct.h + * @brief Low-level SCP primitives. + * + * @note Client applications should include scp.h instead of this file. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_DIRECT_H +#define SCP__SCP_DIRECT_H +#define FSP__SCP__SCP_DIRECT_H 1 + +/* Compiler headers */ +#include // for bool +#include // for uint8_t, uintptr_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for local_read, local_write +#include // for error_t +// Clients must provide their own DRF headers + +/* Module-specific FSP headers */ +#include // for scp_register_index_t + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__CPU__IO_H) +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) + + +/** + * @brief Issues a single CCI instruction to the SCP unit. + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] opcode The CCI instruction to issue (e.g. XOR). + * @param[in] rx_or_imm A register index or 6-bit immediate value. + * @param[in] ry A register index. + * + * @note The interpretation of the rx_or_imm and ry parameters is instruction- + * dependent. They can be set to zero when not needed. + */ +#define SCP_INSTRUCTION(opcode, rx_or_imm, ry) ( \ + local_write(NV_PRGNLCL_RISCV_SCPDMATRFCMD, \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _CCI_EX, _CCI ) | \ + DRF_NUM(_PRGNLCL_RISCV, _SCPDMATRFCMD, _RY, ry ) | \ + DRF_NUM(_PRGNLCL_RISCV, _SCPDMATRFCMD, _RX_OR_IMM, rx_or_imm) | \ + DRF_DEF(_PRGNLCL_RISCV, _SCPDMATRFCMD, _OPCODE, _##opcode) \ + ) \ +) + +/** + * @brief The size, in bytes, of each SCP GPR. + */ +#define SCP_REGISTER_SIZE 16U + + +/** + * @brief A collection of supported transfer sizes for queued reads/writes. + */ +typedef enum scp_transfer_size_t +{ + SCP_TRANSFER_SIZE_1R = NV_PRGNLCL_RISCV_SCPDMATRFCMD_SIZE_16B, + SCP_TRANSFER_SIZE_2R = NV_PRGNLCL_RISCV_SCPDMATRFCMD_SIZE_32B, + SCP_TRANSFER_SIZE_4R = NV_PRGNLCL_RISCV_SCPDMATRFCMD_SIZE_64B, + SCP_TRANSFER_SIZE_8R = NV_PRGNLCL_RISCV_SCPDMATRFCMD_SIZE_128B, + SCP_TRANSFER_SIZE_16R = NV_PRGNLCL_RISCV_SCPDMATRFCMD_SIZE_256B, +} scp_transfer_size_t; + + +/** + * @brief Prepares the SCP driver for low-level operations. + * + * Prepares the SCP driver for low-level operations by entering direct mode. + * Applications must call scp_Start_Direct() before invoking any low-level SCP + * interfaces. + * + * @retval E_SUCCESS if direct mode was started successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been initialized. + * + * @retval E_SCP_NOTHING_TO_DO if the SCP driver is already operating in + * direct mode (no-op). + */ +error_t scp_Start_Direct(void); + +/** + * @brief Prepares the SCP driver for high-level operations. + * + * Prepares the SCP driver for high-level operations by exiting direct mode. + * Applications must call scp_Stop_Direct() before invoking any high-level SCP + * interfaces, unless otherwise noted. + * + * @pre The SCP GPRs must be fetchable and writable or an interrupt may occur. + * + * @retval E_SUCCESS if direct mode was stopped successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @retval E_SCP_NOTHING_TO_DO if the SCP driver is not operating in + * direct mode (no-op). + */ +error_t scp_Stop_Direct(void); + +/** + * @brief Loads data from a buffer into a general-purpose SCP register. + * + * Loads the first SCP_REGISTER_SIZE bytes from source_pa into the register + * specified by reg_index. Assumes that the destination register is writable. + * + * Applications can check the status of the underlying SCPDMA transfer using + * the provided scp_*_dma() interfaces. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] source_pa The physical address of the input buffer containing the + * data to be loaded. Must be aligned to and contain at + * least SCP_REGISTER_SIZE bytes. Supports IMEM and DMEM + * locations only. + * + * @param[in] reg_index The index of the SCP register to which the data is to + * be written. + */ +void scp_load(uintptr_t source_pa, scp_register_index_t reg_index); + +/** + * @brief Stores data from a general-purpose SCP register into a buffer. + * + * Writes the contents of the register specified by reg_index to the first + * SCP_REGISTER_SIZE bytes of dest_pa. Assumes that the source register is + * fetchable. + * + * Applications can check the status of the underlying SCPDMA transfer using + * the provided scp_*_dma() interfaces. + * + * In the event that dest_pa refers to an external memory location, the + * application is responsible for completing the corresponding shortcut-DMA + * transfer accordingly. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] reg_index The index of the SCP register containing the data to + * be stored. + * + * @param[out] dest_pa The physical address of the output buffer to which the + * data is to be written. Must be aligned to and have + * capacity for at least SCP_REGISTER_SIZE bytes. Supports + * IMEM, DMEM, and external locations. + */ +void scp_store(scp_register_index_t reg_index, uintptr_t dest_pa); + +/** + * @brief Queues an SCPDMA transfer without issuing any push instructions. + * + * Queues a transfer of size bytes from source_pa but does not read any data + * until one or more subsequent push instructions are received. Generally used + * to feed sequencer programs. + * + * Applications can check the status of the underlying suppressed SCPDMA + * transfer using the provided scp_*_dma() interfaces. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] source_pa The physical address of the input buffer containing the + * data to be read. Must be aligned to and contain at + * least size bytes. Supports IMEM and DMEM locations + * only. + * + * @param[in] size The number of bytes to read from source_pa. See the + * documentation for scp_transfer_size_t for supported + * values. + */ +void scp_queue_read(uintptr_t source_pa, scp_transfer_size_t size); + +/** + * @brief Queues an SCPDMA transfer without issuing any fetch instructions. + * + * Queues a transfer of size bytes to dest_pa but does not write any data until + * one or more subsequent fetch instructions are received. Generally used to + * feed sequencer programs. + * + * Applications can check the status of the underlying suppressed SCPDMA + * transfer using the provided scp_*_dma() interfaces. + * + * In the event that dest_pa refers to an external memory location, the + * application is responsible for queuing the corresponding shortcut-DMA + * transfer accordingly. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[out] dest_pa The physical address of the output buffer to which the + * data is to be written. Must be aligned to and have + * capacity for at least size bytes. Supports IMEM, DMEM, + * and external locations. + * + * @param[in] size The number of bytes to write to dest_pa. See the + * documentation for scp_transfer_size_t for supported + * values. + */ +void scp_queue_write(uintptr_t dest_pa, scp_transfer_size_t size); + +/** + * @brief Returns the active status of the SCPDMA unit. + * + * Applications can use scp_poll_dma() to determine whether a load, store, + * or CCI transfer has finished. + * + * @retval true if the SCPDMA unit is active. + * @retval false if the SCPDMA unit is idle. + */ +static inline bool +scp_poll_dma(void) +{ + return FLD_TEST_DRF(_PRGNLCL_RISCV, _SCPDMAPOLL, _DMA_ACTIVE, _ACTIVE, + local_read(NV_PRGNLCL_RISCV_SCPDMAPOLL)); +} + +/** + * @brief Polls the active status of the SCPDMA unit and returns when idle. + * + * Applications can use scp_wait_dma() to ensure that a prior load, store, + * or CCI transfer has finished. + */ +static inline void +scp_wait_dma(void) +{ + while (scp_poll_dma()) + { + } +} + +/** + * @brief Checks for pending SCPDMA errors and then clears them if requested. + * + * Checks for pending SCPDMA errors. Clears them after reading if b_clear is + * true (IO-PMP errors are not cleared). + * + * Applications can use scp_check_dma() to determine whether a load, store, or + * CCI transfer has encountered problems. + * + * @pre The SCPDMA hardware must be idle. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] b_clear A boolean value indicating whether the SCPDMA error + * status should be cleared before returning. + * + * @retval E_SUCCESS if no errors were reported. + * + * @retval E_SCP_INVALID_ADDRESS if an SCPDMA transfer was initiated with a + * physical address whose offset is not + * aligned to the transfer size. + * + * @retval E_SCP_INVALID_BASE if an SCPDMA transfer was initiated with a + * physical address that points to an + * unsupported memory region (e.g. EMEM). + * + * @retval E_PERM if a CCI secret instruction was initiated + * with a hardware-secret index that the + * application does not have permission to + * use. + * + * @retval E_FAULT if an IO-PMP fault was detected. + */ +error_t scp_check_dma(bool b_clear); + +/////////////////////////////////////////////////////////////////////////////// +// Begin instruction primitives. Refer to the IAS for full descriptions. + +/** + * @brief Adds a 6-bit immediate value to register ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The 6-bit immediate value to add. + * @param[in] ry The destination register to add to. + * + * @note The default carry-chain is 64 bits in length. + */ +static inline void +scp_add(uint8_t imm, scp_register_index_t ry) +{ + SCP_INSTRUCTION(ADD, imm, ry); +} + +/** + * @brief Performs a bitwise AND on the contents of registers rx and ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The first operand register. + * @param[in] ry The second operand register and destination for the result. + */ +static inline void +scp_and(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(AND, rx, ry); +} + +/** + * @brief Swaps the byte-order of the value in register rx. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register containing the value to byte-swap. + * @param[in] ry The destination register to receive the byte-swapped result. + */ +static inline void +scp_bswap(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(BSWAP, rx, ry); +} + +/** + * @brief Modifies the ACL of register ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The new ACL value, encoded as {Wi,Fi,Ki,Fs,Ks} = imm[4:0]. + * @param[in] ry The register whose ACL will be updated. + * + * @note Only valid in secure contexts. Cannot grant secure permissions. + */ +static inline void +scp_chmod(uint8_t imm, scp_register_index_t ry) +{ + SCP_INSTRUCTION(CHMOD, imm, ry); +} + +/** + * @brief Generates the first of the two subkeys required for CMAC computation. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register containing an encrypted zero value. + * @param[in] ry The destination register to receive the generated subkey. + * + * @note The initial step of encrypting zero must be completed separately. + */ +static inline void +scp_cmac_sk(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(CMAC_SK, rx, ry); +} + +/** + * @brief Perform AES-128 decryption on the contents of register rx. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register containing the ciphertext to decrypt. + * @param[in] ry The destination register to receive the decrypted plaintext. + * + * @note Obtains the key from the register specified in ku. + */ +static inline void +scp_decrypt(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(DECRYPT, rx, ry); +} + +/** + * @brief Perform AES-128 encryption on the contents of register rx. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register containing the plaintext to encrypt. + * @param[in] ry The destination register to receive the encrypted ciphertext. + * + * @note Obtains the key from the register specified in ku. + */ +static inline void +scp_encrypt(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(ENCRYPT, rx, ry); +} + +/** + * @brief Offers the contents of register ry to the SCPDMA interface. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] ry The source register whose data will be fetched. + * + * @note Fetches zeroes if register ry lacks sufficient access rights. + */ +static inline void +scp_fetch(scp_register_index_t ry) +{ + SCP_INSTRUCTION(FETCH, 0U, ry); +} + +/** + * @brief Invalidates the engine's signature/hash. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @note Only valid in secure contexts. + */ +static inline void +scp_forget_sig(void) +{ + SCP_INSTRUCTION(FORGET_SIG, 0U, 0U); +} + +/** + * @brief Marks register ry as the key source for cryptographic operations. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] ry The source register from which key material will be read. + * + * @note Updates ku with the index of ry only (contents are not copied). + */ +static inline void +scp_key(scp_register_index_t ry) +{ + SCP_INSTRUCTION(KEY, 0U, ry); +} + +/** + * @brief Loads the next imm instructions into sequencer zero. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The number of instructions to load (0-16). + * + * @note Resets the sequencer if imm is zero. + */ +static inline void +scp_load_trace0(uint8_t imm) +{ + SCP_INSTRUCTION(LOAD_TRACE0, imm, 0U); +} + +/** + * @brief Loads the next imm instructions into sequencer one. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The number of instructions to load (0-16). + * + * @note Resets the sequencer if imm is zero. + */ +static inline void +scp_load_trace1(uint8_t imm) +{ + SCP_INSTRUCTION(LOAD_TRACE1, imm, 0U); +} + +/** + * @brief Invokes imm iterations of sequencer zero. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The number of iterations to execute (0-63). + */ +static inline void +scp_loop_trace0(uint8_t imm) +{ + SCP_INSTRUCTION(LOOP_TRACE0, imm, 0U); +} + +/** + * @brief Invokes imm iterations of sequencer one. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The number of iterations to execute (0-63). + */ +static inline void +scp_loop_trace1(uint8_t imm) +{ + SCP_INSTRUCTION(LOOP_TRACE1, imm, 0U); +} + +/** + * @brief Copies the contents of register rx into register ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register to copy from. + * @param[in] ry The destination register to copy to. + */ +static inline void +scp_mov(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(MOV, rx, ry); +} + +/** + * @brief No operation. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + */ +static inline void +scp_nop(void) +{ + SCP_INSTRUCTION(NOP, 0U, 0U); +} + +/** + * @brief Accepts data from the SCPDMA interface and stores in register ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] ry The destination register to receive the push data. + */ +static inline void +scp_push(scp_register_index_t ry) +{ + SCP_INSTRUCTION(PUSH, 0U, ry); +} + +/** + * @brief Writes a true random number to register ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] ry The destination register to receive the random number. + * + * @note Requires prior configuration of the RNG hardware. Not NIST-compliant. + */ +static inline void +scp_rand(scp_register_index_t ry) +{ + SCP_INSTRUCTION(RAND, 0U, ry); +} + +/** + * @brief Converts a decryption key into an equivalent encryption key. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register containing the decryption key to convert. + * @param[in] ry The destination register to receive the encryption key. + * + * @note Inverse of the rkey10 instruction. + */ +static inline void +scp_rkey1(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(RKEY1, rx, ry); +} + +/** + * @brief Converts an encryption key into an equivalent decryption key. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The source register containing the encryption key to convert. + * @param[in] ry The destination register to receive the decryption key. + * + * @note Inverse of the rkey1 instruction. + */ +static inline void +scp_rkey10(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(RKEY10, rx, ry); +} + +/** + * @brief Loads one of 64 hardware secrets into register ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] imm The index of the hardware secret to load (0-63). + * @param[in] ry The destination register to receive the hardware secret. + * + * @note Only valid in secure contexts. ACL is updated accordingly. + */ +static inline void +scp_secret(uint8_t imm, scp_register_index_t ry) +{ + SCP_INSTRUCTION(SECRET, imm, ry); +} + +/** + * @brief Performs a bitwise XOR on the contents of registers rx and ry. + * + * @pre The SCP hardware must have been properly initialized. + * @pre Clients must enter direct mode before calling this function. + * + * @param[in] rx The first operand register. + * @param[in] ry The second operand register and destination for the result. + */ +static inline void +scp_xor(scp_register_index_t rx, scp_register_index_t ry) +{ + SCP_INSTRUCTION(XOR, rx, ry); +} + +// End instruction primitives. +/////////////////////////////////////////////////////////////////////////////// + +// Prevent external use of this macro. +#undef SCP_INSTRUCTION + +#endif // SCP__SCP_DIRECT_H diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp_general.h b/spe-freertos-bsp/fsp/source/include/scp/scp_general.h new file mode 100644 index 0000000..0b24303 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp_general.h @@ -0,0 +1,315 @@ +/** + * @file scp_general.h + * @brief General SCP operations. + * + * @note Client applications should include scp.h instead of this file. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_GENERAL_H +#define SCP__SCP_GENERAL_H +#define FSP__SCP__SCP_GENERAL_H 1 + +/* Compiler headers */ +#include // for bool +#include // for uint8_t, uintptr_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t +// Clients must provide their own DRF headers + +/* Module-specific FSP headers */ +#include // for scp_register_index_t, etc. + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) + + +/** + * @brief Allocates a buffer whose base is aligned to SCP_BUFFER_ALIGNMENT. + * + * Allocates a buffer of size at least size whose base address is aligned to + * SCP_BUFFER_ALIGNMENT. The buffer has automatic storage duration. + * + * Note that the pointer returned by this macro may require virtual-to-physical + * conversion before it can be used in an SCP interface call, depending on the + * application's current operating mode. Furthermore, it is up to the + * application to ensure that the alignment properties of the returned pointer + * are preserved through the virtual-to-physical conversion process, if + * applicable. + * + * This macro is safe to call from direct mode. + * + * @param[in] size The desired size for the new buffer in bytes. This should + * generally be a nonzero multiple of one of the provided + * SCP_*_SIZE constants. + * + * @return A pointer to the newly-allocated buffer. + */ +#define SCP_ALIGNED_BUFFER(size) ( \ + (uint8_t*)NV_ALIGN_UP64( \ + (uintptr_t)(uint8_t[(size) + SCP_BUFFER_ALIGNMENT - 1U]){0U}, \ + SCP_BUFFER_ALIGNMENT \ + ) \ +) + +/** + * @brief Configures the shortcut-DMA path for an external destination buffer. + * + * Configures the shortcut path for transfers to external memory as if by + * calling scp_Configure_Shortcut(dma_index) and then returns dest_pa. Returns + * zero/NULL if configuration fails. + * + * This helper is meant to simplify the process of passing external buffers to + * applicable SCP interfaces by allowing for the shortcut-DMA path to be + * configured in-line. It also aims to lessen the risk of misconfigured + * shortcut transfers by encouraging applications to explicitly re-configure + * for each operation. + * + * Note that shortcut-DMA support must be enabled during build in order for + * this macro to succeed. + * + * @pre The selected DMA aperture must have been properly configured. + * + * @param[in] dest_pa The physical address of the destination buffer. + * @param[in] dma_index The index of the DMA aperture to be used when + * transferring to the destination buffer. + * + * @retval dest_pa if the shortcut-DMA path was configured successfully. + * + * @retval 0 if dma_index does not refer to a valid DMA aperture, or the + * application does not have shortcut-DMA support enabled, or + * the SCP driver has not been initialized. + */ +#define SCP_EXTERNAL_DEST(dest_pa, dma_index) ( \ + (scp_Configure_Shortcut(dma_index) == E_SUCCESS) ? \ + (dest_pa) : (uintptr_t)0U \ +) + + +/** + * @brief A collection of flags that can be used to customize driver behaviour. + */ +typedef enum scp_init_flag_t +{ + /** + * @brief Use the recommended default configuration settings. + * + * @note Ignored if combined with other flags. + */ + SCP_INIT_FLAG_DEFAULT = 0, + +} scp_init_flag_t; + + +/** + * @brief Initializes the SCP driver and underlying hardware for use. + * + * Initializes the SCP driver for use. Applications must not call into any + * other SCP interfaces before executing scp_Init(), unless otherwise noted. + * + * After scp_Init() completes successfully, the SCP unit is guaranteed to be in + * a clean, safe state for the application to use. + * + * @param[in] flags A bitmask specifying the desired configuration settings for + * the SCP driver. + * + * @retval E_SUCCESS if initialization was successful. + * + * @retval E_SCP_INVALID_FLAGS if flags is not a valid combination of + * scp_init_flag_t values. + * + * @retval E_NOTSUPPORTED if the host engine does not contain an + * SCP unit. + * + * @retval E_PERM if the SCP unit or IO-PMP registers are + * blocked in the host engine's device map. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_BUSY if the SCP unit is in use and cannot be + * safely reset. + * + * @retval E_INVALID_STATE if IO-PMP error-capture is disabled for + * the CPDMA master. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown, or the + * host engine is secure-capable but SCP + * lockdown is disabled. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Init(scp_init_flag_t flags); + +/** + * @brief Clears all data from the SCP unit and disables further processing. + * + * Clears all data from the SCP unit and disables further processing of + * commands. Applications should invoke scp_Shutdown() as soon as SCP support is + * no longer needed (or at least before exiting). + * + * Should an application require SCP functionality again after issuing + * scp_Shutdown(), it must first invoke scp_Init() to initialize the driver + * again, unless otherwise noted. + * + * @retval E_SUCCESS if shutdown was successful. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_BUSY if the SCP unit is in use and cannot be + * safely reset. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @retval E_SCP_NOTHING_TO_DO if the SCP driver has already been shut + * down (no-op). + */ +error_t scp_Shutdown(void); + +/** + * @brief Returns the debug status of the SCP unit. + * + * This function can be called regardless of whether the SCP driver has been + * initialized or shut down and is safe to call from direct mode. + * + * @retval true if the SCP unit is in debug mode. + * @retval false if the SCP unit is not in debug mode. + */ +bool scp_Is_Debug(void); + +/** + * @brief Clears any data from the specified SCP GPR. + * + * This function is safe to call from direct mode. + * + * @pre The target register must be writable and fetchable if called from an + * insecure context. + * + * @param[in] reg_index The index of the SCP register to clear. + * + * @retval E_SUCCESS if the register was cleared + * successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_INDEX if reg_index is not a valid + * scp_register_index_t value. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Clear_Reg(scp_register_index_t reg_index); + +/** + * @brief Clears any data from all SCP GPRs. + * + * This function is safe to call from direct mode. + * + * @pre All GPRs must be writable and fetchable if called from an insecure + * context. + * + * @retval E_SUCCESS if the registers were cleared + * successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Clear_All(void); + +/** + * @brief Configures the shortcut-DMA path for transfers to external memory. + * + * Configures the shortcut path to be used by applicable interfaces when + * transferring data to external memory. Applications must call + * scp_Configure_Shortcut() (or the SCP_EXTERNAL_DEST() helper macro) before + * passing external destination buffers to any SCP interfaces. + * + * Once configured, the selected DMA aperture will be used for all future + * shortcut transfers until reconfigured by a subsequent call to + * scp_Configure_Shortcut(). + * + * Note that the application is responsible for ensuring that the provided DMA + * aperture has itself been properly configured before use. Additionally, + * shortcut-DMA support must be enabled during build in order to leverage this + * feature. + * + * @param[in] dma_index The index of the DMA aperture to be used for shortcut + * transfers to external memory. + * + * @retval E_SUCCESS if the shortcut-DMA path was configured + * successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_INDEX if dma_index does not refer to a valid + * DMA aperture. + * + * @retval E_SCP_FEATURE_NOT_ENABLED if the application does not have + * shortcut-DMA support enabled. + */ +error_t scp_Configure_Shortcut(uint8_t dma_index); + +#endif // SCP__SCP_GENERAL_H diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp_private.h b/spe-freertos-bsp/fsp/source/include/scp/scp_private.h new file mode 100644 index 0000000..3e7f822 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp_private.h @@ -0,0 +1,473 @@ +/** + * @file scp_private.h + * @brief Private interfaces for internal use by the SCP driver. + * + * @note Not intended for use by client applications. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_PRIVATE_H +#define SCP__SCP_PRIVATE_H +#define FSP__SCP__SCP_PRIVATE_H 1 + +/* Compiler headers */ +#include // for bool +#include // for size_t +#include // for uint8_t, uintptr_t, etc. + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for csr_read +#include // for local_read, local_write +#include // for error_t +#include // for DRF macros + +/* Module-specific FSP headers */ +#include // for scp_register_index_t + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__CPU__CSR_H) +HEADER_CHECK(FSP__CPU__IO_H) +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) +HEADER_CHECK(FSP__MISC__NVMISC_DRF_H) +HEADER_CHECK(FSP__SCP__SCP_COMMON_H) + + +/** + * @brief The hardware secret to use when clearing registers in secure contexts. + * + * @note Not to be used for any other purpose, per the security bar. + */ +#define SCP_SECRET_INDEX_CLEAR 0U + + +/** + * @brief A structure describing the internal state of the SCP driver. + * + * @b_initialized Tracks whether the driver has been initialized + * correctly. Most interfaces will early-out if this + * flag is not set. + * + * @b_shutdown Tracks whether the driver has been shut down after a + * prior initialization. Mostly a courtesy feature to + * detect duplicate calls to scp_Shutdown(). + * + * @b_direct_mode_active Tracks whether the driver is currently operating in + * "direct mode", which affects whether certain higher- + * level interfaces are available. + * + * @b_rand_configured Tracks whether the SCP unit's RNG hardware has been + * configured. Requests for random-number generation + * will be declined unless this flag is set. + * + * @b_shortcut_configured Tracks whether the shortcut-DMA path has been + * configured. dma_index below is only valid if this + * flag is set and any requests for transfers to + * external memory will be declined otherwise. + * + * @dma_index Stores the index of the DMA aperture to be used for + * shortcut transfers to external memory. Valid only if + * b_shortcut_configured is set. + */ +typedef struct scp_state_t +{ + bool b_initialized : 1; + bool b_shutdown : 1; + bool b_direct_mode_active : 1; + bool b_rand_configured : 1; + bool b_shortcut_configured : 1; + uint8_t dma_index; +} scp_state_t; + + +/** + * @brief Clears any data from the specified SCP GPR and then unlocks its ACL. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The target register must be writable and fetchable if called from an + * insecure context. + * + * @param[in] reg_index The index of the SCP register to clear. + * + * @retval E_SUCCESS if the register was cleared + * successfully. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @note This is an internal-only version of scp_Clear_Reg() that skips certain + * redundant checks. + */ +error_t scp_pvt_Clear_Reg(scp_register_index_t reg_index); + +/** + * @brief Clears any data from all SCP GPRs and then unlocks their ACLs. + * + * @pre The SCP hardware must have been properly initialized. + * @pre All GPRs must be writable and fetchable if called from an insecure + * context. + * + * @retval E_SUCCESS if the registers were cleared + * successfully. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @note This is an internal-only version of scp_Clear_All() that skips certain + * redundant checks. + */ +error_t scp_pvt_Clear_All(void); + +/** + * @brief Resets the ACLs of all SCP GPRs to a fully-open state. + * + * @pre The SCP hardware must have been properly initialized. + * @pre This function must only be called from secure contexts. + * @pre All GPRs must have both secure permissions (Fs and Ks) enabled. + * + * @retval E_SUCCESS if the registers were unlocked successfully. + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @note As a precaution, the contents of each register are cleared after + * unlocking. It is recommended that callers also clear the registers + * before unlocking by calling scp_pvt_Zero_All() and checking that it + * succeeded. + */ +error_t scp_pvt_Unlock_All(void); + +/** + * @brief Zeroes all SCP GPRs. + * + * @pre The SCP hardware must have been properly initialized. + * @pre All GPRs must be writable and fetchable if called from an insecure + * context. + * + * @retval E_SUCCESS if the registers were zeroed + * successfully. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + * + * @note Calling this function from a secure context will leave the SCP GPRs + * inaccessible from insecure contexts unless explicitly unlocked later. + */ +error_t scp_pvt_Zero_All(void); + +/** + * @brief Loads data from a buffer into a general-purpose SCP register. + * + * Loads the first SCP_REGISTER_SIZE bytes from source_pa into the register + * specified by reg_index. Assumes that the destination register is writable + * and that the caller has performed all necessary validation on source_pa and + * reg_index. + * + * Intended as an internal-only convenience wrapper for scp_load(). + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] source_pa The physical address of the input buffer containing + * the data to be loaded. Must be aligned to and + * contain at least SCP_REGISTER_SIZE bytes. Supports + * IMEM and DMEM locations only. + * + * @param[in] reg_index The index of the SCP register to which the data is + * to be written. + * + * @retval E_SUCCESS if data was loaded successfully. + * @retval E_FAULT if an IO-PMP fault was detected. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_pvt_Load_Buffer(uintptr_t source_pa, + scp_register_index_t reg_index); + +/** + * @brief Stores data from a general-purpose SCP register into a buffer. + * + * Writes the contents of the register specified by reg_index to the first + * SCP_REGISTER_SIZE bytes of dest_pa. Assumes that the source register is + * fetchable and that the caller has performed all necessary validation on + * dest_pa and reg_index. + * + * In the event that dest_pa refers to an external memory location, the + * caller is also responsible for ensuring that the shortcut-DMA path has been + * properly enabled and configured accordingly. + * + * Intended as an internal-only convenience wrapper for scp_store(). + * + * @pre The SCP hardware must have been properly initialized. + * + * @param[in] reg_index The index of the SCP register containing the data to + * be stored. + * + * @param[out] dest_pa The physical address of the output buffer to which the + * data is to be written. Must be aligned to and have + * capacity for at least SCP_REGISTER_SIZE bytes. Supports + * IMEM, DMEM, and external locations. + * + * @retval E_SUCCESS if data was stored successfully. + * @retval E_FAULT if an IO-PMP fault was detected. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_pvt_Store_Buffer(scp_register_index_t reg_index, + uintptr_t dest_pa); + +/** + * @brief Validates an input/output buffer for use by a higher-level interface. + * + * Verifies that the input or output buffer pointed to by base_pa is located at + * a valid address within a supported memory region and is correctly aligned. + * Also ensures that shortcut-DMA support has been properly enabled and + * configured when b_allow_external is true. + * + * @param[in] base_pa The physical address of the buffer to validate. + * + * @param[in] size The size of the buffer to validate, in bytes. + * + * @param[in] b_allow_external Whether to permit external memory locations. + * + * @retval E_SUCCESS if the buffer was validated + * successfully. + * + * @retval E_SCP_INVALID_POINTER if base_pa is zero (NULL). + * + * @retval E_SCP_VINALID_ADDRESS if base_pa is incorrectly aligned. + * + * @retval E_SCP_INVALID_BASE if base_pa points to an unsupported + * memory region (e.g. EMEM). + * + * @retval E_SCP_FEATURE_NOT_ENABLED if base_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if base_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if the buffer referenced by base_pa + * overflows the memory region in which it + * resides. + */ +error_t scp_pvt_Validate_Buffer(uintptr_t base_pa, + size_t size, + bool b_allow_external); + +/** + * @brief Executes the program currently loaded in SCP sequencer zero. + * + * Repeatedly executes the sequencer program currently loaded into SCP + * sequencer zero until size bytes of data have been read from source_pa and/or + * written to dest_pa. Automatically breaks the input and/or output data into + * optimally-sized batches while processing. + * + * Note that the caller is assumed to have performed all necessary validation + * on source_pa, dest_pa, and size before passing them to this function. This + * includes verifying proper enablement and configuration of the shortcut-DMA + * path in the event that dest_pa refers to an external memory location. + * + * It is also assumed that the number of push/fetch instructions issued per + * iteration of the currently-loaded sequencer program exactly matches the + * values in the table below. + * + * source_pa | dest_pa | pushes | fetches + * -----------|---------|--------|--------- + * Present | Present | 1 | 1 + * Present | Absent | 1 | 0 + * Absent | Present | 0 | 1 + * Absent | Absent | 0 | 0 + * + * While it is permissible to call this function with neither an input buffer + * nor an output buffer, doing so is likely to be less efficient than simply + * invoking the required number of sequencer iterations directly. + * + * @pre The SCP hardware must have been properly initialized. + * @pre The current security context must match that which was used to load the + * sequencer program. + * + * @param[in] source_pa The physical address of the input buffer containing + * the data to be fed into the sequencer program (zero + * /NULL if none). Must be aligned to + * SCP_REGISTER_SIZE and contain at least size bytes. + * Supports IMEM and DMEM locations only. + * + * @param[out] dest_pa The physical address of the output buffer to which + * the data produced by the sequencer program is to be + * written (zero/NULL if none). Must be aligned to + * SCP_REGISTER_SIZE and have at least size bytes of + * capacity. Supports IMEM, DMEM, and external + * locations. + * + * @param[in] size The number of bytes to process from source_pa and/or + * output to dest_pa. Must be a multiple of + * SCP_REGISTER_SIZE. + * + * @retval E_SUCCESS if data was processed successfully. + * @retval E_FAULT if an IO-PMP fault was detected. + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_pvt_Run_Sequence(uintptr_t source_pa, + uintptr_t dest_pa, + size_t size); + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Disables the SCP unit's RNG hardware. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +scp_pvt_Disable_Rand(void) +{ + local_write(NV_PRGNLCL_SCP_CTL1, + FLD_SET_DRF(_PRGNLCL_SCP, _CTL1, _RNG_EN, _DISABLED, + local_read(NV_PRGNLCL_SCP_CTL1))); +} + +/** + * @brief Enables the SCP unit's RNG hardware. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +scp_pvt_Enable_Rand(void) +{ + local_write(NV_PRGNLCL_SCP_CTL1, + FLD_SET_DRF(_PRGNLCL_SCP, _CTL1, _RNG_EN, _ENABLED, + local_read(NV_PRGNLCL_SCP_CTL1))); +} + +/** + * @brief Checks whether SCP lockdown is enabled. + * + * @retval true if SCP lockdown is enabled. + * @retval false if SCP lockdown is disabled. + */ +static inline bool +scp_pvt_Is_Lockdown_Enabled(void) +{ + return FLD_TEST_DRF(_PRGNLCL_SCP, _CTL_CFG, _LOCKDOWN_SCP, _ENABLE, + local_read(NV_PRGNLCL_SCP_CTL_CFG)); +} + +/** + * @brief Checks whether the host engine is operating in a secure context. + * + * @retval true if the host engine is operating in a secure context. + * @retval false if the host engine is operating in an insecure context. + */ +static inline bool +scp_pvt_Is_Secure(void) +{ + return FLD_TEST_DRF64(_RISCV_CSR, _XRSP, _XRSEC, _SEC, + csr_read(NV_RISCV_CSR_XRSP)); +} + +/** + * @brief Checks whether access to lockable SCP registers/fields is restricted. + * + * @retval true if access is restricted. + * @retval false if access is unrestricted. + */ +static inline bool +scp_pvt_Is_Access_Restricted(void) +{ + return (scp_pvt_Is_Lockdown_Enabled() && !scp_pvt_Is_Secure()); +} + +/** + * @brief Requests a pipe reset. Waits for completion before returning. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +scp_pvt_Reset_Pipeline(void) +{ + // Request a pipe reset. + local_write(NV_PRGNLCL_SCP_CTL1, + FLD_SET_DRF(_PRGNLCL_SCP, _CTL1, _PIPE_RESET, _TASK, + local_read(NV_PRGNLCL_SCP_CTL1))); + + // Wait for the pipe reset to complete. + while (FLD_TEST_DRF(_PRGNLCL_SCP, _CTL1, _PIPE_RESET, _PENDING, + local_read(NV_PRGNLCL_SCP_CTL1))) + { + } +} + +/** + * @brief Clears both SCP sequencers. + * + * @pre Must be called from a secure context if SCP lockdown is enabled. + */ +static inline void +scp_pvt_Reset_Sequencers(void) +{ + // Request a reset of both sequencers. + local_write(NV_PRGNLCL_SCP_CTL1, + FLD_SET_DRF(_PRGNLCL_SCP, _CTL1, _SEQ_CLEAR, _TASK, + local_read(NV_PRGNLCL_SCP_CTL1))); + + // Wait for the sequencer reset to complete. + while (FLD_TEST_DRF(_PRGNLCL_SCP, _CTL1, _SEQ_CLEAR, _PENDING, + local_read(NV_PRGNLCL_SCP_CTL1))) + { + } +} + +/////////////////////////////////////////////////////////////////////////////// + +/** + * @brief Global internal state variable. + */ +extern scp_state_t g_scp_state; + +#endif // SCP__SCP_PRIVATE_H diff --git a/spe-freertos-bsp/fsp/source/include/scp/scp_rand.h b/spe-freertos-bsp/fsp/source/include/scp/scp_rand.h new file mode 100644 index 0000000..32d2d8f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/scp/scp_rand.h @@ -0,0 +1,279 @@ +/** + * @file scp_rand.h + * @brief SCP features for random-number generation. + * + * @note Client applications should include scp.h instead of this file. + * + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SCP__SCP_RAND_H +#define SCP__SCP_RAND_H +#define FSP__SCP__SCP_RAND_H 1 + +/* Compiler headers */ +#include // for size_t +#include // for uintptr_t + +/* Early FSP headers */ +#include // for HEADER_CHECK + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The HEADER_CHECK macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +HEADER_CHECK(FSP__ERROR__COMMON_ERRORS_H) + + +/** + * @brief The RNG block size. + * + * The size, in bytes, of a single block of data in the context of RNG + * operations. + */ +#define SCP_RAND_SIZE 16U + + +/** + * @brief A collection of supported configurations for the SCP RNG hardware. + */ +typedef enum scp_rand_config_t +{ + /** + * @brief The default configuration recommended by hardware for optimal RNG. + */ + SCP_RAND_CONFIG_DEFAULT, + + /** + * @brief A configuration that generates fake, deterministic data. + * + * Intended for testing and debugging purposes. Note that this configuration + * is only supported when the SCP unit is in debug mode and also requires + * that fake-RNG support be enabled during build. + */ + SCP_RAND_CONFIG_FAKE, + +} scp_rand_config_t; + + +/** + * @brief Configures the SCP RNG hardware for use. + * + * Configures the SCP RNG hardware according to the value of config. + * + * Applications must call scp_Configure_Rand() before attempting to start the + * RNG hardware and must stop the hardware again before attempting to + * reconfigure, should the need arise. + * + * @param[in] config The hardware configuration to use. See the + * documentation for scp_rand_config_t for a list + * of supported values. + * + * @retval E_SUCCESS if configuration settings were applied + * successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_BUSY if the RNG hardware is currently running + * and cannot be reconfigured. + * + * @retval E_INVALID_PARAM if config is not a valid + * scp_rand_config_t value. + * + * @retval E_SCP_INVALID_REQUEST if config is SCP_RAND_CONFIG_FAKE but + * the SCP unit is not in debug mode. + * + * @retval E_SCP_FEATURE_NOT_ENABLED if config is SCP_RAND_CONFIG_FAKE but + * the application does not have fake-RNG + * support enabled. + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + */ +error_t scp_Configure_Rand(scp_rand_config_t config); + +/** + * @brief Starts the SCP RNG hardware. + * + * Starts the SCP unit's RNG hardware. Applications must call scp_Start_Rand() + * before attempting to acquire random data from scp_Get_Rand() (or scp_rand()). + * + * Note that there is some delay between starting the RNG hardware and + * acquiring the first RNG data from it. The length of this delay is dictated + * by the specific hardware configuration set by scp_Configure_Rand() and + * manifests as increased latency in the execution of scp_Get_Rand(). + * + * This function is safe to call from direct mode. + * + * @retval E_SUCCESS if RNG hardware was started successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been initialized. + * + * @retval E_INVALID_STATE if the application has not called + * scp_Configure_Rand() to configure the RNG + * hardware for use. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers is + * being blocked by SCP lockdown. + * + * @retval E_SCP_NOTHING_TO_DO if the RNG hardware is already running (no- + * op). + */ +error_t scp_Start_Rand(void); + +/** + * @brief Stops the SCP RNG hardware. + * + * Stops the SCP unit's RNG hardware. Applications must call scp_Stop_Rand() + * before attempting to reconfigure the RNG hardware via scp_Configure_Rand(). + * + * This function is safe to call from direct mode. + * + * @retval E_SUCCESS if RNG hardware was stopped successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been initialized. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers is + * being blocked by SCP lockdown. + * + * @retval E_SCP_NOTHING_TO_DO if the RNG hardware is already stopped (no- + * op). + */ +error_t scp_Stop_Rand(void); + +/** + * @brief Generates an arbitrary string of true-random data. + * + * Generates size bytes of true-random data and writes the result to dest_pa. + * Uses the first SCP_RAND_SIZE bytes from context_pa as a contextual input to + * the generation process, if provided. + * + * Applications must call scp_Start_Rand() to ensure that the RNG hardware is + * running before attempting to acquire data from scp_Get_Rand(). + * + * Keep in mind that the quality of the data generated by scp_Get_Rand() is + * heavily influenced by the RNG hardware's specific configuration settings, + * which also affect the rate at which the random data is produced. These + * settings can be tuned via scp_Configure_Rand(). + * + * In any case, the data produced by scp_Get_Rand() is not NIST-compliant and + * should not be used to generate encryption keys or initialization vectors. + * + * Note that it is permissible for dest_pa and context_pa to alias to the same + * memory location. + * + * In the event that dest_pa refers to an external memory location, the + * application must ensure that it has first called scp_Configure_Shortcut() (or + * used the SCP_EXTERNAL_DEST() helper macro) to configure the shortcut-DMA + * path accordingly. + * + * @param[out] dest_pa The physical address of the output buffer to which + * the generated data is to be written. Must be + * aligned to SCP_BUFFER_ALIGNMENT and have at least + * size bytes of capacity. Supports IMEM, DMEM, and + * external locations. + * + * @param[in] size The number of bytes of data to generate. Must be a + * nonzero multiple of SCP_RAND_SIZE. + * + * @param[in] context_pa The physical address of the input buffer containing + * the initial context value to be factored into the + * generated data (zero/NULL if none). Must be aligned + * to SCP_BUFFER_ALIGNMENT and contain at least + * SCP_RAND_SIZE bytes. Permitted to alias to dest_pa. + * Supports IMEM and DMEM locations only. + * + * @retval E_SUCCESS if data was generated successfully. + * + * @retval E_SCP_NOT_READY if the SCP driver has not been + * initialized. + * + * @retval E_SCP_INVALID_OPERATION if the RNG hardware is not running or + * has not been properly configured. + * + * @retval E_SCP_INVALID_POINTER if dest_pa is zero/NULL. + * + * @retval E_SCP_INVALID_ADDRESS if one or more of dest_pa or context_pa + * is incorrectly aligned. + * + * @retval E_SCP_INVALID_BASE if one or more of dest_pa or context_pa + * points to an unsupported memory region + * (e.g. EMEM). + * + * @retval E_SCP_INVALID_REQUEST if size is zero or is not a multiple of + * SCP_RAND_SIZE. + * + * @retval E_SCP_FEATURE_NOT_ENABLED if dest_pa is located in external memory + * but the application does not have + * shortcut-DMA support enabled. + * + * @retval E_SCP_INVALID_DMA_SPECIFIER if dest_pa is located in external memory + * but the application has not called + * scp_Configure_Shortcut() to configure + * the shortcut-DMA path. + * + * @retval E_SCP_OUT_OF_RANGE if one or more of the buffers referenced + * by dest_pa or context_pa overflows the + * memory region in which it resides. + * + * @retval E_SCP_INSUFFICIENT_RESOURCES if the application lacks access to + * secret-index zero (required in secure + * contexts). + * + * @retval E_INVALID_STATE if calls to this function are prohibited + * because the SCP driver is operating in + * direct mode. + * + * @retval E_SCP_INVALID_LOCK_STATE if access to certain necessary registers + * is being blocked by SCP lockdown. + * + * @retval E_FAULT if an IO-PMP fault was detected. + * + * @retval E_SCP_GENERIC if an unexpected error occurred. + */ +error_t scp_Get_Rand(uintptr_t dest_pa, size_t size, uintptr_t context_pa); + +#endif // SCP__SCP_RAND_H diff --git a/spe-freertos-bsp/fsp/source/include/sections/sections-base.h b/spe-freertos-bsp/fsp/source/include/sections/sections-base.h new file mode 100644 index 0000000..518616d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/sections/sections-base.h @@ -0,0 +1,117 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef SECTIONS__SECTIONS_BASE_H +#define SECTIONS__SECTIONS_BASE_H +#define FSP__SECTIONS__SECTIONS_BASE_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/* + * Sections that should only be used in linker scripts and other special + * cases. + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_BSS .bss +#define SECTION_NAME_DATA .data +#define SECTION_NAME_RODATA .rodata +#define SECTION_NAME_TEXT .text +#define SECTION_NAME_VECTORS .vectors + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_INIT_DATA SECTION_BUILDER(init, data) +#define SECTION_NAME_INIT_RODATA SECTION_BUILDER(init, rodata) +#define SECTION_NAME_INIT_TEXT SECTION_BUILDER(init, text) +#define SECTION_NAME_DRAM_BSS SECTION_BUILDER(dram, bss) +#define SECTION_NAME_DRAM_DATA SECTION_BUILDER(dram, data) +#define SECTION_NAME_DRAM_RODATA SECTION_BUILDER(dram, rodata) +#define SECTION_NAME_DRAM_TEXT SECTION_BUILDER(dram, text) +#define SECTION_NAME_ERROR_BSS SECTION_BUILDER(error, bss) +#define SECTION_NAME_ERROR_DATA SECTION_BUILDER(error, data) +#define SECTION_NAME_ERROR_RODATA SECTION_BUILDER(error, rodata) +#define SECTION_NAME_ERROR_TEXT SECTION_BUILDER(error, text) + +#define SECTION_STR_VECTORS STR(SECTION_NAME_VECTORS) +#define SECTION_STR_TEXT STR(SECTION_NAME_TEXT) +#define SECTION_STR_RODATA STR(SECTION_NAME_RODATA) +#define SECTION_STR_DATA STR(SECTION_NAME_DATA) +#define SECTION_STR_BSS STR(SECTION_NAME_BSS) +#define SECTION_STR_INIT_TEXT STR(SECTION_NAME_INIT_TEXT) +#define SECTION_STR_INIT_RODATA STR(SECTION_NAME_INIT_RODATA) +#define SECTION_STR_INIT_DATA STR(SECTION_NAME_INIT_DATA) +#define SECTION_STR_DRAM_TEXT STR(SECTION_NAME_DRAM_TEXT) +#define SECTION_STR_DRAM_RODATA STR(SECTION_NAME_DRAM_RODATA) +#define SECTION_STR_DRAM_DATA STR(SECTION_NAME_DRAM_DATA) +#define SECTION_STR_DRAM_BSS STR(SECTION_NAME_BSS) + +#define SECTION_VECTORS SECTION(SECTION_STR_VECTORS) +#define SECTION_TEXT SECTION(SECTION_STR_TEXT) +#define SECTION_RODATA SECTION(SECTION_STR_RODATA) +#define SECTION_DATA SECTION(SECTION_STR_DATA) +#define SECTION_BSS SECTION(SECTION_STR_BSS) +#define SECTION_INIT_TEXT SECTION(SECTION_STR_INIT_TEXT) +#define SECTION_INIT_RODATA SECTION(SECTION_STR_INIT_RODATA) +#define SECTION_INIT_DATA SECTION(SECTION_STR_INIT_DATA) +#define SECTION_DRAM_TEXT SECTION(SECTION_STR_DRAM_TEXT) +#define SECTION_DRAM_RODATA SECTION(SECTION_STR_DRAM_RODATA) +#define SECTION_DRAM_DATA SECTION(SECTION_STR_DRAM_DATA) +#define SECTION_DRAM_BSS SECTION(SECTION_STR_DRAM_BSS) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/sections/sections-strings.h b/spe-freertos-bsp/fsp/source/include/sections/sections-strings.h new file mode 100644 index 0000000..d6e6039 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/sections/sections-strings.h @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef SECTIONS__SECTIONS_STRINGS_H +#define SECTIONS__SECTIONS_STRINGS_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_STRINGS_RODATA SECTION_BUILDER(strings, rodata) + +#define SECTION_STR_STRINGS_RODATA STR(SECTION_NAME_STRINGS_RODATA) + +#define SECTION_STRINGS_RODATA SECTION(SECTION_STR_STRINGS_RODATA) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/sections/sections.h b/spe-freertos-bsp/fsp/source/include/sections/sections.h new file mode 100644 index 0000000..7b8509c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/sections/sections.h @@ -0,0 +1,57 @@ +/* + * Copyright (c) 2018-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef SECTIONS__SECTIONS_H +#define SECTIONS__SECTIONS_H +#define FSP__SECTIONS__SECTIONS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/sha-nvriscv/sha-errors.h b/spe-freertos-bsp/fsp/source/include/sha-nvriscv/sha-errors.h new file mode 100644 index 0000000..c75a255 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/sha-nvriscv/sha-errors.h @@ -0,0 +1,74 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SHA_NVRISCV__SHA_ERRORS_H +#define SHA_NVRISCV__SHA_ERRORS_H +#define FSP__SHA_NVRISCV__SHA_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file sha-errors.h + * @brief Error codes that are specific to the sha + */ + +#define E_SHA_ENG_ERROR MODULE_ERROR(SHA_NVRISCV, 0UL) +#define E_SHA_MUTEX_ACQUIRE_FAILED MODULE_ERROR(SHA_NVRISCV, 1UL) +#define E_SHA_MUTEX_RELEASE_FAILED MODULE_ERROR(SHA_NVRISCV, 2UL) +#define E_SHA_SW_RESET_TIMEOUT MODULE_ERROR(SHA_NVRISCV, 3UL) +#define E_SHA_WAIT_IDLE_TIMEOUT MODULE_ERROR(SHA_NVRISCV, 4UL) + +#endif /* SHA_NVRISCV__SHA_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/sha-nvriscv/sha.h b/spe-freertos-bsp/fsp/source/include/sha-nvriscv/sha.h new file mode 100644 index 0000000..d02b884 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/sha-nvriscv/sha.h @@ -0,0 +1,180 @@ +/** + * @file sha.h + * + * @brief SHA library for SHA-2 and HMAC SHA-2. + * + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SHA_NVRISCV__SHA_H +#define SHA_NVRISCV__SHA_H +#define FSP__SHA_NVRISCV__SHA_H 1 + + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include + +/* Module-specific FSP headers */ +#include + + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define BYTE_TO_BIT_LENGTH(a) ((a) << 3U) +#define BIT_TO_BYTE_LENGTH(a) ((a) >> 3U) + +/* Size defines for SHA variants */ +#define SHA_1_BLOCK_SIZE_BYTE (64U) +#define SHA_1_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_1_BLOCK_SIZE_BYTE) +#define SHA_1_HASH_SIZE_BYTE (20U) +#define SHA_1_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_1_HASH_SIZE_BYTE) + +#define SHA_224_BLOCK_SIZE_BYTE (64U) +#define SHA_224_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_224_BLOCK_SIZE_BYTE) +#define SHA_224_HASH_SIZE_BYTE (28U) +#define SHA_224_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_224_HASH_SIZE_BYTE) + +#define SHA_256_BLOCK_SIZE_BYTE (64U) +#define SHA_256_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_256_BLOCK_SIZE_BYTE) +#define SHA_256_HASH_SIZE_BYTE (32U) +#define SHA_256_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_256_HASH_SIZE_BYTE) + +#define SHA_384_BLOCK_SIZE_BYTE (128U) +#define SHA_384_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_384_BLOCK_SIZE_BYTE) +#define SHA_384_HASH_SIZE_BYTE (48U) +#define SHA_384_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_384_HASH_SIZE_BYTE) + +#define SHA_512_BLOCK_SIZE_BYTE (128U) +#define SHA_512_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_512_BLOCK_SIZE_BYTE) +#define SHA_512_HASH_SIZE_BYTE (64U) +#define SHA_512_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_512_HASH_SIZE_BYTE) + +#define SHA_512_224_BLOCK_SIZE_BYTE (128U) +#define SHA_512_224_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_512_224_BLOCK_SIZE_BYTE) +#define SHA_512_224_HASH_SIZE_BYTE (28U) +#define SHA_512_224_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_512_224_HASH_SIZE_BYTE) + +#define SHA_512_256_BLOCK_SIZE_BYTE (128U) +#define SHA_512_256_BLOCK_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_512_256_BLOCK_SIZE_BYTE) +#define SHA_512_256_HASH_SIZE_BYTE (32U) +#define SHA_512_256_HASH_SIZE_BIT BYTE_TO_BIT_LENGTH(SHA_512_256_HASH_SIZE_BYTE) + +/* Typedefs */ +typedef enum +{ + SHA_ALGO_ID_SHA_1 = (0U), + SHA_ALGO_ID_SHA_224, + SHA_ALGO_ID_SHA_256, + SHA_ALGO_ID_SHA_384, + SHA_ALGO_ID_SHA_512, + SHA_ALGO_ID_SHA_512_224, + SHA_ALGO_ID_SHA_512_256, + SHA_ALGO_ID_LAST +} SHA_ALGO_ID; + +typedef struct +{ + uint8_t src_type; + bool b_default_hash_iv; + uint8_t pad[2]; + uint32_t dma_idx; + uint32_t size; + uint64_t addr; +} SHA_TASK_CONFIG; + +typedef struct +{ + SHA_ALGO_ID algo_id; + uint32_t msg_size; + uint8_t *p_buf_out; + uint32_t buf_size; + uint8_t mutex_token; +} SHA_CONTEXT; + +typedef struct +{ + SHA_CONTEXT sha_context; + /* + * key_buffer: Buffer to hold key used for HMAC operation. Maximum size is + * SHA_512_BLOCK_SIZE_BYTE - if key is larger, user should hash first. + */ + uint8_t key_buffer[SHA_512_BLOCK_SIZE_BYTE]; + + /* + * key_size: Size of key in above buffer, in bytes. + */ + uint32_t key_size; +} HMAC_CONTEXT; + +/* Function Declarations */ +error_t sha_acquire_mutex(uint8_t mutex_token); +error_t sha_release_mutex(uint8_t mutex_token); +error_t sha_operation_init(const SHA_CONTEXT *p_sha_context); +error_t sha_engine_halt(void); +error_t sha_insert_task(SHA_CONTEXT *p_sha_context, const SHA_TASK_CONFIG *p_task_cfg); +error_t sha_read_hash_result(const SHA_CONTEXT *p_sha_context, bool b_scrub_reg); +error_t sha_get_hash_size_byte(SHA_ALGO_ID algo_id, uint32_t *p_size); +error_t sha_get_block_size_byte(SHA_ALGO_ID algo_id, uint32_t *p_size); +error_t sha_run_single_task_common(const SHA_TASK_CONFIG *p_task_cfg, SHA_CONTEXT *p_sha_ctx); +error_t sha_hmac_operation_init(HMAC_CONTEXT *p_hmac_context); +error_t sha_hmac_insert_task(HMAC_CONTEXT *p_hmac_context, SHA_TASK_CONFIG *p_task_cfg); +error_t sha_hmac_read_hash_result(const HMAC_CONTEXT *p_hmac_context); +error_t sha_hmac_run_single_task_common(HMAC_CONTEXT *p_hmac_context, SHA_TASK_CONFIG *p_task_cfg); + +/* Backward-compatibility for old code style */ +#define shaAcquireMutex sha_acquire_mutex +#define shaReleaseMutex sha_release_mutex +#define shaOperationInit sha_operation_init +#define shaEngineHalt sha_engine_halt +#define shaInsertTask sha_insert_task +#define shaReadHashResult sha_read_hash_result +#define shaGetHashSizeByte sha_get_hash_size_byte +#define shaGetBlockSizeByte sha_get_block_size_byte +#define shaRunSingleTaskCommon sha_run_single_task_common +#define shaHmacOperationInit sha_hmac_operation_init +#define shaHmacInsertTask sha_hmac_insert_task +#define shaHmacReadHashResult sha_hmac_read_hash_result +#define shaHmacRunSingleTaskCommon sha_hmac_run_single_task_common + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif // SHA_NVRISCV__SHA_H +/*** end of file ***/ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/hw-config/vic-irqs.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/hw-config/vic-irqs.h new file mode 100644 index 0000000..9859478 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/hw-config/vic-irqs.h @@ -0,0 +1,137 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HW_CONFIG__VIC_IRQS_H +#define HW_CONFIG__VIC_IRQS_H +#define FSP__HW_CONFIG__VIC_IRQS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define NUM_VICS 2 + +/* + * Define the various vectors where the VIC and IRQ are encoded into one value + */ +#define INTERRUPT_WDTFIQ TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_WDTFIQ) +#define INTERRUPT_WDTIRQ TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_WDTIRQ) +#define INTERRUPT_TIMER0 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_TIMER0) +#define INTERRUPT_TIMER1 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_TIMER1) +#define INTERRUPT_TIMER2 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_TIMER2) +#define INTERRUPT_TIMER3 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_TIMER3) +#define INTERRUPT_MBOX TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_MBOX) +#define INTERRUPT_GTE TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_GTE) +#define INTERRUPT_PMU TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_PMU) +#define INTERRUPT_DMA0 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA0) +#define INTERRUPT_DMA1 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA1) +#define INTERRUPT_DMA2 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA2) +#define INTERRUPT_DMA3 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA3) +#define INTERRUPT_DMA4 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA4) +#define INTERRUPT_DMA5 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA5) +#define INTERRUPT_DMA6 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA6) +#define INTERRUPT_DMA7 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMA7) +#define INTERRUPT_V0RSVD17 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_V0RSVD17) +#define INTERRUPT_I2C2 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_I2C2) +#define INTERRUPT_I2C3 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_I2C3) +#define INTERRUPT_SPI TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_SPI) +#define INTERRUPT_DMIC TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_DMIC) +#define INTERRUPT_UART_1 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_UART_1) +#define INTERRUPT_UART_J TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_UART_J) +#define INTERRUPT_CAN1_0 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_CAN1_0) +#define INTERRUPT_CAN1_1 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_CAN1_1) +#define INTERRUPT_CAN2_0 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_CAN2_0) +#define INTERRUPT_CAN2_1 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_CAN2_1) +#define INTERRUPT_LIC0 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_LIC0) +#define INTERRUPT_LIC1 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_LIC1) +#define INTERRUPT_LIC2 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_LIC2) +#define INTERRUPT_LIC3 TEGRA_INTERRUPT(0, NV_AON_INTERRUPT_LIC3) + +// VIC1 interrupts +#define INTERRUPT_NOC_ERR TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_NOC_ERR) +#define INTERRUPT_GPIO TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_GPIO) +#define INTERRUPT_WAKE0 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_WAKE0) +#define INTERRUPT_PMC TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_PMC) +#define INTERRUPT_V1RSVD4 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD4) +#define INTERRUPT_PM TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_PM) +#define INTERRUPT_FPUINT TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_FPUINT) +#define INTERRUPT_V1RSVD7 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD7) +#define INTERRUPT_ACTMON TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_ACTMON) +#define INTERRUPT_AOWDT TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_AOWDT) +#define INTERRUPT_TOP0_HSP_DB TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_TOP0_HSP_DB) +#define INTERRUPT_CTIIRQ TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_CTIIRQ) +#define INTERRUPT_NOC_SEC TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_NOC_SEC) +#define INTERRUPT_CAR TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_CAR) +#define INTERRUPT_UART6 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_UART6) +#define INTERRUPT_UART8 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_UART8) +#define INTERRUPT_GPIO_3 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_GPIO_3) +#define INTERRUPT_CEC TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_CEC) +#define INTERRUPT_V1RSVD18 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD18) +#define INTERRUPT_V1RSVD19 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD19) +#define INTERRUPT_V1RSVD20 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD20) +#define INTERRUPT_V1RSVD21 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD21) +#define INTERRUPT_V1RSVD22 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD22) +#define INTERRUPT_V1RSVD23 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD23) +#define INTERRUPT_V1RSVD24 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD24) +#define INTERRUPT_V1RSVD25 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD25) +#define INTERRUPT_V1RSVD26 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD26) +#define INTERRUPT_V1RSVD27 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD27) +#define INTERRUPT_V1RSVD28 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD28) +#define INTERRUPT_V1RSVD29 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD29) +#define INTERRUPT_V1RSVD30 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD30) +#define INTERRUPT_V1RSVD31 TEGRA_INTERRUPT(1, NV_AON_INTERRUPT_V1RSVD31) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/aodmic-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/aodmic-port-priv.h new file mode 100644 index 0000000..ae4f209 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/aodmic-port-priv.h @@ -0,0 +1,70 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PORT__AODMIC_PORT_PRIV_H +#define PORT__AODMIC_PORT_PRIV_H +#define FSP__PORT__AODMIC_PORT_PRIV_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint32_t + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +struct aodmic_port_clk_rst { + const struct tegra_clk *clk; + const struct tegra_rst *rst; +}; + + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#endif /* PORT__AODMIC_PORT_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/aodmic-port.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/aodmic-port.h new file mode 100644 index 0000000..b13f46e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/aodmic-port.h @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PORT__AODMIC_PORT_H +#define PORT__AODMIC_PORT_H +#define FSP__PORT__AODMIC_PORT_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint32_t + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for MODULE_ID_AODMIC, E_SUCCESS +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +extern const struct aodmic_port_clk_rst aodmic_port_clk_rst_aon; + +error_t aodmic_port_clock_reset_config(const struct aodmic_port_clk_rst *hw_handle); + +error_t aodmic_port_clock_disable(const struct aodmic_port_clk_rst *hw_handle); + +error_t aodmic_port_clock_set_rate(const struct aodmic_port_clk_rst *hw_handle, + uint32_t sample_rate); + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#endif /* PORT__AODMIC_PORT_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/gpcdma-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/gpcdma-port-priv.h new file mode 100644 index 0000000..4263bc2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/gpcdma-port-priv.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_PORT_PRIV_H +#define GPCDMA__GPCDMA_PORT_PRIV_H +#define FSP__PORT__GPCDMA_PORT_PRIV_H 0 + +/** + * @file gpcdma/gpcdma-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +struct gpcdma_hw_handle { + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/i2c-port.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/i2c-port.h new file mode 100644 index 0000000..e52449d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/i2c-port.h @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PORT__I2C_PORT_H +#define PORT__I2C_PORT_H +#define FSP__PORT__I2C_PORT_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#endif /* PORT__I2C_PORT_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/spi-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/spi-port-priv.h new file mode 100644 index 0000000..6afbe9e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/spi-port-priv.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI__SPI_PORT_PRIV_H +#define SPI__SPI_PORT_PRIV_H +#define FSP__PORT__SPI_PORT_PRIV_H 0 + +/** + * @file spi/spi-port-priv.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +struct spi_hw_handle { + const struct tegra_rst *rst; + const struct tegra_clk *clk; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/uart-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/uart-port-priv.h new file mode 100644 index 0000000..fac77ec --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/port/uart-port-priv.h @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UART__UART_PORT_PRIV_H +#define UART__UART_PORT_PRIV_H +#define FSP__PORT__UART_PORT_PRIV_H 0 + +#include + +/** + * @file uart/uart-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +typedef rtosQueueHandle uart_queue_t; + +struct uart_hw_handle { + const struct tegra_clk *clk; + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/cache-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/cache-hw.h new file mode 100644 index 0000000..dc8681d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/cache-hw.h @@ -0,0 +1,17 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__CACHE_HW_H +#define PROCESSOR__CACHE_HW_H +#define FSP__PROCESSOR__CACHE_HW_H 1 + +#include + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/debug-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/debug-hw.h new file mode 100644 index 0000000..05437f6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/debug-hw.h @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__DEBUG_HW_H +#define PROCESSOR__DEBUG_HW_H +#define FSP__PROCESSOR__DEBUG_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include // START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTC_BASE +#define TEGRA_DBG_UART_CLK tegra_clk_uartc +#define TEGRA_DBG_UART_RST tegra_rst_uartc +#define TEGRA_DBG_UART_BAUD 115200 + +#ifdef TEGRA_UARTC_ENABLED +extern struct tegra_uart_ctlr tegra_uart_ctlr_uartc; + +#ifndef DEBUG_UART +#define DEBUG_UART tegra_uart_ctlr_uartc +#endif +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/gpcdma-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/gpcdma-hw.h new file mode 100644 index 0000000..18fbe66 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/gpcdma-hw.h @@ -0,0 +1,76 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA_HW_H +#define GPCDMA_HW_H +#define FSP__PROCESSOR__GPCDMA_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#define GPCDMA_CHAN0 gpcdma_chan0 +#define GPCDMA_CHAN1 gpcdma_chan1 +#define GPCDMA_CHAN2 gpcdma_chan2 +#define GPCDMA_CHAN3 gpcdma_chan3 +#define GPCDMA_CHAN4 gpcdma_chan4 +#define GPCDMA_CHAN5 gpcdma_chan5 +#define GPCDMA_CHAN6 gpcdma_chan6 +#define GPCDMA_CHAN7 gpcdma_chan7 + +#ifndef __ASSEMBLER__ + +extern struct gpcdma_id gpcdma_id_aon; +extern struct gpcdma_channel gpcdma_chan0; +extern struct gpcdma_channel gpcdma_chan1; +extern struct gpcdma_channel gpcdma_chan2; +extern struct gpcdma_channel gpcdma_chan3; +extern struct gpcdma_channel gpcdma_chan4; +extern struct gpcdma_channel gpcdma_chan5; +extern struct gpcdma_channel gpcdma_chan6; +extern struct gpcdma_channel gpcdma_chan7; + +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/gpio-tegra.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/gpio-tegra.h new file mode 100644 index 0000000..f4c222a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/gpio-tegra.h @@ -0,0 +1,39 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPIO_TEGRA_H +#define GPIO_TEGRA_H +#define FSP__PROCESSOR__GPIO_TEGRA_H 1 + +#include // for #define MAX_GPIO_CONTROLLERS +#include // for struct tegra_gpio_id + +/* DCE GPIO ID */ +extern struct tegra_gpio_id * tegra_gpio_id_aon[MAX_GPIO_CONTROLLERS]; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/hsp-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/hsp-tegra-hw.h new file mode 100644 index 0000000..c80c3b0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/hsp-tegra-hw.h @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__HSP_TEGRA_HW_H +#define PROCESSOR__HSP_TEGRA_HW_H +#define FSP__PROCESSOR__HSP_TEGRA_HW_H 1 + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") + +#define TEGRA_HSP_ID_MBOX tegra_hsp_id_aon +#define TEGRA_HSP_ID_DB tegra_hsp_id_top0 + +#ifndef __ASSEMBLER__ + +/* This is the TOP HSP instance w/ AON interrupts */ +extern struct tegra_hsp_id tegra_hsp_id_aon; +extern struct tegra_hsp_id tegra_hsp_id_bpmp; +extern struct tegra_hsp_id tegra_hsp_id_fsi; +extern struct tegra_hsp_id tegra_hsp_id_top0; +extern struct tegra_hsp_id tegra_hsp_id_top1; +extern struct tegra_hsp_id tegra_hsp_id_sce; + +#endif + +#endif /* PROCESSOR__HSP_TEGRA_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/i2c-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/i2c-tegra-hw.h new file mode 100644 index 0000000..60353ca --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/i2c-tegra-hw.h @@ -0,0 +1,78 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef I2C_TEGRA_HW_H +#define I2C_TEGRA_HW_H +#define FSP__PROCESSOR__I2C_TEGRA_HW_H 1 + +/* Compiler headers */ +#include // for bool +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for BIT + +/* Module-specific FSP headers */ +#include // for FSP__SOC_COMMON__I2C_DEFS_H, TEGRA1... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") + +struct i2c_hw_handle; + +struct i2c_hw_handle { + const uint32_t ctrl_id; + const uint32_t base; + const struct tegra_clk *clk_data; + const struct tegra_rst *rst_data; + const uint32_t irq_no; + bool is_multimaster; +}; + +const struct i2c_hw_handle *i2c_get_hw_handle(uint32_t ctrl_id); + +/* @brief BIT vector for Valid i2c ids for SPE cluster. */ +#define VALID_I2C_IDS (BIT(TEGRA234_I2C2) | BIT(TEGRA234_I2C8)) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/irqs-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/irqs-hw.h new file mode 100644 index 0000000..7adfe00 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/irqs-hw.h @@ -0,0 +1,95 @@ +/* +* Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved. +* +* NVIDIA CORPORATION and its licensors retain all intellectual property +* and proprietary rights in and to this software, related documentation +* and any modifications thereto. Any use, reproduction, disclosure or +* distribution of this software and related documentation without an express +* license agreement from NVIDIA CORPORATION is strictly prohibited. +*/ + +#ifndef PROCESSOR__IRQS_HW_H +#define PROCESSOR__IRQS_HW_H +#define FSP__PROCESSOR__IRQS_HW_H 1 + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define MAX_VIC_CONTROLLER 2 + +#define NV_AON_INTERRUPT_VIC0_BASE 0 +#define NV_AON_INTERRUPT_VIC1_BASE 32 + +// VIC0 interrupts +#define NV_AON_INTERRUPT_WDTFIQ 0 +#define NV_AON_INTERRUPT_WDTIRQ 1 +#define NV_AON_INTERRUPT_TIMER0 2 +#define NV_AON_INTERRUPT_TIMER1 3 +#define NV_AON_INTERRUPT_TIMER2 4 +#define NV_AON_INTERRUPT_TIMER3 5 +#define NV_AON_INTERRUPT_MBOX 6 +#define NV_AON_INTERRUPT_GTE 7 +#define NV_AON_INTERRUPT_PMU 8 +#define NV_AON_INTERRUPT_DMA0 9 +#define NV_AON_INTERRUPT_DMA1 10 +#define NV_AON_INTERRUPT_DMA2 11 +#define NV_AON_INTERRUPT_DMA3 12 +#define NV_AON_INTERRUPT_DMA4 13 +#define NV_AON_INTERRUPT_DMA5 14 +#define NV_AON_INTERRUPT_DMA6 15 +#define NV_AON_INTERRUPT_DMA7 16 +#define NV_AON_INTERRUPT_V0RSVD17 17 +#define NV_AON_INTERRUPT_I2C2 18 +#define NV_AON_INTERRUPT_I2C3 19 +#define NV_AON_INTERRUPT_SPI 20 +#define NV_AON_INTERRUPT_DMIC 21 +#define NV_AON_INTERRUPT_UART_1 22 +#define NV_AON_INTERRUPT_UART_J 23 +#define NV_AON_INTERRUPT_CAN1_0 24 +#define NV_AON_INTERRUPT_CAN1_1 25 +#define NV_AON_INTERRUPT_CAN2_0 26 +#define NV_AON_INTERRUPT_CAN2_1 27 +#define NV_AON_INTERRUPT_LIC0 28 +#define NV_AON_INTERRUPT_LIC1 29 +#define NV_AON_INTERRUPT_LIC2 30 +#define NV_AON_INTERRUPT_LIC3 31 + +// VIC1 interrupts +#define NV_AON_INTERRUPT_NOC_ERR 0 +#define NV_AON_INTERRUPT_GPIO 1 +#define NV_AON_INTERRUPT_WAKE0 2 +#define NV_AON_INTERRUPT_PMC 3 +#define NV_AON_INTERRUPT_V1RSVD4 4 +#define NV_AON_INTERRUPT_PM 5 +#define NV_AON_INTERRUPT_FPUINT 6 +#define NV_AON_INTERRUPT_V1RSVD7 7 +#define NV_AON_INTERRUPT_ACTMON 8 +#define NV_AON_INTERRUPT_AOWDT 9 +#define NV_AON_INTERRUPT_TOP0_HSP_DB 10 +#define NV_AON_INTERRUPT_CTIIRQ 11 +#define NV_AON_INTERRUPT_NOC_SEC 12 +#define NV_AON_INTERRUPT_CAR 13 +#define NV_AON_INTERRUPT_UART6 14 +#define NV_AON_INTERRUPT_UART8 15 +#define NV_AON_INTERRUPT_GPIO_3 16 +#define NV_AON_INTERRUPT_CEC 17 +#define NV_AON_INTERRUPT_V1RSVD18 18 +#define NV_AON_INTERRUPT_V1RSVD19 19 +#define NV_AON_INTERRUPT_V1RSVD20 20 +#define NV_AON_INTERRUPT_V1RSVD21 21 +#define NV_AON_INTERRUPT_V1RSVD22 22 +#define NV_AON_INTERRUPT_V1RSVD23 23 +#define NV_AON_INTERRUPT_V1RSVD24 24 +#define NV_AON_INTERRUPT_V1RSVD25 25 +#define NV_AON_INTERRUPT_V1RSVD26 26 +#define NV_AON_INTERRUPT_V1RSVD27 27 +#define NV_AON_INTERRUPT_V1RSVD28 28 +#define NV_AON_INTERRUPT_V1RSVD29 29 +#define NV_AON_INTERRUPT_V1RSVD30 30 +#define NV_AON_INTERRUPT_V1RSVD31 31 +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* PROCESSOR__IRQS_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/irqs-lic.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/irqs-lic.h new file mode 100644 index 0000000..7c0a094 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/irqs-lic.h @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2017-2019 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__IRQS_LIC_H +#define PROCESSOR__IRQS_LIC_H +#define FSP__PROCESSOR__IRQS_LIC_H 1 + +#define NR_VIC_IRQS 64UL + +#define AON_LIC_IRQ_BASE NR_VIC_IRQS +#define AON_LIC_IRQ_TOP_HSP1 (NR_VIC_IRQS) +#define AON_LIC_IRQ_SPI1 (NR_VIC_IRQS + 1UL) +#define AON_LIC_IRQ_SPI3 (NR_VIC_IRQS + 2UL) +#define AON_LIC_IRQ_GPIO0 (NR_VIC_IRQS + 3UL) +#define AON_LIC_IRQ_GPIO1 (NR_VIC_IRQS + 4UL) +#define AON_LIC_IRQ_GPIO2 (NR_VIC_IRQS + 5UL) +#define AON_LIC_IRQ_GPIO3 (NR_VIC_IRQS + 6UL) +#define AON_LIC_IRQ_GPIO4 (NR_VIC_IRQS + 7UL) +#define AON_LIC_IRQ_GPIO5 (NR_VIC_IRQS + 8UL) +#define AON_LIC_IRQ_MAX (NR_VIC_IRQS + 9UL) + +#define LIC0_IRQ_CONTEXT lic0_irq_context +#define LIC1_IRQ_CONTEXT lic1_irq_context +#define LIC2_IRQ_CONTEXT lic2_irq_context +#define LIC3_IRQ_CONTEXT lic3_irq_context + +#ifndef __ASSEMBLER__ + +#include + +extern struct tegra_lic_id tegra_lic_id_aon; +extern lic_irq_context_t lic0_irq_context; +extern lic_irq_context_t lic1_irq_context; +extern lic_irq_context_t lic2_irq_context; +extern lic_irq_context_t lic3_irq_context; + +#endif + +#endif /* PROCESSOR__IRQS_LIC_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/spi-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/spi-hw.h new file mode 100644 index 0000000..d50a57f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/spi-hw.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI_HW_H +#define SPI_HW_H +#define FSP__PROCESSOR__SPI_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#ifndef __ASSEMBLER__ + +extern struct spi_ctlr spi_ctlr_spi1; +extern struct spi_ctlr spi_ctlr_spi2; +extern struct spi_ctlr spi_ctlr_spi3; + +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-aodmic-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-aodmic-hw.h new file mode 100644 index 0000000..9ddd995 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-aodmic-hw.h @@ -0,0 +1,48 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__TEGRA_AODMIC_HW_H +#define PROCESSOR__TEGRA_AODMIC_HW_H +#define FSP__PROCESSOR__TEGRA_AODMIC_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#define AODMIC_GPCDMA_REQ_SEL GPCDMA_FLV_8CH_NON_SAFE_CHANNEL_CH0_CSR_0_REQ_SEL_CLIENT_6 + +extern struct tegra_aodmic_ctlr tegra_aodmic_ctlr_aon; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-gpio-hw-params.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-gpio-hw-params.h new file mode 100644 index 0000000..2c1b127 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-gpio-hw-params.h @@ -0,0 +1,63 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef PROCESSOR__GPIO_TEGRA_HW_PARAMS_H +#define PROCESSOR__GPIO_TEGRA_HW_PARAMS_H +#define FSP__PROCESSOR__GPIO_TEGRA_HW_PARAMS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Late FSP headers */ +#include // for NV_AON_INTERRUPT_VIC1_BASE, ... +#include // for AON_LIC_IRQ_GPIO0 + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_LIC_H, "Header file missing or invalid.") + +#define TEGRA_MAIN_GPIO_ID0_IRQ (AON_LIC_IRQ_GPIO0) +#define TEGRA_MAIN_GPIO_ID1_IRQ (AON_LIC_IRQ_GPIO1) +#define TEGRA_MAIN_GPIO_ID2_IRQ (AON_LIC_IRQ_GPIO2) +#define TEGRA_MAIN_GPIO_ID3_IRQ (AON_LIC_IRQ_GPIO3) +#define TEGRA_MAIN_GPIO_ID4_IRQ (AON_LIC_IRQ_GPIO4) +#define TEGRA_MAIN_GPIO_ID5_IRQ (AON_LIC_IRQ_GPIO5) +#define TEGRA_AON_GPIO_IRQ (NV_AON_INTERRUPT_GPIO + \ + NV_AON_INTERRUPT_VIC1_BASE) +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-gpio-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-gpio-hw.h new file mode 100644 index 0000000..85a0fe6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-gpio-hw.h @@ -0,0 +1,98 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__GPIO_TEGRA_HW_H +#define PROCESSOR__GPIO_TEGRA_HW_H +#define FSP__PROCESSOR__GPIO_TEGRA_HW_H 1 + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Late FSP headers */ +#include // for MK_U32_CONST + +/* Module-specific FSP headers */ +#include // for struct tegra_gpio_id + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +/* GPIOs implemented by main GPIO controller */ +#define TEGRA_GPIO_BANK_ID_A MK_U32_CONST(0) +#define TEGRA_GPIO_BANK_ID_B MK_U32_CONST(1) +#define TEGRA_GPIO_BANK_ID_C MK_U32_CONST(2) +#define TEGRA_GPIO_BANK_ID_D MK_U32_CONST(3) +#define TEGRA_GPIO_BANK_ID_E MK_U32_CONST(4) +#define TEGRA_GPIO_BANK_ID_F MK_U32_CONST(5) +#define TEGRA_GPIO_BANK_ID_G MK_U32_CONST(6) +#define TEGRA_GPIO_BANK_ID_H MK_U32_CONST(7) +#define TEGRA_GPIO_BANK_ID_I MK_U32_CONST(8) +#define TEGRA_GPIO_BANK_ID_J MK_U32_CONST(9) +#define TEGRA_GPIO_BANK_ID_K MK_U32_CONST(10) +#define TEGRA_GPIO_BANK_ID_L MK_U32_CONST(11) +#define TEGRA_GPIO_BANK_ID_M MK_U32_CONST(12) +#define TEGRA_GPIO_BANK_ID_N MK_U32_CONST(13) +#define TEGRA_GPIO_BANK_ID_P MK_U32_CONST(14) +#define TEGRA_GPIO_BANK_ID_Q MK_U32_CONST(15) +#define TEGRA_GPIO_BANK_ID_R MK_U32_CONST(16) +#define TEGRA_GPIO_BANK_ID_S MK_U32_CONST(17) +#define TEGRA_GPIO_BANK_ID_T MK_U32_CONST(18) +#define TEGRA_GPIO_BANK_ID_U MK_U32_CONST(19) +#define TEGRA_GPIO_BANK_ID_V MK_U32_CONST(20) +#define TEGRA_GPIO_BANK_ID_X MK_U32_CONST(21) +#define TEGRA_GPIO_BANK_ID_Y MK_U32_CONST(22) +#define TEGRA_GPIO_BANK_ID_Z MK_U32_CONST(23) +#define TEGRA_GPIO_BANK_ID_AC MK_U32_CONST(24) +#define TEGRA_GPIO_BANK_ID_AD MK_U32_CONST(25) +#define TEGRA_GPIO_BANK_ID_AE MK_U32_CONST(26) +#define TEGRA_GPIO_BANK_ID_AF MK_U32_CONST(27) +#define TEGRA_GPIO_BANK_ID_AG MK_U32_CONST(28) + +/* GPIOs implemented by AON GPIO controller */ +#define TEGRA_GPIO_BANK_ID_AA MK_U32_CONST(0) +#define TEGRA_GPIO_BANK_ID_BB MK_U32_CONST(1) +#define TEGRA_GPIO_BANK_ID_CC MK_U32_CONST(2) +#define TEGRA_GPIO_BANK_ID_DD MK_U32_CONST(3) +#define TEGRA_GPIO_BANK_ID_EE MK_U32_CONST(4) +#define TEGRA_GPIO_BANK_ID_GG MK_U32_CONST(5) + +#define TEGRA_GPIO(bank, offset) ((TEGRA_GPIO_BANK_ID_##bank * 8) + offset) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-uart-hw-params.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-uart-hw-params.h new file mode 100644 index 0000000..ff82648 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tegra-uart-hw-params.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__TEGRA_UART_HW_PARAMS_H +#define PROCESSOR__TEGRA_UART_HW_PARAMS_H +#define FSP__PROCESSOR__TEGRA_UART_HW_PARAMS_H 1 + +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +#ifndef TEGRA_UARTC_ENABLED +#define TEGRA_UARTC_ENABLED +#endif +#define TEGRA_UARTC_IRQ NV_AON_INTERRUPT_UART_1 + +#define TEGRA_UARTF_ENABLED +#define TEGRA_UARTF_IRQ NV_AON_INTERRUPT_VIC1_BASE + NV_AON_INTERRUPT_UART6 + +#define TEGRA_UARTH_ENABLED +#define TEGRA_UARTH_IRQ NV_AON_INTERRUPT_VIC1_BASE + NV_AON_INTERRUPT_UART8 + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tke-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tke-tegra-hw.h new file mode 100644 index 0000000..15db7c7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/aon/processor/tke-tegra-hw.h @@ -0,0 +1,31 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__TKE_TEGRA_HW_H +#define PROCESSOR__TKE_TEGRA_HW_H +#define FSP__PROCESSOR__TKE_TEGRA_HW_H 1 + +#include + +extern struct tegra_tke_id tegra_tke_id_timer0; +extern struct tegra_tke_id tegra_tke_id_timer1; +extern struct tegra_tke_id tegra_tke_id_timer2; +extern struct tegra_tke_id tegra_tke_id_timer3; + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#define TEGRA_TKE_TIMER_CLK_SRC_USECCNT 0 +#define TEGRA_TKE_TIMER_CLK_SRC_OSCCNT 1 +#define TEGRA_TKE_TIMER_CLK_SRC_TSC_BIT0 2 +#define TEGRA_TKE_TIMER_CLK_SRC_TSC_BIT12 3 +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/cache-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/cache-hw.h new file mode 100644 index 0000000..b59402c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/cache-hw.h @@ -0,0 +1,17 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__CACHE_HW_H +#define PROCESSOR__CACHE_HW_H +#define FSP__PROCESSOR__CACHE_HW_H 1 + +#define CACHE_LINE_SIZE 32 + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/debug-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/debug-hw.h new file mode 100644 index 0000000..e94d655 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/debug-hw.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__DEBUG_HW_H +#define PROCESSOR__DEBUG_HW_H +#define FSP__PROCESSOR__DEBUG_HW_H 1 + +#include + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +#ifdef _NV_BUILD_LINSIM_ +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTA_BASE +#elif defined(_NV_BUILD_FPGA_) +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTC_BASE +#else +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTC_BASE +#define TEGRA_DBG_UART_CLK tegra_clk_uartc +#define TEGRA_DBG_UART_RST tegra_rst_uartc +#define TEGRA_DBG_UART_BAUD 115200 +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/i2c-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/i2c-tegra-hw.h new file mode 100644 index 0000000..4827c58 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/i2c-tegra-hw.h @@ -0,0 +1,81 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__I2C_TEGRA_HW_H +#define PROCESSOR__I2C_TEGRA_HW_H +#define FSP__PROCESSOR__I2C_TEGRA_HW_H 1 + + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") + +struct i2c_hw_handle; + +struct i2c_hw_handle { + const uint32_t ctrl_id; + const uint32_t base; + const uint32_t clk_id; + const uint32_t rst_id; + const uint32_t irq_no; + const bool is_multimaster; +}; + +/** + * @brief BIT vector for Valid i2c ids for BPMP cluster. + */ +#define VALID_I2C_IDS (BIT(TEGRA234_I2C5)) + +const struct i2c_hw_handle *i2c_get_hw_handle(uint32_t ctrl_id); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/irqs-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/irqs-hw.h new file mode 100644 index 0000000..cafa758 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/irqs-hw.h @@ -0,0 +1,88 @@ +/* +* Copyright (c) 2016-2019 NVIDIA CORPORATION. All rights reserved. +* +* NVIDIA CORPORATION and its licensors retain all intellectual property +* and proprietary rights in and to this software, related documentation +* and any modifications thereto. Any use, reproduction, disclosure or +* distribution of this software and related documentation without an express +* license agreement from NVIDIA CORPORATION is strictly prohibited. +*/ + +#ifndef PROCESSOR__IRQS_HW_H +#define PROCESSOR__IRQS_HW_H +#define FSP__PROCESSOR__IRQS_HW_H 1 + +#define MAX_VIC_CONTROLLER 2 + +#define NV_BPMP_IRQ_VIC0_BASE 0 +#define NV_BPMP_IRQ_VIC1_BASE 32 + +// VIC0 interrupts +#define NV_BPMP_IRQ_WDTIRQ 0 +#define NV_BPMP_IRQ_TIMER0 1 +#define NV_BPMP_IRQ_TIMER1 2 +#define NV_BPMP_IRQ_TIMER2 3 +#define NV_BPMP_IRQ_TIMER3 4 +#define NV_BPMP_IRQ_WDTFIQ 5 +#define NV_BPMP_IRQ_HSP_DB 6 +#define NV_BPMP_IRQ_RSVD7 7 +#define NV_BPMP_IRQ_PM 8 +#define NV_BPMP_IRQ_CVC 9 +#define NV_BPMP_IRQ_H1XSNC 10 +#define NV_BPMP_IRQ_RSVD11 11 +#define NV_BPMP_IRQ_RSVD12 12 +#define NV_BPMP_IRQ_WAKE0 13 +#define NV_BPMP_IRQ_WAKE1 14 +#define NV_BPMP_IRQ_WAKE2 15 +#define NV_BPMP_IRQ_LIC0 16 +#define NV_BPMP_IRQ_LIC1 17 +#define NV_BPMP_IRQ_RSVD18 18 +#define NV_BPMP_IRQ_RSVD19 19 +#define NV_BPMP_IRQ_DMA0 20 +#define NV_BPMP_IRQ_DMA1 21 +#define NV_BPMP_IRQ_DMA2 22 +#define NV_BPMP_IRQ_DMA3 23 +#define NV_BPMP_IRQ_HSP_SI_0 24 +#define NV_BPMP_IRQ_FPUINT 25 +#define NV_BPMP_IRQ_GPMU 26 +#define NV_BPMP_IRQ_EDP 27 +#define NV_BPMP_IRQ_SCTHRM 28 +#define NV_BPMP_IRQ_RSVD29 29 +#define NV_BPMP_IRQ_AONPWRI2C 30 +#define NV_BPMP_IRQ_SOCPWRI2C 31 + +// VIC1 interrupts +#define NV_BPMP_IRQ_CPM0 0 +#define NV_BPMP_IRQ_CPM1 1 +#define NV_BPMP_IRQ_CPM3 2 +#define NV_BPMP_IRQ_RSVD3 3 +#define NV_BPMP_IRQ_RSVD4 4 +#define NV_BPMP_IRQ_RSVD5 5 +#define NV_BPMP_IRQ_UART 6 +#define NV_BPMP_IRQ_QSPI 7 +#define NV_BPMP_IRQ_PMUIRQ 8 +#define NV_BPMP_IRQ_CNTRL_ACTMON 9 +#define NV_BPMP_IRQ_BPMP_ACTMON 10 +#define NV_BPMP_IRQ_SIMON0 11 +#define NV_BPMP_IRQ_SIMON1 12 +#define NV_BPMP_IRQ_SIMON2 13 +#define NV_BPMP_IRQ_SIMON3 14 +#define NV_BPMP_IRQ_APBERR 15 +#define NV_BPMP_IRQ_GTE 16 +#define NV_BPMP_IRQ_APBSEC 17 +#define NV_BPMP_IRQ_CTIIRQ 18 +#define NV_BPMP_IRQ_HSP_SI_1 19 +#define NV_BPMP_IRQ_HSP_SI_2 20 +#define NV_BPMP_IRQ_HSP_SI_3 21 +#define NV_BPMP_IRQ_HSP_SI_4 22 +#define NV_BPMP_IRQ_CAR 23 +#define NV_BPMP_IRQ_V1RSVD24 24 +#define NV_BPMP_IRQ_V1RSVD25 25 +#define NV_BPMP_IRQ_V1RSVD26 26 +#define NV_BPMP_IRQ_V1RSVD27 27 +#define NV_BPMP_IRQ_V1RSVD28 28 +#define NV_BPMP_IRQ_V1RSVD29 29 +#define NV_BPMP_IRQ_V1RSVD30 30 +#define NV_BPMP_IRQ_V1RSVD31 31 + +#endif /* PROCESSOR__IRQS_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/tke-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/tke-tegra-hw.h new file mode 100644 index 0000000..0461d04 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/bpmp/processor/tke-tegra-hw.h @@ -0,0 +1,20 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__TKE_TEGRA_HW_H +#define PROCESSOR__TKE_TEGRA_HW_H +#define FSP__PROCESSOR__TKE_TEGRA_HW_H 1 + +extern const struct tegra_tke_id tegra_tke_id_timer0; +extern const struct tegra_tke_id tegra_tke_id_timer1; +extern const struct tegra_tke_id tegra_tke_id_timer2; +extern const struct tegra_tke_id tegra_tke_id_timer3; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/hw-config/hsp-config.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/hw-config/hsp-config.h new file mode 100644 index 0000000..815bd84 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/hw-config/hsp-config.h @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HW_CONFIG__HSP_CONFIG_H +#define HW_CONFIG__HSP_CONFIG_H +#define FSP__HW_CONFIG__HSP_CONFIG_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +/** + * R5 clusters on T234 no longer suffer from bug 200395605 and therefore + * do not need to exclude bits. + */ +#define HSP_SS_FORBIDDEN_BITS MK_U32_CONST(0) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/hw-config/vic-irqs.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/hw-config/vic-irqs.h new file mode 100644 index 0000000..83e3995 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/hw-config/vic-irqs.h @@ -0,0 +1,168 @@ +/* + * Copyright (c) 2018-2019 NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef HW_CONFIG__VIC_IRQS_H +#define HW_CONFIG__VIC_IRQS_H +#define FSP__HW_CONFIG__VIC_IRQS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include +#include + +/* Late FSP headers */ + +#define NUM_VICS 2 + +/* + * VIC0 Interrupts + */ +#define ISR_NUM_WDTFIQ NV_SCE_INTERRUPT_WDTFIQ +#define ISR_NUM_WDTIRQ NV_SCE_INTERRUPT_WDTIRQ +#define ISR_NUM_TIMER0 NV_SCE_INTERRUPT_TIMER0 +#define ISR_NUM_TIMER1 NV_SCE_INTERRUPT_TIMER1 +#define ISR_NUM_TIMER2 NV_SCE_INTERRUPT_TIMER2 +#define ISR_NUM_TIMER3 NV_SCE_INTERRUPT_TIMER3 +#define ISR_NUM_MBOX NV_SCE_INTERRUPT_MBOX +#define ISR_NUM_GTE NV_SCE_INTERRUPT_GTE +#define ISR_NUM_PMU NV_SCE_INTERRUPT_PMU +#define ISR_NUM_DMA0 NV_SCE_INTERRUPT_DMA0 +#define ISR_NUM_DMA1 NV_SCE_INTERRUPT_DMA1 +#define ISR_NUM_DMA2 NV_SCE_INTERRUPT_DMA2 +#define ISR_NUM_DMA3 NV_SCE_INTERRUPT_DMA3 +#define ISR_NUM_DMA4 NV_SCE_INTERRUPT_DMA4 +#define ISR_NUM_DMA5 NV_SCE_INTERRUPT_DMA5 +#define ISR_NUM_DMA6 NV_SCE_INTERRUPT_DMA6 +#define ISR_NUM_DMA7 NV_SCE_INTERRUPT_DMA7 +#define ISR_NUM_LIC0 NV_SCE_INTERRUPT_LIC0 +#define ISR_NUM_LIC1 NV_SCE_INTERRUPT_LIC1 +#define ISR_NUM_LIC2 NV_SCE_INTERRUPT_LIC2 +#define ISR_NUM_LIC3 NV_SCE_INTERRUPT_LIC3 +#define ISR_NUM_V0RSVD21 NV_SCE_INTERRUPT_V0RSVD21 +#define ISR_NUM_HSM_CRITICAL_ERR NV_SCE_INTERRUPT_HSM_CRITICAL_ERR +#define ISR_NUM_VI_HP NV_SCE_INTERRUPT_VI_HP +#define ISR_NUM_VI_LP NV_SCE_INTERRUPT_VI_LP +#define ISR_NUM_HSM_HP NV_SCE_INTERRUPT_HSM_HP +#define ISR_NUM_HSM_LP NV_SCE_INTERRUPT_HSM_LP +#define ISR_NUM_V0RSVD27 NV_SCE_INTERRUPT_V0RSVD27 +#define ISR_NUM_V0RSVD28 NV_SCE_INTERRUPT_V0RSVD28 +#define ISR_NUM_V0RSVD29 NV_SCE_INTERRUPT_V0RSVD29 +#define ISR_NUM_V0RSVD30 NV_SCE_INTERRUPT_V0RSVD30 +#define ISR_NUM_V0RSVD31 NV_SCE_INTERRUPT_V0RSVD31 + +/* + * VIC1 Interrupts + */ +#define ISR_NUM_V1RSVD0 NV_SCE_INTERRUPT_V1RSVD0 +#define ISR_NUM_ACTMON NV_SCE_INTERRUPT_ACTMON +#define ISR_NUM_FPUINT NV_SCE_INTERRUPT_FPUINT +#define ISR_NUM_PM NV_SCE_INTERRUPT_PM +#define ISR_NUM_MC_SBE NV_SCE_INTERRUPT_MC_SBE +#define ISR_NUM_NOC_SECURE NV_SCE_INTERRUPT_NOC_SECURE +#define ISR_NUM_CAR NV_SCE_INTERRUPT_CAR +#define ISR_NUM_V1RSVD7 NV_SCE_INTERRUPT_V1RSVD7 +#define ISR_NUM_V1RSVD8 NV_SCE_INTERRUPT_V1RSVD8 +#define ISR_NUM_V1RSVD9 NV_SCE_INTERRUPT_V1RSVD9 +#define ISR_NUM_V1RSVD10 NV_SCE_INTERRUPT_V1RSVD10 +#define ISR_NUM_V1RSVD11 NV_SCE_INTERRUPT_V1RSVD11 +#define ISR_NUM_V1RSVD12 NV_SCE_INTERRUPT_V1RSVD12 +#define ISR_NUM_V1RSVD13 NV_SCE_INTERRUPT_V1RSVD13 +#define ISR_NUM_TOP0_HSP_DB NV_SCE_INTERRUPT_TOP0_HSP_DB +#define ISR_NUM_V1RSVD15 NV_SCE_INTERRUPT_V1RSVD15 +#define ISR_NUM_V1RSVD16 NV_SCE_INTERRUPT_V1RSVD16 +#define ISR_NUM_CTIIRQ NV_SCE_INTERRUPT_CTIIRQ +#define ISR_NUM_V1RSVD18 NV_SCE_INTERRUPT_V1RSVD18 +#define ISR_NUM_I2C1 NV_SCE_INTERRUPT_I2C1 +#define ISR_NUM_I2C3 NV_SCE_INTERRUPT_I2C3 +#define ISR_NUM_I2C8 NV_SCE_INTERRUPT_I2C8 +#define ISR_NUM_DISP NV_SCE_INTERRUPT_DISP +#define ISR_NUM_V1RSVD23 NV_SCE_INTERRUPT_V1RSVD23 +#define ISR_NUM_HSP2_SI_0 NV_SCE_INTERRUPT_HSP2_SI_0 +#define ISR_NUM_HSP2_SI_1 NV_SCE_INTERRUPT_HSP2_SI_1 +#define ISR_NUM_HSP2_SI_2 NV_SCE_INTERRUPT_HSP2_SI_2 +#define ISR_NUM_HSP2_SI_3 NV_SCE_INTERRUPT_HSP2_SI_3 +#define ISR_NUM_HSP2_SI_4 NV_SCE_INTERRUPT_HSP2_SI_4 +#define ISR_NUM_HSP2_SI_5 NV_SCE_INTERRUPT_HSP2_SI_5 +#define ISR_NUM_HSP2_SI_6 NV_SCE_INTERRUPT_HSP2_SI_6 +#define ISR_NUM_HSP2_SI_7 NV_SCE_INTERRUPT_HSP2_SI_7 + +/* + * Define the various vectors where the VIC and IRQ are encoded into one value + */ +#define INTERRUPT_WDTFIQ TEGRA_INTERRUPT(0, ISR_NUM_WDTFIQ) +#define INTERRUPT_WDTIRQ TEGRA_INTERRUPT(0, ISR_NUM_WDTIRQ) +#define INTERRUPT_TIMER0 TEGRA_INTERRUPT(0, ISR_NUM_TIMER0) +#define INTERRUPT_TIMER1 TEGRA_INTERRUPT(0, ISR_NUM_TIMER1) +#define INTERRUPT_TIMER2 TEGRA_INTERRUPT(0, ISR_NUM_TIMER2) +#define INTERRUPT_TIMER3 TEGRA_INTERRUPT(0, ISR_NUM_TIMER3) +#define INTERRUPT_MBOX TEGRA_INTERRUPT(0, ISR_NUM_MBOX) +#define INTERRUPT_GTE TEGRA_INTERRUPT(0, ISR_NUM_GTE) +#define INTERRUPT_PMU TEGRA_INTERRUPT(0, ISR_NUM_PMU) +#define INTERRUPT_DMA0 TEGRA_INTERRUPT(0, ISR_NUM_DMA0) +#define INTERRUPT_DMA1 TEGRA_INTERRUPT(0, ISR_NUM_DMA1) +#define INTERRUPT_DMA2 TEGRA_INTERRUPT(0, ISR_NUM_DMA2) +#define INTERRUPT_DMA3 TEGRA_INTERRUPT(0, ISR_NUM_DMA3) +#define INTERRUPT_DMA4 TEGRA_INTERRUPT(0, ISR_NUM_DMA4) +#define INTERRUPT_DMA5 TEGRA_INTERRUPT(0, ISR_NUM_DMA5) +#define INTERRUPT_DMA6 TEGRA_INTERRUPT(0, ISR_NUM_DMA6) +#define INTERRUPT_DMA7 TEGRA_INTERRUPT(0, ISR_NUM_DMA7) +#define INTERRUPT_LIC0 TEGRA_INTERRUPT(0, ISR_NUM_LIC0) +#define INTERRUPT_LIC1 TEGRA_INTERRUPT(0, ISR_NUM_LIC1) +#define INTERRUPT_LIC2 TEGRA_INTERRUPT(0, ISR_NUM_LIC2) +#define INTERRUPT_LIC3 TEGRA_INTERRUPT(0, ISR_NUM_LIC3) +#define INTERRUPT_V0RSVD21 TEGRA_INTERRUPT(0, ISR_NUM_V0RSVD21) +#define INTERRUPT_HSM_CRIT_ERR TEGRA_INTERRUPT(0, ISR_NUM_HSM_CRITICAL_ERR) +#define INTERRUPT_VI_HP TEGRA_INTERRUPT(0, ISR_NUM_VI_HP) +#define INTERRUPT_VI_LP TEGRA_INTERRUPT(0, ISR_NUM_VI_LP) +#define INTERRUPT_HSM_HP TEGRA_INTERRUPT(0, ISR_NUM_HSM_HP) +#define INTERRUPT_HSM_LP TEGRA_INTERRUPT(0, ISR_NUM_HSM_LP) +#define INTERRUPT_V0RSVD27 TEGRA_INTERRUPT(0, ISR_NUM_V0RSVD27) +#define INTERRUPT_V0RSVD28 TEGRA_INTERRUPT(0, ISR_NUM_V0RSVD28) +#define INTERRUPT_V0RSVD29 TEGRA_INTERRUPT(0, ISR_NUM_V0RSVD29) +#define INTERRUPT_V0RSVD30 TEGRA_INTERRUPT(0, ISR_NUM_V0RSVD30) +#define INTERRUPT_V0RSVD31 TEGRA_INTERRUPT(0, ISR_NUM_V0RSVD31) +#define INTERRUPT_V1RSVD0 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD0) +#define INTERRUPT_ACTMON TEGRA_INTERRUPT(1, ISR_NUM_ACTMON) +#define INTERRUPT_FPUINT TEGRA_INTERRUPT(1, ISR_NUM_FPUINT) +#define INTERRUPT_PM TEGRA_INTERRUPT(1, ISR_NUM_PM) +#define INTERRUPT_MC_SBE TEGRA_INTERRUPT(1, ISR_NUM_MC_SBE) +#define INTERRUPT_NOC_SECURE TEGRA_INTERRUPT(1, ISR_NUM_NOC_SECURE) +#define INTERRUPT_CAR TEGRA_INTERRUPT(1, ISR_NUM_CAR) +#define INTERRUPT_V1RSVD7 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD7) +#define INTERRUPT_V1RSVD8 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD8) +#define INTERRUPT_V1RSVD9 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD9) +#define INTERRUPT_V1RSVD10 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD10) +#define INTERRUPT_V1RSVD11 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD11) +#define INTERRUPT_V1RSVD12 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD12) +#define INTERRUPT_V1RSVD13 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD13) +#define INTERRUPT_TOP0_HSP_DB TEGRA_INTERRUPT(1, ISR_NUM_TOP0_HSP_DB) +#define INTERRUPT_V1RSVD15 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD15) +#define INTERRUPT_V1RSVD16 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD16) +#define INTERRUPT_CTIIRQ TEGRA_INTERRUPT(1, ISR_NUM_CTIIRQ) +#define INTERRUPT_V1RSVD18 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD18) +#define INTERRUPT_I2C1 TEGRA_INTERRUPT(1, ISR_NUM_I2C1) +#define INTERRUPT_I2C3 TEGRA_INTERRUPT(1, ISR_NUM_I2C3) +#define INTERRUPT_I2C8 TEGRA_INTERRUPT(1, ISR_NUM_I2C8) +#define INTERRUPT_DISP TEGRA_INTERRUPT(1, ISR_NUM_DISP) +#define INTERRUPT_V1RSVD23 TEGRA_INTERRUPT(1, ISR_NUM_V1RSVD23) +#define INTERRUPT_HSP2_SI_0 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_0) +#define INTERRUPT_HSP2_SI_1 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_1) +#define INTERRUPT_HSP2_SI_2 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_2) +#define INTERRUPT_HSP2_SI_3 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_3) +#define INTERRUPT_HSP2_SI_4 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_4) +#define INTERRUPT_HSP2_SI_5 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_5) +#define INTERRUPT_HSP2_SI_6 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_6) +#define INTERRUPT_HSP2_SI_7 TEGRA_INTERRUPT(1, ISR_NUM_HSP2_SI_7) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/port/gpcdma-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/port/gpcdma-port-priv.h new file mode 100644 index 0000000..4263bc2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/port/gpcdma-port-priv.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_PORT_PRIV_H +#define GPCDMA__GPCDMA_PORT_PRIV_H +#define FSP__PORT__GPCDMA_PORT_PRIV_H 0 + +/** + * @file gpcdma/gpcdma-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +struct gpcdma_hw_handle { + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/port/uart-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/port/uart-port-priv.h new file mode 100644 index 0000000..fac77ec --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/port/uart-port-priv.h @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UART__UART_PORT_PRIV_H +#define UART__UART_PORT_PRIV_H +#define FSP__PORT__UART_PORT_PRIV_H 0 + +#include + +/** + * @file uart/uart-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +typedef rtosQueueHandle uart_queue_t; + +struct uart_hw_handle { + const struct tegra_clk *clk; + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/cache-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/cache-hw.h new file mode 100644 index 0000000..b59402c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/cache-hw.h @@ -0,0 +1,17 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__CACHE_HW_H +#define PROCESSOR__CACHE_HW_H +#define FSP__PROCESSOR__CACHE_HW_H 1 + +#define CACHE_LINE_SIZE 32 + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/debug-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/debug-hw.h new file mode 100644 index 0000000..57da300 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/debug-hw.h @@ -0,0 +1,68 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__DEBUG_HW_H +#define PROCESSOR__DEBUG_HW_H +#define FSP__PROCESSOR__DEBUG_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__TEGRA_UART_HW_PARAMS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__TEGRA_UART_PRIV_H, "Header file missing or invalid.") + +#define DEBUG_COMB_UART comb_uart_id_dce + +extern const struct comb_uart_id comb_uart_id_dce; + +#ifdef TEGRA_UARTA_ENABLED +extern struct tegra_uart_ctlr tegra_uart_ctlr_uarta; + +#ifndef DEBUG_UART +#define DEBUG_UART tegra_uart_ctlr_uarta +#endif +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTA_BASE + +#endif + +#ifdef TEGRA_UARTC_ENABLED +extern struct tegra_uart_ctlr tegra_uart_ctlr_uartc; + +#ifndef DEBUG_UART +#define DEBUG_UART tegra_uart_ctlr_uartc +#endif +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTC_BASE + +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/gpcdma-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/gpcdma-hw.h new file mode 100644 index 0000000..7617694 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/gpcdma-hw.h @@ -0,0 +1,76 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA_HW_H +#define GPCDMA_HW_H +#define FSP__PROCESSOR__GPCDMA_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#define GPCDMA_CHAN0 gpcdma_chan0 +#define GPCDMA_CHAN1 gpcdma_chan1 +#define GPCDMA_CHAN2 gpcdma_chan2 +#define GPCDMA_CHAN3 gpcdma_chan3 +#define GPCDMA_CHAN4 gpcdma_chan4 +#define GPCDMA_CHAN5 gpcdma_chan5 +#define GPCDMA_CHAN6 gpcdma_chan6 +#define GPCDMA_CHAN7 gpcdma_chan7 + +#ifndef __ASSEMBLER__ + +extern struct gpcdma_id gpcdma_id_dce; +extern struct gpcdma_channel gpcdma_chan0; +extern struct gpcdma_channel gpcdma_chan1; +extern struct gpcdma_channel gpcdma_chan2; +extern struct gpcdma_channel gpcdma_chan3; +extern struct gpcdma_channel gpcdma_chan4; +extern struct gpcdma_channel gpcdma_chan5; +extern struct gpcdma_channel gpcdma_chan6; +extern struct gpcdma_channel gpcdma_chan7; + +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/gpio-tegra.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/gpio-tegra.h new file mode 100644 index 0000000..eaa6b25 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/gpio-tegra.h @@ -0,0 +1,39 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPIO_TEGRA_H +#define GPIO_TEGRA_H +#define FSP__PROCESSOR__GPIO_TEGRA_H 1 + +#include // for #define MAX_GPIO_CONTROLLERS +#include // for struct tegra_gpio_id + +/* DCE GPIO ID */ +extern struct tegra_gpio_id * tegra_gpio_id_dce[MAX_GPIO_CONTROLLERS]; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/hsp-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/hsp-tegra-hw.h new file mode 100644 index 0000000..c292d42 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/hsp-tegra-hw.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__HSP_TEGRA_HW_H +#define PROCESSOR__HSP_TEGRA_HW_H +#define FSP__PROCESSOR__HSP_TEGRA_HW_H 1 + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") + +#define TEGRA_HSP_ID_MBOX tegra_hsp_id_dce +#define TEGRA_HSP_ID_DB tegra_hsp_id_top0 + +#ifndef __ASSEMBLER__ + +/* This is the TOP HSP instance w/ AON interrupts */ +extern struct tegra_hsp_id tegra_hsp_id_top0; +extern struct tegra_hsp_id tegra_hsp_id_self; +extern struct tegra_hsp_id tegra_hsp_id_dce; + +#endif + +#endif /* PROCESSOR__HSP_TEGRA_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/i2c-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/i2c-tegra-hw.h new file mode 100644 index 0000000..fe7a52d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/i2c-tegra-hw.h @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef I2C_TEGRA_HW_H +#define I2C_TEGRA_HW_H +#define FSP__PROCESSOR__I2C_TEGRA_HW_H 1 + +/* Compiler headers */ +#include // for bool +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for BIT + +/* Module-specific FSP headers */ +#include // for FSP__SOC_COMMON__I2C_DEFS_H, TEGRA1... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") + +struct i2c_hw_handle; + +struct i2c_hw_handle { + const uint32_t ctrl_id; + const uint32_t base; + const struct tegra_clk *clk_data; + const struct tegra_rst *rst_data; + const uint32_t irq_no; + bool is_multimaster; +}; + +/** + * @brief BIT vector for Valid i2c ids for DCE cluster. + */ +#define VALID_I2C_IDS (BIT(TEGRA234_I2C4) | BIT(TEGRA234_I2C6) | BIT(TEGRA234_I2C7)) + +const struct i2c_hw_handle *i2c_get_hw_handle(uint32_t ctrl_id); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/irqs-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/irqs-hw.h new file mode 100644 index 0000000..a623dc1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/irqs-hw.h @@ -0,0 +1,95 @@ +/* + * Copyright (c) 2016-2019 NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__IRQS_HW_H +#define PROCESSOR__IRQS_HW_H +#define FSP__PROCESSOR__IRQS_HW_H 1 + +#define MAX_VIC_CONTROLLER 2 + +#ifndef NV_DCE_IRQ +#define NV_DCE_IRQ(x) (x ## U) +#endif + +/* + * XXX:TODO + * + * Validate that all of the interrupts are correct + */ + +/* VIC0 interrupts */ +#define NV_DCE_IRQ_WDTFIQ NV_DCE_IRQ(0) +#define NV_DCE_IRQ_WDTIRQ NV_DCE_IRQ(1) +#define NV_DCE_IRQ_TIMER0 NV_DCE_IRQ(2) +#define NV_DCE_IRQ_TIMER1 NV_DCE_IRQ(3) +#define NV_DCE_IRQ_TIMER2 NV_DCE_IRQ(4) +#define NV_DCE_IRQ_TIMER3 NV_DCE_IRQ(5) +#define NV_DCE_IRQ_MBOX NV_DCE_IRQ(6) +#define NV_DCE_IRQ_GTE NV_DCE_IRQ(7) +#define NV_DCE_IRQ_PMU NV_DCE_IRQ(8) +#define NV_DCE_IRQ_DMA0 NV_DCE_IRQ(9) +#define NV_DCE_IRQ_DMA1 NV_DCE_IRQ(10) +#define NV_DCE_IRQ_DMA2 NV_DCE_IRQ(11) +#define NV_DCE_IRQ_DMA3 NV_DCE_IRQ(12) +#define NV_DCE_IRQ_DMA4 NV_DCE_IRQ(13) +#define NV_DCE_IRQ_DMA5 NV_DCE_IRQ(14) +#define NV_DCE_IRQ_DMA6 NV_DCE_IRQ(15) +#define NV_DCE_IRQ_DMA7 NV_DCE_IRQ(16) +#define NV_DCE_IRQ_LIC0 NV_DCE_IRQ(17) +#define NV_DCE_IRQ_LIC1 NV_DCE_IRQ(18) +#define NV_DCE_IRQ_LIC2 NV_DCE_IRQ(19) +#define NV_DCE_IRQ_LIC3 NV_DCE_IRQ(20) +#define NV_DCE_IRQ_V0RSVD21 NV_DCE_IRQ(21) +#define NV_DCE_IRQ_V0RSVD22 NV_DCE_IRQ(22) +#define NV_DCE_IRQ_VI_HP NV_DCE_IRQ(23) +#define NV_DCE_IRQ_VI_LP NV_DCE_IRQ(24) +#define NV_DCE_IRQ_HSM_HP NV_DCE_IRQ(25) +#define NV_DCE_IRQ_HSM_LP NV_DCE_IRQ(26) +#define NV_DCE_IRQ_CPU_ERR NV_DCE_IRQ(27) +#define NV_DCE_IRQ_SC_SYSINTR NV_DCE_IRQ(28) +#define NV_DCE_IRQ_SC_SYSINTL NV_DCE_IRQ(29) +#define NV_DCE_IRQ_SC_WARN NV_DCE_IRQ(30) +#define NV_DCE_IRQ_SC_INFO NV_DCE_IRQ(31) + +/* VIC1 interrupts */ +#define NV_DCE_IRQ_APBERR NV_DCE_IRQ(32) +#define NV_DCE_IRQ_ACTMON NV_DCE_IRQ(33) +#define NV_DCE_IRQ_FPUINT NV_DCE_IRQ(34) +#define NV_DCE_IRQ_PM NV_DCE_IRQ(35) +#define NV_DCE_IRQ_MC_SBE NV_DCE_IRQ(36) +#define NV_DCE_IRQ_APBSEC NV_DCE_IRQ(37) +#define NV_DCE_IRQ_CAR NV_DCE_IRQ(38) +#define NV_DCE_IRQ_V1RSVD7 NV_DCE_IRQ(39) +#define NV_DCE_IRQ_V1RSVD8 NV_DCE_IRQ(40) +#define NV_DCE_IRQ_V1RSVD9 NV_DCE_IRQ(41) +#define NV_DCE_IRQ_V1RSVD10 NV_DCE_IRQ(42) +#define NV_DCE_IRQ_V1RSVD11 NV_DCE_IRQ(43) +#define NV_DCE_IRQ_V1RSVD12 NV_DCE_IRQ(44) +#define NV_DCE_IRQ_V1RSVD13 NV_DCE_IRQ(45) +#define NV_DCE_IRQ_TOP0_HSP_DB NV_DCE_IRQ(46) +#define NV_DCE_IRQ_V1RSVD15 NV_DCE_IRQ(47) +#define NV_DCE_IRQ_V1RSVD16 NV_DCE_IRQ(48) +#define NV_DCE_IRQ_CTIIRQ NV_DCE_IRQ(49) +#define NV_DCE_IRQ_V1RSVD18 NV_DCE_IRQ(50) +#define NV_DCE_IRQ_I2C1 NV_DCE_IRQ(51) +#define NV_DCE_IRQ_I2C3 NV_DCE_IRQ(52) +#define NV_DCE_IRQ_I2C8 NV_DCE_IRQ(53) +#define NV_DCE_IRQ_V1RSVD22 NV_DCE_IRQ(54) +#define NV_DCE_IRQ_V1RSVD23 NV_DCE_IRQ(55) +#define NV_DCE_IRQ_V1RSVD24 NV_DCE_IRQ(56) +#define NV_DCE_IRQ_V1RSVD25 NV_DCE_IRQ(57) +#define NV_DCE_IRQ_V1RSVD26 NV_DCE_IRQ(58) +#define NV_DCE_IRQ_V1RSVD27 NV_DCE_IRQ(59) +#define NV_DCE_IRQ_V1RSVD28 NV_DCE_IRQ(60) +#define NV_DCE_IRQ_V1RSVD29 NV_DCE_IRQ(61) +#define NV_DCE_IRQ_V1RSVD30 NV_DCE_IRQ(62) +#define NV_DCE_IRQ_V1RSVD31 NV_DCE_IRQ(63) + +#endif /* FSP_SOC_T234_DCE_PROCESSOR_IRQS_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/irqs-lic.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/irqs-lic.h new file mode 100644 index 0000000..883cda1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/irqs-lic.h @@ -0,0 +1,46 @@ +/* + * Copyright (c) 2019-2020 NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__IRQS_LIC_H +#define PROCESSOR__IRQS_LIC_H +#define FSP__PROCESSOR__IRQS_LIC_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +#define NR_VIC_IRQS 64 + +#define LIC_IRQ_BASE NR_VIC_IRQS +#define LIC0_IRQ_CONTEXT lic0_irq_context +#define LIC1_IRQ_CONTEXT lic1_irq_context +#define LIC2_IRQ_CONTEXT lic2_irq_context +#define LIC3_IRQ_CONTEXT lic3_irq_context + +#ifndef __ASSEMBLER__ + +#include + +extern struct tegra_lic_id tegra_lic_id_dce; +extern lic_irq_context_t lic0_irq_context; +extern lic_irq_context_t lic1_irq_context; +extern lic_irq_context_t lic2_irq_context; +extern lic_irq_context_t lic3_irq_context; + +#endif + +#endif /* PROCESSOR__IRQS_LIC_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/tegra-uart-hw-params.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/tegra-uart-hw-params.h new file mode 100644 index 0000000..3d694fe --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/tegra-uart-hw-params.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__UART_TEGRA_HW_PARAMS_H +#define PROCESSOR__UART_TEGRA_HW_PARAMS_H +#define FSP__PROCESSOR__TEGRA_UART_HW_PARAMS_H 1 + +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +#ifndef TEGRA_UARTC_ENABLED +#define TEGRA_UARTC_ENABLED +#endif +#define TEGRA_UARTC_IRQ 0 + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/tke-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/tke-tegra-hw.h new file mode 100644 index 0000000..91767b9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/dce/processor/tke-tegra-hw.h @@ -0,0 +1,25 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__TKE_TEGRA_HW_H +#define PROCESSOR__TKE_TEGRA_HW_H +#define FSP__PROCESSOR__TKE_TEGRA_HW_H 1 + +extern struct tegra_tke_id tegra_tke_id_timer0; +extern struct tegra_tke_id tegra_tke_id_timer1; +extern struct tegra_tke_id tegra_tke_id_timer2; +extern struct tegra_tke_id tegra_tke_id_timer3; + +#define TEGRA_TKE_TIMER_CLK_SRC_USECCNT 0 +#define TEGRA_TKE_TIMER_CLK_SRC_OSCCNT 1 +#define TEGRA_TKE_TIMER_CLK_SRC_TSC_BIT0 2 +#define TEGRA_TKE_TIMER_CLK_SRC_TSC_BIT12 3 + +#endif /* FSP_SOC_T234_DCE_PROCESSOR_TKE_TEGRA_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-clk.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-clk.h new file mode 100644 index 0000000..8e388af --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-clk.h @@ -0,0 +1,182 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FSI__CAR_CLK_H +#define FSI__CAR_CLK_H +#define FSP__FSI__CAR_CLK_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t + +/* Module-specific FSP headers */ +#include // for clock functions, ... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_CLK_H, "Header file missing or invalid.") + + +#define Hz (1LL) +#define kHz (Hz * 1000) +#define MHz (kHz * 1000) +#define GHz (MHz * 1000) + +#define FSI_CLK_XTAL_HZ 40000000ULL /* 40Mhz */ +#define FSI_CLK_VREFRO_HZ 50000000ULL /* 50Mhz */ + +#define FSI_CLK_ID_XTAL 0U +#define FSI_CLK_ID_PLL 1U +#define FSI_CLK_ID_CHSM_CPU 2U +#define FSI_CLK_ID_CSITE 3U +#define FSI_CLK_ID_FABRIC_CLK 4U +#define FSI_CLK_ID_FABRIC_PCLK 5U +#define FSI_CLK_ID_JTAG 6U +#define FSI_CLK_ID_LA 7U +#define FSI_CLK_ID_MC 8U +#define FSI_CLK_ID_SE 9U +#define FSI_CLK_ID_SE_FR 10U +#define FSI_CLK_ID_SPI0 11U +#define FSI_CLK_ID_SRAM_CLK 12U +#define FSI_CLK_ID_SRAM_PCLK 13U +#define FSI_CLK_ID_TS 14U +#define FSI_CLK_ID_UART0 15U +#define FSI_CLK_ID_N 16U + +extern const struct car_clk_inf fsi_clk_infs[FSI_CLK_ID_N]; + +/** + * @brief Enable a clock. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @return E_SUCCESS + * E_CAR_INVALID_CLOCK_ID + */ +error_t fsi_clk_enable(uint32_t clk_id); + +/** + * @brief Disable a clock. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @return E_SUCCESS + * E_CAR_INVALID_CLOCK_ID + */ +error_t fsi_clk_disable(uint32_t clk_id); + +/** + * @brief Get the clock enable status. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @return True or false. + */ +bool fsi_clk_is_enabled(uint32_t clk_id); + +/** + * @brief Set the clock rate. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @param hz_out The requested clock rate in hertz. + * @return E_SUCCESS + * E_CAR_INVALID_CLOCK_ID + */ +error_t fsi_clk_set_rate(uint32_t clk_id, int64_t hz_out); + +/** + * @brief Get the clock rate. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @param hz_out The pointer to put the clock rate in hertz. + * @return E_SUCCESS + * E_CAR_INVALID_CLOCK_ID + */ +error_t fsi_clk_get_rate(uint32_t clk_id, int64_t *hz_out); + + +// Bring-up specific functions: + +bool fsi_clk_fmon_is_enabled(void); +void fsi_clk_fmon_enable(void); +void fsi_clk_fmon_disable(void); + +/** + * @brief Set divider. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @param div The div value. + * @return E_SUCCESS + * E_CAR_INVALID_CLOCK_ID + */ +error_t fsi_clk_set_div(uint32_t clk_id, uint32_t div); + +/** + * @brief Get divider. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @param div The pointer to put the divider value. + * @return E_SUCCESS + * E_CAR_INVALID_CLOCK_ID + */ +error_t fsi_clk_get_div(uint32_t clk_id, uint32_t *div); + +/** + * @brief Get CAR error_t string. + * + * @param err The error_t returned from a CAR function. + * @return The string describing the error_t code. + */ +const char *fsi_car_get_err_str(error_t err); + +#endif /* FSI__CAR_CLK_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-fmon.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-fmon.h new file mode 100644 index 0000000..d94bf9e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-fmon.h @@ -0,0 +1,159 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FSI__CAR_FMON_H +#define FSI__CAR_FMON_H +#define FSP__FSI__CAR_FMON_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t + +/* Module-specific FSP headers */ + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + + +/* FMON IDs */ +#define FSI_FMON_ID_PLL 0U +#define FSI_FMON_ID_CHSM 1U +#define FSI_FMON_ID_FABRIC 2U +#define FSI_FMON_ID_SPI 3U +#define FSI_FMON_ID_TS 4U +#define FSI_FMON_ID_XTAL 5U +#define FSI_FMON_ID_N 6U + +extern const struct car_fmon_inf fsi_fmon_infs[FSI_FMON_ID_N]; + +/* Counter offsets to clk_count member of fmon_clk_count structure */ +#define FSI_FMON_CLK_COUNT_MIN (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_MIN) +#define FSI_FMON_CLK_COUNT_MAX (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_MAX) +#define FSI_FMON_CLK_COUNT_LATEST (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_COUNT_0_Latest_Count) +#define FSI_FMON_CLK_COUNT_1 (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_COUNT_1) +#define FSI_FMON_CLK_COUNT_2 (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_COUNT_2) +#define FSI_FMON_CLK_COUNT_3 (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_COUNT_3) +#define FSI_FMON_CLK_COUNT_EARLIEST (CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_COUNT_4_Earliest_Count) + +struct fsi_fmon_cnts { + uint32_t ref_win; + uint32_t ref_win_dc_chk; + uint32_t cnt_min; + uint32_t cnt_max; + uint32_t cnt_0_latest; + uint32_t cnt_1; + uint32_t cnt_2; + uint32_t cnt_3; + uint32_t cnt_4_earliest; +}; + + +/** + * @brief Calculate clock frequency from frequency monitor + * counters. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @param hz The pointer to put the frequency hertz. + * @return E_SUCCESS + * E_CAR_FMON_NO_DATA + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t fsi_fmon_clk_hz_calc(uint32_t clk_id, uint64_t *hz); + +/** + * @brief Frequency Monitor (FMON) enabled?. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @retval true/false + */ +bool fsi_fmon_is_enabled(uint32_t clk_id); + +/** + * @brief Frequency Monitor (FMON) startup. + * + * DEPRECATED! This is handled automatically by the FSP CAR + * driver. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @return E_SUCCESS + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t fsi_fmon_startup(uint32_t clk_id); + +/** + * @brief Frequency Monitor (FMON) shutdown. + * + * DEPRECATED! This is handled automatically by the FSP CAR + * driver. + * + * @param clk_id The FSI_CLK_ID_? define that is used to identify + * a clock. + * @return E_SUCCESS + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t fsi_fmon_shutdown(uint32_t clk_id); + +/** + * @brief Initialize frequency monitors + * + * DEPRECATED! + * + * @return E_SUCCESS + * E_CAR_FMON_HW_LOGIC + * E_CAR_FMON_HW_TIMEOUT + */ +error_t fsi_fmon_init(void); + +#endif /* FSI__CAR_FMON_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-fsi.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-fsi.h new file mode 100644 index 0000000..a0979d6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-fsi.h @@ -0,0 +1,65 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FSI__CAR_H +#define FSI__CAR_H +#define FSP__FSI__CAR_H 1 + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + +/* + * Declaration for tegra_car_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +struct tegra_car_id; + +#endif + diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-pll.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-pll.h new file mode 100644 index 0000000..832f809 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-pll.h @@ -0,0 +1,239 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FSI__CAR_PLL_H +#define FSI__CAR_PLL_H +#define FSP__FSI__CAR_PLL_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for error_t + +/* Module-specific FSP headers */ +#include // for car_pll_spec, ... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_PLL_H, "Header file missing or invalid.") + +/** + * @brief FSI CAR PLL voltage/frequency configuration: + * Use the defines to select the frequency for the specific + * voltage when calling fsi_pll_init. + */ +#define FSI_CAR_PLL_550mV_633MHz 0U +#define FSI_CAR_PLL_600mV_897MHz 1U +#define FSI_CAR_PLL_670mV_1300MHz 2U +#define FSI_CAR_PLL_720mV_1300MHz 3U +#define FSI_CAR_PLL_850mV_1610MHz 4U +#define FSI_CAR_PLL_940mV_1610MHz 5U + +#define FSI_CAR_PLL_550mV_550MHz 6U +#define FSI_CAR_PLL_600mV_780MHz 7U +#define FSI_CAR_PLL_670mV_1130MHz 8U +#define FSI_CAR_PLL_720mV_1130MHz 9U +#define FSI_CAR_PLL_850mV_1400MHz 10U +#define FSI_CAR_PLL_940mV_1400MHz 11U + +#define FSI_CAR_PLL_0mV_0MHz_NO_INIT 12U + + +/** + * @brief PLL register configuration values typically used to + * write directly to PLL registers. This can be used + * during PLL initialization or fault recovery. + */ +struct fsi_pll_init_cfg { + int64_t hz; + uint8_t divm; + uint8_t divp; + uint8_t divn; + uint16_t divn_frac; + uint16_t frac_step; + uint32_t reg_misc_2; + uint32_t reg_misc_3; + uint32_t reg_misc_4; + uint32_t reg_misc_5; + uint32_t reg_misc_6; +}; + +/** + * @brief Read FSI PLL enable status. + * + * @return True or false. + */ +bool fsi_pll_is_enabled(void); + +/** + * @brief Enable FSI PLL. + * + * DEPRECATED! Use fsi_clk_enable with FSI_CLK_ID_PLL instead. + * + * @return E_SUCCESS + * E_CAR_PLL_NO_LOCK + */ +error_t fsi_pll_enable(void); + +/** + * @brief Disable FSI PLL. + * + * DEPRECATED! Use fsi_clk_disable with FSI_CLK_ID_PLL instead. + * + * @return E_SUCCESS + */ +error_t fsi_pll_disable(void); + +/** + * @brief Set FSI PLL frequency. + * + * DEPRECATED! Use fsi_clk_set_rate with FSI_CLK_ID_PLL instead. + * + * @param hz_out Frequency in hertz. + * @return E_SUCCESS + * E_CAR_INVALID_PARAM + */ +error_t fsi_pll_set_rate(int64_t hz_out); + +/** + * @brief Get FSI PLL frequency. + * + * DEPRECATED! Use fsi_clk_get_rate with FSI_CLK_ID_PLL instead. + * + * @param hz_out The pointer to where the frequency will be + * written. + * @return E_SUCCESS + */ +error_t fsi_pll_get_rate(int64_t *hz_out); + +/** + * @brief Used to read the current car_pll_spec structure + * of values. + * + * DEPRECATED! This is a debug/test feature. + * + * @param spec Pointer to the car_pll_spec structure that will + * be populated with the current values. + * @return E_SUCCESS + * E_CAR_NULL_PTR + */ +error_t fsi_pll_spec_get(struct car_pll_spec *spec); + +/** + * @brief Used to provide an alternate car_pll_spec structure of + * values. + * + * DEPRECATED! This is a debug/test feature. + * + * @param spec Pointer to the car_pll_spec structure. If this + * pointer is NULL then the default car_pll_spec + * structure will be used. This is the mechanism to + * reset to default values. + * @return E_SUCCESS + */ +error_t fsi_pll_spec_set(struct car_pll_spec *spec); + +/** + * @brief Used to provide a table of alternate car_pll_cfg + * structure values. + * + * DEPRECATED! This is a debug/test feature. + * + * @param cfgs Pointer to the car_pll_cfg structure table. If + * this pointer is NULL then the default car_pll_cfg + * structure table will be used. This is the + * mechanism to reset to the default table. + * @param cfgs_n The number of entries in the table. If this + * value is 0 the car_pll_cfg feature is disabled. + * @return E_SUCCESS + */ +error_t fsi_pll_cfgs_set(struct car_pll_cfg *cfgs, uint32_t cfgs_n); + +/** + * @brief Read the PLL registers to populate the + * fsi_pll_init_cfg structure. Typically used for a + * read-modify-write to the PLL. + * + * DEPRECATED! This is a debug/test feature. + * + * @param cfg Pointer to the fsi_pll_init_cfg structure. + * @return E_SUCCESS + * E_CAR_NULL_PTR + * E_CAR_PLL_NO_INIT + * E_CAR_PLL_NO_LOCK + */ +error_t fsi_pll_init_cfg_rd(struct fsi_pll_init_cfg *cfg); + +/** + * @brief Write the fsi_pll_init_cfg values directly to the PLL + * registers. This can be used during PLL initialization + * or fault recovery. + * + * DEPRECATED! This is a debug/test feature. + * + * @param cfg Pointer to the fsi_pll_init_cfg structure. + * @return E_SUCCESS + * E_CAR_NULL_PTR + * E_CAR_PLL_NO_INIT + * E_CAR_PLL_NO_LOCK + */ +error_t fsi_pll_init_cfg_wr(struct fsi_pll_init_cfg *cfg); + +/** + * @brief Initialize FSI PLL. + * + * DEPRECATED! Just start using fsi_clk_ functions with + * FSI_CLK_ID_PLL instead. + * + * @param pll_vf The PLL Voltage/Frequency selector. + * @return E_SUCCESS + * E_CAR_INVALID_PARAM + */ +error_t fsi_pll_init(uint32_t pll_vf); + +#endif /* FSI__CAR_PLL_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-port.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-port.h new file mode 100644 index 0000000..4123c41 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-port.h @@ -0,0 +1,68 @@ +/* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FSI__CAR_PORT_H +#define FSI__CAR_PORT_H +#define FSP__PORT__CAR_PORT_H 1 + +/** + * @file car/car-port.h + * @brief Structures that are internal to the CAR driver + */ + +/* Compiler headers */ +#include +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +void car_port_udelay(uint64_t delay_us); +uint64_t car_port_get_time_ticks(void); +uint64_t car_port_get_time_delta_us(uint64_t ticks_start); + +#endif /* FSI__CAR_PORT_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-rst.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-rst.h new file mode 100644 index 0000000..7452858 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/car-rst.h @@ -0,0 +1,133 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FSI__CAR_RST_H +#define FSI__CAR_RST_H +#define FSP__FSI__CAR_RST_H 1 + +/* Compiler headers */ +#include // for uint8_t, uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD... +#include // for error_t + +/* Module-specific FSP headers */ + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + + +/** + * @brief FSI CAR reset IDs: + * Use the reset ID to represent the reset device. + */ +#define FSI_CAR_RST_ID_CAN0 1U +#define FSI_CAR_RST_ID_CAN1 2U +#define FSI_CAR_RST_ID_CHSM_DBGRESETN 3U +#define FSI_CAR_RST_ID_CHSM_NRESET 4U +#define FSI_CAR_RST_ID_CHSM_PRESETDBGN 5U +#define FSI_CAR_RST_ID_CHSM_SYSPORRESET 6U +#define FSI_CAR_RST_ID_CSITE 7U +#define FSI_CAR_RST_ID_LA 8U +#define FSI_CAR_RST_ID_NCORE_0 9U +#define FSI_CAR_RST_ID_NCORE_1 10U +#define FSI_CAR_RST_ID_NCORE_2 11U +#define FSI_CAR_RST_ID_NCORE_3 12U +#define FSI_CAR_RST_ID_NCPUPOR_0 13U +#define FSI_CAR_RST_ID_NCPUPOR_1 14U +#define FSI_CAR_RST_ID_NCPUPOR_2 15U +#define FSI_CAR_RST_ID_NCPUPOR_3 16U +#define FSI_CAR_RST_ID_NTOPRESET 17U +#define FSI_CAR_RST_ID_NPRESETDBG 18U +#define FSI_CAR_RST_ID_SPI0 19U +#define FSI_CAR_RST_ID_UART0 20U +#define FSI_CAR_RST_ID_N 21U + + +/** + * @brief Get the reset assert status. + * + * @param rst_id The FSI_CAR_RST_ID_? define that is used to identify + * a reset signal. + * @return True or false + */ +bool fsi_rst_is_asserted(uint32_t rst_id); + +/** + * @brief Assert a reset. + * + * @param rst_id The FSI_CAR_RST_ID_? define that is used to identify + * a reset signal. + * @return E_SUCCESS + * E_CAR_INVALID_RESET_ID + */ +error_t fsi_rst_assert(uint32_t rst_id); + +/** + * @brief Deassert a reset. + * + * @param rst_id The FSI_CAR_RST_ID_? define that is used to identify + * a reset signal. + * @return E_SUCCESS + * E_CAR_INVALID_RESET_ID + */ +error_t fsi_rst_deassert(uint32_t rst_id); + +/** + * @brief Pulse a reset with an assert, delay for the specified + * microseconds, and deassert. + * + * @param rst_id The FSI_CAR_RST_ID_? define that is used to identify + * a reset signal. + * @param delay_us The delay in microseconds for the asserted + * reset signal. + * @return E_SUCCESS + * E_CAR_INVALID_RESET_ID + */ +error_t fsi_rst_pulse(uint32_t rst_id, uint64_t delay_us); + +#endif /* FSI__CAR_RST_H */ + diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/gpcdma-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/gpcdma-port-priv.h new file mode 100644 index 0000000..ccddf09 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/port/gpcdma-port-priv.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_PORT_PRIV_H +#define GPCDMA__GPCDMA_PORT_PRIV_H +#define FSP__PORT__GPCDMA_PORT_PRIV_H 0 + +/** + * @file gpcdma/gpcdma-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +struct gpcdma_hw_handle { + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/processor/irqs-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/processor/irqs-hw.h new file mode 100644 index 0000000..243187d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/fsi/processor/irqs-hw.h @@ -0,0 +1,61 @@ +/* +* Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. +* +* NVIDIA CORPORATION and its licensors retain all intellectual property +* and proprietary rights in and to this software, related documentation +* and any modifications thereto. Any use, reproduction, disclosure or +* distribution of this software and related documentation without an express +* license agreement from NVIDIA CORPORATION is strictly prohibited. +*/ + +#ifndef PROCESSOR__IRQS_HW_H +#define PROCESSOR__IRQS_HW_H +#define FSP__PROCESSOR__IRQS_HW_H 1 + +#define MAX_VIC_CONTROLLER 2 +#define NV_FSI_SPI_INTR_BASE 32 +#define NV_FSI_PPI_INTR_BASE 16 + +/* SPI interupts source numbers starts */ +/* SPI irq must be added by 32 (NV_FSI_SPI_INTR_BASE) while using */ +#define NV_FSI_GIC_TIMER_INTR0 4 +#define NV_FSI_GIC_TIMER_INTR1 34 +#define NV_FSI_GIC_TIMER_INTR2 66 +#define NV_FSI_GIC_TIMER_INTR3 96 +#define NV_FSI_GIC_TOP_HSP2_SI0 21 +#define NV_FSI_GIC_TOP_HSP2_SI1 22 + +#define NV_FSI_GIC_TOP_HSP2_SI2 44 +#define NV_FSI_GIC_TOP_HSP2_SI4 46 +#define NV_FSI_GIC_HSP_SI0 3 +#define NV_FSI_GIC_HSP_SI2 64 +#define NV_FSI_GIC_HSP_SI4 28 +#define NV_FSI_GIC_SCE_HSP1_SI2 15 +#define NV_FSI_GIC_SCE_HSP1_SI3 16 +#define NV_FSI_GIC_SCE_HSP1_SI4 36 +#define NV_FSI_GIC_SCE_HSP2_SI2 42 +#define NV_FSI_GIC_SCE_HSP2_SI4 17 + +/* FSI GPCDMA interrupt numbers */ +#define NV_FSI_GIC_DMA_INTR0 26 +#define NV_FSI_GIC_DMA_INTR1 27 +#define NV_FSI_GIC_DMA_INTR2 52 +#define NV_FSI_GIC_DMA_INTR3 53 +#define NV_FSI_GIC_DMA_INTR4 67 +#define NV_FSI_GIC_DMA_INTR5 68 +#define NV_FSI_GIC_DMA_INTR6 97 +#define NV_FSI_GIC_DMA_INTR7 98 +#define NV_FSI_GIC_DMA_INTR8 99 + +/* PPI interupt source numbers */ +/* PPI irq numbers must be added by 16 (PPI_BASE) while using*/ +#define NV_FSI_GIC_WDT_nIRQ0 0 +#define NV_FSI_GIC_WDT_nFIQ0 1 +#define NV_FSI_GIC_WDT_nIRQ1 0 +#define NV_FSI_GIC_WDT_nFIQ1 1 +#define NV_FSI_GIC_WDT_nIRQ2 0 +#define NV_FSI_GIC_WDT_nFIQ2 1 +#define NV_FSI_GIC_WDT_nIRQ3 0 +#define NV_FSI_GIC_WDT_nFIQ3 1 + +#endif /* PROCESSOR__IRQS_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/hw-config/vic-irqs.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/hw-config/vic-irqs.h new file mode 100644 index 0000000..39f8375 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/hw-config/vic-irqs.h @@ -0,0 +1,105 @@ +/* + * t234/rce/hw-config/vic-irqs.h - Interrupts for safertos-common handlers + * + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef HW_CONFIG__VIC_IRQS_H +#define HW_CONFIG__VIC_IRQS_H +#define FSP__HW_CONFIG__VIC_IRQS_H 1 + +#include +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") + +/* + * Define the various vectors where the VIC and IRQ are encoded into one value + */ +#define INTERRUPT_WDTFIQ TEGRA_INTERRUPT(0, NV_RCE_IRQ_WDTFIQ) +#define INTERRUPT_WDTIRQ TEGRA_INTERRUPT(0, NV_RCE_IRQ_WDTIRQ) +#define INTERRUPT_TIMER0 TEGRA_INTERRUPT(0, NV_RCE_IRQ_TIMER0) +#define INTERRUPT_TIMER1 TEGRA_INTERRUPT(0, NV_RCE_IRQ_TIMER1) +#define INTERRUPT_TIMER2 TEGRA_INTERRUPT(0, NV_RCE_IRQ_TIMER2) +#define INTERRUPT_TIMER3 TEGRA_INTERRUPT(0, NV_RCE_IRQ_TIMER3) +#define INTERRUPT_MBOX TEGRA_INTERRUPT(0, NV_RCE_IRQ_MBOX) +#define INTERRUPT_GTE TEGRA_INTERRUPT(0, NV_RCE_IRQ_GTE) +#define INTERRUPT_PMU TEGRA_INTERRUPT(0, NV_RCE_IRQ_PMU) +#define INTERRUPT_DMA0 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA0) +#define INTERRUPT_DMA1 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA1) +#define INTERRUPT_DMA2 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA2) +#define INTERRUPT_DMA3 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA3) +#define INTERRUPT_DMA4 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA4) +#define INTERRUPT_DMA5 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA5) +#define INTERRUPT_DMA6 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA6) +#define INTERRUPT_DMA7 TEGRA_INTERRUPT(0, NV_RCE_IRQ_DMA7) +#define INTERRUPT_LIC0 TEGRA_INTERRUPT(0, NV_RCE_IRQ_LIC0) +#define INTERRUPT_LIC1 TEGRA_INTERRUPT(0, NV_RCE_IRQ_LIC1) +#define INTERRUPT_LIC2 TEGRA_INTERRUPT(0, NV_RCE_IRQ_LIC2) +#define INTERRUPT_LIC3 TEGRA_INTERRUPT(0, NV_RCE_IRQ_LIC3) +#define INTERRUPT_V0RSVD21 TEGRA_INTERRUPT(0, NV_RCE_IRQ_V0RSVD21) +#define INTERRUPT_HSM_CRITICAL_ERR TEGRA_INTERRUPT(0, NV_RCE_IRQ_HSM_CRITICAL_ERR) +#define INTERRUPT_VI_HP TEGRA_INTERRUPT(0, NV_RCE_IRQ_VI_HP) +#define INTERRUPT_VI2_HP TEGRA_INTERRUPT(0, NV_RCE_IRQ_VI2_HP) +#define INTERRUPT_HSM_HP TEGRA_INTERRUPT(0, NV_RCE_IRQ_HSM_HP) +#define INTERRUPT_HSM_LP TEGRA_INTERRUPT(0, NV_RCE_IRQ_HSM_LP) +#define INTERRUPT_VI_LP TEGRA_INTERRUPT(0, NV_RCE_IRQ_VI_LP) +#define INTERRUPT_V0RSVD28 TEGRA_INTERRUPT(0, NV_RCE_IRQ_V0RSVD28) +#define INTERRUPT_V0RSVD29 TEGRA_INTERRUPT(0, NV_RCE_IRQ_V0RSVD29) +#define INTERRUPT_V0RSVD30 TEGRA_INTERRUPT(0, NV_RCE_IRQ_V0RSVD30) +#define INTERRUPT_V0RSVD31 TEGRA_INTERRUPT(0, NV_RCE_IRQ_V0RSVD31) + +// VIC1 interrupts +#define INTERRUPT_V1RSVD0 TEGRA_INTERRUPT(1, NV_RCE_IRQ_V1RSVD0) +#define INTERRUPT_ACTMON TEGRA_INTERRUPT(1, NV_RCE_IRQ_ACTMON) +#define INTERRUPT_FPUINT TEGRA_INTERRUPT(1, NV_RCE_IRQ_FPUINT) +#define INTERRUPT_PM TEGRA_INTERRUPT(1, NV_RCE_IRQ_PM) +#define INTERRUPT_MC_SBE TEGRA_INTERRUPT(1, NV_RCE_IRQ_MC_SBE) +#define INTERRUPT_NOC_SECURE TEGRA_INTERRUPT(1, NV_RCE_IRQ_NOC_SECURE) +#define INTERRUPT_HSP1_SI_0 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_0) +#define INTERRUPT_HSP1_SI_1 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_1) +#define INTERRUPT_HSP1_SI_2 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_2) +#define INTERRUPT_HSP1_SI_3 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_3) +#define INTERRUPT_HSP1_SI_4 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_4) +#define INTERRUPT_HSP1_SI_5 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_5) +#define INTERRUPT_HSP1_SI_6 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_6) +#define INTERRUPT_HSP1_SI_7 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP1_SI_7) +#define INTERRUPT_TOP0_HSP_DB TEGRA_INTERRUPT(1, NV_RCE_IRQ_TOP0_HSP_DB) +#define INTERRUPT_CAR TEGRA_INTERRUPT(1, NV_RCE_IRQ_CAR) +#define INTERRUPT_V1RSVD16 TEGRA_INTERRUPT(1, NV_RCE_IRQ_V1RSVD16) +#define INTERRUPT_CTIIRQ TEGRA_INTERRUPT(1, NV_RCE_IRQ_CTIIRQ) +#define INTERRUPT_V1RSVD18 TEGRA_INTERRUPT(1, NV_RCE_IRQ_V1RSVD18) +#define INTERRUPT_I2C1 TEGRA_INTERRUPT(1, NV_RCE_IRQ_I2C1) +#define INTERRUPT_I2C3 TEGRA_INTERRUPT(1, NV_RCE_IRQ_I2C3) +#define INTERRUPT_I2C8 TEGRA_INTERRUPT(1, NV_RCE_IRQ_I2C8) +#define INTERRUPT_DISP TEGRA_INTERRUPT(1, NV_RCE_IRQ_DISP) +#define INTERRUPT_V1RSVD23 TEGRA_INTERRUPT(1, NV_RCE_IRQ_V1RSVD23) +#define INTERRUPT_HSP2_SI_0 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_0) +#define INTERRUPT_HSP2_SI_1 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_1) +#define INTERRUPT_HSP2_SI_2 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_2) +#define INTERRUPT_HSP2_SI_3 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_3) +#define INTERRUPT_HSP2_SI_4 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_4) +#define INTERRUPT_HSP2_SI_5 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_5) +#define INTERRUPT_HSP2_SI_6 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_6) +#define INTERRUPT_HSP2_SI_7 TEGRA_INTERRUPT(1, NV_RCE_IRQ_HSP2_SI_7) + +#endif /* HW_CONFIG__VIC_IRQS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/port/gpcdma-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/port/gpcdma-port-priv.h new file mode 100644 index 0000000..4263bc2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/port/gpcdma-port-priv.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA__GPCDMA_PORT_PRIV_H +#define GPCDMA__GPCDMA_PORT_PRIV_H +#define FSP__PORT__GPCDMA_PORT_PRIV_H 0 + +/** + * @file gpcdma/gpcdma-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +struct gpcdma_hw_handle { + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/port/uart-port-priv.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/port/uart-port-priv.h new file mode 100644 index 0000000..fac77ec --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/port/uart-port-priv.h @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UART__UART_PORT_PRIV_H +#define UART__UART_PORT_PRIV_H +#define FSP__PORT__UART_PORT_PRIV_H 0 + +#include + +/** + * @file uart/uart-port-priv-.h + * @brief provides context that is specific to the port layer. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* HW headers */ + +/* Late FSP headers */ + +typedef rtosQueueHandle uart_queue_t; + +struct uart_hw_handle { + const struct tegra_clk *clk; + const struct tegra_rst *rst; +}; + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/cache-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/cache-hw.h new file mode 100644 index 0000000..b59402c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/cache-hw.h @@ -0,0 +1,17 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__CACHE_HW_H +#define PROCESSOR__CACHE_HW_H +#define FSP__PROCESSOR__CACHE_HW_H 1 + +#define CACHE_LINE_SIZE 32 + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/debug-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/debug-hw.h new file mode 100644 index 0000000..520c225 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/debug-hw.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__DEBUG_HW_H +#define PROCESSOR__DEBUG_HW_H +#define FSP__PROCESSOR__DEBUG_HW_H 1 + +#include +#include + +/* Late FSP headers */ +#include +#include + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +#ifdef TEGRA_UARTF_ENABLED +extern struct tegra_uart_ctlr tegra_uart_ctlr_uartf; + +#ifndef DEBUG_UART +#define DEBUG_UART tegra_uart_ctlr_uartf +#endif + +#endif + +#ifdef TEGRA_UARTC_ENABLED +extern struct tegra_uart_ctlr tegra_uart_ctlr_uartc; + +#ifndef DEBUG_UART +#define DEBUG_UART tegra_uart_ctlr_uartc +#endif + +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/gpcdma-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/gpcdma-hw.h new file mode 100644 index 0000000..abca098 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/gpcdma-hw.h @@ -0,0 +1,76 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef GPCDMA_HW_H +#define GPCDMA_HW_H +#define FSP__PROCESSOR__GPCDMA_HW_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#define GPCDMA_CHAN0 gpcdma_chan0 +#define GPCDMA_CHAN1 gpcdma_chan1 +#define GPCDMA_CHAN2 gpcdma_chan2 +#define GPCDMA_CHAN3 gpcdma_chan3 +#define GPCDMA_CHAN4 gpcdma_chan4 +#define GPCDMA_CHAN5 gpcdma_chan5 +#define GPCDMA_CHAN6 gpcdma_chan6 +#define GPCDMA_CHAN7 gpcdma_chan7 + +#ifndef __ASSEMBLER__ + +extern struct gpcdma_id gpcdma_id_rce; +extern struct gpcdma_channel gpcdma_chan0; +extern struct gpcdma_channel gpcdma_chan1; +extern struct gpcdma_channel gpcdma_chan2; +extern struct gpcdma_channel gpcdma_chan3; +extern struct gpcdma_channel gpcdma_chan4; +extern struct gpcdma_channel gpcdma_chan5; +extern struct gpcdma_channel gpcdma_chan6; +extern struct gpcdma_channel gpcdma_chan7; + +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/hsp-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/hsp-tegra-hw.h new file mode 100644 index 0000000..d4b99cd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/hsp-tegra-hw.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__HSP_TEGRA_HW_H +#define PROCESSOR__HSP_TEGRA_HW_H +#define FSP__PROCESSOR__HSP_TEGRA_HW_H 1 + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") + +#define TEGRA_HSP_ID_MBOX tegra_hsp_id_rce +#define TEGRA_HSP_ID_DB tegra_hsp_id_top0 + +#ifndef __ASSEMBLER__ + +/* This is the TOP HSP instance w/ AON interrupts */ +extern struct tegra_hsp_id tegra_hsp_id_top0; +extern struct tegra_hsp_id tegra_hsp_id_self; +extern struct tegra_hsp_id tegra_hsp_id_rce; + +#endif + +#endif /* PROCESSOR__HSP_TEGRA_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/irqs-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/irqs-hw.h new file mode 100644 index 0000000..aa85872 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/irqs-hw.h @@ -0,0 +1,89 @@ +/* + * Copyright (c) 2016-2020 NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__IRQS_HW_H +#define PROCESSOR__IRQS_HW_H +#define FSP__PROCESSOR__IRQS_HW_H 1 + +#define MAX_VIC_CONTROLLER 2 + +#ifndef NV_RCE_IRQ +#define NV_RCE_IRQ(x) (x ## U) +#endif + +/* VIC0 interrupts */ +#define NV_RCE_IRQ_WDTFIQ NV_RCE_IRQ(0) +#define NV_RCE_IRQ_WDTIRQ NV_RCE_IRQ(1) +#define NV_RCE_IRQ_TIMER0 NV_RCE_IRQ(2) +#define NV_RCE_IRQ_TIMER1 NV_RCE_IRQ(3) +#define NV_RCE_IRQ_TIMER2 NV_RCE_IRQ(4) +#define NV_RCE_IRQ_TIMER3 NV_RCE_IRQ(5) +#define NV_RCE_IRQ_MBOX NV_RCE_IRQ(6) +#define NV_RCE_IRQ_GTE NV_RCE_IRQ(7) +#define NV_RCE_IRQ_PMU NV_RCE_IRQ(8) +#define NV_RCE_IRQ_DMA0 NV_RCE_IRQ(9) +#define NV_RCE_IRQ_DMA1 NV_RCE_IRQ(10) +#define NV_RCE_IRQ_DMA2 NV_RCE_IRQ(11) +#define NV_RCE_IRQ_DMA3 NV_RCE_IRQ(12) +#define NV_RCE_IRQ_DMA4 NV_RCE_IRQ(13) +#define NV_RCE_IRQ_DMA5 NV_RCE_IRQ(14) +#define NV_RCE_IRQ_DMA6 NV_RCE_IRQ(15) +#define NV_RCE_IRQ_DMA7 NV_RCE_IRQ(16) +#define NV_RCE_IRQ_LIC0 NV_RCE_IRQ(17) +#define NV_RCE_IRQ_LIC1 NV_RCE_IRQ(18) +#define NV_RCE_IRQ_LIC2 NV_RCE_IRQ(19) +#define NV_RCE_IRQ_LIC3 NV_RCE_IRQ(20) +#define NV_RCE_IRQ_V0RSVD21 NV_RCE_IRQ(21) +#define NV_RCE_IRQ_HSM_CRITICAL_ERR NV_RCE_IRQ(22) +#define NV_RCE_IRQ_VI_HP NV_RCE_IRQ(23) +#define NV_RCE_IRQ_VI2_HP NV_RCE_IRQ(24) +#define NV_RCE_IRQ_HSM_HP NV_RCE_IRQ(25) +#define NV_RCE_IRQ_HSM_LP NV_RCE_IRQ(26) +#define NV_RCE_IRQ_VI_LP NV_RCE_IRQ(27) +#define NV_RCE_IRQ_V0RSVD28 NV_RCE_IRQ(28) +#define NV_RCE_IRQ_V0RSVD29 NV_RCE_IRQ(29) +#define NV_RCE_IRQ_V0RSVD30 NV_RCE_IRQ(30) +#define NV_RCE_IRQ_V0RSVD31 NV_RCE_IRQ(31) + +/* VIC1 interrupts */ +#define NV_RCE_IRQ_V1RSVD0 NV_RCE_IRQ(32) +#define NV_RCE_IRQ_ACTMON NV_RCE_IRQ(33) +#define NV_RCE_IRQ_FPUINT NV_RCE_IRQ(34) +#define NV_RCE_IRQ_PM NV_RCE_IRQ(35) +#define NV_RCE_IRQ_MC_SBE NV_RCE_IRQ(36) +#define NV_RCE_IRQ_NOC_SECURE NV_RCE_IRQ(37) +#define NV_RCE_IRQ_HSP1_SI_0 NV_RCE_IRQ(38) +#define NV_RCE_IRQ_HSP1_SI_1 NV_RCE_IRQ(39) +#define NV_RCE_IRQ_HSP1_SI_2 NV_RCE_IRQ(40) +#define NV_RCE_IRQ_HSP1_SI_3 NV_RCE_IRQ(41) +#define NV_RCE_IRQ_HSP1_SI_4 NV_RCE_IRQ(42) +#define NV_RCE_IRQ_HSP1_SI_5 NV_RCE_IRQ(43) +#define NV_RCE_IRQ_HSP1_SI_6 NV_RCE_IRQ(44) +#define NV_RCE_IRQ_HSP1_SI_7 NV_RCE_IRQ(45) +#define NV_RCE_IRQ_TOP0_HSP_DB NV_RCE_IRQ(46) +#define NV_RCE_IRQ_CAR NV_RCE_IRQ(47) +#define NV_RCE_IRQ_V1RSVD16 NV_RCE_IRQ(48) +#define NV_RCE_IRQ_CTIIRQ NV_RCE_IRQ(49) +#define NV_RCE_IRQ_V1RSVD18 NV_RCE_IRQ(50) +#define NV_RCE_IRQ_I2C1 NV_RCE_IRQ(51) +#define NV_RCE_IRQ_I2C3 NV_RCE_IRQ(52) +#define NV_RCE_IRQ_I2C8 NV_RCE_IRQ(53) +#define NV_RCE_IRQ_DISP NV_RCE_IRQ(54) +#define NV_RCE_IRQ_V1RSVD23 NV_RCE_IRQ(55) +#define NV_RCE_IRQ_HSP2_SI_0 NV_RCE_IRQ(56) +#define NV_RCE_IRQ_HSP2_SI_1 NV_RCE_IRQ(57) +#define NV_RCE_IRQ_HSP2_SI_2 NV_RCE_IRQ(58) +#define NV_RCE_IRQ_HSP2_SI_3 NV_RCE_IRQ(59) +#define NV_RCE_IRQ_HSP2_SI_4 NV_RCE_IRQ(60) +#define NV_RCE_IRQ_HSP2_SI_5 NV_RCE_IRQ(61) +#define NV_RCE_IRQ_HSP2_SI_6 NV_RCE_IRQ(62) +#define NV_RCE_IRQ_HSP2_SI_7 NV_RCE_IRQ(63) + +#endif /* PROCESSOR__IRQS_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/irqs-lic.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/irqs-lic.h new file mode 100644 index 0000000..ed73052 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/irqs-lic.h @@ -0,0 +1,74 @@ +/* + * Copyright (c) 2019-2020 NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__IRQS_LIC_H +#define PROCESSOR__IRQS_LIC_H +#define FSP__PROCESSOR__IRQS_LIC_H 1 + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__IRQ__TEGRA_LIC_PRIV_H, "Header file missing or invalid.") + +#define NR_VIC_IRQS 64 + +enum { + RCE_LIC_IRQ_BASE = NR_VIC_IRQS, + RCE_LIC_IRQ_ISP = LIC_IRQ_BASE, + RCE_LIC_IRQ_NVCSI, + RCE_LIC_IRQ_HOST1X_CAM0, + RCE_LIC_IRQ_HOST1X_CAM1, + RCE_LIC_IRQ_HOST1X_VM1, + RCE_LIC_IRQ_HOST1X_VM2, + RCE_LIC_IRQ_HOST1X_VM3, + RCE_LIC_IRQ_HOST1X_VM4, + RCE_LIC_IRQ_HOST1X_VM5, + RCE_LIC_IRQ_HOST1X_VM6, + RCE_LIC_IRQ_HOST1X_VM7, + RCE_LIC_IRQ_HOST1X_VM8, + RCE_LIC_IRQ_UARTA, + RCE_LIC_IRQ_UARTG, + RCE_LIC_IRQ_I2C0, + RCE_LIC_IRQ_I2C2, + RCE_LIC_IRQ_I2C4, + RCE_LIC_IRQ_I2C5, + RCE_LIC_IRQ_I2C6, + RCE_LIC_IRQ_I2C7, + RCE_LIC_IRQ_I2C9, + RCE_LIC_IRQ_I2C10, + RCE_LIC_IRQ_VI_VM0, + RCE_LIC_IRQ_VI_VM1, + RCE_LIC_IRQ_VI_VM2, + RCE_LIC_IRQ_VI_VM3, + RCE_LIC_IRQ_VI_VM4, + RCE_LIC_IRQ_VI_VM5, + RCE_LIC_IRQ_VI_VM6, + RCE_LIC_IRQ_VI_VM7, + RCE_LIC_IRQ_VI_VM8, + RCE_LIC_IRQ_RCE_HSP1, + RCE_LIC_IRQ_RCE_HSP2, + RCE_LIC_IRQ_RCE_HSP3, + RCE_LIC_IRQ_RCE_HSP4, +}; + +extern const struct tegra_lic_id tegra_lic_id_rce; + +#endif /* PROCESSOR__IRQS_LIC_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/tegra-uart-hw-params.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/tegra-uart-hw-params.h new file mode 100644 index 0000000..fcfe0dd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/tegra-uart-hw-params.h @@ -0,0 +1,36 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__UART_TEGRA_HW_PARAMS_H +#define PROCESSOR__UART_TEGRA_HW_PARAMS_H +#define FSP__PROCESSOR__TEGRA_UART_HW_PARAMS_H 1 + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + +#define TEGRA_UARTF_ENABLED +#define TEGRA_UARTF_IRQ UINT32_MAX +#define UART_CLOCKS +#define UART_CAR_ACCESS + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/tke-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/tke-tegra-hw.h new file mode 100644 index 0000000..21f5447 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/rce/processor/tke-tegra-hw.h @@ -0,0 +1,25 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__TKE_TEGRA_HW_H +#define PROCESSOR__TKE_TEGRA_HW_H +#define FSP__PROCESSOR__TKE_TEGRA_HW_H 1 + +extern struct tegra_tke_id tegra_tke_id_timer0; +extern struct tegra_tke_id tegra_tke_id_timer1; +extern struct tegra_tke_id tegra_tke_id_timer2; +extern struct tegra_tke_id tegra_tke_id_timer3; + +#define TEGRA_TKE_TIMER_CLK_SRC_USECCNT 0 +#define TEGRA_TKE_TIMER_CLK_SRC_OSCCNT 1 +#define TEGRA_TKE_TIMER_CLK_SRC_TSC_BIT0 2 +#define TEGRA_TKE_TIMER_CLK_SRC_TSC_BIT12 3 + +#endif /* PROCESSOR__TKE_TEGRA_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/cache-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/cache-hw.h new file mode 100644 index 0000000..b59402c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/cache-hw.h @@ -0,0 +1,17 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__CACHE_HW_H +#define PROCESSOR__CACHE_HW_H +#define FSP__PROCESSOR__CACHE_HW_H 1 + +#define CACHE_LINE_SIZE 32 + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/debug-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/debug-hw.h new file mode 100644 index 0000000..e94d655 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/debug-hw.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__DEBUG_HW_H +#define PROCESSOR__DEBUG_HW_H +#define FSP__PROCESSOR__DEBUG_HW_H 1 + +#include + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +#ifdef _NV_BUILD_LINSIM_ +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTA_BASE +#elif defined(_NV_BUILD_FPGA_) +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTC_BASE +#else +#define TEGRA_DBG_UART_BASE NV_ADDRESS_MAP_UARTC_BASE +#define TEGRA_DBG_UART_CLK tegra_clk_uartc +#define TEGRA_DBG_UART_RST tegra_rst_uartc +#define TEGRA_DBG_UART_BAUD 115200 +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/hsp-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/hsp-tegra-hw.h new file mode 100644 index 0000000..1ec98a6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/hsp-tegra-hw.h @@ -0,0 +1,60 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__HSP_TEGRA_HW_H +#define PROCESSOR__HSP_TEGRA_HW_H +#define FSP__PROCESSOR__HSP_TEGRA_HW_H 1 + +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") + +#define TEGRA_HSP_ID_MBOX tegra_hsp_id_sce +#define TEGRA_HSP_ID_DB tegra_hsp_id_top0 + +#ifndef __ASSEMBLER__ + +/* This is the TOP HSP instance w/ AON interrupts */ +extern struct tegra_hsp_id tegra_hsp_id_top0; +extern struct tegra_hsp_id tegra_hsp_id_sce; + +#endif + +#endif /* PROCESSOR__HSP_TEGRA_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/irqs-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/irqs-hw.h new file mode 100644 index 0000000..5315b2a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/irqs-hw.h @@ -0,0 +1,88 @@ +/* +* Copyright (c) 2016-2019 NVIDIA CORPORATION. All rights reserved. +* +* NVIDIA CORPORATION and its licensors retain all intellectual property +* and proprietary rights in and to this software, related documentation +* and any modifications thereto. Any use, reproduction, disclosure or +* distribution of this software and related documentation without an express +* license agreement from NVIDIA CORPORATION is strictly prohibited. +*/ + +#ifndef PROCESSOR__IRQS_HW_H +#define PROCESSOR__IRQS_HW_H +#define FSP__PROCESSOR__IRQS_HW_H 1 + +#define MAX_VIC_CONTROLLER 2 + +#define NV_AON_INTERRUPT_VIC0_BASE 0 +#define NV_AON_INTERRUPT_VIC1_BASE 32 + +// VIC0 interrupts +#define NV_SCE_IRQ_WDTFIQ 0 +#define NV_SCE_IRQ_WDTIRQ 1 +#define NV_SCE_IRQ_TIMER0 2 +#define NV_SCE_IRQ_TIMER1 3 +#define NV_SCE_IRQ_TIMER2 4 +#define NV_SCE_IRQ_TIMER3 5 +#define NV_SCE_IRQ_MBOX 6 +#define NV_SCE_IRQ_GTE 7 +#define NV_SCE_IRQ_PMU 8 +#define NV_SCE_IRQ_DMA0 9 +#define NV_SCE_IRQ_DMA1 10 +#define NV_SCE_IRQ_DMA2 11 +#define NV_SCE_IRQ_DMA3 12 +#define NV_SCE_IRQ_DMA4 13 +#define NV_SCE_IRQ_DMA5 14 +#define NV_SCE_IRQ_DMA6 15 +#define NV_SCE_IRQ_DMA7 16 +#define NV_SCE_IRQ_LIC0 17 +#define NV_SCE_IRQ_LIC1 18 +#define NV_SCE_IRQ_LIC2 19 +#define NV_SCE_IRQ_LIC3 20 +#define NV_SCE_IRQ_V0RSVD21 21 +#define NV_SCE_IRQ_HSM_CRITICAL_ERR 22 +#define NV_SCE_IRQ_VI_HP 23 +#define NV_SCE_IRQ_VI_LP 24 +#define NV_SCE_IRQ_HSM_HP 25 +#define NV_SCE_IRQ_HSM_LP 26 +#define NV_SCE_IRQ_V0RSVD27 27 +#define NV_SCE_IRQ_V0RSVD28 28 +#define NV_SCE_IRQ_V0RSVD29 29 +#define NV_SCE_IRQ_V0RSVD30 30 +#define NV_SCE_IRQ_V0RSVD31 31 + +/* VIC1 interrupts */ +#define NV_SCE_IRQ_NOC_NON_SECURE 32 +#define NV_SCE_IRQ_ACTMON 33 +#define NV_SCE_IRQ_FPUINT 34 +#define NV_SCE_IRQ_PM 35 +#define NV_SCE_IRQ_MC_SBE 36 +#define NV_SCE_IRQ_NOC_SECURE 37 +#define NV_SCE_IRQ_CAR 38 +#define NV_SCE_IRQ_V1RSVD7 39 +#define NV_SCE_IRQ_V1RSVD8 40 +#define NV_SCE_IRQ_V1RSVD9 41 +#define NV_SCE_IRQ_V1RSVD10 42 +#define NV_SCE_IRQ_V1RSVD11 43 +#define NV_SCE_IRQ_V1RSVD12 44 +#define NV_SCE_IRQ_V1RSVD13 45 +#define NV_SCE_IRQ_TOP0_HSP_DB 46 +#define NV_SCE_IRQ_V1RSVD15 47 +#define NV_SCE_IRQ_V1RSVD16 48 +#define NV_SCE_IRQ_CTIIRQ 49 +#define NV_SCE_IRQ_V1RSVD18 50 +#define NV_SCE_IRQ_I2C1 51 +#define NV_SCE_IRQ_I2C3 52 +#define NV_SCE_IRQ_I2C8 53 +#define NV_SCE_IRQ_V1RSVD22 54 +#define NV_SCE_IRQ_V1RSVD23 55 +#define NV_SCE_IRQ_V1RSVD24 56 +#define NV_SCE_IRQ_V1RSVD25 57 +#define NV_SCE_IRQ_V1RSVD26 58 +#define NV_SCE_IRQ_V1RSVD27 59 +#define NV_SCE_IRQ_V1RSVD28 60 +#define NV_SCE_IRQ_V1RSVD29 61 +#define NV_SCE_IRQ_V1RSVD30 62 +#define NV_SCE_IRQ_V1RSVD31 63 + +#endif /* PROCESSOR__IRQS_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/tke-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/tke-tegra-hw.h new file mode 100644 index 0000000..affa199 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/sce/processor/tke-tegra-hw.h @@ -0,0 +1,20 @@ +/* + * Copyright (c) 2016-2019, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef PROCESSOR__TKE_TEGRA_HW_H +#define PROCESSOR__TKE_TEGRA_HW_H +#define FSP__PROCESSOR__TKE_TEGRA_HW_H 1 + +extern struct tegra_tke_id tegra_tke_id_timer0; +extern struct tegra_tke_id tegra_tke_id_timer1; +extern struct tegra_tke_id tegra_tke_id_timer2; +extern struct tegra_tke_id tegra_tke_id_timer3; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/argpcdma-defs.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/argpcdma-defs.h new file mode 100644 index 0000000..cb27cd3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/argpcdma-defs.h @@ -0,0 +1,63 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ARGPCDMA_DEFS_H +#define ARGPCDMA_DEFS_H +#define FSP__SOC_COMMON__ARGPCDMA_DEFS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "argpcdma_flv_32ch.h" + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +#define HW_BUG_200667678 1 + +/* Defines for max timeout and time to wait for busy bit to clear */ +#define GPCDMA_BURST_COMPLETE_TIME 20U +#define GPCDMA_BURST_COMPLETION_TIMEOUT 100U + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/ast-defs.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/ast-defs.h new file mode 100644 index 0000000..25086a7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/ast-defs.h @@ -0,0 +1,46 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ +#ifndef AST_DEFS_H +#define AST_DEFS_H +#define FSP__SOC_COMMON__AST_DEFS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** + * @brief Number of regions each AST provides + */ +#define AST_NUM_REGIONS 8U + +static inline uint32_t +tegra_ast_get_num_regions(void) +{ + return AST_NUM_REGIONS; +} + +/** + * @brief Slave base of the DM region that contains the enable bit + * + * Not implemented on this SoC. The value isn't important because + * it's only here to allow for compilation. It will never be used + * at run-time. + */ +#define AST_DM_REGION_SLAVE_BASE_LO 0U + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/chipid-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/chipid-tegra-hw.h new file mode 100644 index 0000000..61b47ee --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/chipid-tegra-hw.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SOC_COMMON__CHIPID_TEGRA_HW_H +#define SOC_COMMON__CHIPID_TEGRA_HW_H + +#define TEGRA_FUSE_ADDRESS_MAP_SIZE NV_ADDRESS_MAP_FUSE_CONTROLLER_SIZE + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/clk-tegra-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/clk-tegra-hw.h new file mode 100644 index 0000000..818e044 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/clk-tegra-hw.h @@ -0,0 +1,118 @@ +/* + * Copyright (c) 2015-2021 NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +#ifndef SOC_COMMON__CLK_TEGRA_HW_H +#define SOC_COMMON__CLK_TEGRA_HW_H +#define FSP__SOC_COMMON__CLK_TEGRA_HW_H 1 + +extern const struct tegra_clk tegra_clk_uarta_data; +extern const struct tegra_clk tegra_clk_uartb_data; +extern const struct tegra_clk tegra_clk_uartc_data; +extern const struct tegra_clk tegra_clk_uartj_data; +extern const struct tegra_clk tegra_clk_uartf_data; +extern const struct tegra_clk tegra_clk_uartg_data; +extern const struct tegra_clk tegra_clk_uarth_data; +extern const struct tegra_clk tegra_clk_aon_i2c_slow_data; +extern const struct tegra_clk tegra_clk_i2c_slow_data; +extern const struct tegra_clk tegra_clk_i2c1_data; +extern const struct tegra_clk tegra_clk_i2c2_data; +extern const struct tegra_clk tegra_clk_i2c3_data; +extern const struct tegra_clk tegra_clk_i2c4_data; +extern const struct tegra_clk tegra_clk_i2c6_data; +extern const struct tegra_clk tegra_clk_i2c7_data; +extern const struct tegra_clk tegra_clk_i2c8_data; +extern const struct tegra_clk tegra_clk_i2c10_data; +extern const struct tegra_clk tegra_clk_aodmic_data; +extern const struct tegra_clk tegra_clk_spi1_data; +extern const struct tegra_clk tegra_clk_spi2_data; +extern const struct tegra_clk tegra_clk_spi3_data; + +extern struct tegra_parent_clk tegra_parent_clk_pll_aon_data; +extern struct tegra_parent_clk tegra_parent_clk_pll_p_data; +extern struct tegra_parent_clk tegra_parent_clk_osc_undiv_data; + +extern const struct tegra_rst tegra_rst_uarta_data; +extern const struct tegra_rst tegra_rst_uartb_data; +extern const struct tegra_rst tegra_rst_uartc_data; +extern const struct tegra_rst tegra_rst_uartj_data; +extern const struct tegra_rst tegra_rst_uartf_data; +extern const struct tegra_rst tegra_rst_uartg_data; +extern const struct tegra_rst tegra_rst_uarth_data; +extern const struct tegra_rst tegra_rst_i2c1_data; +extern const struct tegra_rst tegra_rst_i2c2_data; +extern const struct tegra_rst tegra_rst_i2c3_data; +extern const struct tegra_rst tegra_rst_i2c4_data; +extern const struct tegra_rst tegra_rst_i2c6_data; +extern const struct tegra_rst tegra_rst_i2c7_data; +extern const struct tegra_rst tegra_rst_i2c8_data; +extern const struct tegra_rst tegra_rst_i2c10_data; +extern const struct tegra_rst tegra_rst_aodmic_data; +extern const struct tegra_rst tegra_rst_aon_gpcdma_data; +extern const struct tegra_rst tegra_rst_sce_gpcdma_data; +extern const struct tegra_rst tegra_rst_rce_gpcdma_data; +extern const struct tegra_rst tegra_rst_dce_gpcdma_data; +extern const struct tegra_rst tegra_rst_spi1_data; +extern const struct tegra_rst tegra_rst_spi2_data; +extern const struct tegra_rst tegra_rst_spi3_data; +extern const struct tegra_rst tegra_rst_can0_data; +extern const struct tegra_rst tegra_rst_can1_data; + +#define tegra_clk_uarta (&tegra_clk_uarta_data) +#define tegra_clk_uartb (&tegra_clk_uartb_data) +#define tegra_clk_uartc (&tegra_clk_uartc_data) +#define tegra_clk_uartj (&tegra_clk_uartj_data) +#define tegra_clk_uartf (&tegra_clk_uartf_data) +#define tegra_clk_uartg (&tegra_clk_uartg_data) +#define tegra_clk_uarth (&tegra_clk_uarth_data) +#define tegra_clk_aon_i2c_slow (&tegra_clk_aon_i2c_slow_data) +#define tegra_clk_i2c_slow (&tegra_clk_i2c_slow_data) +#define tegra_clk_i2c1 (&tegra_clk_i2c1_data) +#define tegra_clk_i2c2 (&tegra_clk_i2c2_data) +#define tegra_clk_i2c3 (&tegra_clk_i2c3_data) +#define tegra_clk_i2c4 (&tegra_clk_i2c4_data) +#define tegra_clk_i2c6 (&tegra_clk_i2c6_data) +#define tegra_clk_i2c7 (&tegra_clk_i2c7_data) +#define tegra_clk_i2c8 (&tegra_clk_i2c8_data) +#define tegra_clk_i2c10 (&tegra_clk_i2c10_data) +#define tegra_clk_aodmic (&tegra_clk_aodmic_data) +#define tegra_clk_spi1 (&tegra_clk_spi1_data) +#define tegra_clk_spi2 (&tegra_clk_spi2_data) +#define tegra_clk_spi3 (&tegra_clk_spi3_data) +#define tegra_parent_clk_pll_aon tegra_parent_clk_pll_aon_data +#define tegra_parent_clk_pll_p tegra_parent_clk_pll_p_data +#define tegra_parent_clk_osc_undiv tegra_parent_clk_osc_undiv_data + +#define tegra_rst_uarta (&tegra_rst_uarta_data) +#define tegra_rst_uartb (&tegra_rst_uartb_data) +#define tegra_rst_uartc (&tegra_rst_uartc_data) +#define tegra_rst_uartj (&tegra_rst_uartj_data) +#define tegra_rst_uartf (&tegra_rst_uartf_data) +#define tegra_rst_uartg (&tegra_rst_uartg_data) +#define tegra_rst_uarth (&tegra_rst_uarth_data) +#define tegra_rst_i2c1 (&tegra_rst_i2c1_data) +#define tegra_rst_i2c2 (&tegra_rst_i2c2_data) +#define tegra_rst_i2c3 (&tegra_rst_i2c3_data) +#define tegra_rst_i2c4 (&tegra_rst_i2c4_data) +#define tegra_rst_i2c6 (&tegra_rst_i2c6_data) +#define tegra_rst_i2c7 (&tegra_rst_i2c7_data) +#define tegra_rst_i2c8 (&tegra_rst_i2c8_data) +#define tegra_rst_i2c10 (&tegra_rst_i2c10_data) +#define tegra_rst_aodmic (&tegra_rst_aodmic_data) +#define tegra_rst_aon_gpcdma (&tegra_rst_aon_gpcdma_data) +#define tegra_rst_sce_gpcdma (&tegra_rst_sce_gpcdma_data) +#define tegra_rst_rce_gpcdma (&tegra_rst_rce_gpcdma_data) +#define tegra_rst_dce_gpcdma (&tegra_rst_dce_gpcdma_data) +#define tegra_rst_spi1 (&tegra_rst_spi1_data) +#define tegra_rst_spi2 (&tegra_rst_spi2_data) +#define tegra_rst_spi3 (&tegra_rst_spi3_data) +#define tegra_rst_can0 (&tegra_rst_can0_data) +#define tegra_rst_can1 (&tegra_rst_can1_data) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hsp-tegra-sm.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hsp-tegra-sm.h new file mode 100644 index 0000000..b16d835 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hsp-tegra-sm.h @@ -0,0 +1,189 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef HSP__HSP_TEGRA_SM_H +#define HSP__HSP_TEGRA_SM_H +#define FSP__HSP__HSP_TEGRA_SM_H 1 + +/* Compiler headers */ +#include // for uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // hsp128_t, struct tegra_hsp_id... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief check if 128-bit mailbox is empty or not + * + * @jama_func_req_id 10709223 + * + * This function indicates whether the 128-bit mailbox is empty or not. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index to which data has to be written. + * Range: [0- MAX SM INDEX of the instance] + * + * @retval True indicates that the mailbox is empty + * @retval False indicates that the mailbox is not empty + */ +bool tegra_hsp_sm_128_is_empty(const struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief clear contents of the 128-bit shared mailbox register + * + * @jama_func_req_id 10709412 + * + * This function clears the contents of the 128-bit shared mailbox register. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + */ +error_t tegra_hsp_sm_vacate_128(const struct tegra_hsp_id *id, + uint32_t sm); + +/** + * @brief read the 128-bit HSP shared mailbox without clearing it + * + * @jama_func_req_id 10709247 + * + * this function fetches the 128-bit data field of the mailbox register + * without modifying its contents. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX supported] + * @param[in] data pointer to where the 128-bit mailbox data field is + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_EMPTY_MBOX mailbox tag field is empty + */ +error_t tegra_hsp_sm_peek_128(const struct tegra_hsp_id *id, + uint32_t sm, + hsp128_t *data); + +/** + * @brief read the 128-bit HSP shared mailbox by clearing the contents + * + * @jama_func_req_id 10708695 + * + * This function returns the 128-bit data field of the shared mailbox register + * by clearing the contents of it. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX supported] + * @param[in] data pointer to where the 128-bit mailbox data field is + * written to. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_EMPTY_MBOX mailbox tag field is empty + */ +error_t tegra_hsp_sm_consume_128(const struct tegra_hsp_id *id, + uint32_t sm, + hsp128_t *data); + +/** + * @brief write to the 128-bit HSP shared mailbox register with TAG bit + * + * @jama_func_req_id 10708650 + * + * This function writes the mailbox register with the specified value in + * the 128-bit data field and sets the TAG bit. + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] value value to be written to the 128-bit data field. + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + * @retval E_HSP_ERR_INVALID_DATA if 0xDEAD1001 is written due to HW bug 200395605 + */ +error_t tegra_hsp_sm_produce_128(const struct tegra_hsp_id *id, + uint32_t sm, + hsp128_t const *value); + +/** + * @brief set HSP shared mailbox type. + * + * @jama_func_req_id 10710072 + * + * This function sets the HSP shared mailbox type as to whether it is treated + * as 32-bit or 128-bit. + * + * @pre the function tegra_hsp_db_init()/tegra_hsp_init() has been called + * + * @param[in] id HSP instance. + * @param[in] sm Shared mailbox index. Range: [0- MAX SM INDEX of the instance] + * @param[in] type Shared mailbox type. Range: [HSP_SM_TYPE_32 - HSP_SM_TYPE_128] + * + * @retval E_SUCCESS indicates success + * @retval E_HSP_ERR_NULL_PTR invalid id paramter passed + * @retval E_HSP_ERR_NO_MBOX invalid shared mailbox index + */ +error_t tegra_hsp_set_sm_type(struct tegra_hsp_id *id, + uint32_t sm, + uint32_t type); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hsp-tegra-top-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hsp-tegra-top-hw.h new file mode 100644 index 0000000..0ef41bb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hsp-tegra-top-hw.h @@ -0,0 +1,85 @@ +/* + * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SOC_COMMON__HSP_TEGRA_TOP_HW_H +#define SOC_COMMON__HSP_TEGRA_TOP_HW_H +#define FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H 1 + +/* FIXME: There should be a header to define this: */ +/* define doorbell master ID */ +#define TEGRA_HSP_DB_MASTER_TZ 0x0 +#define TEGRA_HSP_DB_MASTER_CCPLEX 0x1 +#define TEGRA_HSP_DB_MASTER_CCPMU 0x2 +#define TEGRA_HSP_DB_MASTER_BPMP_FW 0x3 +#define TEGRA_HSP_DB_MASTER_SPE 0x4 +#define TEGRA_HSP_DB_MASTER_AON 0x4 +#define TEGRA_HSP_DB_MASTER_SCE 0x5 +#define TEGRA_HSP_DB_MASTER_DMA 0x6 +#define TEGRA_HSP_DB_MASTER_TSECA_NONSECURE 0x7 +#define TEGRA_HSP_DB_MASTER_TSECB_NONSECURE 0x8 +#define TEGRA_HSP_DB_MASTER_JTAGM_DFT 0x9 +#define TEGRA_HSP_DB_MASTER_CSITE 0xA +#define TEGRA_HSP_DB_MASTER_APE 0xB +#define TEGRA_HSP_DB_MASTER_PEATRANS 0xC +#define TEGRA_HSP_DB_MASTER_NVDEC_NONSECURE 0xD +#define TEGRA_HSP_DB_MASTER_RCE 0xE +#define TEGRA_HSP_DB_MASTER_NVDEC1_NONSECURE 0xF +#define TEGRA_HSP_DB_MASTER_PSC_FW_USER 0x10 +#define TEGRA_HSP_DB_MASTER_PSC_FW_SUPERVISOR 0x11 +#define TEGRA_HSP_DB_MASTER_PSC_FW_MACHINE 0x12 +#define TEGRA_HSP_DB_MASTER_PSC_BOOT 0x13 +#define TEGRA_HSP_DB_MASTER_BPMP_BOOT 0x14 +#define TEGRA_HSP_DB_MASTER_TSECA_LIGHTSECURE 0x15 +#define TEGRA_HSP_DB_MASTER_TSECB_LIGHTSECURE 0x16 +#define TEGRA_HSP_DB_MASTER_NVDEC_LIGHTSECURE 0x17 +#define TEGRA_HSP_DB_MASTER_NVDEC1_LIGHTSECURE 0x18 +#define TEGRA_HSP_DB_MASTER_TSECA_HEAVYSECURE 0x19 +#define TEGRA_HSP_DB_MASTER_TSECB_HEAVYSECURE 0x1A +#define TEGRA_HSP_DB_MASTER_NVDEC_HEAVYSECURE 0x1B +#define TEGRA_HSP_DB_MASTER_NVDEC1_HEAVYSECURE 0x1C +#define TEGRA_HSP_DB_MASTER_DCE 0x1D +#define TEGRA_HSP_DB_MASTER_CBB_INTERNAL 0x1E +#define TEGRA_HSP_DB_MASTER_RSVD 0x3F +#define TEGRA_HSP_DB_MASTER_MAXNUM 0x3F +#define TEGRA_HSP_DB_MASTER_NON_SECURE TEGRA_HSP_DB_MASTER_NVDEC1_NONSECURE + +/* FIXME: There should be a header to define this: */ +/* define doorbell number and usage*/ +#define TEGRA_HSP_DB_DPMU 0 +#define TEGRA_HSP_DB_CCPLEX 1 +#define TEGRA_HSP_DB_CCPLEX_TZ 2 +#define TEGRA_HSP_DB_BPMP 3 +#define TEGRA_HSP_DB_SPE 4 +#define TEGRA_HSP_DB_SCE 5 +#define TEGRA_HSP_DB_APE 6 +#define TEGRA_HSP_DB_RCE 7 +#define TEGRA_HSP_DB_DCE 8 +#define TEGRA_HSP_DB_PSC 9 +#define TEGRA_HSP_DB_MAXNUM 10 + +#endif /* SOC_COMMON__HSP_TEGRA_TOP_HW_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hw-const.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hw-const.h new file mode 100644 index 0000000..3f8e771 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/hw-const.h @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2019 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef SOC_COMMON__HW_CONST_H +#define SOC_COMMON__HW_CONST_H +#define FSP__SOC_COMMON__HW_CONST_H 1 + +#ifndef __ASSEMBLER__ + +#include + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#ifndef MK_U32_CONST +#define MK_U32_CONST(_constant_) (_constant_##UL) +#endif + +#ifndef MK_ADDR_CONST +#define MK_ADDR_CONST(_constant_) (_constant_##UL) +#endif + +#ifndef MK_ENUM_CONST +#define MK_ENUM_CONST(_constant_) (_constant_##UL) +#endif + +#ifndef MK_MASK_CONST +#define MK_MASK_CONST(_constant_) (_constant_##UL) +#endif + +#ifndef MK_SHIFT_CONST +#define MK_SHIFT_CONST(_constant_) (_constant_##UL) +#endif + +#ifndef MK_FIELD_CONST +#define MK_FIELD_CONST(_mask_, _shift_) (MK_MASK_CONST(_mask_) << (_shift_)) +#endif + +#ifndef MK_U64_ADDR_CONST +#define MK_U64_ADDR_CONST(_constant_) (_constant_##ULL) +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_20_10, "Approval: Bug 200532008, DR: SWE-FSP-035-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#else + +#define MK_U32_CONST(_constant_) (_constant_) +#define MK_ADDR_CONST(_constant_) (_constant_) +#define MK_ENUM_CONST(_constant_) (_constant_) +#define MK_MASK_CONST(_constant_) (_constant_) +#define MK_SHIFT_CONST(_constant_) (_constant_) + +#define MK_FIELD_CONST(_mask_, _shift_) (MK_MASK_CONST(_mask_) << (_shift_)) + +#endif /* __ASSEMBLER__ */ + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/i2c-defs.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/i2c-defs.h new file mode 100644 index 0000000..5e6a011 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/i2c-defs.h @@ -0,0 +1,287 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef I2C_DEFS_H +#define I2C_DEFS_H +#define FSP__SOC_COMMON__I2C_DEFS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for BIT, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") + +/** + * @brief Maximum I2C controller. + * + * Maximum number of I2C controller supported by the I2C drivers. + */ +#define TEGRA234_I2C1 1U +#define TEGRA234_I2C2 2U +#define TEGRA234_I2C3 3U +#define TEGRA234_I2C4 4U +#define TEGRA234_I2C5 5U +#define TEGRA234_I2C6 6U +#define TEGRA234_I2C7 7U +#define TEGRA234_I2C8 8U +#define TEGRA234_I2C9 9U +#define TEGRA234_I2C10 10U +#define TEGRA234_I2C_MAX 10U + +#define I2C_MAX_CTRLS TEGRA234_I2C_MAX + +/** + * @brief Defines for I2C configuration register + * + * @I2C_CNFG_REG Config register offset + * @I2C_CNFG_DEBOUNCE_CNT_SHIFT Debounce count for sda and scl + * @I2C_CNFG_PACKET_MODE_EN 1 - intiate transfer in packet mode + * @I2C_CNFG_NEW_MASTER_FSM for compatibility with FSM + */ +#define I2C_CNFG_REG 0x0U +#define I2C_CNFG_DEBOUNCE_CNT_SHIFT 12U +#define I2C_CNFG_MULTI_MASTER_MODE BIT(17) +#define I2C_CNFG_PACKET_MODE_EN BIT(10U) +#define I2C_CNFG_NEW_MASTER_FSM BIT(11U) + +/** + * @brief Defines for I2C status register + * + * @I2C_STS_REG offset of Status register + * @I2C_STATUS_BUSY 1 - Busy 0 - Not Busy + */ +#define I2C_STS_REG 0x1cU +#define I2C_STATUS_BUSY BIT(8U) + +/** + * @brief Defines for I2C fifo register + * + * @I2C_TX_FIFO SW writes into this register + * @I2C_RX_FIFO SW reads from this register + */ +#define I2C_TX_FIFO 0x050U +#define I2C_RX_FIFO 0x054U + +/** + * @brief Defines for I2C interrupt register + * + * @I2C_INT_MASK Interrupt mask register offset + * @I2C_INT_STATUS Interrupt status register offset + * @I2C_INT_SPURIOUS SW defined bit for spurious interrupts + * @I2C_INT_TXN_TIMEOUT SW defined bit for transaction timeout + * @I2C_INT_BUS_CLEAR_DONE Bus clear done status + * @I2C_INT_PACKET_XFER_COMPLETE A packet has been transferred succesfully + * @I2C_INT_ALL_PACKETS_XFER_COMPLETE All packets transferred succesfully + * @I2C_INT_TX_FIFO_OVERFLOW TX fifo overflow + * @I2C_INT_RX_FIFO_UNDERFLOW RX fifo overflow + * @I2C_INT_NO_ACK No Acknowledge from slave + * @I2C_INT_ARB_LOST Arbitration last + * @I2C_INT_TX_FIFO_DATA_REQ TX fifo data request + * @I2C_INT_RX_FIFO_DATA_REQ RX fifo data request + */ +#define I2C_INT_MASK 0x064U +#define I2C_INT_STATUS 0x068U +#define I2C_INT_SPURIOUS BIT(15U) /* sw-defined */ +#define I2C_INT_TXN_TIMEOUT BIT(14U) /* sw-defined */ +#define I2C_INT_DISABLE_PACKET_FAIL BIT(13U) /* sw-defined */ +#define I2C_INT_EVENT_BIT_SET_FAIL BIT(12U) /* sw-defined */ +#define I2C_INT_BUS_CLEAR_DONE BIT(11U) +#define I2C_INT_PACKET_XFER_COMPLETE BIT(7U) +#define I2C_INT_ALL_PACKETS_XFER_COMPLETE BIT(6U) +#define I2C_INT_TX_FIFO_OVERFLOW BIT(5U) +#define I2C_INT_RX_FIFO_UNDERFLOW BIT(4U) +#define I2C_INT_NO_ACK BIT(3U) +#define I2C_INT_ARB_LOST BIT(2U) +#define I2C_INT_TX_FIFO_DATA_REQ BIT(1U) +#define I2C_INT_RX_FIFO_DATA_REQ BIT(0U) + +/** + * @brief Defines for I2C clock divisor register + * + * @I2C_CLK_DIVISOR clock divisor register offset + * @I2C_CLK_DIVISOR_STD_FAST_MASK Standard Fast mode mask + * @I2C_CLK_DIVISOR_STD_FAST_MODE_SHIFT Standard Fast mode shift bits + * @I2C_CLK_MULTIPLIER_STD_FAST_MODE Multiplier for Standard fast mode + */ +#define I2C_CLK_DIVISOR 0x06cU +#define I2C_CLK_DIVISOR_STD_FAST_MASK (0xFFFFUL << 16U) +#define I2C_CLK_DIVISOR_STD_FAST_MODE_SHIFT 16U +#define I2C_CLK_MULTIPLIER_STD_FAST_MODE 8U + +/** + * @brief Defines for packet header fields as per I2C packet transfer protocol + * + * @I2C_HEADER_HIGHSPEED_MODE enable HS mode of operation + * @I2C_HEADER_CONT_ON_NAK Continue on No Ack from slave + * @I2C_HEADER_READ Read transaction + * @I2C_HEADER_10BIT_ADDR 10 bit slave address + * @I2C_HEADER_REPEAT_START to continue or end transaction + * @I2C_HEADER_CONTINUE_XFER Override Repeated start + * @I2C_HEADER_MASTER_ADDR_SHIFT High Speed mode Master code shift + * @I2C_HEADER_SLAVE_ADDR_SHIFT slave address shift + */ +#define I2C_HEADER_HIGHSPEED_MODE BIT(22U) +#define I2C_HEADER_CONT_ON_NAK BIT(21U) +#define I2C_HEADER_READ BIT(19U) +#define I2C_HEADER_10BIT_ADDR BIT(18U) +#define I2C_HEADER_IE BIT(17U) +#define I2C_HEADER_REPEAT_START BIT(16U) +#define I2C_HEADER_CONTINUE_XFER BIT(15U) +#define I2C_HEADER_MASTER_ADDR_SHIFT 12U +#define I2C_HEADER_SLAVE_ADDR_SHIFT 1U + +/** + * @brief Defines for I2C configuration load register + * + * @I2C_CONFIG_LOAD_REG configuration load register offset + * @I2C_MSTR_CONFIG_LOAD load master configuration + * @I2C_SLV_CONFIG_LOAD load slave configuration + * @I2C_TIMEOUT_CONFIG_LOAD load timeout configuration + */ +#define I2C_CONFIG_LOAD_REG 0x8cU +#define I2C_MSTR_CONFIG_LOAD BIT(0U) +#define I2C_SLV_CONFIG_LOAD BIT(1U) +#define I2C_TIMEOUT_CONFIG_LOAD BIT(2U) + +/** + * @brief Defines for I2C clock enable override register + * + * @I2C_CLKEN_OVERRIDE clock enable override register offset + * @I2C_MST_CORE_CLKEN_OVR override for 2nd-level clock enable for I2C master + */ +#define I2C_CLKEN_OVERRIDE 0x90U +#define I2C_MST_CORE_CLKEN_OVR 1U + +/** + * @brief Defines for I2C interface timing Register + * + * @I2C_INTERFACE_TIMING Interface timing register offset + * @I2C_INTERFACE_MASK Interface timing register mask + * @I2C_THIGH_SHIFT bit shift value for THIGH + */ +#define I2C_INTERFACE_TIMING 0x94U +#define I2C_INTERFACE_MASK (0x3FU) +#define I2C_THIGH_SHIFT 8U + +/** + * @brief Defines for I2C master reset register + * + * @I2C_MSTR_RESET master reset register offset + * @I2C_MSTR_SOFT_RESET 1 - reset master internal state, 0 - normal operation + */ +#define I2C_MSTR_RESET 0xa8U +#define I2C_MSTR_SOFT_RESET BIT(0U) + +/* + * FIFO size has been increased in T194 and to account for that, + * the FIFO control/status registers have been split into + * separate master and slave registers. Here we map the defines + * to the master registers, since that is sufficient for our use case. + */ + +/** + * @brief Defines for I2C master packet transfer status register + * + * @I2C_PACKET_XFER_STATUS Number of packets transferred in the current packet + */ +#define I2C_PACKET_XFER_STATUS 0x0b0U + +/** + * @brief Defines for I2C master fifo control Register + * + * @I2C_FIFO_CONTROL Fifo control register offset + * @I2C_FIFO_CONTROL_TX_FLUSH Flush the TX fifo + * @I2C_FIFO_CONTROL_RX_FLUSH Flush the RX fifo + * @I2C_FIFO_CONTROL_TX_TRIG_SHIFT Master Transmit fifo trigger level shift + * @I2C_FIFO_CONTROL_RX_TRIG_SHIFT Master Receive fifo trigger level shift + */ +#define I2C_FIFO_CONTROL 0x0b4U +#define I2C_FIFO_CONTROL_TX_FLUSH BIT(1U) +#define I2C_FIFO_CONTROL_RX_FLUSH BIT(0U) +#define I2C_FIFO_CONTROL_TX_TRIG_SHIFT 16U +#define I2C_FIFO_CONTROL_RX_TRIG_SHIFT 4U + +/** + * @brief Defines for I2C master fifo status Register + * + * @I2C_FIFO_STATUS Fifo status register offset + * @I2C_FIFO_STATUS_TX_MASK Transfer fifo empty slot count mask + * @I2C_FIFO_STATUS_TX_SHIFT Transfer fifo empty slot count shift + * @I2C_FIFO_STATUS_RX_MASK Receive fifo full slot count mask + * @I2C_FIFO_STATUS_RX_SHIFT Receive fifo full slot count shift + */ +#define I2C_FIFO_STATUS 0x0b8U +#define I2C_FIFO_STATUS_TX_MASK 0xff0000U +#define I2C_FIFO_STATUS_TX_SHIFT 16U +#define I2C_FIFO_STATUS_RX_MASK 0xffU +#define I2C_FIFO_STATUS_RX_SHIFT 0U + +/** + * @brief Defines for I2C master fifo status Register + * + * @I2C_FIFO_STATUS Fifo status register offset + * @I2C_FIFO_STATUS_TX_MASK Transfer fifo empty slot count mask + * @I2C_FIFO_STATUS_TX_SHIFT Transfer fifo empty slot count shift + * @I2C_FIFO_STATUS_RX_MASK Receive fifo full slot count mask + * @I2C_FIFO_STATUS_RX_SHIFT Receive fifo full slot count shift + */ +#define I2C_FIFO_STATUS 0x0b8U +#define I2C_FIFO_STATUS_TX_MASK 0xff0000U +#define I2C_FIFO_STATUS_TX_SHIFT 16U +#define I2C_FIFO_STATUS_RX_MASK 0xffU +#define I2C_FIFO_STATUS_RX_SHIFT 0U + +#define PACKET_HEADER0_PACKET_ID_SHIFT 16U +#define PACKET_HEADER0_CONT_ID_SHIFT 12U +#define PACKET_HEADER0_PROTOCOL_I2C BIT(4U) + +#define I2C_BUS_STATUS 0x0d0U +#define I2C_BUS_STATUS_BUSY_MASK BIT(0U) +#define I2C_BUS_STATUS_SDA_MASK BIT(1U) +#define I2C_BUS_STATUS_SCL_MASK BIT(2U) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/i2c-dependencies.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/i2c-dependencies.h new file mode 100644 index 0000000..f2a2009 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/i2c-dependencies.h @@ -0,0 +1,216 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SOC_COMMON__I2C_DEPENDENCIES_H +#define SOC_COMMON__I2C_DEPENDENCIES_H +#define FSP__SOC_COMMON__I2C_DEPENDENCIES_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") + +/** + * @defgroup I2C_PORT_APIS Client Firmware Dependent Apis. + * @{ + */ +#ifdef I2C_CUSTOM_PORT_INIT +/* @brief Custom port init. Any FW specific OS implementations can be added in + * this API. + * + * @param[in] ctrl_id I2C Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_port_init(uint32_t ctrl_id); +#else + +/** + * @brief Create Mutex lock. + * + * @param[in] ctrl_id I2C Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_mutex_create(uint32_t ctrl_id); +#endif + +/** + * @brief Release Mutex lock. + * + * @param[in] ctrl_id I2C Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_mutex_release(uint32_t ctrl_id); + +/** + * @brief Acquire Mutex lock. + * + * @param[in] ctrl_id I2C Controller ID + * @param[in] timeout timeout for the acquire operation. + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_mutex_acquire(uint32_t ctrl_id, uint32_t timeout); + +/** + * @brief Wait I2C controller interrupt. + * + * @param[in] ctrl_id I2C Controller ID + * @param[in] timeout timeout in ms + * @retval E_SUCCESS Succesfully received IRQ + * @retval E_TIMEOUT IRQ not received within timeout + */ +error_t appfw_wait_irq(uint32_t ctrl_id, uint32_t timeout); + +/** + * @brief Get the current timer value in microseconds. + * + * @retval 64-bit Current timer value + */ +uint64_t appfw_timer_cur_us(void); + +/** + * @brief Halt the task execution for specified microseconds. + * + * @param[in] delay Time to halt the task execution. + */ +void appfw_udelay(uint32_t delay); + +/** + * @brief Assert, delay and deassert the reset signal. + * + * @param[in] ctrl_id I2C Controller ID + * @param[in] delay Delay between assert and deassert + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_clk_reset_pulse(uint32_t ctrl_id, uint32_t delay); + +/** + * @brief Configure the clock rate for the controller corresponding to the + * controller ID passed. In case the FW has a clk_init before i2c_init, + * clk_get_rate() can be returned. If the FW does not have a dedicated clk_init, + * clk_set_rate() is to be returned. + * + * @param[in] ctrl_id I2C Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +int64_t appfw_configure_ctrl_clk_rate(uint32_t ctrl_id); + +/** + * @brief Enable the clk for the controller corresponding to the controller ID. + * + * @param[in] ctrl_id I2C Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_clk_enable(uint32_t ctrl_id); + +/** + * @brief Disable the clk for the controller corresponding to the controller ID. + * + * @param[in] ctrl_id I2C Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + * @retval FW_error_code error from FW event signal api. + */ +error_t appfw_clk_disable(uint32_t ctrl_id); + +/** + * @brief Enable the irq corresponding to the controller id passed + * + * @param[in] ctrl_id I2C Controller ID + */ +void appfw_irq_enable(uint32_t ctrl_id); + +/** + * @brief Disable the irq corresponding to the controller id passed + * + * @param[in] ctrl_id I2C Controller ID + */ +void appfw_irq_disable(uint32_t ctrl_id); + +/** + * @brief Return the configuration data corresponding to the controller id passed. + * + * @param[in] ctrl_id I2C Controller ID + * @retval NULL Invalid controller ID + * @retval struct_pointer Pointer to valid structure + */ +struct i2c_config_data *i2c_get_config_data(uint32_t ctrl_id); + +/** + * @brief Return the pointer to the i2c_tegra_handle structure corresponding to + * the controller id passed. + * + * @param[in] ctrl_id I2C Controller ID + * @retval NULL Invalid controller ID + * @retval struct_pointer Pointer to valid structure + */ +struct i2c_tegra_handle *i2c_get_tegra_handle(uint32_t ctrl_id); +/** @} */ + +#endif /* I2C_DEPENDENCIES_H */ diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/tegra-gpio-hw.h b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/tegra-gpio-hw.h new file mode 100644 index 0000000..538c078 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/soc-common/tegra-gpio-hw.h @@ -0,0 +1,106 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PROCESSOR__GPIO_TEGRA_HW_H +#define PROCESSOR__GPIO_TEGRA_HW_H +#define FSP__PROCESSOR__GPIO_TEGRA_HW_H 1 + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Late FSP headers */ +#include // for MK_U32_CONST + +/* Module-specific FSP headers */ +#include // for #define MAX_GPIO_CONTROLLERS +#include // for struct tegra_gpio_id + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__GPIO__TEGRA_GPIO_H, "Header file missing or invalid.") + CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +/* GPIOs implemented by main GPIO controller */ +#define TEGRA_GPIO_BANK_ID_A MK_U32_CONST(0) +#define TEGRA_GPIO_BANK_ID_B MK_U32_CONST(1) +#define TEGRA_GPIO_BANK_ID_C MK_U32_CONST(2) +#define TEGRA_GPIO_BANK_ID_D MK_U32_CONST(3) +#define TEGRA_GPIO_BANK_ID_E MK_U32_CONST(4) +#define TEGRA_GPIO_BANK_ID_F MK_U32_CONST(5) +#define TEGRA_GPIO_BANK_ID_G MK_U32_CONST(6) +#define TEGRA_GPIO_BANK_ID_H MK_U32_CONST(7) +#define TEGRA_GPIO_BANK_ID_I MK_U32_CONST(8) +#define TEGRA_GPIO_BANK_ID_J MK_U32_CONST(9) +#define TEGRA_GPIO_BANK_ID_K MK_U32_CONST(10) +#define TEGRA_GPIO_BANK_ID_L MK_U32_CONST(11) +#define TEGRA_GPIO_BANK_ID_M MK_U32_CONST(12) +#define TEGRA_GPIO_BANK_ID_N MK_U32_CONST(13) +#define TEGRA_GPIO_BANK_ID_P MK_U32_CONST(14) +#define TEGRA_GPIO_BANK_ID_Q MK_U32_CONST(15) +#define TEGRA_GPIO_BANK_ID_R MK_U32_CONST(16) +#define TEGRA_GPIO_BANK_ID_S MK_U32_CONST(17) +#define TEGRA_GPIO_BANK_ID_T MK_U32_CONST(18) +#define TEGRA_GPIO_BANK_ID_U MK_U32_CONST(19) +#define TEGRA_GPIO_BANK_ID_V MK_U32_CONST(20) +#define TEGRA_GPIO_BANK_ID_X MK_U32_CONST(21) +#define TEGRA_GPIO_BANK_ID_Y MK_U32_CONST(22) +#define TEGRA_GPIO_BANK_ID_Z MK_U32_CONST(23) +#define TEGRA_GPIO_BANK_ID_AC MK_U32_CONST(24) +#define TEGRA_GPIO_BANK_ID_AD MK_U32_CONST(25) +#define TEGRA_GPIO_BANK_ID_AE MK_U32_CONST(26) +#define TEGRA_GPIO_BANK_ID_AF MK_U32_CONST(27) +#define TEGRA_GPIO_BANK_ID_AG MK_U32_CONST(28) + +/* GPIOs implemented by AON GPIO controller */ +#define TEGRA_GPIO_BANK_ID_AA MK_U32_CONST(0) +#define TEGRA_GPIO_BANK_ID_BB MK_U32_CONST(1) +#define TEGRA_GPIO_BANK_ID_CC MK_U32_CONST(2) +#define TEGRA_GPIO_BANK_ID_DD MK_U32_CONST(3) +#define TEGRA_GPIO_BANK_ID_EE MK_U32_CONST(4) +#define TEGRA_GPIO_BANK_ID_GG MK_U32_CONST(5) + +#define TEGRA_GPIO(bank, offset) ((bank * 8) + offset) + +/* Main GPIO controller */ +extern struct tegra_gpio_id tegra_gpio_id_main; + +/* AON GPIO controller */ +extern struct tegra_gpio_id tegra_gpio_id_aon; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/soc/t234/tsec/port/i2c-port.h b/spe-freertos-bsp/fsp/source/include/soc/t234/tsec/port/i2c-port.h new file mode 100644 index 0000000..083d1ff --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/soc/t234/tsec/port/i2c-port.h @@ -0,0 +1,63 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PORT__I2C_PORT_H +#define PORT__I2C_PORT_H +#define FSP__PORT__I2C_PORT_H 1 + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__OSA__RTOS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") + CT_ASSERT(FSP__IRQ__SAFE_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") + CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") + CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__I2C_DEPENDENCIES_H, "Header file missing or invalid.") + +#endif /* PORT__I2C_PORT_H */ diff --git a/spe-freertos-bsp/fsp/source/include/spi-slv/spi-slave.h b/spe-freertos-bsp/fsp/source/include/spi-slv/spi-slave.h new file mode 100644 index 0000000..4856f66 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/spi-slv/spi-slave.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) 2017-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI_SLAVE_H +#define SPI_SLAVE_H + +#include + +#include + +#define SPI_DEFAULT_MAX_CLK 10000000 /*10Mhz*/ + +struct spi_slave_init_setup { + void *dma_id; + spi_dma_chan dma_chans; + uint32_t spi_max_clk_rate; + uint8_t dma_slave_req; +}; + +void spi_slave_isr(void *data); + +/* + * Initialize and set the parameters of the requested SPI device + * + * Parameters: + * id: SPI controller instance + * setting: SPI device setting + * + * Returns: + * 0: Success + * Negative: error + */ +error_t spi_slave_setup(struct spi_ctlr *ctlr, struct spi_client_setting *setting); + +/* + * Execute SPI transfer(s) on the specified SPI slave device + * + * This function can transfer one or multiple SPI transfers. + * + * The code that submits tegra_spi_xfer to the lower layers is responsible for + * managing its memory. + * + * Parameters: + * id: SPI controller instance + * xfer: SPI transfer(s) + * + * Returns: + * 0: Success + * Negative: error + */ +error_t spi_slave_transfer(struct spi_ctlr *ctlr, struct spi_xfer *xfer); + +/* + * Initialize and set up the controller configuration + * + * Parameters: + * id: SPI controller instance + * setting: SPI controller setting + * + * Returns: + * 0: Success + * Negative: error + */ +error_t spi_slave_init(struct spi_ctlr *ctlr, struct spi_slave_init_setup *setting); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/spi/sections-spi.h b/spe-freertos-bsp/fsp/source/include/spi/sections-spi.h new file mode 100644 index 0000000..c6f2d11 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/spi/sections-spi.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI__SECTIONS_SPI_H +#define SPI__SECTIONS_SPI_H +#define FSP__SPI__SECTIONS_SPI_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_SPI_BSS SECTION_BUILDER(spi, bss) +#define SECTION_NAME_SPI_DATA SECTION_BUILDER(spi, data) +#define SECTION_NAME_SPI_RODATA SECTION_BUILDER(spi, rodata) +#define SECTION_NAME_SPI_TEXT SECTION_BUILDER(spi, text) +#define SECTION_NAME_SPI_INIT_TEXT SECTION_BUILDER(init.spi, text) + +#define SECTION_STR_SPI_TEXT STR(SECTION_NAME_SPI_TEXT) +#define SECTION_STR_SPI_INIT_TEXT STR(SECTION_NAME_SPI_INIT_TEXT) +#define SECTION_STR_SPI_RODATA STR(SECTION_NAME_SPI_RODATA) +#define SECTION_STR_SPI_DATA STR(SECTION_NAME_SPI_DATA) +#define SECTION_STR_SPI_BSS STR(SECTION_NAME_SPI_BSS) + +#define SECTION_SPI_TEXT SECTION(SECTION_STR_SPI_TEXT) +#define SECTION_SPI_INIT_TEXT SECTION(SECTION_STR_SPI_INIT_TEXT) +#define SECTION_SPI_RODATA SECTION(SECTION_STR_SPI_RODATA) +#define SECTION_SPI_DATA SECTION(SECTION_STR_SPI_DATA) +#define SECTION_SPI_BSS SECTION(SECTION_STR_SPI_BSS) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/spi/spi-errors.h b/spe-freertos-bsp/fsp/source/include/spi/spi-errors.h new file mode 100644 index 0000000..f73ce99 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/spi/spi-errors.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI__SPI_ERRORS_H +#define SPI__SPI_ERRORS_H +#define FSP__SPI__SPI_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file uart-errors.h + * @brief Error codes that are specific to the SPI + */ + +#define E_SPI_NULL_PTR MODULE_ERROR(SPI, 0UL) +#define E_SPI_INVALID_PARAM MODULE_ERROR(SPI, 1UL) +#define E_SPI_ERR_CONFIG MODULE_ERROR(SPI, 2UL) +#define E_SPI_INIT_FAIL MODULE_ERROR(SPI, 3UL) +#define E_SPI_NO_INIT MODULE_ERROR(SPI, 4UL) +#define E_SPI_REINIT MODULE_ERROR(SPI, 5UL) +#define E_SPI_CLK_EN MODULE_ERROR(SPI, 6UL) +#define E_SPI_CLK_RST MODULE_ERROR(SPI, 7UL) +#define E_SPI_CLK_SET_RATE MODULE_ERROR(SPI, 8UL) +#define E_SPI_FIFO_NON_EMPTY MODULE_ERROR(SPI, 9UL) +#define E_SPI_XFER_NOT_SUPPORTED MODULE_ERROR(SPI, 10UL) +#define E_SPI_DMA_XFER_FAIL MODULE_ERROR(SPI, 11UL) +#define E_SPI_XFER_ERR MODULE_ERROR(SPI, 12UL) +#define E_SPI_INVALID_CLK_RATE MODULE_ERROR(SPI, 13UL) +#define E_SPI_CTLR_BUSY MODULE_ERROR(SPI, 14UL) +#define E_SPI_PORT_INIT_FAIL MODULE_ERROR(SPI, 15UL) +#define E_SPI_PORT_DMA_INIT_FAIL MODULE_ERROR(SPI, 16UL) +#define E_SPI_PORT_SYNC_TIMEOUT MODULE_ERROR(SPI, 17UL) +#define E_SPI_FD_MODE_NO_SUPPORT MODULE_ERROR(SPI, 18UL) + +#endif /* SPI__SPI_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/spi/spi-port.h b/spe-freertos-bsp/fsp/source/include/spi/spi-port.h new file mode 100644 index 0000000..ea26779 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/spi/spi-port.h @@ -0,0 +1,173 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI__SPI_PORT_H +#define SPI__SPI_PORT_H +#define FSP__SPI__SPI_PORT_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include + +/* Module-specific FSP headers */ + +struct spi_ctlr; + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + +void spi_port_isr_exit(const struct spi_ctlr *ctlr, + bool isr_yield_flag); + +error_t spi_port_init(struct spi_ctlr *ctlr); + +void spi_port_cache_invalidate(void *base, + size_t length); + +void spi_port_cache_clean(void *base, + size_t length); + +/** + * @brief Enable the clk for the controller corresponding to the controller ID. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS clock enabled. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +void spi_port_clk_disable(struct spi_ctlr *ctlr); + +/** + * @brief Enable the clk for the controller corresponding to the controller ID. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS clock enabled. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t spi_port_clk_enable(struct spi_ctlr *ctlr); + +/** + * @brief Assert, delay and deassert the reset signal. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl_id UART Controller ID + * @param[in] delay Delay between assert and deassert + * @retval E_SUCCESS reset successful. + * @retval E_INVALID_PARAM Invalid ctrl_id. + */ +error_t spi_port_clk_reset_pulse(struct spi_ctlr *ctlr, + uint32_t delay); + +/** + * @brief Configure the clock rate for the controller corresponding to the + * controller ID passed. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl_id UART Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + */ +error_t spi_port_clk_set_rate(struct spi_ctlr *ctlr, + uint32_t rate); + +error_t spi_port_rx_dma_xfer_abort(struct spi_ctlr *ctlr); + +error_t spi_port_tx_dma_xfer_abort(struct spi_ctlr *ctlr); + +error_t spi_port_start_rx_dma(struct spi_ctlr *ctlr, + struct spi_xfer *xfer, + uint32_t len, + uint32_t burst_size); + +error_t spi_port_start_tx_dma(struct spi_ctlr *ctlr, + struct spi_xfer *xfer, + uint32_t len, + uint32_t burst_size); + +error_t spi_port_dma_init(struct spi_ctlr *ctlr); + +/** + * @brief spi transfer sync hook + * + * This function is used to block/wait until the synchronous + * transfer is finished. + * + * @pre the function spi_slave_init() has been called + * + * @param[in] ctlr SPI controller instance + * @param[in] timeout Timeout to wait before bailing out + * + * @retval E_SUCESS on success + * @retval E_SPI_INVALID_PARAM invalid DMA channel id + * @retval E_SPI_PORT_SYNC_TIMEOUT timed out for synchronous transfers + */ +error_t spi_port_xfer_sync(struct spi_ctlr *ctlr, + uint32_t timeout); + +/** + * @brief spi transfer sync complete hook + * + * This function is used to notify/unblock the task that is blocked on + * a synchronous spi transfer. + * + * @pre the function spi_init()/spi_slave_init() has been called + * @note called from spi_slave_isr()/spi_isr() for synchronous transfers + * + * @param[in] ctlr SPI controller instance + * + * @retval E_SUCESS on success + * @retval E_SPI_INVALID_PARAM invalid SPI ctlr param + */ +error_t spi_port_xfer_sync_end(struct spi_ctlr *ctlr); + +#endif /* UART_DEPENDENCIES_H */ diff --git a/spe-freertos-bsp/fsp/source/include/spi/spi-priv.h b/spe-freertos-bsp/fsp/source/include/spi/spi-priv.h new file mode 100644 index 0000000..00e3f43 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/spi/spi-priv.h @@ -0,0 +1,171 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI_PRIV_H +#define SPI_PRIV_H +#define FSP__SPI__SPI_PRIV_H 1 + +/** + * @file spi/spi-priv.h + * @brief Structures that are internal to the SPI master and slave driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SPI__SPI_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define MAX_CHIP_SELECT 4U + +/** + * @brief SPI controller configuration structure + * + * Structure that describes the configuration of a SPI controller. + * + * @base_addr base address of the controller + * @irq controller irq + * @hw_handle port specific hw handle + */ +struct spi_conf { + uint32_t base_addr; + uint32_t irq; + const struct spi_hw_handle *hw_handle; +}; + +/** + * @brief SPI controller context structure + * + * Structure that is used by the SPI driver to manage the SPI controller + * during run time. + * + * @conf SPI controller instance configuration + * @cdata client configuration data buffer + * @dma_id DMA instance + * @dma_chans DMA channels with in the instance + * @cur_xfer current transfer details + * @spi_clk_rate controller clock rate + * @bits_per_word bits per packet + * @words_per_32bit packets per 32-bit + * @cur_pos current xfer position + * @bytes_per_word bytes per packet + * @cur_dma_words current dma words count + * @cur_direction current xfer direction + * @cur_rx_pos current rx position for the rx xfer + * @cur_tx_pos current tx position for the tx xfer + * @dma_buf_size dma buffer size + * @max_buf_size max buffer size + * @tx_status tx xfer status + * @rx_status rx xfer status + * @status_reg fifo status register value + * @cmd1_reg_val current command1 register value + * @dma_ctrl_reg_val dma control register value + * @def_cmd1_reg_val default command1 register value + * @def_cmd2_reg_val default command2 register value + * @spi_cs_timing chip select timing + * @rx_dma_buf rx dma buffer + * @tx_dma_buf tx dma buffer + * @def_chip_select default chip select + * @dma_slave_req DMA slave request + * @dma_status status of the dma transfer + * @is_curr_dma_xfer flag indicating PIO/DMA current transfer + * @is_hw_based_cs HW based chip select config + * @is_packed current transfer packed status + * @busy controller status + * @slave_dma_support DMA support for slave + * @inited controller initialization state + */ +struct spi_ctlr { + const struct spi_conf conf; + struct spi_client_setting cdata[MAX_CHIP_SELECT]; + void *dma_id; + spi_dma_chan dma_chans; + struct spi_xfer *cur_xfer; + uint32_t spi_clk_rate; + uint32_t bits_per_word; + uint32_t words_per_32bit; + uint32_t cur_pos; + uint32_t bytes_per_word; + uint32_t curr_dma_words; + uint32_t cur_direction; + uint32_t cur_rx_pos; + uint32_t cur_tx_pos; + uint32_t dma_buf_size; + uint32_t max_buf_size; + uint32_t tx_dma_status; + uint32_t rx_dma_status; + uint32_t tx_status; + uint32_t rx_status; + uint32_t status_reg; + uint32_t cmd1_reg_val; + uint32_t dma_ctrl_reg_val; + uint32_t def_cmd1_reg_val; + uint32_t def_cmd2_reg_val; + uint32_t spi_cs_timing; + uint32_t *rx_dma_buf; + uint32_t *tx_dma_buf; + uint8_t def_chip_select; + uint8_t dma_slave_req; + uint8_t dma_status; + bool is_curr_dma_xfer; + bool is_hw_based_cs; + bool is_packed; + bool busy; + bool en_full_duplex; + bool slave_dma_support; + bool inited; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/spi/spi.h b/spe-freertos-bsp/fsp/source/include/spi/spi.h new file mode 100644 index 0000000..d06d912 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/spi/spi.h @@ -0,0 +1,286 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SPI__SPI_H +#define SPI__SPI_H +#define FSP__SPI__SPI_H 1 + +/** + * @file spi/spi.h + * @brief functions for performing SPI operations. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#define TEGRA_SPI_XFER_FIRST_MSG 3 +#define TEGRA_SPI_XFER_LAST_MSG 4 +#define TEGRA_SPI_XFER_HANDLE_CACHE 5 + +#define TEGRA_SPI_NBITS_SINGLE 0x01 /* 1bit transfer */ +#define TEGRA_SPI_NBITS_DUAL 0x02 /* 2bits transfer */ +#define TEGRA_SPI_NBITS_QUAD 0x04 /* 4bits transfer, supported since T186 */ + +#define TEGRA_SPI_CPHA 0x01 /* clock phase */ +#define TEGRA_SPI_CPOL 0x02 /* clock polarity */ +#define TEGRA_SPI_MODE_0 (0 | 0) /* (original MicroWire) */ +#define TEGRA_SPI_MODE_1 (0 | TEGRA_SPI_CPHA) +#define TEGRA_SPI_MODE_2 (TEGRA_SPI_CPOL | 0) +#define TEGRA_SPI_MODE_3 (TEGRA_SPI_CPOL | TEGRA_SPI_CPHA) +#define TEGRA_SPI_CS_HIGH 0x04 /* chipselect active high */ +#define TEGRA_SPI_LSB_FIRST 0x08 /* per-word bits-on-wire */ +#define TEGRA_SPI_3WIRE 0x10 /* SI/SO signals shared */ +#define TEGRA_SPI_LSBYTE_FIRST 0x1000 /* per-word bytes-on-wire */ + +/* + * Declaration for spi_ctlr that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +struct spi_ctlr; + +/** + * @brief SPI DMA descriptor + * + * Provides a data type for the SPI dma channels for half/full duplex modes. + * + * @tx TX dma channel + * @rx TX dma channel + */ +typedef struct { + uint32_t tx, rx; +} spi_dma_chan; + +/* + * Please refer to Tegra SPI HW manual for the meaning of following SPI timing + * settings + * chip_select: specify which CS pin for this structure + * cs_setup_clk_count: CS pin setup clock count + * cs_hold_clk_count: CS pin hold clock count + * cs_inactive_cycles: CS pin inactive clock count + * set_rx_tap_delay: specify if the SPI device need to set RX tap delay + * spi_max_clk_rate: specify the default clock rate of SPI client + * spi_no_dma: flag to indicate pio or dma mode + */ +struct spi_client_setting { + uint32_t spi_max_clk_rate; + int32_t cs_setup_clk_count; + int32_t cs_hold_clk_count; + int32_t cs_inactive_cycles; + uint8_t chip_select; + bool set_rx_tap_delay; + bool spi_no_dma; +}; + +/** + * @brief SPI master initialization configuration + * + * @dma_id DMA ID of the associated GPCDMA channel + * @dma_channel specify which GPCDMA channels to use for tx, rx + * @dma_slave_req specify which GPCDMA slave req type is for this DMA + * request. Please check argpcdma*.h for appropriate + * setting + * @spi_max_clk_rate specify the max clock rate of SPI controller + */ +struct spi_master_init { + void *dma_id; + spi_dma_chan dma_chans; + uint32_t spi_max_clk_rate; + uint8_t dma_slave_req; +}; + +/** + * @brief SPI transfer descriptor + * + * @tx_buf data to write to SPI device, or NULL if this is RX transfer + * the buffer memory need to be aligned for DMA transfer + * @rx_buf buffer to hold read data, or NULL if this is TX transfer + * the buffer memory need to be aligned for DMA transfer + * @len size of rx or tx buffer in bytes + * @spi_clk_rate specify clock rate for current transfer + * @mode spi transfer mode. + * @flags Indicate first/last message. + * @tx_nbits number of bits used for writing + * @rx_nbits number of bits used for reading + * @chip select chip select to be used for the transfer + * @bits_per_word select bits_per_word + * + * When SPI can transfer in 1x,2x or 4x. It can get this tranfer information + * from device through tx_nbits and rx_nbits. In Bi-direction, these + * two should both be set. User can set transfer mode with SPI_NBITS_SINGLE(1x) + * SPI_NBITS_DUAL(2x) and SPI_NBITS_QUAD(4x) to support these three transfer. + */ +struct spi_xfer { + const void *tx_buf; + void *rx_buf; + uint32_t len; + uint32_t spi_clk_rate; + uint16_t mode; + uint16_t flags; + uint8_t tx_nbits; + uint8_t rx_nbits; + uint8_t chip_select; + uint8_t bits_per_word; +}; + +/** + * @brief SPI controller irq handler when configured as master. + * + * @jama_func_req_id xxxxxxxx + * + * This function gets called whenever a SPI controller configured. + * interrupt is triggered. + * + * @pre the function spi_init() has been called + * + * @param[in] data pointer for HSP context. + * + * @return None + */ +void spi_master_isr(void *data); + +/** + * @brief save the SPI controller context across low power state + * + * @jama_func_req_id xxxxxxxx + * + * This function restores the required controller context across power + * gating the hardware(SC7). + * + * @pre the function spi_init() has been called + * + * @param[in] id SPI controller context + * + * @retval E_SUCCESS indicates success + * @retval E_SPI_NULL_PTR invalid id paramter passed + */ +error_t spi_suspend(struct spi_ctlr *ctlr); + +/** + * @brief resume the SPI controller context across low power state + * + * @jama_func_req_id xxxxxxxx + * + * This function restores the required controller context across power + * gating the hardware(SC7). + * + * @pre the function spi_init() has been called + * + * @param[in] id SPI controller context + * + * @retval E_SUCCESS indicates success + * @retval E_SPI_NULL_PTR invalid id paramter passed + */ +error_t spi_resume(struct spi_ctlr *ctlr); + +/** + * @brief Execute a SPI transfer with the controller as the master. + * + * @jama_func_req_id xxxxxxxxx + * + * @pre the function spi_init() has been called + * + * @param[in] id SPI controller context + * @param[in] xfer SPI transfer details + * + * @retval E_SUCCESS indicates success + * @retval E_SPI_NULL_PTR invalid id paramter passed + * @retval E_SPI_INVALID_PARAM invalid DMA channel id + * @retval E_SPI_PORT_SYNC_TIMEOUT transfer timed out + */ +error_t spi_transfer(struct spi_ctlr *ctlr, + struct spi_xfer *xfer); + +/** + * @brief Client/slave setup for the SPI controller. + * + * @jama_func_req_id xxxxxxxxx + * + * @pre the function spi_init() has been called + * + * @param[in] id SPI controller context + * @param[in] setting SPI client configuration setting + * + * @retval E_SUCCESS indicates success + * @retval E_SPI_NULL_PTR invalid id paramter passed + * @retval E_SPI_INVALID_PARAM invalid controller base address + * @retval E_SPI_PORT_INIT_FAIL port specific init failed + * @retval E_SPI_PORT_CHAN_SETUP_FAIL port specific channel setup failed + */ +error_t spi_client_setup(struct spi_ctlr *ctlr, + struct spi_client_setting *setting); + +/** + * @brief global initialization of the SPI controller. + * + * @jama_func_req_id xxxxxxxxx + * + * @pre None + * + * @param[in] id SPI controller context + * @param[in] setting SPI controller configuration setting + * + * @retval E_SUCCESS indicates success + * @retval E_SPI_NULL_PTR invalid id paramter passed + * @retval E_SPI_INVALID_PARAM invalid controller base address + * @retval E_SPI_PORT_INIT_FAIL port specific init failed + * @retval E_SPI_PORT_CHAN_SETUP_FAIL port specific channel setup failed + */ +error_t spi_init(struct spi_ctlr *ctlr, + struct spi_master_init *setting); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/ssp/ssp.h b/spe-freertos-bsp/fsp/source/include/ssp/ssp.h new file mode 100644 index 0000000..27ce951 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/ssp/ssp.h @@ -0,0 +1,97 @@ +/* _NVRM_COPYRIGHT_BEGIN_ + * + * Copyright 2021 by NVIDIA Corporation. All rights reserved. All + * information contained herein is proprietary and confidential to NVIDIA + * Corporation. Any use, reproduction, or disclosure without the written + * permission of NVIDIA Corporation is prohibited. + * + * _NVRM_COPYRIGHT_END_ + */ +#ifndef LIBNVRISCV_SSP_H +#define LIBNVRISCV_SSP_H +#include +#include +#include + +#if NVRISCV_FEATURE_SSP_FORCE_SW_CANARY +static inline error_t ssp_generate_and_set_canary_with_init(void) GCC_ATTR_WARN_UNUSED; +static inline error_t ssp_generate_and_set_canary_with_init(void) +{ + return E_NOTSUPPORTED; +} + +static inline error_t ssp_generate_and_set_canary(void) GCC_ATTR_WARN_UNUSED; +static inline error_t ssp_generate_and_set_canary(void) +{ + return E_NOTSUPPORTED; +} +#else // NVRISCV_FEATURE_SSP_FORCE_SW_CANARY +/*! + * \brief Initializes HWRNG, generates and sets stack canary. + * \return + * NVRV_OK success, canary is set + * NVRV_ERR_NOT_SUPPORTED if SCP driver is not enabled + * Other passed-through SCP errors + * + * This function: + * - Initializes HWRNG inside SCP (via SCP driver) + * - Generates and sets random with ssp_generate_and_set_canary() + * - Shuts down HWRNG + * + * \warning It should be called early at the start of module. + * \warning It should not be used, if module is using SCP for other purposes - + * in that case module should take care of SCP and just call ssp_generate_and_set_canary() + * \note Errors reported by this function should be considered fatal. + */ +error_t ssp_generate_and_set_canary_with_init(void) GCC_ATTR_WARN_UNUSED; + +/*! + * \brief Generates and sets stack canary. + * \return + * NVRV_OK success, canary is set + * NVRV_ERR_NOT_SUPPORTED if SCP driver is not enabled + * Other passed-through SCP errors + * + * This function generates random number using SCP HWRNG, then writes it to + * canary. + * + * \warning There are requirements regarding symbols used by this function when + * used. + * \warning This function assumes SSP is initialized and running. + * \note Errors reported by this function should be considered fatal. + */ +error_t ssp_generate_and_set_canary(void) GCC_ATTR_WARN_UNUSED; +#endif // NVRISCV_FEATURE_SSP_FORCE_SW_CANARY + +/*! + * \brief Returns current canary value. + * \return canary value + * + * This function shuld be used to retrieve canary value for storage during + * partition or context switches (if canary can't be regenerated). + */ +uintptr_t ssp_get_canary(void); + +/*! + * \brief Sets current canary value. + * \param[in] canary + * + * This function should be used to: + * - Restore stack canary after partition or context switches + * - Configure canary if SCP is not used or not available. + */ +void ssp_set_canary(uintptr_t canary); + +#if NVRISCV_FEATURE_SSP_ENABLE_FAIL_HOOK +/*! + * \brief Hook called if canary fails. + * + * \warning This hook shuold be (most likely) implemented in assembly and make + * sure stack is not used (as stack pointer is not reliable when this function + * is reached). + * \warning This hook should not return. + */ +extern void ssp_check_fail_hook(void) GCC_ATTR_NORETURN; +#endif // NVRISCV_FEATURE_SSP_ENABLE_FAIL_HOOK + +#endif // LIBNVRISCV_SSP_H diff --git a/spe-freertos-bsp/fsp/source/include/tke/sections-tke.h b/spe-freertos-bsp/fsp/source/include/tke/sections-tke.h new file mode 100644 index 0000000..897a82b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/tke/sections-tke.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef TKE__SECTIONS_TKE_H +#define TKE__SECTIONS_TKE_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_TKE_DATA SECTION_BUILDER(tke, data) +#define SECTION_NAME_TKE_RODATA SECTION_BUILDER(tke, rodata) +#define SECTION_NAME_TKE_TEXT SECTION_BUILDER(tke, text) +#define SECTION_NAME_TKE_INIT_DATA SECTION_BUILDER(init.tke, data) +#define SECTION_NAME_TKE_INIT_TEXT SECTION_BUILDER(init.tke, text) + +#define SECTION_STR_TKE_TEXT STR(SECTION_NAME_TKE_TEXT) +#define SECTION_STR_TKE_RODATA STR(SECTION_NAME_TKE_RODATA) +#define SECTION_STR_TKE_DATA STR(SECTION_NAME_TKE_DATA) +#define SECTION_STR_TKE_INIT_TEXT STR(SECTION_NAME_TKE_INIT_TEXT) +#define SECTION_STR_TKE_INIT_DATA STR(SECTION_NAME_TKE_INIT_DATA) + +#define SECTION_TKE_TEXT SECTION(SECTION_STR_TKE_TEXT) +#define SECTION_TKE_RODATA SECTION(SECTION_STR_TKE_RODATA) +#define SECTION_TKE_DATA SECTION(SECTION_STR_TKE_DATA) +#define SECTION_TKE_INIT_TEXT SECTION(SECTION_STR_TKE_INIT_TEXT) +#define SECTION_TKE_INIT_DATA SECTION(SECTION_STR_TKE_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/tke/tke-tegra-priv.h b/spe-freertos-bsp/fsp/source/include/tke/tke-tegra-priv.h new file mode 100644 index 0000000..f6cb3fd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/tke/tke-tegra-priv.h @@ -0,0 +1,106 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef TKE__TKE_TEGRA_PRIV_H +#define TKE__TKE_TEGRA_PRIV_H +#define FSP__TKE__TKE_TEGRA_PRIV_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +extern const uint32_t tke_top_base; + +#define TEGRA_TKE_NO_IRQ (~UINT32_C(0)) + +/** + * @brief HW details of the TKE Timer. + * + * It contains the cluster and SOC-specific details of the timer. These details + * are present in the cluster specific tke-tegra-ids.c. This structure is used + * to communicate with the tke HW via the registers. Note that, no public api + * directly uses this structure to interface with a timer unit. + * + * @base_addr Base address of TKE Timer + * @irq TKE Timer IRQ number + */ +struct tegra_tke_conf +{ + uint32_t base_addr; + uint32_t irq; +}; + +/** + * @brief Tegra specific details of the TKE Timer. + * + * This structure contains the SW and HW details of the timer. The tke unit apis + * use this structure to interface with the timer HW and the SW APIs registered + * to the timers. + * + * @conf Configuration for the tke context + * @callback TKE Timer IRQ callback function. + * @data Opaque data pointer for the timer callback function. + */ +struct tegra_tke_id +{ + struct tegra_tke_conf const conf; + tegra_tke_timer_callback callback; + void *data; +}; + +#endif /* TKE__TKE_TEGRA_PRIV_H */ diff --git a/spe-freertos-bsp/fsp/source/include/tke/tke-tegra-regs.h b/spe-freertos-bsp/fsp/source/include/tke/tke-tegra-regs.h new file mode 100644 index 0000000..e76676f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/tke/tke-tegra-regs.h @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2015-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef TKE__TKE_TEGRA_REGS_H +#define TKE__TKE_TEGRA_REGS_H +#define FSP__TKE__TKE_TEGRA_REGS_H 1 + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#define TKE_TIMER_TMRCR_0 0x0 +#define TKE_TIMER_TMRCR_0_PTV 0x1fffffffU +#define TKE_TIMER_TMRCR_0_PER BIT(30) +#define TKE_TIMER_TMRCR_0_EN BIT(31) + +#define TKE_TIMER_TMRSR_0 0x4 +#define TKE_TIMER_TMRSR_0_INTR_CLR BIT(30) +#define TKE_TIMER_TMRSR_0_PCV 0x1fffffffU + +#define TKE_TIMER_TMRCSSR_0 0x8 + +#define TSC_MTSCANNR_0 0x8 +#define TSC_MTSCANDR_0 0xc + +#define TSC_MTSCANNR_0_M0_SHIFT 16 +#define TSC_MTSCANNR_0_R0_SHIFT 0 +#define TSC_MTSCANDR_0_D0_SHIFT 0 +#define TSC_MTSCANNR_0_M0_MASK (0xfff << TSC_MTSCANNR_0_M0_SHIFT) +#define TSC_MTSCANNR_0_R0_MASK (0xfff << TSC_MTSCANNR_0_R0_SHIFT) +#define TSC_MTSCANDR_0_D0_MASK (0xfff << TSC_MTSCANDR_0_D0_SHIFT) + +#define TSC_BASE_RATE 32768UL +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif /* FSP_TKE_TKE_TEGRA_REGS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/tke/tke-tegra.h b/spe-freertos-bsp/fsp/source/include/tke/tke-tegra.h new file mode 100644 index 0000000..ee407ef --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/tke/tke-tegra.h @@ -0,0 +1,315 @@ +/* + * Copyright (c) 2015-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef TKE__TKE_TEGRA_H +#define TKE__TKE_TEGRA_H +#define FSP__TKE__TKE_TEGRA_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Declaration for tegra_tke_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +// IWYU pragma: no_forward_declare tegra_tke_id +struct tegra_tke_id; + +/** + * @brief ISR Callback function - When an interrupt is raised, this function + * will be called by tegra_tke_isr for the timer that was registered. The + * callback function is registered during the set-up stage of the timer(function + * pointer is passed as an argument to the API). + */ +typedef void (*tegra_tke_timer_callback)(void * data); + +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +/** + * @brief Defines for the available clock sources. + * + * @macro-title Timer Clock Sources + * + * @TEGRA_TKE_CLK_SRC_USECCNT 1 MHz + * @TEGRA_TKE_CLK_SRC_OSCCNT clk_m + * @TEGRA_TKE_CLK_SRC_TSC_BIT0 31.25 MHz + * @TEGRA_TKE_CLK_SRC_TSC_BIT12 7.63 KHz + */ +#define TEGRA_TKE_CLK_SRC_USECCNT 0U +#define TEGRA_TKE_CLK_SRC_OSCCNT 1U +#define TEGRA_TKE_CLK_SRC_TSC_BIT0 2U +#define TEGRA_TKE_CLK_SRC_TSC_BIT12 3U + +/** Maximum divisor for tke timers */ +#define TEGRA_TKE_MAX_TIMER 0x20000000UL +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief Initialize TSC and set up TSC to nanosecond conversion. + * The FW can use the fixed TSC to nanosecond conversion present in tke-tegra-tsc-fixed.c + * to avoid this api call. + * + * @jama_func_req_id 10797055 + */ +void tegra_tsc_init(void); + +/** + * @brief Set up and start a Tegra timer. + * + * Timer has a PCV counter which starts from one minus the divisor and + * counts downwards. The interrupt or timer output is triggered when + * the PCV is 0 and a clock source tick occurs. + * If the param callback is non-NULL, an interrupt will also be enabled. + * + * @jama_func_req_id 10797115 + * + * @param[in] id The context id struct of the timer block. + * @param[in] clk_src_sel Clock source used to drive the timer. + + * Available CLK sources - <> + * @param[in] periodic If true, start timer in periodic mode. + * If false, start timer in one-shot mode. + * @param[in] divisor The period of timer in clock source ticks. + * Divisor must be TEGRA_TKE_MAX_TIMER or less. + * @param[in] callback The timer expiration callback invoked in irq context. + * @param[in] data The parameter to the callback. + */ +void tegra_tke_set_up_timer(struct tegra_tke_id *id, uint32_t clk_src_sel, + bool periodic, uint32_t divisor, + tegra_tke_timer_callback callback, void *data); + +/** + * @brief Stop a Tegra timer. + * + * @jama_func_req_id 10797141 + * + * @param[in] id The context id struct of the timer block. + */ +void tegra_tke_stop_timer(const struct tegra_tke_id *id); + +/** + * @brief Get current period counter value of a Tegra timer. + * + * @jama_func_req_id 10802167 + * + * @param[in] id The context id struct of the timer block. + * + * @retval 32-bit Period counter value. + */ +uint32_t tegra_tke_get_pcv(const struct tegra_tke_id *id); + +/** + * @brief Enable the timer interrupt. + * + * @jama_func_req_id 10803499 + * + * @param[in] id The context id struct of the timer block. + */ +void tegra_tke_enable_timer_irq(const struct tegra_tke_id *id); + +/** + * @brief Disable the timer interrupt. + * + * @jama_func_req_id 10805710 + * + * @param[in] id The context id struct of the timer block. + */ +void tegra_tke_disable_timer_irq(const struct tegra_tke_id *id); + +/** + * @brief Clear pending timer interrupt. + * + * @jama_func_req_id 10805857 + * + * @param[in] id The context id struct of the timer block. + */ +void tegra_tke_clear_timer_irq(const struct tegra_tke_id *id); + +/** + * @brief Timer interrupt function. + * + * @jama_func_req_id 10805902 + * + * @param[in] tke_id The context id struct of the timer block. + */ +void tegra_tke_irq(void *tke_id); + +/** + * @brief Get the 64-bit TSC timer from top_tke_base block. + * + * @jama_func_req_id 10806040 + * + * @retval 64-bit Current TSC value + */ +uint64_t tegra_tke_get_tsc64(void); + +/** + * @brief Get the TSC timer from top_tke_base block. + * + * @jama_func_req_id 10806043 + * + * @param[out] tsc_hi The upper 32 bits of TSC counter. + * @param[out] tsc_lo The lower 32 bits of TSC counter. + */ +void tegra_tke_get_tsc(uint32_t *tsc_hi, uint32_t *tsc_lo); + +/** + * @brief Get the number of microseconds elapsed since given TCS timestamp. + * + * @pre Requires invoking tegra_tsc_init() from file "tke-tegra-tsc-var.c" to + * calculate tsc-to-nanoseconds conversion ratio dynamically. + + * If fixed predefined tsc-to-nanoseconds conversion ratio is used from file + * "tke-tegra-tsc-fixed.c", no precondition is required. + * + * @jama_func_req_id 11266658 + * + * @param[in] prev_tsc_hi The upper 32 bits of TSC timestamp. + * @param[in] prev_tsc_lo The lower 32 bits of TSC timestamp. + * + * @retval 64-bit Elapsed time in microseconds. + * @retval 0 pre-condition not met(only in specific cases mentioned). + */ +uint64_t tegra_tke_get_elapsed_usec(uint32_t prev_tsc_hi, uint32_t prev_tsc_low); + +/** + * @brief Get the usec counter value from top_tke_base. + * + * @jama_func_req_id 10815565 + * + * @retval 32-bit TKE counter value in microseconds + */ +uint32_t tegra_tke_get_usec(void); + +/** + * @brief Get the osc counter value from top_tke_base. + * + * @jama_func_req_id 10816111 + * + * @retval 32-bit OSC counter value. + */ +uint32_t tegra_tke_get_osc(void); + +/** + * @brief Get the low 32 bits of TSC counter value from top_tke_base. + * + * @jama_func_req_id 10816201 + * + * @retval 32-bit Lower 32-bits of TSC Counter value. + */ +uint32_t tegra_tke_get_tsc32(void); + +/** + * @brief Get the current TSC counter value as nanoseconds from top_tke_base. + * + * @pre Requires invoking tegra_tsc_init() from file "tke-tegra-tsc-var.c" to + * calculate tsc-to-nanoseconds conversion ratio dynamically. + + * If fixed predefined tsc-to-nanoseconds conversion ratio is used from file + * "tke-tegra-tsc-fixed.c", no precondition is required. + * + * @jama_func_req_id 10816420 + * + * @retval 64-bit Nanoseconds of TSC Counter value. + * @retval 0 pre-condition not met(only in specific cases mentioned). + */ +uint64_t tegra_tke_get_tsc_ns(void); + +/** + * @brief Converts a TSC timestamp to nanoseconds. + * + * @pre Requires invoking tegra_tsc_init() from file "tke-tegra-tsc-var.c" to + * calculate tsc-to-nanoseconds conversion ratio dynamically. + + * If fixed predefined tsc-to-nanoseconds conversion ratio is used from file + * "tke-tegra-tsc-fixed.c", no precondition is required. + * + * @jama_func_req_id 11223170 + * + * @retval 64-bit Nanoseconds converted value + * @retval 0 pre-condition not met(only in specific cases mentioned). + */ +uint64_t tegra_tke_tsc_to_ns(uint64_t tsc); + +/** + * @brief Converts nanoseconds to a TSC timestamp. + * + * @pre Requires invoking tegra_tsc_init() from file "tke-tegra-tsc-var.c" to + * calculate tsc-to-nanoseconds conversion ratio dynamically. + + * If fixed predefined tsc-to-nanoseconds conversion ratio is used from file + * "tke-tegra-tsc-fixed.c", no precondition is required. + * + * @retval 64-bit Converted TSC timestamp value + * @retval 0 pre-condition not met(only in specific cases mentioned). + */ + +uint64_t tegra_tke_ns_to_tsc(uint64_t ns); + +/** + * @brief Set up SafeRTOS tick timer. + * + * @jama_func_req_id 10816738 + * + * @param[in] id The context id struct of the timer block. + * @param[in] clk_src Clock source used to drive the timer. + + * Available CLK sources <> + * @param[in] divisor The period of timer in clock source ticks. + */ +void tegra_tke_set_up_tick(struct tegra_tke_id *id, uint32_t clk_src, + uint32_t divisor); + +/** + * @brief get elapsed microseconds + * + * @jama_func_req_id 10816807 + * + * @param[in] start Value of TSC at the start of period + * + * @retval 64-bit Elapsed time in microseconds. + */ +uint64_t tegra_tke_get_elapsed_usecs64(const uint64_t start); + +/** + * @brief Convert a microsecond value to RTOS ticks + * + * @jama_func_req_id 10816846 + * + * @param[in] value Value in microseconds to be converted to RTOS ticks + * + * @retval 64-bit Tick value. + */ +uint64_t tegra_tke_convert_usecs_to_ticks(const uint64_t value); + +#endif /* FSP_TKE_TKE_TEGRA_H */ diff --git a/spe-freertos-bsp/fsp/source/include/uart-sbsa/uart-sbsa.h b/spe-freertos-bsp/fsp/source/include/uart-sbsa/uart-sbsa.h new file mode 100644 index 0000000..274fc6a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart-sbsa/uart-sbsa.h @@ -0,0 +1,328 @@ +/* + * Copyright (c) 2021-2022 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SBSA_UART_H +#define SBSA_UART_H +#define FSP__UART__SBSA_UART_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__UART_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief Initialize the already initialized UART instance + * + * This function initializes and configures the UART context for an instance + * that has already been initialized by a 3rdparty or another CPU. + * + * @param[in] ctrl UART instance. + * @param[in] conf UART configuration parameters. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR NULL paramters passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + */ +error_t sbsa_uart_3rdparty_init(struct tegra_uart_ctlr *ctlr, + const struct tegra_uart_conf * const conf); + +/** + * @brief Initialize the UART instance and configure it + * + * This function initializes and configures the UART context for an instance. + * + * @param[in] ctrl UART instance. + * @param[in] conf UART configuration parameters. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR NULL paramters passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + * @retval E_UART_ERR_CONFIG invalid configuration + */ +error_t sbsa_uart_init(struct tegra_uart_ctlr * const ctlr, + const struct tegra_uart_conf * const conf); +/** + * @brief Deinitialize the UART instance and configure it + * + * This function deinitializes instance. + * + * @param[in] ctrl UART instance. + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR NULL paramters passed + * @E_CAR_CLOCK_OP_NOT_SUPPORTED Error value returned if the clock does not support the operation. + * @E_CAR_FMON_HW_LOGIC Error value returned if the FMON register logic algorithm failed. + + * + */ +error_t sbsa_uart_deinit(struct tegra_uart_ctlr * const ctlr); + +/** + * @brief Initialize the UART instance and configure it + * + * This function initializes and configures the UART context for an instance. + * + * @pre the function sbsaa_uart_init() has been called + * + * @param[in] ctrl UART instance. + * @param[in] conf UART configuration parameters. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR NULL paramters passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + * @retval E_UART_ERR_CONFIG error in configuring the UART + */ +error_t sbsa_uart_init_hw(struct tegra_uart_ctlr * const ctlr, + const struct tegra_uart_conf * const conf); + +/** + * @brief Flush the UART HW TX FIFO. + * + * This function flushes the software HW TX FIFO of the UART. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + * @retval E_UART_FLUSH_TIMEOUT flush timed out + */ +error_t sbsa_uart_flush_tx_hw_fifo(const struct tegra_uart_ctlr * const ctlr); + +/** + * @brief Flush the UART SW TX buffer. + * + * This function flushes the software TX buffer of the UART. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] timeout timeout to flush the buffer. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + * @retval E_UART_FLUSH_TIMEOUT flush timed out + */ +error_t sbsa_uart_flush_tx_fifo(const struct tegra_uart_ctlr * const ctlr); + +/** + * @brief Write a character to the UART HW TX FIFO. + * + * This function writes a character to the UART HW TX FIFO. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] c character to be written. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + */ +error_t sbsa_uart_write_char(const struct tegra_uart_ctlr * const ctlr, + const char c); + +/** + * @brief Read a character from the UART HW RX FIFO. + * + * This function reads a character from the UART HW RX FIFO. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] c pointer to where character read is to be written. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + */ +error_t sbsa_uart_read_char(const struct tegra_uart_ctlr * const ctlr, + char *c); + +/** + * @brief Read from the UART RX buffer. + * + * This function reads data from the UART RX buffer. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] buf pointer to store the data being read. + * @param[in] count byte count of the data to be read. + * @param[in] read byte count read. + * @param[in] timeout timeout to return. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + * @retval E_UART_WRITE_TIMEOUT flush timed out + */ +error_t sbsa_uart_read(const struct tegra_uart_ctlr * const ctlr, + char *buf, + uint32_t count, + uint32_t *read, + uint64_t timeout); + +/** + * @brief Write to the UART TX buffer. + * + * This function writes the data to the SW TX buffer which in turn gets + * pushed to the HW TX FIFO. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] buf pointer to the data to be written. + * @param[in] count byte count of the data to be written. + * @param[in] written byte count written. + * @param[in] timeout timeout to return. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + * @retval E_UART_WRITE_TIMEOUT flush timed out + */ +error_t sbsa_uart_write(const struct tegra_uart_ctlr * const ctlr, + const char *buf, + uint32_t count, + uint32_t *written, + uint64_t timeout); + +/** + * @brief Write to the UART HW TX fifo. + * + * This function writes data to the UART HW TX FIFO. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] buf pointer to the data to be written. + * @param[in] count byte count of the data to be written. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + */ +error_t sbsa_uart_write_now(const struct tegra_uart_ctlr * const ctlr, + const char *buf, + uint32_t count); + +/** + * @brief Write a string to the UART TX buffer. + * + * This function writes a string to the SW TX buffer which in turn gets + * pushed to the HW TX FIFO. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * @param[in] buf pointer to the string. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + * @retval E_UART_INVALID_PARAM invalid parameter passed + */ +error_t sbsa_uart_write_string(const struct tegra_uart_ctlr * const ctlr, + const char *buf); + +/** + * @brief suspend the UART context. + * + * This function saves the UART context across power gating the HW. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + */ +error_t sbsa_uart_suspend(struct tegra_uart_ctlr * const ctlr); + +/** + * @brief resume the UART context. + * + * This function restores the UART context across power gating the HW. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * + * @retval E_SUCCESS indicates success + * @retval E_UART_NULL_PTR invalid id paramter passed + */ +error_t sbsa_uart_resume(struct tegra_uart_ctlr * const ctlr); + +/** + * @brief Indicate if the UART can take a character. + * + * This function will return an indication of the UART is able to take a + * character to transmit. + * + * @pre the function sbsa_uart_init() has been called + * + * @param[in] ctlr UART controller instance. + * + * @retval true UART can take a character + * @retval false UART cannot take a character + */ +bool sbsa_uart_is_tx_ready(const struct tegra_uart_ctlr * const ctlr); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/uart/sections-uart.h b/spe-freertos-bsp/fsp/source/include/uart/sections-uart.h new file mode 100644 index 0000000..cb05cdd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart/sections-uart.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UART__SECTIONS_UART_H +#define UART__SECTIONS_UART_H +#define FSP__UART__SECTIONS_UART_H 0 + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_UART_BSS SECTION_BUILDER(uart, bss) +#define SECTION_NAME_UART_DATA SECTION_BUILDER(uart, data) +#define SECTION_NAME_UART_RODATA SECTION_BUILDER(uart, rodata) +#define SECTION_NAME_UART_TEXT SECTION_BUILDER(uart, text) +#define SECTION_NAME_UART_INIT_TEXT SECTION_BUILDER(init.uart, text) + +#define SECTION_STR_UART_TEXT STR(SECTION_NAME_UART_TEXT) +#define SECTION_STR_UART_INIT_TEXT STR(SECTION_NAME_UART_INIT_TEXT) +#define SECTION_STR_UART_RODATA STR(SECTION_NAME_UART_RODATA) +#define SECTION_STR_UART_DATA STR(SECTION_NAME_UART_DATA) +#define SECTION_STR_UART_BSS STR(SECTION_NAME_UART_BSS) + +#define SECTION_UART_TEXT SECTION(SECTION_STR_UART_TEXT) +#define SECTION_UART_INIT_TEXT SECTION(SECTION_STR_UART_INIT_TEXT) +#define SECTION_UART_RODATA SECTION(SECTION_STR_UART_RODATA) +#define SECTION_UART_DATA SECTION(SECTION_STR_UART_DATA) +#define SECTION_UART_BSS SECTION(SECTION_STR_UART_BSS) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/uart/tegra-uart-priv.h b/spe-freertos-bsp/fsp/source/include/uart/tegra-uart-priv.h new file mode 100644 index 0000000..924dd65 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart/tegra-uart-priv.h @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2014-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef TEGRA_UART_PRIV_H +#define TEGRA_UART_PRIV_H +#define FSP__UART__TEGRA_UART_PRIV_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for uart_queue_t , struct uart_hw_handle +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @brief UART controller identification structure + * + * Structure that describes the identification of a UART controller. + * + * @base_addr base address of the controller + * @irq controller irq + * @hw_handle port specific hw handle + */ +struct tegra_uart_id { + const uint32_t base_addr; + const uint32_t irq; + const struct uart_hw_handle *hw_handle; +}; + +/** + * @brief UART controller context structure + * + * Structure that is used by the UART driver to manage the UART controller + * during run time. + * + * @conf UART controller instance parameters + * @tx_queue UART SW TX FIFO + * @rx_queue UART SW RX FIFO + * @tx_sem tx semaphore for mutual exlusion + * @initialized UART controller initialization status + */ +struct tegra_uart_ctlr { + const struct tegra_uart_id id; + uart_queue_t tx_queue; + uart_queue_t rx_queue; + bool initialized; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/uart/tegra-uart.h b/spe-freertos-bsp/fsp/source/include/uart/tegra-uart.h new file mode 100644 index 0000000..4af0be0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart/tegra-uart.h @@ -0,0 +1,106 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef TEGRA_UART_H +#define TEGRA_UART_H +#define FSP__UART__TEGRA_UART_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +typedef uint8_t tegra_uart_parity_t; +#define TEGRA_UART_NO_PARITY ((tegra_uart_parity_t)1U) +#define TEGRA_UART_ODD_PARITY ((tegra_uart_parity_t)2U) +#define TEGRA_UART_EVEN_PARITY ((tegra_uart_parity_t)3U) + +typedef uint8_t tegra_uart_stop_bits_t; +#define TEGRA_UART_STOP_BITS_1 ((tegra_uart_stop_bits_t)1U) +#define TEGRA_UART_STOP_BITS_2 ((tegra_uart_stop_bits_t)2U) + +typedef uint8_t tegra_uart_data_bits_t; +#define TEGRA_UART_DATA_BITS_5 ((tegra_uart_data_bits_t)1U) +#define TEGRA_UART_DATA_BITS_6 ((tegra_uart_data_bits_t)2U) +#define TEGRA_UART_DATA_BITS_7 ((tegra_uart_data_bits_t)3U) +#define TEGRA_UART_DATA_BITS_8 ((tegra_uart_data_bits_t)4U) + +struct tegra_uart_conf { + tegra_uart_parity_t parity; + tegra_uart_stop_bits_t stop_bits; + tegra_uart_data_bits_t data_bits; + uint32_t baud; +}; + +// IWYU pragma: no_forward_declare tegra_uart_ctlr +struct tegra_uart_ctlr; + +error_t tegra_uart_init_hw(struct tegra_uart_ctlr * const ctlr, + const struct tegra_uart_conf * const conf); +void tegra_uart_flush_tx_hw_fifo(const struct tegra_uart_ctlr * const ctlr); +void tegra_uart_write_char(const struct tegra_uart_ctlr * const ctlr, + const char c); +char tegra_uart_read_char(const struct tegra_uart_ctlr * const ctlr); +void tegra_uart_write(const struct tegra_uart_ctlr * const ctlr, + const char *buf, + uint32_t count); +void tegra_uart_write_string(const struct tegra_uart_ctlr * const ctlr, + const char *buf); +bool tegra_uart_is_tx_ready(const struct tegra_uart_ctlr * const ctlr); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/uart/uart-errors.h b/spe-freertos-bsp/fsp/source/include/uart/uart-errors.h new file mode 100644 index 0000000..c36aaa6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart/uart-errors.h @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UART__UART_ERRORS_H +#define UART__UART_ERRORS_H +#define FSP__UART__UART_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file uart-errors.h + * @brief Error codes that are specific to the UART + */ + +#define E_UART_NULL_PTR MODULE_ERROR(UART, 0UL) +#define E_UART_INVALID_PARAM MODULE_ERROR(UART, 1UL) +#define E_UART_ERR_CONFIG MODULE_ERROR(UART, 2UL) +#define E_UART_INIT_FAIL MODULE_ERROR(UART, 3UL) +#define E_UART_NO_INIT MODULE_ERROR(UART, 4UL) +#define E_UART_FLUSH_TX_FIFO_FAIL MODULE_ERROR(UART, 5UL) +#define E_UART_QUEUE_FULL MODULE_ERROR(UART, 6UL) + +#endif /* UART__UART_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/uart/uart-port.h b/spe-freertos-bsp/fsp/source/include/uart/uart-port.h new file mode 100644 index 0000000..ffed6ba --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart/uart-port.h @@ -0,0 +1,205 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SOC_COMMON__UART_DEPENDENCIES_H +#define SOC_COMMON__UART_DEPENDENCIES_H +#define FSP__SOC_COMMON__UART_DEPENDENCIES_H 1 + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include + +/* Module-specific FSP headers */ + +struct tegra_uart_ctlr; + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") + +#define TEGRA_UART_BUF_SIZE 256 + +error_t uart_port_rx_queue_receive(const struct tegra_uart_ctlr *ctlr, + char *c, + uint32_t timeout_left); + +error_t uart_port_rx_queue_send_from_isr(const struct tegra_uart_ctlr *ctlr, + char *c_in, + bool *isr_yield_flag); + +error_t uart_port_tx_queue_receive_from_isr(const struct tegra_uart_ctlr *ctlr, + char *c_out, + bool *isr_yield_flag); + +error_t uart_port_tx_queue_receive(const struct tegra_uart_ctlr *ctlr, + char *c, + uint32_t timeout_left); + +error_t uart_port_tx_queue_send(const struct tegra_uart_ctlr *ctlr, + const char *c, + uint32_t timeout_left); + +void uart_port_isr_exit(const struct tegra_uart_ctlr *ctlr, + bool isr_yield_flag); + +bool uart_port_is_configured(const struct tegra_uart_ctlr *ctlr); + +/** + * @brief Create the UART TX sw buffer/queue for interrupt driven TX + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS tx queue creation success. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_tx_queue_create(struct tegra_uart_ctlr *ctlr); + +/** + * @brief Create the UART RX sw buffer/queue for interrupt driven RX + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS rx queue creation success. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_rx_queue_create(struct tegra_uart_ctlr *ctlr); + +/** + * @brief Delete the UART TX sw buffer/queue for interrupt driven RX + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS rx queue creation success. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_tx_queue_delete(struct tegra_uart_ctlr *ctlr); + +/** + * @brief Delete the UART RX sw buffer/queue for interrupt driven RX + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS rx queue creation success. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_rx_queue_delete(struct tegra_uart_ctlr *ctlr); + +/** + * @brief Perform the client specific controller init sequence such as pinmux + * settings. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS init success. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_init(struct tegra_uart_ctlr *ctlr); + +/** + * @brief disable the clk for the controller corresponding to the controller ID. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS clock disabled. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_clk_disable(struct tegra_uart_ctlr *ctlr); + +/** + * @brief Enable the clk for the controller corresponding to the controller ID. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl UART Controller instance + * @retval E_SUCCESS clock enabled. + * @retval E_UART_NULL_PARAM Null ctrl parameter. + */ +error_t uart_port_clk_enable(struct tegra_uart_ctlr *ctlr); + +/** + * @brief Assert, delay and deassert the reset signal. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl_id UART Controller ID + * @param[in] delay Delay between assert and deassert + * @retval E_SUCCESS reset successful. + * @retval E_INVALID_PARAM Invalid ctrl_id. + */ +error_t uart_port_clk_reset_pulse(struct tegra_uart_ctlr *ctlr, + uint32_t delay); + +/** + * @brief Configure the clock rate for the controller corresponding to the + * controller ID passed. + * + * @jama_func_req_id xxxxxxxx + * + * @param[in] ctrl_id UART Controller ID + * @retval E_SUCCESS Message complete signalled. + * @retval E_INVALID_PARAM Invalid ctrl_id. + */ +error_t uart_port_clk_set_rate(struct tegra_uart_ctlr *ctlr, uint32_t rate); + +/** + * @brief returns the elapsed microseconds from a reference. + * + * @param[in] start value of time stamp counter at the start of the period of + * when the elapsed time is being computed. + * + * @retval the number of microseconds that have elapsed between when + * the start time was taken and this function called. + */ +uint64_t uart_port_get_elapsed_usecs(const uint64_t start); + +#endif /* UART_DEPENDENCIES_H */ diff --git a/spe-freertos-bsp/fsp/source/include/uart/uart.h b/spe-freertos-bsp/fsp/source/include/uart/uart.h new file mode 100644 index 0000000..601313d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/uart/uart.h @@ -0,0 +1,109 @@ +/* + * Copyright (c) 2019-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UART_H +#define UART_H +#define FSP__UART__UART_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +typedef uint8_t tegra_uart_parity_t; +#define TEGRA_UART_NO_PARITY ((tegra_uart_parity_t)1U) +#define TEGRA_UART_ODD_PARITY ((tegra_uart_parity_t)2U) +#define TEGRA_UART_EVEN_PARITY ((tegra_uart_parity_t)3U) +#define SBSA_UART_NO_PARITY ((tegra_uart_parity_t)1U) +#define SBSA_UART_ODD_PARITY ((tegra_uart_parity_t)2U) +#define SBSA_UART_EVEN_PARITY ((tegra_uart_parity_t)3U) + +typedef uint8_t tegra_uart_stop_bits_t; +#define TEGRA_UART_STOP_BITS_1 ((tegra_uart_stop_bits_t)1U) +#define TEGRA_UART_STOP_BITS_2 ((tegra_uart_stop_bits_t)2U) +#define SBSA_UART_STOP_BITS_1 ((tegra_uart_stop_bits_t)1U) +#define SBSA_UART_STOP_BITS_2 ((tegra_uart_stop_bits_t)2U) + +typedef uint8_t tegra_uart_data_bits_t; +#define TEGRA_UART_DATA_BITS_5 ((tegra_uart_data_bits_t)1U) +#define TEGRA_UART_DATA_BITS_6 ((tegra_uart_data_bits_t)2U) +#define TEGRA_UART_DATA_BITS_7 ((tegra_uart_data_bits_t)3U) +#define TEGRA_UART_DATA_BITS_8 ((tegra_uart_data_bits_t)4U) +#define SBSA_UART_DATA_BITS_5 ((tegra_uart_data_bits_t)1U) +#define SBSA_UART_DATA_BITS_6 ((tegra_uart_data_bits_t)2U) +#define SBSA_UART_DATA_BITS_7 ((tegra_uart_data_bits_t)3U) +#define SBSA_UART_DATA_BITS_8 ((tegra_uart_data_bits_t)4U) + +/** + * @brief UART controller configuration structure + * + * Structure that describes the configuration of a UART controller. + * + * @parity parity for the data frame + * @stop_bits number of stop bits for the frame + * @data_bits number of data bits for the data frame + * @baud controller baud rate + */ +struct tegra_uart_conf { + tegra_uart_parity_t parity; + tegra_uart_stop_bits_t stop_bits; + tegra_uart_data_bits_t data_bits; + uint32_t baud; +}; + +// IWYU pragma: no_forward_declare tegra_uart_ctlr +struct tegra_uart_ctlr; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/utc/sections-utc.h b/spe-freertos-bsp/fsp/source/include/utc/sections-utc.h new file mode 100644 index 0000000..36ce0e7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/utc/sections-utc.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UTC__SECTIONS_UTC_H +#define UTC__SECTIONS_UTC_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_UTC_DATA SECTION_BUILDER(utc, data) +#define SECTION_NAME_UTC_RODATA SECTION_BUILDER(utc, rodata) +#define SECTION_NAME_UTC_TEXT SECTION_BUILDER(utc, text) +#define SECTION_NAME_UTC_INIT_DATA SECTION_BUILDER(init.utc, data) +#define SECTION_NAME_UTC_INIT_TEXT SECTION_BUILDER(init.utc, text) + +#define SECTION_STR_UTC_TEXT STR(SECTION_NAME_UTC_TEXT) +#define SECTION_STR_UTC_RODATA STR(SECTION_NAME_UTC_RODATA) +#define SECTION_STR_UTC_DATA STR(SECTION_NAME_UTC_DATA) +#define SECTION_STR_UTC_INIT_TEXT STR(SECTION_NAME_UTC_INIT_TEXT) +#define SECTION_STR_UTC_INIT_DATA STR(SECTION_NAME_UTC_INIT_DATA) + +#define SECTION_UTC_TEXT SECTION(SECTION_STR_UTC_TEXT) +#define SECTION_UTC_RODATA SECTION(SECTION_STR_UTC_RODATA) +#define SECTION_UTC_DATA SECTION(SECTION_STR_UTC_DATA) +#define SECTION_UTC_INIT_TEXT SECTION(SECTION_STR_UTC_INIT_TEXT) +#define SECTION_UTC_INIT_DATA SECTION(SECTION_STR_UTC_INIT_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/utc/utc-errors.h b/spe-freertos-bsp/fsp/source/include/utc/utc-errors.h new file mode 100644 index 0000000..c485d9a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/utc/utc-errors.h @@ -0,0 +1,72 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UTC__UTC_ERRORS_H +#define UTC__UTC_ERRORS_H +#define FSP__UTC__UTC_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file utc-errors.h + * @brief Error codes that are specific to the UTC + */ + +#define E_UTC_NULL_PTR MODULE_ERROR(UTC, 0UL) +#define E_UTC_INVALID_PARAM MODULE_ERROR(UTC, 1UL) +#define E_UTC_TIMED_OUT MODULE_ERROR(UTC, 2UL) +#define E_UTC_NOT_INITED MODULE_ERROR(UTC, 3UL) +#define E_UTC_RX_DISABLED MODULE_ERROR(UTC, 4UL) + +#endif /* UTC__UTC_ERRORS_H */ diff --git a/spe-freertos-bsp/fsp/source/include/utc/utc-mmio.h b/spe-freertos-bsp/fsp/source/include/utc/utc-mmio.h new file mode 100644 index 0000000..78cc466 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/utc/utc-mmio.h @@ -0,0 +1,50 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UTC__UTC_MMIO_H +#define UTC__UTC_MMIO_H +#define FSP__UTC__UTC_MMIO_H 1 + +#if defined(UTC_UT_ENABLE) +/* This file enables the client to mock the readl/writel calls to + * unit test the UTC driver. + */ +#include +#else +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#endif + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/utc/utc-port.h b/spe-freertos-bsp/fsp/source/include/utc/utc-port.h new file mode 100644 index 0000000..c1a81d4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/utc/utc-port.h @@ -0,0 +1,96 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UTC__UTC_PORT_H +#define UTC__UTC_PORT_H +#define FSP__UTC__UTC_PORT_H 1 + +#include +#include + +/** + * @brief Receive a char on the UTC RX sw buffer with timeout. + * + * @param[in] rx_queue address of rx_queue + * @param[in] c pointer to where the char is written + * @param[in] timeout timeout to block until + * + * @retval E_SUCCESS rx queue creation success. + * @retval E_UTC_NULL_PARAM null rx_queue/c parameters. + * @retval other values port specific error codes. + */ +error_t utc_port_rx_queue_receive(uintptr_t rx_queue, + char *c, + uint32_t timeout); + +/** + * @brief Send a char to the UTC RX sw buffer from interrupt context + * + * @param[in] rx_queue address of rx_queue + * @param[in] c_in buffer that holds the char + * @param[in] isr_yield_flag pointer to where the context switch state is + * stored. + * + * @retval E_SUCCESS rx queue creation success. + * @retval E_UTC_NULL_PARAM null rx_queue/c parameters. + * @retval other values port specific error codes. + */ +error_t utc_port_rx_queue_send_from_isr(uintptr_t rx_queue, + char *c_in, + bool *isr_yield_flag); + +/** + * @brief isr exit callout + * + * @param[in] isr_yield_flag flag that saves the context switch state + * from a previous call to *_send_from_isr() + */ +void utc_port_isr_exit(bool isr_yield_flag); + +/** + * @brief Create the UTC RX sw buffer/queue for interrupt driven RX + * + * @param[in] rx_queue address of rx_queue + + * @retval E_SUCCESS rx queue creation success. + * @retval other values port specific error codes. + */ +error_t utc_port_rx_queue_create(uintptr_t *rx_queue); + +/** + * @brief returns the elapsed microseconds from a reference. + * + * @param[in] start value of time stamp counter at the start of the period of + * when the elapsed time is being computed. + * + * @retval the number of microseconds that have elapsed between when + * the start time was taken and this function called. + */ +uint64_t utc_port_get_elapsed_usecs(const uint64_t start); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/utc/utc-priv.h b/spe-freertos-bsp/fsp/source/include/utc/utc-priv.h new file mode 100644 index 0000000..f937209 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/utc/utc-priv.h @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UTC__UTC_PRIV_H +#define UTC__UTC_PRIV_H +#define FSP__UTC__UTC_PRIV_H 1 + +/** + * @file utc/utc-priv.h + * @brief Structures that are internal to the UTC driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ + +/* Hardware headers */ +#include +#include + +/* Late FSP headers */ + +#define UTC_BASE (NV_ADDRESS_MAP_UTC_32BITBASE) +#define CLIENT_STRIDE (UTC_TX_CLIENT_2_ENABLE_0 - UTC_TX_CLIENT_1_ENABLE_0) +#define CL_BASE(cl_id) (UTC_BASE + (cl_id - 1U) * CLIENT_STRIDE) + +#define DEFINE_UTC_CL(_name, _id, _irq, _en_rx) \ + const struct utc_client utc_id_##_name = { \ + .base = CL_BASE(_id), \ + .id = _id, \ + .irq = _irq, \ + .enable_rx = _en_rx, \ + }; + +/** + * @brief utc client context structure + * + * Structure that is used by the utc client driver to manage context + * during run time. + * + * @base base address for the client + * @irq irq number + * @id client id + * @enable_rx flag to indicate whether to enable rx. + */ +struct utc_client { + const uint32_t base; + const uint32_t irq; + const uint32_t id; + const bool enable_rx; +}; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/utc/utc.h b/spe-freertos-bsp/fsp/source/include/utc/utc.h new file mode 100644 index 0000000..1fcbaf3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/utc/utc.h @@ -0,0 +1,239 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef UTC__UTC_H +#define UTC__UTC_H +#define FSP__UTC__UTC_H 1 + +/** + * @file utc/utc.h + * @brief functions for performing utc operations. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Declaration for utc_id that allows the APIs to take a pointer to it + * without actually defining its contents here. + */ +struct utc_client; + +/** + * @brief tx flush operation via the UTC. + * + * @pre utc_client_init() has been called + * + * @param[in] cl utc client context + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + */ +error_t utc_tx_flush(const struct utc_client *cl); + +/** + * @brief output a string via the UTC. + * + * @pre utc_client_init() has been called + * + * @param[in] cl utc client context + * @param[in] s string to output + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + */ +error_t utc_puts(const struct utc_client *cl, const char *s); + +/** + * @brief output a char via the UTC. + * + * @pre utc_client_init() has been called + * + * @param[in] cl utc context + * @param[in] ch character to output + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + */ +error_t utc_putc(const struct utc_client *cl, const char ch); + +/** + * @brief check if UTC TX can accept data. + * + * @pre utc_client_init() has been called + * + * @param[in] cl utc context + * @param[in] ready pointer to store the utc tx status + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + */ +error_t utc_is_tx_ready(const struct utc_client *cl, bool *ready); + +/** + * @brief get TX fifo empty count. + * + * @pre utc_client_init() has been called + * + * @param[in] cl utc context + * @param[in] ready pointer to store the utc tx fifo empty count + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + */ +error_t utc_get_tx_empty_space(const struct utc_client *cl, uint8_t *count); + +/** + * @brief output data via the UTC. + * + * This function outputs data to the UTC client TX FIFO. + * + * @pre the function utc_client_init() has been called + * + * @param[in] cl UTC context for the client. + * @param[in] buf buffer that has the data to be written. + * @param[in] count byte count of the data to write. + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl/buf/written paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + */ +error_t utc_write_now(const struct utc_client *cl, const char *buf, uint32_t count); + +/** + * @brief output data via the UTC. + * + * This function outputs data to the UTC client TX FIFO. + * + * @pre the function utc_client_init() has been called + * + * @param[in] cl UTC context for the client. + * @param[in] buf buffer that has the data to be written. + * @param[in] count byte count of the data to write. + * @param[in] written byte count written. + * @param[in] timeout_us timeout in us to return on expiry. + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl/buf/written paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + * @retval E_UTC_TIMED_OUT utc timed out + */ +error_t utc_write(const struct utc_client *cl, const char *buf, + uint32_t count, uint32_t *written, uint64_t timeout_us); + +/** + * @brief receive a char via the UTC. + * + * @pre utc_client_init() has been called + * + * @param[in] cl utc context + * @param[in] ch pointer to where the char is stored + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl/ch paramter passed + * @retval E_UTC_NOT_INITED utc not initialized. + * @retval E_UTC_RX_DISABLED utc rx disabled + */ +error_t utc_getc(const struct utc_client *cl, char *ch); + +/** + * @brief Read from the UTC RX buffer. + * + * This function reads data from the UTC client RX FIFO. + * + * @pre the function utc_client_init() has been called + * + * @param[in] cl UTC context for the client. + * @param[in] buf pointer to store the data being read. + * @param[in] count byte count of the data to be read. + * @param[in] read byte count read. + * @param[in] timeout_us timeout in us to return on expiry. + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl/buf/read paramter passed + * @retval E_UTC_INVALID_PARAM invalid parameter passed + * @retval E_UTC_NOT_INITED utc not initialized. + * @retval E_UTC_TIMED_OUT utc timed out + * @retval E_UTC_RX_DISABLED utc rx disabled + */ +error_t utc_read(const struct utc_client *cl, char *buf, uint32_t count, + uint32_t *read, uint64_t timeout_us); + +/** + * @brief Initialization of the UTC context for the client. + * + * This API resets the client FIFOs, performs a sanity check of the global + * initialization performed by some micro-boot stage and enables TX/RX. + * + * @pre Some micro-boot stage has performed the UTC common configuration. + * + * @param[in] cl utc context for this client + * + * @retval E_SUCCESS indicates success + * @retval E_UTC_NULL_PTR null cl paramter passed + * @retval E_UTC_NOT_INITED utc not enabled by BL. + * @retval E_UTC_INVALID_PARAM utc client invalid id. + */ +error_t utc_client_init(const struct utc_client *cl); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/sections-vic.h b/spe-freertos-bsp/fsp/source/include/vic/sections-vic.h new file mode 100644 index 0000000..b31742d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/sections-vic.h @@ -0,0 +1,99 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef VIC__SECTIONS_VIC_H +#define VIC__SECTIONS_VIC_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_VIC_DATA SECTION_BUILDER(vic, data) +#define SECTION_NAME_VIC_TEXT SECTION_BUILDER(vic, text) +#define SECTION_NAME_VIC_ERROR_DATA SECTION_BUILDER(error.vic, data) +#define SECTION_NAME_VIC_ERROR_TEXT SECTION_BUILDER(error.vic, text) +#define SECTION_NAME_VIC_INIT_DATA SECTION_BUILDER(init.vic, data) +#define SECTION_NAME_VIC_INIT_TEXT SECTION_BUILDER(init.vic, text) +#define SECTION_NAME_VIC_ISRMAP_DATA SECTION_BUILDER(isrmap.vic, data) + +#define SECTION_STR_VIC_TEXT STR(SECTION_NAME_VIC_TEXT) +#define SECTION_STR_VIC_DATA STR(SECTION_NAME_VIC_DATA) +#define SECTION_STR_VIC_INIT_TEXT STR(SECTION_NAME_VIC_INIT_TEXT) +#define SECTION_STR_VIC_INIT_DATA STR(SECTION_NAME_VIC_INIT_DATA) +#define SECTION_STR_VIC_ERROR_TEXT STR(SECTION_NAME_VIC_ERROR_TEXT) +#define SECTION_STR_VIC_ERROR_DATA STR(SECTION_NAME_VIC_ERROR_DATA) +#define SECTION_STR_VIC_ISRMAP_DATA STR(SECTION_NAME_VIC_ISRMAP_DATA) + +#define SECTION_VIC_TEXT SECTION(SECTION_STR_VIC_TEXT) +#define SECTION_VIC_DATA SECTION(SECTION_STR_VIC_DATA) +#define SECTION_VIC_INIT_TEXT SECTION(SECTION_STR_VIC_INIT_TEXT) +#define SECTION_VIC_INIT_DATA SECTION(SECTION_STR_VIC_INIT_DATA) +#define SECTION_VIC_ERROR_TEXT SECTION(SECTION_STR_VIC_ERROR_TEXT) +#define SECTION_VIC_ERROR_DATA SECTION(SECTION_STR_VIC_ERROR_DATA) +#define SECTION_VIC_ISRMAP_DATA SECTION(SECTION_STR_VIC_ISRMAP_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/tegra-vic.h b/spe-freertos-bsp/fsp/source/include/vic/tegra-vic.h new file mode 100644 index 0000000..4205dfc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/tegra-vic.h @@ -0,0 +1,198 @@ +/* + * Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef VIC__TEGRA_VIC_H +#define VIC__TEGRA_VIC_H +#define FSP__VIC__TEGRA_VIC_H 1 + +/* Compiler headers */ +#ifndef __ASSEMBLER__ +#include // for uint32_t +#endif + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // Must appear before any hwinc files + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for IMAGE_SYM_BASE, IMAGE_SYM_LIMIT +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for MAX_VIC_CONTROLLER +#ifndef __ASSEMBLER__ +#include // for uint32_t +#endif + +/* Module-specific FSP headers */ +#include // for ARM_VIC_IRQ_COUNT, FSP__ARM__COMMON... +#include // for FSP__VIC__VIC_LD_H, Image$$VIC_ISR_... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__LINKER_SYMBOLS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CPU__ARM_VIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__VIC_LD_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif + +/* + * Tegra interrupt vector + * * An interrupt vector is composed of: + * Bits Description + * 31-5 VIC number + * 4-0 VIC IRQ + * + * NOTE: The following macros do not use the bit operations as they can be + * used in assembler. HW constant macros of the type "MK_*X*_CONST" allow the + * headers to be used by the assembler and the linker scripts. + * MK_SHIFT_CONST - Define a constant indicating shift amount. + * MK_U32_CONST - Define a u32 constant + * MK_MASK_CONT - Define a constant indicating bit-mask + */ +/** Bitwise shift amount for VIC instance number in the vector */ +#define VIC_ID_SHIFT MK_SHIFT_CONST(5) +/** Bit-mask for interrupt number in the VIC vector */ +#define VIC_IRQ_MASK (ARM_VIC_IRQ_COUNT - MK_U32_CONST(1)) +/** Bit-mask for VIC instance ID */ +#define VIC_INSTANCE_MASK MK_MASK_CONST(0x7FFFFFF) +/** Maximum valid value of VIC instance ID */ +#define MAX_VIC_INSTANCE_ID ((uint32_t)(MAX_VIC_CONTROLLER) - 1U) +/** Maximum valid value of interrupt vector */ +#define MAX_VIC_INTERRUPT_VECTOR ((MAX_VIC_INSTANCE_ID << VIC_ID_SHIFT) | VIC_IRQ_MASK) +/** Returns tegra interrupt vector based on VIC instance and IRQ numbers given as an input */ +#define TEGRA_INTERRUPT(_c_, _v_) (((((_c_)) & VIC_INSTANCE_MASK) << VIC_ID_SHIFT) | ((_v_) & VIC_IRQ_MASK)) +/** Returns VIC instance number from the tegra interrupt vector. */ +#define TEGRA_INTERRUPT_TO_VIC(_x_) (((_x_) >> VIC_ID_SHIFT) & VIC_INSTANCE_MASK) +/** Returns IRQ number for the VIC instance from the tegra interrupt vector */ +#define TEGRA_INTERRUPT_TO_IRQ(_x_) ((_x_) & VIC_IRQ_MASK) + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx") +#endif +#ifndef __ASSEMBLER__ + +/** + * Converts (struct vic_isr_map_s *) to uint32_t + * + * @param[in] addr void pointer which will be converted to uintptr_t + * @retval value uintptr_t value of void pointer. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx") +#endif +static inline uint32_t vic_isr_ptr_to_uint32_t(struct vic_isr_map_s *addr) +{ + union type_cast_vic { + struct vic_isr_map_s *addr; + uint32_t addr_value; + }; + union type_cast_vic t; + + t.addr = addr; + + return t.addr_value; +} +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx") +#endif + +/** + * @brief Structure exposed to save interrupt context + */ +typedef struct arm_vic_context irq_context; + +/** + * @brief Returns number of ISR map entries created by the clients + */ +static inline uint32_t num_isr_map_entries(void) +{ + uint32_t num_isr; + + num_isr = vic_isr_ptr_to_uint32_t(&IMAGE_SYM_LIMIT(VIC_ISR_MAP)); + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + num_isr -= vic_isr_ptr_to_uint32_t(&IMAGE_SYM_BASE(VIC_ISR_MAP)); + + return num_isr / sizeof(struct vic_isr_map_s); +} + +void tegra_vic_init(void) SECTION_VIC_INIT_TEXT; + +/** + * @brief Initialize the VIC controller. + * + * This function will initialize the various VICs and setup the vector + * addresses for each vector. + * + * No input argument. + * + * @pre Client driver has mapped ISR for respective device + * interrupts using isr_map_entry. + * + * + * @retval E_SUCCESS For success + * @retval E_VIC_INVALID_VECTOR ISR map entry with invalid vector ID + * @retval E_VIC_NULL_IRQ_HANDLER ISR map entry with NULL interrupt handler + */ +error_t tegra_safe_vic_init(void) SECTION_VIC_INIT_TEXT; + +/** + * + * @brief This function is the interrupt handler that gets called for any interrupt + * vector that does not otherwise have a registered interrupt handler. + * + * @param[in] vector Interrupt vector number (VIC and IRQ are encoded in the + * vector number) that generated the unrecognized interrupt. + * + * This function is not expected to return. + */ +void bad_irq(const uint32_t vector) SECTION_VIC_ERROR_TEXT; +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif +#endif +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/vic-abort-codes.h b/spe-freertos-bsp/fsp/source/include/vic/vic-abort-codes.h new file mode 100644 index 0000000..45fa49a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/vic-abort-codes.h @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2018-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef VIC__VIC_ABORT_CODES_H +#define VIC__VIC_ABORT_CODES_H +#define FSP__VIC__VIC_ABORT_CODES_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ABORT_CODES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif +/** + * @brief Defines abort code for unrecognized VIC interrupt + */ +#define ABORT_BAD_IRQ ABORT_CODE(VIC, 0UL) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/vic-asm-giza.h b/spe-freertos-bsp/fsp/source/include/vic/vic-asm-giza.h new file mode 100644 index 0000000..fa6b85f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/vic-asm-giza.h @@ -0,0 +1,145 @@ +/* + * Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* NOTE: This is a dummy header file to parse the doxygen comments for APIs + * implemented using assembly language. The file defines C function prototype + * corresponding to the ASM APIs and captures doxygen comments accordingly. + * This function won't be used for any software development and shall not be + * delivered to the customer + */ + +/** + * @brief bad_irq_handler macro + * + * Defines the handler for an interrupt vector for which there is + * no other handler. Calls the function: + * void bad_irq(uint32_t vector) + * + * ASM MACRO: .macro bad_irq_handler label, vector + * + * @param[in] label Label to be applied to the code + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + */ +bad_irq_handler(label, vector); + +/** + * @brief Interrupt handler with address as input + * + * Interrupt handlers that take an address as a parameter to be passed + * to a C function with the prototype: + * void func(void *addr) + * + * ASM MACRO: .macro isr_addr label, addr, func, vector + * + * @param[in] label Label to be applied to the code + * @param[in] addr Address to be passed to the function + * @param[in] func Function to be called + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * + */ +isr_addr(label, addr, func, vector); + +/** + * @brief Interrupt handler with value as an input to the function + * Interrupt handlers that take a value as a parameter to be passed + * to a C function with the prototype: + * void func(uint32_t value) + * + * ASM MACRO : .macro isr_value label, value, func, vector + * + * @param[in] label Label to be applied to the code + * @param[in] value 16-bit constant value to be passed to the function + * @param[in] func Function to be called + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * + */ +isr_value(label, value, func, vector); + +/** + * @brief ACK_VIC0_IRQ macro + * + * Acknowledges an interrupt originating from VIC0. + * + * ASM MACRO: .macro ACK_VIC0_IRQ label + * + * Usage: + * ACK_VIC0_IRQ label + * + * Registers Modified: + * R0 + * + */ +ACK_VIC0_IRQ(label); + +/** + * @brief ACK_VIC1_IRQ macro + * + * Acknowledges an interrupt originating from VIC1. + * + * ASM MACRO: .macro ACK_VIC1_IRQ label + * + * Usage: + * ACK_VIC1_IRQ label + * + * Registers Modified: + * R0 + * R1 + * + * @param[in] label Label to be applied to the code + */ +ACK_VIC1_IRQ(lable); + +/** + * @brief isr_map_entry macro + * + * Creates an ISR map entry + * + * ASM MACRO: .macro isr_map_entry vector, isr_fn + * + * Usage: + * isr_map_entry vector, isr_fn + * + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * @param[in] isr_fn Assembler ISR function that will be dispatched when an + * interrupt occurs + * + * @pre + * - Interrupts set using static configuration + * + */ +isr_map_entry(vector, isr_fn); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/vic-asm.h b/spe-freertos-bsp/fsp/source/include/vic/vic-asm.h new file mode 100644 index 0000000..5bae155 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/vic-asm.h @@ -0,0 +1,309 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2018-2023 NVIDIA CORPORATION & + * AFFILIATES. All rights reserved. + * SPDX-License-Identifier: LicenseRef-NvidiaProprietary + * + * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual + * property and proprietary rights in and to this material, related + * documentation and any modifications thereto. Any use, reproduction, + * disclosure or distribution of this material and related documentation + * without an express license agreement from NVIDIA CORPORATION or + * its affiliates is strictly prohibited. + */ + +#ifndef VIC__VIC_ASM_H +#define VIC__VIC_ASM_H +#define FSP__VIC__VIC_ASM_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSPL__RTOS_PORT_ASM_H, "Header file missing or invalid.") + +#ifdef __ASSEMBLER__ +/* + * Macros used for generating code for interrupt handlers. + */ + +/* + * External references used by these macros + */ +.extern bad_irq +.type bad_irq, STT_FUNC + +.extern vic0_isr_end +.type vic0_isr_end, STT_FUNC + +.extern vic1_isr_end +.type vic1_isr_end, STT_FUNC + +#if defined(MAX_VIC_CONTROLLER) && (MAX_VIC_CONTROLLER == 4) +.extern vic2_isr_end +.type vic2_isr_end, STT_FUNC + +.extern vic3_isr_end +.type vic3_isr_end, STT_FUNC +#endif + +.extern vic_base_addr +.type vic_base_addr, STT_OBJECT + +/** + * @brief bad_irq_handler macro + * + * Defines the handler for an interrupt vector for which there is + * no other handler. Calls the function: + * void bad_irq(uint32_t vector) + * + * @param[in] label Label to be applied to the code + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * the VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * + */ +.macro bad_irq_handler label, vector + .global \label + .balign 4 +\label : + rtosIRQ_ENTRY + MOV R0, #\vector + BLX bad_irq + B . // not reached +.endm + +/** + * @brief Interrupt handler with address as input + * + * Interrupt handlers that take an address as a parameter to be passed + * to a C function with the prototype: + * void func(void *addr) + * + * @param[in] label Label to be applied to the code + * @param[in] addr Address to be passed to the function + * @param[in] func Function to be called + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * the VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + */ +.macro isr_addr label, addr, func, vector + .global \label + .balign 4 +\label : + rtosIRQ_ENTRY + LDR R0, =\addr + BLX \func +#if defined(MAX_VIC_CONTROLLER) && (MAX_VIC_CONTROLLER == 4) +.if TEGRA_INTERRUPT_TO_VIC(\vector) == 3 + B vic3_isr_end +.elseif TEGRA_INTERRUPT_TO_VIC(\vector) == 2 + B vic2_isr_end +.elseif TEGRA_INTERRUPT_TO_VIC(\vector) == 1 + B vic1_isr_end +.else + B vic0_isr_end +.endif +#else +.if TEGRA_INTERRUPT_TO_VIC(\vector) == 1 + B vic1_isr_end +.else + B vic0_isr_end +.endif +#endif +.endm + +/** + * @brief Interrupt handler with value as an input to the function + * Interrupt handlers that take a value as a parameter to be passed + * to a C function with the prototype: + * void func(uint32_t value) + * + * @param[in] label Label to be applied to the code + * @param[in] value 16-bit constant value to be passed to the function + * @param[in] func Function to be called + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * the VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + */ +.macro isr_value label, value, func, vector + .global \label + .balign 4 +\label : + rtosIRQ_ENTRY + MOVW R0, #\value + MOVT R0, #0 + BLX \func +#if defined(MAX_VIC_CONTROLLER) && (MAX_VIC_CONTROLLER == 4) +.if TEGRA_INTERRUPT_TO_VIC(\vector) == 3 + B vic3_isr_end +.elseif TEGRA_INTERRUPT_TO_VIC(\vector) == 2 + B vic2_isr_end +.elseif TEGRA_INTERRUPT_TO_VIC(\vector) == 1 + B vic1_isr_end +.else + B vic0_isr_end +.endif +#else +.if TEGRA_INTERRUPT_TO_VIC(\vector) == 1 + B vic1_isr_end +.else + B vic0_isr_end +.endif +#endif +.endm + +/** + * @brief ACK_VIC0_IRQ macro + * + * Acknowledges an interrupt originating from VIC0. + * + * Usage: + * ACK_VIC0_IRQ label + * + * Registers Modified: + * R0 + * + * @param[in] label Label to be applied to the code + */ +.macro ACK_VIC0_IRQ label + .global \label + .balign 4 +\label : + LDR R0, =vic_base_addr + LDR R0, [R0] + STR R0, [R0, #APS_VIC_VICADDRESS_0] +.endm + +/** + * @brief ACK_VIC1_IRQ macro + * + * Acknowledges an interrupt originating from VIC1. + * + * Usage: + * ACK_VIC1_IRQ label + * + * Registers Modified: + * R0 + * R1 + * + * @param[in] label Label to be applied to the code + */ +.macro ACK_VIC1_IRQ label + .global \label + .balign 4 +\label : + LDR R0, =vic_base_addr + LDR R1, [R0, #4] + STR R0, [R1, #APS_VIC_VICADDRESS_0] + LDR R1, [R0] + STR R0, [R1, #APS_VIC_VICADDRESS_0] +.endm + + +#if defined(MAX_VIC_CONTROLLER) && (MAX_VIC_CONTROLLER == 4) +/** + * @brief ACK_VIC2_IRQ macro + * + * Acknowledges an interrupt originating from VIC1. + * + * Usage: + * ACK_VIC2_IRQ label + * + * Registers Modified: + * R0 + * R1 + * + * @param[in] label Label to be applied to the code + */ +.macro ACK_VIC2_IRQ label + .global \label + .balign 4 +\label : + LDR R0, =vic_base_addr + LDR R1, [R0, #8] + STR R0, [R1, #APS_VIC_VICADDRESS_0] + LDR R1, [R0, #4] + STR R0, [R1, #APS_VIC_VICADDRESS_0] + LDR R1, [R0] + STR R0, [R1, #APS_VIC_VICADDRESS_0] +.endm + +/** + * @brief ACK_VIC3_IRQ macro + * + * Acknowledges an interrupt originating from VIC1. + * + * Usage: + * ACK_VIC3_IRQ label + * + * Registers Modified: + * R0 + * R1 + * + * @param[in] label Label to be applied to the code + */ +.macro ACK_VIC3_IRQ label + .global \label + .balign 4 +\label : + LDR R0, =vic_base_addr + LDR R1, [R0, #12] + STR R0, [R1, #APS_VIC_VICADDRESS_0] + LDR R1, [R0, #8] + STR R0, [R1, #APS_VIC_VICADDRESS_0] + LDR R1, [R0, #4] + STR R0, [R1, #APS_VIC_VICADDRESS_0] + LDR R1, [R0] + STR R0, [R1, #APS_VIC_VICADDRESS_0] +.endm + +#endif + +/** + * @brief isr_map_entry macro + * + * Creates an ISR map entry + * + * Usage: + * isr_map_entry vector, isr_fn + * + * @param[in] vector Tegra interrupt vector. It is a number that encodes both + * the VIC instance ID and local IRQ number + * [0 - MAX_VIC_INTERRUPT_VECTOR] + * @param[in] isr_fn Assembler ISR function that will be dispatched when an + * interrupt occurs + * + * @pre + * - Interrupts set using static configuration + * + */ +.macro isr_map_entry vector, isr_fn + .balign 8 + .long \vector + .long \isr_fn +.endm + +#endif // __ASSEMBLER__ +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/vic-errors.h b/spe-freertos-bsp/fsp/source/include/vic/vic-errors.h new file mode 100644 index 0000000..4c73126 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/vic-errors.h @@ -0,0 +1,88 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef VIC__VIC_ERRORS_H +#define VIC__VIC_ERRORS_H +#define FSP__VIC__VIC_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") +#endif +/* + * @defgroup VIC_ERRORS VIC error codes + * @brief Macro definitions for errors from IRQ and VIC layer + * @} + */ +/** Error value returned for invalid vector ID */ +#define E_VIC_INVALID_VECTOR MODULE_ERROR(VIC,1UL) +/** Error value returned for invalid VIC instance ID */ +#define E_VIC_INVALID_VIC_INSTANCE MODULE_ERROR(VIC,2UL) +/** Error value returned for NULL input parameter */ +#define E_VIC_NULL_INPUT_PARAMETER MODULE_ERROR(VIC,3UL) +/** Error value returned for invalid input parameter */ +#define E_VIC_INVALID_INPUT_PARAMETER MODULE_ERROR(VIC,4UL) +/** Error value returned for NULL ISR handler for an interrupt source */ +#define E_VIC_NULL_IRQ_HANDLER MODULE_ERROR(VIC,5UL) +/** @{ */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif +#endif diff --git a/spe-freertos-bsp/fsp/source/include/vic/vic-ld.h b/spe-freertos-bsp/fsp/source/include/vic/vic-ld.h new file mode 100644 index 0000000..87d0353 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/vic/vic-ld.h @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2019-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef VIC__VIC_LD_H +#define VIC__VIC_LD_H +#define FSP__VIC__VIC_LD_H 1 + +/* Compiler headers */ +#ifndef __ASSEMBLER__ +#include // for uint32_t +#endif + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for FSP__MISC__LINKER_SYMBOLS_H, IMAGE_... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H, MAX_VIC_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__LINKER_SYMBOLS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif + +#ifndef __ASSEMBLER__ + + +/** VIC interrupt vector */ +typedef uint32_t irq_vect_t; + +/** + * @struct vic_isr_map_s + * @brief VIC layer ISR map structure. + * @{ + */ +struct vic_isr_map_s +{ + /** Tegra interrupt vector [0 - MAX_VIC_INTERRUPT_VECTOR] */ + irq_vect_t vector; + /** Pointer to the ISR for mapped tegra interrupt vector. Must not be NULL */ + void (*isr_handler)(void); +}; +/** @} */ +extern struct vic_isr_map_s IMAGE_SYM_BASE(VIC_ISR_MAP); +extern struct vic_isr_map_s IMAGE_SYM_LIMIT(VIC_ISR_MAP); +const extern uint32_t vic_base_addr[MAX_VIC_CONTROLLER]; + +#endif // __ASSEMBLER__ +#endif // VIC__VIC_LD_H diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/sections-watchdog.h b/spe-freertos-bsp/fsp/source/include/watchdog/sections-watchdog.h new file mode 100644 index 0000000..99894ac --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/sections-watchdog.h @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef WATCHDOG__SECTIONS_WATCHDOG_H +#define WATCHDOG__SECTIONS_WATCHDOG_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_WATCHDOG_DATA SECTION_BUILDER(watchdog, data) +#define SECTION_NAME_WATCHDOG_TEXT SECTION_BUILDER(watchdog, text) +#define SECTION_NAME_WATCHDOG_ERROR_DATA SECTION_BUILDER(error.watchdog, data) +#define SECTION_NAME_WATCHDOG_ERROR_TEXT SECTION_BUILDER(error.watchdog, text) +#define SECTION_NAME_WATCHDOG_INIT_DATA SECTION_BUILDER(init.watchdog, data) +#define SECTION_NAME_WATCHDOG_INIT_RODATA SECTION_BUILDER(init.watchdog, rodata) +#define SECTION_NAME_WATCHDOG_INIT_TEXT SECTION_BUILDER(init.watchdog, text) +#define SECTION_NAME_WATCHDOG_PRIV_STACKS SECTION_BUILDER(stacks.priv.watchdog, bss) + +#define SECTION_STR_WATCHDOG_TEXT STR(SECTION_NAME_WATCHDOG_TEXT) +#define SECTION_STR_WATCHDOG_DATA STR(SECTION_NAME_WATCHDOG_DATA) +#define SECTION_STR_WATCHDOG_INIT_TEXT STR(SECTION_NAME_WATCHDOG_INIT_TEXT) +#define SECTION_STR_WATCHDOG_INIT_DATA STR(SECTION_NAME_WATCHDOG_INIT_DATA) +#define SECTION_STR_WATCHDOG_INIT_RODATA STR(SECTION_NAME_WATCHDOG_INIT_RODATA) +#define SECTION_STR_WATCHDOG_ERROR_TEXT STR(SECTION_NAME_WATCHDOG_ERROR_TEXT) +#define SECTION_STR_WATCHDOG_ERROR_DATA STR(SECTION_NAME_WATCHDOG_ERROR_DATA) +#define SECTION_STR_WATCHDOG_PRIV_STACKS STR(SECTION_NAME_WATCHDOG_PRIV_STACKS) + +#define SECTION_WATCHDOG_TEXT SECTION(SECTION_STR_WATCHDOG_TEXT) +#define SECTION_WATCHDOG_DATA SECTION(SECTION_STR_WATCHDOG_DATA) +#define SECTION_WATCHDOG_INIT_TEXT SECTION(SECTION_STR_WATCHDOG_INIT_TEXT) +#define SECTION_WATCHDOG_INIT_DATA SECTION(SECTION_STR_WATCHDOG_INIT_DATA) +#define SECTION_WATCHDOG_INIT_RODATA SECTION(SECTION_STR_WATCHDOG_INIT_RODATA) +#define SECTION_WATCHDOG_ERROR_TEXT SECTION(SECTION_STR_WATCHDOG_ERROR_TEXT) +#define SECTION_WATCHDOG_ERROR_DATA SECTION(SECTION_STR_WATCHDOG_ERROR_DATA) +#define SECTION_WATCHDOG_PRIV_STACKS SECTION(SECTION_STR_WATCHDOG_PRIV_STACKS) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/sections-wdt.h b/spe-freertos-bsp/fsp/source/include/watchdog/sections-wdt.h new file mode 100644 index 0000000..faefb45 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/sections-wdt.h @@ -0,0 +1,96 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef WATCHDOG__SECTIONS_WDT_H +#define WATCHDOG__SECTIONS_WDT_H + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for SECTION +#include // for STR + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/* + * Define the section name string. The ARM and GNU tools optimize sections + * differently based on the section naming conventions. If the correct section + * naming convention isn't used, the linker will fail to remove unused sections. + * + * When compiling with ARM tools, section name should be: NAME.TYPE + * When compiling with GNU tools, section name should be: TYPE.NAME + */ +/* SECTION_BUILDER(NAME TYPE) */ +#define SECTION_NAME_WDT_DATA SECTION_BUILDER(wdt, data) +#define SECTION_NAME_WDT_TEXT SECTION_BUILDER(wdt, text) +#define SECTION_NAME_WDT_ERROR_DATA SECTION_BUILDER(error.wdt, data) +#define SECTION_NAME_WDT_ERROR_TEXT SECTION_BUILDER(error.wdt, text) +#define SECTION_NAME_WDT_INIT_DATA SECTION_BUILDER(init.wdt, data) +#define SECTION_NAME_WDT_INIT_TEXT SECTION_BUILDER(init.wdt, text) + +#define SECTION_STR_WDT_TEXT STR(SECTION_NAME_WDT_TEXT) +#define SECTION_STR_WDT_DATA STR(SECTION_NAME_WDT_DATA) +#define SECTION_STR_WDT_INIT_TEXT STR(SECTION_NAME_WDT_INIT_TEXT) +#define SECTION_STR_WDT_INIT_DATA STR(SECTION_NAME_WDT_INIT_DATA) +#define SECTION_STR_WDT_ERROR_TEXT STR(SECTION_NAME_WDT_ERROR_TEXT) +#define SECTION_STR_WDT_ERROR_DATA STR(SECTION_NAME_WDT_ERROR_DATA) + +#define SECTION_WDT_TEXT SECTION(SECTION_STR_WDT_TEXT) +#define SECTION_WDT_DATA SECTION(SECTION_STR_WDT_DATA) +#define SECTION_WDT_INIT_TEXT SECTION(SECTION_STR_WDT_INIT_TEXT) +#define SECTION_WDT_INIT_DATA SECTION(SECTION_STR_WDT_INIT_DATA) +#define SECTION_WDT_ERROR_TEXT SECTION(SECTION_STR_WDT_ERROR_TEXT) +#define SECTION_WDT_ERROR_DATA SECTION(SECTION_STR_WDT_ERROR_DATA) +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/tegra-safe-wdt.h b/spe-freertos-bsp/fsp/source/include/watchdog/tegra-safe-wdt.h new file mode 100644 index 0000000..0b8c758 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/tegra-safe-wdt.h @@ -0,0 +1,383 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__TEGRA_SAFE_WDT_H +#define WATCHDOG__TEGRA_SAFE_WDT_H +#define FSP__WATCHDOG__TEGRA_SAFE_WDT_H 1 + +/** + * @file tegra-safe-wdt.h + * @brief Defines safe driver to Tegra WDT hardware + */ + +/* Compiler headers */ +#include // for bool +#include // for uint8_t, uint32_t + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for error_t, FSP__ERROR__COMMON_ERRORS_H +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Definition for tegra_wdt_id that allows the APIs to take a pointer to + * it without actually defining its contents here. + */ +// IWYU pragma: no_forward_declare tegra_wdt_id +struct tegra_wdt_id; + +/** + * @brief Watchdog Callback function + * + * This is used to define the call back function that can be + * supplied that is called when a watchdog IRQ or FIQ occurs. + * + * @pre None + * + * @param[in] status Status of the watchdog timer when the callback + * function was called + * @param[in] data Pointer to data to be supplied to the callback + * function. The pointer was specified when the watchdog + * timer was initialized. + * + * @return None + */ +typedef void (*tegra_wdt_callback)(uint32_t status, void *data); + +/** + * @brief Watchdog Initialization Structure + * + * Provides the initialization parameters for a watchdog timer. Used in + * tegra_safe_wdt_setup(). + */ +struct tegra_wdt_conf +{ + uint8_t tmrsrc; ///! TKE timer to use + uint8_t period; ///! number of timer ticks + ///! in watchdog period + bool irq_en; ///! Enable IRQ + bool fiq_en; ///! Enable FIQ + bool remoteIrq_en; ///! Enable generating remote + ///! interrupt + bool sys_dbg_rst_en; + bool sys_por_rst_en; + bool tsc_ref_en; + uint8_t err_threshold; + bool challenge_response; ///! Only allow timer updates + ///! after proper + ///! challenge / response + bool irq_ack_by_callback; ///! IRQ is acknowleged by + ///! callback function + bool fiq_ack_by_callback; ///! IRQ is acknowleged by + ///! callback function + tegra_wdt_callback irq_callback; ///! IRQ callback function + void *irq_data; ///! Data supplied to IRQ + ///! callback function + tegra_wdt_callback fiq_callback; ///! FIQ callback function + void *fiq_data; ///! Data supplied to IRQ + ///! callback function +}; + +/* + * Tegra WDT driver + * + * To use WDT driver, + * 1. Call tegra_wdt_setup to setup watchdog timer first + * 2. Call tegra_wdt_start to enable watchdog timer + * + * The wdt driver IRQ/FIQ handler will ack the watchdog automatically. If + * you want to do it from the callback or from a scheduld task, set + * irq_ack_by_callback/fiq_ack_by_callback. + */ + +/** + * @brief Initialize watchdog timer + * + * This function will initialize the specified watchdog timer according to + * the configuration parameters supplied. + * + * @note This function can only be called if the specified watchdog timer + * is disabled. If the specified watchdog timer is enabled, then it is + * necessary to call either tegra_safe_wdt_stop() or + * tegra_safe_wdt_stop_from_isr() to first stop the watchdog timer. + * + * This function must be called from a non-interrupt context. + * + * @pre The specified watchdog timer must not be running. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents + * the watchdog timer being setup + * @param[in] conf pointer to the tegra_wdt_conf structure that contains + * the configuration parameters to be used when initializing + * the watchdog timer. + * + * @return Error Code + * + * @retval E_SUCCESS watchdog timer was successfully + * initialized + * @retval E_WDT_ERR_NULL_PTR one of the pointers passed was NULL + * @retval E_WDT_ERR_IRQ_CONFIG The watchdog's IRQ or FIQ was + * enabled but no corresponding + * callback function was specified + * @retval E_WDT_ERR_TMRSRC_INVALID value specified for tmrsrc was invalid + * @retval E_WDT_ERR_THRESHOLD_INVALID value specified for threshold was + * invalid + */ +error_t tegra_safe_wdt_setup(struct tegra_wdt_id *id, + const struct tegra_wdt_conf *conf); + +/** + * @brief Start Watchdog Timer + * + * This function will start the specified watchdog timer using the parameters + * that were supplied as part of tegra_safe_wdt_setup(). + * + * This function can be called from either an interrupt context or a + * non-interrupt context. + * + * @pre The function tegra_safe_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being started. + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR id was NULL + */ +error_t tegra_safe_wdt_start(const struct tegra_wdt_id *id); + +/** + * @brief Acknowlege Watchdog Timer + * + * This function will acknowlege the specified watchdog timer and + * reset its operation so that it will restart its count. + * + * This function can be called from either an interrupt context or a + * non-interrupt context. + * + * @pre tegra_safe_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being acknowleged. + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR id was NULL + */ +error_t tegra_safe_wdt_ack(const struct tegra_wdt_id *id); + +/** + * @brief Stop watchdog timer + * + * This function will stop the specified watchdog timer. It will stop it + * from counting and thus prevent it from generating an IRQ or FIQ from the + * watchdog timer. + * + * This function must be called from an interrupt context. + * + * @pre tegra_safe_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being stopped. + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR id was NULL + */ +error_t tegra_safe_wdt_stop_from_isr(const struct tegra_wdt_id *id); + +/** + * @brief Stop watchdog timer + * + * This function will stop the specified watchdog timer. It will stop it + * from counting and thus prevent it from generating an IRQ or FIQ from the + * watchdog timer. + * + * This function must be called from a non-interrupt context. + * + * @pre tegra_safe_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being stopped. + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR id was NULL + */ +error_t tegra_safe_wdt_stop(const struct tegra_wdt_id *id); + +/** + * @brief Watchdog timer interrupt handler + * + * This function is responsible for servicing the watchdog IRQ. The + * behavior of this function is dependent upon how the watchdog timer + * was configured. + * + * This function is called from the first level interrupt handler for + * the watchdog interrupt, so it will be called only from an interrupt + * context. + * + * @pre tegra_safe_wdt_setup() must have been previously called. + * @pre the watchdog timer must have been previously started + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer that has generated an interrupt. + * + * @return None + */ +void tegra_safe_wdt_irq(void *data); + +/** + * @brief Watchdog timer fast interrupt handler + * + * This function is responsible for servicing the watchdog FIQ. The + * behavior of this function is dependent upon how the watchdog timer + * was configured. + * + * This function is called from the first level interrupt handler for + * the watchdog fast interrupt, so it will be called only from an interrupt + * context. + * + * @pre tegra_safe_wdt_setup() must have been previously called. + * @pre the watchdog timer must have been previously started + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer that has generated an FIQ interrupt. + * + * @return None + */ +void tegra_safe_wdt_fiq(void *data); + +/** + * @brief Read watchdog timer status + * + * This function will return the current status of the specified watchdog + * timer. + * + * This function can be called from either an interrupt context or a + * non-interrupt context. + * + * @pre None + * + * @param [in] id pointer to the tegra_wdt_id structure that represents + * the watchdog timer whose status is to be returned + * @param [in] status pointer to a 32-bit value that will be updated as a + * result of this call that contains the watchdog's + * timer status. The value is interpreted as follows: + * + * bit 0 Enabled 1b when the counter is active + * + * 0b when the counter is disabled + * + * bit 1 LocalIRQStatus Current status of interrupt + * + * bit 2 LocalFIQStatus Current status of FIQ + * + * bit 3 RemoteInterruptStatus Current status of remote interrupt + * + * bit 11:4 CurrentCount Current value of the counter + * + * bit 14:12 CurrentExpirationCount Current count of expiration since + * last start operation + * + * bit 16 CurrentError Current error reported to HSM + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR one of the pointers passed was NULL + * + */ +error_t tegra_safe_wdt_read_status(const struct tegra_wdt_id *id, + uint32_t *status); + + +/** + * @brief Enable windowed mode operation for the watchdog timer + * + * This function sets the timer window parameters, start level and start count + * and enables the windowed mode operation. + * + * @pre tegra_safe_wdt_setup should be run before calling this function + * + * @param[in] id pointer to the tegra_wdt_id structure that represents + * the watchdog timer whose status is to be returned + * @param[in] start_level Threshold for expiration level + * @param[in] start_count Number of cycles where rejection takes place at the + * start of that level + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR one of the pointers passed was NULL + */ +error_t tegra_safe_enable_wdt_windowed_operation(const struct tegra_wdt_id *id, + uint8_t start_level, + uint8_t start_count); + +/** + * @brief Disable windowed mode operation for the watchdog timer + * + * This function disables the windowed mode operation for the watchdog timer + * + * @pre none + * + * @param[in] id pointer to the tegra_wdt_id structure that represents + * the watchdog timer whose status is to be returned + * + * @return Error Code + * @retval E_SUCCESS status was returned successfully + * @retval E_WDT_ERR_NULL_PTR one of the pointers passed was NULL + */ +error_t tegra_safe_disable_wdt_windowed_operation(const struct tegra_wdt_id *id); +#endif /* WATCHDOG__WDT_TEGRA_H */ diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-errors.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-errors.h new file mode 100644 index 0000000..2a4a03d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-errors.h @@ -0,0 +1,190 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_ERRORS_H +#define WATCHDOG__WATCHDOG_ERRORS_H +#define FSP__WATCHDOG__WATCHDOG_ERRORS_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // IWYU pragma: export + // IWYU pragma: no_include "base/module-id.h" +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__BASE__MODULE_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file watchdog-errors.h + * @brief Error codes that are specific to the watchdog framework + */ + +/** + * @brief No more processing of out of bounds tasks. + * + * Indicates that the framework should not report any additional tasks + * that are "out of bounds" during the current invokation of + * WatchdogCheckStatus(). + */ +#define E_WDT_ERR_DONE MODULE_ERROR(WDT, 0UL) + +/** + * @brief Too many tasks being monitored. + * + * Indicates that more tasks are trying to be monitored than the + * watchdog framework has been configured for. + */ +#define E_WDT_ERR_TOO_MANY_TASKS MODULE_ERROR(WDT, 1UL) + +/** + * @brief Task is already being monitored + * + * Indicates that the task to be monitored has already been registered to + * be monitored by the watchdog framework. + */ +#define E_WDT_ERR_DUPLICATE_TASK MODULE_ERROR(WDT, 2UL) + +/** + * @brief NULL pointer has been passed + * + * Indicates that a pointer passed as an argument is NULL. + */ +#define E_WDT_ERR_NULL_PTR MODULE_ERROR(WDT, 3UL) + +/** + * @brief Watchdog framework has not been initialized + * + * Indicates that one of the watchdog framework APIs has been called + * prior to WatchdogInit() being called. + */ +#define E_WDT_ERR_WATCHDOG_NOT_INIT MODULE_ERROR(WDT, 4UL) + +/** + * @brief ID is not a valid task ID + * + * Indicates that the task ID supplied to one of the watchdog framework APIs does + * not represent a task that has been registered with the watchdog + * framework. + */ +#define E_WDT_ERR_NO_TASK MODULE_ERROR(WDT, 5UL) + +/** + * @brief Task's execution time is out of bounds + * + * Indicates that the task's execution time exceeded its specified timeout. + */ +#define E_WDT_ERR_TASK_OUT_OF_BOUNDS MODULE_ERROR(WDT, 6UL) + +/** + * @brief Task has no work to perform + * + * Indicates that a task tried to start work when no work had been queued for + * the task. + */ +#define E_WDT_ERR_NO_WORK MODULE_ERROR(WDT, 7UL) + +/** + * @brief Sequence error in API calls + * + * Indicates that there was a sequence error in the order of calls to + * WatchdogStartItem() and WatchdogCompleteItem(). + */ +#define E_WDT_ERR_SEQUENCE MODULE_ERROR(WDT, 8UL) + +/** + * @brief Watchdog hardware should not be pet. + * + * Indication from a callback function that the watchdog hardware should not + * be "pet" at this time. + */ +#define E_WDT_ERR_NO_PET MODULE_ERROR(WDT, 9UL) + +/** + * @brief Supplied timeout is invalid. + */ +#define E_WDT_ERR_INVALID_TIMEOUT MODULE_ERROR(WDT, 10UL) + +/** + * @brief Watchdog callback configuration + * + * Watchdog interrupt was enabled but no callback function supplied. + */ +#define E_WDT_ERR_IRQ_CONFIG MODULE_ERROR(WDT, 11UL) + +/** + * @brief Watchdog Timer Source Invalid + * + * Value specified for the watchdog timer source was not a valid + * value (e.g. it had non-zero bits in fields that should be 0). + */ +#define E_WDT_ERR_TMRSRC_INVALID MODULE_ERROR(WDT, 12UL) + +/** + * @brief Watchdog Timer Threshold Invalid + * + * Value specified for the watchdog timer threshold was not a valid + * value (e.g. it had non-zero bits in fields that should be 0). + */ +#define E_WDT_ERR_THRESHOLD_INVALID MODULE_ERROR(WDT, 13UL) + +/** + * @brief Watchdog Statistics Not Available + * + * A request was made to get the watchdog statistics for a task and + * watchdog statistics has not been configured in the build. + */ +#define E_WDT_ERR_NO_STATS MODULE_ERROR(WDT, 14U) + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-internal.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-internal.h new file mode 100644 index 0000000..809538b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-internal.h @@ -0,0 +1,163 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_INTERNAL_H +#define WATCHDOG__WATCHDOG_INTERNAL_H +#define FSP__WATCHDOG__WATCHDOG_INTERNAL_H 1 + +/* Compiler headers */ +#include // for uint64_t, uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskHandle +#include // for error_t +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for tegra_tke_get_tsc64 + +/* Module-specific FSP headers */ +#include // Immune from CT_ASSERT protection + // for WATCHDOG_MAX_TASKS +#include // for WatchdogTaskStatistics +#include // for WatchdogCount, WatchdogStatus + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__OSA_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATISTICS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_TYPES_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file watchdog-internal.h + * @brief Internal definitions for watchdog framework + */ + +/** + * @brief Watchdog Monitored Task State + * + * States that a task could be in that is monitored by the watchdog + * framework. + */ +#define WATCHDOG_NOT_MONITORED 0U ///! Task is not monitored +#define WATCHDOG_ITEM_STARTED 1U ///! Task started processing an item +#define WATCHDOG_ITEM_COMPLETED 2U ///! Task completed processing an item +#define WATCHDOG_ITEM_TIMEOUT 3U ///! Task did not complete processing + ///! within its timeout period +#define WATCHDOG_TASK_WAITING 4U ///! Task is waiting for work +#define WATCHDOG_TASK_WARNING 5U + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_5, "Approval: Bug 3175244, DR: SWE-FSP-013-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + + +/** + * @brief Watchdog Tracking Structure + * + * This structure is used to track the state and operation of the various + * tasks that have been registered to be monitored by the Watchdog framework. + */ +typedef struct { + uint64_t lastStartTime; ///! Last time WatchdogStartItem() was + ///! called for the task + uint64_t taskTimeout; ///! Timeout for the task. Represents + ///! the maximum amount of time that + ///! may transpire between a call to + ///! WatchdogStartItem() and a call to + ///! WatchdogCompleteItem() + rtosTaskHandle taskID; ///! Task handle to the task being + ///! monitored + WatchdogCount itemsInQueue; ///! Number of times that + ///! WatchdogAddItem() has been called + ///! vs number of times that + ///! WatchdogStartItem() has been + ///! called + WatchdogStatus taskStatus; ///! Monitored state of the task. +#if defined(WATCHDOG_STATISTICS) && (WATCHDOG_STATISTICS==1) + WatchdogTaskStatistics taskStats; ///! Statistics for the task +#endif +} WatchdogTaskState; + +extern WatchdogTaskState watchdogState[WATCHDOG_MAX_TASKS]; + +/** + * @brief Validate a watchdog task ID + * + * This function will validate a watchdog task ID to ensure that it + * is valid. + * + * @param [in] ID ID to validate + * + * @return Error Code + * + * @retval E_SUCCESS ID is a valid task ID + * @retval E_WDT_ERR_NO_TASK indicates that the task ID was not valid + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +error_t +WatchdogValidateID(const WatchdogTaskID ID); + +/** + * @brief Return current time + * + * Returns the current time to the caller in nano-seconds. + * Since this is a 64-bit value the rollover will happen in + * about 584 years. + * + * @pre TSC counter must be running + * + * @return 64-bit value that represents the current time in nano-seconds + */ +static inline uint64_t +WatchdogGetTime(void) +{ + return tegra_tke_get_tsc64() << 5; +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-logging.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-logging.h new file mode 100644 index 0000000..ac2de53 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-logging.h @@ -0,0 +1,76 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_LOGGING_H +#define WATCHDOG__WATCHDOG_LOGGING_H +#define FSP__WATCHDOG__WATCHDOG_LOGGING_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__LOGGER__LOGGER_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file watchdog-logging.h + * @brief Definitions for logging in watchdog code + */ + +#define WATCHDOG_LOG_INIT LOG_ID(WATCHDOG, 0x00U, 0U) +#define WATCHDOG_LOG_LVL1_TIMEOUT LOG_ID(WATCHDOG, 0x01U, 0U) +#define WATCHDOG_LOG_LVL2_TIMEOUT LOG_ID(WATCHDOG, 0x02U, 0U) +#define WATCHDOG_LOG_WAKEUP LOG_ID(WATCHDOG, 0x03U, 0U) +#define WATCHDOG_LOG_SLEEP LOG_ID(WATCHDOG, 0x04U, 0U) +#define WATCHDOG_LOG_TIMEOUT LOG_ID(WATCHDOG, 0x05U, 0U) +#define WATCHDOG_LOG_APPLICATION LOG_ID(WATCHDOG, 0x06U, 0U) + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-no-stats-internal.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-no-stats-internal.h new file mode 100644 index 0000000..e1f13e6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-no-stats-internal.h @@ -0,0 +1,103 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_NO_STATS_INTERNAL_H +#define WATCHDOG__WATCHDOG_NO_STATS_INTERNAL_H +#define FSP__WATCHDOG__WATCHDOG_NO_STATS_INTERNAL_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_INTERNAL_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file watchdog-no-stats-internal.h + * @brief Definitions for when Watchdog Statistics are not enabled + * + * This file provides the definitions so that the watchdog code + * builds and functions without the overhead of the statistics code. + * + * This file should not be included directly. It should only be + * included by . + */ + +static inline void +WatchdogStatsInit(const WatchdogTaskState *state) +{ + UNUSED(state); +} + +static inline void +WatchdogStatsAddItem(const WatchdogTaskState *state) +{ + UNUSED(state); +} + +static inline void +WatchdogStatsStartItem(const WatchdogTaskState *state) +{ + UNUSED(state); +} + +static inline void +WatchdogStatsCompleteItem(const WatchdogTaskState *state, + uint64_t completeTime) +{ + UNUSED(state); + UNUSED(completeTime); +} + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-statistics-internal.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-statistics-internal.h new file mode 100644 index 0000000..0fb9f37 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-statistics-internal.h @@ -0,0 +1,75 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_STATISTICS_INTERNAL_H +#define WATCHDOG__WATCHDOG_STATISTICS_INTERNAL_H +#define FSP__WATCHDOG__WATCHDOG_STATISTICS_INTERNAL_H 1 + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ + +/** + * @file watchdog-statistics-internal.h + * @brief Wrapper for pulling in the statistics internals or not. + */ + +#if defined(WATCHDOG_STATISTICS) && (WATCHDOG_STATISTICS==1) +#include // IWYU pragma: export + // IWYU pragma: no_include "watchdog/watchdog-stats-internal.h" +#else +#include // IWYU pragma: export + // IWYU pragma: no_include "watchdog/watchdog-no-stats-internal.h" +#endif + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#if defined(WATCHDOG_STATISTICS) && (WATCHDOG_STATISTICS==1) +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATS_INTERNAL_H, "Header file missing or invalid.") +#else +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_NO_STATS_INTERNAL_H, "Header file missing or invalid.") +#endif +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-statistics.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-statistics.h new file mode 100644 index 0000000..527ae8e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-statistics.h @@ -0,0 +1,75 @@ +/* Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_STATISTICS_H +#define WATCHDOG__WATCHDOG_STATISTICS_H +#define FSP__WATCHDOG__WATCHDOG_STATISTICS_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/** + * @file watchdog-statistics.h + * @brief Definitions for Watchdog Statistics + */ + +/** + * @brief Number of watchdog histogram buckets + * + * This is defined as a constant but all of the code really assumes + * that the histogram is decimal based. + */ +#define WATCHDOG_STATS_NUM_BUCKETS 10U + +/** + * @brief Watchdog Statistics Structure + */ +typedef struct { + uint64_t count; + uint64_t accumulatedTime; + uint64_t minTime; + uint64_t maxTime; + uint64_t histogram[WATCHDOG_STATS_NUM_BUCKETS]; +} WatchdogStatistics; + +/** + * @brief Watchdog Task Statistics Structure + */ +typedef struct { + uint64_t maxItemsInQueue; + WatchdogStatistics itemStats; +} WatchdogTaskStatistics; + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-stats-internal.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-stats-internal.h new file mode 100644 index 0000000..ffb2c48 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-stats-internal.h @@ -0,0 +1,130 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_STATS_INTERNAL_H +#define WATCHDOG__WATCHDOG_STATS_INTERNAL_H +#define FSP__WATCHDOG__WATCHDOG_STATS_INTERNAL_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_INTERNAL_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/** + * @file watchdog-stats-internal.h + * @brief Definitions for when Watchdog statistics are enabled + * + * This file provides the definitions for when watchdog statistics are + * enabled so that statistics are gathered and can be retrieved. + * + * This file should not be included directly. It should only be + * included by . + */ + +/** + * @brief Initialize Watchdog Statistics for a monitored task + * + * This function will initialize the statistics structure for + * a watchdog monitored task. + * + * @param[in] state pointer to a task's watchdog state structure. + * + * @return None + */ +void +WatchdogStatsInit(WatchdogTaskState *state); + +/** + * @brief Capture statistics when an item is added to a task + * + * This function will update a task's statistics as a result of adding + * an item to the task's work queue. + * + * @param[in] state pointer to a task's watchdog state structure. + * + * @return None + */ +void +WatchdogStatsAddItem(WatchdogTaskState *state); + +/** + * @brief Capature statistics when a task starts work on an item + * + * This function will update a task's statistics as a result of starting + * to process an item on the task's work queue. + * + * @param[in] state pointer to a task's watchdog state structure. + * + * @return None + */ +void +WatchdogStatsStartItem(const WatchdogTaskState *state); + +/** + * @brief Capture statistics when a task completes work on an item + * + * This function will update a task's statistics as a result of completing + * processing of an item on the task's work queue. + * + * @param[in] state pointer to a task's watchdog state structure. + * @param[in] completeTime time when the item was completed. + * + * @return None + */ +void +WatchdogStatsCompleteItem(WatchdogTaskState *state, + uint64_t completeTime); + + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-task.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-task.h new file mode 100644 index 0000000..bb54e65 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-task.h @@ -0,0 +1,143 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_TASK_H +#define WATCHDOG__WATCHDOG_TASK_H +#define FSP__WATCHDOG__WATCHDOG_TASK_H 1 + +/** + * @file watchdog-task.h + * @brief Definitions for use of watchdog task + */ + +/* Compiler headers */ +#include // for uint64_t, uint32_t +#include // for bool + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskHandle +#include // for START_RFD_BLOCK, END_RFD_BLOCK, ... + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +/* + * Watchdog Task's stack depth. + * + * In general this shouldn't need adjusting, but care must be taken + * in the case of the callbacks + */ +#define WATCHDOG_STACK_DEPTH 512 + +/** + * @brief Watchdog Task Initialization Parameters + * + * Structure passed to the WatchdogTaskInit() function, this is used to + * initialize various aspects of the watchdog task. This allows an + * application firmware to specify various attributes of the watchdog + * task without having to expose various internal apsects of the watchdog + * task itself. + */ +typedef struct { + uint8_t hw_period; // milliseconds for WDT timeout + bool wdt_enabled; // enable WDT timer + bool watchdog_mpu; // use per task MPU region + uint8_t pad; // pad to align next field + rtosTick pet_period; // milliseconds between pet attempts + rtosPriority task_priority; // priority of the watchdog task + uint32_t stack_priority; // MPU priority for watchdog's stack + uint64_t min_timeout; // minimum value for a task timeout + uint64_t max_timeout; // maximum value for a task timeout + uint64_t default_timeout;// default value for a task timeout +} WatchdogInitParameters; + +/** + * @brief Task Parameters for Watchdog Task + * + * The task parameters that are to be used when the application firmware + * creates the watchdog task. The values in this structure should not be + * modified by the application firmware. + */ +extern rtosTaskParameters WatchdogTaskParams; + +/** + * @brief Initialize the watchdog task + * + * This function must be called prior to creating the watchdog task + * as it sets up various aspects of the task. This function does not + * create the watchdog task. It is the responsibility of the application + * firmware to create the watchdog task after this function has been called. + * + * @pre None + * + * @param[in] parameters pointer to a WatchdogInitParameters structure that + * contains various initialization parameters specified + * by the application. This is distinct from the + * rtosTaskParameters structure which is used by the + * RTOS to create and start the task + * + * @return Error Code + * + * @retval E_SUCCESS initialization was performed successfully + * @retval E_RTOS_EVENT_GROUP_ALREADY_IN_USE Input event group already in use. + * @retval E_RTOS_NULL_PARAMETER_SUPPLIED Null Input parameter + * @retval E_RTOS_EVENT_GROUP_ALREADY_IN_USE Event handle supplied is valid and + * must be deleted before creating a + * new group + * @retval E_WDT_ERR_IRQ_CONFIG The watchdog's IRQ or FIQ was + * enabled but no corresponding + * callback function was specified + * @retval E_WDT_ERR_TMRSRC_INVALID value specified for tmrsrc was invalid + * @retval E_WDT_ERR_THRESHOLD_INVALID value specified for threshold was + * invalid + * @retval rtosFAIL initialization could not be performed + */ +rtosError WatchdogTaskInit(const void * const parameters); + +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-types.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-types.h new file mode 100644 index 0000000..d787358 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog-types.h @@ -0,0 +1,91 @@ +/* Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_TYPES_H +#define WATCHDOG__WATCHDOG_TYPES_H +#define FSP__WATCHDOG__WATCHDOG_TYPES_H 1 + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + +/** + * @file watchdog-types.h + * @brief Configuration of watchdog framework + */ + +/** + * @brief Watchdog task ID + * + * An ID used by the watchdog framework to represent a task that is being + * monitored. + */ +typedef uint32_t WatchdogTaskID; + +/** + * @brief Task's count of items + * + * Used to represent the number of WatchdogAddItem() calls without subsequent + * WatchdogStartItem() calls. That is, the number of items that are queued + * waiting for the task to process. + */ +typedef uint32_t WatchdogCount; + +/** + * @brief Task status + * + * Represents the state of a task that is monitored by the watchdog framework. + */ +typedef uint32_t WatchdogStatus; + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/watchdog.h b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog.h new file mode 100644 index 0000000..91b38dd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/watchdog.h @@ -0,0 +1,520 @@ +/* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WATCHDOG_H +#define WATCHDOG__WATCHDOG_H +#define FSP__WATCHDOG__WATCHDOG_H 1 + +/* Compiler headers */ +#include // for uint64_t, uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskHandle, FSP__OSA__... +#include // for error_t, FSP__ERROR__COMMO... +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include // for WatchdogTaskID, FSP__WATCH... +#include // for FSP__WATCHDOG__WATCHDOG_ST... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_TYPES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WATCHDOG_STATISTICS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @file watchdog.h + * @brief Exported structures and interfaces for watchdog operations. + */ + +/** + * @brief Initialize the watchdog infrastructure + * + * Initializes the watchdog infrastructure to allow for the other + * watchdog APIs to be used. If other APIs are called prior to this + * being, they will return an error. + * + * @pre None + * + * @param[in] minTimeout minimum time (in nano-seconds) for a task's + * timeout value + * @param[in] maxTimeout maximum time (in nano-seconds) for a task's + * timeout value + * @param[in] defaultTimeout default value (in nano-seconds) to apply to + * a task's timeout + * + * @return Error code + * @retval E_SUCCESS Watchdog infrastructure was initialized successfully. + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogInit(uint64_t minTimeout, + uint64_t maxTimeout, + uint64_t defaultTimeout); + +/** + * @brief Indicate that a task is to be monitored + * + * Indicate to the watchdog infrastructure that a task wants to be monitored + * + * @pre WatchdogInit() must have been previously called. + * + * @param[in] taskID RTOS task ID of the task to be monitored + * @param[in] maxTime maximum time the task can spend processing an item + * @param[in,out] pID watchdog ID assigned to the task + * + * @return Error code + * + * @retval E_SUCCESS indicates that the task will now be + * monitored + * @retval E_WDT_ERR_TOO_MANY_TASKS indicates that there are too many tasks + * being monitored + * @retval E_WDT_ERR_DUPLICATE_TASK indicates that the task is already being + * monitored + * @retval E_WDT_ERR_NULL_PTR indicates that pID was NULL + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogTaskMonitor(const rtosTaskHandle taskID, uint64_t maxTime, + WatchdogTaskID *pID); + +/** + * @brief Indicate that an item is waiting to be processed + * + * Indicates that an item has been added for the indicated task to operate on. + * + * This cannot be called from interrupt context. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @param[in] ID ID of the task whose work list has been added to + * + * @return Error Code + * + * @retval E_SUCCESS indicates that item was successfully + * logged to the task + * @retval E_WDT_ERR_NO_TASK indicates that the task ID was not valid + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogAddItem(const WatchdogTaskID ID); + +/** + * @brief Indicate that an item is waiting to be processed. + * + * Indicates that an item has been added for the indicated task to operate on. + * + * This can only be called from an interrupt context. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @param[in] ID ID of the task whose work list has been added to + * + * @return Error Code + * + * @retval E_SUCCESS indicates that item was successfully + * logged to the task + * @retval E_WDT_ERR_NO_TASK indicates that the task ID was not valid + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogAddItemFromISR(const WatchdogTaskID ID); + +/** + * @brief Indicate that a task has started working on an item + * + * Informs the watchdog framework that the task has started working on a + * previously submitted item. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * @pre WatchdogAddItem() or WatchdogAddItemFromISR() must have been called + * such that it appears to the watchdog framework that there is work pending + * for the task. + * + * @param[in] ID ID of the task that is starting to work on an item + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the watchdog framework + * was successfully informed + * @retval E_WDT_ERR_NO_TASK indicates that the task ID was not valid + * @retval E_WDT_ERR_NO_WORK indicates that no items have been added + * to indicate that there is actually work + * for the task to perform + * @retval E_WDT_ERR_SEQUNECE indicates that there was no intervening + * WatchdogCompleteItem() after a previous + * call to WatchdogStartItem() + * @retval E_WDT_ERR_TASK_OUT_OF_BOUNDS indicates that the task exceeded its + * timeout during a previous call to + * WatchdogStartItem() + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogTaskStartItem(const WatchdogTaskID ID); + +/** + * @brief Indicate that current task has started working on an item. + * + * Informs the watchdog framework that the current task has started working on a + * previously submitted item. + * + * This function must be called from a non-interrupt context. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * @pre WatchdogAddItem() or WatchdogAddItemFromISR() must have been called + * such that it appears to the watchdog framework that there is work pending + * for the task. + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the watchdog framework + * was successfully informed + * @retval E_WDT_ERR_NO_TASK indicates that the current task is not + * monitored + * @retval E_WDT_ERR_NO_WORK indicates that no items have been added + * to indicate that there is actually work + * to do + * @retval E_WDT_ERR_SEQUNECE indicates that there was no intervening + * WatchdogCompleteItem() after a previous + * call to WatchdogStartItem() + * @retval E_WDT_ERR_TASK_OUT_OF_BOUNDS indicates that the task exceeded its + * timeout during a previous call to + * WatchdogStartItem() + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogStartItem(void); + +/** + * @brief Indicate a task has completed working on an item + * + * Informs the watchdog framework that the task has completed working on a + * previously submitted item. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * @pre WatchdogAddItem() or WatchdogAddItemFromISR() must have been called + * such that it appears to the watchdog framework that there is work queued + * for the task. + * + * @param[in] ID ID of the task that is completing work on an item + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the watchdog framework + * has been successfully informed + * @retval E_WDT_ERR_NO_TASK indicates that this is being called + * from a task that has not been + * registered to be monitored or that the + * ID is not a valid ID + * @retval E_WDT_ERR_NO_WORK indicates that no items have been added + * to indicate that there is actually work + * to do + * @retval E_WDT_ERR_SEQUNECE indicates that there was no intervening + * WatchdogStartItem() after a previous + * call to WatchdogCompleteItem() + * @retval E_WDT_ERR_TASK_OUT_OF_BOUNDS indicates that the task exceeded its + * timeout during a previous call to + * WatchdogStartItem() + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * had not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogTaskCompleteItem(WatchdogTaskID ID); + +/** + * @brief Indicate that current task has completed working on an item + * + * Informs the watchdog framework that the current task has completed working + * on a previously submitted item. + * + * This function must be called from a non-interrupt context. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * @pre WatchdogTaskStartItem() or WatchdogStartItem() must have been previously + * called with no other intervening calls to WatchdogTaskCompleteItem() or + * WatchdogCompleteItem(). + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the watchdog framework + * has been successfully informed + * @retval E_WDT_ERR_NO_TASK indicates that this is being called + * from a task that has not been + * registered to be monitored + * @retval E_WDT_ERR_NO_WORK indicates that no items have been added + * to indicate that there is actually work + * to do + * @retval E_WDT_ERR_SEQUNECE indicates that there was no intervening + * WatchdogStartItem() after a previous + * call to WatchdogCompleteItem() + * @retval E_WDT_ERR_TASK_OUT_OF_BOUNDS indicates that the task exceeded its + * timeout during a previous call to + * WatchdogStartItem() + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * had not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogCompleteItem(void); + +/** + * @brief Check the state of all tasks being monitored + * + * Checks the state of all the tasks being monitored by the watchdog framework + * and return the overall state. + * + * This function must be called from a non-interrupt context. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @return Error Code + * + * @retval E_SUCCESS indicates that all tasks are within + * their watchdog parameters + * @retval E_WDT_ERR_TASK_OUT_OF_BOUNDS indicates that one or more tasks are + * outside of the bounds specified + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogCheckStatus(void); + +/** + * @brief Check the status of a particular task being monitored + * + * Checks the state of a particular task that is being monitored by the watchdog + * framework and return its state. + * + * This function will not invoke the callback WatchdogCallbackTaskOutOfBounds(). + * + * This function must be called from a non-interrupt context. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @param[in] ID ID of the task whose state is to be returned + * + * @return Error Code + * + * @return E_SUCCESS indicates that the task is within its + * specified bounds + * E_WDT_ERR_NO_TASK indicates that the task ID does not + * correspond to a monitored task + * E_WDT_ERR_TASK_OUT_OF_BOUNDS indicates that the task's execution + * time exceeded it's specified timeout. + * E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogCheckTaskStatus(const WatchdogTaskID ID); + +/** + * @brief Map an RTOS task ID to a watchdog task ID + * + * Maps an RTOS task ID to a watchdog task ID which is used by all other + * watchdog APIs. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @param[in] taskID handle to an RTOS task + * @param[in,out] pID pointer to a variable that will be filled in which + * represents the watchdog task ID for the indicated + * RTOS task + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the variable that is + * pointed to by pID will be set to the + * watchdog task ID for the RTOS task + * @retval E_WDT_ERR_NO_TASK indicates that taskID does not map to a + * known watchdog task ID + * @retval E_WDT_ERR_NULL_PTR indicates that pID is NULL + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogGetTaskID(const rtosTaskHandle taskID, + WatchdogTaskID *pID); + +/** + * @brief Return maximum task ID in use + * + * Returns the maximum monitored task ID that is in use. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @param[in,out] pNumTaskIDs pointer to a variable that will be set to the + * maximum number of monitored task IDs + * + * @return Error Code + * + * @retval E_SUCCESS variable set with maximum number of monitored task IDs + * @retval E_WDT_ERR_NULL_PTR pNumTaskIDs is NULL + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogGetNumTaskIDs(uint32_t *pNumTaskIDs); + +/** + * @brief Callback when a task is "out of bounds" + * + * Called by the watchdog framework when a task fails to make sufficient + * progress. This will only be called during the operation of the functions + * WatchdogCheckStatus() and WatchdogCompleteItem(). + * + * This function is provided by the application (usually the task that + * is petting the watchdog hardware and calling WatchdogCheckStatus()). + * + * A "weak" version of this function is provided by the watchdog framework for + * the case when the application does not wish to provide a callback. In that + * situation, the callback will cause a fatal abort. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @parm[in] ID the ID of the task that failed to make progress. + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the framework should continue reporting + * other tasks that are "out of bounds" + * @retval E_WDT_ERR_DONE indicates that the framework should not report any + * additional tasks that are "out of bounds" during the + * current invokation of WatchdogCheckStatus(). + * + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogCallbackTaskOutOfBounds(WatchdogTaskID ID); + +/** + * @brief Callback to perform other checks + * + * Called when the watchdog task has determined that all tasks are operating + * properly. It allows an application to perform it's own internal checks and + * if those checks fail, prevent the watchdog task from "petting" the watchdog + * hardware by returning E_WDT_ERR_NO_PET. + * + * This function is provided by the application. This function will execute + * within the context of the watchdog task. + * + * A "weak" version of this function is provided by the watchdog task for the + * case when the application does not wish to provide a callback. In that + * situation, the callback will return E_SUCCESS. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the watchdog hardware should be "pet" + * @retval E_WDT_ERR_NO_PET indicates that the watchdog hardware should not + * be "pet" + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogCallbackApplicationCheck(void); + +/** + * @brief Return Watchdog Statistics for a Task + * + * This function will return the statistics structure that represents the + * statistics that have been collected by the watchdog framework about the + * task. + * + * If the watchdog framework has not been configured to collect statistics + * then this function will return an error. + * + * @pre WatchdogInit() must have been previously called. + * @pre WatchdogTaskMonitor() must have been called to register the task to + * be monitored. + * + * @param[in] ID the ID of the task whose statistics are to be returned + * @param[in] stats a pointer to a WatchdogTaskStatistics structure to be + * filled in. + * + * @return Error Code + * + * @retval E_SUCCESS indicates that the statistics were returned + * @retval E_WDT_ERR_NO_TASK indicates that taskID does not map to a + * known watchdog task ID + * @retval E_WDT_ERR_NULL_PTR indicates that pID is NULL + * @retval E_WDT_ERR_WATCHDOG_NOT_INIT indicates that the watchdog framework + * has not been initialized + * @retval E_WDT_ERR_NO_STATS statistics has not been configured + */ +INLINE_RFD(MISRA, DEVIATE, Rule_8_6, "Approval: JIRA TID-338, DR: SWE-FSP-008-SWSADR.docx") +error_t WatchdogGetTaskStatistics(const WatchdogTaskID ID, + WatchdogTaskStatistics *stats); + +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +#endif diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/wdt-tegra-priv.h b/spe-freertos-bsp/fsp/source/include/watchdog/wdt-tegra-priv.h new file mode 100644 index 0000000..3f2ec1a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/wdt-tegra-priv.h @@ -0,0 +1,201 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WDT_TEGRA_PRIV_H +#define WATCHDOG__WDT_TEGRA_PRIV_H +#define FSP__WATCHDOG__WDT_TEGRA_PRIV_H 1 + +/** + * @file watchdog/wdt-tegra-priv.h + * @brief Structures that are internal to the WDT driver + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for FSP_ALIGNOF +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__TEGRA_SAFE_WDT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +/** + * @brief Watchdog ID Structure + * + * Structure the describes the implementation of a particular + * watchdog timer instance. + */ +struct tegra_wdt_id +{ + const char *devname; ///! Name of watchdog timer instance + uint32_t base_addr; ///! Base address of watchdog timer + uint32_t irq; ///! IRQ vector number for watchdog timer + uint32_t fiq; ///! FIQ vector number for watchdog timer +}; + +/** + * @brief Watchdog Timer Structure + * + * Structure that is used by the watchdog driver to manage the watchdog + * timer instance during run-time. + */ +struct tegra_wdt +{ + struct tegra_wdt_id id; ///! Watchdog ID + tegra_wdt_callback irq_callback; ///! function to call + ///! on IRQ + void *irq_data; ///! data to supply to + ///! irq_callback + tegra_wdt_callback fiq_callback; ///! function to call + ///! on FIQ + void *fiq_data; ///! data to supply to + ///! fiq_callback + bool irq_ack_by_callback; ///! ack IRQ in + ///! irq_callback, else + ///! ack in tegra_wdt_irq + bool fiq_ack_by_callback; ///! ack FIQ in + ///! irq_callback, else + ///! ack in tegra_wdt_fiq + bool challenge_response; ///! updates to watchdog + ///! timer requires a + ///! challenge / + ///! response + uint8_t pad; +}; + +/** + * Converts const struct tegra_wdt_id * to uint32_t. + * + * @param[in] input const struct tegra_wdt_id pointer which will be coverted to uint32_t + * @param[out] output uint32_t from const struct tegra_wdt_id pointer + */ +static inline uint32_t fsp_c_wdtid_ptr_to_u32(const struct tegra_wdt_id *input) +{ +CT_ASSERT(FSP_ALIGNOF(const struct tegra_wdt_id *) >= FSP_ALIGNOF(uint32_t), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const struct tegra_wdt_id *) == sizeof(uint32_t), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_wdtid_ptr_to_u32 { + const struct tegra_wdt_id *input; + uint32_t output; + }; + union cast_fsp_c_wdtid_ptr_to_u32 t; + + t.input = input; + return t.output; +} + +/** + * Converts uint32_t to const struct tegra_wdt *. + * + * @param[in] input uint32_t which will be converted to struct tegra_wdt pointer + * @param[out] output const struct tegra_wdt pointer from uint32_t + */ +static inline const struct tegra_wdt *fsp_u32_to_c_wdt_ptr(uint32_t input) +{ +CT_ASSERT(FSP_ALIGNOF(uint32_t) >= FSP_ALIGNOF(const struct tegra_wdt *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(uint32_t) == sizeof(const struct tegra_wdt *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_u32_to_c_wdt_ptr { + uint32_t input; + const struct tegra_wdt *output; + }; + union cast_fsp_u32_to_c_wdt_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const struct tegra_wdt * to struct tegra_wdt. + * + * @param[in] input const struct tegra_wdt which will be converted to struct tegra_wdt pointer + * @param[out] output struct tegra_wdt pointer from const struct tegra_wdt + */ +static inline struct tegra_wdt *fsp_c_wdt_ptr_to_wdt_ptr(const struct tegra_wdt *input) +{ +CT_ASSERT(FSP_ALIGNOF(const struct tegra_wdt *) >= FSP_ALIGNOF(struct tegra_wdt *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const struct tegra_wdt *) == sizeof(struct tegra_wdt *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_wdt_ptr_to_wdt_ptr { + const struct tegra_wdt *input; + struct tegra_wdt *output; + }; + union cast_fsp_c_wdt_ptr_to_wdt_ptr t; + + t.input = input; + return t.output; +} + +/** + * Converts const struct tegra_wdt_id * to void *. + * + * @param[in] input const struct tegra_wdt_id which will be converted to void pointer + * @param[out] output void pointer from const struct tegra_wdt_id + */ +static inline void *fsp_c_wdtid_ptr_to_v_ptr(const struct tegra_wdt_id *input) +{ +CT_ASSERT(FSP_ALIGNOF(const struct tegra_wdt_id *) >= FSP_ALIGNOF(void *), "ASSERT due to data misalignment.") + CT_ASSERT(sizeof(const struct tegra_wdt_id *) == sizeof(void *), "ASSERT due to incompatible pointer sizes.") + union cast_fsp_c_wdtid_ptr_to_v_ptr { + const struct tegra_wdt_id *input; + void *output; + }; + union cast_fsp_c_wdtid_ptr_to_v_ptr t; + + t.input = input; + return t.output; +} + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_19_2, "Approval: Bug 200543136, DR: SWE-FSP-033-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +#endif /* FSP_WATCHDOG_WDT_TEGRA_PRIV_H */ diff --git a/spe-freertos-bsp/fsp/source/include/watchdog/wdt-tegra.h b/spe-freertos-bsp/fsp/source/include/watchdog/wdt-tegra.h new file mode 100644 index 0000000..64a73b1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/include/watchdog/wdt-tegra.h @@ -0,0 +1,295 @@ +/* + * Copyright (c) 2015-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WATCHDOG__WDT_TEGRA_H +#define WATCHDOG__WDT_TEGRA_H +#define FSP__WATCHDOG__WDT_TEGRA_H 1 + +/** + * @file wdt-tegra.h + * @brief Compatibility header for WDT driver + */ + +/* Compiler headers */ +#include // IWYU pragma: no_include + +/* Early FSP headers */ +#include + +/* Hardware headers */ + +/* Late FSP headers */ +#include + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__TEGRA_SAFE_WDT_H, "Header file missing or invalid") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid") + +// IWYU pragma: no_forward_declare tegra_wdt_id + +/* + * Tegra WDT driver + * + * To use WDT driver, + * 1. Call tegra_wdt_setup to setup watchdog timer first + * 2. Call tegra_wdt_start to enable watchdog timer + * + * The wdt driver IRQ/FIQ handler will ack the watchdog automatically. If + * you want to do it from the callback or from a scheduld task, set + * irq_ack_by_callback/fiq_ack_by_callback. + */ + +/** + * @brief Initialize watchdog timer + * + * This function will initialize the specified watchdog timer according to + * the configuration parameters supplied. + * + * @note This function can only be called if the specified watchdog timer + * is disabled. If the specified watchdog timer is enabled, then it is + * necessary to call either tegra_wdt_stop() or tegra_wdt_stop_from_isr() + * to first stop the watchdog timer. + * + * This function must be called from a non-interrupt context. + * + * @pre The specified watchdog timer must not be running. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents + * the watchdog timer being setup + * @param[in] conf pointer to the tegra_wdt_conf structure that contains + * the configuration parameters to be used when initializing + * the watchdog timer. + * + * @return Error Code + * + * @retval E_SUCCESS watchdog timer was successfully + * initialized + * @retval E_WDT_ERR_IRQ_CONFIG The watchdog's IRQ or FIQ was + * enabled but no corresponding + * callback function was specified + * @retval E_WDT_ERR_TMRSRC_INVALID value specified for tmrsrc was invalid + * @retval E_WDT_ERR_THRESHOLD_INVALID value specified for threshold was + * invalid + */ +static inline error_t +tegra_wdt_setup(const struct tegra_wdt_id *id, + const struct tegra_wdt_conf *conf) +{ + return tegra_safe_wdt_setup(fsp_c_wdtid_ptr_to_v_ptr(id), conf); +} + +/** + * @brief Start Watchdog Timer + * + * This function will start the specified watchdog timer using the parameters + * that were supplied as part of tegra_wdt_setup(). + * + * This function can be called from either an interrupt context or a + * non-interrupt context. + * + * @pre The function tegra_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being started. + * + * @return None + */ +static inline void +tegra_wdt_start(const struct tegra_wdt_id *id) +{ + (void)tegra_safe_wdt_start(id); +} + +/** + * @brief Acknowlege Watchdog Timer + * + * This function will acknowlege the specified watchdog timer and + * reset its operation so that it will restart its count. + * + * This function can be called from either an interrupt context or a + * non-interrupt context. + * + * @rep tegra_wdt_setup() must have been previously called. + */ +static inline void +tegra_wdt_ack(const struct tegra_wdt_id *id) +{ + (void)tegra_safe_wdt_ack(id); +} + +/** + * @brief Stop watchdog timer + * + * This function will stop the specified watchdog timer. It will stop it + * from counting and thus prevent it from generating an IRQ or FIQ from the + * watchdog timer. + * + * This function must be called from an interrupt context. + * + * @pre tegra_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being stopped. + * + * @return None + */ +static inline void +tegra_wdt_stop_from_isr(const struct tegra_wdt_id *id) +{ + (void)tegra_safe_wdt_stop_from_isr(id); +} + +/** + * @brief Stop watchdog timer + * + * This function will stop the specified watchdog timer. It will stop it + * from counting and thus prevent it from generating an IRQ or FIQ from the + * watchdog timer. + * + * This function must be called from a non-interrupt context. + * + * @pre tegra_wdt_setup() must have been previously called. + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer being stopped. + * + * @return None + */ +static inline void +tegra_wdt_stop(const struct tegra_wdt_id *id) +{ + (void)tegra_safe_wdt_stop(id); +} + +/** + * @brief Watchdog timer interrupt handler + * + * This function is responsible for servicing the watchdog IRQ. The + * behavior of this function is dependent upon how the watchdog timer + * was configured. + * + * This function is called from the first level interrupt handler for + * the watchdog interrupt, so it will be called only from an interrupt + * context. + * + * @pre tegra_wdt_setup() must have been previously called. + * @pre the watchdog timer must have been previously started + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer that has generated an interrupt. + * + * @return None + */ +static inline void +tegra_wdt_irq(void *id) +{ + (void)tegra_safe_wdt_irq(id); +} + +/** + * @brief Watchdog timer fast interrupt handler + * + * This function is responsible for servicing the watchdog FIQ. The + * behavior of this function is dependent upon how the watchdog timer + * was configured. + * + * This function is called from the first level interrupt handler for + * the watchdog fast interrupt, so it will be called only from an interrupt + * context. + * + * @pre tegra_wdt_setup() must have been previously called. + * @pre the watchdog timer must have been previously started + * + * @param[in] id pointer to the tegra_wdt_id structure that represents the + * watchdog timer that has generated an FIQ interrupt. + * + * @return None + */ +static inline void +tegra_wdt_fiq(void *id) +{ + (void)tegra_safe_wdt_fiq(id); +} + +/** + * @brief Read watchdog timer status + * + * This function will return the current status of the specified watchdog + * timer. + * + * This function can be called from either an interrupt context or a + * non-interrupt context. + * + * @pre None + * + * @return 32-bit value representing the watchdog timer status. It is + * interpreted as follows: + * + * bit 0 Enabled 1b when the counter is active + * + * 0b when the counter is disabled + * + * bit 1 LocalIRQStatus Current status of interrupt + * + * bit 2 LocalFIQStatus Current status of FIQ + * + * bit 3 RemoteInterruptStatus Current status of remote interrupt + * + * bit 11:4 CurrentCount Current value of the counter + * + * bit 14:12 CurrentExpirationCount Current count of expiration since + * last start operation + * + * bit 16 CurrentError Current error reported to HSM + */ +static inline uint32_t +tegra_wdt_read_status(const struct tegra_wdt_id *id) +{ + uint32_t status; + + (void)tegra_safe_wdt_read_status(id, &status); + + return status; +} + +#endif /* WATCHDOG__WDT_TEGRA_H */ diff --git a/spe-freertos-bsp/fsp/source/module-fsp-common-config.mk b/spe-freertos-bsp/fsp/source/module-fsp-common-config.mk new file mode 100644 index 0000000..3fd2f44 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/module-fsp-common-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-fsp-common-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FSP_COMMON_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_FSP_COMMON_DEPENDS := +$(foreach _,$(MODULE_FSP_COMMON_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +FSP_COMMON_INCLUDE = $(FSP_COMMON_REPO)/include +MODULE_FSP_COMMON_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_FSP_COMMON_INCLUDES = -I $(FSP_COMMON_INCLUDE) diff --git a/spe-freertos-bsp/fsp/source/module-fsp-common.mk b/spe-freertos-bsp/fsp/source/module-fsp-common.mk new file mode 100644 index 0000000..e4612fb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/module-fsp-common.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-fsp-common.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_FSP_COMMON_NAME := FSP_COMMON + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_FSP_COMMON_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_FSP_COMMON_DEPENDS := FSP_COMMON +$(foreach _,$(CONFIG_FSP_COMMON_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_FSP_COMMON_C_SRC = + +# +# Assembly source +MODULE_FSP_COMMON_ASM_SRC = + +# +# Special C Flags +MODULE_FSP_COMMON_C_FLAGS = + +# +# Special ASM Flags +MODULE_FSP_COMMON_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/aon/module-cluster-aon-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/aon/module-cluster-aon-config.mk new file mode 100644 index 0000000..782aab2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/aon/module-cluster-aon-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-aon-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_AON_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CLUSTER_DEPENDS := SOC +$(foreach _,$(MODULE_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CLUSTER_AON_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_AON_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/aon/module-cluster-aon.mk b/spe-freertos-bsp/fsp/source/soc/cluster/aon/module-cluster-aon.mk new file mode 100644 index 0000000..4a7363a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/aon/module-cluster-aon.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-aon.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_AON_NAME := CLUSTER_AON + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_AON CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_AON_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_AON_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_AON_C_FLAGS = -DTEGRA_UARTC_ENABLED + +# +# Special ASM Flags +MODULE_CLUSTER_AON_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/bpmp/module-cluster-bpmp-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/bpmp/module-cluster-bpmp-config.mk new file mode 100644 index 0000000..86607e8 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/bpmp/module-cluster-bpmp-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-bpmp-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_BPMP_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CLUSTER_DEPENDS := SOC +$(foreach _,$(MODULE_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CLUSTER_BPMP_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_BPMP_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/bpmp/module-cluster-bpmp.mk b/spe-freertos-bsp/fsp/source/soc/cluster/bpmp/module-cluster-bpmp.mk new file mode 100644 index 0000000..cb20005 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/bpmp/module-cluster-bpmp.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-bpmp.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_BPMP_NAME := CLUSTER_BPMP + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_BPMP CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_BPMP_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_BPMP_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_BPMP_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_BPMP_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/dce/module-cluster-dce-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/dce/module-cluster-dce-config.mk new file mode 100644 index 0000000..988c121 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/dce/module-cluster-dce-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-dce-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_DCE_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CLUSTER_DEPENDS := SOC +$(foreach _,$(MODULE_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CLUSTER_DCE_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_DCE_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/dce/module-cluster-dce.mk b/spe-freertos-bsp/fsp/source/soc/cluster/dce/module-cluster-dce.mk new file mode 100644 index 0000000..04367a5 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/dce/module-cluster-dce.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-dce.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_DCE_NAME := CLUSTER_DCE + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_DCE CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_DCE_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_DCE_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_DCE_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_DCE_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/fsi/module-cluster-fsi-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/fsi/module-cluster-fsi-config.mk new file mode 100644 index 0000000..bd8d47d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/fsi/module-cluster-fsi-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-fsi-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_FSI_CONFIG := 1 + +# +# Location of source code files +MODULE_CLUSTER_FSI_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_FSI_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/fsi/module-cluster-fsi.mk b/spe-freertos-bsp/fsp/source/soc/cluster/fsi/module-cluster-fsi.mk new file mode 100644 index 0000000..b2cdca3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/fsi/module-cluster-fsi.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-fsi.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_FSI_NAME := CLUSTER_FSI + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_FSI CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_FSI_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_FSI_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_FSI_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_FSI_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/rce/module-cluster-rce-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/rce/module-cluster-rce-config.mk new file mode 100644 index 0000000..6b5f9bd --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/rce/module-cluster-rce-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-rce-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_RCE_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CLUSTER_DEPENDS := SOC +$(foreach _,$(MODULE_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CLUSTER_RCE_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_RCE_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/rce/module-cluster-rce.mk b/spe-freertos-bsp/fsp/source/soc/cluster/rce/module-cluster-rce.mk new file mode 100644 index 0000000..396db80 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/rce/module-cluster-rce.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-rce.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_RCE_NAME := CLUSTER_RCE + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_RCE CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_RCE_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_RCE_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_RCE_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_RCE_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/sce/module-cluster-sce-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/sce/module-cluster-sce-config.mk new file mode 100644 index 0000000..4b92b1c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/sce/module-cluster-sce-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-sce-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_SCE_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CLUSTER_DEPENDS := SOC +$(foreach _,$(MODULE_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CLUSTER_SCE_SOUSCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_SCE_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/sce/module-cluster-sce.mk b/spe-freertos-bsp/fsp/source/soc/cluster/sce/module-cluster-sce.mk new file mode 100644 index 0000000..25cb762 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/sce/module-cluster-sce.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-sce.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_SCE_NAME := CLUSTER_SCE + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_SCE CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_SCE_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_SCE_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_SCE_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_SCE_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/spe/module-cluster-spe-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/spe/module-cluster-spe-config.mk new file mode 100644 index 0000000..ce4dd27 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/spe/module-cluster-spe-config.mk @@ -0,0 +1,42 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-spe-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_SPE_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_CLUSTER_DEPENDS := SOC +$(foreach _,$(MODULE_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Location of source code files +MODULE_CLUSTER_SPE_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_SPE_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/spe/module-cluster-spe.mk b/spe-freertos-bsp/fsp/source/soc/cluster/spe/module-cluster-spe.mk new file mode 100644 index 0000000..3f2f16e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/spe/module-cluster-spe.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-spe.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_SPE_NAME := CLUSTER_SPE + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_SPE CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_SPE_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_SPE_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_SPE_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_SPE_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/tsec/module-cluster-tsec-config.mk b/spe-freertos-bsp/fsp/source/soc/cluster/tsec/module-cluster-tsec-config.mk new file mode 100644 index 0000000..54cb1ba --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/tsec/module-cluster-tsec-config.mk @@ -0,0 +1,35 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-tsec-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-cluster_*.mk' files. +MODULE_CLUSTER_CONFIG := 1 +MODULE_CLUSTER_TSEC_CONFIG := 1 + +# +# Location of source code files +MODULE_CLUSTER_TSEC_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_CLUSTER_TSEC_INCLUDES = -I $(FSP_COMMON_REPO)/include/soc/$(SOC)/$(CLUSTER) diff --git a/spe-freertos-bsp/fsp/source/soc/cluster/tsec/module-cluster-tsec.mk b/spe-freertos-bsp/fsp/source/soc/cluster/tsec/module-cluster-tsec.mk new file mode 100644 index 0000000..4b0d321 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/cluster/tsec/module-cluster-tsec.mk @@ -0,0 +1,61 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-cluster-tsec.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_CLUSTER_TSEC_NAME := CLUSTER_TSEC + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_CLUSTER_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_CLUSTER_DEPENDS := CLUSTER_TSEC CLUSTER +$(foreach _,$(CONFIG_CLUSTER_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_CLUSTER_TSEC_C_SRC = + +# +# Assembly source +MODULE_CLUSTER_TSEC_ASM_SRC = + +# +# Special C Flags +MODULE_CLUSTER_TSEC_C_FLAGS = + +# +# Special ASM Flags +MODULE_CLUSTER_TSEC_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/aodmic-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/aodmic-tegra-ids.c new file mode 100644 index 0000000..79575e7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/aodmic-tegra-ids.c @@ -0,0 +1,71 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DMIC5_BASE + +/* Late FSP headers */ +#include // for INTERRUPT_DMIC +#include // for END_RFD_BLOCK, START_RFD_BLOCK + +/* Module-specific FSP headers */ +#include // for SECTION_AODMIC_... +#include // for tegra_aodmic_ctlr +#include // for aodmic_port_clk_rst_aon + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AODMIC__TEGRA_AODMIC_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PORT__AODMIC_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +SECTION_AODMIC_DATA +struct tegra_aodmic_ctlr tegra_aodmic_ctlr_aon = { + .id = { + .base_addr = NV_ADDRESS_MAP_DMIC5_BASE, + .aodmic_hw_handle = &aodmic_port_clk_rst_aon, + .irq = INTERRUPT_DMIC, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/ast-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/ast-tegra-ids.c new file mode 100644 index 0000000..e4e96fb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/ast-tegra-ids.c @@ -0,0 +1,41 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t ast_tegra_id[] = { + NV_ADDRESS_MAP_AON_AST_0_BASE, + NV_ADDRESS_MAP_AON_AST_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/comb-uart-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/comb-uart-ids.c new file mode 100644 index 0000000..82186b2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/comb-uart-ids.c @@ -0,0 +1,48 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for UINT32_MAX, UINT8_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_HSP_SM_BASE + +/* Late FSP headers */ +#include // for comb_uart_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection + +SECTION_COMB_UART_DATA +const struct comb_uart_id comb_uart_id_aon = { + .tx_sm_reg = 0UL, + .rx_sm_reg = 0UL, + .supports_rx = false, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpcdma-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpcdma-ids.c new file mode 100644 index 0000000..78b3627 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpcdma-ids.c @@ -0,0 +1,116 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_DMA_BASE + +/* Late FSP headers */ +#include // for INTERRUPT_DMA... +#include // for tegra_rst_aon_gpcdma +#include // for struct gpcdma_id, gpcdma_channel +#include // Immune from CT_ASSERT +#include // Immune from CT_ASSERT + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") + +SECTION_GPCDMA_RODATA +const struct gpcdma_hw_handle gpcdma_hw_handle_aon = { + .rst = tegra_rst_aon_gpcdma, +}; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan0; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan1; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan2; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan3; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan4; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan5; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan6; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan7; + +SECTION_GPCDMA_DATA +struct gpcdma_id gpcdma_id_aon = { + .conf = { + .base_addr = NV_ADDRESS_MAP_AON_DMA_BASE, + .irqs = { + [0] = INTERRUPT_DMA0, + [1] = INTERRUPT_DMA1, + [2] = INTERRUPT_DMA2, + [3] = INTERRUPT_DMA3, + [4] = INTERRUPT_DMA4, + [5] = INTERRUPT_DMA5, + [6] = INTERRUPT_DMA6, + [7] = INTERRUPT_DMA7, + }, + .hw_handle = &gpcdma_hw_handle_aon, + }, + .channels = { + [0] = &gpcdma_chan0, + [1] = &gpcdma_chan1, + [2] = &gpcdma_chan2, + [3] = &gpcdma_chan3, + [4] = &gpcdma_chan4, + [5] = &gpcdma_chan5, + [6] = &gpcdma_chan6, + [7] = &gpcdma_chan7, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-aon-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-aon-tegra-ids.c new file mode 100644 index 0000000..053963e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-aon-tegra-ids.c @@ -0,0 +1,99 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for uint32_t, ... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_GPIO_0_BASE, NV_ADDRESS_MAP_GPIO_CTL0_BASE +#include // for GPIO_AA_ENABLE_CONFIG_00_0, ... + +/* Late FSP headers */ +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for struct gpio_irq_handler +#include // for TEGRA_AON_GPIO_IRQ, TEGRA_GPIO_IRQ_STATUS_REG, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__GPIO_TEGRA_HW_PARAMS_H, "Header file missing or invalid.") + +#define TEGRA_GPIO_IRQ_STATUS_REG (GPIO_AA_INTERRUPT_STATUS_G4_0 - \ + GPIO_AA_ENABLE_CONFIG_00_0) + +static const uint32_t tegra_gpio_aon_bases[] = { + GPIO_AA_ENABLE_CONFIG_00_0, + GPIO_BB_ENABLE_CONFIG_00_0, + GPIO_CC_ENABLE_CONFIG_00_0, + GPIO_DD_ENABLE_CONFIG_00_0, + GPIO_EE_ENABLE_CONFIG_00_0, + GPIO_GG_ENABLE_CONFIG_00_0, +}; + +static struct gpio_irq_handler tegra_gpio_aon_handlers[ + ARRAY_SIZE(tegra_gpio_aon_bases) * + GPIOS_PER_BANK]; + +static uint32_t tegra_aon_gpio_id_irqs[] = { + TEGRA_AON_GPIO_IRQ, +}; + +static uint8_t aon_bank_irq_status[ARRAY_SIZE(tegra_gpio_aon_bases)] = {0}; + +/* Number of pins per bank are captured by manual inspection of HW manuals */ +static const uint8_t num_pins_per_bank[ARRAY_SIZE(tegra_gpio_aon_bases)] = {8, 4, 8, 3, 8, 1}; + +struct tegra_gpio_id tegra_gpio_id_aon = { + .base_addr = NV_ADDRESS_MAP_AON_GPIO_0_BASE, + .bank_count = ARRAY_SIZE(tegra_gpio_aon_bases), + .bank_bases = tegra_gpio_aon_bases, + .irqs = tegra_aon_gpio_id_irqs, + .nirqs = ARRAY_SIZE(tegra_aon_gpio_id_irqs), + .irq_handlers = tegra_gpio_aon_handlers, + .irq_status_offset = TEGRA_GPIO_IRQ_STATUS_REG, + .bank_irq_status = aon_bank_irq_status, + .isr_status = true, + .num_pins = num_pins_per_bank, +}; + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-main-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-main-tegra-ids.c new file mode 100644 index 0000000..a0e679f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-main-tegra-ids.c @@ -0,0 +1,124 @@ +/* + * Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for uint32_t, ... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_GPIO_0_BASE, NV_ADDRESS_MAP_GPIO_CTL0_BASE +#include // for GPIO_A_ENABLE_CONFIG_00_0, .... + +/* Late FSP headers */ +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for struct gpio_irq_handler +#include // for TEGRA_MAIN_GPIO_ID0_IRQ, TEGRA_GPIO_IRQ_STATUS_REG, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__GPIO_TEGRA_HW_PARAMS_H, "Header file missing or invalid.") + +#define TEGRA_GPIO_IRQ_STATUS_REG (GPIO_N_INTERRUPT_STATUS_G4_0 - \ + GPIO_N_ENABLE_CONFIG_00_0) + +static const uint32_t tegra_gpio_main_bases[] = { + GPIO_A_ENABLE_CONFIG_00_0, + GPIO_B_ENABLE_CONFIG_00_0, + GPIO_C_ENABLE_CONFIG_00_0, + GPIO_D_ENABLE_CONFIG_00_0, + GPIO_E_ENABLE_CONFIG_00_0, + GPIO_F_ENABLE_CONFIG_00_0, + GPIO_G_ENABLE_CONFIG_00_0, + GPIO_H_ENABLE_CONFIG_00_0, + GPIO_I_ENABLE_CONFIG_00_0, + GPIO_J_ENABLE_CONFIG_00_0, + GPIO_K_ENABLE_CONFIG_00_0, + GPIO_L_ENABLE_CONFIG_00_0, + GPIO_M_ENABLE_CONFIG_00_0, + GPIO_N_ENABLE_CONFIG_00_0, + GPIO_P_ENABLE_CONFIG_00_0, + GPIO_Q_ENABLE_CONFIG_00_0, + GPIO_R_ENABLE_CONFIG_00_0, + GPIO_X_ENABLE_CONFIG_00_0, + GPIO_Y_ENABLE_CONFIG_00_0, + GPIO_Z_ENABLE_CONFIG_00_0, + GPIO_AC_ENABLE_CONFIG_00_0, + GPIO_AD_ENABLE_CONFIG_00_0, + GPIO_AE_ENABLE_CONFIG_00_0, + GPIO_AF_ENABLE_CONFIG_00_0, + GPIO_AG_ENABLE_CONFIG_00_0, +}; + +static struct gpio_irq_handler tegra_gpio_main_handlers[ + ARRAY_SIZE(tegra_gpio_main_bases) * + GPIOS_PER_BANK]; + +static uint8_t main_bank_irq_status[ARRAY_SIZE(tegra_gpio_main_bases)] = {0}; + +/* Number of pins per bank are captured by manual inspection of HW manuals */ +static const uint8_t num_pins_per_bank[ARRAY_SIZE(tegra_gpio_main_bases)] = + {8, 1, 8, 4, 8, 6, 8, 8, 7, 6, 8, 4, 8, 8, 8, 8, 6, 8, 8, 8, 8, 4, 2, 4, 8}; + +static uint32_t tegra_main_gpio_id_irqs[] = { + TEGRA_MAIN_GPIO_ID0_IRQ, + TEGRA_MAIN_GPIO_ID1_IRQ, + TEGRA_MAIN_GPIO_ID2_IRQ, + TEGRA_MAIN_GPIO_ID3_IRQ, + TEGRA_MAIN_GPIO_ID4_IRQ, + TEGRA_MAIN_GPIO_ID5_IRQ, +}; + +struct tegra_gpio_id tegra_gpio_id_main = { + .base_addr = NV_ADDRESS_MAP_GPIO_CTL_BASE, + .bank_count = ARRAY_SIZE(tegra_gpio_main_bases), + .bank_bases = tegra_gpio_main_bases, + .irqs = tegra_main_gpio_id_irqs, + .nirqs = ARRAY_SIZE(tegra_main_gpio_id_irqs), + .irq_handlers = tegra_gpio_main_handlers, + .irq_status_offset = TEGRA_GPIO_IRQ_STATUS_REG, + .bank_irq_status = main_bank_irq_status, + .isr_status = true, + .num_pins = num_pins_per_bank, +}; + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-tegra-ids.c new file mode 100644 index 0000000..8797865 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/gpio-tegra-ids.c @@ -0,0 +1,39 @@ +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + +/* Main GPIO controller */ +extern struct tegra_gpio_id tegra_gpio_id_main; + +/* AON GPIO controller */ +extern struct tegra_gpio_id tegra_gpio_id_aon; + +struct tegra_gpio_id *const chips[] = { + &tegra_gpio_id_main, + &tegra_gpio_id_aon +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/hsp-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/hsp-tegra-ids.c new file mode 100644 index 0000000..3eb0d8a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/hsp-tegra-ids.c @@ -0,0 +1,130 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for UINT32_MAX, UINT8_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_HSP_BASE +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_M... + +/* Late FSP headers */ +#include // for tegra_hsp_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection + +/* Module-specific FSP headers */ +#include // for INTERRUPT_MBOX, INTERRUPT_T... +#include // for AON_LIC_IRQ_TOP_HSP0 +#include // for TEGRA_HSP_DB_SPE + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP0_HSP_BASE, + .host = TEGRA_HSP_DB_SPE, + .db_irq = INTERRUPT_TOP0_HSP_DB, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, + .inited = false, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP1_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = AON_LIC_IRQ_TOP_HSP1, + .si_index = 4, + }, + .inited = false, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_fsi = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, + .inited = false, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_bpmp = { + .conf = { + .base_addr = NV_ADDRESS_MAP_BPMP_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, + .inited = false, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_aon = { + .conf = { + .base_addr = NV_ADDRESS_MAP_AON_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = INTERRUPT_MBOX, + .si_index = 0, + }, + .inited = false, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_sce = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, + .inited = false, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/i2c-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/i2c-tegra-ids.c new file mode 100644 index 0000000..ca5e017 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/i2c-tegra-ids.c @@ -0,0 +1,101 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for true +#include // for NULL +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_I2C2_BASE, NV_AD... + +/* Late FSP headers */ +#include // for FSP__HW_CONFIG__VIC_IRQS_H, INT... + +/* Module-specific FSP header files */ +#include // for i2c_hw_handle, FSP__PROCESSOR__... +#include // for FSP__SOC_COMMON__CLK_TEGRA_HW_H +#include // for TEGRA234_I2C2, TEGRA234_I2C8 + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") + +static const struct i2c_hw_handle t234_i2c_ctrl2 = { + .ctrl_id = TEGRA234_I2C2, + .base = NV_ADDRESS_MAP_I2C2_BASE, + .clk_data = tegra_clk_i2c2, + .rst_data = tegra_rst_i2c2, + .irq_no = INTERRUPT_I2C2, + .is_multimaster = (bool)true, +}; + +static const struct i2c_hw_handle t234_i2c_ctrl8 = { + .ctrl_id = TEGRA234_I2C8, + .base = NV_ADDRESS_MAP_I2C8_BASE, + .clk_data = tegra_clk_i2c8, + .rst_data = tegra_rst_i2c8, + .irq_no = INTERRUPT_I2C3, + .is_multimaster = (bool)true, +}; + +const struct i2c_hw_handle *i2c_get_hw_handle(uint32_t ctrl_id) +{ + struct i2c_hw_handle const *hi2c_hw; + + switch(ctrl_id) { + case TEGRA234_I2C2: + hi2c_hw = &t234_i2c_ctrl2; + break; + case TEGRA234_I2C8: + hi2c_hw = &t234_i2c_ctrl8; + break; + default: + hi2c_hw = NULL; + break; + } + + return hi2c_hw; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/irqapi-vic-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/irqapi-vic-ids.c new file mode 100644 index 0000000..ede3563 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/irqapi-vic-ids.c @@ -0,0 +1,43 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + +uint32_t vic_base_addr[MAX_VIC_CONTROLLER] ={ + NV_ADDRESS_MAP_AON_VIC_0_BASE, + NV_ADDRESS_MAP_AON_VIC_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/lic-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/lic-tegra-ids.c new file mode 100644 index 0000000..5c20eaf --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/lic-tegra-ids.c @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for INTERRUPT_LIC... +#include // for AON_LIC_IRQ_BASE +#include // for struct tegra_lic_id,... +#include // Immune from CT_ASSERT + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__LIC__LIC_TEGRA_PRIV_H, "Header file missing or invalid.") + +#define AON_LIC_IRQ_LINES 4U +#define AON_LIC_BASE_CHAN 2U +#define AON_LIC_NUM_CHANS 2U + +SECTION_LIC_DATA +struct tegra_lic_id tegra_lic_id_aon; + +SECTION_LIC_DATA +lic_irq_context_t lic0_irq_context = { + .id = &tegra_lic_id_aon, + .chan = AON_LIC_BASE_CHAN, + .is_vfiq = false, +}; + +SECTION_LIC_DATA +lic_irq_context_t lic1_irq_context = { + .id = &tegra_lic_id_aon, + .chan = AON_LIC_BASE_CHAN, + .is_vfiq = true, +}; + +SECTION_LIC_DATA +lic_irq_context_t lic2_irq_context = { + .id = &tegra_lic_id_aon, + .chan = AON_LIC_BASE_CHAN + 1U, + .is_vfiq = false, +}; + +SECTION_LIC_DATA +lic_irq_context_t lic3_irq_context = { + .id = &tegra_lic_id_aon, + .chan = AON_LIC_BASE_CHAN + 1U, + .is_vfiq = true, +}; + +static lic_irq_context_t *lic_irq_contexts[AON_LIC_IRQ_LINES] = { + &lic0_irq_context, + &lic1_irq_context, + &lic2_irq_context, + &lic3_irq_context, +}; + +struct tegra_lic_id tegra_lic_id_aon = { + .conf = { + .base_chan = AON_LIC_BASE_CHAN, + .num_chans = AON_LIC_NUM_CHANS, + .num_slices = LIC_MAX_SLICES, + .local_irq_base = (uint16_t)INTERRUPT_LIC0, + .lic_irq_base = (uint16_t)AON_LIC_IRQ_BASE, + }, + .irq_contexts = lic_irq_contexts, + .num_lic_irq_lines = ARRAY_SIZE(lic_irq_contexts), +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/spi-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/spi-ids.c new file mode 100644 index 0000000..b5435cc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/spi-ids.c @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2017-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for true +#include // for NULL +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_SPI2_BASE + +/* Late FSP headers */ +#include // for INTERRUPT_SPI +#include // for INTERRUPT_SPIx +#include // for tegra_[rst/clk]_spi2 + +/* Module-specific FSP header files */ +#include // for spi_hw_handle, FSP__PROCESSOR__... +#include // for SECTION_SPI_... +#include // Immune from CT_ASSERT + +#define INTERRUPT_SPI1 AON_LIC_IRQ_SPI1 +#define INTERRUPT_SPI3 AON_LIC_IRQ_SPI3 + +SECTION_SPI_RODATA +static const struct spi_hw_handle spi1_hw_handle = { + .rst = tegra_rst_spi1, + .clk = tegra_clk_spi1, +}; + +SECTION_SPI_RODATA +static const struct spi_hw_handle spi2_hw_handle = { + .rst = tegra_rst_spi2, + .clk = tegra_clk_spi2, +}; + +SECTION_SPI_RODATA +static const struct spi_hw_handle spi3_hw_handle = { + .rst = tegra_rst_spi3, + .clk = tegra_clk_spi3, +}; + +SECTION_SPI_DATA +struct spi_ctlr spi_ctlr_spi1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SPI1_BASE, + .hw_handle = &spi1_hw_handle, + .irq = INTERRUPT_SPI1, + }, + .slave_dma_support = false, + .en_full_duplex = false, +}; + +SECTION_SPI_DATA +struct spi_ctlr spi_ctlr_spi2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SPI2_BASE, + .hw_handle = &spi2_hw_handle, + .irq = INTERRUPT_SPI, + }, + .slave_dma_support = false, + .en_full_duplex = false, +}; + +SECTION_SPI_DATA +struct spi_ctlr spi_ctlr_spi3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SPI3_BASE, + .hw_handle = &spi3_hw_handle, + .irq = INTERRUPT_SPI3, + }, + .slave_dma_support = false, + .en_full_duplex = false, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/tke-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/tke-tegra-ids.c new file mode 100644 index 0000000..e57ecd0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/tke-tegra-ids.c @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_TKE_BASE, NV_... + +/* Late FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for tegra_tke_id, FSP__TKE__TKE_TEGR... + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H, NV_AO... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") + +const uint32_t tke_top_base = NV_ADDRESS_MAP_AON_TKE_BASE; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_AON_TKE_TMR_0_BASE, + .irq = NV_AON_INTERRUPT_TIMER0, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_AON_TKE_TMR_1_BASE, + .irq = NV_AON_INTERRUPT_TIMER1, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_AON_TKE_TMR_2_BASE, + .irq = NV_AON_INTERRUPT_TIMER2, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_AON_TKE_TMR_3_BASE, + .irq = NV_AON_INTERRUPT_TIMER3, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/uart-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/uart-tegra-ids.c new file mode 100644 index 0000000..084fda4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/uart-tegra-ids.c @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for true +#include // for NULL +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_UART2_BASE, NV_AD... + +/* Late FSP headers */ +#include // for FSP__HW_CONFIG__VIC_IRQS_H, INT... +#include // for FSP__SOC_COMMON__CLK_TEGRA_HW_H + +/* Module-specific FSP header files */ +#include // for uart_ctlr_... +#include // for uart_queue_t , struct uart_hw_handle + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") + +#define TEGRA_UARTC_IRQ INTERRUPT_UART_1 +#define TEGRA_UARTJ_IRQ INTERRUPT_UART_J + +const struct uart_hw_handle uartc_hw_handle = { + .clk = tegra_clk_uartc, + .rst = tegra_rst_uartc, +}; + +const struct uart_hw_handle uartj_hw_handle = { + .clk = tegra_clk_uartj, + .rst = tegra_rst_uartj, +}; + +struct tegra_uart_ctlr tegra_uart_ctlr_uartc = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTC_BASE, + .irq = TEGRA_UARTC_IRQ, + .hw_handle = &uartc_hw_handle, + }, + .initialized = false, +}; + +struct tegra_uart_ctlr tegra_uart_ctlr_uartj = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTJ_BASE, + .irq = TEGRA_UARTJ_IRQ, + .hw_handle = &uartj_hw_handle, + }, + .initialized = false, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/wdt-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/wdt-tegra-ids.c new file mode 100644 index 0000000..eae988b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/aon/wdt-tegra-ids.c @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_TKE_WDT_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK +#include // Immune from CT_ASSERT protection +#include // for tegra_wdt + +/* Module-specific FSP headers */ +#include // for NV_AON_INTERRUPT_WDTFIQ, NV_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") + +extern struct tegra_wdt tegra_wdt_instance; + +SECTION_WATCHDOG_DATA +struct tegra_wdt tegra_wdt_instance = { + .id = { + .devname = "wdt", + .base_addr = NV_ADDRESS_MAP_AON_TKE_WDT_0_BASE, + .irq = NV_AON_INTERRUPT_WDTIRQ, + .fiq = NV_AON_INTERRUPT_WDTFIQ, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/ast-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/ast-tegra-ids.c new file mode 100644 index 0000000..a3326e1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/ast-tegra-ids.c @@ -0,0 +1,41 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-dependent FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t ast_tegra_id[] = { + NV_ADDRESS_MAP_BPMP_AST_0_BASE, + NV_ADDRESS_MAP_BPMP_AST_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/i2c-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/i2c-tegra-ids.c new file mode 100644 index 0000000..4dfb791 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/i2c-tegra-ids.c @@ -0,0 +1,85 @@ +/* + * * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * * + * * Redistribution and use in source and binary forms, with or without + * * modification, are permitted provided that the following conditions + * * are met: + * * * Redistributions of source code must retain the above copyright + * * notice, this list of conditions and the following disclaimer. + * * * Redistributions in binary form must reproduce the above copyright + * * notice, this list of conditions and the following disclaimer in the + * * documentation and/or other materials provided with the distribution. + * * * Neither the name of NVIDIA CORPORATION nor the names of its + * * contributors may be used to endorse or promote products derived + * * from this software without specific prior written permission. + * * + * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include +#include +#include +#include +#undef ARRAY_SIZE +#undef DIV_ROUND_UP + +/* Module-specific FSP header files */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") + +const struct i2c_hw_handle t234_i2c_ctrl5 = { + .ctrl_id = TEGRA234_I2C5, + .base = NV_ADDRESS_MAP_I2C5_BASE, + .clk_id = TEGRA234_CLK_I2C5, + .rst_id = TEGRA234_RESET_I2C5, + .irq_no = BPMP_INT_SOCPWRI2C, + .is_multimaster = false, +}; + +const struct i2c_hw_handle *i2c_get_hw_handle(uint32_t ctrl_id) +{ + const struct i2c_hw_handle *hi2c_hw; + + switch (ctrl_id) { + case TEGRA234_I2C5: + hi2c_hw = &t234_i2c_ctrl5; + break; + default: + hi2c_hw = NULL; + break; + } + + return hi2c_hw; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/irqapi-vic-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/irqapi-vic-ids.c new file mode 100644 index 0000000..1f9d1ba --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/irqapi-vic-ids.c @@ -0,0 +1,43 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + +uint32_t vic_base_addr[MAX_VIC_CONTROLLER] ={ + NV_ADDRESS_MAP_BPMP_VIC_0_BASE, + NV_ADDRESS_MAP_BPMP_VIC_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/tke-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/tke-tegra-ids.c new file mode 100644 index 0000000..111716f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/tke-tegra-ids.c @@ -0,0 +1,78 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_TKE_BASE, NV_... + +/* Late FSP headers */ +#include // for tegra_tke_id, FSP__TKE__TKE_TEGR... + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H, NV_AO... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") + +const uint32_t tke_top_base = NV_ADDRESS_MAP_BPMP_TKE_BASE; + +struct tegra_tke_id tegra_tke_timer0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_BPMP_TKE_TMR_0_BASE, + .irq = NV_BPMP_IRQ_TIMER0, + }, +}; +extern const struct tegra_tke_id tegra_tke_id_timer0 +__attribute__((alias("tegra_tke_timer0"))); + +struct tegra_tke_id tegra_tke_timer1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_BPMP_TKE_TMR_1_BASE, + .irq = NV_BPMP_IRQ_TIMER1, + }, +}; +extern const struct tegra_tke_id tegra_tke_id_timer1 +__attribute__((alias("tegra_tke_timer1"))); + +struct tegra_tke_id tegra_tke_timer2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_BPMP_TKE_TMR_2_BASE, + .irq = NV_BPMP_IRQ_TIMER2, + }, +}; +extern const struct tegra_tke_id tegra_tke_id_timer2 +__attribute__((alias("tegra_tke_timer2"))); + +struct tegra_tke_id tegra_tke_timer3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_BPMP_TKE_TMR_3_BASE, + .irq = NV_BPMP_IRQ_TIMER3, + }, +}; +extern const struct tegra_tke_id tegra_tke_id_timer3 +__attribute__((alias("tegra_tke_timer3"))); diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/wdt-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/wdt-tegra-ids.c new file mode 100644 index 0000000..451149f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/bpmp/wdt-tegra-ids.c @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_TKE_WDT_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK +#include // Immune from CT_ASSERT protection +#include // for tegra_wdt + +/* Module-specific FSP headers */ +#include // for NV_AON_INTERRUPT_WDTFIQ, NV_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") + +extern struct tegra_wdt tegra_wdt_instance; + +SECTION_WATCHDOG_DATA +struct tegra_wdt tegra_wdt_instance = { + .id = { + .devname = "wdt", + .base_addr = NV_ADDRESS_MAP_BPMP_TKE_WDT_0_BASE, + .irq = NV_BPMP_IRQ_WDTIRQ, + .fiq = NV_BPMP_IRQ_WDTFIQ, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/ast-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/ast-tegra-ids.c new file mode 100644 index 0000000..1cf2df0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/ast-tegra-ids.c @@ -0,0 +1,41 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t ast_tegra_id[] = { + NV_ADDRESS_MAP_DCE_AST_0_BASE, + NV_ADDRESS_MAP_DCE_AST_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/comb-uart-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/comb-uart-ids.c new file mode 100644 index 0000000..c449133 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/comb-uart-ids.c @@ -0,0 +1,48 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for UINT32_MAX, UINT8_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_HSP_SM_BASE + +/* Late FSP headers */ +#include // for comb_uart_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection + +SECTION_COMB_UART_RODATA +const struct comb_uart_id comb_uart_id_dce = { + .tx_sm_reg = HSP_SM_BASE(NV_ADDRESS_MAP_AON_HSP_SM_BASE, 3), + .rx_sm_reg = 0UL, + .supports_rx = false, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpcdma-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpcdma-ids.c new file mode 100644 index 0000000..36a9da3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpcdma-ids.c @@ -0,0 +1,116 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_DMA_BASE + +/* Late FSP headers */ +#include // for INTERRUPT_DMA... +#include // for tegra_rst_aon_gpcdma +#include // for struct gpcdma_id, gpcdma_channel +#include // Immune from CT_ASSERT +#include // Immune from CT_ASSERT + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") + +SECTION_GPCDMA_RODATA +const struct gpcdma_hw_handle gpcdma_hw_handle_dce = { + .rst = tegra_rst_dce_gpcdma, +}; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan0; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan1; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan2; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan3; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan4; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan5; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan6; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan7; + +SECTION_GPCDMA_DATA +struct gpcdma_id gpcdma_id_dce = { + .conf = { + .base_addr = NV_ADDRESS_MAP_DCE_DMA_BASE, + .irqs = { + [0] = INTERRUPT_DMA0, + [1] = INTERRUPT_DMA1, + [2] = INTERRUPT_DMA2, + [3] = INTERRUPT_DMA3, + [4] = INTERRUPT_DMA4, + [5] = INTERRUPT_DMA5, + [6] = INTERRUPT_DMA6, + [7] = INTERRUPT_DMA7, + }, + .hw_handle = &gpcdma_hw_handle_dce, + }, + .channels = { + [0] = &gpcdma_chan0, + [1] = &gpcdma_chan1, + [2] = &gpcdma_chan2, + [3] = &gpcdma_chan3, + [4] = &gpcdma_chan4, + [5] = &gpcdma_chan5, + [6] = &gpcdma_chan6, + [7] = &gpcdma_chan7, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-aon-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-aon-tegra-ids.c new file mode 100644 index 0000000..234b291 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-aon-tegra-ids.c @@ -0,0 +1,83 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for uint32_t, ... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_GPIO_0_BASE, NV_ADDRESS_MAP_GPIO_CTL0_BASE +#include // for GPIO_A_ENABLE_CONFIG_00_0, .... + +/* Late FSP headers */ +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for struct tegra_gpio_id + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") + +#define TEGRA_GPIO_IRQ_STATUS_REG (GPIO_AA_INTERRUPT_STATUS_G7_0 - \ + GPIO_AA_ENABLE_CONFIG_00_0) + +static const uint32_t tegra_gpio_aon_bases[] = { + GPIO_AA_ENABLE_CONFIG_00_0, + GPIO_BB_ENABLE_CONFIG_00_0, + GPIO_CC_ENABLE_CONFIG_00_0, + GPIO_DD_ENABLE_CONFIG_00_0, + GPIO_EE_ENABLE_CONFIG_00_0, + GPIO_GG_ENABLE_CONFIG_00_0, +}; + +/* Number of pins per bank are captured by manual inspection of HW manuals */ +static const uint8_t num_pins_per_bank[ARRAY_SIZE(tegra_gpio_aon_bases)] = {8, 4, 8, 3, 8, 1}; + +struct tegra_gpio_id tegra_gpio_id_aon = { + .base_addr = NV_ADDRESS_MAP_AON_GPIO_0_BASE, + .bank_count = ARRAY_SIZE(tegra_gpio_aon_bases), + .bank_bases = tegra_gpio_aon_bases, + .irq_status_offset = TEGRA_GPIO_IRQ_STATUS_REG, + .isr_status = false, + .num_pins = num_pins_per_bank, +}; + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-main-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-main-tegra-ids.c new file mode 100644 index 0000000..9c6f387 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-main-tegra-ids.c @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for uint32_t, ... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_GPIO_0_BASE, NV_ADDRESS_MAP_GPIO_CTL0_BASE +#include // for GPIO_A_ENABLE_CONFIG_00_0, .... + +/* Late FSP headers */ +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for struct tegra_gpio_id + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") + +#define TEGRA_GPIO_IRQ_STATUS_REG (GPIO_N_INTERRUPT_STATUS_G7_0 - \ + GPIO_N_ENABLE_CONFIG_00_0) + +static const uint32_t tegra_gpio_main_bases[] = { + GPIO_A_ENABLE_CONFIG_00_0, + GPIO_B_ENABLE_CONFIG_00_0, + GPIO_C_ENABLE_CONFIG_00_0, + GPIO_D_ENABLE_CONFIG_00_0, + GPIO_E_ENABLE_CONFIG_00_0, + GPIO_F_ENABLE_CONFIG_00_0, + GPIO_G_ENABLE_CONFIG_00_0, + GPIO_H_ENABLE_CONFIG_00_0, + GPIO_I_ENABLE_CONFIG_00_0, + GPIO_J_ENABLE_CONFIG_00_0, + GPIO_K_ENABLE_CONFIG_00_0, + GPIO_L_ENABLE_CONFIG_00_0, + GPIO_M_ENABLE_CONFIG_00_0, + GPIO_N_ENABLE_CONFIG_00_0, + GPIO_P_ENABLE_CONFIG_00_0, + GPIO_Q_ENABLE_CONFIG_00_0, + GPIO_R_ENABLE_CONFIG_00_0, + GPIO_X_ENABLE_CONFIG_00_0, + GPIO_Y_ENABLE_CONFIG_00_0, + GPIO_Z_ENABLE_CONFIG_00_0, + GPIO_AC_ENABLE_CONFIG_00_0, + GPIO_AD_ENABLE_CONFIG_00_0, + GPIO_AE_ENABLE_CONFIG_00_0, + GPIO_AF_ENABLE_CONFIG_00_0, + GPIO_AG_ENABLE_CONFIG_00_0, +}; + +/* Number of pins per bank are captured by manual inspection of HW manuals */ +static const uint8_t num_pins_per_bank[ARRAY_SIZE(tegra_gpio_main_bases)] = + {8, 1, 8, 4, 8, 6, 8, 8, 7, 6, 8, 4, 8, 8, 8, 8, 6, 8, 8, 8, 8, 4, 2, 4, 8}; + +struct tegra_gpio_id tegra_gpio_id_main = { + .base_addr = NV_ADDRESS_MAP_GPIO_CTL_BASE, + .bank_count = ARRAY_SIZE(tegra_gpio_main_bases), + .bank_bases = tegra_gpio_main_bases, + .irq_status_offset = TEGRA_GPIO_IRQ_STATUS_REG, + .isr_status = false, + .num_pins = num_pins_per_bank, +}; + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-tegra-ids.c new file mode 100644 index 0000000..ac7a1c7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/gpio-tegra-ids.c @@ -0,0 +1,42 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ +#include // for tegra_gpio_id_main +#include + +/* Module-specific FSP headers */ +#include /* for struct tegra_gpio_id */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + + CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") + CT_ASSERT(FSP__PROCESSOR__GPIO_TEGRA_HW_H, "Header file missing or invalid.") + +struct tegra_gpio_id * tegra_gpio_id_dce[MAX_GPIO_CONTROLLERS] = { + &tegra_gpio_id_main, + &tegra_gpio_id_aon, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/hsp-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/hsp-tegra-ids.c new file mode 100644 index 0000000..8b241a9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/hsp-tegra-ids.c @@ -0,0 +1,85 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for UINT32_MAX, UINT8_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DCE_HSP_BASE +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_M... + +/* Late FSP headers */ +#include // for tegra_hsp_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection + +/* Module-specific FSP headers */ +#include // for FSP__HW_CONFIG__VIC_IRQS_H +#include // for FSP__SOC_COMMON__HSP_TEGRA_... +#include // for FSP__VIC__TEGRA_VIC_H + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP0_HSP_BASE, + .host = TEGRA_HSP_DB_DCE, + .db_irq = INTERRUPT_TOP0_HSP_DB, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_dce = { + .conf = { + .base_addr = NV_ADDRESS_MAP_DCE_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = INTERRUPT_MBOX, + .si_index = 0, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/i2c-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/i2c-tegra-ids.c new file mode 100644 index 0000000..912af68 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/i2c-tegra-ids.c @@ -0,0 +1,115 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for true +#include // for NULL +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_I2C2_BASE, NV_AD... + +/* Late FSP headers */ +#include // for FSP__HW_CONFIG__VIC_IRQS_H, INT... + +/* Module-specific FSP header files */ +#include // for i2c_hw_handle, FSP__PROCESSOR__... +#include // for FSP__SOC_COMMON__CLK_TEGRA_HW_H +#include // for TEGRA234_I2C2, TEGRA234_I2C8 + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__I2C_DEFS_H, "Header file missing or invalid.") + +static const struct i2c_hw_handle t234_i2c_ctrl4 = { + .ctrl_id = TEGRA234_I2C4, + .base = NV_ADDRESS_MAP_I2C4_BASE, + .clk_data = tegra_clk_i2c4, + .rst_data = tegra_rst_i2c4, + .irq_no = INTERRUPT_I2C3, + .is_multimaster = (bool)true, +}; +static const struct i2c_hw_handle t234_i2c_ctrl6 = { + .ctrl_id = TEGRA234_I2C6, + .base = NV_ADDRESS_MAP_I2C6_BASE, + .clk_data = tegra_clk_i2c6, + .rst_data = tegra_rst_i2c6, + .irq_no = INTERRUPT_I2C3, // This is a dummy interrupt. DCE will use LIC mapping + .is_multimaster = (bool)true, +}; + +static const struct i2c_hw_handle t234_i2c_ctrl7 = { + .ctrl_id = TEGRA234_I2C7, + .base = NV_ADDRESS_MAP_I2C7_BASE, + .clk_data = tegra_clk_i2c7, + .rst_data = tegra_rst_i2c7, + .irq_no = INTERRUPT_I2C3, // This is a dummy interrupt. DCE will use LIC mapping + .is_multimaster = (bool)true, +}; + +const struct i2c_hw_handle *i2c_get_hw_handle(uint32_t ctrl_id) +{ + struct i2c_hw_handle const *hi2c_hw; + + switch(ctrl_id) { + case TEGRA234_I2C4: + hi2c_hw = &t234_i2c_ctrl4; + break; + + case TEGRA234_I2C6: + hi2c_hw = &t234_i2c_ctrl6; + break; + + case TEGRA234_I2C7: + hi2c_hw = &t234_i2c_ctrl7; + break; + + default: + hi2c_hw = NULL; + break; + } + + return hi2c_hw; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/irqapi-vic-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/irqapi-vic-ids.c new file mode 100644 index 0000000..c235949 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/irqapi-vic-ids.c @@ -0,0 +1,43 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + +const uint32_t vic_base_addr[MAX_VIC_CONTROLLER] ={ + NV_ADDRESS_MAP_DCE_VIC_0_BASE, + NV_ADDRESS_MAP_DCE_VIC_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/lic-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/lic-tegra-ids.c new file mode 100644 index 0000000..5ca87b0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/lic-tegra-ids.c @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for INTERRUPT_LIC... +#include // for DCE_LIC_IRQ_BASE +#include // for struct tegra_lic_id,... +#include // Immune from CT_ASSERT + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") + CT_ASSERT(FSP__LIC__LIC_TEGRA_PRIV_H, "Header file missing or invalid.") + +#define DCE_LIC_IRQ_LINES 4U +#define DCE_LIC_BASE_CHAN 8U +#define DCE_LIC_NUM_CHANS 2U + +SECTION_LIC_DATA +struct tegra_lic_id tegra_lic_id_dce; + +SECTION_LIC_DATA +lic_irq_context_t lic0_irq_context = { + .id = &tegra_lic_id_dce, + .chan = DCE_LIC_BASE_CHAN, + .is_vfiq = false, +}; + +SECTION_LIC_DATA +lic_irq_context_t lic1_irq_context = { + .id = &tegra_lic_id_dce, + .chan = DCE_LIC_BASE_CHAN, + .is_vfiq = true, +}; + +SECTION_LIC_DATA +lic_irq_context_t lic2_irq_context = { + .id = &tegra_lic_id_dce, + .chan = DCE_LIC_BASE_CHAN + 1U, + .is_vfiq = false, +}; + +SECTION_LIC_DATA +lic_irq_context_t lic3_irq_context = { + .id = &tegra_lic_id_dce, + .chan = DCE_LIC_BASE_CHAN + 1U, + .is_vfiq = true, +}; + +static lic_irq_context_t *lic_irq_contexts[DCE_LIC_IRQ_LINES] = { + &lic0_irq_context, + &lic1_irq_context, + &lic2_irq_context, + &lic3_irq_context, +}; + +struct tegra_lic_id tegra_lic_id_dce = { + .conf = { + .base_chan = DCE_LIC_BASE_CHAN, + .num_chans = DCE_LIC_NUM_CHANS, + .num_slices = LIC_MAX_SLICES, + .local_irq_base = (uint16_t)INTERRUPT_LIC0, + .lic_irq_base = (uint16_t)LIC_IRQ_BASE, + }, + .irq_contexts = lic_irq_contexts, + .num_lic_irq_lines = ARRAY_SIZE(lic_irq_contexts), +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/tke-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/tke-tegra-ids.c new file mode 100644 index 0000000..16a34ff --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/tke-tegra-ids.c @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include +#include /* Immune from CT_ASSERT protection */ + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t tke_top_base = NV_ADDRESS_MAP_DCE_TKE_BASE; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_DCE_TKE_TMR_0_BASE, + .irq = NV_DCE_IRQ_TIMER0, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_DCE_TKE_TMR_1_BASE, + .irq = NV_DCE_IRQ_TIMER1, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_DCE_TKE_TMR_2_BASE, + .irq = NV_DCE_IRQ_TIMER2, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_DCE_TKE_TMR_3_BASE, + .irq = NV_DCE_IRQ_TIMER3, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/wdt-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/wdt-tegra-ids.c new file mode 100644 index 0000000..13ed3fa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/dce/wdt-tegra-ids.c @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DCE_TKE_WDT_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK +#include // for FSP__WATCHDOG__WDT_TEGRA_PRIV_H +#include /* Immune from CT_ASSERT protection */ + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H +#include // for FSP__SOC_COMMON__HW_CONST_H + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +extern struct tegra_wdt tegra_wdt_instance; + +SECTION_WATCHDOG_DATA +struct tegra_wdt tegra_wdt_instance = { + .id = { + .devname = "wdt", + .base_addr = NV_ADDRESS_MAP_DCE_TKE_WDT_0_BASE, + .irq = NV_DCE_IRQ_WDTIRQ, + .fiq = NV_DCE_IRQ_WDTFIQ, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/ast-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/ast-tegra-ids.c new file mode 100644 index 0000000..49ba70a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/ast-tegra-ids.c @@ -0,0 +1,43 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t ast_tegra_id[] = { + NV_ADDRESS_MAP_FSI_CPU0_AST_BASE, + NV_ADDRESS_MAP_FSI_CPU1_AST_BASE, + NV_ADDRESS_MAP_FSI_CPU2_AST_BASE, + NV_ADDRESS_MAP_FSI_CPU3_AST_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/gpcdma-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/gpcdma-ids.c new file mode 100644 index 0000000..7295dcc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/gpcdma-ids.c @@ -0,0 +1,117 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_DMA_BASE + +/* Late FSP headers */ +#include // for tegra_rst_aon_gpcdma +#include // for struct gpcdma_id, gpcdma_channel +#include // Immune from CT_ASSERT +#include // Immune from CT_ASSERT + +#include // for FSP__PROCESSOR__IRQS_HW_H + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") + CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") + +SECTION_GPCDMA_RODATA +const struct gpcdma_hw_handle gpcdma_hw_handle_fsi = { + /* FIXME: add CLK for GPCDMA */ + .rst = 0, +}; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan0; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan1; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan2; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan3; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan4; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan5; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan6; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan7; + +SECTION_GPCDMA_DATA +struct gpcdma_id gpcdma_id_fsi = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_DMA_BASE, + .irqs = { + [0] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR0, + [1] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR1, + [2] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR2, + [3] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR3, + [4] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR4, + [5] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR5, + [6] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR6, + [7] = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_DMA_INTR7, + }, + .hw_handle = &gpcdma_hw_handle_fsi, + }, + .channels = { + [0] = &gpcdma_chan0, + [1] = &gpcdma_chan1, + [2] = &gpcdma_chan2, + [3] = &gpcdma_chan3, + [4] = &gpcdma_chan4, + [5] = &gpcdma_chan5, + [6] = &gpcdma_chan6, + [7] = &gpcdma_chan7, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/gpio-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/gpio-tegra-ids.c new file mode 100644 index 0000000..5a8c1f6 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/gpio-tegra-ids.c @@ -0,0 +1,94 @@ +/* + * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +/* Compiler headers */ +#include // for uint32_t, ... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_GPIO_0_BASE, NV_ADDRESS_MAP_GPIO_CTL0_BASE +#include // for GPIO_A_ENABLE_CONFIG_00_0, .... + +/* Late FSP headers */ +#include // for ARRAY_SIZE + +/* Module-specific FSP headers */ +#include // for struct gpio_irq_handler + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPIO__TEGRA_GPIO_PRIV_H, "Header file missing or invalid.") + +static const uint32_t tegra_fsi_gpio_ctl_0_bases[] = { + GPIO_U_ENABLE_CONFIG_00_0, + GPIO_V_ENABLE_CONFIG_00_0, +}; + +/* Number of pins per bank are captured by manual inspection of HW manuals */ +static const uint8_t ctl0_pins_per_bank[ARRAY_SIZE(tegra_fsi_gpio_ctl_0_bases)] = {8, 1}; + +static const uint32_t tegra_fsi_gpio_ctl_1_bases[] = { + GPIO_S_ENABLE_CONFIG_00_0, + GPIO_T_ENABLE_CONFIG_00_0, +// GPIO_W_ENABLE_CONFIG_00_0, +}; + +/* Number of pins per bank are captured by manual inspection of HW manuals */ +static const uint8_t ctl1_pins_per_bank[ARRAY_SIZE(tegra_fsi_gpio_ctl_1_bases)] = {8, 2}; + +struct tegra_gpio_id tegra_fsi_gpio_ctl_0_id = { + .base_addr = NV_ADDRESS_MAP_FSI_GPIO_CTL0_BASE, + .bank_count = ARRAY_SIZE(tegra_fsi_gpio_ctl_0_bases), + .bank_bases = tegra_fsi_gpio_ctl_0_bases, + .num_pins = ctl0_pins_per_bank, +}; + +struct tegra_gpio_id tegra_fsi_gpio_ctl_1_id = { + .base_addr = NV_ADDRESS_MAP_FSI_GPIO_CTL1_BASE, + .bank_count = ARRAY_SIZE(tegra_fsi_gpio_ctl_1_bases), + .bank_bases = tegra_fsi_gpio_ctl_1_bases, + .num_pins = ctl1_pins_per_bank, +}; + +struct tegra_gpio_id *const chips[] = { + &tegra_fsi_gpio_ctl_0_id, + &tegra_fsi_gpio_ctl_1_id +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/hsp-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/hsp-tegra-ids.c new file mode 100644 index 0000000..f13769d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/hsp-tegra-ids.c @@ -0,0 +1,165 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_FSI_HSP_BASE +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_M... + +/* Late FSP headers */ +#include // for tegra_hsp_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top2_hsp_tx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP2_HSP_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_TOP_HSP2_SI0, + .si_index = 0U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top2_hsp_rx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP2_HSP_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_TOP_HSP2_SI1, + .si_index = 1U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_fsi_hsp_tx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_HSP_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_HSP_SI0, + .si_index = 0U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_fsi_hsp_rx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_HSP_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_HSP_SI4, + .si_index = 4U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_sce_hsp1_tx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_HSP1_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_SCE_HSP1_SI2, + .si_index = 2U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_sce_hsp1_rx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_HSP1_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_SCE_HSP1_SI3, + .si_index = 3U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_sce_hsp2_tx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_HSP2_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_SCE_HSP2_SI2, + .si_index = 2U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_sce_hsp2_rx = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_HSP2_BASE, + .sh_irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_SCE_HSP2_SI4, + .si_index = 4U, + }, + .n_sm = 8U, + .n_ss = 4U, + .n_as = 0U, + .n_db = 0U, + .n_si = 8U, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/tke-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/tke-tegra-ids.c new file mode 100644 index 0000000..de91017 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/tke-tegra-ids.c @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for uint32_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_TKE_BASE, NV_... + +/* Late FSP headers */ +#include // Immune from CT_ASSERT protection +#include // for tegra_tke_id, FSP__TKE__TKE_TEGR... + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H, NV_AO... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ + CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") + +const uint32_t tke_top_base = NV_ADDRESS_MAP_FSI_TKE_BASE; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_TKE_TMR_0_BASE, + .irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_TIMER_INTR0, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_TKE_TMR_1_BASE, + .irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_TIMER_INTR1, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_TKE_TMR_2_BASE, + .irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_TIMER_INTR2, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_FSI_TKE_TMR_3_BASE, + .irq = NV_FSI_SPI_INTR_BASE + NV_FSI_GIC_TIMER_INTR3, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/wdt-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/wdt-tegra-ids.c new file mode 100644 index 0000000..9b9d363 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/fsi/wdt-tegra-ids.c @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_AON_TKE_WDT_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK +#include // Immune from CT_ASSERT protection +#include // for tegra_wdt + +/* Module-specific FSP headers */ +#include // for NV_AON_INTERRUPT_WDTFIQ, NV_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") + +extern struct tegra_wdt tegra_wdt_instance; + +SECTION_WATCHDOG_DATA +struct tegra_wdt tegra_wdt_instance = { + .id = { + .devname = "wdt", + .base_addr = NV_ADDRESS_MAP_FSI_TKE_WDT_0_BASE, + .irq = NV_FSI_PPI_INTR_BASE + NV_FSI_GIC_WDT_nIRQ0, + .fiq = NV_FSI_PPI_INTR_BASE + NV_FSI_GIC_WDT_nFIQ0, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/ast-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/ast-tegra-ids.c new file mode 100644 index 0000000..f62ef10 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/ast-tegra-ids.c @@ -0,0 +1,41 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t ast_tegra_id[] = { + NV_ADDRESS_MAP_RCE_AST_0_BASE, + NV_ADDRESS_MAP_RCE_AST_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/gpcdma-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/gpcdma-ids.c new file mode 100644 index 0000000..7ee9723 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/gpcdma-ids.c @@ -0,0 +1,116 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_RCE_DMA_BASE + +/* Late FSP headers */ +#include // for INTERRUPT_DMA... +#include // for tegra_rst_rce_gpcdma +#include // for struct gpcdma_id, gpcdma_channel +#include // Immune from CT_ASSERT +#include // Immune from CT_ASSERT + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") + +SECTION_GPCDMA_RODATA +const struct gpcdma_hw_handle gpcdma_hw_handle_rce = { + .rst = tegra_rst_rce_gpcdma, +}; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan0; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan1; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan2; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan3; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan4; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan5; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan6; + +SECTION_GPCDMA_DATA +struct gpcdma_channel gpcdma_chan7; + +SECTION_GPCDMA_DATA +struct gpcdma_id gpcdma_id_rce = { + .conf = { + .base_addr = NV_ADDRESS_MAP_RCE_DMA_BASE, + .irqs = { + [0] = INTERRUPT_DMA0, + [1] = INTERRUPT_DMA1, + [2] = INTERRUPT_DMA2, + [3] = INTERRUPT_DMA3, + [4] = INTERRUPT_DMA4, + [5] = INTERRUPT_DMA5, + [6] = INTERRUPT_DMA6, + [7] = INTERRUPT_DMA7, + }, + .hw_handle = &gpcdma_hw_handle_rce, + }, + .channels = { + [0] = &gpcdma_chan0, + [1] = &gpcdma_chan1, + [2] = &gpcdma_chan2, + [3] = &gpcdma_chan3, + [4] = &gpcdma_chan4, + [5] = &gpcdma_chan5, + [6] = &gpcdma_chan6, + [7] = &gpcdma_chan7, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/hsp-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/hsp-tegra-ids.c new file mode 100644 index 0000000..3f35ce0 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/hsp-tegra-ids.c @@ -0,0 +1,87 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for UINT32_MAX, UINT8_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DCE_HSP_BASE +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_M... + +/* Late FSP headers */ +#include // for tegra_hsp_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection + +/* Module-specific FSP headers */ +#include // for FSP__HW_CONFIG__VIC_IRQS_H +#include // for NV_RCE_IRQ_MBOX, NV_RCE_IRQ... +#include // for FSP__SOC_COMMON__HSP_TEGRA_... +#include // for FSP__VIC__TEGRA_VIC_H + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") + + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP0_HSP_BASE, + .host = TEGRA_HSP_DB_RCE, + .db_irq = NV_RCE_IRQ_TOP0_HSP_DB, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_rce = { + .conf = { + .base_addr = NV_ADDRESS_MAP_RCE_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = NV_RCE_IRQ_MBOX, + .si_index = 0, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/irqapi-vic-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/irqapi-vic-ids.c new file mode 100644 index 0000000..daac7d4 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/irqapi-vic-ids.c @@ -0,0 +1,43 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + +const uint32_t vic_base_addr[MAX_VIC_CONTROLLER] ={ + NV_ADDRESS_MAP_RCE_VIC_0_BASE, + NV_ADDRESS_MAP_RCE_VIC_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/tke-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/tke-tegra-ids.c new file mode 100644 index 0000000..25598ad --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/tke-tegra-ids.c @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include +#include /* Immune from CT_ASSERT protection */ + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +const uint32_t tke_top_base = NV_ADDRESS_MAP_RCE_TKE_BASE; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_RCE_TKE_TMR_0_BASE, + .irq = NV_RCE_IRQ_TIMER0, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_RCE_TKE_TMR_1_BASE, + .irq = NV_RCE_IRQ_TIMER1, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_RCE_TKE_TMR_2_BASE, + .irq = NV_RCE_IRQ_TIMER2, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_RCE_TKE_TMR_3_BASE, + .irq = NV_RCE_IRQ_TIMER3, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/wdt-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/wdt-tegra-ids.c new file mode 100644 index 0000000..7adfbbb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/rce/wdt-tegra-ids.c @@ -0,0 +1,60 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DCE_TKE_WDT_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK +#include // for FSP__WATCHDOG__WDT_TEGRA_PRIV_H +#include /* Immune from CT_ASSERT protection */ + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H +#include // for FSP__SOC_COMMON__HW_CONST_H + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +extern struct tegra_wdt tegra_wdt_instance; + +SECTION_WATCHDOG_DATA +struct tegra_wdt tegra_wdt_instance = { + .id = { + .devname = "wdt", + .base_addr = NV_ADDRESS_MAP_RCE_TKE_WDT_0_BASE, + .irq = NV_RCE_IRQ_WDTIRQ, + .fiq = NV_RCE_IRQ_WDTFIQ, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/ast-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/ast-tegra-ids.c new file mode 100644 index 0000000..c2e9a85 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/ast-tegra-ids.c @@ -0,0 +1,42 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + + +const uint32_t ast_tegra_id[] = { + NV_ADDRESS_MAP_SCE_AST_0_BASE, + NV_ADDRESS_MAP_SCE_AST_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/hsp-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/hsp-tegra-ids.c new file mode 100644 index 0000000..fadf42a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/hsp-tegra-ids.c @@ -0,0 +1,85 @@ +/* + * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for UINT32_MAX, UINT8_MAX + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DCE_HSP_BASE +#include // for HSP_SHRD_MBOX_MBOX_0_SHRD_M... + +/* Late FSP headers */ +#include // for tegra_hsp_id, FSP__HSP__HSP... +#include // Immune from CT_ASSERT protection + +/* Module-specific FSP headers */ +#include // for FSP__HW_CONFIG__VIC_IRQS_H +#include // for FSP__SOC_COMMON__HSP_TEGRA_... +#include // for FSP__VIC__TEGRA_VIC_H + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HSP__HSP_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__HW_CONFIG__VIC_IRQS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HSP_TEGRA_TOP_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__VIC__TEGRA_VIC_H, "Header file missing or invalid.") + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_top0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_TOP0_HSP_BASE, + .host = TEGRA_HSP_DB_SCE, + .db_irq = NV_SCE_IRQ_TOP0_HSP_DB, + .sh_irq = UINT32_MAX, + .si_index = UINT8_MAX, + }, +}; + +SECTION_HSP_DATA +struct tegra_hsp_id tegra_hsp_id_rce = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_HSP_BASE, + .db_irq = UINT32_MAX, + .sh_irq = NV_SCE_IRQ_MBOX, + .si_index = 0, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/irqapi-vic-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/irqapi-vic-ids.c new file mode 100644 index 0000000..65582f7 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/irqapi-vic-ids.c @@ -0,0 +1,43 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include + +/* Late FSP headers */ + +/* Module-specific FSP headers */ +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") + +uint32_t vic_base_addr[MAX_VIC_CONTROLLER] ={ + NV_ADDRESS_MAP_SCE_VIC_0_BASE, + NV_ADDRESS_MAP_SCE_VIC_1_BASE +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/tke-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/tke-tegra-ids.c new file mode 100644 index 0000000..b31e51f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/tke-tegra-ids.c @@ -0,0 +1,76 @@ +/* + * Copyright (c) 2016-2020, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include + +/* Early FSP headers */ +#include + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include +#include /* Immune from CT_ASSERT protection */ + +/* Module-specific FSP headers */ +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +CT_ASSERT(FSP__TKE__TKE_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + + +const uint32_t tke_top_base = NV_ADDRESS_MAP_SCE_TKE_BASE; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer0 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_TKE_TMR_0_BASE, + .irq = NV_SCE_IRQ_TIMER0, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer1 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_TKE_TMR_1_BASE, + .irq = NV_SCE_IRQ_TIMER1, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer2 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_TKE_TMR_2_BASE, + .irq = NV_SCE_IRQ_TIMER2, + }, +}; + +SECTION_TKE_DATA +struct tegra_tke_id tegra_tke_id_timer3 = { + .conf = { + .base_addr = NV_ADDRESS_MAP_SCE_TKE_TMR_3_BASE, + .irq = NV_SCE_IRQ_TIMER3, + }, +}; diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/wdt-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/wdt-tegra-ids.c new file mode 100644 index 0000000..800c4bb --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/sce/wdt-tegra-ids.c @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_DCE_TKE_WDT_0... + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK +#include // for FSP__WATCHDOG__WDT_TEGRA_PRIV_H +#include /* Immune from CT_ASSERT protection */ + +/* Module-specific FSP headers */ +#include // for FSP__PROCESSOR__IRQS_HW_H +#include // for FSP__SOC_COMMON__HW_CONST_H + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP soudce code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__WATCHDOG__WDT_TEGRA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__IRQS_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") + +extern struct tegra_wdt tegra_wdt_instance; + +SECTION_WATCHDOG_DATA +struct tegra_wdt tegra_wdt_instance = { + .id = { + .devname = "wdt", + .base_addr = NV_ADDRESS_MAP_SCE_TKE_WDT_0_BASE, + .irq = NV_SCE_IRQ_WDTIRQ, + .fiq = NV_SCE_IRQ_WDTFIQ, + }, +}; +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_8_7, "Approval: Bug 200531999, DR: SWE-FSP-015-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/soc-common/clk-tegra.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/soc-common/clk-tegra.c new file mode 100644 index 0000000..5c18b84 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/soc-common/clk-tegra.c @@ -0,0 +1,515 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for bool +#include // for uint32_t, int32_t, uint8_t + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_CAR_BASE +#include // for CLK_RST_CONTROLLER_OSC_CTRL_0_OSC... + +/* Late FSP headers */ +#include // for tegra_platform_is_silicon +#include // for tegra_clk_disable, tegra_clk_enable +#ifdef _NV_BUILD_FPGA_ +#include /* Immune from CT_ASSERT protection */ +#endif +#include // for udelay +#include // for BIT +#include // for NV_DRF_DEF, NV_FIELD_HIGHBIT, NV_... +#include // for writel, readl +#include // for tegra_platform_is_fpga + +/* Module-specific FSP header files */ + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CHIPID__CHIP_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__NVRM_DRF_H, "Header file missing or invalid.") +CT_ASSERT(FSP__REG_ACCESS__REG_ACCESS_H, "Header file missing or invalid.") + +#define CLK_RST_CONTROLLER_CLK_OUT_ENB_0 0x00 +#define CLK_RST_CONTROLLER_CLK_OUT_ENB_SET_0 0x04 +#define CLK_RST_CONTROLLER_CLK_OUT_ENB_CLR_0 0x08 + +#define CLK_RST_CONTROLLER_RST_DEV_0 0x00 +#define CLK_RST_CONTROLLER_RST_DEV_SET_0 0x04 +#define CLK_RST_CONTROLLER_RST_DEV_CLR_0 0x08 + +#define LOWBIT 0 +#define HIGHBIT 1 +#define FIELD_RANGE(x) { \ + [LOWBIT] = NV_FIELD_LOWBIT(x), \ + [HIGHBIT] = NV_FIELD_HIGHBIT(x) \ +} + +struct tegra_clk { + uint32_t enb_base_reg; + uint32_t src_reg; + uint8_t div_range[2]; /* [0]=LOWBIT [1]=HIGHBIT */ + uint32_t div_enb; /* 0 if enable bit is not available */ + uint8_t frac_width; + uint32_t clk_src; + const struct tegra_parent_clk *parent; +}; + +struct tegra_parent_clk { + uint32_t rate; +}; + +struct tegra_rst { + uint32_t rst_base_reg; +}; + +struct tegra_parent_clk tegra_parent_clk_osc_undiv_data = { + .rate = 0, +}; + +struct tegra_parent_clk tegra_parent_clk_pll_p_data = { + .rate = 408000000, +}; + +struct tegra_parent_clk tegra_parent_clk_pll_aon_data = { + .rate = 0, +}; + +const struct tegra_clk tegra_clk_uarta_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTA_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_UARTA_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_UARTA_0_UARTA_CLK_DIVISOR), +#if defined(_NV_BUILD_FPGA_) || defined(_NV_BUILD_LINSIM_) + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTA, UARTA_DIV_ENB, DISABLE), +#else + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTA, UARTA_DIV_ENB, ENABLE), +#endif + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTA, UARTA_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_uarta_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_UARTA_0, +}; + +const struct tegra_clk tegra_clk_uartb_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTB_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_UARTB_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_UARTB_0_UARTB_CLK_DIVISOR), + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTB, UARTB_DIV_ENB, ENABLE), + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTB, UARTB_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_uartb_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_UARTB_0, +}; + +const struct tegra_clk tegra_clk_uartc_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTC_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_UARTC_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_UARTC_0_UARTC_CLK_DIVISOR), + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTC, UARTC_DIV_ENB, ENABLE), + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTC, UARTC_CLK_SRC, OSC_UNDIV), + .parent = &tegra_parent_clk_osc_undiv_data, +}; + +const struct tegra_rst tegra_rst_uartc_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_UARTC_0, +}; + +const struct tegra_clk tegra_clk_uartf_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTF_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_UARTF_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_UARTF_0_UARTF_CLK_DIVISOR), + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTF, UARTF_DIV_ENB, ENABLE), + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTF, UARTF_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_uartf_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_UARTF_0, +}; + +const struct tegra_clk tegra_clk_uarth_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTH_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_UARTH_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_UARTH_0_UARTH_CLK_DIVISOR), + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTH, UARTH_DIV_ENB, ENABLE), + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTH, UARTH_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_uarth_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_UARTH_0, +}; + +const struct tegra_clk tegra_clk_uartj_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTJ_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_UARTJ_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_UARTJ_0_UARTJ_CLK_DIVISOR), + .div_enb = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTJ, UARTJ_DIV_ENB, ENABLE), + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_UARTJ, UARTJ_CLK_SRC, OSC_UNDIV), + .parent = &tegra_parent_clk_osc_undiv_data, +}; + +const struct tegra_rst tegra_rst_uartj_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_UARTJ_0, +}; + +const struct tegra_clk tegra_clk_aon_i2c_slow_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_AON_I2C_SLOW_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_AON_I2C_SLOW_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_AON_I2C_SLOW_0_AON_I2C_SLOW_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_AON_I2C_SLOW, AON_I2C_SLOW_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_clk tegra_clk_i2c_slow_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C_SLOW_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C_SLOW_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C_SLOW_0_I2C_SLOW_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C_SLOW, I2C_SLOW_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_clk tegra_clk_i2c1_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C1_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C1_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C1_0_I2C1_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C1, I2C1_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c1_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C1_0, +}; + +const struct tegra_clk tegra_clk_i2c2_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C2_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C2_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C2_0_I2C2_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C2, I2C2_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c2_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C2_0, +}; + +const struct tegra_clk tegra_clk_i2c3_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C3_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C3_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C3_0_I2C3_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C3, I2C3_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c3_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C3_0, +}; + +const struct tegra_clk tegra_clk_i2c4_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C4_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C4_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C4_0_I2C4_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C4, I2C4_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c4_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C4_0, +}; + +const struct tegra_clk tegra_clk_i2c6_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C6_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C6_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C6_0_I2C6_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C6, I2C6_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c6_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C6_0, +}; + +const struct tegra_clk tegra_clk_i2c7_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C7_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C7_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C7_0_I2C7_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C7, I2C7_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c7_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C7_0, +}; + +const struct tegra_clk tegra_clk_i2c8_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_I2C8_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_I2C8_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_I2C8_0_I2C8_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 0, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_I2C8, I2C8_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_i2c8_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_I2C8_0, +}; + +const struct tegra_rst tegra_rst_aon_gpcdma_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_AON_DMA_0, +}; + +const struct tegra_rst tegra_rst_sce_gpcdma_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_SCE_DMA_0, +}; + +const struct tegra_rst tegra_rst_rce_gpcdma_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_RCE_DMA_0, +}; + +const struct tegra_rst tegra_rst_dce_gpcdma_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_DCE_DMA_0, +}; + +const struct tegra_clk tegra_clk_aodmic_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_DMIC5_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_DMIC5_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_DMIC5_0_DMIC5_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER,CLK_SOURCE_DMIC5, DMIC5_CLK_SRC, OSC_UNDIV), + .parent = &tegra_parent_clk_osc_undiv_data, +}; + +const struct tegra_rst tegra_rst_aodmic_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_DMIC5_0, +}; + +const struct tegra_clk tegra_clk_spi1_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_SPI1_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_SPI1_0, + .div_range = FIELD_RANGE((uint8_t)CLK_RST_CONTROLLER_CLK_SOURCE_SPI1_0_SPI1_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_SPI1, SPI1_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_spi1_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_SPI1_0, +}; + +const struct tegra_clk tegra_clk_spi2_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_SPI2_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_SPI2_0, + .div_range = FIELD_RANGE(CLK_RST_CONTROLLER_CLK_SOURCE_SPI2_0_SPI2_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_SPI2, SPI2_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_spi2_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_SPI2_0, +}; + +const struct tegra_clk tegra_clk_spi3_data = { + .enb_base_reg = CLK_RST_CONTROLLER_CLK_OUT_ENB_SPI3_0, + .src_reg = CLK_RST_CONTROLLER_CLK_SOURCE_SPI3_0, + .div_range = FIELD_RANGE((uint8_t)CLK_RST_CONTROLLER_CLK_SOURCE_SPI3_0_SPI3_CLK_DIVISOR), + .div_enb = 0, + .frac_width = 1, + .clk_src = NV_DRF_DEF(CLK_RST_CONTROLLER, CLK_SOURCE_SPI3, SPI3_CLK_SRC, PLLP_OUT0), + .parent = &tegra_parent_clk_pll_p_data, +}; + +const struct tegra_rst tegra_rst_spi3_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_SPI3_0, +}; + +const struct tegra_rst tegra_rst_can0_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_CAN1_0, +}; + +const struct tegra_rst tegra_rst_can1_data = { + .rst_base_reg = CLK_RST_CONTROLLER_RST_DEV_CAN2_0, +}; + +int32_t tegra_clk_init(void) +{ + uint32_t osc_undiv_rate = 38400000; + uint32_t val; + uint32_t osc_freq; + + if (tegra_platform_is_fpga()) { + tegra_parent_clk_osc_undiv_data.rate = 19200000; + goto out; + } + + val = readl(NV_ADDRESS_MAP_CAR_BASE + CLK_RST_CONTROLLER_OSC_CTRL_0); + + osc_freq = NV_DRF_VAL(CLK_RST_CONTROLLER, OSC_CTRL, OSC_FREQ, val); + switch (osc_freq) { + case 0: + osc_undiv_rate = 13000000; + break; + case 1: + osc_undiv_rate = 16800000; + break; + case 4: + osc_undiv_rate = 19200000; + break; + case 5: + osc_undiv_rate = 38400000; + break; + case 8: + osc_undiv_rate = 12000000; + break; + case 9: + osc_undiv_rate = 48000000; + break; + case 12: + osc_undiv_rate = 26000000; + break; + default: + osc_undiv_rate = 38400000; + break; + } + + tegra_parent_clk_osc_undiv_data.rate = osc_undiv_rate; +out: + return 0; +} + +int32_t tegra_clk_enable(const struct tegra_clk *clk) +{ + writel(BIT(0), NV_ADDRESS_MAP_CAR_BASE + clk->enb_base_reg + CLK_RST_CONTROLLER_CLK_OUT_ENB_SET_0); + return 0; +} + +int32_t tegra_clk_disable(const struct tegra_clk *clk) +{ + writel(BIT(0), NV_ADDRESS_MAP_CAR_BASE + clk->enb_base_reg + CLK_RST_CONTROLLER_CLK_OUT_ENB_CLR_0); + return 0; +} + +bool tegra_clk_is_clk_enabled(const struct tegra_clk *clk) +{ + uint32_t clk_en_sts; + + clk_en_sts = readl(NV_ADDRESS_MAP_CAR_BASE + clk->enb_base_reg); + return ((BIT(0) & clk_en_sts) != 0UL); +} + +bool tegra_reset_is_reset_deasserted(const struct tegra_rst *rst) +{ + uint32_t reset_sts; + + reset_sts = readl(NV_ADDRESS_MAP_CAR_BASE + rst->rst_base_reg); + return ((BIT(0) & reset_sts) != 0UL); +} + +int32_t tegra_clk_reset_set(const struct tegra_rst *rst) +{ + writel(BIT(0), NV_ADDRESS_MAP_CAR_BASE + rst->rst_base_reg + CLK_RST_CONTROLLER_RST_DEV_SET_0); + return 0; +} + +int32_t tegra_clk_reset_clear(const struct tegra_rst *rst) +{ + writel(BIT(0), NV_ADDRESS_MAP_CAR_BASE + rst->rst_base_reg + CLK_RST_CONTROLLER_RST_DEV_CLR_0); + return 0; +} + +int32_t tegra_clk_reset_pulse(const struct tegra_rst *rst, uint32_t delay_us) +{ + int32_t ret; + + ret = tegra_clk_reset_set(rst); + if (ret) + return ret; + + if (tegra_platform_is_silicon()) { + udelay(delay_us); + } + + return tegra_clk_reset_clear(rst); +} + +int32_t tegra_clk_set_rate(const struct tegra_clk *clk, uint32_t rate_hz) +{ + uint32_t divisor; + uint32_t val; + + /* + * For now, we always round to ensure the clock runs no faster than + * the requested rate. If some clocks need other rounding options, + * we can add flags to struct tegra_clk for that. + */ + divisor = (((clk->parent->rate) << clk->frac_width) + rate_hz - 1) / rate_hz; + divisor -= (1 << clk->frac_width); + if (divisor & ~NV_DYN_FIELD_MASK(clk->div_range[HIGHBIT], clk->div_range[LOWBIT])) + return 1; + + val = NV_DYN_FIELD_BITS(divisor, clk->div_range[HIGHBIT], clk->div_range[LOWBIT]) | + clk->clk_src | clk->div_enb; + + writel(val, NV_ADDRESS_MAP_CAR_BASE + clk->src_reg); + + return 0; +} + +int32_t tegra_parent_clk_set_rate(struct tegra_parent_clk *clk, uint32_t rate_hz) +{ + clk->rate = rate_hz; + return 0; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/ids/soc-common/uart-tegra-ids.c b/spe-freertos-bsp/fsp/source/soc/t234/ids/soc-common/uart-tegra-ids.c new file mode 100644 index 0000000..950a3f9 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/ids/soc-common/uart-tegra-ids.c @@ -0,0 +1,168 @@ +/* + * Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved. + * + * NVIDIA CORPORATION and its licensors retain all intellectual property + * and proprietary rights in and to this software, related documentation + * and any modifications thereto. Any use, reproduction, disclosure or + * distribution of this software and related documentation without an express + * license agreement from NVIDIA CORPORATION is strictly prohibited. + */ + +/* Compiler headers */ +#include // for NULL + +/* Early FSP headers */ +#include // for CT_ASSERT +#include // Must appear before any hwinc files + +/* Hardware headers */ +#include // for NV_ADDRESS_MAP_UARTF_BASE + +/* Late FSP headers */ +#include // for START_RFD_BLOCK, END_RFD_BLOCK, INLINE_RFD +#include // for TEGRA_UARTF_ENABLED, TEG... +#include // for FSP__UART__TEGRA_UART_PR... + +/* Module-specific FSP header files */ +#include // for FSP__SOC_COMMON__CLK_TEG... + + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__UART__TEGRA_UART_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_2_3, "Approval: On-file, DR: SWE-FSP-010-SWSADR.docx") + +#ifdef TEGRA_UARTA_ENABLED +#ifdef UART_CLOCKS +const struct uart_hw_handle uarta_hw_handle = { + .clk = tegra_clk_uarta, + .rst = tegra_rst_uarta, +}; +#endif + +struct tegra_uart_ctlr tegra_uart_ctlr_uarta = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTA_BASE, +#ifdef UART_CLOCKS + .hw_handle = &uarta_hw_handle, +#else + .hw_handle = NULL, +#endif + .irq = TEGRA_UARTA_IRQ, + }, + .initialized = false, +}; +extern struct tegra_uart_id tegra_uart_id_uarta __attribute__((alias("tegra_uart_ctlr_uarta"))); +#endif + +#ifdef TEGRA_UARTC_ENABLED +#ifdef UART_CLOCKS +const struct uart_hw_handle uartc_hw_handle = { + .clk = tegra_clk_uartc, + .rst = tegra_rst_uartc, +}; +#endif + +struct tegra_uart_ctlr tegra_uart_ctlr_uartc = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTC_BASE, +#ifdef UART_CLOCKS + .hw_handle = &uartc_hw_handle, +#else + .hw_handle = NULL, +#endif + .irq = TEGRA_UARTC_IRQ, + }, + .initialized = false, +}; +extern struct tegra_uart_id tegra_uart_id_uartc __attribute__((alias("tegra_uart_ctlr_uartc"))); +#endif + +#ifdef TEGRA_UARTF_ENABLED +#ifdef UART_CLOCKS +const struct uart_hw_handle uartf_hw_handle = { + .clk = tegra_clk_uartf, + .rst = tegra_rst_uartf, +}; +#endif + +struct tegra_uart_ctlr tegra_uart_ctlr_uartf = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTF_BASE, +#ifdef UART_CLOCKS + .hw_handle = &uartf_hw_handle, +#else + .hw_handle = NULL, +#endif + .irq = TEGRA_UARTF_IRQ, + }, + .initialized = false, +}; +extern struct tegra_uart_id tegra_uart_id_uartf __attribute__((alias("tegra_uart_ctlr_uartf"))); +#endif + +#ifdef TEGRA_UARTH_ENABLED +#ifdef UART_CLOCKS +const struct uart_hw_handle uarth_hw_handle = { + .clk = tegra_clk_uarth, + .rst = tegra_rst_uarth, +}; +#endif + +struct tegra_uart_ctlr tegra_uart_ctlr_uarth = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTH_BASE, +#ifdef UART_CLOCKS + .hw_handle = &uarth_hw_handle, +#else + .hw_handle = NULL, +#endif + .irq = TEGRA_UARTH_IRQ, + }, + .initialized = false, +}; + +extern struct tegra_uart_id tegra_uart_id_uarth __attribute__((alias("tegra_uart_ctlr_uarth"))); + +#endif + +#ifdef TEGRA_UARTJ_ENABLED +#ifdef UART_CLOCKS +const struct uart_hw_handle uartj_hw_handle = { + .clk = tegra_clk_uartj, + .rst = tegra_rst_uartj, +}; +#endif + +struct tegra_uart_ctlr tegra_uart_ctlr_uartj = { + .id = { + .base_addr = NV_ADDRESS_MAP_UARTJ_BASE, +#ifdef UART_CLOCKS + .hw_handle = &uartj_hw_handle, +#else + .hw_handle = NULL, +#endif + .irq = TEGRA_UARTJ_IRQ, + }, + .initialized = false, +}; +extern struct tegra_uart_id tegra_uart_id_uartj __attribute__((alias("tegra_uart_ctlr_uartj"))); +#endif + +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") diff --git a/spe-freertos-bsp/fsp/source/soc/t234/module-soc-t234-config.mk b/spe-freertos-bsp/fsp/source/soc/t234/module-soc-t234-config.mk new file mode 100644 index 0000000..123abcc --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/module-soc-t234-config.mk @@ -0,0 +1,55 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-soc-t234-config.mk) +endif + +# +# Table of Contents: +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SOC_CONFIG := 1 +MODULE_SOC_T234_CONFIG := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +MODULE_SOC_DEPENDS := +$(foreach _,$(MODULE_SOC_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# Define SOC variables +HW_PLATFORM = t23x +SOC = t234 + +# +# Include directory rules +ifndef NV_HWINC_T23X_CL +include $(TEGRA_TOP)/hwinc-$(HW_PLATFORM)/rules.mk +endif + +# +# Location of source code files +MODULE_SOC_T234_SOURCE_DIR = + +# +# Common includes '-I ' +MODULE_SOC_T234_INCLUDES = -I $(TEGRA_TOP)/hwinc-$(HW_PLATFORM)/$(NV_HWINC_T23X_CL)/$(HW_PLATFORM) +MODULE_SOC_T234_INCLUDES += -I $(TEGRA_TOP)/hwinc-private/$(HW_PLATFORM)/$(NV_HWINC_T23X_CL)/$(HW_PLATFORM) +MODULE_SOC_T234_INCLUDES += -I $(FSP_COMMON_REPO)/include/soc/$(SOC) diff --git a/spe-freertos-bsp/fsp/source/soc/t234/module-soc-t234.mk b/spe-freertos-bsp/fsp/source/soc/t234/module-soc-t234.mk new file mode 100644 index 0000000..b632e77 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/module-soc-t234.mk @@ -0,0 +1,62 @@ +# +# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. +# +# NVIDIA CORPORATION and its licensors retain all intellectual property +# and proprietary rights in and to this software, related documentation +# and any modifications thereto. Any use, reproduction, disclosure or +# distribution of this software and related documentation without an express +# license agreement from NVIDIA CORPORATION is strictly prohibited. +# + +# +# Print makefile diagnostic message +ifeq ($(VERBOSE), 1) +$(info Including: module-soc-t234.mk) +endif + +# +# Table of Contents: +# TOC: Define the module name +# TOC: Declare the module dependencies and check them +# TOC: Declare the source directories, which automatically adds them to VPATH +# TOC: Declare the include file directories needed by this module +# TOC: Declare the C language files +# TOC: Declare the Assembly language files +# TOC: Declare C-Flags used by this module +# TOC: Declare ASM-Flags used by this module + +# +# Define module name: +# Once the module name is defined, it will be added to the MODULE_NAMES +# list. This can be done manually (like it is here), or automatically +# on a per-application basis. +MODULE_SOC_T234_NAME := SOC_T234 + +# +# Define a something similar to header guard protection...for makefiles instead. +# This definition must exist for all 'module-soc_*.mk' files. +MODULE_SOC_DEFINED := 1 + +# +# Check for sub-make module dependencies. For each of the module dependencies +# defined below, they must exist in the build before this (current) sub-make +# is called. +CONFIG_SOC_DEPENDS := SOC SOC_T234 +$(foreach _,$(CONFIG_SOC_DEPENDS),$(eval $(call CHECK_MAKEFILE_DEFINED,$_))) + +# +# C Source +MODULE_SOC_T234_C_SRC = +MODULE_SOC_T234_C_SRC += $(CPL_SOC_IDS_CMN)/clk-tegra.c + +# +# Assembly source +MODULE_SOC_T234_ASM_SRC = + +# +# Special C Flags +MODULE_SOC_T234_C_FLAGS = + +# +# Special ASM Flags +MODULE_SOC_T234_ASM_FLAGS = diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/aodmic-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/aodmic-port.c new file mode 100644 index 0000000..354701b --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/aodmic-port.c @@ -0,0 +1,135 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint8_t, uintptr_t, int32_t +#include // for NULL + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for MODULE_ID_AODMIC, E_SUCCESS +#include // for tegra_platform_is_fpga +#include // for tegra_clk_disable, tegra_clk_en... +#include // for END_RFD_BLOCK, START_RFD_BLOCK +#include // for tegra_clk_enable, ... + +/* Module-specific FSP headers */ +#include // for E_AODMIC_NULL_POINTER, E_AODMIC... +#include // for SECTION_AODMIC_... +#include // for aodmic_port_clock_reset_config, ... +#include // for aodmic_port_clk_rst + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CHIPID__CHIP_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__CLK_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__AODMIC__AODMIC_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PORT__AODMIC_PORT_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") + +SECTION_AODMIC_RODATA +const struct aodmic_port_clk_rst aodmic_port_clk_rst_aon = { + .clk = tegra_clk_aodmic, + .rst = tegra_rst_aodmic, +}; + +SECTION_AODMIC_INIT_TEXT error_t +aodmic_port_clock_reset_config(const struct aodmic_port_clk_rst *hw_handle) +{ + error_t ret_val = E_SUCCESS; + + if (hw_handle == NULL) { + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + if(!tegra_platform_is_fpga()) { + /* Enable AODMIC clock */ + tegra_clk_enable(hw_handle->clk); + tegra_clk_reset_pulse(hw_handle->rst, 2); + } + +out: + return ret_val; +} + +SECTION_AODMIC_TEXT error_t +aodmic_port_clock_disable(const struct aodmic_port_clk_rst *hw_handle) +{ + error_t ret_val = E_SUCCESS; + + if (hw_handle == NULL) { + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + tegra_clk_disable(hw_handle->clk); + +out: + return ret_val; +} + +SECTION_AODMIC_INIT_TEXT error_t +aodmic_port_clock_set_rate(const struct aodmic_port_clk_rst *hw_handle, + uint32_t sample_rate) +{ + int32_t status; + error_t ret_val = E_SUCCESS; + + if (hw_handle == NULL) { + ret_val = E_AODMIC_NULL_POINTER; + goto out; + } + + status = tegra_clk_set_rate(hw_handle->clk, sample_rate); + if (status) { + ret_val = E_AODMIC_CLK_RATE_ERROR; + } + +out: + return ret_val; +} + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/gpcdma-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/gpcdma-irq.S new file mode 100644 index 0000000..7d5600a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/gpcdma-irq.S @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include + + .section SECTION_STR_GPCDMA_TEXT, "ax" + .arm + .syntax unified + + /** + * GPCDMA per channel interrupt handlers + * GPCDMA_CHAN[0-7] should be defined by the soc includes + */ + isr_addr DMA0_isr, GPCDMA_CHAN0, gpcdma_chan_irq, INTERRUPT_DMA0 + isr_addr DMA1_isr, GPCDMA_CHAN1, gpcdma_chan_irq, INTERRUPT_DMA1 + isr_addr DMA2_isr, GPCDMA_CHAN2, gpcdma_chan_irq, INTERRUPT_DMA2 + isr_addr DMA3_isr, GPCDMA_CHAN3, gpcdma_chan_irq, INTERRUPT_DMA3 + isr_addr DMA4_isr, GPCDMA_CHAN4, gpcdma_chan_irq, INTERRUPT_DMA4 + isr_addr DMA5_isr, GPCDMA_CHAN5, gpcdma_chan_irq, INTERRUPT_DMA5 + isr_addr DMA6_isr, GPCDMA_CHAN6, gpcdma_chan_irq, INTERRUPT_DMA6 + isr_addr DMA7_isr, GPCDMA_CHAN7, gpcdma_chan_irq, INTERRUPT_DMA7 + + /** + * Defines the portion of the ISR map array for GPCDMA + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_DMA0, DMA0_isr + isr_map_entry INTERRUPT_DMA1, DMA1_isr + isr_map_entry INTERRUPT_DMA2, DMA2_isr + isr_map_entry INTERRUPT_DMA3, DMA3_isr + isr_map_entry INTERRUPT_DMA4, DMA4_isr + isr_map_entry INTERRUPT_DMA5, DMA5_isr + isr_map_entry INTERRUPT_DMA6, DMA6_isr + isr_map_entry INTERRUPT_DMA7, DMA7_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/gpcdma-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/gpcdma-port.c new file mode 100644 index 0000000..18ce545 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/gpcdma-port.c @@ -0,0 +1,295 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t, uint8_t, UINT32_... +#include // for NULL +#include // for bool + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskYieldFromISR +#include // for rtosSemaphore... +#include // for rtosQueue +#include // for rtosBool +#include // for ALIGN +#include // for ARRAY_SIZE +#include // for error_t, E_SUCCESS +#include // for tegra_clk_reset_pulse + +/* Module specific headers */ +#include // for E_GPCDMA_NULL_PTR, E_GPCDMA_... +#include // for struct gpcdma_id, gpcdma_channel... +#include // for gpcdma_port_... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_SEMAPHORE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_QUEUE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PORT_H, "Header file missing or invalid.") + +static rtosSemaphoreHandle chan_sems[TEGRA_GPCDMA_NUM_CHANNELS]; +static uint8_t chan_sem_bufs[TEGRA_GPCDMA_NUM_CHANNELS][rtosSemaphoreSize()]; + +/* Queue is only used during GPCDMA cyclic mode */ +#define GPCDMA_NUM_EL 64UL /* Means 64 buf descriptors */ +#define GPCDMA_QUEUE_SIZE rtosQueueSize(GPCDMA_NUM_EL, \ + sizeof(struct gpcdma_buf_desc)) +static rtosQueueHandle chan_que[TEGRA_GPCDMA_NUM_CHANNELS]; +static uint8_t chan_que_bufs[TEGRA_GPCDMA_NUM_CHANNELS][GPCDMA_QUEUE_SIZE]; +/* Adjust GPCDMA_NUM_EL based on application requirement */ + +static inline bool is_dma_chan_valid(uint32_t chan_num) +{ + return chan_num < (uint32_t)TEGRA_GPCDMA_NUM_CHANNELS; +} + +/* Queue implementation for the continuous or cyclic mode of tranfer */ + +error_t gpcdma_port_init_queue(uint32_t chan_num, uint32_t nelems, + uint32_t el_sz) +{ + rtosError status; + + if (!is_dma_chan_valid(chan_num)) { + return E_GPCDMA_INVALID_PARAM; + } + + if (nelems > GPCDMA_NUM_EL) { + return E_GPCDMA_INVALID_PARAM; + } + + status = rtosQueueCreate(chan_que_bufs[chan_num], + ARRAY_SIZE(chan_que_bufs[chan_num]), nelems, el_sz, + &chan_que[chan_num]); + if (status != rtosPASS) { + return E_GPCDMA_QUEUE_OP_FAIL; + } + + return E_SUCCESS; +} + +void gpcdma_port_delete_queue(uint32_t chan_num) +{ + if (is_dma_chan_valid(chan_num)) { + rtosQueueDelete(chan_que[chan_num]); + } +} + +error_t gpcdma_port_get_desc(uint32_t chan_num, void *ptr, uint32_t timeout, + bool from_isr) +{ + rtosBool higher_prio_task_woken = rtosFALSE; + error_t ret = E_SUCCESS; + + if (ptr == NULL) { + ret = E_GPCDMA_NULL_PTR; + goto out; + } + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + if (from_isr) { + if (rtosQueueReceiveFromISR(chan_que[chan_num], ptr, + &higher_prio_task_woken) != rtosPASS) { + ret = E_GPCDMA_QUEUE_OP_FAIL; + } else { + rtosTaskYieldFromISR(higher_prio_task_woken); + } + } else { + if (rtosQueueReceive(chan_que[chan_num], ptr, + (rtosTick)timeout) != rtosPASS) { + ret = E_GPCDMA_QUEUE_OP_FAIL; + } + } + +out: + return ret; +} + +error_t gpcdma_port_send_desc_to_back(uint32_t chan_num, void *ptr, + uint32_t timeout, bool from_isr) +{ + rtosBool higher_prio_task_woken = rtosFALSE; + error_t ret = E_SUCCESS; + + if (ptr == NULL) { + ret = E_GPCDMA_NULL_PTR; + goto out; + } + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + if (from_isr) { + if (rtosQueueSendToBackFromISR(chan_que[chan_num], ptr, + &higher_prio_task_woken) != rtosPASS) { + ret = E_GPCDMA_QUEUE_OP_FAIL; + } else { + rtosTaskYieldFromISR(higher_prio_task_woken); + } + } else { + if (rtosQueueSendToBack(chan_que[chan_num], ptr, + (rtosTick)timeout) != rtosPASS) { + ret = E_GPCDMA_QUEUE_OP_FAIL; + } + } + +out: + return ret; +} +/* End of queue implementation */ + +error_t gpcdma_port_chan_sync(uint32_t chan_num, + uint32_t timeout) +{ + error_t ret; + + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + ret = rtosSemaphoreAcquire(chan_sems[chan_num], (rtosTick)timeout); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_SYNC_TIMEOUT; + goto out; + } + ret = E_SUCCESS; + +out: + return ret; +} + +error_t gpcdma_port_chan_sync_end(uint32_t chan_num) +{ + error_t ret; + rtosBool higher_prio_task_woken = rtosFALSE; + + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + ret = rtosSemaphoreReleaseFromISR(chan_sems[chan_num], + &higher_prio_task_woken); + if (ret == rtosPASS) { + rtosTaskYieldFromISR(higher_prio_task_woken); + ret = E_SUCCESS; + } + +out: + return ret; +} + +error_t gpcdma_port_chan_setup(uint32_t chan_num) +{ + error_t ret; + rtosUCount depth; + + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + ret = rtosSemaphoreCreateBinary(chan_sem_bufs[chan_num], + &chan_sems[chan_num]); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_CHAN_SETUP_FAIL; + goto out; + } + + ret = rtosSemaphoreGetCountDepth(chan_sems[chan_num], &depth); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_CHAN_SETUP_FAIL; + goto out; + } + + if (depth == 0U) { + ret = E_SUCCESS; + goto out; + } + + /* + * Make sure the semaphore state is empty initially so that it + * blocks on a notification from ISR. + */ + ret = rtosSemaphoreAcquire(chan_sems[chan_num], (rtosTick)0); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_CHAN_SETUP_FAIL; + goto out; + } + ret = E_SUCCESS; + +out: + return ret; +} + +error_t gpcdma_port_init(struct gpcdma_id *id) +{ + error_t ret = E_SUCCESS; + + if (id == NULL) { + ret = E_GPCDMA_NULL_PTR; + goto out; + } + + ret = tegra_clk_reset_pulse(id->conf.hw_handle->rst, 2); + if (ret != 0) { + ret = E_GPCDMA_PORT_INIT_FAIL; + } + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/hsp-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/hsp-irq.S new file mode 100644 index 0000000..1779b2c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/hsp-irq.S @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2019-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_HSP_TEXT, "ax" + .arm + .syntax unified + + /** + * HSP interrupt handlers + * TEGRA_HSP_CTX_MBOX/DB should be defined by the soc includes + */ + isr_addr MBOX_isr, TEGRA_HSP_ID_MBOX, tegra_hsp_irq_handler, INTERRUPT_MBOX + isr_addr TOP0_HSP_DB_isr, TEGRA_HSP_ID_DB, tegra_hsp_db_irq_handler, INTERRUPT_TOP0_HSP_DB + + /** + * Defines the portion of the ISR map array for HSP + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_MBOX, MBOX_isr + isr_map_entry INTERRUPT_TOP0_HSP_DB, TOP0_HSP_DB_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/i2c-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/i2c-irq.S new file mode 100644 index 0000000..6da3ba2 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/i2c-irq.S @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2019-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // defined by the application +#include +#include + +/* Module-specific FSP header files */ +#include +#include + + .section SECTION_STR_I2C_TEXT, "ax" + .arm + .syntax unified + + /* + * I2C interrupt handlers + */ + isr_value I2C_CTRL2_isr, TEGRA234_I2C2, tegra_i2c_irq_handler, \ + INTERRUPT_I2C2 + isr_value I2C_CTRL8_isr, TEGRA234_I2C8, tegra_i2c_irq_handler, \ + INTERRUPT_I2C3 + + /* + * Defines the portion of the ISR map array for I2C + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_I2C2, I2C_CTRL2_isr + isr_map_entry INTERRUPT_I2C3, I2C_CTRL8_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/i2c-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/i2c-port.c new file mode 100644 index 0000000..c9c8241 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/i2c-port.c @@ -0,0 +1,335 @@ +/* + * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for bool, false, true +#include // for NULL +#include // for uint32_t, uint64_t, int64_t + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include // for rtosMutexAcquire, rtosMutex... +#include // for rtosPASS +#include // for tegra_clk_disable, tegra_cl... +#include // for udelay +#include // for error_t, MODULE_ID_COMMON +#include // for tegra_tke_convert_usecs_to_... +#include // for ASSERT, ... + +/* Module-specific FSP header files */ +#include // for i2c_config_data +#include // for i2c_config_data, i2c_tegra_... +#include // for i2c_handle +#include // for VALID_I2C_IDS +#include // for i2c_get_hw_handle, i2c_hw_h... +#include // for is_valid_i2c_id, appfw_clk_... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__RTOS_MUTEX_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__TKE__TKE_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DEBUG__ASSERT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__I2C__I2C_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PORT__I2C_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PROCESSOR__I2C_TEGRA_HW_H, "Header file missing or invalid.") +CT_ASSERT(FSP__SOC_COMMON__I2C_DEPENDENCIES_H, "Header file missing or invalid.") + +struct i2c_config_data pi2c_config_data[2]; +struct i2c_tegra_handle hi2c_tegra_all[2]; +static bool irq_raised[2]; +static rtosMutexHandle rwlock[2]; +static uint8_t MutexBuffer[2][rtosMutexSize()]; + +/* VALID_I2C_IDS are defined in the cluster specific i2c-port.h file */ +static inline bool is_valid_i2c_id(uint32_t ctrl_id) +{ + bool ret; + + if (ctrl_id < I2C_MAX_CTRLS) { + ret = (BIT(ctrl_id) & VALID_I2C_IDS) > 0U; + } else { + ret = false; + } + + return ret; +} + +static uint32_t map_id(uint32_t ctrl_id) +{ + uint32_t ret; + + switch (ctrl_id) { + case 2U: + ret = 0U; + break; + case 8U: + ret = 1U; + break; + default: + /* Invalid Entry */ + ret = 2U; + break; + } + + return ret; +} + +error_t appfw_wait_irq(uint32_t ctrl_id, uint32_t timeout_us) +{ + error_t ret = E_TIMEOUT; + uint64_t timer_start; + uint64_t timer_cur; + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = irq_safe_enable(hi2c_hw->irq_no); + if (ret != E_SUCCESS) { + goto out; + } + timer_start = appfw_timer_cur_us(); + do { + if (irq_raised[(map_id(ctrl_id))]) { + ret = E_SUCCESS; + break; + } + timer_cur = appfw_timer_cur_us(); + INLINE_RFD(CERTC, DEVIATE, INT30_C, "Approval: JIRA TID-449, DR: SWE-FSP-045-SWSADR.docx"); + } while ((timer_cur - timer_start) < timeout_us); + + irq_raised[map_id(ctrl_id)] = false; + ret = irq_safe_disable(hi2c_hw->irq_no); + +out: + return ret; +} + +error_t appfw_mutex_acquire(uint32_t ctrl_id, uint32_t timeout) +{ + error_t ret; + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = rtosMutexAcquire(rwlock[map_id(ctrl_id)], + (uint32_t)tegra_tke_convert_usecs_to_ticks((const uint64_t)timeout)); + if (ret == rtosPASS) { + ret = E_SUCCESS; + } + +out: + return ret; +} + +error_t appfw_mutex_release(uint32_t ctrl_id) +{ + error_t ret; + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = rtosMutexRelease(rwlock[map_id(ctrl_id)]); + if (ret == rtosPASS) { + ret = E_SUCCESS; + } + +out: + return ret; +} + +error_t appfw_mutex_create(uint32_t ctrl_id) +{ + error_t ret; + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = rtosMutexCreate(MutexBuffer[map_id(ctrl_id)], &rwlock[map_id(ctrl_id)]); + if (ret == rtosPASS) { + ret = E_SUCCESS; + } + +out: + return ret; +} + +uint64_t appfw_timer_cur_us(void) +{ + return tegra_tke_get_usec(); +} + +void appfw_udelay(uint32_t delay) +{ + udelay(delay); +} + +error_t appfw_clk_reset_pulse(uint32_t ctrl_id, uint32_t delay) +{ + error_t ret; + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = tegra_clk_reset_pulse(hi2c_hw->rst_data, delay); + +out: + return ret; +} + +int64_t appfw_configure_ctrl_clk_rate(uint32_t ctrl_id) +{ + error_t ret; + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + struct i2c_config_data *config_data = i2c_get_config_data(ctrl_id); + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = tegra_clk_set_rate(hi2c_hw->clk_data, config_data->ctrl_clk_rate); + if (ret != 0) { + ret = E_INVALID_PARAM; + } else { + ret = config_data->ctrl_clk_rate; + } + +out: + return ret; +} + +error_t appfw_clk_enable(uint32_t ctrl_id) +{ + error_t ret; + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = tegra_clk_enable(hi2c_hw->clk_data); + +out: + return ret; +} + +error_t appfw_clk_disable(uint32_t ctrl_id) +{ + error_t ret; + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + + if (!is_valid_i2c_id(ctrl_id)) { + ret = E_INVALID_PARAM; + goto out; + } + + ret = tegra_clk_disable(hi2c_hw->clk_data); + +out: + return ret; +} + +void appfw_irq_enable(uint32_t ctrl_id) +{ + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + + (void)irq_safe_enable(hi2c_hw->irq_no); +} + +void appfw_irq_disable(uint32_t ctrl_id) +{ + const struct i2c_hw_handle *hi2c_hw = i2c_get_hw_handle(ctrl_id); + + (void)irq_safe_disable(hi2c_hw->irq_no); +} + +struct i2c_tegra_handle *i2c_get_tegra_handle(uint32_t ctrl_id) +{ + struct i2c_tegra_handle *ret; + + if (!is_valid_i2c_id(ctrl_id)) { + ret = NULL; + goto out; + } + + hi2c_tegra_all[map_id(ctrl_id)].ctrl_id = ctrl_id; + ret = &hi2c_tegra_all[map_id(ctrl_id)]; + +out: + return ret; +} + +struct i2c_config_data *i2c_get_config_data(uint32_t ctrl_id) +{ + struct i2c_config_data *ret; + + if (!is_valid_i2c_id(ctrl_id)) { + ret = NULL; + goto out; + } + + pi2c_config_data[map_id(ctrl_id)].bus_clk_rate = 100000U; + pi2c_config_data[map_id(ctrl_id)].ctrl_clk_rate = 136000000U; + pi2c_config_data[map_id(ctrl_id)].hs_master_code = 0U; + ret = &pi2c_config_data[map_id(ctrl_id)]; + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/lic-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/lic-irq.S new file mode 100644 index 0000000..c814a9e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/lic-irq.S @@ -0,0 +1,58 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include + + .section SECTION_STR_LIC_TEXT, "ax" + .arm + .syntax unified + + /** + * GPCLIC per channel interrupt handlers + * GPCLIC_CHAN[0-7] should be defined by the soc includes + */ + isr_addr LIC0_isr, LIC0_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC0 + isr_addr LIC1_isr, LIC1_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC1 + isr_addr LIC2_isr, LIC2_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC2 + isr_addr LIC3_isr, LIC3_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC3 + + /** + * Defines the portion of the ISR map array for GPCLIC + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_LIC0, LIC0_isr + isr_map_entry INTERRUPT_LIC1, LIC1_isr + isr_map_entry INTERRUPT_LIC2, LIC2_isr + isr_map_entry INTERRUPT_LIC3, LIC3_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/spi-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/spi-port.c new file mode 100644 index 0000000..679442d --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/spi-port.c @@ -0,0 +1,323 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include + +/* Late FSP headers */ +#include // for rtosTaskYieldFromISR +#include // for rtosSemaphore... +#include // for rtosBool +#include // for E_SUCCESS, error_t, FSP_... +#include // for tegra_clk_enable, ... +#include // for tegra_clk_enable, ... +#include // for cache_clean, ... + +/* Module-specific FSP headers */ +#include // for SECTION_SPI_ ... +#include // for E_SPI_ERR_CONFIG, ... +#include // for spi_ctlr, ... +#include // for spi_port_... +#include // Immune from CT_ASSERT +#include +#include + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +static rtosSemaphoreHandle spi_sem; +static uint8_t spi_sem_buf[rtosSemaphoreSize()]; + +void spi_port_isr_exit(const struct spi_ctlr *ctlr, + bool isr_yield_flag) +{ + (void) ctlr; + + rtosTaskYieldFromISR(isr_yield_flag); +} + +void spi_port_cache_invalidate(void * base, + size_t length) +{ + cache_invalidate(base, length); +} + +void spi_port_cache_clean(void * base, + size_t length) +{ + cache_clean(base, length); +} + +error_t spi_port_dma_init(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL || ctlr->dma_id == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = gpcdma_init(ctlr->dma_id); + +out: + return ret; +} + +error_t spi_port_init(struct spi_ctlr *ctlr) +{ + error_t ret; + rtosUCount depth; + + if (ctlr == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = rtosSemaphoreCreateBinary(spi_sem_buf, + &spi_sem); + if (ret != rtosPASS) { + ret = E_SPI_PORT_INIT_FAIL; + goto out; + } + + ret = rtosSemaphoreGetCountDepth(spi_sem, &depth); + if (ret != rtosPASS) { + ret = E_SPI_PORT_INIT_FAIL; + goto out; + } + + if (depth == 0U) { + ret = E_SUCCESS; + goto out; + } + + /* + * Make sure the semaphore state is empty initially so that it + * blocks on a notification from ISR. + */ + ret = rtosSemaphoreAcquire(spi_sem, (rtosTick)0); + if (ret != rtosPASS) { + ret = E_SPI_PORT_INIT_FAIL; + goto out; + } + ret = E_SUCCESS; + +out: + return ret; +} + +error_t spi_port_xfer_sync(struct spi_ctlr *ctlr, + uint32_t timeout) +{ + error_t ret; + + if (ctlr == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = rtosSemaphoreAcquire(spi_sem, (rtosTick)timeout); + if (ret != rtosPASS) { + ret = E_SPI_PORT_SYNC_TIMEOUT; + goto out; + } + ret = E_SUCCESS; + +out: + return ret; +} + +error_t spi_port_xfer_sync_end(struct spi_ctlr *ctlr) +{ + error_t ret; + rtosBool higher_prio_task_woken = rtosFALSE; + + if (ctlr == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = rtosSemaphoreReleaseFromISR(spi_sem, + &higher_prio_task_woken); + if (ret == rtosPASS) { + rtosTaskYieldFromISR(higher_prio_task_woken); + ret = E_SUCCESS; + } + +out: + return ret; +} + +void spi_port_clk_disable(struct spi_ctlr *ctlr) +{ + if (ctlr != NULL) { + tegra_clk_disable(ctlr->conf.hw_handle->clk); + } +} + +error_t spi_port_clk_enable(struct spi_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = tegra_clk_enable(ctlr->conf.hw_handle->clk); + if (ret != 0) { + ret = E_SPI_CLK_EN; + } + +out: + return ret; +} + +error_t spi_port_tx_dma_xfer_abort(struct spi_ctlr *ctlr) +{ + return gpcdma_abort(ctlr->dma_id, ctlr->dma_chans.tx); +} + +error_t spi_port_rx_dma_xfer_abort(struct spi_ctlr *ctlr) +{ + return gpcdma_abort(ctlr->dma_id, ctlr->dma_chans.rx); +} + +error_t spi_port_start_rx_dma(struct spi_ctlr *ctlr, + struct spi_xfer *xfer, + uint32_t len, + uint32_t burst_size) +{ + uint8_t *rx_buf = (uint8_t *)xfer->rx_buf + ctlr->cur_rx_pos; + + struct gpcdma_xfer dma_xfer = { + .direction = GPCDMA_XFER_DIR_IO_TO_MEM, + .bus_width = GPCDMA_IO_BUS_WIDTH_32, + .burst_size = burst_size, + .src_addr = (uint64_t)(ctlr->conf.base_addr + SPI_RX_FIFO_0), + .src_addr_wrap = 1, + .dst_addr = (uint64_t)(fsp_c_u8_ptr_to_u32(rx_buf)), + .dst_addr_wrap = 0, + .xfer_count = len, + .en_flow_ctrl = true, + .slave_req = ctlr->dma_slave_req, + .synchronous = true, + .timeout = 10, + .callback = NULL, + .callback_param = NULL, + }; + + return gpcdma_transfer(ctlr->dma_id, ctlr->dma_chans.rx, &dma_xfer); +} + +error_t spi_port_start_tx_dma(struct spi_ctlr *ctlr, + struct spi_xfer *xfer, + uint32_t len, + uint32_t burst_size) +{ + uint8_t *tx_buf = (uint8_t *)xfer->tx_buf + ctlr->cur_tx_pos; + + struct gpcdma_xfer dma_xfer = { + .direction = GPCDMA_XFER_DIR_MEM_TO_IO, + .bus_width = GPCDMA_IO_BUS_WIDTH_32, + .burst_size = burst_size, + .src_addr = (uint64_t)(fsp_c_u8_ptr_to_u32(tx_buf)), + .src_addr_wrap = 0, + .dst_addr = (uint64_t)(ctlr->conf.base_addr + SPI_TX_FIFO_0), + .dst_addr_wrap = 1, + .xfer_count = len, + .en_flow_ctrl = true, + .slave_req = ctlr->dma_slave_req, + .synchronous = true, + .timeout = 10, + .callback = NULL, + .callback_param = NULL, + }; + + return gpcdma_transfer(ctlr->dma_id, ctlr->dma_chans.tx, &dma_xfer); +} + +error_t spi_port_clk_reset_pulse(struct spi_ctlr *ctlr, + uint32_t delay) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = tegra_clk_reset_pulse(ctlr->conf.hw_handle->rst, delay); + if (ret != 0) { + ret = E_SPI_CLK_RST; + } + +out: + return ret; +} + +error_t spi_port_clk_set_rate(struct spi_ctlr *ctlr, + uint32_t rate) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_SPI_NULL_PTR; + goto out; + } + + ret = tegra_clk_set_rate(ctlr->conf.hw_handle->clk, rate); + if (ret != 0) { + ret = E_SPI_CLK_SET_RATE; + } + +out: + return ret; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/tke-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/tke-irq.S new file mode 100644 index 0000000..aa4de9f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/tke-irq.S @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2018-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // defined by the application, defines the interrupt map +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_TKE_TEXT, "ax" + .arm + .syntax unified + + /* + * TKE interrupt handlers + */ + isr_addr TIMER0_isr, tegra_tke_id_timer0, tegra_tke_irq, INTERRUPT_TIMER0 + isr_addr TIMER1_isr, tegra_tke_id_timer1, tegra_tke_irq, INTERRUPT_TIMER1 + isr_addr TIMER2_isr, tegra_tke_id_timer2, tegra_tke_irq, INTERRUPT_TIMER2 + isr_addr TIMER3_isr, tegra_tke_id_timer3, tegra_tke_irq, INTERRUPT_TIMER3 + + /* + * Defines the portion of the ISR map array for TKE + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_TIMER0, TIMER0_isr + isr_map_entry INTERRUPT_TIMER1, TIMER1_isr + isr_map_entry INTERRUPT_TIMER2, TIMER2_isr + isr_map_entry INTERRUPT_TIMER3, TIMER3_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/uart-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/uart-port.c new file mode 100644 index 0000000..3b3dffe --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/uart-port.c @@ -0,0 +1,363 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include +#include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ +#include +#include + +/* Late FSP headers */ +#include +#include +#include +#include +#include +#include // for E_SUCCESS, error_t, FSP_... +#include // for tegra_clk_enable, ... + +/* Module-specific FSP headers */ +#include // for SECTION_UART_ ... +#include // for E_UART_ERR_CONFIG, ... +#include // for tegra_uart_ctlr, ... +#include // for uart_port_... +#include // for uart_queue_t , struct uart_hw_handle + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__CLK__CLK_TEGRA_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_QUEUE_H, "Header file missing or invalid.") +END_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", + MISRA, DEVIATE, Directive_4_9, "Approval: On-file, DR: SWE-FSP-012-SWSADR.docx") + +#define UART_QUEUE_SIZE rtosQueueSize(TEGRA_UART_BUF_SIZE, \ + sizeof(char)) + +error_t uart_port_rx_queue_send_from_isr(const struct tegra_uart_ctlr *ctlr, + char *c_in, + bool *isr_yield_flag) +{ + error_t ret = E_SUCCESS; + rtosError status; + rtosBool higher_prio_task_woken = rtosFALSE; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + status = rtosQueueSendFromISR(ctlr->rx_queue, + c_in, + &higher_prio_task_woken); + if (status != E_SUCCESS) { + ret = status; + goto out; + } + *isr_yield_flag = higher_prio_task_woken; + +out: + return ret; +} + +error_t uart_port_tx_queue_receive_from_isr(const struct tegra_uart_ctlr *ctlr, + char *c_out, + bool *isr_yield_flag) +{ + error_t ret = E_SUCCESS; + rtosError status; + rtosBool higher_prio_task_woken = rtosFALSE; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + status = rtosQueueReceiveFromISR(ctlr->tx_queue, + c_out, + &higher_prio_task_woken); + if (status != rtosPASS) { + ret = status; + goto out; + } + *isr_yield_flag = higher_prio_task_woken; + +out: + return ret; +} + +error_t uart_port_tx_queue_receive(const struct tegra_uart_ctlr *ctlr, + char *c, + uint32_t timeout_left) +{ + error_t ret = E_SUCCESS; + rtosError status; + rtosTick timeout = tegra_tke_convert_usecs_to_ticks(timeout_left); + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (timeout >= rtosMAX_DELAY) { + timeout = rtosMAX_DELAY; + } + + status = rtosQueueReceive(ctlr->tx_queue, + c, + timeout); + if (status != rtosPASS) { + ret = status; + goto out; + } + +out: + return ret; +} + +error_t uart_port_tx_queue_send(const struct tegra_uart_ctlr *ctlr, + const char *c, + uint32_t timeout_left) +{ + error_t ret = E_SUCCESS; + rtosError status; + rtosTick timeout = tegra_tke_convert_usecs_to_ticks(timeout_left); + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (timeout >= rtosMAX_DELAY) { + timeout = rtosMAX_DELAY; + } + + status = rtosQueueSend(ctlr->tx_queue, + c, + timeout); + if (status != rtosPASS) { + ret = (status == E_RTOS_QUEUE_FULL) ? E_UART_QUEUE_FULL : status; + goto out; + } + +out: + return ret; +} + +error_t uart_port_rx_queue_receive(const struct tegra_uart_ctlr *ctlr, + char *c, + uint32_t timeout_left) +{ + error_t ret = E_SUCCESS; + rtosError status; + rtosTick timeout = tegra_tke_convert_usecs_to_ticks(timeout_left); + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + if (timeout >= rtosMAX_DELAY) { + timeout = rtosMAX_DELAY; + } + + status = rtosQueueReceive(ctlr->rx_queue, + c, + timeout); + if (status != rtosPASS) { + ret = status; + goto out; + } + +out: + return ret; +} + +void uart_port_isr_exit(const struct tegra_uart_ctlr *ctlr, + bool isr_yield_flag) +{ + (void) ctlr; + + rtosTaskYieldFromISR(isr_yield_flag); +} + +error_t uart_port_tx_queue_create(struct tegra_uart_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + rtosError status; + static char uart_tx_queue[UART_QUEUE_SIZE] SECTION_UART_DATA; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + status = rtosQueueCreate(uart_tx_queue, + ARRAY_SIZE(uart_tx_queue), + TEGRA_UART_BUF_SIZE, + sizeof(char), + &ctlr->tx_queue); + if (status != rtosPASS) { + ret = E_UART_INIT_FAIL; + goto out; + } + +out: + return ret; +} + +error_t uart_port_rx_queue_create(struct tegra_uart_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + rtosError status; + static char uart_rx_queue[UART_QUEUE_SIZE] SECTION_UART_DATA; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + status = rtosQueueCreate(uart_rx_queue, + ARRAY_SIZE(uart_rx_queue), + TEGRA_UART_BUF_SIZE, + sizeof(char), + &ctlr->rx_queue); + if (status != rtosPASS) { + ret = E_UART_INIT_FAIL; + goto out; + } + +out: + return ret; +} + +error_t uart_port_clk_disable(struct tegra_uart_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + tegra_clk_disable(ctlr->id.hw_handle->clk); + +out: + return ret; +} + +error_t uart_port_clk_enable(struct tegra_uart_ctlr *ctlr) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + tegra_clk_enable(ctlr->id.hw_handle->clk); + +out: + return ret; +} + +error_t uart_port_clk_reset_pulse(struct tegra_uart_ctlr *ctlr, + uint32_t delay) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + tegra_clk_reset_pulse(ctlr->id.hw_handle->rst, delay); + +out: + return ret; +} + +error_t uart_port_clk_set_rate(struct tegra_uart_ctlr *ctlr, + uint32_t rate) +{ + error_t ret = E_SUCCESS; + + if (ctlr == NULL) { + ret = E_UART_NULL_PTR; + goto out; + } + + tegra_clk_set_rate(ctlr->id.hw_handle->clk, rate); + +out: + return ret; +} + +bool uart_port_is_configured(const struct tegra_uart_ctlr *ctlr) +{ + bool ret = false; + + if (ctlr == NULL) { + goto out; + } + + ret = tegra_clk_is_clk_enabled(ctlr->id.hw_handle->clk) && + tegra_reset_is_reset_deasserted(ctlr->id.hw_handle->rst); + +out: + return ret; +} + +error_t uart_port_init(struct tegra_uart_ctlr *ctlr) +{ + writel(0x441, NV_ADDRESS_MAP_PADCTL_A14_BASE + PADCTL_AO_UART3_RX_0); + writel(0x441, NV_ADDRESS_MAP_PADCTL_A14_BASE + PADCTL_AO_UART3_TX_0); + + return E_SUCCESS; +} + +uint64_t uart_port_get_elapsed_usecs(const uint64_t start) +{ + return tegra_tke_get_elapsed_usecs64(start); +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/aon/wdt-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/wdt-irq.S new file mode 100644 index 0000000..b0a03fa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/aon/wdt-irq.S @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2018-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // defined by the application, defines the interrupt map +#include +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_WDT_TEXT, "ax" + .arm + .syntax unified + + /* + * Watchdog interrupt handlers + */ + isr_addr WDTFIQ_isr, tegra_wdt_instance, tegra_safe_wdt_fiq, INTERRUPT_WDTFIQ + isr_addr WDTIRQ_isr, tegra_wdt_instance, tegra_safe_wdt_irq, INTERRUPT_WDTIRQ + + /* + * Defines the portion of the ISR map array for watchdog + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_WDTFIQ, WDTFIQ_isr + isr_map_entry INTERRUPT_WDTIRQ, WDTIRQ_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/dce/gpcdma-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/gpcdma-irq.S new file mode 100644 index 0000000..7d5600a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/gpcdma-irq.S @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include + + .section SECTION_STR_GPCDMA_TEXT, "ax" + .arm + .syntax unified + + /** + * GPCDMA per channel interrupt handlers + * GPCDMA_CHAN[0-7] should be defined by the soc includes + */ + isr_addr DMA0_isr, GPCDMA_CHAN0, gpcdma_chan_irq, INTERRUPT_DMA0 + isr_addr DMA1_isr, GPCDMA_CHAN1, gpcdma_chan_irq, INTERRUPT_DMA1 + isr_addr DMA2_isr, GPCDMA_CHAN2, gpcdma_chan_irq, INTERRUPT_DMA2 + isr_addr DMA3_isr, GPCDMA_CHAN3, gpcdma_chan_irq, INTERRUPT_DMA3 + isr_addr DMA4_isr, GPCDMA_CHAN4, gpcdma_chan_irq, INTERRUPT_DMA4 + isr_addr DMA5_isr, GPCDMA_CHAN5, gpcdma_chan_irq, INTERRUPT_DMA5 + isr_addr DMA6_isr, GPCDMA_CHAN6, gpcdma_chan_irq, INTERRUPT_DMA6 + isr_addr DMA7_isr, GPCDMA_CHAN7, gpcdma_chan_irq, INTERRUPT_DMA7 + + /** + * Defines the portion of the ISR map array for GPCDMA + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_DMA0, DMA0_isr + isr_map_entry INTERRUPT_DMA1, DMA1_isr + isr_map_entry INTERRUPT_DMA2, DMA2_isr + isr_map_entry INTERRUPT_DMA3, DMA3_isr + isr_map_entry INTERRUPT_DMA4, DMA4_isr + isr_map_entry INTERRUPT_DMA5, DMA5_isr + isr_map_entry INTERRUPT_DMA6, DMA6_isr + isr_map_entry INTERRUPT_DMA7, DMA7_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/dce/hsp-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/hsp-irq.S new file mode 100644 index 0000000..1779b2c --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/hsp-irq.S @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2019-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include +#include +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_HSP_TEXT, "ax" + .arm + .syntax unified + + /** + * HSP interrupt handlers + * TEGRA_HSP_CTX_MBOX/DB should be defined by the soc includes + */ + isr_addr MBOX_isr, TEGRA_HSP_ID_MBOX, tegra_hsp_irq_handler, INTERRUPT_MBOX + isr_addr TOP0_HSP_DB_isr, TEGRA_HSP_ID_DB, tegra_hsp_db_irq_handler, INTERRUPT_TOP0_HSP_DB + + /** + * Defines the portion of the ISR map array for HSP + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_MBOX, MBOX_isr + isr_map_entry INTERRUPT_TOP0_HSP_DB, TOP0_HSP_DB_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/dce/lic-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/lic-irq.S new file mode 100644 index 0000000..c814a9e --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/lic-irq.S @@ -0,0 +1,58 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include + + .section SECTION_STR_LIC_TEXT, "ax" + .arm + .syntax unified + + /** + * GPCLIC per channel interrupt handlers + * GPCLIC_CHAN[0-7] should be defined by the soc includes + */ + isr_addr LIC0_isr, LIC0_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC0 + isr_addr LIC1_isr, LIC1_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC1 + isr_addr LIC2_isr, LIC2_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC2 + isr_addr LIC3_isr, LIC3_IRQ_CONTEXT, tegra_lic_irq_handler, INTERRUPT_LIC3 + + /** + * Defines the portion of the ISR map array for GPCLIC + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_LIC0, LIC0_isr + isr_map_entry INTERRUPT_LIC1, LIC1_isr + isr_map_entry INTERRUPT_LIC2, LIC2_isr + isr_map_entry INTERRUPT_LIC3, LIC3_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/dce/tke-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/tke-irq.S new file mode 100644 index 0000000..aa4de9f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/tke-irq.S @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2018-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // defined by the application, defines the interrupt map +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_TKE_TEXT, "ax" + .arm + .syntax unified + + /* + * TKE interrupt handlers + */ + isr_addr TIMER0_isr, tegra_tke_id_timer0, tegra_tke_irq, INTERRUPT_TIMER0 + isr_addr TIMER1_isr, tegra_tke_id_timer1, tegra_tke_irq, INTERRUPT_TIMER1 + isr_addr TIMER2_isr, tegra_tke_id_timer2, tegra_tke_irq, INTERRUPT_TIMER2 + isr_addr TIMER3_isr, tegra_tke_id_timer3, tegra_tke_irq, INTERRUPT_TIMER3 + + /* + * Defines the portion of the ISR map array for TKE + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_TIMER0, TIMER0_isr + isr_map_entry INTERRUPT_TIMER1, TIMER1_isr + isr_map_entry INTERRUPT_TIMER2, TIMER2_isr + isr_map_entry INTERRUPT_TIMER3, TIMER3_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/dce/wdt-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/wdt-irq.S new file mode 100644 index 0000000..b18b0f1 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/dce/wdt-irq.S @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2018-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // defined by the application, defines the interrupt map +#include +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_WDT_TEXT, "ax" + .arm + .syntax unified + + /* + * Watchdog interrupt handlers + */ + isr_addr WDTFIQ_isr, tegra_wdt_instance, tegra_safe_wdt_fiq, INTERRUPT_WDTFIQ + isr_addr WDTIRQ_isr, tegra_wdt_instance, tegra_safe_wdt_irq, INTERRUPT_WDTIRQ + + /* + * Defines the portion of the ISR map array for watchdog + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_WDTFIQ, WDTFIQ_isr + isr_map_entry INTERRUPT_WDTIRQ, WDTIRQ_isr + + .end diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/car-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/car-port.c new file mode 100644 index 0000000..ac4db84 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/car-port.c @@ -0,0 +1,86 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +//#include // for tegra_platform_is_silicon... +#include // for udelay... + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for declarations... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +//CT_ASSERT(FSP__CHIPID__CHIP_ID_H, "Header file missing or invalid.") +//CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +/* + * tegra_platform_is_silicon is replaced with platform_is_silicon + */ +static bool platform_is_silicon(void) +{ + return true; +} + +void car_port_udelay(uint64_t delay_us) +{ + if (platform_is_silicon()) { + udelay(delay_us); + } +} + +uint64_t car_port_get_time_ticks(void) +{ + return get_time_ticks(); +} + +uint64_t car_port_get_time_delta_us(uint64_t ticks_start) +{ + return get_time_delta_us(ticks_start); +} + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-clk.c b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-clk.c new file mode 100644 index 0000000..ad0ed47 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-clk.c @@ -0,0 +1,653 @@ +/* Copyright (c) 2020-2021 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0... + +/* Late FSP headers */ +#include // for ARRAY_SIZE,... +#include // for E_SUCCESS, error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for core functions, ... +#include // for clock functions, ... +#include // for clock functions, ... +#include // for CLK index, ... +#include // for PLL index, ... +#include // for FMON index, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_CLK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_CLK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_PLL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_FMON_H, "Header file missing or invalid.") + + +SECTION_CAR_TEXT +static bool fsi_clk_op_xtal_is_enabled(const struct car_clk_inf *clk) +{ + return true; +} + +SECTION_CAR_TEXT +static error_t fsi_clk_op_xtal_enable(const struct car_clk_inf *clk) +{ + return E_SUCCESS; +} + +SECTION_CAR_TEXT +static error_t fsi_clk_op_xtal_disable(const struct car_clk_inf *clk) +{ + return E_CAR_CLOCK_OP_NOT_SUPPORTED; +} + +SECTION_CAR_RODATA +static const struct car_clk_op_able fsi_clk_op_able_xtal = { + .clk_is_enabled = fsi_clk_op_xtal_is_enabled, + .clk_enable = fsi_clk_op_xtal_enable, + .clk_disable = fsi_clk_op_xtal_disable, +}; + +SECTION_CAR_TEXT +static error_t fsi_clk_op_xtal_hz_get(const struct car_clk_inf *clk, int64_t *hz_out) +{ + error_t ret = E_CAR_NULL_PTR; + + if (hz_out != NULL) { + *hz_out = FSI_CLK_XTAL_HZ; + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_TEXT +static error_t fsi_clk_op_xtal_hz_set(const struct car_clk_inf *clk, int64_t hz_out) +{ + return E_CAR_CLOCK_OP_NOT_SUPPORTED; +} + +SECTION_CAR_RODATA +static const struct car_clk_op_rate fsi_clk_op_rate_xtal = { + .clk_hz_get = fsi_clk_op_xtal_hz_get, + .clk_hz_set = fsi_clk_op_xtal_hz_set, +}; + +SECTION_CAR_TEXT +static bool fsi_clk_op_pll_is_enabled(const struct car_clk_inf *clk) +{ + return fsi_pll_is_enabled(); +} + +SECTION_CAR_TEXT +static error_t fsi_clk_op_pll_enable(const struct car_clk_inf *clk) +{ + return fsi_pll_enable(); +} + +SECTION_CAR_TEXT +static error_t fsi_clk_op_pll_disable(const struct car_clk_inf *clk) +{ + return fsi_pll_disable(); +} + +SECTION_CAR_RODATA +static const struct car_clk_op_able fsi_clk_op_able_pll = { + .clk_is_enabled = fsi_clk_op_pll_is_enabled, + .clk_enable = fsi_clk_op_pll_enable, + .clk_disable = fsi_clk_op_pll_disable, +}; + +SECTION_CAR_TEXT +static uint32_t fsi_clk_div_2N_1_in(int64_t hz_in, int64_t hz_out) +{ + float divider = (float)hz_in / hz_out; + if (divider > 0) { + divider = 2 * (divider - 1U); + } + return divider; +} + +SECTION_CAR_TEXT +static uint32_t fsi_clk_div_2N_1_out(const struct car_clk_inf *clk) +{ + uint32_t divider = 0; + if ((clk != NULL)) { + divider = car_reg_rd_val(clk->div_reg, clk->div_msk); + divider = divider >> 1U; + divider += 1; + } + return divider; +} + +SECTION_CAR_RODATA +static const struct car_clk_op_div car_clk_op_div_2N_1 = { + .clk_div_calc_in = fsi_clk_div_2N_1_in, + .clk_div_calc_out = fsi_clk_div_2N_1_out, +}; + +SECTION_CAR_TEXT +static error_t fsi_clk_op_pll_hz_get(const struct car_clk_inf *clk, int64_t *hz_out) +{ + error_t ret = E_CAR_NULL_PTR; + + if (hz_out != NULL) { + if (fsi_pll_is_enabled() == true) { + ret = fsi_pll_get_rate(hz_out); + } else { + ret = fsi_clk_op_xtal_hz_get(NULL, hz_out); + } + } + return ret; +} + +SECTION_CAR_TEXT +static error_t fsi_clk_op_pll_hz_set(const struct car_clk_inf *clk, int64_t hz_out) +{ + return fsi_pll_set_rate(hz_out); +} + +SECTION_CAR_RODATA +static const struct car_clk_op_rate fsi_clk_op_rate_pll = { + .clk_hz_get = fsi_clk_op_pll_hz_get, + .clk_hz_set = fsi_clk_op_pll_hz_set, +}; + + +SECTION_CAR_RODATA +const struct car_clk_inf fsi_clk_infs[] = { + /* fsi_xtal_clk */ + CLK_INF(FSI_CLK_ID_XTAL, + &fsi_clk_op_able_xtal, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &fsi_clk_op_rate_xtal, /* op_rate */ + 40000000, /* rate_min */ + 40000000, /* rate_max */ + NULL, /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_XTAL]), /* fmon */ + /* fsi_pll_clk */ + CLK_INF(FSI_CLK_ID_PLL, + &fsi_clk_op_able_pll, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &fsi_clk_op_rate_pll, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_XTAL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_PLL]), /* fmon */ + /* fsi_chsm_cpu_clk */ + CLK_INF(FSI_CLK_ID_CHSM_CPU, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSICHSM_CPU_BASE_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSICHSM_CPU_BASE_0_0_FSICHSM_CPU_CE_FIELD, + CLK_RST_CONTROLLER_FSICHSM_CPU_BASE_0_0, /* div_reg */ + CLK_RST_CONTROLLER_FSICHSM_CPU_BASE_0_0_FSICHSM_CPU_DIVRATIO_FIELD, + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_CHSM]), /* fmon */ + /* fsi_fabric_clk */ + CLK_INF(FSI_CLK_ID_FABRIC_CLK, + NULL, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + CLK_RST_CONTROLLER_FSI_FABRIC_BASE_0_0, + CLK_RST_CONTROLLER_FSI_FABRIC_BASE_0_0_FSI_FABRIC_DIVRATIO_FIELD, + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_fabric_pclk */ + CLK_INF(FSI_CLK_ID_FABRIC_PCLK, + NULL, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_se_fr_clk */ + CLK_INF(FSI_CLK_ID_SE_FR, + &car_clk_op_able_bit, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_se_clk */ + CLK_INF(FSI_CLK_ID_SE, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0_FSI_SE_CE_SHIFT, + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_sram_clk */ + CLK_INF(FSI_CLK_ID_SRAM_CLK, + NULL, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_sram_pclk */ + CLK_INF(FSI_CLK_ID_SRAM_PCLK, + NULL, /* op_able */ + 0, /* en_reg */ + 0, /* en_msk */ + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_uart0_baud_clk */ + CLK_INF(FSI_CLK_ID_UART0, + &car_clk_op_able_reg, /* op_able */ + CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTFSI_0, /* en_reg */ + CLK_RST_CONTROLLER_CLK_OUT_ENB_UARTFSI_0_CLK_ENB_UARTFSI_FIELD, + CLK_RST_CONTROLLER_CLK_SOURCE_UARTFSI_0, /* div_reg */ + CLK_RST_CONTROLLER_CLK_SOURCE_UARTFSI_0_UARTFSI_CLK_DIVISOR_FIELD, + &car_clk_op_div_2N_1, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_XTAL], /* pclk */ + NULL), /* fmon */ + /* fsi_ts_clk */ + CLK_INF(FSI_CLK_ID_TS, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_TS_BASE_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_TS_BASE_0_0_FSI_TS_CE_FIELD, + CLK_RST_CONTROLLER_FSI_TS_BASE_0_0, /* div_reg */ + CLK_RST_CONTROLLER_FSI_TS_BASE_0_0_FSI_TS_DIVRATIO_FIELD, + &car_clk_op_div_2N_1, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_XTAL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_TS]), /* fmon */ + /* fsi_spi_clk */ + CLK_INF(FSI_CLK_ID_SPI0, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_SPI_BASE_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_SPI_BASE_0_0_FSI_SPI_CE_FIELD, + CLK_RST_CONTROLLER_FSI_SPI_BASE_0_0, /* div_reg */ + CLK_RST_CONTROLLER_FSI_SPI_BASE_0_0_FSI_SPI_DIVRATIO_FIELD, + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_XTAL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_SPI]), /* fmon */ + /* fsi_mc_clk */ + CLK_INF(FSI_CLK_ID_MC, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0_FSI_MC_CE_FIELD, + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_XTAL], /* pclk */ + NULL), /* fmon */ + /* fsi_csite_clk */ + CLK_INF(FSI_CLK_ID_CSITE, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0_FSI_CSITE_CE_FIELD, + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_la_clk */ + CLK_INF(FSI_CLK_ID_LA, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0_FSI_LA_CE_FIELD, + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + &fsi_clk_infs[FSI_CLK_ID_PLL], /* pclk */ + &fsi_fmon_infs[FSI_FMON_ID_FABRIC]), /* fmon */ + /* fsi_jtag_reg_clk */ + CLK_INF(FSI_CLK_ID_JTAG, + &car_clk_op_able_bit, /* op_able */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0, /* en_reg */ + CLK_RST_CONTROLLER_FSI_MISC_CONFIG_0_0_FSI_JTAG_CE_FIELD, + 0, /* div_reg */ + 0, /* div_msk */ + NULL, /* op_div */ + &car_clk_op_rate_dflt, /* op_rate */ + 0, /* rate_min */ + 0, /* rate_max */ + NULL, /* pclk */ + NULL), /* fmon */ +}; + + +SECTION_CAR_DATA +static bool fsi_clk_fmon = false; + +SECTION_CAR_TEXT +bool fsi_clk_fmon_is_enabled(void) +{ + return fsi_clk_fmon; +} + +SECTION_CAR_TEXT +void fsi_clk_fmon_enable(void) +{ + fsi_clk_fmon = true; +} + +SECTION_CAR_TEXT +void fsi_clk_fmon_disable(void) +{ + fsi_clk_fmon = false; +} + +SECTION_CAR_TEXT +static struct car_clk_inf *fsi_clk_inf_get(uint32_t clk_id) +{ + struct car_clk_inf *clk = NULL; + + if (clk_id < ARRAY_SIZE(fsi_clk_infs)) { + clk = (struct car_clk_inf *)&fsi_clk_infs[clk_id]; + } + return clk; +} + +SECTION_CAR_TEXT +error_t fsi_clk_enable(uint32_t clk_id) +{ + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (clk != NULL) { + if (clk->op_able == NULL) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + ret = clk->op_able->clk_enable(clk); + if (ret == E_SUCCESS) { + if ((clk->fmon != NULL) && (fsi_clk_fmon == true)) { + ret = car_fmon_startup(clk->fmon); + } + } + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_clk_disable(uint32_t clk_id) +{ + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (clk != NULL) { + if (clk->op_able == NULL) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } else { + if (fsi_clk_fmon == true) { + ret = car_fmon_shutdown(clk->fmon); + } else { + ret = E_SUCCESS; + } + if (ret == E_SUCCESS || ret == E_CAR_NULL_PTR) { + ret = clk->op_able->clk_disable(clk); + } + } + } + return ret; +} + +SECTION_CAR_TEXT +bool fsi_clk_is_enabled(uint32_t clk_id) +{ + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + bool ret = false; + + if (clk != NULL) { + if (clk->op_able != NULL) { + ret = clk->op_able->clk_is_enabled(clk); + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_clk_set_rate(uint32_t clk_id, int64_t hz_out) +{ + bool enabled; + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (clk != NULL) { + if ((clk->op_rate != NULL) && + (clk->op_rate->clk_hz_set != NULL)) { + enabled = fsi_clk_is_enabled(clk_id); + ret = fsi_clk_disable(clk_id); + if (ret == E_SUCCESS) { + ret = clk->op_rate->clk_hz_set(clk, hz_out); + if (ret == E_CAR_NULL_PTR) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } + if (enabled == true) { + ret = fsi_clk_enable(clk_id); + } + } + } else { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_clk_get_rate(uint32_t clk_id, int64_t *hz_out) +{ + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (clk != NULL) { + if (hz_out == NULL) { + ret = E_CAR_NULL_PTR; + } else { + if ((clk->op_rate != NULL) && + (clk->op_rate->clk_hz_get != NULL)) { + ret = clk->op_rate->clk_hz_get(clk, hz_out); + if (ret == E_CAR_NULL_PTR) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } + } else { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_clk_set_div(uint32_t clk_id, uint32_t div) +{ + bool enabled; + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (clk != NULL) { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + if ((clk->op_rate != NULL) && (clk->op_rate->clk_hz_set != NULL)) { + enabled = fsi_clk_is_enabled(clk_id); + ret = fsi_clk_disable(clk_id); + if ((ret == E_SUCCESS) && clk->div_msk != 0U) { + car_reg_rdwr_val(clk->div_reg, clk->div_msk, div); + if (enabled == true) { + ret = fsi_clk_enable(clk_id); + } + } + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_clk_get_div(uint32_t clk_id, uint32_t *div) +{ + struct car_clk_inf *clk = fsi_clk_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (clk != NULL) { + ret = E_CAR_NULL_PTR; + if (div != NULL) { + if (clk->div_msk != 0U) { + *div = car_reg_rd_val(clk->div_reg, clk->div_msk); + ret = E_SUCCESS; + } else { + ret = E_CAR_CLOCK_OP_NOT_SUPPORTED; + } + } + } + return ret; +} + +SECTION_CAR_RODATA +#define str_E_SUCCESS "Success\n" +#define str_E_CAR_NULL_PTR "NULL pointer\n" +#define str_E_CAR_INVALID_PARAM "Invalid parameter\n" +#define str_E_CAR_INVALID_RESET_ID "Invalid reset ID\n" +#define str_E_CAR_INVALID_CLOCK_ID "Invalid clock ID\n" +#define str_E_CAR_INVALID_FMON_ID "Invalid FMON ID\n" +#define str_E_CAR_PLL_NO_INIT "PLL not initialized\n" +#define str_E_CAR_PLL_NO_LOCK "PLL not locked\n" +#define str_E_CAR_CLOCK_OP_NOT_SUPPORTED "Clock operation not supported\n" +#define str_E_CAR_CLOCK_HZ_NOT_SUPPORTED "Frequency not supported\n" +#define str_E_CAR_FMON_HW_LOGIC "FMON hardware logic\n" +#define str_E_CAR_FMON_HW_TIMEOUT "FMON hardware timeout\n" +#define str_E_CAR_FMON_FAULT "FMON fault\n" +#define str_E_CAR_FMON_NO_DATA "FMON no data\n" +#define str_E_CAR_ERROR_N "Unknown\n" + +static const char * const car_err_strs[] = { + [0] = str_E_SUCCESS, + [MODULE_ERROR_CODE(E_CAR_NULL_PTR)] = str_E_CAR_NULL_PTR, + [MODULE_ERROR_CODE(E_CAR_INVALID_PARAM)] = str_E_CAR_INVALID_PARAM, + [MODULE_ERROR_CODE(E_CAR_INVALID_RESET_ID)] = str_E_CAR_INVALID_RESET_ID, + [MODULE_ERROR_CODE(E_CAR_INVALID_CLOCK_ID)] = str_E_CAR_INVALID_CLOCK_ID, + [MODULE_ERROR_CODE(E_CAR_INVALID_FMON_ID)] = str_E_CAR_INVALID_FMON_ID, + [MODULE_ERROR_CODE(E_CAR_PLL_NO_INIT)] = str_E_CAR_PLL_NO_INIT, + [MODULE_ERROR_CODE(E_CAR_PLL_NO_LOCK)] = str_E_CAR_PLL_NO_LOCK, + [MODULE_ERROR_CODE(E_CAR_CLOCK_OP_NOT_SUPPORTED)] = str_E_CAR_CLOCK_OP_NOT_SUPPORTED, + [MODULE_ERROR_CODE(E_CAR_CLOCK_HZ_NOT_SUPPORTED)] = str_E_CAR_CLOCK_HZ_NOT_SUPPORTED, + [MODULE_ERROR_CODE(E_CAR_FMON_HW_LOGIC)] = str_E_CAR_FMON_HW_LOGIC, + [MODULE_ERROR_CODE(E_CAR_FMON_HW_TIMEOUT)] = str_E_CAR_FMON_HW_TIMEOUT, + [MODULE_ERROR_CODE(E_CAR_FMON_FAULT)] = str_E_CAR_FMON_FAULT, + [MODULE_ERROR_CODE(E_CAR_FMON_NO_DATA)] = str_E_CAR_FMON_NO_DATA, + [MODULE_ERROR_CODE(E_CAR_ERROR_N)] = str_E_CAR_ERROR_N, +}; + +SECTION_CAR_TEXT +const char *fsi_car_get_err_str(error_t err) +{ + uint32_t i = MODULE_ERROR_CODE(err); + uint32_t n = MODULE_ERROR_CODE(E_CAR_ERROR_N); + const char *str = car_err_strs[n]; + + if (i < n) { + str = car_err_strs[i]; + } + + return str; +} + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-fmon.c b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-fmon.c new file mode 100644 index 0000000..fdc2c44 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-fmon.c @@ -0,0 +1,474 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0... +#include // for INTR_CTLR_CHANNEL0_SLICE0_IER_0... + +/* Late FSP headers */ +#include // for ARRAY_SIZE,... +#include // for E_SUCCESS, error_t +#include // for BIT, bit_number, FSP__MISC__BITOPS_H + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for core FMON functions... +#include // for platform functions... +#include // for clock frequency defines, ... +#include // for FMON API functions ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +START_RFD_BLOCK(MISRA, DEVIATE, Rule_1_2, "Approval: Bug 200531996, DR: SWE-FSP-009-SWSADR.docx", MISRA, DEVIATE, Directive_4_9, "Approval: Bug 200531995, DR: SWE-FSP-012-SWSADR.docx") +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__BITOPS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_FMON_H, "Header file missing or invalid.") +CT_ASSERT(FSP__PORT__CAR_PORT_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_FMON_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_CLK_H, "Header file missing or invalid.") + + +SECTION_CAR_RODATA +const struct car_fmon_count_inf fsi_fmon_count_inf = { + .cnt_sel_min = FSI_FMON_CLK_COUNT_MIN, + .cnt_sel_max = FSI_FMON_CLK_COUNT_MAX, + .cnt_sel_0 = FSI_FMON_CLK_COUNT_LATEST, + .cnt_sel_n = (FSI_FMON_CLK_COUNT_EARLIEST - FSI_FMON_CLK_COUNT_LATEST) + 1, + .cnt_sel_min_i = (FSI_FMON_CLK_COUNT_MIN + 1), + .cnt_sel_max_i = (FSI_FMON_CLK_COUNT_MAX + 1), + .cnt_sel_0_i = (FSI_FMON_CLK_COUNT_LATEST + 1), + .cnt_ref_win_i = 0, + .cnt_ref_win_dc_chk_i = 1, +}; + +const struct car_fmon_inf fsi_fmon_infs[] = { + [FSI_FMON_ID_PLL] = { + .clk = &fsi_clk_infs[FSI_CLK_ID_PLL], + .clk_ref = FSI_CLK_XTAL_HZ, + .clk_err = FSI_CLK_XTAL_HZ, + .reg_thr_hi = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_PLL_FSI_0, + .reg_thr_hi_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_PLL_FSI_0_PLL_FSI_FMON_COUNT_THRESH_HIGH_FIELD, + .reg_thr_lo = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_PLL_FSI_0, + .reg_thr_lo_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_PLL_FSI_0_PLL_FSI_FMON_COUNT_THRESH_LOW_FIELD, + .reg_ref_win_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_PLL_FSI_0, + .reg_ref_win_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_PLL_FSI_0_PLL_FSI_FMON_REF_WINDOW_COUNT_FIELD, + .reg_ref_win_dc_chk_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_PLL_FSI_0, + .reg_ref_win_dc_chk_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_PLL_FSI_0_PLL_FSI_FMON_REF_WINDOW_DC_CHECK_COUNT_FIELD, + .reg_flt_actn = CLK_RST_CONTROLLER_FMON_FAULT_ACTION_PLL_FSI_0, + .reg_flt_actn_msk = 0, + .reg_cfg = CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0, + .reg_cfg_msk_rprt = (CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_REPORT_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_REPORT_LOW_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_REPORT_HIGH_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_REPORT_DC_FAULT_VIOL_FIELD), + .reg_cfg_msk_ref_en = CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_REF_CLK_WINDOW_EN_FIELD, + .reg_cfg_msk_cntr_en = CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_ENABLE_FMON_COUNTER_FIELD, + .reg_cfg_msk_en = CLK_RST_CONTROLLER_FMON_CONFIG_PLL_FSI_0_PLL_FSI_FMON_ENABLE_FIELD, + .reg_en_sts = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_PLL_FSI_0, + .reg_en_sts_msk = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_PLL_FSI_0_READ_MASK, + .reg_flt_sts = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0, + .reg_flt_sts_msk_clr = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0_PLL_FSI_FMON_FAULT_CLEAR_FIELD, + .reg_flt_sts_msk_ro = (CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0_PLL_FSI_FMON_FAULT_OUT_STATUS_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0_PLL_FSI_FMON_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0_PLL_FSI_FMON_COUNT_HIGHER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0_PLL_FSI_FMON_COUNT_LOWER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_PLL_FSI_0_PLL_FSI_FMON_DC_FAULT_FIELD), + .reg_data_ctrl = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0, + .reg_data_ctrl_msk_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_FIELD, + .reg_data_ctrl_msk_en = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_FIELD, + .reg_data_sts_done = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_PLL_FSI_0, + .reg_data_sts_done_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_DONE_FIELD, + .reg_data_sts_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_PLL_FSI_0, + .reg_data_sts_sel_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_SEL_STATUS_FIELD, + .reg_data_val = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_PLL_FSI_0, + .reg_data_val_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_PLL_FSI_0_PLL_FSI_FMON_LOAD_DATA_VAL_FIELD, + .reg_cntr_ctrl = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_PLL_FSI_0, + .reg_cntr_ctrl_msk_hld = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_PLL_FSI_0_PLL_FSI_FMON_HOLD_COUNT_SAMPLES_FIELD, + .reg_cntr_ctrl_msk_clr = (CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_PLL_FSI_0_PLL_FSI_FMON_MIN_MAX_LASTN_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_PLL_FSI_0_PLL_FSI_FMON_MASK_MIN_MAX_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_PLL_FSI_0_PLL_FSI_FMON_CLEAR_FMON_COUNTER_FIELD), + .cnt = &fsi_fmon_count_inf, + }, + [FSI_FMON_ID_CHSM] = { + .clk = &fsi_clk_infs[FSI_CLK_ID_CHSM_CPU], + .clk_ref = FSI_CLK_XTAL_HZ, + .clk_err = FSI_CLK_XTAL_HZ, + .reg_thr_hi = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_CHSM_CPU_0, + .reg_thr_hi_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_COUNT_THRESH_HIGH_FIELD, + .reg_thr_lo = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_CHSM_CPU_0, + .reg_thr_lo_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_COUNT_THRESH_LOW_FIELD, + .reg_ref_win_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_CHSM_CPU_0, + .reg_ref_win_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REF_WINDOW_COUNT_FIELD, + .reg_ref_win_dc_chk_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_CHSM_CPU_0, + .reg_ref_win_dc_chk_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REF_WINDOW_DC_CHECK_COUNT_FIELD, + .reg_flt_actn = CLK_RST_CONTROLLER_FMON_FAULT_ACTION_FSI_CHSM_CPU_0, + .reg_flt_actn_msk = 0, + .reg_cfg = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0, + .reg_cfg_msk_rprt = (CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REPORT_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REPORT_LOW_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REPORT_HIGH_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REPORT_DC_FAULT_VIOL_FIELD), + .reg_cfg_msk_ref_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_REF_CLK_WINDOW_EN_FIELD, + .reg_cfg_msk_cntr_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_ENABLE_FMON_COUNTER_FIELD, + .reg_cfg_msk_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_ENABLE_FIELD, + .reg_en_sts = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_CHSM_CPU_0, + .reg_en_sts_msk = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_CHSM_CPU_0_READ_MASK, + .reg_flt_sts = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0, + .reg_flt_sts_msk_clr = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_FAULT_CLEAR_FIELD, + .reg_flt_sts_msk_ro = (CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_FAULT_OUT_STATUS_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_COUNT_HIGHER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_COUNT_LOWER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_DC_FAULT_FIELD), + .reg_data_ctrl = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_CHSM_CPU_0, + .reg_data_ctrl_msk_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_LOAD_DATA_SEL_FIELD, + .reg_data_ctrl_msk_en = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_LOAD_DATA_FIELD, + .reg_data_sts_done = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_CHSM_CPU_0, + .reg_data_sts_done_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_LOAD_DATA_DONE_FIELD, + .reg_data_sts_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_CHSM_CPU_0, + .reg_data_sts_sel_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_LOAD_DATA_SEL_STATUS_FIELD, + .reg_data_val = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_CHSM_CPU_0, + .reg_data_val_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_LOAD_DATA_VAL_FIELD, + .reg_cntr_ctrl = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_CHSM_CPU_0, + .reg_cntr_ctrl_msk_hld = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_HOLD_COUNT_SAMPLES_FIELD, + .reg_cntr_ctrl_msk_clr = (CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_MIN_MAX_LASTN_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_MASK_MIN_MAX_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_CHSM_CPU_0_FSI_CHSM_CPU_FMON_CLEAR_FMON_COUNTER_FIELD), + .cnt = &fsi_fmon_count_inf, + }, + [FSI_FMON_ID_FABRIC] = { + .clk = &fsi_clk_infs[FSI_CLK_ID_FABRIC_CLK], + .clk_ref = FSI_CLK_XTAL_HZ, + .clk_err = FSI_CLK_XTAL_HZ, + .reg_thr_hi = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_FABRIC_0, + .reg_thr_hi_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_FABRIC_0_FSI_FABRIC_FMON_COUNT_THRESH_HIGH_FIELD, + .reg_thr_lo = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_FABRIC_0, + .reg_thr_lo_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_FABRIC_0_FSI_FABRIC_FMON_COUNT_THRESH_LOW_FIELD, + .reg_ref_win_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_FABRIC_0, + .reg_ref_win_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_FABRIC_0_FSI_FABRIC_FMON_REF_WINDOW_COUNT_FIELD, + .reg_ref_win_dc_chk_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_FABRIC_0, + .reg_ref_win_dc_chk_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_FABRIC_0_FSI_FABRIC_FMON_REF_WINDOW_DC_CHECK_COUNT_FIELD, + .reg_flt_actn = CLK_RST_CONTROLLER_FMON_FAULT_ACTION_FSI_FABRIC_0, + .reg_flt_actn_msk = 0, + .reg_cfg = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0, + .reg_cfg_msk_rprt = (CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_REPORT_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_REPORT_LOW_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_REPORT_HIGH_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_REPORT_DC_FAULT_VIOL_FIELD), + .reg_cfg_msk_ref_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_REF_CLK_WINDOW_EN_FIELD, + .reg_cfg_msk_cntr_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_ENABLE_FMON_COUNTER_FIELD, + .reg_cfg_msk_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_FABRIC_0_FSI_FABRIC_FMON_ENABLE_FIELD, + .reg_en_sts = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_FABRIC_0, + .reg_en_sts_msk = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_FABRIC_0_READ_MASK, + .reg_flt_sts = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0, + .reg_flt_sts_msk_clr = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0_FSI_FABRIC_FMON_FAULT_CLEAR_FIELD, + .reg_flt_sts_msk_ro = (CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0_FSI_FABRIC_FMON_FAULT_OUT_STATUS_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0_FSI_FABRIC_FMON_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0_FSI_FABRIC_FMON_COUNT_HIGHER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0_FSI_FABRIC_FMON_COUNT_LOWER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_FABRIC_0_FSI_FABRIC_FMON_DC_FAULT_FIELD), + .reg_data_ctrl = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_FABRIC_0, + .reg_data_ctrl_msk_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_FABRIC_0_FSI_FABRIC_FMON_LOAD_DATA_SEL_FIELD, + .reg_data_ctrl_msk_en = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_FABRIC_0_FSI_FABRIC_FMON_LOAD_DATA_FIELD, + .reg_data_sts_done = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_FABRIC_0, + .reg_data_sts_done_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_FABRIC_0_FSI_FABRIC_FMON_LOAD_DATA_DONE_FIELD, + .reg_data_sts_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_FABRIC_0, + .reg_data_sts_sel_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_FABRIC_0_FSI_FABRIC_FMON_LOAD_DATA_SEL_STATUS_FIELD, + .reg_data_val = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_FABRIC_0, + .reg_data_val_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_FABRIC_0_FSI_FABRIC_FMON_LOAD_DATA_VAL_FIELD, + .reg_cntr_ctrl = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_FABRIC_0, + .reg_cntr_ctrl_msk_hld = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_FABRIC_0_FSI_FABRIC_FMON_HOLD_COUNT_SAMPLES_FIELD, + .reg_cntr_ctrl_msk_clr = (CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_FABRIC_0_FSI_FABRIC_FMON_MIN_MAX_LASTN_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_FABRIC_0_FSI_FABRIC_FMON_MASK_MIN_MAX_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_FABRIC_0_FSI_FABRIC_FMON_CLEAR_FMON_COUNTER_FIELD), + .cnt = &fsi_fmon_count_inf, + }, + [FSI_FMON_ID_SPI] = { + .clk = &fsi_clk_infs[FSI_CLK_ID_SPI0], + .clk_ref = FSI_CLK_XTAL_HZ, + .clk_err = FSI_CLK_XTAL_HZ, + .reg_thr_hi = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_SPI_0, + .reg_thr_hi_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_SPI_0_FSI_SPI_FMON_COUNT_THRESH_HIGH_FIELD, + .reg_thr_lo = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_SPI_0, + .reg_thr_lo_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_SPI_0_FSI_SPI_FMON_COUNT_THRESH_LOW_FIELD, + .reg_ref_win_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_SPI_0, + .reg_ref_win_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_SPI_0_FSI_SPI_FMON_REF_WINDOW_COUNT_FIELD, + .reg_ref_win_dc_chk_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_SPI_0, + .reg_ref_win_dc_chk_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_SPI_0_FSI_SPI_FMON_REF_WINDOW_DC_CHECK_COUNT_FIELD, + .reg_flt_actn = CLK_RST_CONTROLLER_FMON_FAULT_ACTION_FSI_SPI_0, + .reg_flt_actn_msk = 0, + .reg_cfg = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0, + .reg_cfg_msk_rprt = (CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_REPORT_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_REPORT_LOW_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_REPORT_HIGH_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_REPORT_DC_FAULT_VIOL_FIELD), + .reg_cfg_msk_ref_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_REF_CLK_WINDOW_EN_FIELD, + .reg_cfg_msk_cntr_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_ENABLE_FMON_COUNTER_FIELD, + .reg_cfg_msk_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_SPI_0_FSI_SPI_FMON_ENABLE_FIELD, + .reg_en_sts = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_SPI_0, + .reg_en_sts_msk = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_SPI_0_READ_MASK, + .reg_flt_sts = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0, + .reg_flt_sts_msk_clr = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0_FSI_SPI_FMON_FAULT_CLEAR_FIELD, + .reg_flt_sts_msk_ro = (CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0_FSI_SPI_FMON_FAULT_OUT_STATUS_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0_FSI_SPI_FMON_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0_FSI_SPI_FMON_COUNT_HIGHER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0_FSI_SPI_FMON_COUNT_LOWER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_SPI_0_FSI_SPI_FMON_DC_FAULT_FIELD), + .reg_data_ctrl = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_SPI_0, + .reg_data_ctrl_msk_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_SPI_0_FSI_SPI_FMON_LOAD_DATA_SEL_FIELD, + .reg_data_ctrl_msk_en = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_SPI_0_FSI_SPI_FMON_LOAD_DATA_FIELD, + .reg_data_sts_done = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_SPI_0, + .reg_data_sts_done_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_SPI_0_FSI_SPI_FMON_LOAD_DATA_DONE_FIELD, + .reg_data_sts_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_SPI_0, + .reg_data_sts_sel_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_SPI_0_FSI_SPI_FMON_LOAD_DATA_SEL_STATUS_FIELD, + .reg_data_val = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_SPI_0, + .reg_data_val_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_SPI_0_FSI_SPI_FMON_LOAD_DATA_VAL_FIELD, + .reg_cntr_ctrl = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_SPI_0, + .reg_cntr_ctrl_msk_hld = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_SPI_0_FSI_SPI_FMON_HOLD_COUNT_SAMPLES_FIELD, + .reg_cntr_ctrl_msk_clr = (CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_SPI_0_FSI_SPI_FMON_MIN_MAX_LASTN_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_SPI_0_FSI_SPI_FMON_MASK_MIN_MAX_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_SPI_0_FSI_SPI_FMON_CLEAR_FMON_COUNTER_FIELD), + .cnt = &fsi_fmon_count_inf, + }, + [FSI_FMON_ID_TS] = { + .clk = &fsi_clk_infs[FSI_CLK_ID_TS], + .clk_ref = FSI_CLK_XTAL_HZ, + .clk_err = FSI_CLK_XTAL_HZ, + .reg_thr_hi = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_TS_0, + .reg_thr_hi_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_TS_0_FSI_TS_FMON_COUNT_THRESH_HIGH_FIELD, + .reg_thr_lo = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_TS_0, + .reg_thr_lo_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_TS_0_FSI_TS_FMON_COUNT_THRESH_LOW_FIELD, + .reg_ref_win_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_TS_0, + .reg_ref_win_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_TS_0_FSI_TS_FMON_REF_WINDOW_COUNT_FIELD, + .reg_ref_win_dc_chk_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_TS_0, + .reg_ref_win_dc_chk_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_TS_0_FSI_TS_FMON_REF_WINDOW_DC_CHECK_COUNT_FIELD, + .reg_flt_actn = CLK_RST_CONTROLLER_FMON_FAULT_ACTION_FSI_TS_0, + .reg_flt_actn_msk = 0, + .reg_cfg = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0, + .reg_cfg_msk_rprt = (CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_REPORT_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_REPORT_LOW_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_REPORT_HIGH_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_REPORT_DC_FAULT_VIOL_FIELD), + .reg_cfg_msk_ref_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_REF_CLK_WINDOW_EN_FIELD, + .reg_cfg_msk_cntr_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_ENABLE_FMON_COUNTER_FIELD, + .reg_cfg_msk_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_TS_0_FSI_TS_FMON_ENABLE_FIELD, + .reg_en_sts = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_TS_0, + .reg_en_sts_msk = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_TS_0_READ_MASK, + .reg_flt_sts = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0, + .reg_flt_sts_msk_clr = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0_FSI_TS_FMON_FAULT_CLEAR_FIELD, + .reg_flt_sts_msk_ro = (CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0_FSI_TS_FMON_FAULT_OUT_STATUS_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0_FSI_TS_FMON_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0_FSI_TS_FMON_COUNT_HIGHER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0_FSI_TS_FMON_COUNT_LOWER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_TS_0_FSI_TS_FMON_DC_FAULT_FIELD), + .reg_data_ctrl = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_TS_0, + .reg_data_ctrl_msk_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_TS_0_FSI_TS_FMON_LOAD_DATA_SEL_FIELD, + .reg_data_ctrl_msk_en = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_TS_0_FSI_TS_FMON_LOAD_DATA_FIELD, + .reg_data_sts_done = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_TS_0, + .reg_data_sts_done_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_TS_0_FSI_TS_FMON_LOAD_DATA_DONE_FIELD, + .reg_data_sts_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_TS_0, + .reg_data_sts_sel_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_TS_0_FSI_TS_FMON_LOAD_DATA_SEL_STATUS_FIELD, + .reg_data_val = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_TS_0, + .reg_data_val_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_TS_0_FSI_TS_FMON_LOAD_DATA_VAL_FIELD, + .reg_cntr_ctrl = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_TS_0, + .reg_cntr_ctrl_msk_hld = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_TS_0_FSI_TS_FMON_HOLD_COUNT_SAMPLES_FIELD, + .reg_cntr_ctrl_msk_clr = (CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_TS_0_FSI_TS_FMON_MIN_MAX_LASTN_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_TS_0_FSI_TS_FMON_MASK_MIN_MAX_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_TS_0_FSI_TS_FMON_CLEAR_FMON_COUNTER_FIELD), + .cnt = &fsi_fmon_count_inf, + }, + [FSI_FMON_ID_XTAL] = { + .clk = &fsi_clk_infs[FSI_CLK_ID_XTAL], + .clk_ref = FSI_CLK_VREFRO_HZ, + .clk_err = FSI_CLK_VREFRO_HZ, + .reg_thr_hi = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_XTAL_0, + .reg_thr_hi_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_HIGH_FSI_XTAL_0_FSI_XTAL_FMON_COUNT_THRESH_HIGH_FIELD, + .reg_thr_lo = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_XTAL_0, + .reg_thr_lo_msk = CLK_RST_CONTROLLER_FMON_THRESHOLD_LOW_FSI_XTAL_0_FSI_XTAL_FMON_COUNT_THRESH_LOW_FIELD, + .reg_ref_win_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_XTAL_0, + .reg_ref_win_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_COUNT_FSI_XTAL_0_FSI_XTAL_FMON_REF_WINDOW_COUNT_FIELD, + .reg_ref_win_dc_chk_cnt = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_XTAL_0, + .reg_ref_win_dc_chk_cnt_msk = CLK_RST_CONTROLLER_FMON_REF_WINDOW_DC_CHECK_COUNT_FSI_XTAL_0_FSI_XTAL_FMON_REF_WINDOW_DC_CHECK_COUNT_FIELD, + .reg_flt_actn = CLK_RST_CONTROLLER_FMON_FAULT_ACTION_FSI_XTAL_0, + .reg_flt_actn_msk = 0, + .reg_cfg = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0, + .reg_cfg_msk_rprt = (CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_REPORT_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_REPORT_LOW_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_REPORT_HIGH_THRESH_VIOL_FIELD | + CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_REPORT_DC_FAULT_VIOL_FIELD), + .reg_cfg_msk_ref_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_REF_CLK_WINDOW_EN_FIELD, + .reg_cfg_msk_cntr_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_ENABLE_FMON_COUNTER_FIELD, + .reg_cfg_msk_en = CLK_RST_CONTROLLER_FMON_CONFIG_FSI_XTAL_0_FSI_XTAL_FMON_ENABLE_FIELD, + .reg_en_sts = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_XTAL_0, + .reg_en_sts_msk = CLK_RST_CONTROLLER_FMON_ENABLE_STATUS_FSI_XTAL_0_READ_MASK, + .reg_flt_sts = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0, + .reg_flt_sts_msk_clr = CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0_FSI_XTAL_FMON_FAULT_CLEAR_FIELD, + .reg_flt_sts_msk_ro = (CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0_FSI_XTAL_FMON_FAULT_OUT_STATUS_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0_FSI_XTAL_FMON_OVERFLOW_ERROR_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0_FSI_XTAL_FMON_COUNT_HIGHER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0_FSI_XTAL_FMON_COUNT_LOWER_THRESH_HIGH_FAULT_FIELD | + CLK_RST_CONTROLLER_FMON_FAULT_STATUS_FSI_XTAL_0_FSI_XTAL_FMON_DC_FAULT_FIELD), + .reg_data_ctrl = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_XTAL_0, + .reg_data_ctrl_msk_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_XTAL_0_FSI_XTAL_FMON_LOAD_DATA_SEL_FIELD, + .reg_data_ctrl_msk_en = CLK_RST_CONTROLLER_FMON_LOAD_DATA_CTRL_FSI_XTAL_0_FSI_XTAL_FMON_LOAD_DATA_FIELD, + .reg_data_sts_done = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_XTAL_0, + .reg_data_sts_done_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_0_FSI_XTAL_0_FSI_XTAL_FMON_LOAD_DATA_DONE_FIELD, + .reg_data_sts_sel = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_XTAL_0, + .reg_data_sts_sel_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_1_FSI_XTAL_0_FSI_XTAL_FMON_LOAD_DATA_SEL_STATUS_FIELD, + .reg_data_val = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_XTAL_0, + .reg_data_val_msk = CLK_RST_CONTROLLER_FMON_LOAD_DATA_STATUS_2_FSI_XTAL_0_FSI_XTAL_FMON_LOAD_DATA_VAL_FIELD, + .reg_cntr_ctrl = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_XTAL_0, + .reg_cntr_ctrl_msk_hld = CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_XTAL_0_FSI_XTAL_FMON_HOLD_COUNT_SAMPLES_FIELD, + .reg_cntr_ctrl_msk_clr = (CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_XTAL_0_FSI_XTAL_FMON_MIN_MAX_LASTN_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_XTAL_0_FSI_XTAL_FMON_MASK_MIN_MAX_COUNT_CLEAR_FIELD | + CLK_RST_CONTROLLER_FMON_CLEAR_COUNTER_FSI_XTAL_0_FSI_XTAL_FMON_CLEAR_FMON_COUNTER_FIELD), + .cnt = &fsi_fmon_count_inf, + }, +}; + +SECTION_CAR_DATA +static uint32_t fsi_clk_counts[sizeof(struct fsi_fmon_cnts)]; + +SECTION_CAR_TEXT +static struct car_fmon_inf *fsi_fmon_inf_get(uint32_t clk_id) +{ + struct car_fmon_inf *fmon = NULL; + + if (clk_id < ARRAY_SIZE(fsi_clk_infs)) { + fmon = (struct car_fmon_inf *)fsi_clk_infs[clk_id].fmon; + } + return fmon; +} + +bool fsi_fmon_is_enabled(uint32_t clk_id) +{ + struct car_fmon_inf *fmon = fsi_fmon_inf_get(clk_id); + bool ret = false; + + if (fmon != NULL) { + ret = car_fmon_is_enabled(fmon); + } + return ret; +} + +error_t fsi_fmon_clk_hz_calc(uint32_t clk_id, uint64_t *hz) +{ + struct car_fmon_inf *fmon = fsi_fmon_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (fmon != NULL) { + ret = car_fmon_clk_hz_calc(fmon, fsi_clk_counts, hz); + } + return ret; +} + +error_t fsi_fmon_shutdown(uint32_t clk_id) +{ + struct car_fmon_inf *fmon = fsi_fmon_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (fmon != NULL) { + ret = car_fmon_shutdown(fmon); + } + return ret; +} + +error_t fsi_fmon_startup(uint32_t clk_id) +{ + struct car_fmon_inf *fmon = fsi_fmon_inf_get(clk_id); + error_t ret = E_CAR_INVALID_CLOCK_ID; + + if (fmon != NULL) { + ret = car_fmon_startup(fmon); + } + return ret; +} + +error_t fsi_fmon_init(void) +{ + uint64_t ticks_start; + uint64_t ticks_us; + uint64_t delay_us; + uint32_t data; + uint32_t i; + error_t ret = E_SUCCESS; + + ticks_start = car_port_get_time_ticks(); + i = 0; + do { + ticks_us = car_port_get_time_delta_us(ticks_start); + data = car_fmon_enable_status(&fsi_fmon_infs[i]); + if (data != 0U) { + delay_us = car_fmon_timeout_us(&fsi_fmon_infs[i]); + if (delay_us > ticks_us) { + delay_us -= ticks_us; + car_port_udelay(delay_us); + } else { + ret = E_CAR_FMON_HW_TIMEOUT; + break; + } + } else { + ret = car_fmon_counts(&fsi_fmon_infs[i], fsi_clk_counts); + if (ret == E_SUCCESS) { + if ((fsi_clk_counts[fsi_fmon_infs[i].cnt->cnt_sel_min_i] == UINT32_MAX) && + (fsi_clk_counts[fsi_fmon_infs[i].cnt->cnt_sel_max_i] == 0U)) { + ret = E_CAR_FMON_HW_LOGIC; + break; + } else { + i++; + } + } else { + break; + } + } + } while (i < FSI_FMON_ID_N); + + return ret; +} + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-pll.c b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-pll.c new file mode 100644 index 0000000..aad5f0a --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-pll.c @@ -0,0 +1,585 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... +#include // for memcpy + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for CLK_RST_CONTROLLER_PLLFSI_BASE_0... + +/* Late FSP headers */ +#include // for E_SUCCESS, error_t +#include // for ARRAY_SIZE,... + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_ERR_NULL_PTR, E_CAR_ERR_NO_... +#include // for hardware access, ... +#include // for HPLL functions, ... +#include // for PLL index, ... +#include // for CLK index, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_REG_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_HPLL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_PLL_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_CLK_H, "Header file missing or invalid.") + + +SECTION_CAR_RODATA +static const struct fsi_pll_init_cfg fsi_pll_init_cfgs[] = { + [FSI_CAR_PLL_550mV_550MHz] = { + .hz = 550 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x02, /* divp */ + .divn = 0x37, /* divn */ + .divn_frac = 0x0000, /* divn_frac */ + .frac_step = 0x0000, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0000, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_550mV_633MHz] = { + .hz = 633 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x02, /* divp */ + .divn = 0x3F, /* divn */ + .divn_frac = 0x0999, /* divn_frac */ + .frac_step = 0x03E8, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB03E8, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_600mV_780MHz] = { + .hz = 780 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x02, /* divp */ + .divn = 0x4E, /* divn */ + .divn_frac = 0x0000, /* divn_frac */ + .frac_step = 0x0000, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0000, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_600mV_897MHz] = { + .hz = 897 * MHz, /* hz_out */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x2C, /* divn */ + .divn_frac = 0x1B33, /* divn_frac */ + .frac_step = 0x06CC, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB06CC, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_670mV_1130MHz] = { + .hz = 1130 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x38, /* divn */ + .divn_frac = 0x1000, /* divn_frac */ + .frac_step = 0x0400, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0400, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_670mV_1300MHz] = { + .hz = 1300 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x41, /* divn */ + .divn_frac = 0x0000, /* divn_frac */ + .frac_step = 0x0000, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0000, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_720mV_1130MHz] = { + .hz = 1130 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x38, /* divn */ + .divn_frac = 0x1000, /* divn_frac */ + .frac_step = 0x0400, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0400, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_720mV_1300MHz] = { + .hz = 1300 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x41, /* divn */ + .divn_frac = 0x0000, /* divn_frac */ + .frac_step = 0x0000, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0000, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_850mV_1400MHz] = { + .hz = 1400 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x46, /* divn */ + .divn_frac = 0x0000, /* divn_frac */ + .frac_step = 0x0000, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0000, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_850mV_1610MHz] = { + .hz = 1610 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x50, /* divn */ + .divn_frac = 0x1000, /* divn_frac */ + .frac_step = 0x0400, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0400, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_940mV_1400MHz] = { + .hz = 1400 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x46, /* divn */ + .divn_frac = 0x0000, /* divn_frac */ + .frac_step = 0x0000, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0000, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, + [FSI_CAR_PLL_940mV_1610MHz] = { + .hz = 1610 * MHz, /* hz */ + .divm = 0x02, /* divm */ + .divp = 0x01, /* divp */ + .divn = 0x50, /* divn */ + .divn_frac = 0x1000, /* divn_frac */ + .frac_step = 0x0400, /* frac_step */ + .reg_misc_2 = 0x1F720F05, /* reg_misc_2 */ + .reg_misc_3 = 0x00000004, /* reg_misc_3 */ + .reg_misc_4 = 0x01CB0400, /* reg_misc_4 */ + .reg_misc_5 = 0x00000000, /* reg_misc_5 */ + .reg_misc_6 = 0x00000000, /* reg_misc_6 */ + }, +}; + +SECTION_CAR_RODATA +static const struct car_pll_cfg fsi_hpll_cfgs[] = { + PLL_CFG(FSI_CAR_PLL_550mV_550MHz, + 40 * MHz, /* hz_in */ + 550 * MHz, /* hz_out */ + 0x37, /* n */ + 0x02, /* m */ + 0x02, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_550mV_633MHz, + 40 * MHz, /* hz_in */ + 633 * MHz, /* hz_out */ + 0x3F, /* n */ + 0x02, /* m */ + 0x02, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_600mV_780MHz, + 40 * MHz, /* hz_in */ + 780 * MHz, /* hz_out */ + 0x4E, /* n */ + 0x02, /* m */ + 0x02, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_600mV_897MHz, + 40 * MHz, /* hz_in */ + 897 * MHz, /* hz_out */ + 0x2C, /* n */ + 0x02, /* m */ + 0x01, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_670mV_1130MHz, + 40 * MHz, /* hz_in */ + 1130 * MHz, /* hz_out */ + 0x38, /* n */ + 0x02, /* m */ + 0x01, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_670mV_1300MHz, + 40 * MHz, /* hz_in */ + 1300 * MHz, /* hz_out */ + 0x41, /* n */ + 0x02, /* m */ + 0x01, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_850mV_1400MHz, + 40 * MHz, /* hz_in */ + 1400 * MHz, /* hz_out */ + 0x46, /* n */ + 0x02, /* m */ + 0x01, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ + PLL_CFG(FSI_CAR_PLL_850mV_1610MHz, + 40 * MHz, /* hz_in */ + 1610 * MHz, /* hz_out */ + 0x50, /* n */ + 0x02, /* m */ + 0x01, /* p */ + false, /* en_sdm */ + false, /* en_ssc */ + 0x0000, /* sdm_din */ + 0x0000, /* sdm_ssc_min */ + 0x0000, /* sdm_ssc_max */ + 0x0000, /* sdm_ssc_step */ + 0x0000, /* sscmax */ + 0x00, /* sscinc */ + 0x00), /* sscincintrv */ +}; + +SECTION_CAR_RODATA +static const struct car_pll_spec fsi_pll_spec = { + .type = CAR_PLL_TYPE_HPLL16, + .flags = CAR_PLL_FLG_HAS_DYNAMIC_RAMP, + .frac_width = 16, + .min_n = 1, + .min_m = 2, + .min_p = 1, + .clkin_max = 40 * MHz, + .vco_min = 650 * MHz, + .vco_max = 2000 * MHz, + .cf_min = 38400 * kHz, + .cf_max = 38400 * kHz, + .max_n = 255, + .max_m = 2, + .max_p = 2, +}; + +SECTION_CAR_DATA +static const struct car_pll_spec *fsi_pll_spec_p = &fsi_pll_spec; +static const struct car_pll_cfg *fsi_hpll_cfgs_p = fsi_hpll_cfgs; +static uint32_t fsi_hpll_cfgs_n = ARRAY_SIZE(fsi_hpll_cfgs); +static uint32_t fsi_hpll_status = 0; + +SECTION_CAR_RODATA +static const struct car_pll_inf fsi_hpll_infs[] = { + HPLL_INF(0, + &fsi_pll_spec_p, /* **spec */ + &fsi_hpll_cfgs_p, /* **cfgs */ + &fsi_hpll_cfgs_n, /* *cfgs_n */ + &fsi_hpll_status, /* *sts */ + CLK_RST_CONTROLLER_FSI_CPU_BASE_0_0, /* sel_reg */ + CLK_RST_CONTROLLER_FSI_CPU_BASE_0_0_FSICPU_CLK_SRC_SEL_FIELD, /* sel_msk */ + CLK_RST_CONTROLLER_PLLFSI_MISC_0_0, /* rst_reg */ + CLK_RST_CONTROLLER_PLLFSI_MISC_0_0_PLLFSI_RESETB_FIELD, /* rst_msk */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0, /* en_reg */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0_PLLFSI_ENABLE_FIELD, /* en_msk */ + CLK_RST_CONTROLLER_PLLFSI_MISC_1_0, /* iddq_reg */ + CLK_RST_CONTROLLER_PLLFSI_MISC_1_0_PLLFSI_IDDQ_FIELD, /* iddq_msk */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0, /* mdiv_reg */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0_PLLFSI_DIVM_FIELD, /* mdiv_msk */ + CLK_RST_CONTROLLER_PLLFSI_MISC_1_0, /* ndiv_reg */ + CLK_RST_CONTROLLER_PLLFSI_MISC_1_0_PLLFSI_DIVN_FIELD, /* ndiv_msk */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0, /* pdiv_reg */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0_PLLFSI_DIVP_FIELD, /* pdiv_msk */ + CLK_RST_CONTROLLER_PLLFSI_MISC_1_0, /* frac_reg */ + CLK_RST_CONTROLLER_PLLFSI_MISC_1_0_PLLFSI_DIVN_FRAC_FIELD, /* frac_msk */ + 0, /* enfrac_reg */ + 0, /* enfrac_msk */ + CLK_RST_CONTROLLER_PLLFSI_MISC_4_0, /* fracstep_reg */ + CLK_RST_CONTROLLER_PLLFSI_MISC_4_0_PLLFSI_FRAC_STEP_FIELD, /* fracstep_msk */ + 0, /* iref_reg */ + 0, /* iref_msk */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0, /* lock_reg */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0_PLLFSI_LOCK_FIELD, /* lock_msk */ + 0, /* lckdet_reg */ + 0, /* lckdet_msk */ + CLK_RST_CONTROLLER_PLLFSI_BASE_0_PLLFSI_FREQ_LOCK_FIELD, /* freqlock_msk */ + 0), /* ss_cntl_reg */ +}; + + +SECTION_CAR_TEXT +bool fsi_pll_is_enabled() +{ + return fsi_hpll_infs[0].op->pll_is_enabled(&fsi_hpll_infs[0]); +} + +SECTION_CAR_TEXT +error_t fsi_pll_enable() +{ + return fsi_hpll_infs[0].op->pll_enable(&fsi_hpll_infs[0]); +} + +SECTION_CAR_TEXT +error_t fsi_pll_disable() +{ + return fsi_hpll_infs[0].op->pll_disable(&fsi_hpll_infs[0]); +} + +SECTION_CAR_TEXT +error_t fsi_pll_set_rate(int64_t hz_out) +{ + int64_t hz_in; + error_t ret; + + ret = fsi_clk_get_rate(FSI_CLK_ID_XTAL, &hz_in); + if (ret == E_SUCCESS) { + ret = fsi_hpll_infs[0].op->pll_hz_set(&fsi_hpll_infs[0], hz_in, hz_out); + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_pll_get_rate(int64_t *hz_out) +{ + int64_t hz_in; + error_t ret; + + ret = fsi_clk_get_rate(FSI_CLK_ID_XTAL, &hz_in); + if (ret == E_SUCCESS) { + *hz_out = fsi_hpll_infs[0].op->pll_hz_get(&fsi_hpll_infs[0], hz_in); + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_pll_spec_get(struct car_pll_spec *spec) +{ + error_t ret = E_CAR_NULL_PTR; + + if (spec != NULL) { + memcpy(spec, *fsi_hpll_infs[0].spec, sizeof(*spec)); + ret = E_SUCCESS; + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_pll_spec_set(struct car_pll_spec *spec) +{ + if (spec == NULL) { + fsi_pll_spec_p = &fsi_pll_spec; + } else { + fsi_pll_spec_p = spec; + } + return E_SUCCESS; +} + +SECTION_CAR_TEXT +error_t fsi_pll_cfgs_set(struct car_pll_cfg *cfgs, uint32_t cfgs_n) +{ + if (cfgs == NULL) { + fsi_hpll_cfgs_p = fsi_hpll_cfgs; + fsi_hpll_cfgs_n = ARRAY_SIZE(fsi_hpll_cfgs); + } else { + fsi_hpll_cfgs_p = cfgs; + fsi_hpll_cfgs_n = cfgs_n; + } + return E_SUCCESS; +} + +SECTION_CAR_TEXT +error_t fsi_pll_init_cfg_rd(struct fsi_pll_init_cfg *cfg) +{ + error_t ret = E_CAR_NULL_PTR; + + if (cfg != NULL) { + cfg->reg_misc_6 = car_reg_rd(CLK_RST_CONTROLLER_PLLFSI_MISC_6_0); + cfg->reg_misc_5 = car_reg_rd(CLK_RST_CONTROLLER_PLLFSI_MISC_5_0); + cfg->reg_misc_4 = car_reg_rd(CLK_RST_CONTROLLER_PLLFSI_MISC_4_0); + cfg->reg_misc_3 = car_reg_rd(CLK_RST_CONTROLLER_PLLFSI_MISC_3_0); + cfg->reg_misc_2 = car_reg_rd(CLK_RST_CONTROLLER_PLLFSI_MISC_2_0); + cfg->divm = (uint8_t)car_reg_rd_val(fsi_hpll_infs[0].mdiv_reg, + fsi_hpll_infs[0].mdiv_msk); + cfg->divn = (uint8_t)car_reg_rd_val(fsi_hpll_infs[0].ndiv_reg, + fsi_hpll_infs[0].ndiv_msk); + cfg->divp = (uint8_t)car_reg_rd_val(fsi_hpll_infs[0].pdiv_reg, + fsi_hpll_infs[0].pdiv_msk); + cfg->divn_frac = (uint16_t)car_reg_rd_val(fsi_hpll_infs[0].frac_reg, + fsi_hpll_infs[0].frac_msk); + cfg->frac_step = (uint16_t)car_reg_rd_val(fsi_hpll_infs[0].fracstep_reg, + fsi_hpll_infs[0].fracstep_msk); + ret = fsi_pll_get_rate(&cfg->hz); + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_pll_init_cfg_wr(struct fsi_pll_init_cfg *cfg) +{ + error_t ret = E_CAR_NULL_PTR; + + if (cfg != NULL) { + /* disable PLL */ + ret = fsi_pll_disable(); + if (ret == E_SUCCESS) { + /* PLL programming */ + car_reg_wr(CLK_RST_CONTROLLER_PLLFSI_MISC_6_0, + cfg->reg_misc_6); + car_reg_wr(CLK_RST_CONTROLLER_PLLFSI_MISC_5_0, + cfg->reg_misc_5); + car_reg_wr(CLK_RST_CONTROLLER_PLLFSI_MISC_4_0, + cfg->reg_misc_4); + car_reg_wr(CLK_RST_CONTROLLER_PLLFSI_MISC_3_0, + cfg->reg_misc_3); + car_reg_wr(CLK_RST_CONTROLLER_PLLFSI_MISC_2_0, + cfg->reg_misc_2); + if (fsi_hpll_infs[0].mdiv_msk != 0U) { + car_reg_rdwr_val(fsi_hpll_infs[0].mdiv_reg, + fsi_hpll_infs[0].mdiv_msk, + cfg->divm); + } + if (fsi_hpll_infs[0].ndiv_msk != 0U) { + car_reg_rdwr_val(fsi_hpll_infs[0].ndiv_reg, + fsi_hpll_infs[0].ndiv_msk, + cfg->divn); + } + if (fsi_hpll_infs[0].pdiv_msk != 0U) { + car_reg_rdwr_val(fsi_hpll_infs[0].pdiv_reg, + fsi_hpll_infs[0].pdiv_msk, + cfg->divp); + } + if (fsi_hpll_infs[0].frac_msk != 0U) { + car_reg_rdwr_val(fsi_hpll_infs[0].frac_reg, + fsi_hpll_infs[0].frac_msk, + cfg->divn_frac); + } + /* flag the PLL is initialized */ + fsi_hpll_status |= CAR_PLL_STS_HZ_SET; + /* enable PLL */ + ret = fsi_pll_enable(); + } + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_pll_init(uint32_t pll_vf) +{ + error_t ret = E_CAR_PLL_NO_INIT; + + if (pll_vf < ARRAY_SIZE(fsi_pll_init_cfgs)) { + ret = fsi_pll_init_cfg_wr((struct fsi_pll_init_cfg *)&fsi_pll_init_cfgs[pll_vf]); + } + return ret; +} + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-rst.c b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-rst.c new file mode 100644 index 0000000..c4b87d3 --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/fsi/fsi-car-rst.c @@ -0,0 +1,237 @@ +/* Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for NULL +#include // for bool, false +#include // for uint32_t, uint8_t, UINT8_MAX, UIN... + +/* Early FSP headers */ +#include // for CT_ASSERT +#include /* Must appear before any hwinc files */ + +/* Hardware headers */ +#include // for CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0... + +/* Late FSP headers */ +#include // for ARRAY_SIZE,... +#include // for tegra_platform_is_silicon... +#include // for udelay... + +/* Module-specific FSP headers */ +#include // for SECTION_CAR_TEXT, ... +#include // for E_CAR_INVALID_RESET_ID,_... +#include // for core functions, ... +#include // for car_port_udelay... +#include // for reset index, ... + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/ct-assert.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__SOC_COMMON__HW_CONST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__MACROS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CHIPID__CHIP_ID_H, "Header file missing or invalid.") +CT_ASSERT(FSP__DELAY__DELAY_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__CAR__CAR_RST_H, "Header file missing or invalid.") +CT_ASSERT(FSP__FSI__CAR_RST_H, "Header file missing or invalid.") + + +SECTION_CAR_RODATA +static const struct car_rst_inf fsi_rst_infs[] = { + /* fsi_ncorereset0_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCORE_0, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCORERESET0_RST_FIELD), + /* fsi_ncorereset1_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCORE_1, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCORERESET1_RST_FIELD), + /* fsi_ncorereset2_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCORE_2, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCORERESET2_RST_FIELD), + /* fsi_ncorereset3_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCORE_3, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCORERESET3_RST_FIELD), + /* fsi_ncpuporreset0_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCPUPOR_0, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCPUPORRESET0_RST_FIELD), + /* fsi_ncpuporreset1_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCPUPOR_1, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCPUPORRESET1_RST_FIELD), + /* fsi_ncpuporreset2_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCPUPOR_2, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCPUPORRESET2_RST_FIELD), + /* fsi_ncpuporreset3_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NCPUPOR_3, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NCPUPORRESET3_RST_FIELD), + /* fsi_ntopreset_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NTOPRESET, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NTOPRESET_RST_FIELD), + /* fsi_npresetdbg_reset_fsi_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_NPRESETDBG, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CPU_0_SWR_FSI_NPRESETDBG_RST_FIELD), + /* fsi_chsm_sysporreset_reset_fsi_chsm_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CHSM_SYSPORRESET, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0_SWR_CHSM_SYSPORESET_RST_FIELD), + /* fsi_chsm_nreset_reset_fsi_chsm_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CHSM_NRESET, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0_SWR_CHSM_NRESET_RST_FIELD), + /* fsi_chsm_dbgresetn_reset_fsi_chsm_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CHSM_DBGRESETN, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0_SWR_CHSM_DBGRESETN_RST_FIELD), + /* fsi_chsm_presetdbgn_reset_fsi_chsm_cpu_clk_srstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CHSM_PRESETDBGN, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CHSM_0_SWR_CHSM_PRESETDBGN_RST_FIELD), + /* fsi_csite_reset_rstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CSITE, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_DFD_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_DFD_0_SWR_FSI_CSITE_RST_FIELD), + /* fsi_la_reset_rstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_LA, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_DFD_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_DFD_0_SWR_FSI_LA_RST_FIELD), + /* fsi_can0_reset_rstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CAN0, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CAN_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CAN_0_SWR_FSI_CAN0_RST_FIELD), + /* fsi_can1_reset_rstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_CAN1, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CAN_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_CAN_0_SWR_FSI_CAN1_RST_FIELD), + /* fsi_spi0_reset_rstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_SPI0, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_SPI_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_SPI_0_SWR_FSI_SPI0_RST_FIELD), + /* fsi_uart0_reset_rstn */ + CAR_RST_TYPE_R(FSI_CAR_RST_ID_UART0, + 0, + CLK_RST_CONTROLLER_RST_DEV_FSI_UART_0, + CLK_RST_CONTROLLER_RST_DEV_FSI_UART_0_SWR_FSI_UART0_RST_FIELD), +}; + + +SECTION_CAR_TEXT +static struct car_rst_inf *rst_inf_get(uint32_t rst_id) +{ + struct car_rst_inf *rst = NULL; + + if ((rst_id < ARRAY_SIZE(fsi_rst_infs)) && (fsi_rst_infs[rst_id].op != NULL)) { + rst = (struct car_rst_inf *)&fsi_rst_infs[rst_id]; + } + return rst; +} + +SECTION_CAR_TEXT +bool fsi_rst_is_asserted(uint32_t rst_id) +{ + bool ret = false; + struct car_rst_inf *rst = rst_inf_get(rst_id); + + if (rst != NULL) { + ret = rst->op->rst_is_asserted(rst); + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_rst_assert(uint32_t rst_id) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + struct car_rst_inf *rst = rst_inf_get(rst_id); + + if (rst != NULL) { + ret = rst->op->rst_assert(rst); + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_rst_deassert(uint32_t rst_id) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + struct car_rst_inf *rst = rst_inf_get(rst_id); + + if (rst != NULL) { + ret = rst->op->rst_deassert(rst); + } + return ret; +} + +SECTION_CAR_TEXT +error_t fsi_rst_pulse(uint32_t rst_id, uint64_t delay_us) +{ + error_t ret = E_CAR_INVALID_RESET_ID; + struct car_rst_inf *rst = rst_inf_get(rst_id); + + if (rst != NULL) { + ret = rst->op->rst_assert(rst); + car_port_udelay(delay_us); + ret |= rst->op->rst_deassert(rst); + } + return ret; +} + diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/rce/gpcdma-port.c b/spe-freertos-bsp/fsp/source/soc/t234/port/rce/gpcdma-port.c new file mode 100644 index 0000000..917dbaa --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/rce/gpcdma-port.c @@ -0,0 +1,206 @@ +/* + * Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ +#include // for uint32_t, uint8_t, UINT32_... +#include // for NULL +#include // for bool + // IWYU pragma: no_include + +/* Early FSP headers */ +#include // for CT_ASSERT + +/* Hardware headers */ + +/* Late FSP headers */ +#include // for rtosTaskYieldFromISR +#include // for rtosSemaphore... +#include // for rtosBool +#include // for ALIGN +#include // for error_t, E_SUCCESS +#include // for tegra_clk_reset_pulse + +/* Module specific headers */ +#include // for E_GPCDMA_NULL_PTR, E_GPCDMA_... +#include // for struct gpcdma_id, gpcdma_channel... +#include // for gpcdma_port_... +#include // Immune from CT_ASSERT protection + +/* + * Compile-time check for FSP header files + * Each FSP header file contains a signature unique to that file, and the + * FSP project. The CT_ASSERT macro (contained in misc/macros.h) can + * check for this signature. If it does not exist, then the build will + * abort. + * + * This is a trap for projects which have their own include files of the + * same names, but different contents. This trap ensures that only the + * files from the FSP project, are built into the FSP source code. + */ +CT_ASSERT(FSP__OSA__RTOS_TASK_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_SEMAPHORE_H, "Header file missing or invalid.") +CT_ASSERT(FSP__OSA__RTOS_VALUES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__MISC__ATTRIBUTES_H, "Header file missing or invalid.") +CT_ASSERT(FSP__ERROR__COMMON_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_ERRORS_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PRIV_H, "Header file missing or invalid.") +CT_ASSERT(FSP__GPCDMA__GPCDMA_PORT_H, "Header file missing or invalid.") + +static rtosSemaphoreHandle chan_sems[TEGRA_GPCDMA_NUM_CHANNELS]; +static uint8_t chan_sem_bufs[TEGRA_GPCDMA_NUM_CHANNELS][rtosSemaphoreSize()]; + +/* Queue management used in continuous mode to store buffer descriptor */ +error_t gpcdma_port_init_queue(uint32_t chan_num, uint32_t nelems, + uint32_t el_sz) +{ + UNUSED(chan_num); + UNUSED(nelems); + UNUSED(el_sz); + return E_NOTSUPPORTED; +} + +void gpcdma_port_delete_queue(uint32_t chan_num) +{ + UNUSED(chan_num); +} + +error_t gpcdma_port_get_desc(uint32_t chan_num, void *ptr, uint32_t timeout, + bool from_isr) +{ + UNUSED(chan_num); + UNUSED(ptr); + UNUSED(timeout); + UNUSED(from_isr); + return E_NOTSUPPORTED; +} + +error_t gpcdma_port_send_desc_to_back(uint32_t chan_num, void *ptr, + uint32_t timeout, bool from_isr) +{ + UNUSED(chan_num); + UNUSED(ptr); + UNUSED(timeout); + UNUSED(from_isr); + return E_NOTSUPPORTED; +} +/* End of queue management code */ + +static inline bool is_dma_chan_valid(uint32_t chan_num) +{ + return chan_num < (uint32_t)TEGRA_GPCDMA_NUM_CHANNELS; +} + +error_t gpcdma_port_chan_sync(uint32_t chan_num, + uint32_t timeout) +{ + error_t ret; + + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + ret = rtosSemaphoreAcquire(chan_sems[chan_num], (rtosTick)timeout); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_SYNC_TIMEOUT; + goto out; + } + ret = E_SUCCESS; + +out: + return ret; +} + +error_t gpcdma_port_chan_sync_end(uint32_t chan_num) +{ + error_t ret; + rtosBool higher_prio_task_woken = rtosFALSE; + + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + ret = rtosSemaphoreReleaseFromISR(chan_sems[chan_num], + &higher_prio_task_woken); + if (ret == rtosPASS) { + rtosTaskYieldFromISR(higher_prio_task_woken); + ret = E_SUCCESS; + } + +out: + return ret; +} + +error_t gpcdma_port_chan_setup(uint32_t chan_num) +{ + error_t ret; + rtosUCount depth; + + if (!is_dma_chan_valid(chan_num)) { + ret = E_GPCDMA_INVALID_PARAM; + goto out; + } + + ret = rtosSemaphoreCreateBinary(chan_sem_bufs[chan_num], + &chan_sems[chan_num]); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_CHAN_SETUP_FAIL; + goto out; + } + + ret = rtosSemaphoreGetCountDepth(chan_sems[chan_num], &depth); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_CHAN_SETUP_FAIL; + goto out; + } + + if (depth == 0U) { + ret = E_SUCCESS; + goto out; + } + + /* + * Make sure the semaphore state is empty initially so that it + * blocks on a notification from ISR. + */ + ret = rtosSemaphoreAcquire(chan_sems[chan_num], (rtosTick)0); + if (ret != rtosPASS) { + ret = E_GPCDMA_PORT_CHAN_SETUP_FAIL; + goto out; + } + ret = E_SUCCESS; + +out: + return ret; +} + +error_t gpcdma_port_init(struct gpcdma_id *id) +{ + return E_SUCCESS; +} diff --git a/spe-freertos-bsp/fsp/source/soc/t234/port/rce/tke-irq.S b/spe-freertos-bsp/fsp/source/soc/t234/port/rce/tke-irq.S new file mode 100644 index 0000000..aa4de9f --- /dev/null +++ b/spe-freertos-bsp/fsp/source/soc/t234/port/rce/tke-irq.S @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2018-2020 NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Compiler headers */ + +/* Early FSP headers */ + +/* Hardware headers */ + +/* Late FSP headers */ +#include // defined by the application, defines the interrupt map +#include + +/* Module-specific FSP headers */ +#include + + .section SECTION_STR_TKE_TEXT, "ax" + .arm + .syntax unified + + /* + * TKE interrupt handlers + */ + isr_addr TIMER0_isr, tegra_tke_id_timer0, tegra_tke_irq, INTERRUPT_TIMER0 + isr_addr TIMER1_isr, tegra_tke_id_timer1, tegra_tke_irq, INTERRUPT_TIMER1 + isr_addr TIMER2_isr, tegra_tke_id_timer2, tegra_tke_irq, INTERRUPT_TIMER2 + isr_addr TIMER3_isr, tegra_tke_id_timer3, tegra_tke_irq, INTERRUPT_TIMER3 + + /* + * Defines the portion of the ISR map array for TKE + */ + .section SECTION_STR_VIC_ISRMAP_DATA, "a" + + isr_map_entry INTERRUPT_TIMER0, TIMER0_isr + isr_map_entry INTERRUPT_TIMER1, TIMER1_isr + isr_map_entry INTERRUPT_TIMER2, TIMER2_isr + isr_map_entry INTERRUPT_TIMER3, TIMER3_isr + + .end diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/FreeRTOSConfig.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/FreeRTOSConfig.h new file mode 100644 index 0000000..e8598da --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/FreeRTOSConfig.h @@ -0,0 +1,105 @@ +/* Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +#include + +#define FSP__CONFIG__FREERTOSCONFIG_H 1 +#define configUSE_PREEMPTION 1 +#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#define configUSE_TICKLESS_IDLE 0 +#define configCPU_CLOCK_HZ 1000000 +#define configTICK_RATE_HZ 1000 +#define configMAX_PRIORITIES 32 +#define configMINIMAL_STACK_SIZE 128 +#define configMAX_TASK_NAME_LEN 16 +#define configUSE_16_BIT_TICKS 0 +#define configIDLE_SHOULD_YIELD 1 +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */ +#define configQUEUE_REGISTRY_SIZE 10 +#define configUSE_QUEUE_SETS 0 +#define configUSE_TIME_SLICING 0 +#define configUSE_NEWLIB_REENTRANT 1 +#define configENABLE_BACKWARD_COMPATIBILITY 0 + +/* Hook function related definitions. */ +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configCHECK_FOR_STACK_OVERFLOW 1 +#define configUSE_MALLOC_FAILED_HOOK 0 + +/* Run time and task stats gathering related definitions. */ +#define configGENERATE_RUN_TIME_STATS 0 +#define configUSE_TRACE_FACILITY 0 +#define configUSE_STATS_FORMATTING_FUNCTIONS 0 + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES 0 + +/* Software timer related definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE +#define configSUPPORT_STATIC_ALLOCATION 1 + +#define configASSERT( x ) if( ( x ) == pdFALSE ) { taskDISABLE_INTERRUPTS(); for( ;; ); } + +/* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_xTaskResumeFromISR 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 0 +#define INCLUDE_xTaskGetIdleTaskHandle 0 +#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0 +#define INCLUDE_pcTaskGetTaskName 0 +#define INCLUDE_eTaskGetState 0 +#define INCLUDE_xEventGroupSetBitFromISR 1 +#define INCLUDE_xTimerPendFunctionCall 1 + +#ifndef __ASSEMBLER__ +extern void setup_timer_interrupt(void); +#define configSETUP_TICK_INTERRUPT() setup_timer_interrupt() + +#endif + +#define configCLEAR_TICK_INTERRUPT +#define configACKNOWLEDGE_TICK_INTERRUPT + +#endif /* FREERTOS_CONFIG_H */ diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/Makefile b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/Makefile new file mode 100644 index 0000000..b8eb064 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/Makefile @@ -0,0 +1,358 @@ +# Copyright (c) 2016-2023, NVIDIA CORPORATION. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of NVIDIA CORPORATION nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +# Macro for checking that each variable given in list $(1) is both defined +# and has a non empty value in it. +define NV_BUILD_VARIABLES_SANITY_CHECK +$(foreach var,$(1),$(eval \ + ifndef $(var) + _missing_vars := 1 $$(info ERROR: variable not set or empty: $(var)) + endif)) \ + $(if $(_missing_vars),$(error Environment sanity check failed)) +endef +$(call NV_BUILD_VARIABLES_SANITY_CHECK,SPE_FREERTOS_BSP \ + CROSS_COMPILE) + +RT_AUX_DIR ?= $(SPE_FREERTOS_BSP)/rt-aux-cpu-demo-fsp +FREERTOS_DIR ?= $(SPE_FREERTOS_BSP)/FreeRTOSV10.4.3/FreeRTOS/Source +FSP_SRC_DIR ?= $(SPE_FREERTOS_BSP)/fsp/source +OUTDIR := $(RT_AUX_DIR)/out +SOC_PATH := $(RT_AUX_DIR)/soc +DOC_PATH := $(RT_AUX_DIR)/doc +DOC_BUILD_PATH := $(OUTDIR)/docs +CC := $(CROSS_COMPILE)gcc +OBJCOPY := $(CROSS_COMPILE)objcopy +OBJDUMP := $(CROSS_COMPILE)objdump + +ALL_BUILD_TARGETS := bin_t23x docs +ALL_CLEAN_TARGETS := clean_t23x clean_docs + +# This must be the first rule +.PHONY: all +all: $(ALL_BUILD_TARGETS) + +hide := @ +show := @test '${hide}' != @ || echo ' ' + +show_compile = ${show} CC ${notdir $<} +define cmd_compile + $(CC) -c $(CFLAGS) -MD -MP -MF $(_tgt_depname) $< -o $@ +endef + +show_ldscript_cpp = ${show} CPP ${notdir $<} +define cmd_ldscript_cpp + $(CC) -E $(CPPFLAGS) -MD -MP -MF $(_tgt_depname) -MT $@ -P -D __ASSEMBLY__ \ + -x assembler-with-cpp $< -o $@ +endef + +show_link = ${show} LINK ${notdir $@} +define cmd_link + $(CC) $(LDFLAGS) -nostartfiles \ + -Xlinker -M -Xlinker -Map=$(patsubst %.elf,%.map,$@) \ + -Xlinker --gc-sections \ + -Xlinker -e_stext \ + $(filter-out FORCE %.ld,$^) \ + -T $(filter %.ld,$^) \ + -o $@ -lc +endef + +show_elf2bin = ${show} OBJCOPY ${notdir $@} +define cmd_elf2bin + $(OBJCOPY) -O binary $< $@ +endef + +show_disassemble = ${show} DISASM ${notdir $@} +define cmd_disassemble + $(OBJDUMP) -d $< > $@ +endef + +# This gives false-positives if x$1x appears multiple times in x$2x. However, +# since we use this to compare command-lines, the chance of that happening is +# remote, so we ignore this issue. +cmds_differ = $(subst x$(strip $1)x,,x$(strip $2)x) + +need_rebuild = $$(filter-out FORCE,$$?)$$(call cmds_differ,$$(cmd_$2),$$(_tgt_cmd_$1)) + +.PHONY: FORCE +FORCE: | $(OBJDIR) + +# The echo _tgt_cmd_... command below and/or the parsing of $(_depname) by +# make later will fail if $(cmd_$2) contains characters that are special to the +# shell (echo) or make (parsing). This can be worked around by escaping the +# data. However, a simpler suggestion is to keep $(cmd_*) simple, i.e "don't +# do that". +define gen_rule_body +_depname := $1.d +-include $$(_depname) + +$1: _tgt_depname := $$(_depname) +$1: $3 FORCE + @set -e + @$$(if $(need_rebuild),rm -f $$(_tgt_depname)) + @$$(if $(need_rebuild),$$(show_$2)) + ${hide}$$(if $(need_rebuild),$$(cmd_$2)) + @$$(if $(need_rebuild),echo '_tgt_cmd_$$@ := $$(cmd_$2)' >> $$(_tgt_depname)) +endef + +gen_rule = $(eval $(gen_rule_body)) + +define build_target + +SOC_TARGET := $(subst bin_,,$1) +SPE_TARGET_DIR := $(SOC_PATH)/$(SOC_TARGET) +include $(SPE_TARGET_DIR)/target_specific.mk + +OBJDIR := $(OUTDIR)/$(SOC_TARGET) +ELF := $(OBJDIR)/spe.elf +BIN := $(OBJDIR)/spe.bin +DIS := $(OBJDIR)/spe.dis +LDSCRIPT := $(OBJDIR)/spe.ld + +INCLUDES := \ + . \ + ./include \ + $(TARGET_INCLUDES) \ + $(FSP_SRC_DIR)/include/ \ + $(FSP_SRC_DIR)/include/osa/ \ + $(FSP_SRC_DIR)/include/osa/freertosv10/ \ + $(FSP_SRC_DIR)/include/osa/freertosv10/arm/armv7/cortex-r5/ \ + $(FSP_SRC_DIR)/include/cpu/arm/armv7/cortex-r5/ \ + $(FSP_SRC_DIR)/include/cpu/arm/common/ \ + $(FSP_SRC_DIR)/include/cpu/arm/armv7/ \ + $(FSP_SRC_DIR)/include/cpu/arm/armv7/cpu \ + $(FREERTOS_DIR)/include \ + $(FREERTOS_DIR)/portable/GCC/ARM_R5 + +CPPFLAGS := \ + $(addprefix -I,$(abspath $(INCLUDES))) \ + +CFLAGS := \ + $(CPPFLAGS) \ + $(TARGET_CFLAGS) \ + -DTEGRA_UARTC_ENABLED \ + -mcpu=cortex-r5 -mthumb-interwork \ + -fdata-sections -ffunction-sections -mlong-calls -g3 \ + -mfloat-abi=softfp -mfpu=vfpv3-d16 \ + -Wall -std=c99 -pedantic \ + -Wstrict-prototypes -Wmissing-prototypes \ + -Werror -Wpointer-arith -Wno-unknown-pragmas \ + -Wfloat-equal -Wshadow -Wbad-function-cast \ + -Wwrite-strings -Waggregate-return -Wmissing-declarations \ + -Wmissing-format-attribute -Wno-deprecated-declarations -Wpacked \ + -Wredundant-decls -Wnested-externs -Wunreachable-code -Wno-variadic-macros \ + -DUSE_GCC=1 + +ifeq ($(ENABLE_GPCDMA_FUNC), 1) + CFLAGS += -DENABLE_GPCDMA_FUNC +endif + +ifeq ($(ENABLE_GPIO_APP), 1) + CFLAGS += -DENABLE_GPIO_APP +endif + +ifeq ($(ENABLE_TIMER_APP), 1) + CFLAGS += -DENABLE_TIMER_APP +endif + +ifeq ($(ENABLE_AODMIC_APP), 1) + CFLAGS += -DENABLE_AODMIC_APP +endif + +ifeq ($(ENABLE_I2C_APP), 1) + CFLAGS += -DENABLE_I2C_APP + CFLAGS += -DI2C_CUSTOM_PORT_INIT +endif + +ifeq ($(ENABLE_GTE_APP), 1) + CFLAGS += -DENABLE_GTE_APP +endif + +ifeq ($(ENABLE_SPI_APP), 1) + CFLAGS += -DENABLE_SPI_APP +endif + +ifeq ($(ENABLE_SPI_SLV_APP), 1) + CFLAGS += -DENABLE_SPI_SLV_APP +endif + +ifeq ($(ENABLE_SPE_FOR_ORIN_NANO), 1) + CFLAGS += -DENABLE_SPE_FOR_ORIN_NANO +endif + +LDFLAGS := \ + $(CFLAGS) + +SRCS := \ + $(TARGET_SRCS) \ + $(FSP_SRC_DIR)/drivers/cpu/arm/armv7/armv7-exceptions.S \ + $(FSP_SRC_DIR)/drivers/cpu/arm/common/irqapi-arm.c \ + $(FSP_SRC_DIR)/drivers/cpu/arm/common/arm-vic.c \ + $(FSP_SRC_DIR)/drivers/vic/irqapi-vic.c \ + $(FSP_SRC_DIR)/drivers/cpu/arm/armv7/cortex-r5/irqapi-cortex-r5.c \ + $(FSP_SRC_DIR)/drivers/cpu/arm/armv7/cortex-r5/cache-cortex-r5.c \ + $(FSP_SRC_DIR)/drivers/cpu/arm/armv7/armv7-exception.c \ + $(FSP_SRC_DIR)/drivers/tke/tke-tegra.c \ + $(FSP_SRC_DIR)/drivers/tke/tke-tegra-tsc-fixed.c \ + $(FSP_SRC_DIR)/drivers/tke/tke-tegra-udelay.c \ + $(FSP_SRC_DIR)/drivers/hsp/hsp-tegra.c \ + $(FSP_SRC_DIR)/drivers/debug/abort.c \ + $(FSP_SRC_DIR)/drivers/ast/tegra-ast.c \ + $(FSP_SRC_DIR)/drivers/chipid/chip-id.c \ + $(FREERTOS_DIR)/portable/GCC/ARM_R5/portASM.S \ + $(FREERTOS_DIR)/list.c \ + $(FREERTOS_DIR)/portable/MemMang/heap_3.c \ + $(FREERTOS_DIR)/portable/GCC/ARM_R5/port.c \ + $(FREERTOS_DIR)/queue.c \ + $(FREERTOS_DIR)/tasks.c \ + $(FREERTOS_DIR)/timers.c \ + $(FREERTOS_DIR)/event_groups.c \ + app/ivc-echo-task.c \ + drivers/wake-tegra.c \ + drivers/bpmp-ipc.c \ + drivers/irq-handlers.S \ + drivers/ivc-channels.c \ + drivers/spe-vic.c \ + drivers/spe-pm.c \ + platform/tegra-ivc.c \ + platform/debug_init.c \ + platform/ivc-channel-ids.c \ + platform/err-hook-printf.c \ + platform/newlib-syscalls.c \ + platform/print.c \ + $(RT_AUX_DIR)/platform/tcu.c \ + $(RT_AUX_DIR)/platform/uart-tegra.c \ + main.c + +ifeq ($(ENABLE_GPCDMA_FUNC), 1) + SRCS += \ + $(FSP_SRC_DIR)/drivers/gpcdma/gpcdma.c +endif + +ifeq ($(ENABLE_GPIO_APP), 1) + SRCS += \ + $(FSP_SRC_DIR)/drivers/gpio/tegra-gpio.c \ + $(RT_AUX_DIR)/app/gpio-app.c +endif + +ifeq ($(ENABLE_TIMER_APP), 1) + SRCS += \ + $(RT_AUX_DIR)/app/timer-app.c +endif + +ifeq ($(ENABLE_AODMIC_APP), 1) + SRCS += \ + $(FSP_SRC_DIR)/drivers/aodmic/tegra-aodmic.c \ + $(RT_AUX_DIR)/app/aodmic-app.c +endif + +ifeq ($(ENABLE_I2C_APP), 1) + SRCS += \ + $(FSP_SRC_DIR)/drivers/i2c/i2c-core.c \ + $(FSP_SRC_DIR)/drivers/i2c/i2c-tegra.c \ + $(RT_AUX_DIR)/drivers/i2c-port.c \ + $(RT_AUX_DIR)/app/i2c-app.c \ + $(SPE_TARGET_DIR)/src/i2c-app-priv.c +endif + +ifeq ($(ENABLE_GTE_APP), 1) + SRCS += \ + drivers/gte-tegra-ids.c \ + drivers/gte-tegra.c \ + $(RT_AUX_DIR)/app/gte-app.c +endif + +ifeq ($(ENABLE_SPI_APP), 1) + SRCS += \ + $(FSP_SRC_DIR)/drivers/spi-mst/spi.c \ + $(RT_AUX_DIR)/app/spi-app.c +endif + +ifeq ($(ENABLE_SPI_SLV_APP), 1) + SRCS += \ + $(FSP_SRC_DIR)/drivers/spi-slv/spi-slave.c \ + $(RT_AUX_DIR)/app/spi-slv-app.c +endif + +objname = $(abspath $(addprefix $(OBJDIR)/,\ + $(addsuffix .o,$(basename $(notdir $1))))) + +OBJS := $(call objname,$(SRCS)) + +.PHONY: $1 +# +# Set all target-specific variables here +# +$1: CFLAGS := $(CFLAGS) +$1: OBJDIR := $(OBJDIR) +$1: CPPFLAGS := $(CPPFLAGS) +$1: LDFLAGS := $(LDFLAGS) + +$1: $(OBJDIR) $(BIN) $(ELF) $(DIS) $(LDSCRIPT) + +$(OBJDIR): + mkdir -p $(OBJDIR) + +$(foreach src,$(SRCS),$(call gen_rule,$(call objname,$(src)),compile,$(src))) + +$(call gen_rule,$(LDSCRIPT),ldscript_cpp,$(SPE_TARGET_DIR)/spe.ld.in) + +$(call gen_rule,$(ELF),link,$(OBJS) $(OBJDIR)/spe.ld,spe.map) + +$(call gen_rule,$(BIN),elf2bin,$(OBJDIR)/spe.elf) + +$(call gen_rule,$(DIS),disassemble,$(OBJDIR)/spe.elf) + +endef + +target_rules = $(eval $(value build_target)) +$(foreach target,$(filter-out docs, $(ALL_BUILD_TARGETS)),$(call target_rules,$(target))) + +$(DOC_BUILD_PATH): + mkdir -p $(DOC_BUILD_PATH) + +$(DOC_BUILD_PATH)/.stamp: $(DOC_PATH)/doxyfile | $(DOC_BUILD_PATH) + ${show} DOXYGEN $< + ${hide} export OUTDIR=$(OUTDIR) && doxygen $< 2>$(DOC_BUILD_PATH)/error_log.txt + ${hide} touch $@ + +.PHONY: docs +docs: $(DOC_BUILD_PATH)/.stamp + +.PHONY: clean +clean: $(ALL_CLEAN_TARGETS) + +define clean_target +BUILD_DIR := $(subst clean_,,$(target)) + +.PHONY: $(target) +$(target): BUILD_DIR := $(BUILD_DIR) +$(target): + ${show} RMDIR $(BUILD_DIR) + ${hide} rm -rf $(OUTDIR)/$(BUILD_DIR) +endef + +$(foreach target,$(ALL_CLEAN_TARGETS),$(eval $(value clean_target))) diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/aodmic-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/aodmic-app.c new file mode 100644 index 0000000..04b87be --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/aodmic-app.c @@ -0,0 +1,245 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Creates one task that repeatedly reads AODMIC data using GPCDMA; + * prints zero crossing count and avg volume (mean square) periodically; + * triggers system wake if computed volume crosses a threshold + */ + +/* + * NOTE: SPE should not enter its low power states while running this app + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "aodmic-app.h" + +#include + +#define TEST_AODMIC tegra_aodmic_ctlr_aon + +/* GPCDMA channel - need to ensure that no other */ +/* application uses the same DMA channel */ +#define AODMIC_DMA_CHANNEL 7 + +/* Volume threshold for triggering system wake */ +#define SPE_CCPLEX_WAKE_THRESHOLD 1000000 + +static void wake_trigger_ccplex_wake(void) +{ + tegra_wake_trigger_wake_event(&tegra_wake_id_wake); +} + +static void aodmic_test_task(void *pvParameters) +{ + int status = 0, aodmic_opened = 0; + int i, buf_size, period_ms, num_channels; + (void)pvParameters; /* unused */ + struct tegra_aodmic_config config; + char err_msg[100]; + rtosTick start_time, end_time; + int j, zero_cross_l = 0, zero_cross_r = 0; + unsigned int vol_l = 0, vol_r = 0, temp_l, temp_r; + int16_t *buf = NULL; + int16_t prev_samp_l = 0, prev_samp_r = 0; + int16_t cur_samp_l, cur_samp_r; + + /* AODMIC configuration (editable) */ + config.sample_rate = TEGRA_AODMIC_RATE_16KHZ; + config.channel_config = TEGRA_AODMIC_CHANNEL_STEREO; + config.period_size = 256; + config.num_periods = 2; + + /* + * Changes to config.sample_width would require changes + * to data types (16 vs 32 bit), buffer sizes, as well + * as the wakeup threshold. + */ + config.sample_width = TEGRA_AODMIC_BITS_PER_SAMPLE_16; + + switch (config.channel_config) { + case TEGRA_AODMIC_CHANNEL_MONO_LEFT: + case TEGRA_AODMIC_CHANNEL_MONO_RIGHT: + num_channels = 1; + break; + case TEGRA_AODMIC_CHANNEL_STEREO: + num_channels = 2; + break; + + default: + sprintf(err_msg, "aodmic_test: invalid channel_config"); + goto err_exit; + } + + /* GPCDMA configuration */ + config.dma_id = &gpcdma_id_aon; + config.dma_chan_num = AODMIC_DMA_CHANNEL; + + /* buf_size for application data buffer */ + buf_size = config.period_size * config.sample_width * num_channels; + /* Below is dependent on sample rate */ + period_ms = config.period_size / config.sample_rate; + + /* Allocate memory for application buffer */ + buf = malloc(buf_size); + if (buf == NULL) { + sprintf(err_msg, "aodmic_test: Unable to allocate data buffer"); + goto err_exit; + } + + /* Allocate memory for driver buffers + * - driver always uses 4 bytes/sample internally + */ + config.gpcdma_buf_size = config.period_size * config.num_periods * 4 * num_channels; + config.gpcdma_buf = malloc(config.gpcdma_buf_size); + if (config.gpcdma_buf == NULL) { + sprintf(err_msg, "aodmic_test: Unable to allocate driver buffer"); + goto err_exit; + } + printf("aodmic_test: Opening AODMIC (channel %ld)...\n\r", + config.dma_chan_num); + status = tegra_aodmic_open(&TEST_AODMIC, &config); + if (status) { + sprintf(err_msg, "aodmic_test: Couldn't initialize AODMIC: %x", status); + goto err_exit; + } + aodmic_opened = 1; + + printf("aodmic_test: Starting AODMIC read...\n\r"); + start_time = rtosTaskGetTickCount(); + for (i = 1; ; i++) { + status = tegra_aodmic_read(&TEST_AODMIC, buf, buf_size); + if (status) { + sprintf(err_msg, "aodmic_test: Couldn't read from AODMIC: %x", status); + rtosTaskDelay(period_ms); + continue; + } + + temp_l = 0; + temp_r = 0; + for (j = 0; j < (config.period_size * num_channels); j += num_channels) { + cur_samp_l = buf[j]; + + /* Count zero crossings on both channels */ + if (((prev_samp_l < 0) && (cur_samp_l >= 0)) || + ((prev_samp_l > 0) && (cur_samp_l <= 0))) { + zero_cross_l++; + } + + prev_samp_l = cur_samp_l; + + /* Accumulate capture volume on both channels */ + temp_l += cur_samp_l * cur_samp_l; + + if (num_channels == 2) { + cur_samp_r = buf[j+1]; + if (((prev_samp_r < 0) && (cur_samp_r >= 0)) || + ((prev_samp_r > 0) && (cur_samp_r <= 0))) { + zero_cross_r++; + } + prev_samp_r = cur_samp_r; + temp_r += cur_samp_r * cur_samp_r; + } + } + vol_l += (temp_l / config.period_size); + if (num_channels == 2) { + vol_r += (temp_r / config.period_size); + } + + if ((i % 30) == 0) { + /* Print tick count and zero crossing count - */ + /* useful to check correct AODMIC rate */ + end_time = rtosTaskGetTickCount(); + if (num_channels == 2) { + printf("aodmic_test: Ticks: %u; Zero Crossings: L(%d) R(%d)\n\r", + (unsigned int) + ((end_time - start_time) * rtosTICK_RATE_MS), + zero_cross_l, zero_cross_r); + } else { + printf("aodmic_test: Ticks: %u; Zero Crossings: (%d)\n\r", + (unsigned int) + ((end_time - start_time) * rtosTICK_RATE_MS), + zero_cross_l); + } + zero_cross_l = 0; + zero_cross_r = 0; + start_time = rtosTaskGetTickCount(); + + /* CCPLEX wake - on volume trigger */ + vol_l /= 30; + if (num_channels == 2) { + vol_r /= 30; + printf("aodmic_test: Computed volume: L(%u) R(%u)\n\r", + vol_l, vol_r); + } else { + printf("aodmic_test: Computed volume: (%u)\n\r", vol_l); + } + if ((vol_l >= SPE_CCPLEX_WAKE_THRESHOLD) || + (vol_r >= SPE_CCPLEX_WAKE_THRESHOLD)) { + printf("aodmic_test: !!! TRIGGERING CCPLEX WAKE !!!\n\r"); + wake_trigger_ccplex_wake(); + } + vol_l = 0; + vol_r = 0; + } + } + +err_exit: + error_hook(err_msg); + + if (aodmic_opened) + tegra_aodmic_close(&TEST_AODMIC); + if (buf != NULL) + free(buf); + if (config.gpcdma_buf != NULL) + free(config.gpcdma_buf); + + rtosTaskDelete(NULL); +} + +void aodmic_app_init(void) +{ + rtosTaskParameters aodmic_test_task_params = { + .pvTaskCode = &aodmic_test_task, + .pcTaskName = (char *)"aodmictest", + .uxPriority = rtosIDLE_PRIORITY, + .pvParameters = NULL, + .uxStackDepthBytes = 1024, + }; + printf("aodmic_test: Launching task...\n\r"); + rtosTaskCreate(&aodmic_test_task_params, NULL); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/aodmic-app.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/aodmic-app.h new file mode 100644 index 0000000..ff9ece3 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/aodmic-app.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __AODMIC_APP_H +#define __AODMIC_APP_H + +void aodmic_app_init(void); + +#endif diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gpio-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gpio-app.c new file mode 100644 index 0000000..a5a53ce --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gpio-app.c @@ -0,0 +1,113 @@ +/* + * Copyright (c) 2017-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Note: Follow doc/gpio.txt to successfully run this demo app */ + +#include +#include +#include +#include +#include + +/* gpio-aon.h has GPIO_APP* defines */ +#include "gpio-aon.h" +#include "gpio-app.h" + +#define GPIO_OUT_SET_DELAY 3000 + +void can_gpio_irq_handler(void *data); + +void can_gpio_irq_handler(void *data) +{ + printf_isr("%s - gpio irq triggered - setting GPIO_APP_OUT to 0 \r\n", + __func__); + tegra_gpio_set_value(GPIO_APP_OUT, 0); +} + +static void gpio_app_task(void *pvParameters) +{ + (void)pvParameters; + int val; + + val = tegra_gpio_direction_out(GPIO_APP_OUT, 0); + if (val) { + error_hook("tegra_gpio_direction_out failed\r\n"); + return; + } + + val = tegra_gpio_direction_in(GPIO_APP_IN); + if (val) { + error_hook("tegra_gpio_direction_in failed\r\n"); + return; + } + + val = tegra_gpio_set_irq_type(GPIO_APP_IN, TEGRA_GPIO_IRQ_SINGLE_EDGE, + TEGRA_GPIO_IRQ_RISING_EDGE); + if (val) { + error_hook("tegra_gpio_set_irq_type failed\r\n"); + return; + } + + val = tegra_gpio_set_irq_handler(GPIO_APP_IN, can_gpio_irq_handler, NULL); + if (val) { + error_hook("tegra_gpio_set_irq_handler failed\r\n"); + return; + } + + val = tegra_gpio_enable_irq(GPIO_APP_IN); + if (val) { + error_hook("tegra_gpio_enable_irq failed\r\n"); + return; + } + + while (1) { + printf("%s - Setting GPIO_APP_OUT to 1 - IRQ should trigger\r\n", + __func__); + rtosTaskDelay(5); + tegra_gpio_set_value(GPIO_APP_OUT, 1); + rtosTaskDelay(GPIO_OUT_SET_DELAY); + tegra_gpio_set_value(GPIO_APP_OUT, 0); + rtosTaskDelay(GPIO_OUT_SET_DELAY); + }; +} + +void gpio_app_init(void) +{ + rtosTaskParameters gpio_app_task_params = { + .pvTaskCode = &gpio_app_task, + .pcTaskName = (char *)"gpioapp", + .uxPriority = rtosIDLE_PRIORITY, + .pvParameters = NULL, + .uxStackDepthBytes = 512, + }; + + int val = rtosTaskCreate(&gpio_app_task_params, NULL); + + if (val != rtosPASS) + error_hook("xTaskCreate for gpio_app_task failed\r\n"); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gpio-app.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gpio-app.h new file mode 100644 index 0000000..a7db58c --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gpio-app.h @@ -0,0 +1,29 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +void gpio_app_init(void); diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gte-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gte-app.c new file mode 100644 index 0000000..8952bf5 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/gte-app.c @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2019-2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Note: Follow doc/gte-app.md for more information */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "gpio-aon.h" +#include + +#define GTE_TEST_FIFO_OCCUPANCY 1 + +static void gte_irq_callback(void *data, struct tegra_gte_ts *gte_ts) +{ + const char *evname; + + if (gte_ts->slice == 1 && + gte_ts->bit_index == NV_AON_GTE_SLICE1_IRQ_GPIO) + evname = "GPIO IRQ"; + else if (gte_ts->slice == 2 && + gte_ts->bit_index == NV_AON_GTE_SLICE2_IRQ_GPIO_2) + evname = "GPIO_APP_IN"; + else + evname = "Other"; + + printf_isr("Slice Id: %d, Event Id: %d (%s), Edge = %s, " + "Raw Time stamp = %x Time Stamp in nanosec %08llx\r\n", + gte_ts->slice, gte_ts->bit_index, evname, + gte_ts->bit_dir ? "rising" : "falling", + (unsigned int)(gte_ts->tsc >> 32), + (gte_ts->tsc)); +} + +void gte_app_init(void) +{ + /* Enable GPIO_APP_IN GPIO GTE timestamp */ + tegra_gte_slice_set_enable_mask(&tegra_gte_id_aon, + 2, /* slice number 2 */ + BIT(GTE_SLICE_IRQ_GPIO)); + + error_t ret = tegra_gte_setup(&tegra_gte_id_aon, GTE_TEST_FIFO_OCCUPANCY, + gte_irq_callback, 0, 0, 0); + if (ret) + error_hook("GTE setup failed\r\n"); + + /* Enable timestamping on GPIO_APP_IN at GPIO controller */ + ret = tegra_gpio_enable_timestamp(GPIO_APP_IN); + if (ret) + error_hook("gpio_enable_timestamp -failed\r\n"); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/i2c-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/i2c-app.c new file mode 100644 index 0000000..0835e30 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/i2c-app.c @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* Note: Follow doc/i2c-app.md to successfully run this demo app */ + +#include +#include +#include +#include +#include +#include +#include +#include "config.h" +#include "i2c-app.h" +#include "i2c-app-priv.h" + +#define I2C_TEST_BUS_CLKRATE 100000 +#define I2C_TEST_RETRIES 5 +#define I2C_TEST_DELAY 10000 + +static void i2c_app_task(void *pvParameters) +{ + int count; + (void)pvParameters; + struct i2c_handle hi2c; + + error_t ret = i2c_controller_init(I2C_AON_BUS_NUM, &hi2c); + + if (ret != E_SUCCESS) { + error_hook("Couldn't initialize I2C\r\n"); + goto done; + } + for (count = 0; count < I2C_TEST_RETRIES; count++) { + i2c_test(&hi2c); + rtosTaskDelay(I2C_TEST_DELAY); + } +done: + rtosTaskDelete(NULL); +} + +void i2c_app_init(void) +{ + int ret; + rtosTaskParameters i2c_app_task_params = { + .pvTaskCode = &i2c_app_task, + .pcTaskName = (char *)"i2ctest", + .uxPriority = rtosIDLE_PRIORITY, + .pvParameters = NULL, + .uxStackDepthBytes = 512, + }; + + ret = rtosTaskCreate(&i2c_app_task_params, NULL); + if (ret != rtosPASS) + error_hook("xTaskCreate for i2c_app_task failed\r\n"); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/i2c-app.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/i2c-app.h new file mode 100644 index 0000000..5856543 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/i2c-app.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __I2C_APP_H +#define __I2C_APP_H + +void i2c_app_init(void); + +#endif diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/ivc-echo-task.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/ivc-echo-task.c new file mode 100644 index 0000000..3bb5578 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/ivc-echo-task.c @@ -0,0 +1,235 @@ +/* + * Copyright (c) 2015-2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define EVENT_WAIT_BIT BIT(0) +#define EVENT_IVC_RAM_INITED_BIT BIT(1) + +#define EVENT_WAIT_ALL_BITS (EVENT_WAIT_BIT | \ + EVENT_IVC_RAM_INITED_BIT) + +struct ivc_echo_task_state { + struct ivc_task_id *id; + rtosTaskHandle handle; + rtosEventGroupHandle wait_event; + rtosSemaphoreHandle ivc_sem; +}; + +static struct ivc_echo_task_state *ivc_state = NULL; + +static int ivc_echo_task_write_msg(void *data, int length) +{ + int ret; + char *tx_msg; + bool non_contig_available; + + if (!ivc_state) { + error_hook("ivc_echo_task not init"); + return -1; + } + + if (length > ivc_state->id->ivc_ch->frame_size) { + error_hook("length larger than frame buffer size"); + return -1; + } + + rtosSemaphoreAcquire(ivc_state->ivc_sem, rtosMAX_DELAY); + + ret = tegra_ivc_tx_get_contiguous_write_space( + ivc_state->id->ivc_ch, &tx_msg, &non_contig_available); + if (ret < 1) { + error_hook("tegra_ivc_tx_get_contiguous_write_space() failed"); + goto exit; + } + + memcpy(tx_msg, data, length); + + ret = tegra_ivc_tx_send_buffers(ivc_state->id->ivc_ch, 1); + if (ret) { + error_hook("tegra_ivc_tx_send_buffers() failed"); + } + +exit: + rtosSemaphoreRelease(ivc_state->ivc_sem); + return ret; +} + +static void ivc_echo_task_process_ivc_messages(struct ivc_echo_task_state *state) +{ + int ret; + const char *rx_msg; + bool non_contig_available; + int count, i; + + for (;;) { + rtosSemaphoreAcquire(state->ivc_sem, rtosMAX_DELAY); + count = tegra_ivc_rx_get_contiguous_read_available( + state->id->ivc_ch, &rx_msg, &non_contig_available); + rtosSemaphoreRelease(state->ivc_sem); + dbgprintf("IVC read count: %d\r\n", count); + if (count < 0) { + error_hook("tegra_ivc_rx_get_contiguous_read_available() failed"); + return; + } + if (!count) { + return; + } else { + for (i = 0; i < count; i++) { + ivc_echo_task_write_msg((void *)rx_msg, 64); + rx_msg += 64; + } + } + rtosSemaphoreAcquire(state->ivc_sem, rtosMAX_DELAY); + ret = tegra_ivc_rx_notify_buffers_consumed(state->id->ivc_ch, + count); + rtosSemaphoreRelease(state->ivc_sem); + if (ret) { + error_hook("tegra_ivc_rx_notify_buffers_consumed() failed"); + return; + } + } +} + +static void ivc_echo_task(void *pvParameters) +{ + struct ivc_echo_task_state *state = pvParameters; + EventBits_t ret; + + for (;;) { + ret = rtosEventGroupWaitBits(state->wait_event, + EVENT_WAIT_ALL_BITS, + pdFALSE, + pdTRUE, + NULL, + rtosMAX_DELAY); + if ((ret & EVENT_WAIT_ALL_BITS) == EVENT_WAIT_ALL_BITS) { + rtosEventGroupClearBits(state->wait_event, + EVENT_WAIT_BIT); + ivc_echo_task_process_ivc_messages(state); + } + } +} + +void *ivc_echo_task_init(struct ivc_task_id *id) +{ + struct ivc_echo_task_state *state; + int ret; + + state = calloc(1, sizeof(*state)); + if (!state) { + error_hook("calloc(struct ivc_echo_task_state) failed"); + return NULL; + } + + state->id = id; + + rtosEventGroupCreate(NULL, &state->wait_event); + if (state->wait_event == NULL) { + error_hook("xEventGroupCreate() failed"); + free(state); + return NULL; + } + + rtosMutexCreate(NULL, &state->ivc_sem); + if (!state->ivc_sem) { + error_hook("xSemaphoreCreateMutex() failed"); + rtosEventGroupDelete(state->wait_event); + free(state); + return NULL; + } + rtosTaskParameters ivc_echo_task_params = { + .pvTaskCode = &ivc_echo_task, + .pcTaskName = (char *)"ivcecho", + .uxPriority = 1, + .pvParameters = state, + .uxStackDepthBytes = 512, + }; + + ret = rtosTaskCreate(&ivc_echo_task_params, state->handle); + if (ret != pdPASS) { + error_hook("xTaskCreate() failed"); + rtosEventGroupDelete(state->wait_event); + rtosSemaphoreDelete(state->ivc_sem); + free(state); + return NULL; + } + + ivc_state = state; + + return state; +} + +int ivc_echo_task_ivc_notified(void *statev, + rtosPortBaseType *higher_prio_task_woken) +{ + struct ivc_echo_task_state *state = statev; + rtosPortBaseType ret; + + ret = rtosEventGroupSetBitsFromISR(state->wait_event, + EVENT_WAIT_BIT, + higher_prio_task_woken); + if (ret != pdPASS) { + error_hook("xEventGroupSetBitsFromISR() failed"); + return -1; + } + + return 0; +} + +int ivc_echo_task_ivc_inited(void *statev, + rtosPortBaseType *higher_prio_task_woken) +{ + struct ivc_echo_task_state *state = statev; + rtosPortBaseType ret; + + ret = rtosEventGroupSetBitsFromISR(state->wait_event, + EVENT_IVC_RAM_INITED_BIT, + higher_prio_task_woken); + if (ret != pdPASS) { + error_hook("xEventGroupSetBitsFromISR() failed"); + return -1; + } + + return 0; +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-app.c new file mode 100644 index 0000000..824bc2e --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-app.c @@ -0,0 +1,132 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include "spi-app.h" + +#define SPI_TEST_CONTROLLER spi_ctlr_spi2 +#define SPI_TEST_CLOCK_RATE 12000000 +#define SPI_TEST_DMA_TX_CHANNEL 2 +#define SPI_TEST_DMA_RX_CHANNEL 3 + +#define SPI_TEST_RETRIES 5 +#define SPI_TEST_DELAY 5000 + +static void spi_test_task(void *pvParameters) +{ + int ret, count; + (void)pvParameters; /* unused */ + const uint8_t data_to_send[] = {0xab, 0xcd}; + uint8_t data_to_read[] = {0x0, 0x0}; + struct spi_client_setting spi_test_device[] = { + { + .chip_select = 0, + .set_rx_tap_delay = false, + .spi_max_clk_rate = SPI_TEST_CLOCK_RATE, + .spi_no_dma = false, + } + }; + struct spi_master_init master_test_conf[] = { + { + .dma_id = &gpcdma_id_aon, + .dma_chans.tx = SPI_TEST_DMA_TX_CHANNEL, + .dma_chans.rx = SPI_TEST_DMA_RX_CHANNEL, + .spi_max_clk_rate = SPI_TEST_CLOCK_RATE, + .dma_slave_req = GPCDMA_AO_CHANNEL_CH0_CSR_0_REQ_SEL_SPI, + } + }; + + ret = spi_init(&SPI_TEST_CONTROLLER, master_test_conf); + if (ret) { + printf("spi_test: master init failed\r\n"); + return; + } + + ret = spi_client_setup(&SPI_TEST_CONTROLLER, spi_test_device); + if (ret) { + printf("spi_test: couldn't setup SPI device\r\n"); + return; + } + + struct spi_xfer xfer = { + .flags = BIT(TEGRA_SPI_XFER_FIRST_MSG) | + BIT(TEGRA_SPI_XFER_LAST_MSG), + .tx_buf = data_to_send, + .rx_buf = data_to_read, + .len = ARRAY_SIZE(data_to_read), + .chip_select = 0, + .tx_nbits = TEGRA_SPI_NBITS_SINGLE, + .rx_nbits = TEGRA_SPI_NBITS_SINGLE, + .bits_per_word = 8, + .mode = TEGRA_SPI_MODE_0 | TEGRA_SPI_LSBYTE_FIRST, + }; + + for (count = 0; count < SPI_TEST_RETRIES; count++) { + ret = spi_transfer(&SPI_TEST_CONTROLLER, &xfer); + if (ret) + printf("SPI TX/RX failed\r\n"); + else { + if (!memcmp(data_to_read, data_to_send, + ARRAY_SIZE(data_to_read))) + printf("SPI test successful\r\n"); + else + printf("Received incorrect data\r\n"); + } + rtosTaskDelay(SPI_TEST_DELAY); + } + rtosTaskDelete(NULL); +} + +void spi_app_init(void) +{ + int ret; + + rtosTaskParameters spi_test_task_params = { + .pvTaskCode = &spi_test_task, + .pcTaskName = (char *)"spitest", + .uxPriority = rtosIDLE_PRIORITY, + .pvParameters = NULL, + .uxStackDepthBytes = 512, + }; + printf("spi_test: Launching task...\n\r"); + ret = rtosTaskCreate(&spi_test_task_params, NULL); + if (ret != rtosPASS) + error_hook("xTaskCreate for spi_test_task_params\r\n"); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-app.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-app.h new file mode 100644 index 0000000..427cf7d --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-app.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __SPI_APP_H +#define __SPI_APP_H + +void spi_app_init(void); + +#endif diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-slv-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-slv-app.c new file mode 100644 index 0000000..c8a5a2d --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-slv-app.c @@ -0,0 +1,147 @@ +/* + * Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include "spi-slv-app.h" + +#define SPI_TEST_CONTROLLER spi_ctlr_spi2 +#define SPI_TEST_CLOCK_RATE 12000000 +#define SPI_TEST_DMA_TX_CHANNEL 2 +#define SPI_TEST_DMA_RX_CHANNEL 3 + +#define SPI_TEST_DELAY 500 +#define SPI_BUFFER_SIZE 2 + +/* Data expected from Master */ +static uint8_t txBuffer[SPI_BUFFER_SIZE] = { 0xcc, 0x55 }; + +static void spi_slv_test_task(void *pvParameters) +{ + int ret; + (void)pvParameters; /* unused */ + + uint8_t rx[SPI_BUFFER_SIZE]; + uint32_t i = 0; + uint32_t errs = 0; + memset(rx, 0x0, ARRAY_SIZE(rx) * sizeof(uint8_t)); + + struct spi_client_setting spi_slv_test_device = { + .chip_select = 0U, + /* Optional params for cs */ + .cs_setup_clk_count = 16, + .cs_hold_clk_count = 16, + .cs_inactive_cycles = 32, + .set_rx_tap_delay = false, + .spi_max_clk_rate = SPI_TEST_CLOCK_RATE, + .spi_no_dma = false, + }; + + struct spi_slave_init_setup spi_slv_setup = { + .dma_id = &gpcdma_id_aon, + .dma_chans.tx = SPI_TEST_DMA_TX_CHANNEL, + .dma_chans.rx = SPI_TEST_DMA_RX_CHANNEL, + .spi_max_clk_rate = SPI_TEST_CLOCK_RATE, + .dma_slave_req = GPCDMA_AO_CHANNEL_CH0_CSR_0_REQ_SEL_SPI, + }; + + ret = spi_slave_init(&SPI_TEST_CONTROLLER, &spi_slv_setup); + if (ret) { + printf("spi_slv_test: slave init failed\r\n"); + goto out; + } + + ret = spi_slave_setup(&SPI_TEST_CONTROLLER, &spi_slv_test_device); + if (ret) { + printf("spi_slv_test: couldn't setup SPI slave device\r\n"); + goto out; + } + + struct spi_xfer xfer = { + .flags = BIT(TEGRA_SPI_XFER_LAST_MSG) | BIT(TEGRA_SPI_XFER_FIRST_MSG), + .tx_buf = NULL, + .rx_buf = (uint8_t *)&rx, + .len = SPI_BUFFER_SIZE, + .chip_select = 0, + .tx_nbits = TEGRA_SPI_NBITS_SINGLE, + .rx_nbits = TEGRA_SPI_NBITS_SINGLE, + .bits_per_word = 8, + .mode = TEGRA_SPI_MODE_0 | TEGRA_SPI_LSBYTE_FIRST, + }; + + ret = spi_slave_transfer(&SPI_TEST_CONTROLLER, &xfer); + if (ret != E_SUCCESS) { + printf("spi_slave_test: not ready to accept the data\r\n"); + goto out; + } + + for (i = 0; i < ARRAY_SIZE(rx); i++) { + if(rx[i] != txBuffer[i]) { + errs++; + break; + } + } + + if (errs != 0) { + printf("** SPI Slave test Failed **\r\n"); + } else { + printf("** SPI Slave test Passed **\r\n"); + } + +out: + rtosTaskDelay(SPI_TEST_DELAY); + rtosTaskDelete(NULL); +} + +void spi_slv_app_init(void) +{ + int ret; + + rtosTaskParameters spi_slv_test_task_params = { + .pvTaskCode = &spi_slv_test_task, + .pcTaskName = (char *)"spi_slv_test", + .uxPriority = rtosIDLE_PRIORITY, + .pvParameters = NULL, + .uxStackDepthBytes = 512, + }; + printf("spi_slv_test: Launching task...\n\r"); + ret = rtosTaskCreate(&spi_slv_test_task_params, NULL); + if (ret != rtosPASS) + error_hook("xTaskCreate for spi_slv_test_task_params\r\n"); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-slv-app.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-slv-app.h new file mode 100644 index 0000000..97208e9 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/spi-slv-app.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __SPI_SLV_APP_H +#define __SPI_SLV_APP_H + +void spi_slv_app_init(void); + +#endif diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/timer-app.c b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/timer-app.c new file mode 100644 index 0000000..73117fc --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/timer-app.c @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include + +#include +#include +#include + +#include "timer-app.h" + +/* Demo timer app which sets up 5 second periodic timer, modify below define to + * adjust periodic value of the timer. + */ +#define TIMER2_PTV 5000000 +#define STOP_TIMER 10 + +static void timer2_callback(void *data) +{ + static int count = 0; + uint32_t usec, osc, tsc_hi, tsc_lo; + + usec = tegra_tke_get_usec(); + osc = tegra_tke_get_osc(); + tegra_tke_get_tsc(&tsc_hi, &tsc_lo); + printf_isr("Timer2 irq triggered, usec = %lu, osc = %lu " + "tsc_hi = %lu, tsc_lo = %lu\r\n", usec, osc, tsc_hi, tsc_lo); + if (++count > STOP_TIMER) + tegra_tke_stop_timer(&tegra_tke_id_timer2); + +} + +void timer_app_init(void) +{ + tegra_tke_set_up_timer(&tegra_tke_id_timer2, TEGRA_TKE_CLK_SRC_USECCNT, + true, TIMER2_PTV, timer2_callback, 0); +} diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/timer-app.h b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/timer-app.h new file mode 100644 index 0000000..bbbf4f4 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/app/timer-app.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __TIMER_APP_H +#define __TIMER_APP_H + +void timer_app_init(void); + +#endif diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/aodmic-app.md b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/aodmic-app.md new file mode 100644 index 0000000..f654841 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/aodmic-app.md @@ -0,0 +1,200 @@ +AODMIC Application (app/aodmic-app.c) +============================== +@tableofcontents + +The AODMIC application demonstrates how to operate the Digital Microphone (DMIC) +interface from the SPE/AON processor. DMIC5 is located in the Always-On (AON) +domain and is correspondingly referred to as AODMIC. This demo additionally +shows how AODMIC can be used as a system wake-up source. + +The app runs continuously and captures data from AODMIC using GPCDMA. It +periodically prints the R5 CPU tick count and the zero crossing count (on both +capture channels). These counts can be used to determine whether the AODMIC is +running at the expected rate. The app also computes and prints the capture +volume over fixed periods (computed as the mean square of the samples). Should +the computed volume exceed a predefined threshold, it triggers a system wake +event. + +The `sample_rate` parameter of the aodmic config structure can be set to any of +these values: + +* `TEGRA_AODMIC_RATE_8KHZ` +* `TEGRA_AODMIC_RATE_16KHZ` (default in `app/aodmic-app.c`) +* `TEGRA_AODMIC_RATE_44KHZ` (44.1 kHz) +* `TEGRA_AODMIC_RATE_48KHZ` + +**NOTE**: The AODMIC uses a fixed 64x oversampling rate. The programmer must +ensure that the corresponding clock speed falls within the supported range of +the microphone. For example, the 8 kHz sampling rate corresponds to a 512 kHz +clock speed. If the microphone supports 1 MHz - 3.25 MHz, then 16 kHz is the +lowest clock speed that can be used. + +The `channel_config` parameter of the aodmic config structure can be set to any of +these values: + +* `TEGRA_AODMIC_CHANNEL_STEREO` (default in `app/aodmic-app.c`) +* `TEGRA_AODMIC_CHANNEL_MONO_LEFT` +* `TEGRA_AODMIC_CHANNEL_MONO_RIGHT` + +The `num_periods` parameter of the aodmic config structure can set to any value in +the range of 2 to `AODMIC_MAX_NUM_PERIODS` (default of 4). The typical value +for this parameter is 2 (i.e. double buffered I/O). The value of +`AODMIC_MAX_NUM_PERIODS` can be increased if necessary. It is located in the file +`fsp/source/include/aodmic/tegra-aodmic.h`. +# Prerequisites + +Stereo PDM mics should be connected to the AODMIC pins on the respective +Jetson platform. An example PDM mic part is +https://www.mouser.in/datasheet/2/389/mp34dt01-m-955068.pdf. Details of the +AODMIC pins are mentioned in the platform specific sections further down. + +# Jetson AGX Orin + +## Hardware Configuration + +AODMIC signals are available at the 40-pin header J30 with these pin mappings: +- Pin 16 - DMIC5_DAT (CAN1_EN) +- Pin 32 - DMIC5_CLK (CAN1_STB) + +Power and ground will also be needed for the PDM board. A typical setup +might use J30 Pin 1 (3.3V) and Pin 6 (GND). + +## Software Configuration + +1. Pinmuxing updates are recommended via generating new dtsi files using +the pinmux spreadsheet. For the purpose of performing a quick test, the pinmux files can be manually +updated by editing `${L4T}/bootloader/generic/BCT/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi`: + + --- a/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi + +++ b/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi + @@ -142,6 +142,22 @@ + nvidia,enable-input = ; + }; + + + can1_stb_pbb0 { + + nvidia,pins = "can1_stb_pbb0"; + + nvidia,function = "dmic5"; + + nvidia,pull = ; + + nvidia,tristate = ; + + nvidia,enable-input = ; + + }; + + + + can1_en_pbb1 { + + nvidia,pins = "can1_en_pbb1"; + + nvidia,function = "dmic5"; + + nvidia,pull = ; + + nvidia,tristate = ; + + nvidia,enable-input = ; + + }; + + + soc_gpio50_pbb2 { + nvidia,pins = "soc_gpio50_pbb2"; + nvidia,function = "tsc"; + @@ -989,22 +1005,6 @@ + nvidia,enable-input = ; + }; + + - can1_stb_pbb0 { + - nvidia,pins = "can1_stb_pbb0"; + - nvidia,function = "rsvd0"; + - nvidia,pull = ; + - nvidia,tristate = ; + - nvidia,enable-input = ; + - }; + - + - can1_en_pbb1 { + - nvidia,pins = "can1_en_pbb1"; + - nvidia,function = "rsvd0"; + - nvidia,pull = ; + - nvidia,tristate = ; + - nvidia,enable-input = ; + - }; + - + can1_err_pbb3 { + nvidia,pins = "can1_err_pbb3"; + nvidia,function = "rsvd0"; + + +2. Update gpio configuration as below in `${L4T}/bootloader/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi` + + --- a/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi + +++ b/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi + @@ -117,8 +117,6 @@ + TEGRA234_AON_GPIO(AA, 1) + TEGRA234_AON_GPIO(AA, 2) + TEGRA234_AON_GPIO(AA, 3) + - TEGRA234_AON_GPIO(BB, 0) + - TEGRA234_AON_GPIO(BB, 1) + TEGRA234_AON_GPIO(BB, 3) + >; + +3. Modify firewall setting in `${L4T}/bootloader/tegra234-mb2-bct-scr-p3701-0000-override.dts` to allow SPE to write to the AODMIC clock register. + + +++ b/bootloader/tegra234-mb2-bct-scr-p3701-0000-override.dts + @@ -24,6 +24,11 @@ + value = <0x18000606>; + }; + + + reg@2126 { /* CLK_RST_CONTROLLER_AON_SCR_DMIC5_0 */ + + exclusion-info = <3>; + + value = <0x30001400>; + + }; + + + reg@5114 { /* CBB_CENTRAL_CBB_FIREWALL_PWM5_BLF, READ_CTL */ + +4. In `soc/t23x/target_specific.mk`, set `ENABLE_AODMIC_APP := 1` and rebuild the +application. Copy the output to `${L4T}/bootloader/spe_t234.bin`. + +5. Reflash all partitions to ensure that the pinmux and firewall settings are updated on the board. + +6. Volume and zero-crossings are printed in the terminal. + +7. If the system is placed in suspended state, BPMP will disable +the dmic5 clock at the subsequent system wake, upon which AODMIC capture +will fail. You can patch this in either of two ways: + - On the running target execute prior to the first suspend: +``` +# sudo su -c 'echo 1 > /sys/kernel/debug/bpmp/debug/clk/dmic5/state' +``` +*or* + - Patch the platform BPMP DT file (e.g. `tegra234-bpmp-3701-0000-3737-0000.dtb`) + following these steps: + - Reconstruct the device tree source file from the DTB: + + $ dtc -I dtb -O dts -o + + - Patch the third and fourth arguments to the 'dmic5' entry in the + generated `temp_file.dts` file (third argument = ): + + clocks { + lateinit { + dmic5 = <0x86 0x5b 1024000 0x80000>; + }; + }; + + - Recreate the DTB file from the patched DTS: + + $ dtc -I dts -O dtb -o + + - Flash the `bpmp-fw-dtb` partition, or perform a full flash. + + +8. The command below may be executed on the running target in order to trigger +system suspend: +``` +# sudo systemctl suspend +``` + +9. After the system is placed in the suspended state, +making a loud sound near the microphone will wake it up. The threshold can +be adjusted via the `SPE_CCPLEX_WAKE_THRESHOLD` definition in `aodmic-app.c`. + +@note To demonstrate system wake, the corresponding wake event must be enabled +by CCPLEX/BPMP. In this case the wake event is wake83. When the system goes to +suspend state, the BPMP UART reports enabled masks of the wake events in the +log. Verify that in this log bit 83 is set, both in the wake mask and in the +Tier2 routing mask. For example: + + WAKE_MASK[95:64] = 0x1ff200 + TIER2[95:64] = 0xff200 + diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/compile-flash.md b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/compile-flash.md new file mode 100644 index 0000000..e5b4dc5 --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/compile-flash.md @@ -0,0 +1,96 @@ +Compiling and Flashing {#rt-compiling} +====================== + +@tableofcontents + +This Document describes the steps to build and flash this project + +# TOOLCHAIN PREREQUISITE# + +You must download the external Toolchain. NVIDIA does not distribute this toolchain. + +arm-gnu-toolchain-13.2.rel1 (x86_64 Linux host): + +https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz?rev=e434b9ea4afc4ed7998329566b764309&hash=CA590209F5774EE1C96E6450E14A3E26 + +# BUILD + +Set the appropriate paths for the below variables: +``` +export SPE_FREERTOS_BSP= +export CROSS_COMPILE=/bin/arm-none-eabi- + +cd ${SPE_FREERTOS_BSP}/rt-aux-cpu-demo-fsp +``` + +## To build firmware for a specific platform + +Build firmware for t23x: +``` +make bin_t23x +``` +@note Build speed is significantly faster by using the `-j ` option with `make`. +For example, `make -j16 bin_t23x`. + +## To build doxygen documents + +Make sure you have doxygen installed on your computer. For Ubuntu systems: +``` +sudo apt-get install doxygen +``` +To generate the documents: +``` +make docs +``` +The output can be found at `out/docs`. + +## To build everything + +``` +make +``` +or +``` +make all +``` +The above commands build all the targets i.e. spe firmware binaries for all the +SOCs and Doxygen documents. + +## Build artifacts + +The built SPE firmware binary can be found at `out//spe.bin`. +The doxygen build generates `out/docs/index.html` file. Open it +using a browser to navigate the documentation. + +## To clean the build artifacts +Clean everything (documentation and firmware): +``` + make clean +``` +To clean t23x only firmware objects and build artifacts: +``` + make clean_t23x +``` +To clean only doxygen generated files: +``` + make clean_docs +``` + +# FLASH + +1. Back up the original `spe_t234.bin` located in the +following directory: +``` + Linux_for_Tegra/bootloader/ +``` +2. Copy the generated `out//spe.bin` to the following locating, depending on your target. + - For the T234 SoC, copy it to: +``` + Linux_for_Tegra/bootloader/spe_t234.bin +``` + The `Linux_for_Tegra` directory is part of the extracted L4T build that + you used to flash the Jetson device. +3. Use the command below to just flash only the spe-fw partition: +``` + sudo ./flash.sh -k A_spe-fw internal +``` diff --git a/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/doxyfile b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/doxyfile new file mode 100644 index 0000000..390eacd --- /dev/null +++ b/spe-freertos-bsp/rt-aux-cpu-demo-fsp/doc/doxyfile @@ -0,0 +1,2485 @@ +# Doxyfile 1.8.14 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Jetson Sensor Processing Engine (SPE) Developer Guide" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = r32.2 + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = $(OUTDIR) + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = C:/Users/kstone/git/vendor/nvidia/tegra \ + C:/Jenkins + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = YES + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = YES + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines (in the resulting output). You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = YES + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 0. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 3 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = NO + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = NO + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = NO + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = YES + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = NO + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = NO + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = NO + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = NO + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = YES + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ./doc/welcome.md \ + ./doc/fsp.md \ + ./doc/compile-flash.md \ + ./doc/aodmic-app.md \ + ./doc/ivc.md \ + ./doc/gte-app.md \ + ./doc/gpio.md \ + ./doc/i2c-app.md \ + ./doc/spi-app.md \ + ./doc/timer-app.md \ + ./doc/faq.md \ + ./doc/third_party_legal.md \ + ./doc/nvidia_legal.md \ + + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: https://www.gnu.org/software/libiconv/) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, +# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = YES + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = ./doc/nvimages + + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files +# were built. This is equivalent to specifying the "-p" option to a clang tool, +# such as clang-check. These options will then be passed to the parser. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: 0. + +CLANG_COMPILATION_DATABASE_PATH = 0 + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = docs + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = ./doc/nv_header.html + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = ./doc/footer.html + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = ./doc/nv.css + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = ./doc/nvimages/spe_fw_arch.png \ + ./doc/nvimages/confidential.png \ + ./doc/nvimages/Nvidia.ico \ + ./doc/nvimages/NVLogo_2D_H.jpg + + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via Javascript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have Javascript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: https://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = YES + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://doc.qt.io/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://doc.qt.io/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://doc.qt.io/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://doc.qt.io/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = YES + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. +# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/ + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /